A simplified horizontal and oblique cantilever arm pre-assembly system for cantilever arm pre-assembly

Abstract

A simplified flat-bevel arm pre-assembly system for arm pre-assembly includes a pipe feeding mechanism, a transfer mechanism, a sawing mechanism, a transfer positioning mechanism, a connector installation mechanism and an assembly mechanism, wherein a connector feeding mechanism is arranged on the side of the connector installation mechanism. The present invention provides a simplified flat-bevel arm pre-assembly system for arm pre-assembly, which can complete the processing and pre-assembly of flat-bevel arms with high efficiency and high precision.

Description

Technical Field

[0001] The invention relates to the technical field of wrist-arm pre-configuration, in particular to a flat and oblique wrist-arm pre-configuration system for simplified wrist-arm pre-configuration. 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, oblique 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 flat and oblique wrist arms 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 simplified flat-and-oblique arm pre-assembly system for arm pre-assembly, which can complete the processing pre-assembly of the flat-and-oblique arm with high efficiency and high precision.

[0004] In order to achieve the above-mentioned purpose, the specific scheme adopted by the present invention is: a simplified flat and oblique arm pre-assembly system for arm pre-assembly, comprising a pipe feeding mechanism, a transfer mechanism, a sawing mechanism, a transit positioning mechanism, a connector installation mechanism and an assembly mechanism which are arranged in sequence, wherein a connector feeding mechanism is arranged on the side of the connector installation mechanism.

[0005] As a further optimization of the above-mentioned simplified flat and inclined arm pre-assembly system for arm pre-assembly: the pipe feeding mechanism includes a storage unit, the storage unit includes a plurality of material racks, two baffles parallel to each other are fixedly arranged on the material racks, two inclined support rods are arranged between the two baffles, and the support rods and the baffles are parallel to each other, an end positioning cylinder is fixedly connected to the outer side of one of the baffles, and the piston rod of the end positioning cylinder extends between the two baffles.

[0006] As a further optimization of the above-mentioned simplified flat and oblique arm pre-assembly system for arm pre-assembly: the transfer mechanism includes a ceiling rail, the ceiling rail is driven and connected to a transfer robot, the transfer robot is driven and connected to a fixture, and the fixture has at least one air claw.

[0007] As a further optimization of the above-mentioned simplified flat and oblique wrist arm pre-configuration system for wrist arm pre-configuration: the sawing mechanism includes a supporting assembly for supporting the wrist arm and a sawing assembly for sawing the wrist arm; the supporting assembly includes a plurality of sawing pliers distributed along a straight line, the sawing pliers include a fixing plate and a tightening block for tightening the wrist arm against the fixing plate; the sawing assembly includes a sawing machine, a first driving unit for driving the sawing machine to move radially along the wrist arm, and a second driving unit for driving the sawing machine to move axially along the wrist arm; the transfer positioning mechanism includes a flat wrist arm transfer positioning unit and an oblique wrist arm transfer positioning unit, a plurality of positioning seats for supporting the wrist arm are arranged between the flat wrist arm transfer positioning unit and the oblique wrist arm transfer positioning unit, and all the positioning seats are distributed along a straight line.

[0008] As a further optimization of the above-mentioned simplified flat and oblique wrist arm pre-assembly system: the connecting piece feeding mechanism includes a positioning plate, a material cart detachably connected to the positioning plate, a plurality of material trays detachably arranged on the material cart, and a plurality of connectors fixedly arranged on the material tray for fixing the connecting piece; a material cart positioning mechanism is arranged between the positioning plate and the material cart; the material cart positioning mechanism includes a third opposing photoelectric sensor fixedly arranged on the positioning plate and a plurality of extension plates; a baffle rod corresponding to the third opposing photoelectric sensor and a plurality of connecting plates corresponding one to one to the extension plates are fixedly arranged on the material cart; a slot for accommodating the extension plate is opened on the connecting plate; the connector includes a connecting piece positioning base plate and a plurality of limiting members fixedly arranged on the connecting piece positioning base plate for limiting the connecting piece.

[0009] Beneficial effects: The present invention can realize the automatic processing and pre-assembly of simplified wrist arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0011] Figure 2 It is a top view of the overall structure of the present invention;

[0012] Figure 3 It is a structural schematic diagram of the material storage mechanism;

[0013] Figure 4 It is a structural schematic diagram A of a storage unit;

[0014] Figure 5 It is a structural schematic diagram B of the storage unit;

[0015] Figure 6 is a structural schematic diagram of a visual inspection support unit;

[0016] Figure 7 It is a structural schematic diagram of the check unit;

[0017] Figure 8It is a schematic diagram of the structure of the transfer mechanism;

[0018] Fig. 9 It is a schematic diagram of the structure of the fixture;

[0019] Fig.10 It is a structural schematic diagram of the sawing mechanism;

[0020] Fig.11 It is a structural schematic diagram of the flat wrist arm positioning unit in the sawing mechanism;

[0021] Fig.12 It is a schematic diagram of the structure of sawing pliers;

[0022] Fig.13 It is a schematic diagram of the structure of a sawing machine;

[0023] Fig.14 It is a structural schematic diagram of the oblique wrist positioning unit in the sawing mechanism;

[0024] Fig.15 It is a structural schematic diagram of the transfer positioning mechanism;

[0025] Fig.16 It is a structural schematic diagram of the flat wrist-arm transfer positioning unit;

[0026] Fig.17 It is a structural schematic diagram of the oblique arm transfer positioning unit;

[0027] Fig.18 It is a structural diagram of the material car;

[0028] Fig.19 It is a schematic diagram of the connecting piece structure;

[0029] Fig. 20 It is a structural schematic diagram of the material car positioning mechanism;

[0030] Fig.21 It is a schematic diagram of the setting method of the material car positioning cylinder;

[0031] Fig. 22 This is a schematic diagram of the state of the material cart positioning cylinder after positioning the material cart;

[0032] Fig.23 It is a structural schematic diagram of the connecting piece installation mechanism;

[0033] Fig.24 It is a schematic diagram of the matching mode between the connector installation mechanism and the connector;

[0034] Fig.25 This is a schematic diagram of the state where the connector is installed on the positioning tube;

[0035] Fig.26 It is a schematic diagram of the setting method of the tightening machine;

[0036] Fig. 27 is a schematic diagram of the setting method of the rotary chuck;

[0037] Fig.28 It is a structural diagram of the assembly mechanism;

[0038] Fig.29 It is a top view of the assembly mechanism;

[0039] Fig.30 It is the front view of the assembly mechanism;

[0040] Fig.31 It is a schematic diagram of the structure of the pin shaft adjusting clamp.

[0041] Description of the drawings: 1- Storage mechanism,

[0042] 101-storage unit, 103-bracket, 104-visual inspection support unit, 105-first support rod, 106-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-connecting plate, 1017-limit roller, 1018-first lifting cylinder, 1019-lifting block, 1020-first limiting groove,

[0043] 2- Transfer institution,

[0044] 201- ceiling rail, 202- transfer robot, 203- fixture, 204- connection plate, 205- first connecting rod, 206- air claw, 207- first photoelectric sensor,

[0045] 3-Sawing mechanism,

[0046] 301-mounting rod, 302-end support plate, 303-pressing motor, 304-first swing arm, 305-pressing plate, 306-first servo drilling machine, 307-accommodating groove, 308-support block, 309-second photoelectric sensor, 3010-rack, 3011-waste slide, 3012-wrist arm, 3013-moving support plate, 3014-first servo drive, 3015-sawing pliers, 3016-sawing machine, 3017-sawing support plate, 3018-second servo drive, 3019-second servo drilling machine, 3020-flat wrist arm push plate, 3021-first pressing cylinder, 3022-first pressing Tightening rod, 3023-vertical plate, 3024-horizontal plate, 3025-fixed plate, 3026-through groove, 3027-first support roller, 3028-tightening block, 3029-second limiting groove, 3030-clamping cylinder, 3031-adjusting cylinder, 3032-slide rail, 3033-slider, 3034-column, 3035-U-shaped groove, 3036-roller, 3037-long groove, 3038-laser ranging sensor, 3039-side plate, 3040-connecting shaft, 3041-rotating plate, 3042-oblique wrist arm positioning pin, 3043-second lifting cylinder, 3044-pushing cylinder, 3045-first mounting plate,

[0047] 4-Transfer positioning mechanism,

[0048] 401-flat wrist arm transfer positioning unit, 402-connecting strip, 403-positioning seat, 404-oblique wrist arm transfer positioning unit, 405-flat wrist arm transfer positioning base plate, 406-flat wrist arm transfer positioning pin, 407-movable plate, 408-flat wrist arm transfer positioning guide rail, 409-flat wrist arm transfer positioning cylinder, 4010-oblique wrist arm transfer positioning base plate, 4011-oblique wrist arm transfer positioning pin, 4012-buffer, 4013-fixed block, 4014-limiting bolt, 4015-pressing block, 4016-pressing block vertical drive cylinder, 4017-pressing block horizontal drive cylinder,

[0049] 5-Connector feeding mechanism,

[0050] 501-positioning plate, 502-cart positioning mechanism, 503-cart, 504-cart, 505-connecting piece, 506-first rotating body, 507-second rotating body, 508-fastening bolt, 509-fastening nut, 5010-first hanging plate, 5011-main positioning column, 5012-connecting piece positioning bottom plate, 5013-bolt limiting plate, 5014-spring, 5015-pin, 501 6- extension plate, 5017- connecting plate, 5018- third photoelectric sensor, 5019- blocking rod, 5020- slot, 5021- positioning support plate, 5022- guide plate, 5023- upper slide, 5024- inclined slide, 5025- lower slide, 5026- slide rod, 5027- material car positioning cylinder, 5028- first support seat, 5029- positioning top block, 5030- linkage rod,

[0051] 6-Connector installation mechanism,

[0052] 601-base, 602-main support plate, 603-third mounting plate, 604-mounting seat, 605-fourth photoelectric sensor, 606-connector positioning cylinder, 607-connector positioning pin, 608-centering clamp, 609-clamping plate, 6010-roller, 6011-second suspension plate, 6012-through hole, 6013-connecting arm, 6014-connector pin, 6015-support table, 6016-external fixing plate, 6017-first pin, 6018-second pressing gas Cylinder, 6019-second pin, 6020-rotating connecting plate, 6021-second connecting rod, 6022-inner fixed plate, 6023-second swing arm, 6024-second clamping rod, 6025-preload cylinder, 6026-preload block, 6027-wrist arm, 6028-tightening machine, 6029-bottom plate, 6030-support cylinder, 6031-second support rod, 6032-mounting block, 6033-secondary support plate, 6034-second support roller, 6035-annular positioning groove,

[0053] 7-Assembly mechanism,

[0054] 701-second support seat, 702-pin material channel, 703-pin, 704-pin lateral conveying unit, 705-pin lifting slide, 706-pin transfer clamp, 707-pin adjustment clamp, 708-first connecting plate, 709-second connecting plate, 7010-flat wrist arm, 7011-oblique wrist arm, 7012-pin locking clamp, 7013-moving plate, 7014-slideway adjustment cylinder, 7015-lateral push cylinder, 7016-guide rail, 7017-second mounting plate, 7018-open pin slideway, 7019-first Split pin push rod, 7020-second split pin push rod, 7021-split pin rack, 7022-split pin, 7023-head, 7024-split pin socket, 7025-motor, 7026-cavity, 7027-sleeve, 7028-telescopic rod, 7029-limit block, 7030-spring, 7031-positioning plug, 7032-visual slide, 7033-visual camera, 7034-robot, 7035-wrist arm clamp adjustment cylinder, 7036-wrist arm clamp, 7037-flat wrist arm base, 7038-oblique wrist arm base,

[0055] 8-Inkjet printer,

[0056] 9- Rotate the chuck. DETAILED DESCRIPTION

[0057] 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.

[0058] A simplified flat and oblique arm pre-assembly system for arm pre-assembly comprises a pipe feeding mechanism 1, a transfer mechanism 2, a sawing mechanism 3 and a transfer positioning mechanism 4 which are arranged in sequence.

[0059] The pipe feeding mechanism 1 includes a storage unit 101, and the storage unit 101 includes a plurality of material racks 109. Two parallel baffles 106 are fixedly arranged on the material racks 109, and two inclined support rods 105 are arranged between the two baffles 106, and the support rods 105 and the baffles 106 are parallel to each other. An end positioning cylinder 1010 is fixedly connected to the outer side of one of the baffles 106, and the piston rod of the end positioning cylinder 1010 extends between the two baffles 106.

[0060] The transfer mechanism 2 includes a ceiling rail 201 , the ceiling rail 201 is drivingly connected to a transfer robot 202 , the transfer robot 202 is drivingly connected to a fixture 203 , and the fixture 203 has at least one air gripper 206 .

[0061] It includes a support assembly for supporting the wrist arm 3012 and a sawing assembly for sawing the wrist arm 3012.

[0062] The supporting assembly includes a plurality of sawing pliers 3015 distributed along a straight line. The sawing pliers 3015 include a fixing plate 3025 and a tightening block 3028 for tightening the wrist arm 3012 onto the fixing plate 3025 .

[0063] The sawing assembly includes a sawing machine 3016 , a first driving unit for driving the sawing machine 3016 to move in the radial direction of the arm 3012 , and a second driving unit for driving the sawing machine 3016 to move in the axial direction of the arm 3012 .

[0064] The transfer positioning mechanism 4 includes a flat arm transfer positioning unit 401 and an oblique arm transfer positioning unit 404. A plurality of positioning seats 403 for supporting the arm 3012 are arranged between the flat arm transfer positioning unit 401 and the oblique arm transfer positioning unit 404, and all the positioning seats 403 are distributed along a straight line.

[0065] When the present invention is in use, firstly, the pipe fittings for processing the flat wrist arm and the oblique wrist arm are placed in the pipe feeding mechanism 1, and then the pipe feeding mechanism 1 adjusts the pipe fittings, and then the transfer mechanism 2 transfers the pipe fittings to the sawing mechanism 3 for processing. Because the pipe feeding mechanism 1 has adjusted the pipe fittings, the transfer mechanism 2 can accurately grasp the pipe fittings and transfer them. Then the sawing mechanism 3 saws the pipe fittings to obtain the finished flat wrist arm and the oblique wrist arm. Thereafter, the transfer mechanism 2 transfers the finished flat wrist arm and the oblique wrist arm to the transfer positioning mechanism 4, and finally the transfer positioning mechanism 4 positions the finished flat wrist arm and the oblique wrist arm, so as to improve the assembly efficiency and accuracy in the subsequent assembly process of the flat wrist arm and the oblique wrist arm.

[0066] 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 support rod 105 and between the two baffles 106. Because the support rod 105 is tilted, the pipe fittings will roll downward along the 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 another baffle 106. Under the action of the end positioning cylinder 1010, the positions of all pipe fittings entering the material rack 109 are consistent.

[0067] The specific working process of the transfer mechanism 2 is as follows: when pipe fittings are stored in the storage unit 101, the transfer mechanism 2 can be started, and the overhead rail 201 first drives the transfer robot 202 to move to a position corresponding to the material rack 109, and then the transfer robot 202 moves the fixture 203 to close to the pipe fitting. During the process, the air claw 206 opens, and then the transfer robot 202 uses the air claw 206 to grab the pipe fitting. Finally, the transfer robot 202 and the overhead rail 201 can work together to transfer the pipe fitting to the wrist-arm processing equipment for processing.

[0068] The specific working process of the sawing mechanism 3 is: first, the support assembly is used to support the arm 3012, specifically, the clamping block 3028 is used to tighten the arm 3012 to the fixed plate 3025 to clamp the arm 3012, and then the first drive unit is used to drive the sawing machine 3016 to extend along the length direction of the arm 3012. After reaching the target position, the second drive unit is used to drive the sawing machine 3016 to extend along the radial direction of the arm 3012, so that the sawing machine 3016 can cut off the arm 3012 and complete the sawing process of the arm 3012.

[0069] The specific working process of the transfer positioning mechanism 4 is as follows: when the flat wrist arm needs to be positioned, the transfer mechanism 2 places the flat wrist arm on the positioning seat 403, and uses the positioning seat 403 to support the flat wrist arm, and then the flat wrist arm transfer positioning unit 401 positions the flat wrist arm; when the oblique wrist arm needs to be positioned, the transfer mechanism 2 places the oblique wrist arm on the positioning seat 403, and uses the positioning seat 403 to support the oblique wrist arm, and then the oblique wrist arm transfer positioning unit 404 positions the oblique wrist arm.

[0070] The present invention can automatically complete the sawing processing and transfer positioning of the flat wrist arm and the oblique wrist arm, has higher processing efficiency, and is convenient for subsequently assembling the flat wrist arm and the oblique wrist arm together.

[0071] In order to ensure the matching of models during the subsequent assembly of the flat arm and the oblique arm, a printer 8 is provided between the sawing mechanism 3 and the transfer positioning mechanism 4. The transfer mechanism 2 uses the printer 8 to print codes on the flat arm or the oblique arm during the process of transferring the flat arm or the oblique arm from the sawing mechanism 3 to the transfer positioning mechanism 4, so as to distinguish different models of flat arms or oblique arms.

[0072] The material storage unit 101 includes a plurality of material racks 109 , on which two parallel baffles 106 are fixedly provided, two inclined support rods 105 are provided between the two baffles 106 , and the support rods 105 and the baffles 106 are parallel to each other, and an end positioning cylinder 1010 is fixedly connected to the outer side of one of the baffles 106 , and the piston rod of the end positioning cylinder 1010 extends between the two baffles 106 .

[0073] In order to improve space utilization and simplify the complexity of the control program of the transfer robot 202, the storage unit 101 includes a bracket 103, and all the racks 109 are fixedly arranged on the bracket 103, and all the racks 109 are arranged in order from top to bottom. No matter which pipe on which rack 109 the transfer robot 202 needs to grab, the overhead rail 201 can move the transfer robot 202 to a fixed position, and there is no need to constantly adjust the position of the transfer robot 202 according to the position of the rack 109, thereby simplifying the complexity of the control program of the transfer robot 202 and improving the overall loading efficiency.

[0074] 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.

[0075] The specific setting method of the limiter is as follows: the lower end of the support rod 105 is integrally connected to the limiter rod 108, the limiter rod 108 and the support rod 105 are perpendicular to each other, and there is a smooth transition between the limiter rod 108 and the support rod 105, and the end positioning cylinder 1010 is close to the side of the limiter rod 108.

[0076] 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 support rod 105. The check units 107 include a torsion spring hinge 1015, one of the connecting plates 1016 of the torsion spring hinge 1015 is fixedly connected to the rack 109, and the other 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.

[0077] 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 203. Therefore, one of the material racks 109 is fixedly provided with multiple jacking units, and the jacking unit includes a first jacking cylinder 1018 fixedly connected to the material rack 109. The piston rod of the first jacking cylinder 1018 extends upward and is fixedly connected to a jacking block 1019. The jacking block 1019 is provided with a first limiting groove 1020 for accommodating the pipe fitting. The side of the end positioning cylinder 1010 on the material rack 109 is fixedly provided with an isolation positioning cylinder 11, and a distance is left between the end positioning cylinder 1010 and the isolation positioning cylinder 11. Before the clamp 203 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 11 is set. The end positioning cylinder 1010 and the isolation positioning cylinder 11 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.

[0078] The specific structure of the fixture 203 is as follows: the fixture 203 includes a connecting rod 205, the connecting rod 205 is fixedly connected to the transfer robot 202 through a connecting plate 204, and the air gripper 206 is fixedly connected to the connecting rod 205. According to the size of the arm to be processed, the size of the various pipes to be used can be determined, and then the distance between the two air grippers 206 can be determined according to the size of the pipes. On the premise that the two air grippers 206 can smoothly grab the pipes, the length of the connecting rod 205 and the distance between the two air grippers 206 can be reduced, thereby reducing the weight of the fixture 203 and then reducing the load of the transfer robot 202.

[0079] In order to avoid the situation of empty grasping, that is, the air gripper 206 moves the clamp 203 away without grasping the pipe transfer robot 202, a first through-beam photoelectric sensor 207 is fixedly provided on the air gripper 206, and the extension direction of the detection light of the first through-beam photoelectric sensor 207 is the same as the opening and closing direction of the air gripper 206. When the air gripper 206 has grasped the pipe, the detection light of the first through-beam photoelectric sensor 207 is blocked by the pipe, thereby achieving the effect of judging whether the air gripper 206 has grasped the pipe.

[0080] The supporting assembly includes a plurality of sawing pliers 3015 distributed along a straight line. The sawing pliers 3015 include a fixing plate 3025 and a tightening block 3028 for tightening the wrist arm 3012 onto the fixing plate 3025 .

[0081] The sawing assembly includes a sawing machine 3016 , a first driving unit for driving the sawing machine 3016 to move in the radial direction of the arm 3012 , and a second driving unit for driving the sawing machine 3016 to move in the axial direction of the arm 3012 .

[0082] In order to better support the wrist arm 3012 and ensure that the wrist arm 3012 remains stable during the sawing process, thereby improving the sawing accuracy, the support assembly includes two mounting rods 301 that are parallel to each other and fixedly connected, the mounting rods 301 are horizontally arranged, the sawing clamp 3015 is movably connected to the two mounting rods 301, and the two mounting rods 301 are also movably connected to the columns 3034, the columns 3034 are fixedly provided with U-shaped grooves 3035, and a plurality of rollers 3036 are rotatably arranged in the U-shaped grooves 3035, and the wrist arm 3012 passes through the U-shaped grooves 3035 and is placed on the rollers 3036. The length of the arm 3012 will change during the sawing process. The sawing clamp 3015 can move along the mounting rod 301 according to the current length of the arm 3012, so as to support the arm 3012 at a suitable position to prevent the end of the arm 3012 from being suspended in the air, thereby ensuring the stability of the arm 3012. The column 3034 and the U-shaped groove 3035 cooperate to further enhance the stability of the arm 3012. Considering that the sawing machine 3016 will cause the arm 3012 to vibrate when sawing the arm 3012, which is more likely to cause the arm 3012 to deviate, the column 3034 can be set on the side of the sawing machine 3016 and move along the axial direction of the arm 3012 synchronously with the sawing machine 3016. The roller 3036 is used to enable the arm 3012 to still move axially after entering the U-shaped groove 3035, thereby facilitating the adjustment of the position of the arm 3012 to determine the initial position of the arm 3012, thereby further improving the processing accuracy.

[0083] The specific movement setting method of the sawing pliers 3015 is as follows: the sawing pliers 3015 is set on a movable support plate 3013, and the movable support plate 3013 is slidably connected to the mounting rod 301, and a first servo driver 3014 is vertically set on the movable support plate 3013, and the first servo driver 3014 is driven and connected with a gear, and the gear is located below the movable support plate 3013, and a rack 3010 extending along the length direction is also fixedly set on the mounting rod 301, and the rack 3010 cooperates with the gear, and the first servo driver 3014 drives the gear to rotate, and the gear cooperates with the rack 3010 so that the gear can move along the rack 3010, thereby driving the movable support plate 3013 and the sawing pliers 3015 to move. In order to ensure that the direction of the movable support plate 3013 will not deviate, two tracks can be fixedly set on the mounting rod 301, and the movable support plate 3013 is slidably connected to the two tracks, so that the two tracks are used to guide the movable support plate 3013.

[0084] The second drive unit can adopt a similar structure, that is, the sawing machine 3016 is set on a sawing support plate 3017, the sawing support plate 3017 is movably set on two mounting rods 301, and the sawing support plate 3017 is slidably connected to both rails, and the second drive unit includes a second servo driver 3018 vertically set on the sawing support plate 3017, and the second servo driver 3018 is also driven and connected to a gear located below the sawing support plate 3017 and matching with the rack 3010. The second servo driver 3018 drives the gear to rotate, and the sawing support plate 3017 is driven to move on the mounting rod 301 by the cooperation of the gear and the rack 3010, thereby driving the sawing machine 3016 to move along the axial direction of the arm 3012. In this embodiment, the first servo driver 3014 and the second servo driver 3018 can be set as motors.

[0085] On the basis of the sawing support plate 3017, the first driving unit includes two slide rails 3032 fixedly arranged on the sawing support plate 3017, and the slide rails 3032 are perpendicular to the mounting rod 301, and a slider 3033 is slidably arranged on the slide rails 3032, and the two sliders 3033 are fixedly connected with a movable block, and the movable block is fixedly connected with the sawing machine 3016, and the movable block is fixedly connected with an adjusting cylinder 3031, and the piston rod of the adjusting cylinder 3031 is parallel to the slide rails 3032. When it is necessary to make the sawing machine 3016 move along the radial direction of the arm 3012 to saw the arm 3012, the adjusting cylinder 3031 is started, and the movable block and the slider 3033 are pushed to move along the slide rails 3032, and the movable block drives the sawing machine 3016 to move during the movement, so as to adjust the position of the sawing machine 3016, and then the sawing machine 3016 is used to saw the arm 3012.

[0086] In order to improve sawing accuracy, it is necessary to fine-tune the position of the arm 3012 before the arm 3012 is fixed by the sawing pliers 3015. In order to ensure that the arm 3012 can move in the sawing pliers 3015, a plurality of through slots 3026 are provided on the fixing plate 3025. A support roller 3027 is rotatably provided in the through slot 3026, and the axis of the support roller 3027 is perpendicular to the axis of the arm 3012. A second limiting slot 3029 is provided on the tightening block 3028, and the second limiting slot 3029 extends along the axial direction of the arm 3012. While supporting the arm 3012, the support roller 3027 can also use its own rotatable characteristics to avoid excessive resistance to the arm 3012 during the movement of the arm 3012, thereby ensuring that the position of the arm 3012 can be fine-tuned by moving the arm 3012.

[0087] The specific structure of the sawing pliers 3015 further includes a vertical plate 3023 fixedly set on the movable support plate 3013, and the two vertical plates 3023 are parallel to each other, a horizontal plate 3024 is fixedly connected between the tops of the two vertical plates 3023, the fixed plate 3025 is vertically fixed on the horizontal plate 3024, the tightening block 3028 is slidably set on the horizontal plate 3024, and a clamping cylinder 3030 is also fixedly set on the horizontal plate 3024, and the clamping cylinder 3030 is drivingly connected to the tightening block 3028. When the tightening block 3028 tightens the arm 3012 onto the fixing plate 3025, the tightening block 3028 and the fixing plate 3025 can prevent the arm 3012 from shaking horizontally. In order to further prevent the arm 3012 from shaking vertically, a second limiting groove 3029 is provided on the side of the tightening block 3028 facing the fixing plate 3025. The second limiting groove 3029 extends along the length direction of the arm 3012 and passes through two oppositely arranged side walls of the tightening block 3028. When the tightening block 3028 tightens the arm 3012 onto the fixing plate 3025, the arm 3012 is located in the second limiting groove 3029 and will not shake in the vertical direction.

[0088] Normally, the arm 3012 is configured as a flat arm or an oblique arm. In order to further improve the processing efficiency of the device so that the device can process both flat arms and oblique arms, the support assembly includes a flat arm positioning unit for positioning the end of the flat arm and an oblique arm positioning unit for positioning the end of the oblique arm.

[0089] The specific structure of the flat wrist arm positioning unit is as follows: the flat wrist arm positioning unit includes a fixed support block 308, a receiving slot 307 for receiving the flat wrist arm is provided on the support block 308, a clamping motor 303 is fixedly provided on the side of the support block 308, the clamping motor 303 is driven and connected to at least one swing arm 304, and all the swing arms 304 are commonly fixedly connected to a pressing plate 305 for pressing the wrist arm 3012 in the receiving slot 307. The support block 308 cooperates with the support assembly to support the flat wrist arm, further ensuring the stability of the flat wrist arm during the sawing process, after the flat wrist arm is placed in the receiving slot 307, the clamping motor 30303 is started, the clamping motor 303 drives the swing arm 304 to swing, and then the swing arm 304 drives the pressing plate 305 to press the flat wrist arm on the support block 308, thereby fixing the position of the flat wrist arm. The support block 308 is fixedly disposed on an end support plate 302 , and the end support plate 302 is fixedly disposed on one end of the mounting rod 301 .

[0090] Considering that it is difficult to accurately control the position of the flat arm during the process of placing the flat arm on the support assembly and the support block 308, it is necessary to further adjust the flat arm. Accordingly, the flat arm positioning unit includes a flat arm push plate 3020 that is movably arranged at one end of the flat arm, and the flat arm push plate 3020 is perpendicular to the flat arm, and a long slot 3037 is provided on the flat arm push plate 3020. A laser distance sensor 3038 is provided on the side of the flat arm push plate 3020 that is not facing the flat arm, and the detection light of the laser distance sensor 3038 passes through the long slot 3037. After the flat arm is placed on the support assembly and the support block 308, the flat arm is pushed to move along the axial direction by the flat arm push plate 3020, and the flat arm is measured by the laser distance sensor 3038, and the position of the flat arm is accurately determined by the distance between the flat arm and the laser distance sensor 3038.

[0091] The specific structure of the oblique wrist arm positioning unit is as follows: a positioning hole is provided at one end of the oblique wrist arm, and the oblique wrist arm positioning unit includes an oblique wrist arm positioning pin 3042 that is movably arranged, and the oblique wrist arm positioning pin 3042 matches the positioning hole. The oblique wrist arm is positioned using its own structure, which is convenient, fast, and accurate. The oblique wrist arm positioning pin 3042 is also fixedly connected to a second lifting cylinder 3043, and the second lifting cylinder 3043 is used to push the oblique wrist arm positioning pin 3042 up and down. When the oblique wrist arm is placed on a support assembly for support, the second lifting cylinder 3043 pushes the oblique wrist arm positioning pin 3042 upward through the positioning hole.

[0092] In order to further ensure the stability of the oblique arm, the oblique arm positioning unit includes a fixed support block 308 and a clamping cylinder 3021. The support block 308 is provided with a receiving groove 307 for receiving the oblique arm. The clamping cylinder 3021 is driven and connected to at least one rotating plate 3041. All rotating plates 3041 are commonly fixedly connected to a clamping rod 3022 for clamping the oblique arm in the receiving groove 307. After the oblique arm positioning pin 3042 passes through the positioning hole to position the oblique arm, the clamping cylinder 3021 drives the rotating plate 3041 to rotate. During the rotation process, the rotating plate 3041 drives the clamping rod 3022 to rotate synchronously until the clamping rod 3022 presses the oblique arm onto the supporting structure. In addition, the oblique wrist arm positioning unit also includes a support block 308 and a clamping motor 303. The support block 308 is used to cooperate with the support assembly to support the oblique wrist arm. The clamping motor 303 also drives a pressure plate 305 connected to the support block 308 for clamping the oblique wrist arm onto the support block 308.

[0093] The structure of the oblique arm positioning unit also includes a horizontally fixed mounting plate 3045, a second lifting cylinder 3043 is arranged below the mounting plate 3045, the pressing cylinder 3021 is fixedly connected to the mounting plate 3045, and two mutually parallel side plates 3039 are fixedly arranged on the mounting plate 3045, and the two side plates 3039 are each rotatably connected to a rotating plate 3041, and a connecting shaft 3040 is fixedly connected between the two rotating plates 3041, and a sleeve is provided on the connecting shaft 3040 The shaft sleeve has an inner diameter larger than the diameter of the connecting shaft 3040. The piston rod of the clamping cylinder 3021 is fixedly connected to the shaft sleeve. When the clamping cylinder 3021 is actuated, the piston rod pushes the shaft sleeve to move, and then the shaft sleeve drives the connecting shaft 3040 to move. The connecting shaft 3040 drives the two rotating plates 3041 to rotate during the movement. The rotating plate 3041 drives the clamping rod 3022 to rotate during the rotation until the clamping rod 3022 presses the oblique wrist arm to the upper position of the support block 308.

[0094] In order to improve the versatility of the present invention, ensure that both flat and inclined wrist arms can be processed, and reduce the complexity of the device, the flat wrist arm push plate 3020 and the laser ranging sensor 3038 in the flat wrist arm positioning unit are also arranged on the mounting plate 3045, and accordingly, a pushing cylinder 3044 is also fixedly arranged on the mounting plate 3045, and the pushing cylinder 3044 is used to push the flat wrist arm push plate 3020.

[0095] In order to ensure that the flat wrist arm positioning unit and the oblique wrist arm positioning unit can function normally, a second opposing photoelectric sensor 309 is fixedly arranged on the support block 308, and the detection light of the second opposing photoelectric sensor 309 is perpendicular to the accommodating groove 307. The second opposing photoelectric sensor 309 can be used to detect whether the flat wrist arm and the oblique wrist arm have successfully entered the accommodating groove 307, and other structures can be started after they have successfully entered the accommodating groove 307.

[0096] In addition to sawing, in order to facilitate the subsequent processing and assembly process, the device includes a drilling mechanism for drilling holes on the arm 3012, and the drilling mechanism includes at least one servo drilling machine arranged on the side of the arm 3012. In this embodiment, two servo drilling machines are provided, namely a fixed first servo drilling machine 6 and a movable second servo drilling machine 3019.

[0097] After the sawing is completed, the sawn portion of the arm 3012 becomes waste. In order to better collect the waste, the device further includes a waste chute 3011 obliquely arranged below the arm 3012. After falling, the waste falls into the waste chute 3011 and slides down along the waste chute 3011. A special receiving device can be arranged below the waste chute 3011 to receive the waste.

[0098] The specific structure of the flat arm transfer positioning unit 401 is as follows: the flat arm transfer positioning unit 401 includes a flat arm transfer positioning base plate 405, and at least one flat arm transfer positioning pin 406 is movably provided on the flat arm transfer positioning base plate 405. The flat arm and the oblique arm are mainly connected by a connecting piece, and the connecting piece and the flat arm are connected by a pin shaft, so at least one pin hole for penetrating the pin shaft is opened at the end of the flat arm, so in the present invention, the flat arm transfer positioning unit 401 mainly completes the positioning of the flat arm by the cooperation of the flat arm transfer positioning pin 406 and the pin hole.

[0099] In order to ensure the stability of the connection between the connecting piece and the flat wrist arm, two pin holes are generally provided, so two flat wrist arm transfer positioning pins 406 are provided, and the two flat wrist arm transfer positioning pins 406 are arranged opposite to each other, and two flat wrist arm transfer positioning cylinders 409 are fixedly provided on the flat wrist arm transfer positioning base plate 405, and the two flat wrist arm transfer positioning cylinders 409 are respectively connected to the two flat wrist arm transfer positioning pins 406. After the flat wrist arm is placed on the positioning seat 403, the position of the flat wrist arm is fine-tuned by the transfer robot 202 until the pin hole is aligned with the flat wrist arm transfer positioning pin 406, and the flat wrist arm transfer positioning cylinder 409 is used to drive the flat wrist arm transfer positioning pin 406 to move, and the flat wrist arm transfer positioning cylinder 409 can stop after the flat wrist arm transfer positioning pin 406 is successfully inserted into the pin hole.

[0100] In order to accurately control the direction of the flat arm transfer positioning pin 406, a flat arm transfer positioning guide rail 408 is provided on the side of the flat arm transfer positioning cylinder 409, and the flat arm transfer positioning guide rail 408 and the flat arm transfer positioning cylinder 409 are parallel to each other, and a movable plate 407 is slidably connected to the flat arm transfer positioning guide rail 408, the flat arm transfer positioning cylinder 409 is drivingly connected to the movable plate 407, and the flat arm transfer positioning pin 406 is fixedly arranged on the movable plate 407. When the flat arm transfer positioning cylinder 409 is in operation, it first moves the movable plate 407, and the movable plate 407 is limited by the flat arm transfer positioning guide rail 408 during the movement, thereby ensuring the stability of the moving direction of the movable plate 407, and then the movable plate 407 drives the flat arm transfer positioning pin 406 to move, thereby ensuring that the flat arm transfer positioning pin 406 can be accurately inserted into the pin hole.

[0101] The specific structure of the oblique arm transfer positioning unit 404 is as follows: the oblique arm transfer positioning unit 404 includes an oblique arm transfer positioning base plate 4010, and an oblique arm transfer positioning pin 4011 is vertically fixed on the oblique arm transfer positioning base plate 4010. The oblique arm and the connecting member are connected in a manner that the connecting member is fixedly connected with a double-ear connecting plate, and the oblique arm is fixedly connected with a single-ear connecting plate, and the single-ear connecting plate is inserted between the double-ear connecting plates and connected with the double-ear connecting plates through a pin shaft, so a pin hole is provided on the single-ear connecting plate. The present invention sets an oblique arm transfer positioning pin 4011 in the oblique arm transfer positioning unit 404 according to the structural characteristics of the oblique arm, and uses the oblique arm transfer positioning pin 4011 to cooperate with the pin hole of the single-ear connecting plate to complete the positioning of the oblique arm, which is simple and quick.

[0102] In order to ensure the stability of the oblique arm, a pressure block vertical driving cylinder 4016 is provided on the oblique arm transfer positioning base plate 4010, and the pressure block vertical driving cylinder 4016 drives the pressure block 4015, and the pressure block 4015 is provided with a socket matching the oblique arm transfer positioning pin 4011. After the oblique arm transfer positioning pin 4011 is successfully inserted into the pin hole on the single-ear connecting plate, the pressure block vertical driving cylinder 4016 is used to drive the pressure block 4015 to move downward. During the movement of the pressure block 4015, the oblique arm transfer positioning pin 4011 first enters the socket, and then the pressure block 4015 continues to move downward to press the single-ear connecting plate onto the oblique arm transfer positioning base plate 4010 to press the oblique arm, thereby ensuring the positioning accuracy.

[0103] If the pressure block 4015 is directly set above the inclined arm transfer positioning pin 4011, the control process of the pressure block 4015 can be simplified, but it will interfere with the connection between the inclined arm and the inclined arm transfer positioning pin 4011. Therefore, a pressure block horizontal driving cylinder 4017 is fixed on the inclined arm transfer positioning base plate 4010, and the pressure block horizontal driving cylinder 4017 is driven and connected to the pressure block vertical driving cylinder 4016. In the initial state, the pressing block horizontal driving cylinder 4017 retracts the pressing block vertical driving cylinder 4016 to expose the oblique arm transfer positioning pin 4011, ensuring that the oblique arm can be smoothly connected to the oblique arm transfer positioning pin 11. After the oblique arm transfer positioning pin 4015 is inserted into the pin hole on the single-ear connecting plate, the pressing block horizontal driving cylinder 4017 drives the pressing block vertical driving cylinder 4016 to move until the pressing block 4015 moves above the oblique arm transfer positioning pin 4011. Finally, the pressing block 4015 is driven by the pressing block vertical driving cylinder 4016 to press the oblique arm.

[0104] In order to ensure that the pressing block 4015 can smoothly reach the top of the oblique arm transfer positioning pin 4011 and avoid misalignment, a buffer 4012 and a fixed block 4013 are fixedly arranged on the oblique arm transfer positioning base plate 4010, wherein the buffer 4012 faces the pressing block horizontal driving cylinder 4017, and a limiting bolt 4014 is pierced through the fixed block 4013, and the limiting bolt 4014 faces the pressing block horizontal driving cylinder 4017. The position of the limiting bolt 4014 can be changed by rotating the limiting bolt 4014, so that the pressing block 4015 reaches the top of the oblique arm transfer positioning pin 4011 when the pressing block vertical driving cylinder 4016 contacts the limiting bolt 4014. At the same time, in order to avoid the pressing block vertical driving cylinder 4016 and the limiting bolt 4014 from rigidly colliding and causing damage, the buffer 4012 is provided to buffer the pressing block vertical driving cylinder 4016. The buffer 4012 may include an outer sleeve fixedly mounted on the oblique arm transfer positioning base plate 4010, one end of the outer sleeve is closed, a buffer rod is telescopically arranged in the outer sleeve, and the buffer rod is connected to the closed end of the outer sleeve by a spring, and the buffer rod extends from the other end of the outer sleeve to contact the pressure block vertical driving cylinder 4016.

[0105] In order to ensure the stability of the positions of all the positioning seats 403 and avoid the positioning seats 403 from deviating and causing the flat wrist arm or the oblique wrist arm to be unable to be smoothly placed on the positioning seats 403, all the positioning seats 403 are fixedly connected with a connecting strip 402. In order to improve the stability of the positioning seats 403 when supporting the flat wrist arm or the oblique wrist arm, a V-shaped groove for accommodating the flat wrist arm or the oblique wrist arm is provided on the positioning seats 403.

[0106] A simplified connecting piece supply system for wrist-arm processing comprises a positioning plate 501, a material cart 504 detachably connected to the positioning plate 501, a plurality of material trays 503 detachably arranged on the material cart 504, and a plurality of connectors for fixing connecting pieces 505 fixedly arranged on the material trays 503; a positioning mechanism 502 is arranged between the positioning plate 501 and the material cart 504; the positioning mechanism 502 comprises a through-beam photoelectric sensor 5018 fixedly arranged on the positioning plate 501 and a plurality of extension plates 5016; a baffle rod 5019 corresponding to the through-beam photoelectric sensor 5018 and a plurality of connecting plates 5017 corresponding one to one with the extension plates 5016 are fixedly arranged on the material cart 504; a slot 5020 for accommodating the extension plates 5016 is provided on the connecting plate 5017; and the connector comprises a base plate 5012 and a plurality of limiting members fixedly arranged on the base plate 5012 for limiting the connecting piece 505.

[0107] In this system, the positioning plate 501 is arranged on the side of the arm processing equipment, and the arm processing equipment can be the prior art. When in use, the connector 505 is first manually stacked on the tray 503, specifically, the connector 505 is placed on the bottom plate 5012 of the connector, and the connector 505 is limited by the limiter. The overall stacking of the connector 505 is completed by plugging, which is simple and fast, and it is convenient for the processing equipment to remove the connector 505 from the tray 503 during the subsequent processing. After the connecting parts 505 are stacked, the material cart 504 is moved until it reaches the side of the positioning plate 501. The moving method can be that the material cart 504 moves automatically or is manually pushed. Then the material cart 504 is positioned by the positioning mechanism 502. Specifically, the extension plate 5016 is first aligned with the slot 5020 on the connecting plate 5017, and then the material cart 504 is moved toward the direction of the positioning plate 501 until the blocking rod 5019 cuts off the detection light of the opposing photoelectric sensor 5018. At this time, the receiver of the opposing photoelectric sensor 5018 cannot receive the detection light, and the signal is interrupted. The wrist processing equipment can know that the connecting part 505 is in place through the opposing photoelectric sensor 5018, and then the wrist processing can begin.

[0108] The supply system of the present invention can conveniently stack and remove the connecting parts 505, and can accurately position the material cart 504 through the positioning mechanism 502, and then can accurately position the material tray 503 and the connecting parts 505, ultimately enabling the wrist arm processing equipment to quickly and accurately remove the connecting parts 505, thereby achieving the purpose of improving the wrist arm processing efficiency.

[0109] In order to ensure that the connecting member 505 is stable after being connected to the connector and to prevent the connecting member 505 from shaking and falling during the movement of the trolley 504, the limiting member includes a pin 5015 and a spring 5014 fixedly arranged on the bottom plate 5012, and a distance is left between the pin 5015 and the spring 5014, and the connecting member 505 is arranged between the pin 5015 and the spring 5014. After the connecting member 505 is stacked, the spring 5014 presses the connecting member 505 against the pin 5015, thereby completing the fixing of the connecting member 504. In order to facilitate the placement of the connecting member 505 between the pin 5015 and the spring 5014, the pin 5015 can be arranged vertically, and the upper end of the pin 5015 can be arranged as a tip, and the distance between the upper end of the pin 5015 and the spring 5014 is greater than the distance between the lower end of the pin 5015 and the spring 5014, so that the connecting member 505 can smoothly enter between the pin 5015 and the spring 5014, and the tip can guide the connecting member 505 during the movement of the connecting member 505 toward the bottom plate 5012. Further, usually the first rotating body 506 or the second rotating body 507 will connect two oppositely arranged suspension plates 5010, and the pin 5015 and the spring 5014 can be arranged on the outer sides of the two suspension plates 5010 respectively.

[0110] The commonly used connector 505 includes a first rotating body 506 and a second rotating body 507 which are rotatably connected, and the first rotating body 506 and the second rotating body 507 are detachably connected by a fastening bolt 508, and the fastening bolt 508 is provided with a fastening nut 509 in a matching sleeve, and the limiting member includes a bolt limiting plate 5013 fixedly arranged on the bottom plate 5012, and the axis of the bolt limiting plate 5013 and the fastening bolt 508 are parallel to each other. The fastening nut 509 can be limited by the bolt limiting plate 5013, so as to avoid the fastening bolt 508 from loosening due to the loosening of the fastening nut 509 during the movement of the material vehicle 504. The bolt limiting plate 5013 is arranged to be parallel to the axis of the fastening bolt 508, so that the bolt limiting plate 5013 will not hinder the fastening bolt 509 under the premise of being able to limit the fastening nut 509, thereby facilitating the connection of the connector 505 with the connector.

[0111] In order to further improve the stability of the connecting member 505 on the connector, the first rotating body 506 and the second rotating body 507 enclose a through hole for inserting the wrist arm, and the limiter includes a main positioning column 5011 vertically fixed on the bottom plate 5012. When the connecting member 505 is connected to the connector, the main positioning column 5011 is correspondingly inserted into the through hole. Considering that the structure of the connecting member 505 is relatively complex and not a standard geometric body, the wrist arm processing equipment often uses a mechanical claw to move the connecting member 505 during the processing process. In order to avoid obstruction to the mechanical claw, the height of the main positioning column 5011 needs to be less than the length of the through hole.

[0112] In actual situations, it is very difficult to accurately align the extension plate 5016 with the slot 5020. Therefore, a gradual correction method can be adopted during the movement of the trolley 504. Specifically, the part of the extension plate 5016 inserted into the slot 5020 is tapered, and the tapered insertion end can be easily inserted into the slot 5020. Thereafter, the extension plate 5016 can slide along the side wall of the slot 5020, thereby continuously adjusting the position of the connecting plate 5017 until the extension plate 5016 is completely aligned with the slot 5020.

[0113] Considering that the material cart 504 is movable, the material cart 504 may shake after being in place, causing it to separate from the positioning plate 501, thereby causing the positions of all the connecting parts 505 to change, so that the wrist-arm processing equipment cannot accurately position the connecting parts 505, and thus cannot smoothly remove the connecting parts 505. In order to avoid this situation, the invention further includes a clamping mechanism arranged on the side of the positioning plate 501, the clamping mechanism includes a cylinder 5027, and the output end of the cylinder 5027 faces the positioning plate 501, the cylinder 5027 is driven and connected to a top block 5029, and the bottom of the material cart 504 is fixedly connected to a linkage rod 5030 extending downward. After the material cart 504 is in place, the cylinder 5027 starts and pushes the top block 5029 to move, and then uses the top block 5029 to push the linkage rod 5030 toward the direction of the positioning plate 501, and the linkage rod 5030 drives the material cart 504 to move synchronously during the movement until the material cart 504 is pressed tightly, thereby preventing the material cart 504 from moving. In order to prevent the top block 5029 from obstructing the trolley 504 before the trolley 504 is in place, the trolley 504 can be moved along an oblique line from the side of the top block 5029, that is, the linkage rod 5030 is moved from the side to between the top block 5029 and the positioning plate 501.

[0114] The specific structure of the clamping mechanism is as follows: the clamping mechanism includes a support plate 5021, a support seat 5028 and two guide plates 5022 are fixedly arranged on the support plate 5021, the cylinder 5027 is rotatably connected to the support seat 5028, and the top block 5029 is slidably connected between the two guide plates 5022. The guide plate 5022 can support the top block 5029, so that the cylinder 5027 does not need to bear the top block 5029, thereby reducing the load of the cylinder 5027, improving the action efficiency of the cylinder 5027, and extending the service life of the cylinder 5027.

[0115] In order to ensure that the top block 5029 does not hinder the trolley 504 at all before it moves and allows the trolley 504 to move freely, a long groove is opened on the guide plate 5022, and the long groove includes an upper slide groove 5023 and a lower slide groove 5025 arranged up and down, and the upper slide groove 5023 and the lower slide groove 5025 are connected by an inclined slide groove 5024, and the top block 5029 is fixedly connected to a slide rod 5026, and the two ends of the slide rod 5026 are respectively slidably set in the two long grooves. Before the material cart 504 is in place, the cylinder 5027 is in the initial state, at which the slide bar 5026 is located in the lower slide groove 5025, and the height of the top block 5029 is the lowest. After the material cart 504 is in place, the cylinder 5027 pushes the top block 5029 to move, and the top block 5029 drives the slide bar 5026 to move synchronously. The slide bar 5026 moves out of the lower slide groove 5025 and moves to the upper slide groove 5023 after passing through the inclined slide groove 5024. The slide bar 5026 drives the top block 5029 to move upward synchronously during the sliding process until the top of the top block 5029 is higher than the lower end of the linkage rod 5030, and then it can contact with the linkage rod 5030 and push the linkage rod 5030. Because the cylinder 5027 is rotatably connected to the support seat 5028, the angle of the cylinder 5027 can change continuously with the movement of the top block 5029, and will not hinder the top block 5029.

[0116] The connector mounting mechanism 6 is used to mount the connector on a flat wrist arm or an inclined wrist arm. The connector includes two connecting arms 6013 rotatably connected by a connecting pin 6014. The two connecting arms 6013 enclose a mounting hole for accommodating the wrist arm 6027. One of the connecting arms 6013 is fixedly connected to at least one suspension plate 6011, and a through hole 6012 is provided on the suspension plate 6011. The device includes a robot for moving the wrist arm 6027 and the connector, a supporting mechanism for supporting the wrist arm 6027, and a positioning mechanism for positioning the connector and the wrist arm 6027.

[0117] The supporting mechanism includes a vertically arranged mounting plate 603 , on which a notch corresponding to the mounting hole is formed.

[0118] The positioning mechanism includes at least one positioning cylinder 606 , and the positioning cylinder 606 is driven and connected with a positioning pin 607 , and the positioning pin 607 faces the through hole 6012 .

[0119] When the present invention is in use, the robot is first used to move the connecting piece to the side of the mounting plate 603 and fit it with the mounting plate 603, and the mounting hole is aligned with the notch. Then the positioning cylinder 606 is started, and the positioning cylinder 606 pushes the positioning pin 607 to move until the positioning pin 607 penetrates into the through hole 6012 on the hanging plate 6011, thereby hanging the connecting piece to the side of the mounting plate 603. Then the robot releases the connecting piece and moves the wrist arm 6027 to the side of the mounting plate 603. Then the robot passes the wrist arm 6027 through the notch and allows the wrist arm 6027 to enter the mounting hole, so that the connecting piece can be connected with the wrist arm 6027.

[0120] The present invention uses the structure of the connector itself to position the connector through a positioning mechanism, and then connects the wrist arm 6027 to the connector. The entire process does not require human intervention, realizes automatic installation of the connector, and effectively improves the processing efficiency of the simplified wrist arm.

[0121] The specific configuration of the mounting plate 603 is as follows: the supporting mechanism further includes a base 601 , on which two main supporting plates 602 are vertically fixed, and the two main supporting plates 602 are parallel to each other, and the mounting plate 603 is fixedly disposed between the two main supporting plates 602 .

[0122] Taking into account that the wrist arm 6027 is made of pipe fittings and has a certain length, if the wrist arm 6027 is not stable enough when the robot inserts the wrist arm 6027 into the installation hole, it will cause installation difficulties. Therefore, it is necessary to ensure that the wrist arm 6027 is stable enough when moving toward the connecting piece. In order to achieve this goal, the support mechanism also includes a number of support units. The support unit includes a base plate 6029, and a support cylinder 6030 is fixedly arranged on the base plate 6029. The piston rod of the support cylinder 6030 extends vertically upward and is rotatably connected to a support roller 6034. The middle part of the support roller 6034 is provided with an annular positioning groove 6035 for accommodating the wrist arm 6027. After determining the position of the mounting plate 603 and the height of the notch, adjust the support cylinder 6030 and use the support cylinder 6030 to push the support roller 6034 upward until the lowest point at the bottom of the annular positioning groove 6035 and the lowest point of the notch are at the same height. After moving the wrist arm 6027 over, the robot places the wrist arm 6027 into the annular positioning groove 6035 and uses the annular positioning groove 6035 to prevent the wrist arm 6027 from shaking. In addition, because the support roller 6034 is rotating, it will not generate excessive resistance to the wrist arm 6027 during the process of moving the wrist arm 6027 toward the connecting piece, thereby ensuring that the wrist arm 6027 can be smoothly inserted into the mounting hole.

[0123] The specific structure of the support unit also includes a plurality of support rods 6031 vertically fixed on the bottom plate 6029, all the support rods 6031 are fixedly connected to the mounting block 6032, the piston rod of the support cylinder 6030 passes through the mounting block 6032, the mounting block 6032 is provided with a plurality of sockets, each socket is telescopically provided with a limit rod, all the limit rods are fixedly connected to the auxiliary support plate 6033, and the support roller 6034 is rotatably provided on the auxiliary support plate 6033. The limit rod is used to prevent the rotation of the auxiliary support plate 6033, thereby ensuring that the support roller 6034 will not deflect, and finally achieve the effect that when the wrist arm 6027 is placed in the annular positioning groove 6035, it can be aligned with the gap.

[0124] The positioning mechanism may also include a transmission block, which is fixedly connected between the positioning cylinder 606 and the positioning pin 607. Correspondingly, a support platform 6015 corresponding to the transmission block is fixedly arranged on the mounting plate 603. The transmission block 6015 can enhance stability and prevent the positioning pin 607 from being offset.

[0125] In order to further ensure that the wrist arm 6027 can accurately penetrate into the notch and the mounting hole without deviation, the positioning mechanism includes two centering jaws 608 fixedly connected to the mounting plate 603, and the two centering jaws 608 are respectively located on both sides of the notch. The two centering jaws 608 act synchronously to clamp the wrist arm 6027, and because the movement amounts of the two centering jaws 608 are also exactly the same, the position of the wrist arm 6027 that may have been in a deviated state can be adjusted.

[0126] In order to prevent the centering jaw 608 from causing wear to the arm 6027 and hindering the arm 6027 from moving toward the connecting piece, the centering jaw 608 is fixedly connected to a clamping plate 609, and the clamping plate 609 is rotatably connected to a plurality of rollers 6010, and the axes of the rollers 6010 are perpendicular to the mounting plate 603. There is sliding friction between the rollers 6010 and the arm 6027, and the friction force is small, so it will not cause wear to the arm 6027, and ensure that the arm 6027 can move normally.

[0127] In order to further ensure the stability of the connecting piece and prevent the connecting piece from swinging when the arm 6027 is inserted into the mounting hole, the device also includes a plurality of clamping units for clamping the connecting piece onto the mounting plate 603. The clamping unit includes a mounting seat 604 fixedly connected to the mounting plate 603. The mounting seat 604 is fixedly connected to two oppositely arranged outer fixing plates 6016 and two oppositely arranged inner fixing plates 6022. The two inner fixing plates 6022 are both located between the two outer fixing plates 6016, and the inner fixing plates 6022 are fixedly connected to the mounting plate 603. Plate 6022 and the outer fixed plate 6016 are parallel to each other, and a clamping cylinder 6018 is rotatably connected between the two outer fixed plates 6016. The piston rod of the clamping cylinder 6018 is rotatably connected to a connecting rod 6021 through a first pin shaft 6017. The connecting rod 6021 is rotatably connected to a swing arm 6023. The swing arm 6023 is rotatably connected to both inner fixed plates 6022. The swing arm 6023 is also fixedly connected to a clamping rod 6024 away from the swing arm 6023, and an angle is left between the clamping rod 6024 and the swing arm 6023. After the positioning mechanism is used to position the connector, the clamping cylinder 6018 is started and pushes the connecting rod 6021 to rotate, and the connecting rod 6021 pushes the swing arm 6023 to move. Since the swing arm 6023 is rotatably connected to the two inner fixing plates 6022, the swing arm 6023 will rotate, and then the swing arm 6023 drives the clamping rod 6024 to rotate until the clamping rod 6024 presses the connector onto the mounting plate 603. The initial state of the clamping unit is as follows: Fig.23 As shown, the state after the pressing unit presses the connecting member onto the mounting plate 603 is as follows Fig.24 According to different installation positions of the pressing unit, the angle between the swing arm 6023 and the pressing rod 6024 can be adjusted. In this embodiment, the angle between the swing arm 6023 and the pressing rod 6024 is a right angle.

[0128] The specific configuration of the connecting rod 6021 is as follows: the piston rod of the compression cylinder 6018 is connected to the connecting rod 6021 via a second pin shaft 6019, and each end of the second pin shaft 6019 is rotatably connected to a rotating connecting piece 6020, and the two rotating connecting pieces 6020 are respectively rotatably connected to the two inner fixing plates 6022. The rotating connecting piece 6020 is used to limit the rotation trajectory of the connecting rod 6021 on the one hand, and also plays a role of reinforcement on the other hand.

[0129] In order to further fix the connecting piece and facilitate the subsequent fastening of the connecting piece to the wrist arm 6027, the device also includes a pre-tightening mechanism, which includes a pre-tightening cylinder 6025 fixedly connected to the mounting plate 603, and the piston rod of the pre-tightening cylinder 6025 faces one of the connecting arms 6013 and is fixedly connected to a pre-tightening block 6026. After the pressing unit presses the connecting piece, the pre-tightening cylinder 6025 starts and pushes the pre-tightening block 6026 to move in the direction of the connecting piece. Specifically, the pre-tightening block 6026 first contacts one of the connecting arms 6013 during the movement, and then pushes the connecting arm 6013 to move toward the other connecting arm 6013, thereby reducing the distance between the two connecting arms 6013, and achieving the purpose of pre-tightening the connecting piece.

[0130] In order to fully improve the connection strength between the connecting member and the arm 6027, the connecting member and the arm 6027 are preferably fixedly connected. In the invention, the connecting member and the arm 6027 are fixedly connected by bolts, and the corresponding device includes a tightening machine 6028, and the tightening machine 6028 faces the connecting member. The tightening machine 6028 is used to tighten the bolts.

[0131] In order to improve the overall control accuracy of the device, a plurality of photoelectric sensors 605 are fixedly installed on the mounting plate 603 , and the photoelectric sensors 605 are used to sense the connecting parts and the arm 6027 .

[0132] A rotating chuck 9 is provided on the side of the connector installation mechanism 6, and the rotating chuck 9 is used to adjust the rotation angle of the flat arm or the oblique arm, thereby achieving control of the angle of the connector.

[0133] The assembly mechanism 7 is used to connect the flat arm 7010 and the oblique arm 7011 in the simplified arm. The flat arm 7010 and the oblique arm 7011 are connected by a pin shaft 703. The pin shaft 703 is detachably connected with a cotter pin 7022. The assembling machine includes a supporting mechanism, a robot 7034, a pin shaft control mechanism and a cotter pin control mechanism.

[0134] The supporting mechanism includes a plurality of flat arm bases 7037 distributed along a straight line and a plurality of oblique arm bases 7038 distributed along a straight line, and an angle is left between the connecting line of all the flat arm bases 7037 and the connecting line of all the oblique arm bases 7038.

[0135] The robot 7034 is used to move the flat arm 7010 to the flat arm base 7037 or to move the oblique arm 7011 to the oblique arm base 7038 .

[0136] The pin shaft control mechanism includes a plurality of pin shaft transfer jaws 706 .

[0137] The cotter pin control mechanism includes a second cotter pin push rod 7020 and a movably arranged cotter pin slide 7018, wherein the second cotter pin push rod 7020 faces below the connection between the flat arm 7010 and the inclined arm 7011, the cotter pin slide 7018 and the second cotter pin push rod 7020 are parallel to each other, and the cotter pin slide 7018 corresponds to or is staggered with the second cotter pin push rod 7020 during movement.

[0138] The specific connection method of the flat wrist arm 7010 and the oblique wrist arm 7011 is as follows: the flat wrist arm 7010 is fixedly connected with two mutually parallel first connecting plates 708, and the first connecting plate 708 is provided with a first pin hole for penetrating the pin shaft 703; the oblique wrist arm 7011 is fixedly connected with a second connecting plate 709, and the second connecting plate 709 is provided with a second pin hole for penetrating the pin shaft 703; one end of the pin shaft 703 is integrally connected with a head 7023, and the position near the other end of the pin shaft 703 is provided with a split pin insertion hole 7024 for penetrating the split pin 7022. When connecting, the second connecting plate 709 is inserted between the two first connecting plates 708, and the first pin hole and the second pin hole are aligned, and then the pin shaft 703 is passed through the first pin hole and the second pin hole, and finally the split pin 7022 is inserted into the split pin insertion hole 7024 to complete the connection of the flat wrist arm 7010 and the oblique wrist arm 7011.

[0139] When in use, first use the robot 7034 to move the oblique wrist arm 7011 to the oblique wrist arm base 7038, and then use the robot 7034 to move the flat wrist arm 7010 to the flat wrist arm base 7037. During the process, the second connecting plate 709 is inserted between the two first connecting plates 708, and the first pin hole and the second pin hole are aligned. Then, the pin shaft transfer clamp 706 is used to transfer the pin shaft 703 until the pin shaft 703 passes through the first pin hole and the second pin hole. At this time, the head 7023 is located at the top and the cotter pin socket 7024 is located at the bottom, and the cotter pin socket 7024 extends out of the first connecting plate 708 located below, and then the cotter pin slide 7018 is used to transfer the cotter pin 7022 to the corresponding cotter pin socket 7024, and finally, the second cotter pin push rod 7020 is used to push the cotter pin 7022 in the cotter pin slide 7018 into the cotter pin socket 7024.

[0140] The present invention can automatically complete the installation of the pin shaft 703 and the cotter pin 7022, thereby realizing the assembly of the flat wrist arm 7010 and the oblique wrist arm 7011, thereby effectively improving the processing efficiency of the simplified wrist arm.

[0141] In order to enable the pin transfer clamp 706 to complete the transfer of the pin 703 and the insertion of the pin 703 into the pin hole, the pin control mechanism includes a pin transverse conveying unit 704, which is driven and connected to a plurality of pin lifting slides 705, and the pin locking clamp 7012 is fixedly connected to the pin lifting slides 705 one by one. The pin shaft lateral conveying unit 704 is used to drive the pin shaft lifting slide 705 to move, and then drive the pin shaft transfer clamp 706 to move through the pin shaft lifting slide 705. When the pin shaft transfer clamp 706 moves to the position corresponding to the first pin hole, the pin shaft lifting slide 705 can drive the pin shaft transfer clamp 706 to move toward the first pin hole until the pin shaft 703 is inserted into the first pin hole and the second pin hole. Considering that the pin shaft transfer clamp 706 needs to clamp a part of the pin shaft 703, it is difficult to install the pin shaft 703 in place. Therefore, in the present invention, the first connecting plate 708 and the second connecting plate 709 are both horizontally arranged. After the pin shaft transfer clamp 706 inserts the pin shaft 703 into the first pin hole, the pin shaft 703 is released and the pin shaft 703 can be installed in place with the help of the gravity of the pin shaft 703, thereby achieving the effect of simplifying the installation process.

[0142] The specific structure of the pin shaft transverse conveying unit 704 is as follows: the pin shaft transverse conveying unit 704 includes a fixedly connected transverse push cylinder 7015 and a guide rail 7016, the guide rail 7016 is slidably connected with a mounting plate 7017, the transverse push cylinder 7015 is drivingly connected with the mounting plate 7017, and the pin shaft lifting slide 705 is fixedly arranged on the mounting plate 7017. When in use, the transverse push cylinder 7015 pushes the mounting plate 7017 to move, and then drives the pin shaft lifting slide 705 to move through the mounting plate 7017, and the guide rail 7016 is used to limit the mounting plate 7017 to avoid deviation.

[0143] In order to prevent the cotter pin 7022 from pushing the pin shaft 703 to rotate during the movement, so that the cotter pin 7022 cannot be smoothly inserted into the cotter pin insertion hole 7024, the pin shaft control mechanism includes a pin shaft locking clamp 7012, which is arranged below the connection between the flat wrist arm 7010 and the oblique wrist arm 7011, and the second cotter pin push rod 7020 faces the pin shaft locking clamp 7012. After the pin shaft 703 passes through the first pin hole and the second pin hole, the pin shaft 703 is locked by the pin shaft locking clamp 7012 to prevent the pin shaft 703 from rotating.

[0144] Taking into account that the pin shaft 703 itself is cylindrical, it is very likely to rotate during the transfer process, which will cause the direction of the cotter pin hole 7024 to change, and ultimately cause the cotter pin 7022 to be unable to be smoothly inserted into the cotter pin hole 7024. In order to avoid this situation, the pin shaft control mechanism includes a motor 7025 and a pin shaft adjustment clamp 707 driven by the motor 7025, and the pin shaft adjustment clamp 707 is arranged in parallel with the pin shaft locking clamp 7012, and at least one sleeve 7027 is passed through the pin shaft adjustment clamp 707, and the sleeve 7027 is connected to the cavity 7026 of the pin shaft adjustment clamp 707, and a telescopic rod 7028 is telescopically arranged in the sleeve 7027, and the bottom of the pin shaft adjustment clamp 707 is fixedly connected to the motor 7025. After the pin shaft transfer clamp 706 obtains the pin shaft 703, it first sends the pin shaft 703 into the pin shaft adjustment clamp 707. After the pin shaft 703 enters the cavity 7026, the pin shaft transfer clamp 706 continues to clamp the pin shaft 703, and then the motor 7025 starts to drive the pin shaft adjustment clamp 707 to rotate. During the rotation of the pin shaft adjustment clamp 707, the telescopic rod 7028 keeps extending. When the telescopic rod 7028 corresponds to the cotter pin insertion hole 7024, At this time, the telescopic rod 7028 can smoothly enter the cotter pin hole 7024, and then the pin shaft transfer jaw 707 releases the pin shaft 703, and then the motor 7025 is reset, and the pin shaft 703 is driven to rotate by using the telescopic rod 7028 and the pin shaft adjustment jaw 707. After the motor is reset 7025, the direction of the cotter pin hole 7024 is fixed, and then the pin shaft transfer jaw 706 is used to clamp the pin shaft 703 again and transfer it to the pin shaft locking jaw 7012. After adjustment by the pin shaft adjusting jaw 707, the directions of the cotter pin holes 7024 on all the pin shafts 703 in the pin shaft locking jaw 7012 transferred from the pin shaft transfer jaw 706 are the same. By controlling the motor 7025, it can be ensured that after the pin shaft 703 enters the pin shaft transfer jaw 7012, the cotter pin hole 7024 corresponds to the second cotter pin push rod 7020, thereby ensuring that the second cotter pin push rod 7020 can smoothly insert the cotter pin 7022 into the cotter pin hole 7024.

[0145] The telescopic rod 7028 is specifically arranged as follows: a connecting ring is fixedly arranged on the inner wall of the end of the sleeve 7027 away from the cavity 7026, the telescopic rod 7028 passes through the connecting ring, the middle of the telescopic rod 7028 is fixedly connected to a limiting block 7029, and the limiting block 7029 is connected to the connecting ring by a spring 7030. In the initial state, the spring 7030 remains original, and a part of the telescopic rod 7028 is located in the cavity 7026. When the pin 703 enters the cavity 7026, the telescopic rod 7028 is squeezed into the sleeve 7027, and the spring 7030 is compressed by the limiting block 7029, so that the telescopic rod 7028 can maintain the tendency to extend during the rotation of the pin adjustment clamp 707.

[0146] In order to ensure that the pin shaft 703 can smoothly enter into the cavity 7026 and can be smoothly withdrawn from the cavity 7026 , a hemispherical positioning plug 7031 is fixedly connected to one end of the telescopic rod 7028 facing the cavity 7026 .

[0147] The structure of the cotter pin control mechanism further includes: the cotter pin control mechanism includes a slide adjustment cylinder 7014, the slide adjustment cylinder 7014 is driven and connected to a movable plate 7013, a cotter pin slide 7018 is provided on the movable plate 7013, and a cotter pin rack 7021 is also provided on the movable plate 7013, and a plurality of cotter pins 7022 distributed up and down are accommodated in the cotter pin rack 7021. When in use, the slide adjusting cylinder 7014 first drives the movable plate 7013 to move the cotter pin slide 7018 to the bottom of the cotter pin rack 7021, so that it can receive the cotter pin 7022 that falls from the cotter pin rack 7021, and then the slide adjusting cylinder 7014 drives the movable plate 7013 to move until the cotter pin slide 7018 corresponds to the second cotter pin push rod 7020, and then the second cotter pin push rod 7020 can be used to push the cotter pin 7022 in the cotter pin slide 7018 into the cotter pin socket 7024.

[0148] In order to avoid jamming caused by multiple cotter pins 7022 entering the cotter pin slide 7018 at one time, the cotter pin control mechanism includes a first cotter pin push rod 7019 parallel to the second cotter pin push rod 7020. The first cotter pin push rod 7019 faces the bottom of the cotter pin material rack 7021, and the cotter pin slide 7018 corresponds to or is staggered with the first cotter pin push rod 7019 during movement. Correspondingly, the open pin material rack 7021 can be configured as a structure similar to a clip, that is, a pushing component for outputting downward thrust, such as a spring, is arranged at the top of the open pin material rack 7021, and a limit plate is arranged at the bottom of the open pin material rack 7021. The limit plate is used to prevent the open pins 7022 from falling automatically. Only when an open pin 7022 is pushed from the open pin material rack 7021 to the open pin slide 7018 by the first open pin push rod 7019 and the first open pin push rod 7019 is retracted, the pushing component can push the remaining open pins 7022 to move downward, thereby realizing stable feeding of the open pins 7022 and avoiding the open pin slide 7022 from getting stuck.

[0149] In order to achieve stable feeding of the pins 703, the assembly machine further includes a horizontally arranged pin channel 701, which is fixedly arranged on a support seat 701, and contains a plurality of pins 703 arranged in parallel, and the pin channel 701 is lower than the pin transfer clamp 706. The pin channel 701 can adopt a structure similar to that of the open pin rack 7021.

[0150] The moving end of the robot 7034 is fixedly connected to a wrist arm clamp adjusting cylinder 7035, and the output end of the wrist arm clamp adjusting cylinder 7035 is fixedly connected to two wrist arm clamps 7036 for clamping the flat wrist arm 7010 or the inclined wrist arm 7011. The wrist arm clamp adjusting cylinder 7035 can be used to further control the wrist arm clamp 7036, thereby improving the accuracy of moving the flat wrist arm 7010 or the inclined wrist arm 7011. Clamping the flat wrist arm 7010 or the inclined wrist arm 7011 by two wrist arm clamps 7036 can maintain the stability of the flat wrist arm 7010 or the inclined wrist arm 7011 during movement.

[0151] In order to ensure that the first pin hole and the second pin hole can be aligned, the assembly machine also includes a visual slide 7032 arranged above the connection between the flat arm 7010 and the oblique arm 7011, and the visual slide 7032 is driven and connected to a visual camera 7033. After the flat arm 7010 and the oblique arm 7011 are placed, the visual camera 7033 is used to shoot a first connecting plate 708 located above. If the second connecting plate 709 cannot be seen at all in the first pin hole on the first connecting plate 708, it means that the first pin hole and the second pin hole have been aligned, and the pin shaft 703 can smoothly pass through the first pin hole and the second pin hole.

[0152] 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 flat and oblique arm pre-assembly system for arm pre-assembly, characterized by: It comprises a pipe feeding mechanism (1), a transfer mechanism (2), a sawing mechanism (3), a transfer positioning mechanism (4), a connecting piece installation mechanism (6) and an assembly mechanism (7) which are arranged in sequence, wherein a connecting piece feeding mechanism (5) is arranged on the side of the connecting piece installation mechanism (6); The transfer positioning mechanism (4) comprises a flat arm transfer positioning unit (401) and an oblique arm transfer positioning unit (404); a plurality of positioning seats (403) for supporting the arm (3012) are arranged between the flat arm transfer positioning unit (401) and the oblique arm transfer positioning unit (404), and all the positioning seats (403) are distributed along a straight line; the flat arm transfer positioning unit (401) comprises a flat arm transfer positioning base plate (405), and at least one flat arm transfer positioning pin (406) is movably arranged on the flat arm transfer positioning base plate (405); the oblique arm transfer positioning unit (404) comprises an oblique arm transfer positioning base plate (4010), and an oblique arm transfer positioning pin (4011) is vertically fixedly arranged on the oblique arm transfer positioning base plate (4010); The connecting piece installation mechanism (6) comprises a vertically arranged installation plate (603) and at least one positioning cylinder (606); a notch corresponding to the installation hole of the connecting piece is provided on the installation plate (603); the positioning cylinder (606) is driven and connected to a positioning pin (607); the positioning pin (607) faces a through hole (6012) provided on a suspension plate (6011) of the connecting piece; The assembly mechanism (7) is used to connect the flat wrist arm (7010) and the oblique wrist arm (7011) in the simplified wrist arm, and comprises a support mechanism, a robot (7034), a pin control mechanism and a cotter pin control mechanism. The support mechanism comprises a plurality of flat wrist arm bases (7037) distributed along a straight line and a plurality of oblique wrist arm bases (7038) distributed along a straight line, and an angle is left between the connecting line of all the flat wrist arm bases (7037) and the connecting line of all the oblique wrist arm bases (7038). The robot (7034) is used to move the flat wrist arm (7010) onto the flat wrist arm base (7037) or to move the oblique wrist arm (7011) onto the flat wrist arm base (7037). ) moves to the oblique wrist arm base (7038), the pin shaft control mechanism includes a plurality of pin shaft transfer jaws (706), the cotter pin control mechanism includes a second cotter pin push rod (7020) and a movably arranged cotter pin slideway (7018), wherein the second cotter pin push rod (7020) faces below the connection between the flat wrist arm (7010) and the oblique wrist arm (7011), the cotter pin slideway (7018) and the second cotter pin push rod (7020) are parallel to each other, and the cotter pin slideway (7018) corresponds to the second cotter pin push rod (7020) or is staggered with the second cotter pin push rod (7020) during the movement.

2. A simplified flat and oblique arm pre-assembly system for arm pre-assembly as claimed in claim 1, characterized in that: The pipe material feeding mechanism (1) comprises a material storage unit (101), the material storage unit (101) comprises a plurality of material racks (109), two mutually parallel baffles (106) are fixedly arranged on the material racks (109), two inclined support rods (105) are arranged between the two baffles (106), and the support rods (105) and the baffles (106) are parallel to each other, and an end positioning cylinder (1010) is fixedly connected to the outer side of one of the baffles (106), and the piston rod of the end positioning cylinder (1010) extends between the two baffles (106).

3. A simplified flat and oblique arm pre-assembly system for arm pre-assembly as claimed in claim 1, characterized in that: The transfer mechanism (2) comprises a ceiling rail (201), the ceiling rail (201) is drivingly connected to a transfer robot (202), the transfer robot (202) is drivingly connected to a fixture (203), and the fixture (203) has at least one air gripper (206).

4. A simplified flat and oblique arm pre-assembly system for arm pre-assembly as claimed in claim 1, characterized in that: The sawing mechanism (3) comprises a support component for supporting the wrist arm (3012) and a sawing component for sawing the wrist arm (3012); The support assembly comprises a plurality of sawing pliers (3015) distributed along a straight line, and the sawing pliers (3015) comprises a fixing plate (3025) and a tightening block (3028) for tightening the wrist arm (3012) against the fixing plate (3025); The sawing assembly comprises a sawing machine (3016), a first driving unit for driving the sawing machine (3016) to move radially along the arm (3012), and a second driving unit for driving the sawing machine (3016) to move axially along the arm (3012).

5. A simplified flat and oblique arm pre-assembly system for arm pre-assembly as claimed in claim 1, characterized in that: The connecting piece feeding mechanism (5) comprises a positioning plate (501), a trolley (504) detachably connected to the positioning plate (501), a plurality of material trays (503) detachably arranged on the trolley (504), and a plurality of connectors fixedly arranged on the material trays (503) for fixing the connecting piece (505); a trolley positioning mechanism (502) is arranged between the positioning plate (501) and the trolley (504); the trolley positioning mechanism (502) comprises a third photoelectric sensor (5018) fixedly arranged on the positioning plate (501). and a plurality of extension plates (5016), a blocking rod (5019) corresponding to the third photoelectric sensor (5018) and a plurality of connecting plates (5017) corresponding one to one with the extension plates (5016) are fixedly arranged on the material cart (504), a slot (5020) for accommodating the extension plates (5016) is provided on the connecting plate (5017), and the connector comprises a connector positioning base plate (5012) and a plurality of limiting members fixedly arranged on the connector positioning base plate (5012) for limiting the connector (505).

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