Arm pre-installed transfer device

Abstract

The present disclosure relates to the field of wrist arm installation technology, and in particular to a wrist arm pre-installation and transportation device. The wrist arm pre-installation and transportation device includes a wrist arm pre-installation device, a transportation device and an auxiliary lifting device. The wrist arm pre-installation device includes a pre-installation platform and an adjustable positioning and clamping unit arranged on the pre-installation platform. The adjustable positioning and clamping unit is used to assemble and fix the wrist arm; the transportation device includes a support frame, a walking mechanism and a flipping mechanism. The flipping mechanism is installed on the support frame and connected to the pre-installation platform to drive the pre-installation platform to flip. The walking mechanism is connected to the support frame to drive the support frame to move; the auxiliary lifting device is installed on the pre-installation platform to assist in fixing the assembled wrist arm when the pre-installation platform moves. After the installation equipment on the mechanical arm is installed, it can be docked with the wrist arm pre-installation and transportation device to carry out the installation of the next wrist arm. The assembly and installation of the wrist arm are carried out simultaneously, which saves the installation time of the wrist arm and speeds up the construction progress of the contact network.

Description

Technical Field

[0001] The present disclosure relates to the technical field of wrist-arm installation, and in particular to a wrist-arm pre-installation and transportation device. Background Art

[0002] The overhead contact network is a transmission line erected above the rail transit line to supply power to the electric locomotive. It is responsible for the important task of directly transmitting the electric energy obtained from the traction substation to the electric locomotive for use. It is an outdoor power supply equipment without backup. Therefore, the quality and working condition of the urban rail transit overhead contact network will directly affect the operational safety of rail transit. The wrist arm is an important supporting device for the high-speed rail overhead contact network. It is fixed on the pillar through insulators to fix the positioning device. The wrist arm is a triangular structure, which consists of an upper insulator, a lower insulator, a wrist arm tube, a wrist arm support, etc., but the specific dimensions are different and vary greatly.

[0003] Traditional wrist arm installation generally adopts the method of manually pulling ropes to pull the wrist arm parts to a high altitude, and then workers climb to the fixed seat on the pillar to assemble the wrist arm parts in position. From the construction process, this method has many procedures, uses a large number of tools and personnel, takes a long time to operate, and has a low degree of standardization. To this end, people have developed an automatic installation device for the contact network wrist arm to realize the automatic installation of the wrist arm. The equipment includes an operating mechanical arm, a fixed support, and an installation template. The staff installs the wrist arm on the installation template, and the operating mechanical arm drives the installation template to move to the working position, and then installs the wrist arm to the set position. After each wrist arm installation is completed, the mechanical arm needs to drive the installation template back to the installation position, install the next wrist arm to be installed on the installation template, and then move it to the working position for installation. Therefore, the installation of the wrist arm cannot achieve continuity, and the assembly and installation of the wrist arm are not carried out at the same time, resulting in a slow progress of the wrist arm installation. Summary of the invention

[0004] In order to solve the technical problem that traditional contact network arm automated installation equipment cannot assemble and install the arm at the same time, the present invention provides a arm pre-assembly and transfer device.

[0005] The wrist arm pre-assembly and transfer device provided by the present invention includes wrist arm pre-assembly equipment, transfer equipment and auxiliary lifting equipment, the wrist arm pre-assembly equipment includes a pre-assembly platform and an adjustable positioning and clamping unit arranged on the pre-assembly platform, the adjustable positioning and clamping unit is used to assemble and fix the wrist arm; the transfer equipment includes a support frame, a walking mechanism and a flipping mechanism, the flipping mechanism is installed on the support frame and connected to the pre-assembly platform, and is used to drive the pre-assembly platform to flip, the walking mechanism is connected to the support frame, and is used to drive the support frame to move; the auxiliary lifting equipment is installed on the pre-assembly platform, and is used to assist in fixing the assembled wrist arm when the pre-assembly platform moves.

[0006] Optionally, the flipping mechanism includes a first driving member and a first rotating member, the support frame includes two relatively arranged gantry support frames and a first mounting plate arranged on the gantry support frames, the pre-installation platform is arranged between the two gantry support frames, and the two sides of the pre-installation platform are respectively connected to the gantry support frames through at least the first rotating member, the first driving member is installed on the first mounting plate, and the first driving member is connected to at least one of the first rotating members to drive the pre-installation platform to flip.

[0007] Optionally, the first rotating member includes a first rotating shaft, one end of which is fixedly connected to the pre-installation platform, and the other end of which is rotatably connected to the first mounting plate or connected to the rotating shaft of the first driving member.

[0008] Optionally, it also includes a flip limit member, wherein a first connecting portion is provided on the first mounting plate, and a second connecting portion is provided at a corresponding position of the pre-installation platform, and the limit member is detachably connected between the first connecting portion and the second connecting portion so that the pre-installation platform can be rotated and fixed relative to the portal support frame.

[0009] Optionally, the walking mechanism includes slide rails, sliders and walking drive components, the number of the slide rails is two, and the two slide rails are respectively arranged under the two gantry support frames, the sliders are installed at the lower ends of the gantry support frames and slide with the slide rails, and the walking drive component is used to drive the gantry support frames to move along the slide rails; buffers are provided at both ends of the slide rails to avoid hard contact between the gantry support frames and the ends of the slide rails.

[0010] Optionally, the travel drive assembly includes a second drive member and a linear reciprocating motion mechanism, and the rotating shaft of the second drive member is arranged in a direction perpendicular to the slide rail and the portal support frame, and is connected to the linear reciprocating motion mechanism.

[0011] Optionally, the linear reciprocating motion mechanism includes two sprocket transmission pairs and a transmission rod connected between the two sprocket transmission pairs, the two sprocket transmission pairs are respectively arranged on the two gantry support frames, and at least one of the sprocket transmission pairs is connected to the rotating shaft of the second driving member.

[0012] Optionally, a second mounting plate is provided on the gantry support frame, and the second driving member is mounted on the second mounting plate; the sprocket transmission pair includes a second rotating shaft, a driving sprocket and a transmission chain, the second rotating shaft is rotatably connected to the second mounting plate or connected to the rotating shaft of the second driving member, the driving sprocket is arranged on the second rotating shaft, the two ends of the transmission chain are respectively fixed to the two ends of the slide rail, and the inner side of the transmission chain is meshed with the driving sprocket.

[0013] Optionally, the sprocket drive pair includes two third rotating shafts and two driven sprockets arranged on the third rotating shafts, and the two driven sprockets are respectively engaged with the outer side of the transmission chain on the front and rear sides of the driving sprocket; the portal support frame is provided with a third mounting plate for mounting the third rotating shaft, and the third mounting plate is arranged below the second mounting plate.

[0014] Optionally, the auxiliary lifting equipment includes an inclined support frame, a driving cylinder, a retractable boom and a hook, one end of the inclined support frame is fixedly installed under the pre-installation platform, and the other end of the inclined support frame is hinged to the boom, the driving cylinder is installed on the inclined support frame, and the driving cylinder is connected to the boom for driving the retractable boom to rotate, and the hook is arranged on the retractable boom for lifting the wrist arm assembled on the pre-installation platform.

[0015] Compared with the prior art, the technical solution provided by the disclosed embodiment has the following advantages: when the pre-installation platform is pre-installing the arm, the flip mechanism keeps it in a horizontal position, which is convenient for operators to assemble the arm. The adjustable positioning clamping unit on the pre-installation platform realizes the positioning and assembly of the arm assembly, and prepares for the subsequent installation of the arm on the support. The transfer equipment can adjust the position and angle of the pre-installation platform in accordance with the position and angle of the robot arm, so as to facilitate the docking of the arm pre-installation equipment and the installation equipment on the robot arm. When the pre-installation platform flips a certain angle to dock with the installation equipment on the robot arm, the auxiliary lifting equipment assists in fixing the arm, further improving the stability and safety of the arm transportation. The arm pre-installation and transfer device does not interfere with the installation equipment on the traditional robot arm. When the installation equipment on the robot arm installs the arm to the pillar, the arm pre-installation and transfer device is used to assemble the next arm to be installed. After the installation equipment on the robot arm is installed, it can be connected with the arm pre-installation and transfer device to install the next arm. The assembly and installation of the arm are carried out simultaneously, which greatly saves the installation time of the arm and speeds up the construction progress of the contact network. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1A schematic diagram of the arm installation provided in an embodiment of the present disclosure;

[0019] Figure 2 A schematic diagram of the structure of a wrist-arm pre-installed transport device provided in some embodiments of the present disclosure;

[0020] Figure 3 for Figure 2 A view from another direction;

[0021] Figure 4 A schematic diagram of the structure of a wrist-arm pre-installation device provided in some embodiments of the present disclosure;

[0022] Figure 5 A schematic diagram of the structure of a dividing plate provided in some embodiments of the present disclosure;

[0023] Figure 6 A schematic diagram of the structure of a wrist-arm transfer device provided in some embodiments of the present disclosure;

[0024] Figure 7 for Figure 6 A partial enlarged view of the

[0025] Figure 8 for Figure 6 Right view of;

[0026] Fig. 9 for Figure 6 Axonometric drawing of .

[0027] Among them, 100: wrist arm pre-installation transfer device; 200: mechanical arm; 300: installation equipment; 11: pre-installation platform; 12: adjustable clamping unit; 2: auxiliary lifting equipment; 31: support frame; 32: walking mechanism; 33: flip mechanism; 110: assembly table; 111: fixed frame; 121: wrist arm positioning device; 120: wrist arm positioning device; 21: inclined support frame; 22: retractable boom; 23: driving cylinder; 24: hook; 230: manual pressure rod; 4a: first mounting plate; 4b: second mounting plate; 4c: third mounting plate; 320: second driving member; 321a: transmission chain; 310: portal support frame; 321b: driven sprocket ; 321c: third rotating shaft; 322a: slide rail; 322b: slider; 5a: fixing pin; 330: first driving member; 331a: first rotating shaft; 331b: first rotating shaft; 5c: fixing pin; 321d: second rotating shaft; 321e: driving sprocket; 321f: mounting bearing; 323: transmission rod; 6: buffer; 7: fixing hole; 20: angle adjustment mechanism; 30: rotating shaft; 40, mounting assembly; 41, roller; 50, connecting rod; 60, guide rail; 61, slider; 70, threaded seat; 71, screw; 72, turntable; 73, handle; 80, arc guide plate; 81, arc groove; 90, arc slide groove; 91, angle scale. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0030] Combination Figures 1 to 9 As shown, the wrist arm pre-assembly and transfer device 100 provided in the embodiment of the present disclosure includes a wrist arm pre-assembly device, a transfer device and an auxiliary lifting device 2. The wrist arm pre-assembly device includes a pre-assembly platform 11 and an adjustable positioning and clamping unit 12 provided on the pre-assembly platform 11. The adjustable positioning and clamping unit 12 is used to assemble and fix the wrist arm. The transfer device includes a support frame 31, a walking mechanism 32 and a flipping mechanism 32. The flipping mechanism 33 is installed on the support frame 31 and connected to the pre-assembly platform 11, and is used to drive the pre-assembly platform 11 to flip. The auxiliary lifting device 2 is installed on the pre-assembly platform 11, and is used to assist in fixing the assembled wrist arm when the pre-assembly platform 11 moves. The walking mechanism 32 is connected to the support frame 31, and is used to drive the support frame 31 to move. When the pre-installation platform 11 is pre-installing the arm, the flip mechanism 33 keeps it in a horizontal position, which is convenient for operators to assemble the arm. The adjustable positioning clamping unit 12 on the pre-installation platform 11 realizes the positioning and assembly of the arm assembly, and prepares for the subsequent installation of the arm on the pillar. The transfer equipment can adjust the position and angle of the pre-installation platform 11 in accordance with the position and angle of the robot arm, so as to facilitate the docking of the arm pre-installation equipment 100 and the installation equipment 300 on the robot arm 200. When the pre-installation platform 11 flips a certain angle to dock with the installation equipment 300 on the robot arm 200, the auxiliary lifting equipment 2 assists in fixing the arm, further improving the stability and safety of the arm transportation. The arm pre-installation and transfer device 100 does not interfere with the installation equipment 300 on the traditional robot arm 200. During the process of the installation equipment 300 on the robot arm 200 installing the arm to the pillar, the arm pre-installation and transfer device 100 is used to assemble the next arm to be installed. After the installation equipment 300 on the robot arm 200 is installed, it can be docked with the arm pre-installation and transfer device 100 to install the next arm. The assembly and installation of the arm are carried out simultaneously, which greatly saves the installation time of the arm and speeds up the construction progress of the contact network.

[0031] like Figure 3 , Figure 6 , Figure 8 and Fig. 9 As shown, further, the flipping mechanism 33 includes a first driving member 330 and a first rotating member, the support frame 31 includes two relatively arranged gantry support frames 310 and a first mounting plate 4a arranged on the gantry support frames 310, the pre-installation platform 11 is arranged between the two gantry support frames 310, and the two sides of the pre-installation platform 11 are respectively connected to the gantry support frames 310 through at least the first rotating member, the first driving member 330 is installed on the first mounting plate 4a, and the rotating shaft of the first driving member 330 is connected to at least one first rotating member to drive the pre-installation platform 11 to flip, and after the wrist arm pre-installation equipment completes the assembly of the wrist arm assembly, it is necessary to dock the assembled wrist arm with the installation equipment on the robot arm, and transfer the wrist arm on the pre-installation equipment to the installation equipment. During the transfer of the wrist arm, the pre-installation platform 11 is flipped to an angle that is convenient for docking with the installation equipment, so as to facilitate the transfer of the wrist arm. It is generally required that the pre-installation platform 11 is flipped from a horizontal state to a vertical state when docking with the installation equipment.

[0032] In some embodiments of the present disclosure, the first rotating member includes a first rotating shaft, the first rotating shaft and one end of the first rotating shaft are respectively fixedly connected to the pre-installed platform, which can be welded or keyed, and the other end of the first rotating shaft is rotatably connected to the first mounting plate or connected to the rotating shaft of the first driving member. Figure 8 As shown, there are two first rotating shafts, namely, the first rotating shaft 331a and the first rotating shaft 331b, which are respectively connected to the two sides of the pre-installed platform 11 to realize the rotation connection between the pre-installed platform 11 and the portal support frame 310. The first rotating member includes a first rotating shaft and a mounting bearing, wherein one of the first rotating shafts 331a passes through the inner side of the portal support frame 310 to the outer side, and is rotationally connected to the portal support frame 310 through the mounting bearing. The first rotating shaft 331a is located at the inner side of the portal support frame 310. One end is fixedly connected to the pre-installed platform, and one end of the first rotating shaft 331a located outside the gantry support frame 310 is connected to the rotating shaft of the first driving member 330. The first driving member 330 is a hand-cranked acceleration and reduction machine, which is installed on the first mounting plate 4a outside the gantry support frame 310; one end of the other first rotating shaft 331b is fixedly connected to the pre-installed platform 11, and the other end is rotatably connected to the first mounting plate 4a on the gantry support frame 310, and the first rotating shaft 331b is provided with a mounting bearing at the connection with the gantry support frame 310. When the pre-installed platform 11 needs to be turned over, only the handle of the hand-cranked acceleration and reduction machine needs to be turned to drive the pre-installed platform 11 to turn over.

[0033] In addition, in order to realize the positioning of the pre-installed platform 11 after flipping, a flip limiter is also provided between the portal support frame 310 and the pre-installed platform 11, a first mounting portion is provided on the first mounting plate 4a, and a second mounting portion is provided at the corresponding position of the pre-installed platform 11, and the limiter is detachably connected between the first connection portion and the second connection portion, so that the pre-installed platform can be rotated and fixed relative to the portal support frame. Specifically, in some embodiments of the present disclosure, the first mounting portion and the second mounting portion are both through holes, and the limiter is a fixed pin 5c. When the pre-installed platform 11 is flipped to the right angle, the fixed pin 5c is inserted into the through holes on the first mounting plate 4a and the pre-installed platform 11 in turn to fix the pre-installed platform 11 at this angle; when the pre-installed platform 11 needs to be flipped, the fixed pin 5c is pulled out, and the handle of the hand-cranked acceleration and reduction machine is turned to flip it.

[0034] The pre-installation platform 11 should not only be flipped to adjust the angle and dock with the installation equipment on the robot arm, but also need to be moved in some cases to get close to the installation equipment on the robot arm. Therefore, a walking mechanism is provided to realize the movement of the pre-installation platform 11. Figure 6 , Figure 7 and Fig. 9 As shown, the walking mechanism includes a slide rail 322a laid on the work vehicle, a slider 322b and a walking drive assembly. There are two slide rails 322a, which are respectively arranged under the two portal support frames 310. The slider 322b is installed at the lower end of the portal support frame 310 and slides with the slide rail 322a. The walking drive assembly provides driving force for the portal support frame 310 to move on the slide rail 322a. In order to avoid hard contact when the portal support frame 310 moves to the end of the slide rail 322a, hydraulic buffers 6 are arranged at both ends of the slide rail 322a. When the portal support frame 310 moves to a position close to the end of the slide rail 322a, it first contacts the hydraulic buffer 6. The hydraulic buffer 6 has a certain buffering effect, which can avoid hard contact of the portal support frame 310. The slide rail 322a is also provided with first fixing holes 7 at intervals, and the slider is provided with second fixing holes. When the slider 322a drives the gantry support frame 310 to move into place, the fixing pin 5a can be inserted into the second fixing hole and the first fixing hole 7 in sequence to achieve relative fixation of the position of the gantry support frame 310 and the slide rail 322a.

[0035] Furthermore, the travel drive assembly includes a second drive member 320 and a linear reciprocating motion mechanism, wherein the rotation axis of the second drive member 320 is arranged perpendicular to the direction of the slide rail 322a and the gantry support frame 310, and is connected to the linear reciprocating motion mechanism. The second drive member 320 may be a motor or a hand-cranked acceleration and reduction machine, and the linear reciprocating motion mechanism may be a worm gear, a gear pair, a screw nut pair, or a sprocket transmission pair, so as to realize the conversion of the rotation axis of the second drive member 320 into a linear movement along the slide rail.

[0036] like Figures 6 to 9 As shown, in some embodiments of the present disclosure, the linear reciprocating motion mechanism includes two sprocket transmission pairs and a transmission rod 323 connected between the two sprocket transmission pairs, the two sprocket transmission pairs are respectively arranged on two gantry support frames 310, and at least one sprocket transmission pair is connected to the rotating shaft of the second driving member 320. The arrangement of the transmission rod 323 enables one second driving member 320 to drive the two sprocket transmission pairs to move synchronously, thereby achieving the synchronous movement of the two gantry support frames 310.

[0037] A second mounting plate 4b is provided on the gantry support frame 310, and the second driving member 320 is installed on the second mounting plate 4b. The sprocket transmission pair includes a second rotating shaft 321d, a driving sprocket 321e and a transmission chain 321a. The second rotating shaft 321d is rotationally connected to the second mounting plate 4b or connected to the rotating shaft of the second driving member 320. The driving sprocket 321e is arranged on the second rotating shaft 321d. The two ends of the transmission chain 321a are respectively fixed to the two ends of the slide rail 322a, and the inner side of the transmission chain 321a is meshed with the driving sprocket 321e. In some embodiments of the present disclosure, the second mounting plate 4b is arranged below the first mounting plate 4a, and a mounting bearing 321f is provided on the second mounting plate 4b, the driving sprocket 321e is sleeved on the second rotating shaft 321d, and on both sides of the driving sprocket 321e, the second rotating shaft 321d is rotatably arranged on the second mounting plate 4b through the mounting bearing 321f, the second driving member 320 is fixedly mounted on the second mounting plate 4b, and the rotating shaft of the second driving member 320 is connected to one end of the second rotating shaft 321d, and rotating the handle of the second driving member 320 can drive the second rotating shaft 321d to rotate, and when the second rotating shaft 321d rotates, it drives the transmission chain 321a and the driving sprocket 321e to move relative to each other, and the two ends of the transmission chain 321a are fixed, so that the driving sprocket 321e can move relative to the length direction of the transmission chain 321a, thereby realizing the movement of the gantry support frame 310 along the slide rail 322a.

[0038] like Figure 5 and Figure 6As shown, further, the sprocket transmission pair further includes two third rotating shafts 321c and two driven sprockets 321b arranged on the third rotating shafts 321c. A third mounting plate 4c for mounting the third rotating shafts 321c is provided on the gantry support frame 310. The third mounting plate 4c is arranged below the second mounting plate 4b and close to the slider 322b. The third rotating shafts 321c are arranged in parallel with the second rotating shaft 321d, and the projection of the second rotating shaft 321d on the bottom surface is between the projections of the two third rotating shafts 321c on the bottom surface. The two driven sprockets 321b are respectively meshed with the outer side of the drive chain 321a on the front and rear sides of the driving sprocket 321e. The driven sprockets 321b also play a role in tensioning the drive chain 321a. Under the action of the driving sprocket 321e and the two driven sprockets 321b, the drive chain 321a is arranged in a "Ji" shape.

[0039] In addition, in order to fix the assembled wrist arm when the pre-installed device is docked with the installation device, an auxiliary lifting device 2 is also provided, such as Figure 3 and Figure 4 As shown, the auxiliary lifting device 2 includes an inclined support frame 21, a driving cylinder 23, a telescopic rod 22 and a hook 24. In some embodiments of the present disclosure, the pre-installed platform 11 includes an assembly table 110 and a fixing frame 111. The assembly table 110 is arranged on the fixing frame 111, and the adjustable positioning and clamping unit is arranged on the assembly table 110. The first rotating shafts 331a and 331b of the flipping mechanism 33 are connected to the pre-installed platform 11 at the fixing frame 111. The auxiliary lifting device 2 is connected to the fixing frame 111. Specifically, one end of the inclined support frame 21 is fixed on the fixing frame 111 and is arranged at a certain angle with the assembly table 110, so that the other end of the inclined support frame 21 extends out from below one side of the assembly table 110 and is hinged to the telescopic boom 22. One end of the driving cylinder 23 is fixed on the inclined support frame 21, and the other end is connected to the side wall of the telescopic boom 22. When the driving cylinder 23 extends or contracts, the angle between the telescopic boom 22 and the inclined support frame 21 can be changed. The hook 24 is arranged on the telescopic boom 22 and is used for suspending the assembled wrist arm on the pre-installed platform 11. The driving cylinder 23 is driven by a manual lever 230, and the length of the driving cylinder 23 can be flexibly controlled, thereby controlling the angle of the telescopic boom 22. When suspending the wrist arm, according to the position of the wrist arm, the length of the telescopic boom 22 and the extension amount of the driving cylinder 23 are controlled to adjust the position of the hook 24, so as to realize the suspension of the position of the wrist arm insulator and provide auxiliary fixation for the process of transferring the wrist arm from the pre-installed platform 11 to the installation device 300.

[0040] Furthermore, the adjustable positioning and clamping unit includes a wrist-arm positioning mechanism and a dividing plate, the wrist-arm positioning mechanism includes an insulator positioning seat and a wrist-arm tube positioning seat, the insulator positioning seat and the wrist-arm positioning seat both include a V-shaped positioning frame, and clamping mechanisms are provided on both sides of the V-shaped positioning frame. The clamping mechanism includes a base and a telescopic member arranged on the base, a splint is hinged at the end of the telescopic member, a connecting rod is hinged between the splint and the base, and the telescopic member drives the splint to rotate around the hinge between the connecting rod and the base, so that the splint fits against the periphery of the member to be clamped or is separated from the member to be clamped.

[0041] The arm indexing plate is used to adjust the angle between the two mounting components 40. Each mounting component 40 is provided with an insulator positioning mechanism and an arm tube positioning mechanism. The two mounting components 40 are arranged at a certain angle and are respectively used to fix the two arm components of the arm. The arm indexing plate includes two symmetrically arranged angle adjustment devices 20. Each angle adjustment device 20 includes a rotating shaft 30 and a driving member. One end of the mounting component 40 is rotatably arranged on the rotating shaft 20. A connecting rod 50 is hinged between the driving member and the mounting component 40. The driving member drives the mounting component 40 to rotate around the rotating shaft through the connecting rod 50 to achieve the adjustment of the angle between the two mounting components 40. Figure 4 and Figure 5 As shown, each set of angle adjustment devices 20 includes a rotating shaft 30 and a driving member. The rotating shaft 30 is perpendicular to the end surface of the assembly table 110. One end of the mounting assembly 40 is rotatably arranged on the rotating shaft 30, so that the other end of the mounting assembly 40 can be selectively rotated with respect to the rotating shaft 30. The mounting assembly 40 includes a straight wrist arm mounting assembly and an oblique wrist arm mounting assembly. The straight wrist arm mounting assembly is used to install the straight wrist arm, and the oblique wrist arm mounting assembly is used to install the oblique wrist arm. This design method changes the angle between the straight wrist arm and the oblique wrist arm. A connecting rod 50 is hinged between the driving member and the mounting assembly 40. The driving member drives the mounting assembly 40 to rotate around the rotating shaft 30 through the connecting rod 50. By setting the connecting rod 50, the linear drive of the driving member is converted into the swing of the mounting assembly 40 along the rotation center, and the setting position of the driving member and the hinge position of the connecting rod 50 and the mounting assembly 40 should meet the movement requirements of the mounting assembly 40.

[0042] The present application drives the installation assembly 40 to rotate through the driving member and the connecting rod 50, and the adjustment force and adjustment accuracy are controllable, thereby increasing the accuracy of the angle adjustment of the straight wrist arm installation assembly and the oblique wrist arm installation assembly, and the staff only needs to operate the driving member, thereby increasing the convenience of adjustment. After the installation assembly 40 is adjusted to the set position, it can be locked by the nut assembly to prevent the position of the installation assembly 40 from moving. Specifically, the nut assembly can be set on the contact surface between the installation assembly 40 and the assembly table 110. The nut assembly includes a screw and a threaded seat. After being adjusted into place, the screw is rotated so that the end of the screw is supported on one side of the assembly table 110, thereby completing the fixation.

[0043] The assembly table 110 is provided with a guide rail 60, and two guide rails 60 are arranged between two installation assemblies 40. Preferably, the guide rail 60 is arranged along the length direction of the long side of the assembly table 110, and the guide rail 60 is close to the edge of the assembly table 110. The end of the driving member is provided with a slider 61 matching the guide rail 60, and the driving member drives the slider 61 to move along the length direction of the guide rail 60, and the slider 61 is hinged to the linkage rod 50. In the present application, the driving member drives the slider 61 to move, and changes the linkage rod 50 to drive the installation assembly 40 to swing, which has a simple structure and is easy to implement.

[0044] In some embodiments, the driving member includes a threaded seat 70 disposed at one end of the guide rail 60. Specifically, the threaded seat 70 is disposed at one end of the guide rail 60 away from the mounting assembly 40. A screw 71 is provided on the threaded seat 70 to match the thread thereof, and the end of the screw 71 is limitedly matched with the axis of the slider 61 and is circumferentially rotated. Specifically, a threaded hole is provided on the threaded seat 70, and an external thread matching the threaded hole is provided on the outer periphery of the screw 71. Since the position of the threaded seat 70 remains unchanged, the rotation of the screw 71 can be converted into movement along its own length direction. A bearing is provided inside the slider 61, the slider 61 is connected to the outer ring of the bearing, and the end of the screw 71 is connected to the inner ring of the bearing, thereby realizing the rotation of the screw 71 relative to the slider 61. At the same time, the movement of the slider 61 relative to the screw 71 along its length direction is limited by the bearing. Further optimized, a turntable 72 is provided at one end of the screw 71 away from the guide rail 60, and a handle 73 is provided on the end surface of the turntable 72 near its edge. The staff can complete the adjustment process by turning the handle 73, which increases the convenience of operation.

[0045] In other embodiments, the driving member includes an electric push rod disposed at one end of the guide rail 60, wherein the electric push rod is disposed at one end of the guide rail 60 away from the mounting assembly 40. The output shaft of the electric push rod is limitedly matched with the axis of the slider 61 and is circumferentially rotated. Similarly, a bearing is provided inside the slider 61, the slider 61 is connected to the outer ring of the bearing, and the end of the output shaft of the electric push rod is connected to the inner ring of the bearing, thereby realizing the rotation of the output shaft relative to the slider 61. At the same time, the movement of the output shaft relative to the screw 71 along its length direction is limited by the bearing. This design method drives the slider 61 to move by the extension and contraction of the output shaft through the electric push rod. It has a simple structure, can realize automatic control, and has high adjustment accuracy. At the same time, the electric push rod can realize self-locking to prevent the mounting assembly 40 from moving.

[0046] The angle adjustment device 20 of the present application also includes a first guide assembly, which includes an arc guide plate 80 arranged on the assembly table 110. The arc guide plate 80 is arranged close to the rotating shaft 30, and the axis of the rotating shaft 30 coincides with one of the straight lines through which the center of the arc guide plate 80 passes. Both sides of the arc guide plate 80 are provided with arc grooves 81, and the arc grooves 81 are used to slide with the rollers 41 of the mounting assembly 40. The arc grooves 81 and the rollers 41 guide the movement of the mounting assembly 40, and the structure is simple. At the same time, the contact surface between the arc guide plate 80 and the mounting assembly 40 can support the mounting assembly 40 and increase the stability of the mounting assembly 40. Further optimized, the arc length of the arc guide plate 80 is greater than the maximum stroke of the mounting assembly 40. The maximum stroke here refers to the range of movement of the mounting assembly 40, which prevents the mounting assembly 40 from detaching from the arc guide plate 80.

[0047] The angle adjustment device 20 also includes a second guide assembly, which includes a plurality of arc-shaped slide grooves 90 arranged on the assembly table 110, the centers of the plurality of arc-shaped slide grooves 90 coincide, and one of the straight lines through which the centers of the arc-shaped slide grooves 90 pass coincides with the axis of the rotating shaft 30, and the arc-shaped slide grooves 90 are used to slide with the guide plate of the mounting assembly 40. Since the mounting assembly 40 has a certain length, the plurality of arc-shaped slide grooves 90 are spaced apart near one end of the mounting assembly 40 away from the rotating shaft 30, so that the mounting assembly 40 can move stably. Further optimized, the arc length of the arc-shaped slide groove 90 is greater than the maximum stroke of the mounting assembly 40, where the maximum stroke refers to the range of movement of the mounting assembly 40, to prevent the mounting assembly 40 from being separated from the arc-shaped guide plate 80.

[0048] An angle scale 91 is provided on the inner side of the arc-shaped slide groove 90 close to the rotating shaft 30 , and scale lines are engraved on the angle scale 91 . By setting the angle scale 91 , the position information of the installation component 40 can be intuitively obtained, thereby increasing the accuracy of adjustment.

[0049] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0050] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those 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 disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wrist-arm pre-installed transfer device, It is characterized in that It comprises a wrist arm pre-installation device, a transfer device and an auxiliary lifting device (2), wherein the wrist arm pre-installation device comprises a pre-installation platform (11) and an adjustable positioning clamping unit arranged on the pre-installation platform (11), wherein the adjustable positioning clamping unit is used to assemble and fix the wrist arm; the transfer device comprises a support frame (31), a walking mechanism (32) and a flipping mechanism (33), wherein the flipping mechanism (33) is installed on the support frame (31) and connected to the pre-installation platform (11) and is used to drive the pre-installation platform (11) to flip, and the walking mechanism (32) is connected to the support frame (31) and is used to drive the support frame (31) to move; the auxiliary lifting device is installed on the pre-installation platform (11) and is used to assist in fixing the assembled wrist arm when the pre-installation platform (11) moves; The flipping mechanism (33) comprises a first driving member (330) and a first rotating member, the support frame (31) comprises two oppositely arranged gantry support frames (310) and a first mounting plate (4a) arranged on the gantry support frames (310), the pre-installation platform (11) is arranged between the two gantry support frames (310), and both sides of the pre-installation platform (11) are respectively connected to the gantry support frames through at least the first rotating member, the first driving member is installed on the first mounting plate (4a), and the rotating shaft of the first driving member (330) is connected to at least one of the first rotating members to drive the pre-installation platform (11) to flip; The first rotating member comprises a first rotating shaft, one end of the first rotating shaft is fixedly connected to the pre-installation platform (11), and the other end is rotatably connected to the first mounting plate (4a) or connected to the rotating shaft of the first driving member (330); It also includes a flip limiter, wherein the first mounting plate (4a) is provided with a first connection portion, a second connection portion is provided at a corresponding position of the pre-installation platform (11), and the limiter is detachably connected between the first connection portion and the second connection portion, so that the pre-installation platform (11) can be rotated and fixed relative to the portal support frame (310); The walking mechanism comprises a slide rail (322a), a slider (322b) and a walking drive assembly. The number of the slide rails (322a) is two, and the two slide rails (322a) are respectively arranged below the two portal support frames (310). The slider (322b) is installed at the lower end of the portal support frame (310) and slidably cooperates with the slide rail (322a). The walking drive assembly is used to drive the portal support frame (310) to move along the slide rail (322a). Buffers (6) are provided at both ends of the slide rail (322a) to avoid hard contact between the portal support frame (310) and the end of the slide rail (322a). The travel drive assembly comprises a second drive member (320) and a linear reciprocating motion mechanism, wherein the rotation axis of the second drive member (320) is arranged in a direction perpendicular to the slide rail (322a) and the portal support frame (310), and is connected to the linear reciprocating motion mechanism; The auxiliary lifting equipment comprises an inclined support frame (21), a driving cylinder (23), a retractable suspension rod (22) and a hook (24); one end of the inclined support frame (21) is fixedly mounted below the pre-installed platform (11); the other end of the inclined support frame (21) is hinged to the retractable suspension rod (22); the driving cylinder (23) is mounted on the inclined support frame (21), and the driving cylinder (23) is connected to the retractable suspension rod (22) for driving the retractable suspension rod (22) to rotate; the hook (24) is arranged on the retractable suspension rod (22) for suspending the wrist arm assembled on the pre-installed platform (11).

2. The arm pre-installed transfer device according to claim 1, It is characterized in that The linear reciprocating motion mechanism comprises two sprocket transmission pairs and a transmission rod (323) connected between the two sprocket transmission pairs, the two sprocket transmission pairs are respectively arranged on the two gantry support frames (310), and at least one of the sprocket transmission pairs is connected to the rotating shaft of the second driving member (320).

3. The arm pre-installed transfer device according to claim 2, It is characterized in that A second mounting plate (4b) is provided on the portal support frame (310), and the second driving member (320) is installed on the second mounting plate (4b); the sprocket transmission pair comprises a second rotating shaft (321d), a driving sprocket (321e) and a transmission chain (321a); ​​the second rotating shaft (321d) is rotatably connected to the second mounting plate (4b) or connected to the rotating shaft of the second driving member (320); the driving sprocket (321e) is arranged on the second rotating shaft (321d), and the two ends of the transmission chain (321a) are respectively fixed to the two ends of the slide rail (322a), and the inner side of the transmission chain (321a) is meshed with the driving sprocket (321e).

4. The arm pre-installed transfer device according to claim 3, It is characterized in that The sprocket transmission pair comprises two third rotating shafts (321c) and two driven sprockets (321b) arranged on the third rotating shafts (321c), and the two driven sprockets (321b) are respectively engaged with the outer side of the transmission chain (321a) at the front and rear sides of the driving sprocket (321e); and a third mounting plate (4c) for mounting the third rotating shaft (321c) is provided on the portal support frame (310), and the third mounting plate (4c) is arranged below the second mounting plate (4b).

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