A detection device and arm production line

Abstract

The present invention relates to the field of wrist-arm assembly technology, and in particular to a detection device and a wrist-arm production line. A detection device comprises: a lug detection module, which is used to locate the lug on the object to be measured; a hole detection module, which is used to locate the marked hole on the object to be measured; and a measuring module, which can measure the length of the object to be measured. The technical problem that the wrist-arm production line in the prior art cannot produce wrists of different specifications is solved.

Description

Technical Field

[0001] The invention relates to the technical field of wrist-arm assembly, and in particular to a detection device and a wrist-arm production line. Background Art

[0002] The contact network of the electrified passenger railway dedicated line adopts a large number of steel arm systems for passenger dedicated lines and conventional railways. As an important part of the support structure of the steel arm system, the arm needs to be compatible with other parts of the arm system in terms of specifications, materials, performance, and interface methods. It also needs to ensure its safety performance while requiring simple installation. The demand for the arm is very large, and the arm pre-assembly production line is often used to produce the arm. For example, the arm pre-assembly production line No. "CN201921052028.4" and the name "A high-efficiency arm pre-assembly production line" The invention discloses a high-efficiency wrist arm pre-assembly production line, wherein a loading frame is arranged on the wrist arm loading device, a loading trough is arranged on one side of the loading frame, and loading belts are connected to both ends of the loading trough, one end of the loading belt is fixed to the outer edge of the loading trough, and the other end of the loading belt is rolled on a rotating roller located at the inner edge of the loading trough, and the wrist arms are placed above the loading belts, and a conveyor chain for transporting the wrist arms to the production line position is arranged next to the rotating roller. When the loading belt is tightened, the wrist arms will be lifted to the conveyor chain. The wrist arm pre-assembly production line of the prior art has the following problems:

[0003] 1. The feeding device cannot produce arms of different specifications and shapes by switching them at will without interruption, which results in the entire production line being unable to produce arms of different specifications and shapes without interruption according to actual needs.

[0004] 2. Since there is no measuring device to accurately measure the length of the arm, the entire production line cannot continuously produce arms of different lengths according to actual needs.

[0005] 3. The tightening device on the arm production line tightens the fasteners from the lower end of the production line.

[0006] 4. For the arms that do not need to be processed at some workstations on the arm production line, they also need to be transported to the end of the production line before they can be moved away from the production line, which results in low production efficiency. Summary of the invention

[0007] In order to solve the technical problem that the cantilever production line in the prior art cannot produce cantilever arms of different specifications, the present invention provides a cantilever arm pretreatment device and a cantilever arm production line to solve the above technical problem. The technical solution of the present invention is as follows:

[0008] A detection device includes: a lug detection module, which can locate the lug on the object to be measured; a hole detection module, which can locate the marked hole on the object to be measured; and a measuring module, which can measure the length of the object to be measured.

[0009] According to one embodiment of the present invention, the measuring module is set to two groups, and the measuring module includes a blocking module and a position detection module. The blocking module is configured to be slidably installed. In the initial state, the blocking module is located on one side of the walking path of the object to be measured. When working, the blocking module moves to the walking path to limit the object to be measured, and at the same time, the position detection module detects and feeds back the position information of the object to be measured.

[0010] According to one embodiment of the present invention, the blocking module includes: a fixing member, which is fixedly assembled on a sliding seat and has a penetrating sliding channel formed on the fixing member; a blocking member, a first end of which forms a limiting protrusion, the limiting protrusion is larger than the diameter of the sliding channel, and the second end of the blocking member passes through the sliding channel and can protrude from the fixing member; and an elastic member, which is located in the sliding channel and is configured on the blocking member to provide a reset force for the blocking member.

[0011] According to one embodiment of the present invention, the two groups of modules are respectively a first measuring module and a second measuring module. The first measuring module is arranged on a fixed seat, and the second measuring module is arranged on a slide. The slide is also provided with a rotating chuck.

[0012] According to an embodiment of the present invention, the rotating chuck is located between the hole detection module and the lug detection module, and the rotating chuck is slidably arranged on a walking path of the object to be detected.

[0013] According to one embodiment of the present invention, a lug detection module is also slidably mounted on the fixing seat, and the lug detection module includes at least two laser ranging sensors, which are arranged on the same horizontal plane and the light emitted by the two laser ranging sensors can be incident on the surface of the lug.

[0014] According to one embodiment of the present invention, it further includes a hole detection module, which includes a laser sensor. The laser sensor is arranged in the circumference of the walking path, and the emitted light of the laser sensor can pass through the marked hole on the arm.

[0015] According to one embodiment of the present invention, it further includes a clamping module, wherein the clamping module is used to clamp the object to be measured, and the clamping module is configured to slide along the walking path of the object to be measured.

[0016] A wrist-arm production line comprises the above-mentioned detection device and a loading module, wherein the loading module comprises at least one transfer carrier and a conveying assembly, the object to be detected moves from the head end to the end end of the transfer carrier, and the conveying assembly conveys the object to be detected from the transfer carrier to the detection device.

[0017] According to one embodiment of the present invention, it further comprises a loading component, wherein the loading component loads the object to be measured to the head end of the transfer carrier.

[0018] According to one embodiment of the present invention, the loading assembly includes: at least two groups of transmission parts, at least two groups of transmission parts are arranged in parallel, the transmission parts include a driving wheel, a driven wheel and a chain, the driving wheel and the driven wheel are arranged vertically, and the chain moves under the drive of the driving wheel and the driven wheel; a support seat, the support seat is assembled on the chain; and a loading drive member, the loading drive member drives all the driving wheels to rotate synchronously through a rotating shaft.

[0019] According to one embodiment of the present invention, it also includes a processing module for the object to be measured, and the processing module for the object to be measured includes a drilling component and a cutting component, and the drilling component and the cutting component are arranged in sequence along the walking path direction of the object to be measured, and the drilling component and the cutting component are integrated and installed together.

[0020] According to one embodiment of the present invention, it further comprises a tightening device, wherein the tightening device is arranged downstream of the measured object processing module.

[0021] According to one embodiment of the present invention, the tightening device includes a clamp unit and a robot end structure, and the clamp unit and the robot end structure are located on both sides of the arm production line. The clamp unit performs compression and / or isolation actions on fasteners inserted through the object to be measured, and the robot end structure transports the fasteners to the clamp unit and performs tightening actions.

[0022] According to one embodiment of the present invention, the robot end structure includes: a rotating base, which is fixed to the execution end of the robot, and at least two fixed plates are configured on the circumference of the rotating base, and the two fixed plates are respectively configured with a clamping claw assembly and an upper tightening assembly.

[0023] According to one embodiment of the present invention, the tightening device is further configured with at least one lower tightening assembly, and the lower tightening assembly performs a tightening action on the fastener from the lower end of the arm production line.

[0024] According to one embodiment of the present invention, it also includes a unloading module, which moves the workpiece processed by the measured object processing module and the workpiece tightened by the tightening device away from the production line.

[0025] Based on the above technical solution, the technical effects that can be achieved by the present invention are:

[0026] 1. The detection device of the present invention comprises a lug detection module, a hole detection module, a rotating chuck, and two groups of measuring modules. The lug detection module can locate the lug on the object to be measured so as to lock the clamp according to the located lug to meet actual needs; the hole detection module can locate the marked hole on the object to be measured so as to drill the object to be measured according to the located marked hole to meet actual needs; the rotating chuck is located between the hole detection module and the lug detection module, and the rotating chuck is slidably configured on the walking path of the object to be measured, and the measuring module comprises a blocking module and a position detection module. In this way, the rotating chuck drives the object to be measured to reciprocate along the walking path, so that the two ends of the object to be measured collide with the blocking modules of the two groups of measuring modules respectively and are blocked and limited. At the same time, the position detection module detects and feeds back the position information of the wrist arm, so that the length of the wrist arm can be measured as needed for subsequent processing in the workstation. Furthermore, the blocking module is configured to be slidably installed. Specifically, in the initial state, the blocking module is located on one side of the walking path of the arm. When working, the blocking module moves to the walking path to block the limited arm. After the position detection module transmits the detection information, the blocking module leaves the walking path, so that the blocking module will not interfere with the movement of the arm to the next workstation.

[0027] 2. The arm preprocessing device of the present invention also includes a loading module, which transports the object to be measured to the detection device. Specifically, the loading module includes at least one transfer carrier and a conveying assembly. The object to be measured moves from the head end of the transfer carrier to the end, and the conveying assembly transports the object to be measured from the transfer carrier to the detection device. In addition, the loading assembly loads different arms to the head end of the transfer carrier. Specifically, the loading assembly includes at least two groups of transmission parts, a support seat and a loading drive member. At least two transmission parts are arranged in parallel. The transmission parts include a driving wheel, a driven wheel and a chain. The driving wheel and the driven wheel are arranged vertically. The chain moves under the drive of the driving wheel and the driven wheel. The support seat is assembled on the chain. Different arms are placed on the support seat. The loading drive member drives all driving wheels to rotate synchronously through the rotating shaft. The driving wheel drives the driven wheel to rotate through the chain, thereby driving the support seat on the chain and the arm on it to move until the arm is placed on the head end of the transfer carrier.

[0028] 3. The arm preprocessing device of the present invention includes a lug detection module and a rotating chuck. The lug detection module includes at least two laser ranging sensors. The two laser ranging sensors are arranged on the same horizontal plane and the light emitted by them can be incident on the surface of the lug. The arm is driven by the rotating chuck to rotate. When it is detected that the distances from the two laser ranging sensors to the lug surface are equal, the position of the lug is located.

[0029] 4. The wrist arm preprocessing device of the present invention includes a hole detection module and a rotating chuck. The hole detection module includes a laser sensor. The laser sensor is arranged in the circumferential direction of the walking path. The emitted light of the laser sensor can pass through the hole on the wrist arm to detect the distance from the laser sensor to the surface of the wrist arm. Within the range of the distance between the laser sensor and the wrist arm set by the background monitor, the rotating chuck drives the wrist arm to rotate. The light emitted by the laser sensor can pass through the hole on the wrist arm. When it is detected that it is out of range, the rotating chuck drives the wrist arm to rotate and then rotates. It is detected that the distance between the laser sensor and the wrist arm is within the set range. The background monitor records the rotation angle so that the subsequent workstation can use the angle to realize the rapid assembly of the workpiece and the wrist arm.

[0030] 5. The arm production line of the present invention includes a tightening device, which can tighten the two arms at the same time. Specifically, the tightening device is arranged downstream of the object processing module to be measured, and the tightening device includes a clamp unit and a robot end structure. The clamp unit and the robot end structure are located on both sides of the arm production line. The clamp unit performs and / or isolates the fasteners passed through the arm, and the robot end structure transports the fasteners to the clamp unit and tightens the arm. In addition, the tightening device also includes at least one lower tightening assembly, which can tighten the fasteners from the lower end of the arm production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a structural schematic diagram of a lug detection module;

[0032] Figure 2 It is a structural schematic diagram of the cooperation between the lug detection module and the wrist arm;

[0033] Figure 3 It is a schematic diagram of the structure of the cooperation of the lug detection module, the rotating chuck and the clamping module;

[0034] Figure 4 It is a structural diagram of the measurement module;

[0035] Figure 5 for Figure 4 A cross-sectional view of

[0036] Figure 6 It is a structural schematic diagram of the clamping module;

[0037] Figure 7 A schematic diagram of the walking path for measuring the length of the object being measured;

[0038] Figure 8 Schematic diagram of the steps for positioning the marking holes;

[0039] Fig. 9 It is a structural schematic diagram of the feeding module;

[0040] Fig.10 for Fig. 9 Schematic diagram of the local knot;

[0041] Fig.11 It is a structural schematic diagram of the feeding component;

[0042] Fig.12 for Fig.11 Schematic diagram of the local knot;

[0043] Fig.13 It is a schematic diagram of the structure of the cooperation between the transfer carrier and the feeding assembly;

[0044] Fig.14 It is a structural schematic diagram of the processing module of the object to be measured;

[0045] Fig.15 is a schematic diagram of the structure of the mounting base;

[0046] Fig.16 is a schematic diagram of the structure of the isolation component;

[0047] Fig.17 is a structural schematic diagram of a clamping assembly;

[0048] Fig.18 A schematic diagram of the structure of assembling the vertical linear module and the horizontal linear module;

[0049] Fig.19 Schematic diagram of the robot's terminal structure

[0050] Fig. 20 Schematic diagram of the structure of the cooperation between the clamping jaw assembly and the workpiece

[0051] Fig.21 This is a schematic diagram of the robot's structure;

[0052] Fig. 22 It is a schematic diagram of the structure of the cooperation between the slide plate, the lower tightening drive module and the lower tightening sleeve;

[0053] Fig.23 is a structural schematic diagram of a tightening device;

[0054] Fig.24 It is a schematic diagram of the local structure of the tightening device;

[0055] Fig.25 is a structural schematic diagram of the lower tightening assembly;

[0056] Fig.26 It is a schematic diagram of the structure of the arm production line.

[0057] In the figure:

[0058] 1--lug detection module; 11-laser distance sensor; 12-mounting frame; 13-fixed seat; 2-hole detection module; 3-measuring module; 31-blocking module; 311-fixing member; 3111-sliding channel; 312-blocking member; 3121-limiting protrusion; 3122-limiting member; 313-elastic member; 32-position detection module; 4-rotating chuck; 41-rotating chuck drive module; 42-slide; 421-slide drive module; 5-clamping module; 51-support assembly; 511-vertical support rod; 512-lateral support rod; 52-gripping jaw; 521-mounting plate; 53-gripping jaw drive module; 6-feeding module; 61-transfer carrier; 62-transmission assembly; 621-clamping member; 622-linear module; 63-feeding assembly; 631-transmission member; 6311-driving wheel; 6312-driven wheel; 6313-chain; 632-support seat; 6321-slot; 633-transmission assembly; 64-rotating shaft; 7-processing module; 71-drilling assembly; 72-cutting assembly; 8-tightening device; 81-clamping unit; 811-mounting seat; 8111-mounting slot; 8112-avoidance hole; 812-isolation assembly; 8121-isolation block; 8122- Isolation drive module; 813-clamping assembly; 8131-pressing block; 8132-clamping drive module; 814-vertical linear module; 815 horizontal linear module; 82-robot end structure; 821-rotating base; 8211-fixed plate; 822-clamping claw assembly; 8221-adapter; 8222-clamping claw drive module; 8223-clamping claw; 82231-protrusion; 823-upper tightening assembly; 83-lower tightening assembly; 831-lower tightening drive module; 832-slide plate; 833-lower tightening sleeve; 84-first tightening chuck; 85-second tightening chuck; 9-unloading assembly. DETAILED DESCRIPTION

[0059] 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0060] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0061] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0062] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0063] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0064] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0065] like Figure 1-26 As shown, the detection device of the present invention includes a lug detection module 1, a hole detection module 2, and a measuring module 3. The lug detection module 1 is used to locate the lug on the object to be measured, such as angle positioning, so that the subsequent workstation can lock the clamp according to the located lug, thereby meeting actual needs; the hole detection module 2 is used to locate the marked hole on the object to be measured, such as angle positioning, so that the subsequent workstation can determine the relative installation angle of the wrist arm according to the angle of the located marked hole and then lock the clamp, thereby meeting actual needs; the measuring module 3 is used to measure the length of the object to be measured, so that the subsequent workstation can cut according to the measured length, thereby meeting actual needs.

[0066] The arm pre-assembly production line in the prior art does not have a detection device to measure the length of the arm, locate the lug and the marking hole, so it is impossible to accurately produce arms of different lengths according to demand, it is impossible to lock the clamp according to the position of the lug, and it is impossible to drill according to the position of the marking hole. Therefore, the arm pre-assembly production line in the prior art cannot produce arms of different specifications according to actual needs. This embodiment sets a detection device upstream of the locking, drilling and cutting stations of the arm to measure the length, locate the lug and the marking hole of the arm, so that the subsequent stations can process the arm according to the detection data, so as to produce arms of different specifications, thereby solving the technical problem that the arm production line cannot produce arms of different specifications.

[0067] like Figure 3 and 4As shown, the measuring module 3 of this embodiment includes a blocking module 31 and a position detection module 32. The blocking module 31 and the position detection module 32 cooperate with each other to detect the position of the object. Specifically, the external driving member drives the wrist arm to move along the walking path. When one end of the wrist arm contacts the blocking module 31 and is blocked and limited, the other end of the blocking module 31 enters the detection range of the position detection module 32. At the same time, the position detection module 32 detects, feedbacks and records the position information of the wrist arm.

[0068] Furthermore, the blocking module 31 is configured to be slidably installed. Specifically, in the initial state, the blocking module 31 is located on one side of the walking path of the arm. When working, the blocking module 31 moves to the walking path to block the limiting arm. After the blocking module 32 transmits the detection information, the blocking module 31 leaves the walking path, so that the blocking module 31 will not interfere with the movement of the arm to the next workstation.

[0069] like Figure 4 As shown, the blocking module 31 of the present embodiment includes a fixing member 311, a blocking member 312 and an elastic member 313. The fixing member 311 and the blocking member 312 form a sliding fit. Specifically, a penetrating sliding channel 3111 is formed on the fixing member 311. A limiting protrusion 3121 is formed on the first end of the blocking member 312. The limiting protrusion 3121 is larger than the diameter of the sliding channel 3111. The second end of the blocking member 312 passes through the sliding channel 3111 and can protrude from the fixing member 311. Preferably, a limiting member 3122 is provided on the second end of the blocking member 312, so that the blocking member 312 cannot be separated from the sliding channel 3111 when sliding along the sliding channel 3111. In addition, the elastic member 313 of the present embodiment is configured in the sliding channel 3111 and on the blocking member 312. Preferably, the elastic member 313 is a spring and is sleeved on the blocking member 312. The spring can provide a force to reset the blocking member 312 to its initial position.

[0070] Furthermore, the blocking module 31 and the blocking module 32 of this embodiment cooperate with each other to continuously detect the position information of the wrist arm. Specifically, the blocking module 32 is arranged on one side of the fixing member 311, close to the second end of the blocking member 312. Under the action of external force, after the wrist arm collides with the limiting protrusion 3121, the blocking member 312 slides in the sliding channel 3111, so that the second end of the blocking member 312 can move to the detection range of the blocking module 32. The blocking module 32 feeds back and records the position information of the wrist arm. After the wrist arm and the limiting protrusion 3121 are out of contact, the spring provides a reset force to reset the blocking member 312 to the initial position, so as to measure the position of the next wrist arm. The blocking module 32 is not limited to an inductive sensor, and can feed back and record the information of the position of the wrist arm.

[0071] like Figure 2 , 3As shown in Figures 6 and 7, the detection device of this embodiment can also complete the measurement of the length of the wrist by cooperating with two groups of measuring modules 3 and the clamping module 5. Specifically, the two groups of measuring modules 3 are respectively a first measuring module and a second measuring module. The first measuring module is arranged on the fixed seat 13, and the second measuring module is arranged on the slide 42. The clamping module 5 is set as a mechanical claw, and an external driving member clamps the object to be measured and moves it toward the second measuring module. The first measuring module gives way to allow the first end of the object to be measured to contact the second measuring module first, and then the second measuring module gives way, and the object to be measured walks a distance L1 along the walking path so that the object to be measured is clamped by the mechanical claw; then the wrist continues to walk a distance L2 along the walking path until the second end of the wrist passes the first measuring module; then the mechanical claw clamps the wrist to move toward the first measuring module, and the wrist walks in the opposite direction until the second end of the wrist contacts the first measuring module, and the reverse walking distance L3 of the wrist is calculated; in this way, the length L of the wrist can be calculated, L=L1+L2-L3. This precise measurement of the arm length makes it easier for downstream workstations to cut arms of different lengths according to actual needs to meet production requirements.

[0072] Furthermore, the clamping module 5 of the present embodiment can also be in other forms. For example, as shown in the figure and, the clamping module 5 includes a support assembly 51, a clamping jaw 52 and a clamping jaw driving module 53. The support assembly 51 includes at least two vertical support rods 511 and at least three transverse support rods 512. The two ends of the transverse support rods 512 are respectively fixedly connected to the two vertical support rods 511, and the three transverse support rods 512 are spaced apart on the two vertical support rods 511, so that the support assembly 51 forms a frame structure. The clamping jaws 52 and the clamping jaw driving module 53 are arranged to be at least two groups. The two groups of clamping jaws 52 and the clamping jaw driving module 53 are relatively arranged with the help of the two vertical support rods 511 and are in the same straight line in the vertical direction. The telescopic end of the clamping jaw driving module 53 is fixedly connected to the vertical support rod 511 with the help of a bearing member. The telescopic end of the clamping jaw driving module 53 passes through the vertical support rod 511 and is fixedly connected to the clamping jaw 52 with the help of a mounting plate. The two clamping jaws 52 move relative to each other under the drive of the two clamping jaw driving modules 53 to clamp the wrist arm. The clamp driving module 53 is not limited to being driven by a motor, and can drive the clamp 52 to clamp the object to be measured.

[0073] According to one embodiment of the present invention, Figure 3 As shown, a rotating chuck 4 is also configured on the slide 42 of this embodiment. Specifically, the rotating chuck 4 is located between the hole detection module 2 and the lug detection module 1. The rotating chuck 4 is slidably configured on the walking path of the object to be measured, and the rotating chuck 4 is fixedly assembled on the slide 42.

[0074] Furthermore, if Figure 1 , 2As shown in FIGS. 3, 6 and 7, the detection device of this embodiment further includes a lug detection module 1. The lug detection module 1 and the rotating chuck 4 cooperate to locate the position of the lug. Specifically, the lug detection module 1 includes at least two laser distance measuring sensors 11 and mounting frame 12, at least two laser distance measuring sensors 11 are fixedly mounted on the two mounting frames 12 respectively, the two mounting frames 12 are arranged in parallel, the two laser distance measuring sensors 11 are arranged on the same horizontal plane, the light emitted by the laser distance measuring sensor 11 can be incident on the surface of the lug to feedback data, when locating the position of the lug, the wrist arm is clamped by the rotating chuck 4, the light emitted by the two laser distance measuring sensors 11 is projected onto the wrist arm, the background monitor detects that the distances from the two laser distance measuring sensors 11 to the surface of the lug are not equal, the rotating chuck driving module 41 drives the rotating chuck 4 and its upper wrist arm to rotate, when the background monitor detects that the distances from the two laser distance measuring sensors 11 to the surface of the lug are equal, the rotating chuck driving module 41 stops driving the rotating chuck 4 and its upper wrist arm to rotate, at the same time, the servo motor of the rotating chuck driving module 41 records the rotation angle, i.e., the first quadrant angle, and feeds back to the background monitor so that the subsequent workstation can use the data. The rotating chuck driving module 41 is optional but limited to a motor, which can drive the rotating chuck 4 to rotate.

[0075] Furthermore, if Figure 3 , 6 , 7 and 8, the device of this embodiment also includes a hole detection module 2, the hole detection module 2, the rotating chuck 4 and the clamping module 5 can cooperate to locate the position of the marked hole. Specifically, the rotating chuck 4 is set on the slide 42, and the hole detection module 2 includes a laser sensor. The laser sensor is arranged in the circumferential direction of the walking path. The hole detection module 2 can detect the position of the marked hole through the laser sensor. The laser sensor is fixedly assembled on the transverse support rod 512. After the rotating chuck 4 clamps the wrist arm, it moves toward the clamping module 5 under the action of the slide drive module 421. Figure 8 For ease of understanding, Figure 8It is a cross-sectional view of the arm as viewed from the right side. The hole detection steps are as follows: Step 1: The rotating chuck drive module 41 drives the rotating chuck 4 and its upper arm to rotate. When the light emitted by the laser sensor passes through the position of the hole on the arm, it is detected that the distance between the laser sensor and the arm exceeds the set range; Step 2: The rotating chuck drive module 41 then drives the rotating chuck 4 and its upper arm to rotate counterclockwise, and detects the critical point where the distance between the laser sensor and the arm is within the set range, indicating that it has rotated to the edge position on one side of the hole. During the process, the rotation angle α1 is calculated according to the number of revolutions of the servo motor of the rotating chuck drive module 41; Step 3: The rotating chuck drive module 4 Then drive the rotary chuck 4 and its upper arm to rotate clockwise, and detect the distance between the laser sensor and the arm. When it is within the critical point of the set range again, it means that it has rotated to the edge position on the other side of the hole. During this process, the rotation angle α2 is calculated according to the number of revolutions of the servo motor of the rotary chuck driving module 41; Step 4: According to the data fed back by the servo motor, it can be calculated that the angle of the hole is α2, then the rotary chuck 4 only needs to rotate counterclockwise α2 / 2, and this angle is the central axis position of the hole. At the same time, the servo motor of the rotary chuck driving module 41 records the rotation angle, i.e., the second quadrant angle, and feeds it back to the background monitor so that the subsequent workstation can use the data. The slide drive module 421 can be selected but not limited to a motor, which can drive the rotary chuck 4 to move.

[0076] This embodiment also provides a wrist-arm production line, such as Figure 9-13 As shown, it includes the above-mentioned detection device and a loading module 6. The loading module 6 can continuously convey arms of different specifications to the detection device. Specifically, the loading module 6 includes at least one transfer carrier 61 and a conveying assembly 62. The transfer carrier 61 is arranged at an angle, and the head end of the transfer carrier 61 is higher than the tail end. After the arm is conveyed to the head end of the transfer carrier 61, the arm rolls along the inclined bearing surface of the transfer carrier 61 to the tail end of the transfer carrier 61 under the action of its own gravity. The conveying assembly 62 is arranged near the tail end of the transfer carrier 61. The conveying assembly 62 includes a clamping member 621 and a linear module 622. After the clamping member 621 clamps the arm from the tail end of the transfer carrier 61, the linear module 622 drives the clamping member 621 and the arm thereon to move in the feeding direction to the detection device. The clamping member 621 may be selected from but not limited to a pneumatic clamp 52; the linear module 622 may be selected from but not limited to a motor gear rack assembly.

[0077] Furthermore, the loading module 6 of the present embodiment further comprises a loading assembly 63, which transports the arm to the head end of the transfer carrier 61. Specifically, the loading assembly 63 comprises a transmission member 631, a support seat 632 and a loading drive member, the transmission member 631 is at least arranged in two groups, the transmission members 631 are arranged in parallel, and the arm can maintain balance when being transported by the two groups of transmission members 631, the transmission member 631 comprises a driving wheel 6311, a driven wheel 6312 and a chain 6313, the driving wheel 6311 and the driven wheel 6312 are arranged vertically, and the chain 6313 moves under the drive of the driving wheel 6311 and the driven wheel 6312; the loading drive member drives all the driving wheels 6311 to rotate synchronously through the rotating shaft 634. Specifically, all driving wheels 6311 are mounted on the rotating shaft 634. The feeding drive member drives the rotating shaft 634 to rotate, and the rotating shaft 634 can drive all driving wheels 6311 thereon to rotate synchronously. For the convenience of assembly, the feeding drive member can be set to drive the rotating shaft 634 to rotate through the transmission assembly 633. The transmission assembly 633 can be selected from but not limited to a gear transmission assembly and a pulley transmission assembly. The support seat 632 is set in multiples, and one end of the support seat 632 is fixedly assembled with the help of a locking member and a chain 6313. The support seat 632 is provided with a card slot 6321 to accommodate the wrist arm, and the wrist arm is transported to the head end of the transfer carrier 61.

[0078] like Fig.14 As shown, the arm preprocessing device of this embodiment also includes an arm processing module 7, which performs drilling and cutting actions on the arm that is positioned by measuring the length. Specifically, the arm processing module 7 includes a drilling component 71 and a cutting component 72, which are sequentially arranged along the walking path of the arm. The drilling component 71 and the cutting component 72 can be conventional devices in the prior art. In addition, the drilling component 71 adjusts the position of the arm according to the second quadrant angle recorded by the hole detection module 2 when locating the hole during drilling, so as to quickly drill the hole.

[0079] Furthermore, the drilling assembly 71 and the cutting assembly 72 are integrated and installed together, and the relative positions of the integrated installation are fixed, so there is no need to debug them separately every time they are moved, which effectively ensures the debugging progress and production accuracy.

[0080] like Fig.23 , 24 As shown in Figures 25 and 25, the tightening device 8 of this embodiment includes a clamp unit 81 and a robot end structure 82, which are located on both sides of the arm production line. The clamp unit 81 performs compression and / or isolation actions on the fasteners inserted into the object to be measured, and the robot end structure 82 transports the fasteners to the clamp unit 81 and performs tightening actions.

[0081] like Figure 15-18As shown, the tightening device 8 of this embodiment includes a clamp unit 81. In this embodiment, the locked member is set as a clamp, and the clamp includes a first fastening portion and a second fastening portion. A clamp is provided on the clamping assembly 813. The clamp unit 81 includes a mounting seat 811 and an isolation assembly 812. The mounting seat 811 and the isolation assembly 812 can cooperate to isolate and support the first fastening portion and the second fastening portion. Specifically, a mounting groove 8111 for accommodating the locked member is formed on one side of the mounting seat 811. In this way, the clamp can be placed in the mounting groove 8111. The isolation assembly 812 includes a mounting groove 8111 fixed to the mounting seat 811. The isolation drive module 8122 and the isolation block 8121 of the seat 811, the isolation block 8121 and the telescopic end of the isolation drive module 8122 are connected, the isolation block 8121 can slide relative to the mounting seat 811, after the clamp is put into the mounting groove 8111, the isolation drive module 8122 drives the isolation block 8121 to move toward the bolt rod, so that the isolation block 8121 extends between the first fastening part and the second fastening part, thereby isolating and stretching the first fastening part and the second fastening part. The isolation drive module 8122 can be selected but not limited to a cylinder, and can drive the isolation block 8121 to move.

[0082] The clamp unit 81 of this embodiment further includes a clamping assembly 813, which can clamp the bolt from above the clamp. Specifically, a clamping block 8131 and a clamping driving module 8132 are telescopically connected. When the bolt needs to be clamped, the clamping driving module 8132 drives the clamping block 8131 to move toward the bolt so that the clamping block 8131 clamps the bolt. When the bolt needs to be detached, the clamping driving module 8132 drives the clamping block 8131 to move away from the bolt so that the clamping block 8131 detaches from the bolt. The clamping driving module 8132 can be selected from, but not limited to, a cylinder, and can drive the clamping block 8131 to move.

[0083] The clamp unit 81 of this embodiment also includes a vertical linear module 814 and a horizontal linear module 815, through which the vertical linear module 814 and the horizontal linear module 815 are used to adjust the position of the clamp in the vertical and horizontal directions so that the wrist arm can pass through the clamp and then perform the tightening action.

[0084] In order to tighten the clamp on the wrist from the top, Figure 19-21As shown, the clamp unit 81 of the present embodiment also includes a robot end structure 82, and the execution end of the robot end structure 82 is fixedly equipped with a rotating base 821, and at least two fixed plates 8211 are arranged in the circumferential direction of the rotating base 821, and the two fixed plates 8211 are respectively provided with a clamping claw assembly 822 and an upper tightening assembly 823, and the clamping claw assembly 822 is detachably mounted on one of the fixed plates 8211 with the aid of an adapter 8221, and the upper tightening assembly 823 is detachably mounted on the other fixed plate 8211, so that only damaged parts can be replaced, thereby saving costs. In addition, while keeping the rotating base 821 unchanged, only different clamping claw assemblies 822 and adapters 8221, different upper tightening assemblies 823 and fixed plates 8211 can be replaced as needed, thereby increasing the versatility of the robot end structure 82.

[0085] The clamping claw assembly 822 and the isolation assembly 812 of the present embodiment can cooperate to realize the transportation and tightening of the clamp. Specifically, one end of the clamping claw 8223 is connected to the telescopic end of the clamping claw driving module 8222. When the workpiece needs to be clamped, the mechanical arm drives the clamping claw assembly 822 to swing to the specified position, and the clamping claw driving module 8222 drives the two clamping claws 8223 to move toward each other synchronously. In this way, the protrusion 82231 on the clamping claw 8223 extends from both sides of the clamp into between the first fastening part and the second fastening part to clamp and stretch the clamp. After the mechanical arm drives the clamping claw assembly 822 and the clamp thereon to move to the specified position, the clamp is placed in the installation groove 8111. Then, the isolation driving module 8122 drives the isolation block 8121 to extend between the first fastening part and the second fastening part to isolate and stretch the clamp. The clamping claw driving module 8222 drives the two clamping claws 8223 to move away from each other synchronously to loosen the clamp. The mechanical arm drives the rotating base 821 to align the upper tightening assembly 823 with the bolt and perform the tightening action. The clamping claw driving module 8222 is not limited to the cylinder, and can drive the clamping claw 8223 to move.

[0086] The specific structure of the upper tightening assembly 823 of this embodiment adopts the structural form of the patent "CN108907691" which is a patent for an automatic tightening device for a thread pair.

[0087] like Fig.25As shown, the tightening device 8 of this embodiment is also configured with at least one lower tightening component 83, and the lower tightening component 83 tightens the fastener from the lower end of the arm production line. Specifically, after the clamping component 813 tightens the nut, the mounting seat 811 is provided with an avoidance hole 8112 that penetrates into the mounting groove 8111, and the lower tightening component 83 includes a slide plate 832, a lower tightening drive module 831 and a lower tightening sleeve 833. The slide plate 832 can move relative to the mounting seat 811, and the slide plate 832 is configured with the lower tightening drive module 831. In this way, the lower tightening drive module 831 can move relative to the mounting seat 811 together with the slide plate 832, so that the lower tightening sleeve 833 passes through the avoidance hole 8112, and then the tightening action is performed under the drive of the lower tightening drive module 831.

[0088] As shown in Figure 26, this embodiment also includes a unloading module 9, which includes a first unloading component and a second unloading component. The first unloading component is arranged between the object processing module 7 and the first fixture unit 81, and is located on one side of the arm's walking path. The arm that has been processed by the object processing module 7 does not need to be installed with a clamp. The first unloading component moves the arm away from the arm production line. The second unloading component is arranged downstream of the second fixture unit 81. The second unloading component moves the arm with the clamp away from the arm production line after the tightening device 8 has tightened the arm.

[0089] Based on the above structure, the working principle of the arm pretreatment device and the arm production line of this embodiment is as follows:

[0090] The operator places wrists of different specifications in the slot 6321 of the support seat 632. The loading drive member drives the rotating shaft 634 to rotate through the transmission assembly 633, driving the driving wheel 6311 to rotate. The rotation of the driving wheel 6311 drives the chain 6313 and the support seat 632 thereon to rotate. At this time, the direction of the slot 6321 is upward. When the wrist is conveyed to the top of the driven wheel 6312, the slot 6321 of the support seat 632 is downward, and the wrist falls to the head end of the transfer carrier 61. Under the action of its own gravity, the wrist rolls along the load-bearing surface toward the end of the transfer carrier 61. After the clamping claw of the clamping member 621 clamps one end of the wrist, the wrist is conveyed to the detection device along the feeding direction under the drive of the linear module 622, thereby realizing automatic loading of the wrist.

[0091] The measuring module of this embodiment measures the length, lug positioning and hole positioning of the measured object in sequence. The specific process is as follows

[0092] Length measurement: the linear module 622 clamps and transports the wrist arm through the rotating chuck 4, and the first end of the wrist arm contacts the second measuring module, so that the second measuring module obtains the first position information of the wrist arm; then the second measuring module gives way, and the linear module 622 continues to clamp and transport the wrist arm to the clamping module 5, and the wrist arm is clamped by the clamping module 5, and the linear module 622 releases the wrist arm. At the same time, the number of revolutions of the servo motor of the linear module 622 will be converted into the distance L1 of the wrist arm's travel, and the clamping module 5 clamps the wrist arm and continues to walk along the walking path until the second end of the wrist arm passes the first measuring module. At the same time, the number of revolutions of the motor driving the clamping module 5 to walk is converted into the distance L2 of the wrist arm's travel; the clamping module 5 then clamps and drives the wrist arm to walk in the opposite direction until the second end of the wrist arm contacts the first measuring module, and the first measuring module obtains the second position information of the wrist arm. At the same time, the number of revolutions of the motor of the clamping module 5 that clamps the wrist arm to walk in the opposite direction will be converted into the distance L3 of the wrist arm's reverse travel, and the length of the wrist arm can be calculated by the formula.

[0093] Lug positioning: When the length measurement is completed, the wrist arm still stays in place, the first measuring module gives way, the second mounting seat driving module drives the second mounting seat and the lug detection module 1 thereon to move to the detection position facing the lug, the rotating chuck 4 clamps the wrist arm, the clamping module 5 loosens the wrist arm, and the light emitted by the laser ranging sensor 11 of the lug detection module 1 is incident on the surface of the lug. The rotating chuck driving module 41 drives the rotating chuck 4 and its upper wrist arm to rotate. When the background monitor detects that the distances from the two laser ranging sensors 11 to the surface of the lug are equal, the rotating chuck driving module 41 stops driving the rotating chuck 4 and its upper wrist arm to rotate. At the same time, the servo motor of the rotating chuck driving module 41 records the rotation angle, that is, the quadrant angle, and feeds it back to the background monitor so that the subsequent workstation can use the data. In this way, the position of the lug is positioned.

[0094] Hole positioning: After the lug positioning is completed, the rotary chuck driving module 41 then drives the rotary chuck 4 and its upper arm to rotate, and the light emitted by the laser sensor fixedly mounted on the transverse support rod 512 will be projected onto the surface of the arm. The laser sensor detects and feedbacks the distance between the laser sensor and the arm. As the rotary chuck 4 rotates, the background monitor monitors that the distance between the laser sensor and the arm is first within the set range, then exceeds the set range, and then within the set range. At the same time, the servo motor of the rotary chuck driving module 41 records the rotation angle, i.e., the quadrant angle, and feeds back to the background monitor so that the subsequent workstation can use the data. In this way, the position positioning of the hole of the positioning arm is completed. The rotary chuck 4 releases the clamped arm, and the clamping module 5 clamps the arm and walks along the walking path of the arm until one end of the arm is clamped by the claw assembly. The clamping module 5 releases the arm, and the claw assembly clamps and transports the arm to the processing module 7 under the action of the external driving module.

[0095] The drilling assembly 71 and the cutting assembly 72 of the processing module 7 perform drilling and cutting actions on the wrist arm, and then the claw assembly releases the wrist arm, and the clamping module 5 clamps the wrist arm. The wrist arm that has been processed by the wrist arm does not need to be installed with a clamp. The first unloading assembly moves the wrist arm away from the wrist arm production line. For the wrist arm that needs to be installed with a clamp, it moves along the walking path under the drive of the clamping module 5 until the wrist arm passes through the first tightening chuck 84. The first tightening chuck 84 clamps the wrist arm and moves along the walking path to the first clamp unit 81 driven by the first tightening chuck drive module for tightening.

[0096] One end of the clamping claw 8223 of the robot's terminal structure 82 is connected to the telescopic end of the clamping claw driving module 8222. When the workpiece needs to be clamped, the robotic arm drives the clamping claw assembly 822 to swing to the specified position, and the clamping claw driving module 8222 drives the two clamping claws 8223 to move toward each other synchronously. In this way, the protrusion 82231 on the clamping claw 8223 extends from both sides of the clamp into between the first fastening part and the second fastening part to clamp and stretch the clamp. After the robotic arm drives the clamping claw assembly 822 and the clamp thereon to move to the specified position, the clamp is placed in the installation groove 8111. Then, the isolation driving module 8122 drives the isolation block 8121 to extend between the first fastening part and the second fastening part to isolate and stretch the clamp. The clamping claw driving module 8222 drives the two clamping claws 8223 to move away from each other synchronously to loosen the clamp.

[0097] Then, the vertical and horizontal positions of the clamp are adjusted by the vertical linear module 814 and the horizontal linear module 815 so that the wrist can pass through the clamp. The first tightening chuck 84 drives the wrist to pass through the clamp. Then the isolation drive module 8122 drives the isolation block 8121 to move to disengage from between the first fastening part and the second fastening part. The robot drives the rotating base 821 to align the upper tightening assembly 823 with the bolt and perform the tightening action. The clamping assembly 813 and the robot end structure 82 return to the initial position. The first tightening chuck 84 drives the wrist to continue to move along the walking path until one end of the wrist passes through the second tightening chuck 85. Then the first tightening chuck 84 loosens the wrist, and the second tightening chuck 85 clamps the wrist and moves toward the second clamp unit 81 under the drive of the drive module of the second tightening chuck.

[0098] The second clamp unit 81 tightens the bolt from both the upper and lower sides, so the clamping drive module 8132 drives the clamping block 8131 to move toward the bolt so that the clamping block 8131 clamps the bolt, and the slide plate 832 moves relative to the mounting seat. The slide plate 832 is provided with a lower tightening drive module 831, so that the lower tightening drive module 831 can move relative to the mounting seat together with the slide plate 832, so that the lower tightening sleeve 833 passes through the avoidance hole 8112, and then the tightening action is performed under the drive of the lower tightening drive module 831. After the tightening is completed, the other clamp unit 81 and the robot end structure 82 return to the initial position, the second tightening chuck 85 continues to drive the wrist to move along the walking path, the second unloading assembly first clamps the wrist, and the second tightening chuck 85 releases the wrist, and then the second unloading assembly 9 moves the wrist away from the wrist production line.

[0099] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A detection device, characterized in that: include: A lug detection module (1), the lug detection module (1) being used to locate a lug on a detected object; A hole detection module (2), the hole detection module (2) being used to locate the marked hole on the object to be detected; A measuring module (3), wherein the measuring module (3) can measure the length of an object to be measured; The measuring module (3) is provided in two groups, and the measuring module (3) comprises a blocking module (31) and a position detection module (32), wherein the blocking module (31) is configured to be slidably mounted, and in an initial state, the blocking module (31) is located on one side of a walking path of the object to be measured, and when in operation, the blocking module (31) moves to the walking path to limit the position of the object to be measured, and at the same time, the position detection module (32) detects and feeds back position information of the object to be measured; The object to be measured is a wrist arm; The blocking module (31) comprises: A fixing member (311), the fixing member (311) being fixedly assembled on the sliding seat, and a penetrating sliding channel (3111) being formed on the fixing member (311); A blocking member (312), wherein a first end of the blocking member (312) forms a limiting protrusion (3121), the limiting protrusion (3121) is larger than the diameter of the sliding channel (3111), and a second end of the blocking member (312) passes through the sliding channel (3111) and is capable of protruding from the fixing member (311); an elastic member (313), the elastic member (313) being located in the sliding channel (3111), and the elastic member (313) being arranged on the blocking member (312) to provide a restoring force for the blocking member (312); The two groups of measuring modules (3) are respectively a first measuring module and a second measuring module, the first measuring module is arranged on a fixed seat (13), the second measuring module is arranged on a slide table (42), and a rotating chuck (4) is also arranged on the slide table (42); The rotating chuck (4) is located between the hole detection module (2) and the lug detection module (1), and the rotating chuck (4) is slidably arranged on a walking path of the object to be detected; A lug detection module (1) is also slidably mounted on the fixing seat (13), wherein the lug detection module (1) comprises two laser distance measuring sensors (11), wherein the two laser distance measuring sensors (11) are arranged on the same horizontal plane and the light emitted by the two laser distance measuring sensors can be incident on the surface of the lug.

2. The detection device according to claim 1, characterized in that: It also comprises a hole detection module (2), the hole detection module (2) comprising a laser sensor, the laser sensor being arranged in the circumferential direction of the walking path, and the emitted light of the laser sensor being able to pass through the marked hole on the arm.

3. A detection device according to claim 1, characterized in that: It also comprises a clamping module (5), the clamping module (5) being used to clamp the object to be measured, and the clamping module (5) being configured to slide along the walking path of the object to be measured.

4. A wrist-arm production line, characterized in that: include: The detection device according to any one of claims 1 to 3; A loading module (6), the loading module (6) comprising at least one transfer carrier (61) and a conveying assembly (62), the object to be measured moves from the head end to the end end of the transfer carrier (61), and the conveying assembly (62) conveys the object to be measured from the transfer carrier (61) to the detection device.

5. The arm production line according to claim 4, characterized in that: It also comprises a loading component (63), wherein the loading component (63) loads the object to be measured to the front end of the transfer carrier (61).

6. The arm production line according to claim 5, characterized in that: The feeding assembly (63) comprises: Two groups of transmission members (631), the two groups of transmission members (631) are arranged in parallel, the transmission members (631) include a driving wheel (6311), a driven wheel (6312) and a chain (6313), the driving wheel (6311) and the driven wheel (6312) are arranged vertically, and the chain (6313) moves under the drive of the driving wheel (6311) and the driven wheel (6312); A support seat (632), wherein the support seat (632) is assembled on the chain (6313); A loading drive member, wherein the loading drive member drives all driving wheels (6311) to rotate synchronously via a rotating shaft (64).

7. The arm production line according to claim 4, characterized in that: The device also comprises a processing module (7) for the object to be measured, wherein the processing module for the object to be measured comprises a drilling component (71) and a cutting component (72), wherein the drilling component (71) and the cutting component (72) are arranged in sequence along the direction of the walking path of the object to be measured, and the drilling component (71) and the cutting component (72) are integrated and installed together.

8. The arm production line according to claim 7, characterized in that: It also comprises a tightening device (8), wherein the tightening device (8) is arranged downstream of the measured object processing module (7).

9. The arm production line according to claim 8, characterized in that: The tightening device (8) comprises a clamp unit (81) and a robot end structure (82), wherein the clamp unit (81) and the robot end structure (82) are located on both sides of the wrist-arm production line, the clamp unit (81) performs a pressing and / or isolating action on a fastener inserted into an object to be measured, and the robot end structure (82) transports the fastener to the clamp unit (81) and performs a tightening action.

10. The arm production line according to claim 9, characterized in that: The robot end structure (82) comprises: a rotating base (821), the rotating base (821) being fixed to the execution end of the robot, two fixing plates (8211) being arranged in the circumferential direction of the rotating base (821), and the two fixing plates (8211) being respectively arranged with a clamping claw assembly (822) and an upper tightening assembly (823).

11. The arm production line according to claim 8, characterized in that: The tightening device (8) is further configured with at least one lower tightening assembly (83), and the lower tightening assembly (83) performs a tightening action on the fastener from the lower end of the arm production line.

12. The arm production line according to claim 8, characterized in that: It also comprises a unloading module (9), wherein the unloading module (9) moves the workpiece processed by the measured object processing module (7) and the workpiece tightened by the tightening device (8) away from the production line.

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