A flat and oblique arm pre-assembly tooling system for arm pre-assembly

Abstract

A flat and oblique wrist arm pre-assembly tooling system for wrist arm pre-assembly includes two groups of connector supply trays, one group of connector supply trays includes several connector supply trays, and a flat wrist arm pre-assembly tooling and an oblique wrist arm pre-assembly tooling are arranged between the two groups of connector supply trays; the flat wrist arm pre-assembly tooling includes a flat wrist arm and a supporting connector combination tooling, and a flat wrist arm and a load-bearing cable seat positioning tooling; the oblique wrist arm pre-assembly tooling includes an oblique wrist arm and a supporting connector combination tooling, and an oblique wrist arm and a combined positioning ring positioning tooling; a tightening tooling is arranged near the flat wrist arm and a supporting connector combination tooling, the flat wrist arm and a load-bearing cable seat positioning tooling, the oblique wrist arm and a supporting connector combination tooling, and the oblique wrist arm and a combined positioning ring positioning tooling. The present invention provides a flat and oblique wrist arm pre-assembly tooling system for wrist arm pre-assembly, which can automatically complete the pre-assembly between the flat wrist arm, the oblique wrist arm and different connectors, and improve work efficiency and precision.

Description

Technical Field

[0001] The invention relates to the technical field of cantilever arm pre-assembly, and in particular to a flat and oblique cantilever arm pre-assembly tooling system for cantilever arm pre-assembly. Background Art

[0002] The arm is an important part of the overhead contact network. The arm is composed of flat arm, oblique arm and other parts. Different connectors are needed to connect different parts. Since the final installation position of the arm is on the upper part of the pillar, in order to ensure the stability of the arm assembly and reduce the safety hazards of the staff, the arm is usually pre-assembled and the connector is fixed on the flat arm and oblique arm in advance. However, the arm is usually mass-produced, and most of the existing tooling still requires manual assistance during use, resulting in low work efficiency. Summary of the invention

[0003] In order to solve the deficiencies in the prior art, the present invention provides a flat and oblique cantilever arm pre-assembly tooling system for cantilever arm pre-assembly.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a flat and oblique wrist arm pre-assembly tooling system for wrist arm pre-assembly, comprising two groups of connector supply trays, one group of connector supply trays comprising a plurality of connector supply trays, a flat wrist arm pre-assembly tooling and an oblique wrist arm pre-assembly tooling are arranged between the two groups of connector supply trays; the flat wrist arm pre-assembly tooling comprises a flat wrist arm and a support connector combined tooling, and a flat wrist arm and a load-bearing cable seat positioning tooling; the oblique wrist arm pre-assembly tooling comprises an oblique wrist arm and a support connector combined tooling, and an oblique wrist arm and a combined positioning ring positioning tooling;

[0005] Tightening tools are arranged near the flat wrist arm and supporting connector combination tooling, the flat wrist arm and load-bearing cable seat positioning tooling, the oblique wrist arm and supporting connector combination tooling and the oblique wrist arm and combined positioning ring positioning tooling.

[0006] As a further optimization of the above-mentioned flat and inclined arm pre-assembly tooling system for arm pre-assembly: the connecting part supply tray includes a support, an upper material tray and a lower material tray, two first baffles are arranged in parallel on the support, the upper material tray is slidably set on the two first baffles, the lower material tray is slidably set on the support and is located between the two first baffles, and multiple connecting parts are arranged on the upper material tray and the lower material tray.

[0007] As a further optimization of the above-mentioned flat and inclined arm pre-assembly tooling system for arm pre-assembly: the tightening tooling includes a lifting platform, a driver is provided on the lifting platform, the driver is driven and connected to a moving platform, the moving platform is slidably arranged on the lifting platform, a number of moving components are movably arranged on the moving platform, the moving components are fixedly connected to a tightening gun, and the tightening gun extends to the bottom of the moving platform.

[0008] As a further optimization of the above-mentioned flat and oblique wrist arm pre-assembly tooling system for wrist arm pre-assembly: the flat wrist arm and support connector combined tooling, the flat wrist arm and load-bearing cable seat positioning tooling, the oblique wrist arm and support connector combined tooling, and the oblique wrist arm and combined positioning ring positioning tooling all include a centering mechanism, the centering mechanism includes a third driving cylinder and two parallel first vertical plates, the first vertical plates are slidably arranged on the first support plate, the third driving cylinder is drivingly connected to one of the first vertical plates, the third driving cylinder is fixedly connected to the other first vertical plate, and a centering wheel for limiting the flat wrist arm or the oblique wrist arm from the circumferential side is rotatably arranged on the first vertical plate;

[0009] The flat wrist arm and support connector combination tooling, the oblique wrist arm and support connector combination tooling, and the oblique wrist arm and combination positioning ring positioning tooling all include a clamping mechanism for clamping the connecting piece, the clamping mechanism includes a first pushing cylinder and two first sliding blocks arranged oppositely, the connecting piece is located between the two first sliding blocks, the first pushing cylinder is drivingly connected to one of the first sliding blocks, and the first pushing cylinder is fixedly connected to the other first sliding block; the flat wrist arm and load-bearing cable seat positioning tooling also includes a connecting piece clamping mechanism, the connecting piece clamping mechanism includes two third vertical plates, the third vertical plates are slidably arranged on the first supporting plate, the third vertical plates are provided with a plurality of first driving cylinders, and the first driving cylinders are connected to a second pressing plate for pressing the connecting piece onto the third vertical plate;

[0010] The combined tooling of the flat wrist arm and supporting connector and the combined tooling of the oblique wrist arm and supporting connector both include a rotation positioning mechanism, which includes a second swing cylinder, which is driven and connected to a rotating table, and a clamping assembly for clamping the flat wrist arm or the oblique wrist arm is provided on the rotating table.

[0011] As a further optimization of the above-mentioned flat and oblique arm pre-assembly tooling system for arm pre-assembly: the centering mechanism also includes a fourth driving cylinder, and the fourth driving cylinder drives a lifting support roller connected to support the flat arm or the oblique arm, and the axial direction of the lifting support roller is perpendicular to the axial direction of the flat arm or the oblique arm.

[0012] The beneficial effect is that the present invention provides a flat and oblique wrist arm pre-assembly tooling system for wrist arm pre-assembly, which can automatically complete the pre-assembly between the flat wrist arm, the oblique wrist arm and different connecting parts, thereby improving work efficiency and precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0014] Figure 2 yes Figure 1 A top view of

[0015] Figure 3It is a schematic diagram of the use relationship between the second manipulator and the adjustment mechanism;

[0016] Figure 4 It is a three-dimensional schematic diagram of the adjustment mechanism;

[0017] Figure 5 It is a three-dimensional schematic diagram of the supply tray;

[0018] Figure 6 yes Figure 5 The main view of

[0019] Figure 7 yes Figure 5 Side view of

[0020] Figure 8 yes Figure 5 A top view of

[0021] Fig. 9 It is a three-dimensional schematic diagram of the connecting part;

[0022] Fig.10 is a schematic diagram of the structure of the sliding assembly;

[0023] Fig.11 It is a three-dimensional schematic diagram of the positioning tooling of the flat wrist arm and the load-bearing cable seat

[0024] Fig.12 yes Fig.11 Side view of

[0025] Fig.13 It is a three-dimensional schematic diagram of the centring mechanism;

[0026] Fig.14 yes Fig.13 The main view of

[0027] Fig.15 It is a three-dimensional diagram of the clamping mechanism of the connector. Figure Ⅰ ;

[0028] Fig.16 It is a three-dimensional diagram of the clamping mechanism of the connector. Figure II ;

[0029] Fig.17 yes Fig.15 The main view of

[0030] Fig.18 It is a three-dimensional schematic diagram of a combined tooling of a flat wrist arm and a supporting connector;

[0031] Fig.19 yes Fig.18 Side view of

[0032] Fig. 20 It is a three-dimensional schematic diagram of the clamp mechanism;

[0033] Fig.21 yes Fig. 20 The main view;

[0034] Fig. 22 yes Fig. 20 Side view of

[0035] Fig.23 yes Fig. 20 A top view of

[0036] Fig.24 It is a three-dimensional schematic diagram of the flat wrist-arm rotation mechanism;

[0037] Fig.25 yes Fig.24 The main view;

[0038] Fig.26 yes Fig.24 Side view of

[0039] Fig. 27 It is a three-dimensional structural schematic diagram of the oblique wrist arm and the combined positioning ring positioning tooling;

[0040] Fig.28 It is a three-dimensional schematic diagram of the tightening tool;

[0041] Fig.29 yes Fig.28 The main view;

[0042] Fig.30 yes Fig.28 Side view of

[0043] Fig.31 yes Fig.28 A top view of

[0044] Fig.32 It is a schematic diagram of the combined structure of the oblique wrist arm and the supporting connector combined tooling and the tightening tooling;

[0045] Fig.33 It is a three-dimensional schematic diagram of the flat wrist arm fixed clamping jaw.

[0046] Description of the drawings: 1. Measuring platform;

[0047] 2. The first manipulator;

[0048] 3. Second manipulator;

[0049] 4. Adjustment mechanism, 401. First positioning block, 402. Side plate, 403. Adjustment slide rail, 404. First swing cylinder, 405. Fixed base, 406. First cylinder;

[0050] 5. Connector supply tray, 501, upper tray, 502, upper slide rail, 503, upper stopper, 504, lower tray, 505, support, 506, first baffle, 507, second cylinder, 508, positioning plate, 509, first support connecting plate, 510, sensor, 511, lower slide rail, 512, lower slider, 513, handle, 514, support bottom plate, 515, support support plate, 516, sliding assembly, 517, second support connecting plate, 518, connector base, 519, plug block, 520, middle block, 521, conveyor belt;

[0051] 6. Combined tooling of oblique wrist arm and supporting connector;

[0052] 7. Flat wrist arm and support connector assembly tooling, 701. Oblique wrist arm, 702. Centering mechanism, 703. Clamping mechanism, 704. Rotation positioning mechanism, 705. Oblique wrist arm tooling control box, 706. Tooling workbench, 707. Clamping workbench, 708. First push cylinder, 709. Fixed block, 710. First sliding block, 711. Pressing member, 712. First pressing plate, 713. Second push cylinder, 714. Clamping slide rail, 715 , second swing cylinder, 716, support vertical plate, 717, rotating table, 718, sliding plate, 719, second positioning pin, 720, rotating positioning workbench, 721, trapezoidal vertical plate, 722, third push cylinder, 723, first guide rail, 724, second sliding block, 725, fourth push cylinder, 726, second guide rail, 727, second baffle, 728, first limiting bolt, 729, limiting block, 730, second limiting bolt;

[0053] 8. Flat wrist arm fixed jaws;

[0054] 9. Positioning tooling for oblique wrist arm and combined positioning ring;

[0055] 10. The third manipulator;

[0056] 11. Tightening tool, 1101. Tightening gun, 1102. Driver, 1103. Driver support seat, 1104. Top plate, 1105. First linear guide, 1106. Lifting platform, 1107. Second linear guide, 1108. Lifting platform bottom plate, 1109. Damper, 1110. Limiting member, 1111. Moving platform, 1112. First scale, 1113. Third linear guide, 1114. First pointer, 1115 , first moving plate, 1116, second moving plate, 1117, sleeve, 1118, oil cylinder, 1119, second pointer, 1120, second scale; 12, flat wrist arm and load-bearing cable seat positioning tooling, 1201, flat wrist arm, 1202, centering wheel, 1203, first driving cylinder, 1204, flat wrist arm tooling control box, 1205, rotating support roller, 1206, second driving cylinder, 1207, first vertical plate, 1208, third driving cylinder Moving cylinder, 1209, first support plate, 1210, fourth driving cylinder, 1211, second vertical plate, 1212, second support plate, 1213, load-bearing frame, 1214, control box carrier plate, 1215, first slide rail, 1216, fifth driving cylinder, 1217, first cylinder connecting plate, 1218, first extension plate, 1219, supporting frame, 1220, lifting support roller, 1221, first connecting block, 1222, second slide rail , 1223, a second positioning block, 1224, a second extension plate, 1225, a second pressing plate, 1226, a second cylinder connecting plate, 1227, a third slide rail, 1228, a sixth driving cylinder, 1229, a second connecting block, 1230, an arc-shaped member, 1231, a third vertical plate, 1232, a third positioning pin, 1233, a connecting member pin hole, 1234, a third supporting plate, 1235, a fourth supporting plate, 1236, a first centering stopper;

[0057] 13. Slide;

[0058] 14. Connectors. 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] See also Figures 1 to 33 A flat and oblique arm pre-assembly tooling system for arm pre-assembly includes two groups of connecting parts supply trays 5, one group of connecting parts supply trays 5 includes a plurality of connecting parts supply trays 5, and a flat arm pre-assembly tooling and an oblique arm pre-assembly tooling are arranged between the two groups of connecting parts supply trays 5.

[0061] The flat wrist arm pre-assembly tooling includes a flat wrist arm and support connector combination tooling 7 and a flat wrist arm and load-bearing cable seat positioning tooling 12.

[0062] The oblique wrist arm pre-assembly tooling includes an oblique wrist arm and support connector combination tooling 6 and an oblique wrist arm and combination positioning ring positioning tooling 9.

[0063] Tightening tools 11 are arranged near the flat wrist arm and supporting connector combination tooling 7, the flat wrist arm and load-bearing cable seat positioning tooling 12, the oblique wrist arm and supporting connector combination tooling 6 and the oblique wrist arm and combined positioning ring positioning tooling 9.

[0064] The connecting member supply tray 5 includes a support 505, an upper material tray 501 and a lower material tray 504, two first baffles 506 are arranged in parallel on the support 505, the upper material tray 501 is slidably arranged on the two first baffles 506, the lower material tray 504 is slidably arranged on the support 505 and is located between the two first baffles 506, and a plurality of connecting members 14 are arranged on both the upper material tray 501 and the lower material tray 504.

[0065] The tightening tool 11 includes a lifting platform 1106, on which a driver 1102 is arranged, and the driver 1102 is drivingly connected to a moving platform 1111, and the moving platform 1111 is slidingly arranged on the lifting platform 1106, and a plurality of moving components are movably arranged on the moving platform 1111, and the moving components are fixedly connected to a tightening gun 1101, and the tightening gun 1101 extends to the bottom of the moving platform 1111.

[0066] The flat wrist arm and support connector combination tooling 7, the flat wrist arm and load-bearing cable seat positioning tooling 12, the oblique wrist arm and support connector combination tooling 6, and the oblique wrist arm and combined positioning ring positioning tooling 9 all include a centering mechanism 702, and the centering mechanism 702 includes a third driving cylinder 1208 and two parallel first vertical plates 1207, the first vertical plates 1207 are slidably set on the first support plate 1209, the third driving cylinder 1208 is drivingly connected to one of the first vertical plates 1207, and the third driving cylinder 1208 is fixedly connected to the other first vertical plate 1207, and the first vertical plate 1207 is rotatably provided with a centering wheel 1202 for limiting the flat wrist arm 1201 or the oblique wrist arm 701 from the circumferential side.

[0067] The flat wrist arm and support connector combination tooling 7, the oblique wrist arm and support connector combination tooling 6, and the oblique wrist arm and combination positioning ring positioning tooling 9 all include a clamping mechanism 703 for clamping the connecting piece 14, the clamping mechanism 703 includes a first pushing cylinder 708 and two oppositely arranged first sliding blocks 710, the connecting piece 14 is located between the two first sliding blocks 710, the first pushing cylinder 708 is drivingly connected to one of the first sliding blocks 710, and the first pushing cylinder 708 is fixedly connected to the other first sliding block 710.

[0068] The flat wrist arm and load-bearing cable seat positioning tooling 12 also includes a connecting piece clamping mechanism, which includes two third vertical plates 1231, and the third vertical plates 1231 are slidably set on the first support plate 1209. A plurality of first driving cylinders 1203 are set on the third vertical plates 1231, and the first driving cylinders 1203 are connected to a second pressing plate 1225 for pressing the connecting piece 14 onto the third vertical plates 1231.

[0069] The flat wrist arm and support connector combination tooling 7 and the oblique wrist arm and support connector combination tooling 6 both include a rotation positioning mechanism 704, which includes a second swing cylinder 715, which is driven and connected to a rotating table 717, on which a clamping assembly for clamping the flat wrist arm 1201 or the oblique wrist arm 701 is provided.

[0070] The centering mechanism 702 also includes a fourth driving cylinder 1210 , which drives a lifting roller 1220 connected to support the flat arm 1201 or the oblique arm 701 , and the axial direction of the lifting roller 1220 is perpendicular to the axial direction of the flat arm 1201 or the oblique arm 701 .

[0071] The connecting member 14 includes a load-bearing cable seat, a combined positioning ring, a supporting connector and other devices used in the arm pre-assembly process to connect the flat arm 1201, the oblique arm 701 and other parts of the arm.

[0072] The specific structural form of the connecting member 14 is as follows: the connecting member 14 includes two arc-shaped members 1230, and the two arc-shaped members 1230 are connected by bolts to form an arm channel for accommodating the flat arm 1201 or the oblique arm 701. When the connecting member 14 is a load-bearing cable seat, one of the arc-shaped members 1230 is connected to two parallel second extension plates 1224, and two connecting member pin holes 1233 are provided on the second extension plate 1224. When the connecting member 14 is a combined positioning ring or a supporting connector, one of the arc-shaped members 1230 is connected to two parallel second extension plates 1224, and one connecting member pin hole 1233 is provided on the second extension plate 1224.

[0073] The tooling system also includes a measuring table 1, which uses a positioning measuring device for arm processing with publication number CN212432045U, which will not be described in detail here. The measuring table 1 is used to measure the specific position of the connecting member 14 on the flat arm 1201 or the oblique arm 701 to obtain the connection position of the connecting member 14.

[0074] A tooling slide rail is arranged between the flat wrist arm and support connector combination tooling 7 and the flat wrist arm and load-bearing cable seat positioning tooling 12. The flat wrist arm and support connector combination tooling 7 and the flat wrist arm and load-bearing cable seat positioning tooling 12 are both arranged on a slide 13. The slide 13 is slidably arranged on the tooling slide rail. A flat wrist arm fixing clamp 8 for fixing the flat wrist arm 1201 is arranged on the tooling slide rail.

[0075] The working principle of the tooling system is as follows: the first manipulator 2 grabs the flat wrist arm 1201 or the oblique wrist arm 701, and the second manipulator 3 and the third manipulator 10 take the connector 14 from the connector 14 supply tray and place the connector 14 on the corresponding flat wrist arm pre-assembly tooling and oblique wrist arm pre-assembly tooling. Then the first manipulator 2 moves the flat wrist arm 1201 between the flat wrist arm and support connector combination tooling 7 and the flat wrist arm and load-bearing cable seat positioning tooling 12, or moves the oblique wrist arm 701 between the oblique wrist arm rotation positioning tooling 7 and the oblique wrist arm positioning tooling 9. Finally, the assembled flat wrist arm 1201 or oblique wrist arm 701 is grabbed by the first manipulator 2 and placed on the measuring table 1 for measurement to ensure that the installation position of the connector 14 meets the requirements.

[0076] For the flat arm 1201, one end of the flat arm 1201 is placed in the flat arm and support connector combination tooling 7 or the flat arm and load-bearing cable seat positioning tooling 12, and the flat arm 1201 is assisted by the flat arm fixed clamping jaw 8. Then the flat arm and support connector combination tooling 7 or the flat arm and load-bearing cable seat positioning tooling 12 is controlled to slide until the connector 14 reaches the connection position, and the flat arm and support connector combination tooling 7 or the flat arm and load-bearing cable seat positioning tooling 12 stops sliding. Then the tightening tooling 11 is driven to tighten the bolts on the connector 14 to fix the connector 14 to the flat arm 1201.

[0077] For the oblique arm 701, one end of the oblique arm 701 is placed in the oblique arm rotation positioning tooling 7 or the oblique arm positioning tooling 9, and the first manipulator 2 pushes the oblique arm 701 until the connecting part 14 reaches the connection position, and then drives the tightening tooling 11, and the tightening tooling 11 tightens the bolts on the connecting part 14 to fix the connecting part 14 to the oblique arm 701.

[0078] In order to prevent the second manipulator 3 and the third manipulator 10 from getting stuck in the process of transferring the connecting piece 14 to each tooling, an adjustment mechanism 4 is arranged near the second manipulator 3 and the third manipulator 10. After the second manipulator 3 and the third manipulator 10 remove the connecting piece 14 from the supply tray 5, they first place the connecting piece 14 on the adjustment mechanism 4, and the adjustment mechanism 4 rotates the connecting piece 14. Then, the second manipulator 3 and the third manipulator 10 remove the connecting piece 14 from the adjustment mechanism 4 and transfer the connecting piece 14 to each tooling.

[0079] The adjustment mechanism 4 includes a fixed base 405, on which a first swing cylinder 404 is arranged, the first swing cylinder 404 is connected to an adjustment workbench, an adjustment slide rail 403 is fixedly arranged on the adjustment workbench, first adjustment blocks are fixedly arranged at both ends of the adjustment slide rail 403, two side plates 402 are slidably arranged on the adjustment slide rail 403, the two side plates 402 are parallel to each other, and a second adjustment block is fixedly arranged in the area between the two side plates 402 on the adjustment workbench, a first positioning block 401 is fixedly connected to the side plate 402, and a plurality of first positioning pins are fixedly arranged on the first positioning block 401, and the number of the first positioning pins is set according to the specific structure of the connecting member 14. The adjustment mechanism 4 also includes a first cylinder 406, the extension direction of the first cylinder 406 is parallel to the length direction of the adjustment slide rail 403, the cylinder body of the first cylinder 406 is connected to one of the side plates 402 by bolts, and the piston rod of the first cylinder 406 is connected to the other side plate 402 by bolts.

[0080] The operating principle of the adjustment mechanism 4: after the second manipulator 3 and the third manipulator 10 place the connecting part 14 between the two first positioning blocks 401, the first cylinder 406 is driven, the piston rod of the first cylinder 406 contracts, and the side plate 402 connected to the piston rod of the first cylinder 406 slides on the adjustment slide rail 403 toward the direction of the connecting part 14 until the side plate 402 contacts the second adjustment block, and the first positioning pin on the side plate 402 is inserted into the connecting part pin hole 1233 on one of the second extension plates 1224 of the connecting part 14, and the side plate 402 no longer slides. As the first cylinder 406 continues to work, the piston rod of the first cylinder 406 continues to shrink, so that the cylinder body of the first cylinder 406 and the side plate 402 connected thereto begin to slide toward the connecting member 14, until the side plate 402 contacts the second adjustment block, and the first positioning pin on the side plate 402 is inserted into the connecting member pin hole 1233 on the other second extension plate 1224 of the connecting member 14. At this time, both side plates 402 can no longer slide, so that the first cylinder 406 stops working. After the connecting member 14 is fixed by the two first positioning pins, the first swing cylinder 404 is driven, and the first swing cylinder 404 drives the adjustment workbench to rotate, and the connecting member 14 also rotates accordingly. After the connecting member 14 rotates to a suitable angle, the first cylinder 406 is driven, the piston rod of the first cylinder 406 is extended, and the side plate connected to the piston rod of the first cylinder 406 slides in a direction away from the connecting member 14, until the side plate 402 contacts the first adjustment block, and the side plate 402 stops sliding. As the first cylinder 406 continues to work, the piston rod of the first cylinder 406 continues to extend, so that the cylinder body of the first cylinder 406 and the side plate 402 connected thereto begin to slide away from the connecting member 14 until the side plate 402 contacts the first adjustment block. At this time, both side plates 402 stop sliding, all first positioning pins are disengaged from the connecting member pin holes 1233, the adjustment mechanism 4 releases the connecting member 14, and the second manipulator 3 and the third manipulator 10 remove the connecting member 14.

[0081] The connector supply tray 5 includes a support 505, an upper tray 501 and a lower tray 504. Two first baffles 506 are arranged in parallel on the support 505. The upper tray 501 is slidably arranged on the two first baffles 506. The lower tray 504 is slidably arranged on the support 505 and is located between the two first baffles 506. A plurality of connectors 14 are arranged on both the upper tray 501 and the lower tray 504. One group of connector supply trays 5 has two connector supply trays, which are used to carry the combined positioning ring and the load-bearing cable seat respectively. The other group of connector supply trays 5 has one connector supply tray, which is used to carry the supporting connector.

[0082] The connector 14 is disposed on the upper material tray 501 and the lower material tray 504 through the connector base 14. The connector 14 is detachably connected to the connector base 518. The connection between the connector 14, the connector base 518 and the upper material tray 501 or the lower material tray 504 can be: a limiting groove is provided on the connector base 518, and a plurality of limiting blocks for cooperating with the limiting grooves are provided on the upper material tray 501 and the lower material tray. A fixing clip for limiting the connector 14 is provided on the connector base 518.

[0083] The use principle of the connector supply tray 5 is divided into two parts: discharging and picking up. Discharging is done manually, and picking up is done by the second manipulator 3 and the third manipulator 10. The upper tray 501 and the lower tray 504 are pushed manually or driven by a driving device, which can be a cylinder, a hydraulic cylinder, etc. If, at the beginning, the upper tray 501 is discharged, and the lower tray 504 is picked up, the positions of the upper tray 501 and the lower tray 504 at this time are recorded as the discharging position and the picking up position respectively; then the upper tray 501 is pushed to the picking up position, and the second manipulator 3 or the third manipulator 10 picks up the items, and then the lower tray 504 is pushed to the discharging position, and the lower tray 504 is manually discharged; when the connectors 14 on the upper tray 501 are taken out, the upper tray 501 is pushed to the discharging position for manual discharging, and then the lower tray 504 is pushed to the picking up position for picking up the items, and so on alternately. A certain space is left between the upper material tray 501 and the lower material tray 504 to prevent the upper material tray 501 from touching the connecting piece 14 on the lower material tray 504 during the process of pushing the upper material tray 501 .

[0084] In order to enable the two processes of unloading and picking up to be carried out simultaneously: two idle wheels are arranged on a first baffle 506, and the two idle wheels are located at the same height. A conveyor belt 521 is arranged on the two idle wheels, and the upper material tray 501 and the lower material tray 504 are both fixedly arranged on the conveyor belt 521.

[0085] Since the upper material tray 501 and the lower material tray 504 are arranged on the conveyor belt 521, the movement of the upper material tray 501 and the lower material tray 504 is synchronous. When the upper material tray 501 is pushed to the picking position or the discharging position, the lower material tray 504 will move in the opposite direction synchronously with it, and the lower material tray 504 will reach the discharging position or the picking position.

[0086] In order to facilitate manual pushing of the upper material tray 501 and the lower material tray 504, handles 513 are provided on the upper material tray 501 and the lower material tray 504, which can easily pull or push the upper material tray 501 and the lower material tray 504 and prevent the staff from accidentally touching the connecting piece 14.

[0087] In order to prevent the upper material tray 501 and the lower material tray 504 from shaking when taking or putting out materials, the first baffle 506 is detachably connected to the second cylinder 507, the piston rod of the second cylinder 507 is fixedly connected to an automatic pin, the extension direction of the second cylinder 507 is perpendicular to the upper material tray 501, the upper material tray 501 is fixedly connected to two positioning plates 508, the upper material tray 501 is a square material tray, the number of positioning plates 508 is two, the two positioning plates 508 are respectively located at the two vertex corners of the upper material tray 501, and the connection direction of the two positioning plates 508 is parallel to the sliding direction of the upper material tray 501. Positioning pin holes for cooperating with automatic pins are opened on the positioning plates 508.

[0088] The sliding connection between the upper material tray 501 and the first baffle 506 is as follows: an upper slide rail 502 is provided on the first baffle 506, and upper stoppers 503 are fixedly connected at both ends of the upper slide rail 502. The upper slide rail 502 and the first baffle 506 are parallel to each other, and the upper slide rail 502 has two long grooves opposite to each other along the length direction. The upper slide rail 502 is connected to the upper material tray 501 through a plurality of sliding components 516.

[0089] The specific structure of the sliding assembly 516 is as follows: the sliding assembly 516 includes a middle block 520 and two plug blocks 519, the middle block 520 is located between the two plug blocks 519 and is fixedly connected to the two plug blocks 519, and grooves are provided on the middle block 520 and the plug blocks 519 to facilitate the upper slide rail 502 to pass through the middle block 520 and the plug blocks 519, the middle block 520 is connected to the upper material tray 501 by bolts, and the plug block 519 is integrally connected to two plug plates, and the two plug plates are respectively inserted into the two long grooves of the upper slide rail 502, and a gap is left between the plug plates and the long grooves so that the sliding assembly can slide on the upper slide rail 502.

[0090] When the upper material tray 501 is in the discharge position, the upper material tray 501 contacts one of the upper stoppers 503, driving the second cylinder 507, and the second cylinder 507 pushes the automatic pin, which passes through the positioning pin hole on one of the positioning plates 508 to position the upper material tray 501. Since the upper material tray 501 and the lower material tray 504 are arranged on the conveyor belt 521, when the automatic pin positions the upper material tray 501, the conveyor belt 521 no longer works, so the lower material tray 504 also stops moving synchronously. The lower material tray 504 is in the pick-up position at this time. The automatic pin actually positions the upper material tray 501 and the lower material tray 504 at the same time. 4 for positioning; then the second cylinder 507 is controlled, the piston rod is contracted, and the automatic pin is disengaged from the positioning pin hole; then the upper material tray 501 is pushed, and the upper material tray 501 contacts another upper stopper 503, at this time the automatic pin stops pushing when it faces the positioning pin hole on another positioning plate 508, and the second cylinder 507 is driven, and the second cylinder 507 pushes the automatic pin through the positioning pin hole to fix the positions of the upper material tray 501 and the lower material tray 504. At this time, the upper material tray 501 is in the picking position, and the lower material tray 504 is in the discharging position, and the upper material tray 501 and the lower material tray 504 alternately perform the manual discharging process and the robot picking process.

[0091] The specific structure of the support 505 is as follows: the support 505 includes a support base plate 514, four support support plates 515 are arranged in parallel on the support base plate 514, all the support support plates 515 are commonly connected to a first support connecting plate 509 and two second support connecting plates 517, the first support connecting plate 509 is located between the two second support connecting plates 517, the two second support connecting plates 517 are respectively fixedly connected to the two first baffles 506, the two second support connecting plates 517 are both provided with lower slide rails 511, the lower slide rails 511 and the first baffles 506 are parallel to each other, and the lower material tray 504 is slidably arranged on the two lower slide rails 511 through the lower slider 512.

[0092] In order to facilitate the determination of whether the upper material tray 501 and the lower material tray 504 are in the material discharging position or the item taking position, two sensors 510 are arranged on the first support connecting plate 509, and the sensors 510 are photoelectric sensors.

[0093] An air pressure speed regulating valve is disposed on one of the support plates 515 for adjusting the air pressure of the second cylinder 507 and filtering moisture in the air.

[0094] The flat arm and load-bearing cable seat positioning tool 12 includes a first support plate 1209, a centering mechanism 702 and a connector clamping mechanism. The centering mechanism 702 and the connector clamping mechanism are both arranged on the first support plate 1209. The centering mechanism 702 is used to make the axis of the flat arm 1201 coincide with the axis of the arm channel, and the connector clamping mechanism is used to clamp the connector 14 and fix the position of the connector 14. The first support plate 1209 is fixedly arranged on the slide 13.

[0095] The centering mechanism 702 includes a third driving cylinder 1208 and two parallel first vertical plates 1207. The first vertical plates 1207 are slidably arranged on the first support plate 1209. The third driving cylinder 1208 is drivingly connected to one of the first vertical plates 1207. The third driving cylinder 1208 is fixedly connected to the other first vertical plate 1207. The first vertical plate 1207 is rotatably provided with an centering wheel 1202 for limiting the flat wrist arm 1201 from the circumferential side.

[0096] Four centering wheels 1202 are arranged on each first vertical plate 1207, two of which are of the same height and tilted upward, and the other two are of the same height and tilted downward. The centering wheels 1202 on the two first vertical plates 1207 are symmetrically arranged. The first manipulator 2 grabs the flat wrist arm 1201 and makes the flat wrist arm 1201 pass through the centering channel formed between the eight centering wheels 1202. The extension direction of the third driving cylinder 1208 is perpendicular to the axial direction of the flat wrist arm 1201. The two first vertical plates 1207 are slidably arranged on the first supporting plate 1209, the cylinder body of the third driving cylinder 1208 is fixedly connected to one first vertical plate 1207, the piston rod of the third driving cylinder 1208 passes through the first vertical plate 1207 connected to the cylinder body of the third driving cylinder 1208 and is connected to the other first vertical plate 1207, and a first centering stopper 1236 is arranged between the two first vertical plates 1207.

[0097] During the centering process, the space between the two first vertical plates 1207 is recorded as the centering area. Initially, the distance between the two first vertical plates 1207 is relatively large, and the first manipulator 2 grabs the flat wrist arm 1201 and places it in the centering area. At this time, there is a distance between the flat wrist arm 1201 and the first vertical plates 1207. After that, the third driving cylinder 1208 is driven to work, and the piston rod of the third driving cylinder 1208 is contracted, and the first vertical plate 1207 connected to the piston rod of the third driving cylinder 1208 first slides toward the flat wrist arm 1201. When the first vertical plate 12 07 touches the first centering stopper 1236, the centering wheel 1202 on the first vertical plate 1207 fits with the flat arm 1201, and the first vertical plate 1207 stops sliding. Since the third driving cylinder 1208 continues to work, the piston rod of the third driving cylinder 1208 continues to contract, so that the cylinder body of the third driving cylinder 1208 and the first vertical plate 1207 connected thereto slide synchronously toward the flat arm 1201, until all the centering wheels 1202 fit with the flat arm 1201 and clamp the flat arm 1201, completing the centering process. Then the first manipulator 2 is controlled to drive the flat arm 1201 to move toward the connector clamping mechanism. In the process of the flat arm 1201 moving toward the connector clamping mechanism, the centering wheel 1202 will also rotate accordingly. The surface of the centering wheel 1202 is smooth and has no burrs, avoiding scratches on the flat arm 1201.

[0098] The specific structure of the centering mechanism 702 is: the centering mechanism 702 also includes a third support plate 1234, the third support plate 1234 is fixedly arranged on the first support plate 1209, the third driving cylinder 1208 is fixedly arranged on the third support plate 1234, and the third support plate 1234 is provided with a second slide rail 1222, and the length direction of the second slide rail 1222 is perpendicular to the axial direction of the flat wrist arm 1201, and the first vertical plate 1207 is fixedly connected with the first connecting block 1221, and the first connecting block 1221 is slidably matched with the second slide rail 1222.

[0099] The specific connection method of the third driving cylinder 1208 and the two first vertical plates 1207 is as follows: the first vertical plate 1207 is integrally connected to the first extension plate 1218, and the first vertical plate 1207 and the first extension plate 1218 form an L-shaped structure. The height of the first extension plate 1218 does not exceed the height of the lowest centering wheel 1202, so as not to affect the movement of the flat wrist arm 1201. The cylinder body of the third driving cylinder 1208 is connected to one of the first extension plates 1218 by bolts. A through hole is provided on the first extension plate 1218, and the aperture of the through hole is larger than the diameter of the piston rod of the third driving cylinder 1208. After the piston rod of the third driving cylinder 1208 passes through the through hole, it is drivingly connected to the other first extension plate 1218. Second centering blocks are respectively provided at both ends of the second slide rail 1222.

[0100] During the centering process, the third driving cylinder 1208 is driven, and the first extension plate 1218 connected to the piston rod of the third driving cylinder 1208 drives the first vertical plate 1207 connected thereto to slide toward the first centering stop block 1236. When the first connecting block 1221 touches the first centering stop block 1236, the first extension plate 1218 stops moving. Since the third driving cylinder 1208 is still working, the piston rod of the third driving cylinder 1208 contracts, thereby causing the cylinder body of the third driving cylinder 1208 and the first extension plate 1218 connected thereto to slide toward the first centering stop block 1236 until all the centering wheels 1202 are in contact with the flat wrist arm 1201, completing the centering process.

[0101] When the centering mechanism 702 needs to release the flat wrist arm 1201, the third driving cylinder 1208 is driven, and the piston rod of the third driving cylinder 1208 is extended. The first extension plate 1218 connected to the piston rod of the third driving cylinder 1208 drives the first vertical plate 1207 connected thereto to slide first in the direction of the second centering stop block that is closest to it. When the first connecting block 1221 connected to the first vertical plate 1207 touches the second centering stop block, the first vertical plate 1207 stops sliding. Since the third driving cylinder 1208 is still working, the piston rod of the third driving cylinder 1208 continues to extend, so that the cylinder body of the third driving cylinder 1208 and the first extension plate 1218 connected thereto are synchronously slid in the direction of the second centering stop block that is closest to it, until the two first connecting blocks 1221 touch the second centering stop block. At this time, the two first vertical plates 1207 cannot slide, and the third driving cylinder 1208 stops working.

[0102] In order to keep the flat arm 1201 stable, the centering mechanism 702 also includes a fourth driving cylinder 1210. The extension direction of the fourth driving cylinder 1210 is perpendicular to the ground. The fourth driving cylinder 1210 drives a lifting support roller 1220 connected to support the flat arm 1201. The axial direction of the lifting support roller 1220 is perpendicular to the axial direction of the flat arm 1201.

[0103] The fourth driving cylinder 1210 is started, and the fourth driving cylinder 1210 pushes the lifting roller 1220 to move upward until it contacts the flat arm 1201, providing support for the flat arm 1201. During the horizontal movement of the flat arm 1201, the lifting roller 1220 will rotate with the movement of the flat arm 1201 to avoid scratching the flat arm 1201.

[0104] In order to avoid contact between the fourth driving cylinder 1210 and the lifting support roller 1220, and prevent the lifting support roller 1220 from not rotating during the movement of the flat arm 1201 and thus scratching the flat arm 1201, the lifting support roller 1220 is rotatably connected to a support frame 1219, and the support frame 1219 includes a support roller bearing plate, and two parallel support roller support plates are arranged on the support roller bearing plate, and the support roller support plates are perpendicular to each other, and guide shafts are arranged on the two support roller support plates, and the two guide shafts are respectively inserted into the two ends of the lifting support roller 1220, and the lifting support roller 1220 can rotate between the two support roller support plates, and a T-shaped slot is opened on the support roller bearing plate, and the piston rod end of the fourth driving cylinder 1210 is fixedly arranged in the T-shaped slot.

[0105] The connecting member clamping mechanism includes two third vertical plates 1231, which are slidably arranged on the first supporting plate 1209. The third vertical plates 1231 are provided with a plurality of first driving cylinders 1203, and the first driving cylinders 1203 are connected with a second pressing plate 1225 for pressing the arc-shaped member 31 onto the third vertical plates 1231. The third vertical plates 1231 are also connected with a sixth driving cylinder 1228.

[0106] The connecting member 14 is arranged between the two third vertical plates 1231. In order to fix the position of the connecting member 14 on the third vertical plate 1231, a first driving cylinder 1203 is arranged on the third vertical plate 1231. The extension direction of the first driving cylinder 1203 is parallel to the axial direction of the flat wrist arm 1201. After the position of the connecting member 14 is set, the first driving cylinder 1203 is driven, and the first driving cylinder 1203 drives the second pressure plate 1225 to move toward the position of the connecting member 14 until the second pressure plate 1225 presses the arc member 31 onto the third vertical plate 1231.

[0107] The connecting member clamping mechanism also includes a fourth support plate 1235, which is fixedly arranged on the first support plate 1209, and the fourth support plate 1235 is fixedly arranged with a third slide rail 1227, and the length direction of the third slide rail 1227 is perpendicular to the axial direction of the flat wrist arm 1201, and the third vertical plate 1231 is fixedly connected with the second connecting block 1229, and the second connecting block 1229 is slidably arranged on the third slide rail 1227, and the two third vertical plates 1231 are respectively fixedly connected with the first cylinder connecting plate 1217 and the second cylinder connecting plate 1226, and the first cylinder connecting plate 1217 and the second cylinder connecting plate 1226 are respectively fixedly connected with the two second connecting blocks 1229, a sixth driving cylinder 1228 is drivingly connected to the first cylinder connecting plate 1217, and another first cylinder connecting plate 1217 is drivingly connected to the second cylinder connecting plate 1226, and the extension direction of the two sixth driving cylinders 1228 is parallel to the third slide rail 1227. Two cylinder support seats are arranged on the fourth support plate 1235 , and the two cylinder support seats are located on both sides of the third slide rail 1227 . The two sixth driving cylinders 1228 are fixedly arranged on the two cylinder support seats respectively.

[0108] When the positions of the two third vertical plates 1231 need to be adjusted, the two sixth driving cylinders 1228 are driven, and the extension or contraction of the piston rod of the sixth driving cylinder 1228 drives the third vertical plates 1231 to slide on the third slide rail 1227. A special-shaped channel is formed between the two third vertical plates 1231, and the shape of the special-shaped channel matches the shape of the connecting member 14. A certain distance is always maintained between the two third vertical plates 1231 to prevent the two third vertical plates 1231 from squeezing the connecting member 14 when the piston rod of the sixth driving cylinder 1228 is fully contracted.

[0109] In order to further position the connecting member 14 , the third vertical plate 1231 is fixedly connected with the second positioning block 1223 , and the second positioning block 1223 is provided with a third positioning pin 1232 for cooperating with the connecting member pin hole 1233 .

[0110] When positioning the connecting member 14 , the two sixth driving cylinders 1228 are driven to adjust the distance between the two third vertical plates 1231 to ensure that the third positioning pin 1232 is inserted into the connecting member pin hole 1233 .

[0111] The flat wrist arm and load-bearing cable seat positioning tooling 12 also includes a loading platform, which is slidably arranged on the first support plate 1209, and a load-bearing frame 1213 and a fifth driving cylinder 1216 are fixedly arranged on the loading platform. The load-bearing frame 1213 includes two parallel I-shaped plates, which are fixedly arranged on the loading platform, and the two I-shaped plates are commonly connected to a load-bearing plate. The fifth driving cylinder 1216 is located between the two I-shaped plates, and the fifth driving cylinder 1216 is connected to a second support plate 1212 after passing through the load-bearing plate. The second support plate 1212 is integrally connected to two parallel second vertical plates 1211, and two rotating support rollers 1205 for supporting the flat wrist arm 1201 are commonly connected between the two second vertical plates 1211, and the axial direction of the rotating support roller 1205 is parallel to the axial direction of the flat wrist arm 1201.

[0112] The first support plate 1209 is provided with a first slide rail 1215 and a cylinder support seat. The length direction of the first slide rail 1215 is perpendicular to the axis direction of the flat wrist arm 1201. The first slide rail 1215 is slidably provided with a third connection block, which is fixedly connected to the stage. The fifth driving cylinder 1216 is provided on the stage. The cylinder support seat is provided with a second driving cylinder 1206. The extension direction of the second driving cylinder 1206 is parallel to the length direction of the first slide rail 1215. The second driving cylinder 1206 is drivingly connected to the stage. The two rotating rollers 1205 are rotatably provided between the two second vertical plates 1211.

[0113] After the flat arm 1201 passes through the arm channel, the second driving cylinder 1206 is driven, and the second driving cylinder 1206 drives the worktable to slide on the first slide rail 1215 through the third connecting block, thereby adjusting the position of the rotating support roller 1205 on the horizontal plane; the fifth driving cylinder 1216 is driven, and the fifth driving cylinder 1216 drives the rotating support roller 1205 to rise or fall, thereby adjusting the position of the rotating support roller 1205 on the vertical plane. Adjust the position of the rotating support roller 1205 to ensure that the flat wrist arm 1201 can fall between the two rotating support rollers 1205 after passing through the wrist arm channel. The two rotating support rollers 1205 provide support for the flat wrist arm 1201. When the flat wrist arm 1201 needs to rotate, the rotating support roller 1205 will rotate with the flat wrist arm 1201 to ensure that the flat wrist arm 1201 will not be scratched. At the same time, the support provided by the rotating support roller 1205 for the flat wrist arm 1201 can increase the stability of the flat wrist arm 1201 during rotation.

[0114] The first support plate 1209 is also fixedly connected to a control box carrier plate 1214, on which a flat arm tooling control box 1204 is fixedly arranged. The flat arm tooling control box 1204 is electrically connected to all cylinders, and all cylinders are controlled and switched through the flat arm tooling control box 1204.

[0115] The flat wrist arm and supporting connector assembly tool 7 comprises a centering mechanism 702, a clamping mechanism 703 and a rotation positioning mechanism 704. The structure and principle of the centering mechanism 702 in the flat wrist arm and supporting connector assembly tool 7 are the same as those in the flat wrist arm and load-bearing cable seat positioning tool 12.

[0116] The flat wrist arm 1201 is grasped by the first manipulator 2. After the first manipulator 2 grasps the flat wrist arm 1201, the flat wrist arm 1201 is placed in the centering mechanism 702. The centering mechanism 702 is used to adjust the axis direction of the flat wrist arm 1201 to ensure that the axis of the flat wrist arm 1201 coincides with the axis of the wrist channel. After the centering process is completed, the first manipulator 2 continues to push the flat wrist arm 1201 through the wrist channel until the flat wrist arm 1201 is clamped by the rotation positioning mechanism 704. The tooling also includes a tooling workbench 706, and the centering mechanism 702, the clamping mechanism 703 and the rotation positioning mechanism 704 are all arranged on the tooling workbench 706. The tooling workbench 706 is fixedly arranged on the slide 13.

[0117] The clamp mechanism 703 includes a first pushing cylinder 708 and two oppositely arranged first sliding blocks 710 , the connecting member 14 is located between the two first sliding blocks 710 , the first pushing cylinder 708 is drivingly connected to one of the first sliding blocks 710 , and the first pushing cylinder 708 is fixedly connected to the other first sliding block 710 .

[0118] The fixture mechanism 703 also includes a fixture workbench 707, which is fixedly arranged on the tooling workbench 706. The first push cylinder 708 and two first sliding blocks 710 are both arranged on the fixture workbench 707. The two first sliding blocks 710 are used to clamp the connecting member 14. A certain distance is left between the two first sliding blocks 710 to prevent the connecting member 14 from being squeezed and deformed due to the small distance. Four fixture blocks are arranged on the fixture workbench 707 along the sliding direction of the first sliding block 710. Three moving spaces are formed between the four fixture blocks. The two first sliding blocks 710 are respectively located in the two outer moving spaces. The extension direction of the first push cylinder 708 is perpendicular to the axial direction of the flat wrist arm 1201. The cylinder body of the first push cylinder 708 is connected to one of the first sliding blocks 710 by bolts, and the piston rod of the first push cylinder 708 is connected to the other first sliding block 710 by bolts.

[0119] When the second manipulator 3 places a connecting member 14 between the two first sliding blocks 710, it drives the first pushing cylinder 708, the piston rod of the first pushing cylinder 708 contracts, and the first sliding block 710 connected to the piston rod of the first pushing cylinder 708 moves toward the connecting member 14 along the extension direction of the first pushing cylinder 708 until the first sliding block 710 contacts the clamp block, and the first sliding block 710 stops moving. Since the first pushing cylinder 708 continues to work, the piston rod of the first pushing cylinder 708 continues to contract, so that the cylinder body of the first pushing cylinder 708 and the first sliding block 710 connected thereto move synchronously toward the connecting member 14 until the two first sliding blocks 710 clamp the connecting member 14. At this time, the two first sliding blocks 11 are in contact with the clamp block and cannot move further, and the first pushing cylinder 708 stops working.

[0120] When the clamp mechanism 703 needs to release the connecting piece 14, the first push cylinder 708 is driven, the piston rod of the first push cylinder 708 is extended, and the first sliding block 710 connected to the piston rod of the first push cylinder 708 slides along the extension direction of the first push cylinder 708 in the direction away from the connecting piece 14 until the first sliding block 710 contacts the clamp stop block, and the first sliding block 710 stops moving. Since the first push cylinder 708 continues to work, the piston rod of the first push cylinder 708 continues to extend, so that the cylinder body of the first push cylinder 708 and the first sliding block 710 connected thereto slide synchronously in the direction away from the connecting piece 14 until the two first sliding blocks 710 both contact the clamp stop block, the two first sliding blocks 710 can no longer move, and the first push cylinder 708 stops working.

[0121] The first sliding block 710 is fixedly connected to the fixed block 709. The shapes of the two fixed blocks 709 and the two first sliding blocks 710 are made according to the shape of the connecting member 14. A special-shaped channel is formed between the two fixed blocks 709 and the two first sliding blocks 710. The shape of the special-shaped channel is similar to the shape of the connecting member 14, so that the two first sliding blocks 710 can fit with the connecting member 14 after the distance is adjusted.

[0122] In order to facilitate the sliding of the first sliding block 710 on the clamp workbench 707, and also to ensure that the two first sliding blocks 710 are in the same straight line, a clamp slide rail 714 is fixedly arranged on the clamp workbench 707. The length direction of the clamp slide rail 714 is parallel to the extension direction of the first push cylinder 708, and the two first sliding blocks 710 are both slidably arranged on the clamp slide rail 714.

[0123] In order to avoid conflict between the positions of the first push cylinder 708 and the clamp slide rail 714, the first push cylinder 708 drives the first sliding block 710 to slide on the clamp slide rail 714 through the clamp vertical plate 35, ensuring that there is a sufficient distance between the first push cylinder 708 and the clamp slide rail 714 to prevent the first push cylinder 708 from affecting the clamp slide rail 714 when working.

[0124] A second push cylinder 713 is provided between the two first sliding blocks 710, and the extension direction of the second push cylinder 713 is parallel to the axial direction of the flat wrist arm 1201. The second push cylinder 713 is driven and connected to the first pressing plate 712, and the first pressing plate 712 is provided with a pressing member 711 for pressing the connecting member 14 to the first sliding block 710. The second push cylinder 713 divides the clamp slide rail 714 into two sections, and the two first sliding blocks 710 are respectively located on the two sections of the clamp slide rail 714, and the four clamp stoppers are respectively fixedly arranged at both ends of the two sections of the clamp slide rail 714.

[0125] Fig. 20 The initial state and final state of the first pressing plate 712 are shown in FIG. 7 . The number of the first pressing plate 712 is one, the piston rod of the second pushing cylinder 713 is fixedly connected to the first pressing plate 712, the clamping member 711 passes through the first pressing plate 712, and the piston cylinder of the second pushing cylinder 713 is rotatable. Initially, the length direction of the first pressing plate 712 is parallel to the length direction of the clamp slide rail 714. At this time, the clamping member 711 faces the first sliding block 710, driving the second pushing cylinder 713, and the second pushing cylinder 713 drives the first pressing plate 712 to rotate until the clamping member 711 faces the connecting member 14. At the same time, the piston rod of the second pushing cylinder 713 contracts, and the second pushing cylinder 713 drives the first pressing plate 712 to move toward the connecting member 14 until the clamping member 711 clamps the connecting member 14. Finally, the length direction of the first pressing plate 712 is perpendicular to the length direction of the clamp slide rail 714.

[0126] The rotational positioning mechanism 704 includes a second swing cylinder 715 and a rotational positioning workbench 720. The rotational positioning workbench 720 is slidably set on the tooling workbench 706. The sliding direction of the rotational positioning workbench 720 is perpendicular to the axial direction of the flat wrist arm 1201. The second swing cylinder 715 is fixedly set on the rotational positioning workbench 720. The second swing cylinder 715 is driven and connected to a rotating table 717. The rotating table 717 is provided with a clamping assembly for clamping the flat wrist arm 1201.

[0127] The clamping assembly includes a third push cylinder 722 and two sliding plates 718 arranged in parallel on the rotating table 717. The third push cylinder 722 is drivingly connected to one of the sliding plates 718, and the third push cylinder 722 is fixedly connected to the other sliding plate 718. A second positioning pin 719 is arranged on the sliding plate 718.

[0128] A flat arm pin hole is provided at one end of the flat arm 1201, and the end of the flat arm 1201 with the flat arm pin hole passes through the centering channel and the arm channel and then extends between the two sliding plates 718. A first guide rail 723 is fixedly provided on the rotating table 717, and a second sliding block 724 is fixedly connected to the sliding plate 718, and the second sliding block 724 is slidably matched with the first guide rail 723. The cylinder body of the third push cylinder 722 is connected to one sliding plate 718 by bolts, and the piston rod of the third push cylinder 722 passes through the sliding plate 718 connected to the cylinder body of the third push cylinder 722 and then is connected to the other sliding plate 718 by bolts. A limiting block 729 is arranged between the two sliding plates 718 on the rotating table 717. Two first limiting bolts 728 are also fixedly arranged on the rotating table 717. The axial direction of the first limiting bolts 728 is the same as the axial direction of the flat wrist arm 1201. The two first limiting bolts 728 are located on one side of the two sliding plates 718 respectively. Second limiting bolts 730 are arranged on the two sliding plates 718, and the second limiting bolts 730 face the limiting block 729.

[0129] The extension direction of the third push cylinder 722 is perpendicular to the axial direction of the flat arm 1201. After the end of the flat arm 1201 with the flat arm pin hole extends into between the two sliding plates 718, the third push cylinder 722 is driven, and the piston rod of the third push cylinder 722 contracts. The sliding plate 718 connected to the piston rod of the third push cylinder 722 first slides on the first guide rail 723 toward the flat arm 1201 until the second limiting bolt 730 on the sliding plate 718 contacts the limiting block 729, and the sliding plate 718 stops sliding. 719 is inserted into the flat arm pin hole on the flat arm 1201. As the third push cylinder 722 continues to work, the piston rod of the third push cylinder 722 continues to shrink, so that the cylinder body of the third push cylinder 722 and the sliding plate 718 connected thereto slide synchronously toward the flat arm 1201 until the second limit bolts 730 on the two sliding plates 718 are in contact with the limit block 729. At this time, the second positioning pins 719 on the two sliding plates 718 are inserted into the flat arm pin hole of the flat arm 1201, completing the positioning of the flat arm 1201, and the third push cylinder 722 stops working. During the rotation process of the flat arm 1201, the two second positioning pins 719 drive the flat arm 1201 to rotate, and the positioning pins can also ensure that the flat arm 1201 will not be separated from the rotation positioning mechanism 704 during the rotation process.

[0130] When it is necessary to rotate the positioning mechanism 704 to loosen the flat arm 1201, the third push cylinder 722 is driven, the piston rod of the third push cylinder 722 is extended, and the sliding plate 718 connected to the piston rod of the third push cylinder 722 first slides on the first guide rail 723 in the direction away from the flat arm 1201 until the sliding plate 718 contacts the first limiting bolt 728, and the sliding plate 718 stops sliding. Since the third push cylinder 722 continues to work, the piston rod of the third push cylinder 722 continues to extend, so that the cylinder body of the third push cylinder 722 and the sliding plate 718 connected thereto are synchronously slid in the direction away from the flat arm 1201 until the two sliding plates 718 respectively contact the two first limiting bolts 728, the two sliding plates 718 both stop sliding, and the third push cylinder 722 stops working.

[0131] The specific setting method between the rotating positioning workbench 720 and the tooling workbench 706 is: a supporting vertical plate 716 is arranged between the second swing cylinder 715 and the rotating table 717, the supporting vertical plate 716 is fixedly arranged on the rotating positioning workbench 720, two second guide rails 726 are fixedly arranged on the tooling workbench 706, the rotating positioning workbench 720 is slidably arranged on the two second guide rails 726, the length direction of the second guide rails 726 is parallel to the extension direction of the third pushing cylinder 722, the rotating positioning workbench 720 is connected to the fourth pushing cylinder 725, and the extension direction of the fourth pushing cylinder 725 is parallel to the length direction of the second guide rails 726.

[0132] In order to enhance the stability of the rotation positioning mechanism 704, a trapezoidal vertical plate 721 is fixedly connected between the support vertical plate 716 and the rotation positioning workbench 720. Two second baffles 727 are arranged in parallel on the tooling workbench 706. The second baffles 727 are used to limit the rotation positioning workbench 720 to prevent the rotation positioning mechanism 704 from being separated from the tooling workbench 706. The connection direction between the two second baffles 727 is parallel to the length direction of the second guide rail 726.

[0133] When the rotation positioning mechanism 704 positions the flat arm 1201, it first drives the fourth pushing cylinder 725, and the fourth pushing cylinder 725 drives the rotation positioning workbench 720 to slide on the second guide rail 726, adjusts the position of the rotation positioning mechanism 704, and then drives the third pushing cylinder 722 until the two second positioning pins 719 are inserted into the pin holes of the flat arm. The two second positioning pins 719 jointly position the flat arm 1201 to improve the stability of the flat arm 1201 during rotation.

[0134] The flat wrist arm and support connector assembly tool 7 should be used in conjunction with other tools in actual application. When the flat wrist arm 1201 needs to be rotated, the flat wrist arm 1201 has passed through the wrist arm channel of the connector 14, and the third driving cylinder 1208 and the first pushing cylinder 708 are driven to separate the centering mechanism 702 from the flat wrist arm 1201 and the connector 14 from the clamping mechanism 703. Then, the second swing cylinder 715 is controlled to rotate the rotating table 717, and the rotating table 717 drives the flat wrist arm 1201 to rotate through the clamping assembly. The order of the centering mechanism 702 and the clamping mechanism 703 can be reversed.

[0135] The flat arm and support connector combination tooling 7 also includes a flat arm tooling control box 705, which is electrically connected to the second swing cylinder 715 and all cylinders. The working status of the second swing cylinder 715 and all cylinders can be switched at any time through the flat arm tooling control box 705.

[0136] The oblique wrist arm and supporting connector combination tooling 6 includes a centering mechanism 702, a clamping mechanism 703 and a rotational positioning mechanism 704. The structure and principle of the centering mechanism 702 are the same as those of the centering mechanism 702 in the flat wrist arm and load-bearing cable seat positioning tooling 12. The structure and principle of the clamping mechanism 703 and the rotational positioning mechanism 704 are consistent with those of the flat wrist arm and supporting connector combination tooling 7. The only difference is that there is only one second positioning pin 719 in the rotational positioning mechanism 704 in the oblique wrist arm and supporting connector combination tooling 6.

[0137] The only difference between the oblique wrist arm and combined positioning ring positioning tooling 9 and the flat wrist arm and load-bearing cable seat positioning tooling 12 is that the mechanism for clamping the connecting piece 14 is a clamp mechanism 703, and the structure and principle of the clamp mechanism 703 in the oblique wrist arm and combined positioning ring positioning tooling 9 are the same as those of the flat wrist arm and supporting connector combination tooling 7.

[0138] The tightening tool 11 includes a lifting platform 1106, on which a driver 1102 is arranged. The driver 1102 is connected to a moving platform 1111, which is slidably arranged on the lifting platform 1106. A plurality of moving components are movably arranged on the moving platform 1111, and the moving components are fixedly connected to a tightening gun 1101, which extends to the bottom of the moving platform 1111.

[0139] The number of bolts required for fixing the same place on the connecting piece 14 is one or two, so the number of tightening guns 1101 is set to two, and the number of mobile components is also two, and the mobile components correspond to the tightening guns 1101 one by one. The moving platform 1111 is set horizontally, and the mobile component is used to adjust the position of the tightening gun 1101 on the moving platform 1111, that is, to adjust the position of the tightening gun 1101 in the horizontal plane. A driver support seat 1103 is fixedly set on the upper part of the lifting platform 1106, and the driver 1102 is set on the driver support seat 1103. The driver 1102 can be a cylinder, a hydraulic cylinder, or other mechanisms or devices that can push the moving platform 1111 to do reciprocating motion. The drive of the driver 1102 and the operation of the tightening gun 1101 can be controlled by a valve island.

[0140] The use principle of the tightening tool 11 is as follows: there are four tightening tools 11, which are respectively located above the flat wrist arm and support connector combination tool 7, the flat wrist arm and load-bearing cable seat positioning tool 12, the oblique wrist arm and support connector combination tool 6, and the oblique wrist arm and combination positioning ring positioning tool 9. During actual use, the connecting part 14 is located below the moving platform 1111. When the bolts need to be tightened, the driver 1102 is driven. The driver 1102 is fixedly connected to the top plate 1104. The top plate 1104 is fixedly connected to the moving platform 1111. The operation of the driver 1102 will push the top plate 1104 to move downward, and the top plate 1104 pushes the moving platform 1111 to move downward, and the tightening gun 1101 will drop accordingly. The tightening gun 1101 includes a sleeve 1117, and the sleeve 1117 is used to tighten the bolts. The position of the tightening gun 1101 on the moving platform 1111 can be adjusted manually, and the moving assembly is adjusted before the tightening gun 1101 is lowered for use, or it can be adjusted by a cylinder, and the position of the tightening gun is adjusted before or during the lowering of the tightening gun 1101. The position of the tightening gun 1101 is adjusted by the moving assembly until the bolt is inserted into the sleeve 1117, the driver 1102 stops working, and the tightening gun 1101 is driven. After the sleeve 1117 tightens the bolt, the tightening gun 1101 stops working, and the driver 1102 is driven. The driver 1102 drives the moving platform 1111 to move upward until it is reset.

[0141] In order to facilitate the movement of the mobile platform 1111: the lifting platform 1106 is fixedly connected to the lifting platform bottom plate 1108, and the length direction of the lifting platform 1106 is perpendicular to the lifting platform bottom plate 1108. The lifting platform 1106 is provided with an oil cylinder 1118, and the tightening tooling should be used in conjunction with other tooling when in use. The oil cylinder 1118 is used to supply oil to the slide 13. Two second linear guide rails 1107 are fixedly provided on the lifting platform 1106 along the length direction, and the mobile platform 1111 is fixedly connected to two first sliders, and the two first sliders are respectively slidably provided on the two second linear guide rails 1107.

[0142] The specific setting method between the moving component and the moving platform 1111 is: two third linear guide rails 1113 are fixedly arranged on the moving platform 1111, and the moving component is fixedly connected to two second sliders, and the two second sliders are respectively slidably arranged on the two third linear guide rails 1113. The movement of the moving component on the third linear guide rails 1113 can be adjusted manually, and the position of the tightening gun 1101 can be adjusted in advance for use, and a cylinder can also be used for adjustment.

[0143] The specific structure of the moving assembly is as follows: the moving assembly includes a first moving plate 1115, the first moving plate 1115 is fixedly connected to the second slider, the second slider is slidably matched with the third linear guide 1113, the first moving plate 1115 is fixedly provided with the first linear guide 1105, the first linear guide 1105 is slidably provided with the third slider, the third slider is fixedly connected with the second moving plate 1116, the length direction of the first linear guide 1105 is perpendicular to the length direction of the third linear guide 1113. The first linear guide 1105 is slidably provided with the second moving plate 1116, and the second moving plate 1116 is fixedly connected with the tightening gun 1101.

[0144] In order to improve the position adjustment accuracy of the tightening gun 1101: a first pointer 1114 is fixedly arranged on the first moving plate 1115, and a first scale 1112 matching the first pointer 1114 is arranged on the moving platform 1111. A second pointer 1119 is fixedly arranged on the second moving plate 1116, and a second scale 1120 matching the second pointer 1119 is arranged on the first moving plate 1115.

[0145] When adjusting the position of the tightening gun 1101, the sliding distance of the first movable plate 1115 on the third linear guide rail 1113 can be obtained according to the first pointer 1114 and the first scale 1112, and the real-time position of the tightening gun 1101 on the third linear guide rail 1113 can also be obtained, thereby judging the sliding direction and sliding distance of the tightening gun 1101 in the length direction of the third linear guide rail 1113; the sliding distance of the second movable plate 1116 on the first linear guide rail 1105 can be obtained according to the second pointer 1119 and the second scale 1120, and the real-time position of the tightening gun 1101 on the first linear guide rail 1105 can also be obtained, thereby judging the sliding direction and sliding distance of the tightening gun 1101 in the length direction of the first linear guide rail 1105.

[0146] In order to limit the lifting speed and length of the moving platform 1111: a damper 1109 and a limiter 1110 are fixedly arranged on the lifting platform 1106, the damper 1109 is located below the moving platform 1111 and faces the moving platform 1111, and the limiter 1110 is located on the side of the damper 1109.

[0147] Finally, the tooling system can also include a transfer workbench, on which the first manipulator 2, the second manipulator 3, the adjustment mechanism 4, the connector supply tray 5, the oblique wrist arm and support connector combination tooling 6, the flat wrist arm and support connector combination tooling 7, the oblique wrist arm and combination positioning ring positioning tooling 9, the third manipulator 10, and the flat wrist arm and load-bearing cable seat positioning tooling 12 are all fixedly arranged. The transfer workbench can be fixedly connected with multiple parallel square tubes, and the transfer workbench and the various devices on the transfer workbench can be lifted synchronously by using a forklift in conjunction with the square tubes, thereby facilitating the transfer of positions and improving the flexibility of the tooling system.

[0148] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flat and oblique arm pre-assembly tooling system for arm pre-assembly, characterized in that: It comprises two groups of connecting piece supply trays (5), one group of connecting piece supply trays (5) comprises a plurality of connecting piece supply trays (5), and a flat wrist arm pre-assembly tooling and an inclined wrist arm pre-assembly tooling are arranged between the two groups of connecting piece supply trays (5); The connecting member supply tray (5) comprises a support (505), an upper material tray (501) and a lower material tray (504); two first baffles (506) are arranged in parallel on the support (505); the upper material tray (501) is slidably arranged on the two first baffles (506); the lower material tray (504) is slidably arranged on the support (505) and is located between the two first baffles (506); and a plurality of connecting members (14) are arranged on both the upper material tray (501) and the lower material tray (504); The flat wrist arm pre-assembly tooling includes a flat wrist arm and support connector assembly tooling (7), and a flat wrist arm and load-bearing cable seat positioning tooling (12); The oblique wrist arm pre-assembly tooling includes an oblique wrist arm and support connector combination tooling (6), and an oblique wrist arm and combination positioning ring positioning tooling (9); Tightening tools (11) are arranged near the flat wrist arm and support connector combination tooling (7), the flat wrist arm and load-bearing cable seat positioning tooling (12), the oblique wrist arm and support connector combination tooling (6), and the oblique wrist arm and combination positioning ring positioning tooling (9); The flat wrist arm and support connector combination tooling (7), the flat wrist arm and load-bearing cable seat positioning tooling (12), the oblique wrist arm and support connector combination tooling (6), and the oblique wrist arm and combined positioning ring positioning tooling (9) all comprise a centering mechanism (702), the centering mechanism (702) comprising a third driving cylinder (1208) and two parallel first vertical plates (1207), the first vertical plates (1207) being slidably disposed on the first support plates (1209), the third driving cylinder (1208) being drivingly connected to one of the first vertical plates (1207), the third driving cylinder (1208) being fixedly connected to the other first vertical plate (1207), and a centering wheel (1202) for limiting the flat wrist arm (1201) or the oblique wrist arm (701) from the circumferential side is rotatably disposed on the first vertical plate (1207); The flat wrist arm and support connector combination tooling (7), the oblique wrist arm and support connector combination tooling (6), and the oblique wrist arm and combination positioning ring positioning tooling (9) all include a clamping mechanism (703) for clamping the connecting piece (14), the clamping mechanism (703) includes a first pushing cylinder (708) and two first sliding blocks (710) arranged opposite to each other, the connecting piece (14) is located between the two first sliding blocks (710), the first pushing cylinder (708) is drivingly connected to one of the first sliding blocks (710), and the first pushing cylinder (708) is fixedly connected to the other first sliding block (710); The flat wrist arm and load-bearing cable seat positioning tool (12) further comprises a connecting piece clamping mechanism, the connecting piece clamping mechanism comprising two third vertical plates (1231), the third vertical plates (1231) being slidably arranged on the first supporting plate (1209), a plurality of first driving cylinders (1203) being arranged on the third vertical plates (1231), and the first driving cylinders (1203) being connected to a second pressing plate (1225) for pressing the connecting piece (14) onto the third vertical plates (1231); The flat wrist arm and support connector combined tooling (7) and the oblique wrist arm and support connector combined tooling (6) both comprise a rotation positioning mechanism (704), the rotation positioning mechanism (704) comprising a second swing cylinder (715), the second swing cylinder (715) being drive-connected to a rotating table (717), the rotating table (717) being provided with a clamping assembly for clamping the flat wrist arm (1201) or the oblique wrist arm (701).

2. A flat and oblique arm pre-assembly tooling system for arm pre-assembly as claimed in claim 1, characterized in that: The tightening tool (11) comprises a lifting platform (1106), a driver (1102) is arranged on the lifting platform (1106), the driver (1102) is driven and connected to a moving platform (1111), the moving platform (1111) is slidably arranged on the lifting platform (1106), a plurality of moving components are movably arranged on the moving platform (1111), the moving components are fixedly connected to a tightening gun (1101), and the tightening gun (1101) extends below the moving platform (1111).

3. A flat and oblique arm pre-assembly tooling system for arm pre-assembly as claimed in claim 1, characterized in that: The centering mechanism (702) further comprises a fourth driving cylinder (1210), wherein the fourth driving cylinder (1210) drives a lifting support roller (1220) connected to support the flat arm (1201) or the oblique arm (701), wherein the axial direction of the lifting support roller (1220) is perpendicular to the axial direction of the flat arm (1201) or the oblique arm (701).

Images