A wrist arm pre-assembly system

Abstract

A wrist arm pre-assembly system includes a pipe material processing subsystem, a pre-assembly tooling subsystem and a first manipulator, wherein the pipe material processing subsystem includes: a processing device for processing the pipe material into a flat wrist arm or an oblique wrist arm; an adjustment and correction device for adjusting and positioning the pipe material; a moving device for transferring the pipe material to the processing device or the adjustment and correction device; the pre-assembly tooling subsystem includes: a flat wrist arm pre-assembly tooling for pre-assembling a flat wrist arm and a connecting piece, including a flat wrist arm and a support connector combination tooling, a flat wrist arm and a load-bearing cable seat positioning tooling; an oblique wrist arm pre-assembly tooling for pre-assembling an oblique wrist arm and a connecting piece, including an oblique wrist arm and a support connector combination tooling, an oblique wrist arm and a combined positioning ring positioning tooling; and a first manipulator for transferring a flat wrist arm or an oblique wrist arm from the pipe material processing subsystem to the pre-assembly tooling subsystem. The present invention provides a wrist arm pre-assembly system with higher processing efficiency, strong versatility and higher processing accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of wrist-arm pre-configuration, in particular to a wrist-arm pre-configuration system. Background Art

[0002] The arm is an important component of the electrified railway contact network, which is used to support the contact network conductor for the pantograph to draw current. The arm mainly includes components such as a flat arm, an inclined arm, a load-bearing cable seat and a positioning installation column. In the arm, important components such as the flat arm and the inclined arm are all made of pipe fittings. After obtaining the flat arm and the inclined arm, connectors are installed on the flat arm and the inclined arm to connect with other components. In the prior art, the pipe material processing equipment has poor versatility and can only process specific models of arm components, and the processing efficiency is not high. Different connectors are used to connect two or three different components. 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 wrist arm pre-assembly system with higher processing efficiency, strong versatility, and higher processing accuracy. It can automatically complete the pre-assembly between flat wrist arms, oblique wrist arms and different connecting parts, thereby improving work efficiency.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wrist-arm pre-assembly system, comprising a pipe material processing subsystem, a pre-assembly tooling subsystem and a first manipulator,

[0005] The tube processing subsystem includes:

[0006] A processing device for processing the pipe material into a flat arm or an inclined arm;

[0007] An adjustment and correction device, used for adjusting and positioning the pipe material;

[0008] A moving device, used for transferring the pipe material to the processing device or the adjusting and correcting device;

[0009] The pre-assembled tooling subsystem includes:

[0010] Flat wrist arm pre-assembly tooling is used to pre-assemble the flat wrist arm and connectors, including a flat wrist arm and support connector assembly tooling, and a flat wrist arm and load-bearing cable seat positioning tooling;

[0011] Oblique arm pre-assembly tooling, used for pre-assembling oblique arm and connecting parts, including oblique arm and supporting connector combination tooling, oblique arm and combined positioning ring positioning tooling;

[0012] The first manipulator is used to transfer the flat wrist arm or the oblique wrist arm from the tube processing subsystem to the pre-assembly tooling subsystem.

[0013] As a further optimization of the above-mentioned wrist arm pre-assembly system: the flat wrist arm pipe loading device includes a discharge platform and a plurality of parallel feed conveyor belts, a plurality of feed support blocks for supporting the pipe material are fixedly arranged on the feed conveyor belt, and the plurality of feed support blocks are evenly distributed along the length direction of the feed conveyor belt, the discharge platform is located at the end of all the feed conveyor belts, and the discharge platform is strip-shaped, a plurality of pairs of discharge rollers are rotatably arranged on the discharge platform, and the plurality of pairs of discharge rollers are distributed along the length direction of the discharge platform.

[0014] As a further optimization of the above-mentioned arm pre-assembly system: the inclined arm pipe loading device includes multiple silos, one silo includes at least two material rack beams, at least two partitions are fixedly arranged on all the material rack beams of the same silo, at least two inclined support beams are arranged between two adjacent partitions, the partitions and the support beams are parallel to each other, and the support beams of the same silo are fixedly arranged on the material rack beams.

[0015] As a further optimization of the above-mentioned arm pre-assembly system: the processing device includes a frame, on which a sawing mechanism, a drilling mechanism, a chamfering mechanism, a coding mechanism and a bearing mechanism for bearing pipe materials are arranged;

[0016] The sawing mechanism comprises a sawing motor which is lifted and lowered on the frame, and the sawing motor is driven and connected to a sawing blade;

[0017] The drilling mechanism comprises at least one drilling machine fixedly arranged on the frame;

[0018] The chamfering mechanism comprises a chamfering motor arranged on the frame, and the chamfering motor is drivingly connected to a chamfering knife;

[0019] The inkjet printing mechanism includes an inkjet printer and an inkjet printing control component for controlling the movement of the inkjet printer, and the inkjet printing control component is arranged on the frame;

[0020] The supporting mechanism includes a plurality of centering positioning components for positioning the pipe material and at least one clamping component for fixing the pipe material. The centering positioning component includes two relatively arranged centering drive cylinders, one of which is driven by a positioning rod, and the clamping component includes two clamping blocks arranged in parallel, and the two clamping blocks move toward each other.

[0021] As a further optimization of the above-mentioned wrist arm pre-assembly system: the adjustment and correction device includes a strip-shaped base, with an oblique wrist arm adjustment and positioning mechanism and a flat wrist arm adjustment and positioning mechanism fixedly arranged at both ends of the base, and two support mechanisms for supporting the oblique wrist arm or the flat wrist arm fixedly arranged in the middle of the base, and the two support mechanisms respectively cooperate with the oblique wrist arm adjustment and positioning mechanism and the flat wrist arm adjustment and positioning mechanism, and the support mechanism includes a plurality of support units distributed along the length direction of the base, and the support unit includes a square tube fixedly arranged on the base, and two support rollers are rotatably arranged on the square tube, and the axes of the support rollers are parallel to the axes of the oblique wrist arm or the axes of the flat wrist arm.

[0022] As a further optimization of the above-mentioned arm pre-assembly system: the connecting piece 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 pieces are arranged on the upper material tray and the lower material tray.

[0023] As a further optimization of the above-mentioned wrist arm pre-assembly system: the tightening tool includes a lifting platform, a driver is provided on the lifting platform, the driver is driven and connected to a mobile platform, the mobile platform is slidably arranged on the lifting platform, a plurality of mobile components are movably arranged on the mobile platform, the mobile components are fixedly connected to a tightening gun, and the tightening gun extends to the bottom of the mobile platform.

[0024] The beneficial effect is: the present invention provides a wrist arm pre-assembly system, which can process both flat wrist arms and oblique wrist arms, has higher processing efficiency, strong versatility, and higher processing accuracy, and can automatically complete the pre-assembly between flat wrist arms, oblique wrist arms and different connecting parts, thereby improving work efficiency and pre-assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is the overall structural diagram of the tube material processing subsystem;

[0026] Figure 2 yes Figure 1 A top view of

[0027] Figure 3 It is a structural schematic diagram of a flat wrist arm pipe feeding device;

[0028] Figure 4 It is a top view of the flat wrist arm pipe feeding device;

[0029] Figure 5 It is a three-dimensional diagram of the overall structure of the processing device;

[0030] Figure 6 This is the overall structural front view of the processing device;

[0031] Figure 7yes Figure 5 A magnified view of part A;

[0032] Figure 8 yes Figure 5 A magnified view of part B;

[0033] Fig. 9 yes Figure 5 Enlarged view of part C;

[0034] Fig.10 yes Figure 5 A magnified view of part D in the middle;

[0035] Fig.11 It is a schematic diagram of the overall structure of the clamping assembly;

[0036] Fig.12 is a schematic diagram of the internal structure of the box in the clamping assembly;

[0037] Fig.13 is a schematic diagram of the arrangement of the collision detection sensor in the clamping assembly;

[0038] Fig.14 It is a stereogram of the adjustment and correction device;

[0039] Fig.15 is a top view of the adjustment and correction device;

[0040] Fig.16 It is a stereoscopic diagram of the flat wrist arm adjustment and positioning mechanism;

[0041] Fig.17 It is a top view of the flat wrist arm adjustment and positioning mechanism;

[0042] Fig.18 It is a stereoscopic diagram of the oblique wrist arm adjustment and positioning mechanism;

[0043] Fig.19 It is a top view of the oblique wrist arm adjustment and positioning mechanism;

[0044] Fig. 20 It is a three-dimensional diagram of the oblique arm pipe feeding device;

[0045] Fig.21 It is the front view of the oblique arm pipe feeding device.

[0046] Fig. 22 It is a three-dimensional schematic diagram of the pre-assembled tooling subsystem;

[0047] Fig.23 yes Fig. 22 A top view of

[0048] Fig.24 It is a schematic diagram of the use relationship between the second manipulator and the adjustment mechanism;

[0049] Fig.25 It is a three-dimensional schematic diagram of the adjustment mechanism;

[0050] Fig.26 It is a three-dimensional schematic diagram of the supply tray;

[0051] Fig. 27 This is the front view of the supply tray;

[0052] Fig.28 is a side view of the supply tray;

[0053] Fig.29 is a top view of the supply tray;

[0054] Fig.30 It is a three-dimensional schematic diagram of the connecting part;

[0055] Fig.31 is a schematic diagram of the structure of the sliding assembly;

[0056] Fig.32 It is a three-dimensional schematic diagram of the positioning tooling of the flat wrist arm and the load-bearing cable seat

[0057] Fig.33 yes Fig.32 Side view of

[0058] Fig.34 It is a three-dimensional schematic diagram of the centring mechanism;

[0059] Fig.35 This is the main view of the center mechanism;

[0060] Fig.36 It is a three-dimensional diagram of the clamping mechanism of the connector. Figure I ;

[0061] Fig.37 It is a three-dimensional diagram of the clamping mechanism of the connector. Figure II ;

[0062] Fig.38 It is the front view of the clamping mechanism of the connector;

[0063] Fig.39 It is a three-dimensional schematic diagram of a combined tooling of a flat wrist arm and a supporting connector;

[0064] Fig.40 yes Fig.39 Side view of

[0065] Fig.41 It is a three-dimensional schematic diagram of the clamp mechanism;

[0066] Fig.42 It is the front view of the fixture mechanism;

[0067] Fig.43 is a side view of the clamp mechanism;

[0068] Fig.44 is a top view of the clamp mechanism;

[0069] Fig.45 It is a three-dimensional schematic diagram of the flat wrist-arm rotation mechanism;

[0070] Fig.46 It is the front view of the flat wrist-arm rotation mechanism;

[0071] Fig.47 It is a side view of the flat wrist-arm rotation mechanism;

[0072] Fig.48 It is a three-dimensional structural schematic diagram of the oblique wrist arm and the combined positioning ring positioning tooling;

[0073] Fig.49 It is a three-dimensional schematic diagram of the tightening tool;

[0074] Fig.50 It is the main view of the tightening tool;

[0075] Fig.51 It is a side view of the tightening tool;

[0076] Fig.52 It is a top view of the tightening tool;

[0077] Fig.53 It is a schematic diagram of the combined structure of the oblique wrist arm and the supporting connector combined tooling and the tightening tooling;

[0078] Fig.54 It is a three-dimensional schematic diagram of the flat wrist arm fixed clamping jaw.

[0079] Description of the drawings: 1. Flat wrist arm pipe loading device, 101. Support frame, 102. Feed conveyor belt, 103. Feed support block, 104. Lifting conveyor belt, 105. Lifting support block, 106. Lifting plate, 107. Transition bearing plate, 108. Discharging platform, 109. First protective plate, 110. Second protective plate, 111. Support plate, 112. Arc receiving plate, 113. Discharging roller;

[0080] 2. Processing device, 201. Frame, 202. Carrying frame, 203. Carrying roller, 204. Pipe material, 205. Lifting bracket, 206. First supporting plate, 207. Slide, 208. Sawing motor, 209. Sawing control cylinder, 210. Chamfering motor, 211. Chamfering knife, 212. Waste collecting box, 213. First pressing plate, 214. Support table, 215. Processing box, 216. Inkjet control component, 217. Inkjet printer, 218. Centering and positioning component, 219. Carrying component, 220. Linear drive device, 221. Clamping component, 222. Drilling machine, 223. Waste removal cylinder, 224. Sawing damper, 225. First bottom plate, 226. Centering and positioning guide rail, 227, centering positioning slider, 228, centering drive cylinder, 229, through-beam photoelectric sensor, 230, positioning rod, 231, limit assembly, 232, annular groove, 233, second bottom plate, 234, load-bearing adjustment screw, 235, base plate, 236, load-bearing support plate, 237, inkjet control servo mechanism, 238, inkjet control cylinder, 239, mounting column, 240, lifting block, 241, through groove, 242, pressure plate driver, 243, clamping drive cylinder, 244, box body, 245, cover plate, 246, sliding plate, 247, first connecting strip, 248, first mounting plate, 249, clamping block, 250, accommodating groove, 251, first slider, 252, clamping guide rail, 253, rack, 254, gear, 255, second slider, 256, third base plate, 257, adjustment guide rail, 258, adjustment cylinder, 259, sliding seat, 260, collision detection sensor;

[0081] 3. Processing device, 301. Support column, 302. First top plate, 303. Adjustment slide rail, 304. Base, 306. Fixed plate, 307. Oblique wrist arm adjustment and positioning mechanism, 308. Second connecting strip, 309. Square tube, 310. Long strip hole, 311. Roller bracket, 312. Support roller, 313. Flat wrist arm adjustment and positioning mechanism, 314. Drive motor, 315. Transmission belt, 316. Direction adjustment roller, 317. Fourth bottom plate, 318. Horizontal adjustment screw, 319. Horizontal adjustment nut, 320. Cylinder support plate, 321. Positioning cylinder, 322. Top block, 323. Clamping cylinder, 324. Movable plate, 325. Limiting guide rail, 326. First positioning pin, 327, a first photoelectric sensor, 328, a first through hole, 329, a second support plate, 330, a notch, 331, a first material sensor, 332, a fine-tuning screw, 333, a fine-tuning nut, 334, a fine-tuning positioning block, 335, an extension portion, 36, a second positioning pin, 337, a second mounting plate, 338, a second photoelectric sensor, 339, a second through hole;

[0082] 4. Adjustment and correction device, 401, material rack cross beam, 402, support beam, 403, material rack vertical beam, 404, material rack diagonal beam, 405, partition, 406, material rack baffle, 408, diagonal support beam, 409, visual inspection support roller, 410, visual inspection support rod, 411, connecting beam, 412, bracket vertical beam, 413, bracket cross beam, 414, third support plate;

[0083] 5. Adjustment mechanism, 501. First positioning block, 502. Side plate, 503. Adjustment slide rail, 504. First swing cylinder, 505. Fixed base, 506. First cylinder;

[0084] 6. Connector supply tray, 601, upper tray, 602, upper slide rail, 603, upper stopper, 604, lower tray, 605, support, 606, first baffle, 607, second cylinder, 608, positioning plate, 609, first support connecting plate, 610, second material sensor, 611, lower slide rail, 612, lower slider, 613, handle, 614, support bottom plate, 615, support support plate, 616, sliding assembly, 617, second support connecting plate, 618, connector base, 619, plug block, 620, middle block, 621, tray conveyor belt;

[0085] 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. Second 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, fourth 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;

[0086] 8. Flat wrist arm fixed jaws;

[0087] 9. Positioning tooling for oblique wrist arm and combined positioning ring;

[0088] 10. The first manipulator;

[0089] 11. Tightening tool, 1101. Tightening gun, 1102. Driver, 1103. Driver support seat, 1104. Second top plate, 1105. First linear guide rail, 1106. Lifting platform, 1107. Second linear guide rail, 1108. Lifting platform bottom plate, 1109. Damper, 1110. Limiting member, 1111. Moving platform, 1112. First scale, 1113. Third linear guide rail, 1114. First pointer, 1115. First moving plate, 1116. Second moving plate, 1117. Sleeve, 1118. Cylinder, 1119. Second pointer, 1120. Second scale;

[0090] 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, 1209. Tooling support plate, 1210. Fourth driving cylinder, 1211. Second vertical plate, 1212. Rotating support roller 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, lifting support roller frame, 1220, lifting support roller, 1221, first connection block, 1222, second slide rail, 1223, second positioning block, 1224, second extension plate, 1225, third pressure plate, 1226, second cylinder connection plate, 1227, third slide rail, 1228, sixth driving cylinder, 1229, second connection block, 1230, arc-shaped member, 1231, third vertical plate, 1232, fifth positioning pin, 1233, connection member pin hole, 1234, centering support plate, 1235, fourth support plate, 1236, first centering stopper;

[0091] 13. Slide;

[0092] 14. Connectors;

[0093] 15. Inclined arm pipe feeding device;

[0094] 16. Waste bin;

[0095] 17. Measuring table;

[0096] 18. Second manipulator;

[0097] 19. The third manipulator;

[0098] 20. Combined tooling of oblique wrist arm and supporting connector; DETAILED DESCRIPTION

[0099] 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.

[0100] See also Figures 1 to 54 A wrist-arm pre-assembly system includes a tube material processing subsystem, a pre-assembly tooling subsystem and a first manipulator 10.

[0101] The pipe material processing subsystem includes: a processing device 2, which processes the pipe material 204 into a flat arm 1201 or an inclined arm 701; an adjustment and correction device 4, which is used to adjust and position the pipe material 204; and a moving device 3, which is used to transfer the pipe material 204 to the processing device or the adjustment and correction device.

[0102] The pre-assembly tooling subsystem includes: a flat wrist pre-assembly tooling, which is used to pre-assemble the flat wrist 1201 and the connecting piece 14, including a flat wrist and support connector combination tooling 7, and a flat wrist and load-bearing cable seat positioning tooling 12; an oblique wrist pre-assembly tooling, which is used to pre-assemble the oblique wrist 701 and the connecting piece 14, including an oblique wrist and support connector combination tooling 20, and an oblique wrist and combination positioning ring positioning tooling 9; a first manipulator 10, which is used to transfer the flat wrist 701 or the oblique wrist 1201 from the pipe material processing subsystem to the pre-assembly tooling subsystem.

[0103] Working principle of the pre-assembly system: For the flat wrist arm 1201: use the mobile device 3 to transfer the pipe material 204 to the processing device 2 for sawing, chamfering and coding and other processing operations; after the processing is completed, the mobile device 3 transfers the pipe material 204 to the adjustment and correction device 4 for adjustment and positioning to obtain the flat wrist arm 1201, and then the first manipulator 10 transfers the flat wrist arm 1201 to the flat wrist arm and support connector combination tooling 7 or the flat wrist arm and load-bearing cable seat positioning tooling 12 to pre-assemble the flat wrist arm 1201 and the connecting part 14. For the oblique wrist arm 701: use the moving device 3 to first transfer the pipe material 204 to the adjustment and correction device 4 for an adjustment and positioning; then use the moving device 3 to transfer the pipe material 204 from the adjustment and correction device 4 to the processing device 2, and use the processing device 2 to perform sawing, chamfering, coding and other processing operations on the pipe material 204; after the processing is completed, use the moving device 3 again to transfer the pipe material 204 from the processing device 2 to the adjustment and correction device 4 for a second adjustment and positioning to obtain the oblique wrist arm 701, and then the first manipulator 10 transfers the oblique wrist arm 701 to the oblique wrist arm and support connector combination tooling 20 or the oblique wrist arm and combination positioning ring positioning tooling 9.

[0104] The pipe material processing subsystem also includes: a flat arm pipe fitting feeding device 1, which carries a plurality of pipe materials 204 for processing the flat arm 1201; and an oblique arm pipe fitting feeding device 15, which carries a plurality of pipe materials 204 for processing the oblique arm 701.

[0105] The use principle of the pipe material processing subsystem is as follows: when processing the arm, first place the pipe material 204 for processing the flat arm 1201 on the flat arm pipe fitting feeding device 1, and place the pipe material 204 for processing the oblique arm 701 on the oblique arm pipe fitting feeding device 15. When it is necessary to process the flat arm 1201, use the moving device 3 to transfer the pipe material 204 from the flat arm pipe fitting feeding device 1 to the processing device 2, or directly connect the flat arm pipe fitting feeding device 1 with the processing device 2, so that the pipe material 204 can directly enter the processing device 2, and then use the processing device 2 to perform sawing, chamfering, coding and other processing operations on the pipe material 204. After the processing is completed, the moving device 3 moves the pipe material 204 to the adjustment and correction device 4 for adjustment and positioning. After the adjustment and positioning is completed, it can be transferred to the pre-assembly tooling subsystem. When the oblique arm 701 needs to be processed, the mobile device 3 is used to transfer the pipe material 204 from the oblique arm pipe feeding device 15 to the adjustment and correction device 4 for the first adjustment and positioning. Then, the mobile device 3 is used to transfer the pipe material 204 from the adjustment and correction device 4 to the processing device 2. The processing device 2 is used to perform sawing, chamfering, coding and other processing operations on the pipe material 204. After the processing is completed, the mobile device 3 is used to move the pipe material 204 to the adjustment and correction device 4 for the second adjustment and positioning. After the adjustment and positioning is completed, it can be transferred to the pre-assembly tooling subsystem through the first manipulator 10.

[0106] The pipe material processing subsystem of the present invention can realize automatic pipe material 204 processing, and can process both flat wrist arm 1201 and inclined wrist arm 701, with higher processing efficiency. Moreover, the pipe material 204 can be adjusted and positioned by adjusting the correction device 4, which can ensure the accuracy of the grasping position during the movement of the pipe material 204, thereby ensuring the accuracy of subsequent processing and assembly processes.

[0107] The feed conveyor belt 102, the discharge platform 108 and the feed conveyor belt 102 are arranged in parallel and are all arranged on a support frame 101. A plurality of feed support blocks 103 for supporting the pipe material 204 are fixedly arranged on the feed conveyor belt 102, and the plurality of feed support blocks 103 are evenly distributed along the length direction of the feed conveyor belt 102. The discharge platform 108 is located at the end of all the feed conveyor belts 102, and the discharge platform 108 is strip-shaped. A plurality of pairs of discharge rollers 113 are rotatably arranged on the discharge platform 108, and the plurality of pairs of discharge rollers 113 are distributed along the length direction of the discharge platform 108. When in use, the pipe material 204 is first placed on the feed conveyor belt 102, and the feed support block 103 is used to support the pipe material 204. In order to ensure the stability of the pipe material 204, a support groove for accommodating the pipe material 204 can be opened on the feed support block 103. Then the feed conveyor belt 102 drives the pipe material 204 to move toward the discharge platform 108. When the pipe material 204 reaches the side of the discharge platform 108, it is transferred from the feed conveyor belt 102 to the discharge platform 108 and supported by the discharge roller 113. Then, part of the discharge roller 113 is driven to drive the pipe material 204 to move axially until the pipe material 204 is transported to the processing device 2.

[0108] Because the height of the processing device 2 is relatively high, in order to facilitate feeding while ensuring that the pipe material 204 can be transported to the processing device 2, a plurality of lifting conveyor belts 104 are arranged between the feeding conveyor belt 102 and the discharging platform 108, and the lifting conveyor belts 104 are arranged vertically, and the lifting conveyor belts 104 are driven and connected to at least one lifting support block 105 and a plurality of lifting plates 106 for installing the lifting support blocks 105, and the plurality of lifting plates 106 are evenly distributed along the length direction of the lifting conveyor belt 104, and a plurality of transition bearing plates 107 are arranged between the lifting conveyor belt 104 and the discharging platform 108, and the transition bearing plates 107 are arranged horizontally. By cooperating with the lifting conveyor belt 104 and the lifting support block 105, the pipe material 204 at the end of the feed conveyor belt 102 can be lifted upward to a position slightly higher than the discharge platform 108, and then the pipe material 204 is thrown onto the discharge roller 113 on the discharge platform 108. The transition supporting plate 107 can enable the pipe material 204 to move smoothly to the discharge roller 113.

[0109] In order to ensure that the pipe material 204 can be smoothly transferred from the transition bearing plate 107 to the discharge roller 113, a plurality of first protective plates 109 and a plurality of second protective plates 110 are fixedly arranged on the discharge platform 108, the first protective plates 109 are vertically arranged below the transition bearing plate 107, the second protective plates 110 are obliquely arranged on the discharge platform 108, and the discharge roller 113 is located between the first protective plates 109 and the second protective plates 110. The first protective plates 109 and the second protective plates 110 are used to limit the pipe material 204, prevent the pipe material 204 from falling from the side of the discharge platform 108, and ensure that the pipe material 204 can fall from the transition bearing plate 107 to the discharge roller 113.

[0110] In order to further ensure that the pipe material 204 can smoothly fall from the transition bearing plate 107 to the discharge roller 113, a plurality of lifting cylinders are fixedly arranged on the discharge platform 108, and the lifting cylinders are driven and connected to the support plate 111, and the support plate 111 is integrally connected with the upwardly inclined arc receiving plate 112, and the arc receiving plate 112 is close to the second protective plate 110. When the pipe material 204 is on the transition bearing plate 107, the lifting cylinder lifts the support plate 111 and makes the upper part of the arc receiving plate 112 close to the lower part of the second protective plate 110. When the pipe material 204 hits the second protective plate 110, it rolls down onto the arc receiving plate 112, and then rolls down onto the support plate 111. Then the lifting cylinder resets and pulls the support plate 111 to move downward, driving the pipe material 204 to move downward onto the discharge roller 113.

[0111] The specific structure of the oblique arm pipe loading device 15 is as follows: the oblique arm pipe loading device 15 includes multiple silos and a third support plate 414 for supporting all silos, one silo includes at least two material rack beams 401, at least two partitions 405 are fixedly arranged on all material rack beams 401 of the same silo, at least two inclined support beams 402 are arranged between two adjacent partitions 405, the partitions 405 and the support beams 402 are parallel to each other, and the support beams 402 of the same silo are fixedly arranged on the material rack beams 401.

[0112] The silo is used to accommodate the pipe material 204. The pipe material 204 is placed on the support beam 402 and is located between two adjacent partitions 405. The inclination of the support beam 402 is set according to the actual situation. When in use, the pipe material 204 is placed on the inclined arm pipe feeding device 15. Since the support beam 402 is set inclined, the pipe material 204 will slide down along the support beam 402. In order to prevent the pipe material 204 from being scratched, the surfaces of the various components of the inclined arm pipe feeding device 15 should be smooth. When the pipe material 204 slides to the lower end of the support beam 402, in order to prevent the pipe material 204 from continuing to slide down, an obstacle, such as an arc plate, should be set at the lower end of the support beam 402. In order to improve space utilization, the distance between two adjacent partitions 405 is set according to the required lengths of different pipe materials 204, and the same silo is divided into multiple areas. The lengths of pipe materials 204 accommodated in each area can be different. Pipe materials 204 of different lengths can be placed on an inclined wrist arm pipe loading device 15, which is convenient for the mobile device to grab the pipe materials 204 and improve work efficiency.

[0113] The oblique wrist arm pipe loading device 15 also includes two material rack vertical beams 403 and two material rack oblique beams 404. All the silos are arranged in sequence from top to bottom, and the material rack cross beam 401 is fixedly connected between the two material rack vertical beams 403 or between the two material rack oblique beams 404.

[0114] The length of the support beams 402 of the same silo is the same. To facilitate the grabbing of the mobile device, the length of the support beams 402 increases from top to bottom, so that the mobile device will not touch the upper silo when grabbing the pipe material 204 of the lower silo. To match the length of the support beams 402, the number of the rack crossbeams 401 of the silo increases from top to bottom. All silos are connected by rack vertical beams 403 and rack diagonal beams 404. The top ends of the two rack vertical beams 403 are connected to the rack crossbeams 401, and the upper ends of the two rack diagonal beams 404 are connected to the rack crossbeams 401.

[0115] Each layer of the silo is divided into three areas by four partitions 405. The two outer areas are used to place the pipes 204. Two or more support beams 402 are set in each area, and the middle area does not place the pipes 204. In order to improve the stability of the inclined arm pipe feeding device 15, a plurality of inclined support beams 408 are connected between the middle areas of two adjacent silos. One end of the inclined support beam 408 is fixedly connected to a material rack cross beam 401 of the silo located relatively to the upper layer, and the other end of the inclined support beam 408 is fixedly connected to a material rack cross beam 401 of the silo located relatively to the lower layer.

[0116] A plurality of connecting beams 411 are fixedly connected between the material rack vertical beam 403 and the material rack diagonal beam 404 at the same end of the silo.

[0117] In order to further enhance the stability of the oblique wrist arm pipe feeding device 15, the material rack vertical beam 403 is connected to the material rack oblique beam 404 by a connecting beam 411. The connecting beam 411 at the bottom, the material rack cross beam 401 connected to the top ends of the two material rack vertical beams 403, and the material rack cross beam 401 connected to the upper ends of the two material rack oblique beams 404 are also connected with multiple support beams 402.

[0118] The loading rack also includes a rack support, which includes a plurality of support cross beams 413 , on which a plurality of support vertical beams 412 are fixedly arranged, and the support vertical beams 412 are fixedly connected to the rack cross beam 401 located at the bottom.

[0119] The lower end of the support beam 402 is fixedly connected with a rack baffle 406. When the pipe material 204 slides to the lower end of the support beam 402, the rack baffle 406 prevents the pipe material 204 from sliding down further, so that the pipe material 204 is stable at the lower end of the support beam 402. In order to prevent the pipe material 204 from being damaged, the rack baffle 406 and the support beam 402 should be smoothly connected.

[0120] A visual inspection support rod 410 is fixedly connected to the upper end of a part of the support beams 402. Two visual inspection support rollers 409 are arranged on the visual inspection support rod 410. A distance is left between the two visual inspection support rollers 409. Before the pipe material 204 is put into the silo, the pipe material 204 needs to be visually inspected, that is, the pipe material 204 is manually inspected. Select a silo whose support beam 402 is fixedly connected to the visual inspection support rod 410. The length of the pipe 204 that can be placed on any two visual inspection support rods 410 should meet the length of each pipe 204 that can be accommodated on the oblique wrist arm pipe feeding device 15. The lengths of all visual inspection support rods 410 are equal and at the same height. One end of the pipe 204 is placed between the two visual inspection support rollers 409 on one of the visual inspection support rods 410, and the other end of the pipe 204 is placed between the two visual inspection support rollers 409 on the other visual inspection support rod 410. The visual inspection support rollers 409 can be used to make the pipe 204 rotate flexibly, which is convenient for manual inspection.

[0121] The top ends of the two material rack vertical beams 403 are commonly connected to the material rack cross beam 401, and the upper ends of the two material rack oblique beams 404 are commonly connected to the material rack cross beam 401. Two short vertical beams and two short oblique beams are arranged on the two material rack cross beams 401. Two shorter material bins are arranged on the two material rack cross beams 401, which are recorded as short material bins, and the other material bins are recorded as long material bins. One end of the short material bin is flush with one end of the long material bin. The two short material bins are arranged in sequence from top to bottom, and the material rack cross beam 401 of the short material bin is fixedly connected between the two short vertical beams or between the two short oblique beams.

[0122] The specific structure of the processing device 2 is as follows: the processing device includes a frame 201 , on which a sawing mechanism, a drilling mechanism, a chamfering mechanism, a coding mechanism and a bearing mechanism for bearing the pipe material 204 are arranged.

[0123] The sawing mechanism includes a sawing motor 208 which is lifted and lowered on the frame 201 , and the sawing motor 208 is driven and connected to a sawing blade.

[0124] The drilling mechanism includes at least one drilling machine 222 fixedly arranged on the frame 201 .

[0125] The chamfering mechanism includes a chamfering motor 210 disposed on a frame 201 , and the chamfering motor 210 is drivingly connected to a chamfering knife 211 .

[0126] The coding mechanism includes a coding machine 217 and a coding control component 216 for controlling the movement of the coding machine 217 . The coding control component 216 is disposed on the frame 201 .

[0127] The supporting mechanism includes a plurality of centering positioning components 218 for positioning the pipe material 204 and at least one clamping component 221 for fixing the pipe material 204. The centering positioning component 218 includes two relatively arranged centering drive cylinders 228, one of which is driven by a positioning rod 230. The clamping component 221 includes two clamping blocks 249 arranged in parallel, and the two clamping blocks 249 move toward each other.

[0128] For the pipe material 204 that needs to be processed into the oblique arm 701, firstly, the pipe material 204 to be processed is moved to the carrying mechanism by using a transfer device such as a robot arm, and then the pipe material 204 is centered and positioned by using the centering positioning component 218 to prevent the pipe material 204 from deflecting. Specifically, the centering drive cylinder 228 is used to drive the positioning rod 230 to be inserted into the single-ear connecting hole at the end of the oblique arm pipe material 204, and then the clamping component 221 and the pipe material 204 are moved as a whole to move the pipe material 204 toward the sawing mechanism. After the pipe material 204 moves to the sawing mechanism, the two clamping blocks 249 of the clamping component 221 are moved toward each other and the pipe material 204 is clamped, and then the pipe material 204 is clamped by using the clamping component 221. The sawing motor 208 is used to drive the sawing blade to rotate and the sawing motor 208 to move downward as a whole until the sawing blade contacts the tube material 204 and saws the tube material 204, and then the tube material 204 is moved in the direction of the inkjet mechanism. When the tube material 204 reaches the inkjet position, the inkjet control component 216 controls the inkjet printer 217 to move, and turns on the inkjet printer 217 to spray an identification code or a customized pattern on the tube material 204. Finally, the centering positioning component 218 is released, and a transfer device such as a robotic arm is used to transfer the tube material 204 to the chamfering mechanism. After the chamfering motor 210 is started, it drives the chamfering blade 211 to process a chamfer at the end of the tube material 204. At this point, the processing of the oblique wrist arm 701 is completed. For the pipe material 204 that needs to be processed into the flat arm 1201, there is no need to use the centering positioning component 218 for positioning, and after sawing, the pipe material 204 is moved to the drilling mechanism, and the drilling machine 222 is used to drill holes on the pipe material 204. During the drilling process, the clamping component 221 clamps the pipe material 204, and the remaining processing steps are the same as the processing steps of the oblique arm 701.

[0129] The present invention can utilize the tube material 204 to automatically process the flat wrist arm 1201 or the oblique wrist arm 701, with higher processing efficiency and strong versatility. It can be used to process the flat wrist arm 1201 or the oblique wrist arm 701 in the ordinary aluminum wrist arm, and can also be used to process the flat wrist arm 1201 or the oblique wrist arm 701 in the simplified wrist arm. It only needs to control the relative position of the tube material 204 and each processing mechanism and the processing procedure.

[0130] The specific arrangement of the sawing motor 208 is as follows: the sawing mechanism includes a lifting bracket 205 fixedly arranged on the frame 201, a sawing control cylinder 209 fixedly arranged on the lifting bracket 205, and the sawing control cylinder 209 is downwardly facing the frame 201, the sawing control cylinder 209 is driven and connected to the first support plate 206, the sawing motor 208 is fixedly arranged on the first support plate 206, and a processing box 215 is also fixedly arranged on the frame 201, the sawing blade extends into the processing box 215, and the processing box 215 is provided with two oppositely arranged through holes for accommodating the pipe material 204. The sawing control cylinder 209 is used to drive the sawing motor 208 to move up and down, so as to control the sawing blade to contact or separate from the pipe material 204, and the processing box 215 is used to prevent the waste generated during the sawing process from splashing into the surrounding environment, thereby avoiding harm to the health of the staff. The lifting bracket 205 is connected to the first support plate 206 via the slide 207 , so that the slide 207 is used to limit the moving direction of the first support plate 206 , ensuring that the first support plate 206 can drive the sawing motor 208 and the sawing knife to contact the pipe material 204 .

[0131] In order to control the moving speed of the sawing motor 208, avoid the sawing blade from colliding with the pipe material 204 and being damaged, and also avoid the sawing blade from getting stuck, a sawing damper 224 is also provided on the frame 201. The sawing damper 224 is located below the first support plate 206 and faces the first support plate 206. The sawing damper 224 can be a spring damper or the like.

[0132] Considering that some waste will be generated during the sawing process, in order to discharge the waste in time and avoid hindering the subsequent processing process, a waste removal cylinder 223 is fixedly provided on the processing box 215, and the piston rod of the waste removal cylinder 223 extends into the processing box 215. After the piston rod of the waste removal cylinder 223 extends into the processing box 215, a lining plate can be fixedly connected, and the pipe material 204 can contact the lining plate in the processing box 215, thereby further improving the stability of the pipe material 204. The waste generated by sawing falls on the lining plate. After the processing of the pipe material 204 is completed, the waste removal cylinder 223 takes out the waste, or drives the waste to contact the inner wall of the processing box 215, so as to push the waste off the lining plate and fall into the processing box 215.

[0133] Because the chamfering motor 210 drives the chamfering cutter 211 to cause the pipe material 204 to vibrate during the process of processing the chamfer at the end of the pipe material 204, in order to avoid processing failure caused by the vibration of the pipe material 204, the chamfering mechanism includes a support table 214 for supporting the pipe material 204, the support table 214 is fixedly arranged on the frame 201, and the side of the support table 214 is provided with a first pressing plate 213 for pressing the pipe material 204 on the supporting table 214, and a waste chip collection box 212 with an open top is also arranged between the supporting table 214 and the chamfering motor 210. After the transfer equipment such as a robot arm transfers the pipe material 204 to the chamfering mechanism, the pipe material 204 is placed on the supporting table 214, and then the first pressing plate 213 rotates and presses the pipe material 204 on the supporting table 214, so as to fix the pipe material 204 and avoid the vibration of the pipe material 204. It should be noted that the robot arm is not separated from the pipe material 204 during the process. The first pressing plate 213 is connected to a pressing plate driver 242 for driving the first pressing plate 213 to rotate. The pressing plate driver 242 can be implemented by a cylinder and a connecting rod, which belongs to the conventional technology in this field and will not be described in detail here.

[0134] The specific structure of the inkjet control component 216 is as follows: the inkjet control component 216 includes an inkjet control servo mechanism 237 fixedly arranged on the frame 201, the inkjet control servo mechanism 237 is driven and connected to an inkjet control cylinder 238, the inkjet control cylinder 238 is driven and connected to a mounting column 239, the inkjet control servo mechanism 237, the inkjet control cylinder 238 and the mounting column 239 are vertical to each other, a lifting block 240 whose position can be fixed is movably arranged on the mounting column 239, and the inkjet printer 217 is fixedly arranged on the lifting block 240. The vertical height of the inkjet printer 217 can be adjusted by the lifting block 240, and the horizontal position of the inkjet printer 217 can be controlled by the inkjet control servo mechanism 237 and the inkjet control cylinder 238. The inkjet control component 216 has strong flexibility, ensuring that the inkjet printer 217 can spray the required pattern on the pipe material 204.

[0135] The specific setting method of the lifting block 240 is as follows: a through slot 241 is provided on the lifting block 240, and two parts on both sides of the through slot 241 are connected by a plurality of tightening bolts. After the position of the lifting block 240 is adjusted, the tightening bolts are used to fix the position of the lifting block 240. This setting method has a simple structure and is easy to adjust.

[0136] The specific structure of the centering and positioning assembly 218 is as follows: the centering and positioning assembly 218 includes a first bottom plate 225 fixedly arranged on the frame 201, a centering and positioning guide rail 226 fixedly arranged on the first bottom plate 225, and the centering and positioning guide rail 226 is parallel to the centering driving cylinder 228, a centering and positioning slider 227 is slidably arranged on the centering and positioning guide rail 226, and a positioning rod 230 is fixedly arranged on the centering and positioning slider 227. The centering and positioning guide rail 226 can limit the direction of the centering and positioning slider 227, and then limit the direction of the positioning rod 230, so as to avoid the deviation of the positioning rod 230 and ensure that the positioning rod 230 can be smoothly inserted into the single ear connection hole on the oblique arm tube 204. In addition, the two centering and positioning sliders 227 can also clamp the tube 204 to ensure the centering and positioning effect.

[0137] In this embodiment, two centering and positioning components 218 are provided, one of which is fixedly arranged on the frame 201, and the other is movably arranged on the frame 201, and is connected to a linear drive device 220 together with the clamping component 221, and the linear drive device 220 is used to drive the centering and positioning component 218 and the clamping component 221 to move synchronously, so that in the process of moving the pipe material 204, the pipe material 204 used for processing the oblique wrist arm 701 can be continuously centered and positioned to avoid the rotation of the pipe material 204, and further improve the processing accuracy. More specifically, the linear drive device 220 includes a linear drive servo mechanism fixedly connected to the clamping component 221 and a fixed rack 253 fixedly arranged on the frame 201, the linear drive servo mechanism is driven and connected to a driving gear 254, and the driving gear 254 is meshed with the fixed rack 253, and a first base plate 225 of a centering and positioning component 218 is fixedly connected to the clamping component 221 through a connecting plate. When the linear drive servo mechanism is activated, the drive gear 254 is driven to rotate. Since the drive gear 254 is meshed with the fixed rack 253, the drive gear 254 can move along the length direction of the fixed rack 253, thereby driving the clamping assembly 221 and the centering positioning assembly 218 connected thereto to move synchronously.

[0138] In order to achieve precise control of the centering and positioning assembly 218 and ensure that the centering drive cylinder 228 is activated only after the pipe 204 is in place, thereby avoiding misoperation, a photoelectric sensor 229 and a limit assembly 231 for limiting the centering and positioning slider 227 are arranged on the side of the centering and positioning guide rail 226. The photoelectric sensor 229 is used to detect whether the pipe 204 is in place. When the pipe 204 reaches the top of the first bottom plate 225, the photoelectric signal of the photoelectric sensor 229 is cut off, and it can be determined that the pipe 204 is in place. The limit assembly 231 is used to limit the positioning slider to prevent the positioning slider from excessive movement and damaging the pipe 204.

[0139] The specific structure of the clamping assembly 221 is as follows: the clamping assembly 221 includes a box body 244, in which a gear 254 is rotatably arranged, the gear 254 is meshingly connected to two racks 253, and the two racks 253 are parallel to each other, and the two racks 253 are each fixedly connected to a first mounting plate 248, and the clamping block 249 is correspondingly fixedly arranged on the first mounting plate 248, and the clamping block 249 is provided with a receiving groove 250, and the receiving grooves 250 on the two clamping blocks 249 are arranged opposite to each other, and the box body 244 is also fixedly connected to a clamping drive cylinder 243, and the piston rod of the clamping drive cylinder 243 is fixedly connected to one of the racks 253. After the pipe 204 is placed on the supporting mechanism, the clamping drive cylinder 243 is activated and pushes the rack 253 to move. Because the two racks 253 are meshed with the gear 254, the rack 253 can drive the other rack 253 to move through the gear 254. Because the two racks 253 are parallel to each other, the two racks 253 can pull the two first mounting plates 248 to move toward each other. During the movement of the two first mounting plates 248, the two clamping blocks 249 are driven to move toward each other until the two clamping blocks 249 clamp the pipe 204. The clamping assembly 221 only needs to control one clamping drive cylinder 243 to drive the two clamping blocks 249 to move toward each other synchronously, which is easier to control.

[0140] The specific configuration of the first mounting plate 248 is as follows: two parallel clamping rails 252 are fixedly arranged in the box body 244, two first sliders 251 are slidably arranged on one of the clamping rails 252, and two second sliders 255 are slidably arranged on the other clamping rail 252, and the first sliders 251, the second sliders 255 and the first mounting plate 248 are correspondingly connected. Specifically, one first slider 251 and one second slider 255 form a group, and one first mounting plate 248 is connected to a group of sliders. The rails and the sliders cooperate to limit the moving direction of the first mounting plate 248, so as to ensure that the two clamping blocks 249 can accurately and stably clamp the pipe material 204.

[0141] In order to protect the components inside the box 244 and prevent a large amount of dust and other impurities from invading the box 244 and causing the rack 253 or the gear 254 to get stuck, a cover plate 245 is provided on the top of the box 244. Two mutually parallel through slots 241 are provided on the cover plate 245. Two mutually parallel first connecting strips 247 are fixedly connected to the first mounting plate 248. The two first connecting strips 247 respectively pass through the two through slots 241 and enter the box 244 and are fixedly connected to the sliding plate 246. The sliding plate 246, the first slider 251 and the second slider 255 are correspondingly connected. The through slots 241 and the first connecting strips 247 ensure that the rack 253 can drive the first mounting plate 248 and the clamping block 249 to move.

[0142] In order to accurately determine the in-place state of the pipe material 204, thereby realizing accurate control of the clamping drive cylinder 243, the box body 244 is also movably connected with a collision detection sensor 260. During the movement of the pipe material 204, when it approaches the collision detection sensor 260, the collision detection sensor 260 is triggered, so that the pipe material 204 can be sensed to be approaching.

[0143] In order to prevent the collision detection sensor 260 from hindering the movement of the pipe material 204, the box body 244 is fixedly connected to the third bottom plate 256, and the third bottom plate 256 is fixedly provided with an adjustment cylinder 258, and the piston rod of the adjustment cylinder 258 is fixedly connected to the collision detection sensor 260. When the collision detection sensor 260 detects the pipe material 204, the adjustment cylinder 258 is retracted and drives the collision detection sensor 260 away from the pipe material 204, thereby ensuring that the pipe material 204 can be smoothly moved between the two clamping blocks 249.

[0144] In order to accurately control the moving direction of the collision detection sensor 260, an adjustment guide rail 257 is fixedly set on the third base plate 256. The adjustment guide rail 257 is fixedly connected to the piston rod of the adjustment cylinder 258. A sliding seat 259 is slidably set on the adjustment guide rail 257, and the collision detection sensor 260 is fixedly set on the sliding seat 259.

[0145] The bearing mechanism further includes a plurality of bearing assemblies 219, and the bearing assemblies 219 include a bearing frame 202 fixedly disposed on the frame 201, a bearing roller 203 is rotatably disposed on the bearing frame 202, and an annular groove 232 for accommodating the pipe material 204 is provided on the peripheral side wall of the bearing roller 203. The rotatably disposed bearing roller 203 ensures that the pipe material 204 can move axially on the bearing assembly 219, so as to move to each processing mechanism, and the annular groove 232 can prevent the pipe material 204 from lateral deviation.

[0146] The specific structure of the carrier 202 is as follows: the carrier 202 includes a second bottom plate 233 fixedly arranged on the frame 201, four bearing adjustment screws 234 are inserted on the second bottom plate 233, two height adjustment nuts are matched and sleeved on the bearing adjustment screws 234, and the four bearing adjustment screws 234 are evenly divided into two groups, and the two bearing adjustment screws 234 in the same group are commonly connected with a base plate 235, and the base plate 235 is located between the two height adjustment nuts, and a bearing support vertical plate 236 is vertically fixed on the base plate 235, and the bearing roller 203 is rotatably connected between the two bearing support vertical plates 236. By adjusting the position of the two height adjustment nuts on the bearing adjustment screw 234, the height of the base plate 235 can be adjusted, and then the height of the bearing roller 203 can be adjusted, and finally it is ensured that all the bearing rollers 203 can be located at the same height, so as to stably carry the pipe material 204.

[0147] The specific structure of the adjustment and correction device 4 is as follows: the adjustment and correction device 4 includes a strip-shaped base 304, and an oblique wrist arm adjustment and positioning mechanism 307 and a flat wrist arm adjustment and positioning mechanism 313 are fixedly arranged at both ends of the base 304 respectively. Two supporting mechanisms for supporting the oblique wrist arm 701 or the flat wrist arm 1201 are fixedly arranged in the middle of the base 304, and the two supporting mechanisms respectively cooperate with the oblique wrist arm adjustment and positioning mechanism 307 and the flat wrist arm adjustment and positioning mechanism 313. The supporting mechanism includes a plurality of supporting units distributed along the length direction of the base 304, and the supporting unit includes a square tube 309 fixedly arranged on the base 304, and two supporting rollers 312 are rotatably arranged on the square tube 309, and the axis of the supporting roller 312 is parallel to the axis of the oblique wrist arm 701 or the axis of the flat wrist arm 1201.

[0148] During the arm processing process, the pipe to be processed is moved to the base 304. If the pipe needs to be processed into a flat arm 1201, the pipe is placed on the support mechanism corresponding to the flat arm adjustment and positioning mechanism 313, and the pipe is clamped using the flat arm adjustment and positioning mechanism 313. If the pipe needs to be processed into an inclined arm 701, the pipe is placed on the support mechanism corresponding to the inclined arm adjustment and positioning mechanism 307, and the pipe is clamped using the inclined arm adjustment and positioning mechanism 307. The two support rollers 312 of the support unit can play the function of centering the pipe fitting, that is, to ensure that after the pipe fitting is placed on the support unit, it moves between the two support rollers 312 under the action of gravity, and finally the axis of the pipe fitting is located above the symmetry axis of the two support rollers 312. The inclined wrist arm adjustment and positioning mechanism 307 and the flat wrist arm adjustment and positioning mechanism 313 can adjust and position the ends of the pipe fitting, and finally ensure that the posture of the pipe fitting on the adjustment and correction device 4 is fixed, realizing the shaping function, so that the moving device 3 can accurately remove the pipe fitting from the adjustment and correction device 4, thereby ensuring the processing accuracy of the flat wrist arm 1201 or the inclined wrist arm 701.

[0149] The adjustment and correction device 4 can shape the pipe fittings that need to be processed into a flat arm 1201 or an oblique arm 701, so that the moving device 3 can accurately position the pipe fittings during the transfer process, thereby ensuring the processing accuracy of the flat arm 1201 or the oblique arm 701.

[0150] The specific setting method of the base 304 is as follows: two support columns 301 for supporting the base 304 are arranged below the base 304, and the two support columns 301 are respectively close to the two ends of the base 304, and the upper end of the support column 301 is fixedly provided with a first top plate 302, and the lower part of the base 304 is fixedly connected with an adjustment rail 303, and the length direction of the adjustment rail 303 is perpendicular to the length direction of the base 304, and the first top plate 302 is slidably connected with the adjustment rail 303. Through the cooperation of the first top plate 302 and the adjustment rail 303, the position of the base 304 in the extension direction of the adjustment rail 303 can be adjusted, and the base 304 can be moved when transporting the shaped pipe fittings, so as to facilitate the transportation of the pipe fittings. Accordingly, a driving device for driving the base 304 to slide on the adjustment rail 303 can be provided, and the driving device can be a conventional device such as a cylinder.

[0151] The specific structure of the support unit is as follows: the length direction of the square tube 309 is perpendicular to the length direction of the base 304, the square tube 309 is fixedly connected to the base 304 through the second connecting strip 308, the bottom of the square tube 309 is provided with two long holes 310 extending along the length direction, the second connecting strip 308 passes through the two long holes 310 at both ends after passing through the bottom of the base 304, the support roller 312 is connected to the square tube 309 through two roller brackets 311, the support roller 312 is rotatably arranged between the two roller brackets 311, and the roller bracket 311 is fixedly arranged on the square tube 309. By adjusting the position of the end of the second connecting strip 308 in the long holes 310, the relative position of the square tube 309 on the base 304 can be adjusted, specifically, the extension length of the square tube 309 to both sides of the base 304 can be adjusted, and the square tubes 309 of the two support mechanisms can be extended to both sides of the base 304 respectively. The support unit has strong versatility. Different support mechanisms can be formed by only adjusting the extension direction of the square tube 309. It is more flexible and has lower cost. In addition, the position of the support mechanism can be flexibly adjusted to facilitate alignment with the oblique wrist arm adjustment and positioning mechanism 307 or the flat wrist arm adjustment and positioning mechanism 313.

[0152] In order to ensure that the support mechanism can play a role in centering, the support mechanism also includes a drive motor 314 and two direction adjustment rollers 316. The drive motor 314 is fixedly arranged on the base 304, and the direction adjustment rollers 316 are rotatably arranged on the base 304. The drive motor 314 drives one of the direction adjustment rollers 316 to rotate through the transmission belt 315. The direction adjustment roller 316 is coaxially arranged with the support roller 312. After the pipe is placed on the support mechanism, it is located between the two direction adjustment rollers 316. After the drive motor 314 is started, the direction adjustment roller 316 is driven to roll, and then the direction adjustment roller 316 drives the pipe to rotate. By rotating the pipe, the pipe can be prevented from getting stuck, thereby ensuring that the support mechanism can play a role in centering, and at the same time, it is convenient for the oblique wrist arm adjustment and positioning mechanism 307 or the flat wrist arm adjustment and positioning mechanism 313 to operate the pipe.

[0153] The oblique wrist arm adjustment and positioning mechanism 307 and the flat wrist arm adjustment and positioning mechanism 313 both include a fourth base plate 317, which is fixed to the base 304 via a fixing plate 306, and a positioning cylinder 321 and two clamping cylinders 323 are fixedly arranged on the fourth base plate 317, wherein the positioning cylinder 321 is connected to the fourth base plate 317 via a cylinder support vertical plate 320, and the cylinder support vertical plate 320 is vertically fixed on the fourth base plate 317, and the positioning cylinder 321 is penetrated through the cylinder support vertical plate 320, and the axes of the two clamping cylinders 323 are both perpendicular to the axis of the positioning cylinder 321, and the clamping cylinder 323 is driven and connected to a movable plate 324 for clamping the oblique wrist arm 701 or the flat wrist arm 1201, and the movable plate 324 and the fourth base plate 317 are perpendicular to each other. After the pipe is placed on the supporting mechanism and its state is stable, the positioning cylinder 321 is started and pushes the pipe to move from the end of the pipe. By fixing the stroke of the positioning cylinder 321, it can be ensured that the pipe is pushed to a fixed position. Then the two clamping cylinders 323 are started and push the two movable plates 324 to move toward each other until the two movable plates 324 clamp the pipe, thereby completely adjusting and positioning the pipe.

[0154] In order to accurately control the positioning cylinder 321 and the clamping cylinder 323, a second support plate 329 is vertically fixed on the fourth bottom plate 317, and a first material sensor 331 is fixed on the second support plate 329. The first material sensor 331 is used to detect whether the pipe fitting has moved to the adjustment and positioning mechanism. The positioning cylinder 321 and the clamping cylinder 323 can be started only after the pipe fitting is detected, thereby avoiding misoperation. According to actual conditions, the first material sensor 331 can select common components such as the photoelectric sensor 229 or the travel switch. In order to prevent the first material sensor 331 from hindering the movement of the pipe fitting, a notch 330 is opened on the second support plate 329, and the pipe fitting can pass through the notch 330.

[0155] In order to limit the moving direction of the movable plate 324 to prevent the movable plate 324 from deflecting and ensure that the movable plate 324 can clamp the pipe fitting, two mutually parallel limiting guide rails 325 are fixedly provided on the fourth bottom plate 317 , and the movable plate 324 is slidably provided on the limiting guide rails 325 .

[0156] Considering that errors are unavoidable in the processing and installation of each component, in order to ensure that the two movable plates 324 can clamp the pipe fittings, the piston rod of the clamping cylinder 323 is coaxially fixedly connected with a fine-tuning screw 332, and two fine-tuning nuts 333 are arranged on the fine-tuning screw 332. The movable plate 324 is fixedly connected with two fine-tuning positioning blocks 334, and the fine-tuning positioning blocks 334 are integrally connected with an extension 335, and the extension 335 extends between the two fine-tuning nuts 333. By adjusting the position of the two fine-tuning nuts 333 on the fine-tuning screw 332, the extension 335 can be driven to move along the axis of the fine-tuning screw 332, and then the fine-tuning positioning blocks 334 and the movable plate 324 can be driven to move along the axis of the fine-tuning screw 332, thereby achieving the purpose of fine-tuning the position of the movable plate 324.

[0157] The fourth bottom plate 317 is provided with a plurality of horizontal adjustment screws 318, and the horizontal adjustment screws 318 are provided with two horizontal adjustment nuts 319, and the fourth bottom plate 317 is located between the two horizontal adjustment nuts 319. According to the installation conditions of the on-site equipment, the fourth bottom plate 317 can be adjusted by the cooperation of the horizontal adjustment screws 318 and the horizontal adjustment nuts 319 to ensure that the fourth bottom plate 317 is in a horizontal state, thereby ensuring that the pipe fittings can be accurately adjusted and positioned. Specifically, by adjusting the positions of the two horizontal adjustment nuts 319 on the horizontal adjustment screws 318, the edge of the fourth bottom plate 317 is driven to move upward or downward, and by adjusting different positions at the edge of the fourth bottom plate 317, the effect of ensuring that the fourth bottom plate 317 is in a horizontal state is achieved.

[0158] In order to further improve the effect of adjusting and positioning the flat arm 1201, the two movable plates 324 of the flat arm adjustment and positioning mechanism 313 are each fixedly connected to a first positioning pin 326, and the two first positioning pins 326 are arranged opposite to each other. During the movement of the movable plate 324, the first positioning pins 326 are correspondingly inserted into the connection holes provided on the flat arm 1201. The flat arm adjustment and positioning mechanism 313 also includes a first photoelectric sensor 327, the transmitting end and the receiving end of the first photoelectric sensor 327 are respectively fixedly provided on the two first positioning pins 326, and the first positioning pin 326 is provided with a first through hole 328, and the light of the first photoelectric sensor 327 passes through the first through hole 328. If the connecting hole and the first positioning pin 326 are aligned when the flat wrist arm 1201 enters between the two movable plates 324, the photoelectric signal of the first photoelectric sensor 327 is interrupted for a short time and then restored. At this time, the clamping cylinder 323 can be directly used to drive the movable plate 324 to clamp the flat wrist arm 1201; if the connecting hole and the first positioning pin 326 are staggered when the flat wrist arm 1201 enters between the two movable plates 324, the photoelectric signal of the first photoelectric sensor 327 is completely interrupted. At this time, the direction adjustment roller 316 is used to drive the flat wrist arm 1201 to rotate until the photoelectric signal of the first photoelectric sensor 327 is restored, and the two clamping cylinders 323 drive the two movable plates 324 to clamp the flat wrist arm 1201. It should be noted that for the convenience of description, the pipe fitting is replaced with the flat wrist arm 1201.

[0159] In order to further improve the effect of adjusting and positioning the oblique arm 701, one of the two movable plates 324 of the oblique arm adjustment and positioning mechanism 307 is fixedly connected with a second positioning pin 336, and the second positioning pin 336 faces the other movable plate 324. During the movement of the movable plate 324, the second positioning pin 336 is correspondingly inserted into the connection hole on the oblique arm 701 for connecting the supporting connecting member. The oblique arm adjustment and positioning mechanism 307 also includes a second photoelectric sensor 338. In the oblique arm adjustment and positioning mechanism 307, the back side of the other movable plate 324 is fixedly connected with a second mounting plate 337. The transmitting end of the second photoelectric sensor 338 is fixedly set on the second mounting plate 337. The movable plate 324 is provided with a second through hole 339 corresponding to the transmitting end. The receiving end of the second photoelectric sensor 338 is fixedly set on the second positioning pin 336. The second positioning pin 336 is also provided with a second through hole 339. The light emitted by the second photoelectric sensor 338 passes through the second through hole 339. If the second positioning pin 336 is aligned with the connection hole when the oblique wrist arm 701 enters between the two movable plates 324, the photoelectric signal of the second photoelectric sensor 338 is interrupted for a short time and then restored. At this time, the two clamping cylinders 323 can be directly used to drive the two movable plates 324 to clamp the oblique wrist arm 701; if the connection hole and the second positioning pin 336 are staggered when the oblique wrist arm 701 enters between the two movable plates 324, the photoelectric signal of the second photoelectric sensor 338 is completely interrupted. At this time, the direction adjustment roller 316 is used to drive the oblique wrist arm 701 to rotate until the photoelectric signal of the second photoelectric sensor 338 is restored, and the two clamping cylinders 323 drive the two movable plates 324 to clamp the oblique wrist arm 701. It should be noted that the pipe fittings are changed to oblique wrist arms 701 for the convenience of description.

[0160] Considering that the diameter of the piston rod of the positioning cylinder 321 is usually smaller than the outer diameter of the pipe fitting, in order to ensure that the pipe fitting can be pushed to move, the positioning cylinder 321 is driven and connected to the push block 322 .

[0161] The moving device 3 includes a mechanical arm and a gantry for moving the mechanical arm, and the mechanical arm is driven and connected to a clamp for grabbing the pipe material 204 .

[0162] Considering that some waste will be generated during the sawing process of the pipe material 204, in order to collect the waste for centralized processing, the system also includes a waste bin 16, which is arranged at the lower side of the mobile device.

[0163] The pre-assembly tooling subsystem also includes: two groups of connector supply trays 6, 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 6, and the connector supply trays 6 are used to carry multiple connectors 14; a tightening tooling 11, used to fix the connector 14 on the flat wrist arm 1201 or the oblique wrist arm 701; a second manipulator 18 and a third manipulator 19, used to transfer the connector 14 from the connector supply tray 6 to the corresponding flat wrist arm pre-assembly tooling or the oblique wrist arm pre-assembly tooling.

[0164] The pre-assembly tooling subsystem also includes a measuring table 17, which uses a positioning measuring device for arm processing with publication number CN212432045U, which will not be described in detail here. The measuring table 17 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.

[0165] 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.

[0166] The use principle of the pre-assembly tooling subsystem is as follows: the first manipulator 10 grabs the flat wrist arm 1201 or the oblique wrist arm 701, and the second manipulator 18 and the third manipulator 19 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 10 moves the flat wrist arm 1201 between the flat wrist arm and the supporting connector assembly tooling 7 and the flat wrist arm and the 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 10 and placed on the measuring table 17 for measurement to ensure that the installation position of the connector 14 meets the requirements.

[0167] 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.

[0168] 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 10 pushes the oblique arm 701 until the connecting piece 14 reaches the connection position, and then drives the tightening tooling 11, and the tightening tooling 11 tightens the bolts on the connecting piece 14 to fix the connecting piece 14 to the oblique arm 701.

[0169] In order to prevent the second manipulator 18 and the third manipulator 19 from getting stuck in the process of transferring the connecting piece 14 to each tooling, an adjustment mechanism 5 is arranged near the second manipulator 18 and the third manipulator 19. After the second manipulator 18 and the third manipulator 19 remove the connecting piece 14 from the supply tray 5, they first place the connecting piece 14 on the adjustment mechanism 5, and the adjustment mechanism 5 rotates the connecting piece 14. Then, the second manipulator 18 and the third manipulator 19 remove the connecting piece 14 from the adjustment mechanism 5 and transfer the connecting piece 14 to each tooling.

[0170] The adjustment mechanism 5 includes a fixed base 505, on which a first swing cylinder 504 is arranged, the first swing cylinder 504 is connected to an adjustment workbench, an adjustment slide rail 503 is fixedly arranged on the adjustment workbench, first adjustment blocks are fixedly arranged at both ends of the adjustment slide rail 503, two side plates 502 are slidably arranged on the adjustment slide rail 503, the two side plates 502 are parallel to each other, a second adjustment block is also fixedly arranged in the area between the two side plates 502 on the adjustment workbench, a first positioning block 501 is fixedly connected to the side plate 502, a plurality of third positioning pins are fixedly arranged on the first positioning block 501, and the number of the third positioning pins is set according to the specific structure of the connecting member 14. The adjustment mechanism 5 also includes a first cylinder 506, the extension direction of the first cylinder 506 is parallel to the length direction of the adjustment slide rail 503, the cylinder body of the first cylinder 506 is connected to one of the side plates 502 by bolts, and the piston rod of the first cylinder 506 is connected to the other side plate 502 by bolts.

[0171] The operating principle of the adjustment mechanism 5 is as follows: after the second manipulator 18 and the third manipulator 19 place the connecting member 14 between the two first positioning blocks 501, the first cylinder 506 is driven, the piston rod of the first cylinder 506 contracts, and the side plate 502 connected to the piston rod of the first cylinder 506 slides on the adjustment slide rail 503 toward the connecting member 14 until the side plate 502 contacts the second adjustment block, and the third positioning pin on the side plate 502 is inserted into the connecting member pin hole 1233 on one of the second extension plates 1224 of the connecting member 14, and the side plate 502 no longer slides. As the first cylinder 506 continues to work, the piston rod of the first cylinder 506 continues to shrink, so that the cylinder body of the first cylinder 506 and the side plate 502 connected thereto begin to slide toward the connecting member 14, until the side plate 502 contacts the second adjustment block, and the third positioning pin on the side plate 502 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 502 can no longer slide, so that the first cylinder 506 stops working. After the connecting member 14 is fixed by the two third positioning pins, the first swing cylinder 504 is driven, and the first swing cylinder 504 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 506 is driven, the piston rod of the first cylinder 506 is extended, and the side plate connected to the piston rod of the first cylinder 506 slides in a direction away from the connecting member 14, until the side plate 502 contacts the first adjustment block, and the side plate 502 stops sliding. As the first cylinder 506 continues to work, the piston rod of the first cylinder 506 continues to extend, causing the cylinder body of the first cylinder 506 and the side plate 502 connected thereto to begin to slide away from the connecting member 14 until the side plate 502 contacts the first adjustment block. At this time, both side plates 502 stop sliding, all third positioning pins are disengaged from the connecting member pin holes 1233, the adjustment mechanism 5 releases the connecting member 14, and the second manipulator 18 and the third manipulator 19 remove the connecting member 14.

[0172] The connector supply tray 6 includes a support 605, an upper tray 601 and a lower tray 604. Two first baffles 606 are arranged in parallel on the support 605. The upper tray 601 is slidably arranged on the two first baffles 606. The lower tray 604 is slidably arranged on the support 605 and located between the two first baffles 606. A plurality of connectors 14 are arranged on both the upper tray 601 and the lower tray 604. One group of connector supply trays 6 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 6 has one connector supply tray, which is used to carry the supporting connector.

[0173] 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.

[0174] 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.

[0175] The connector 14 is disposed on the upper material tray 601 and the lower material tray 604 through the connector base 14. The connector 14 is detachably connected to the connector base 618. The connection method between the connector 14, the connector base 618 and the upper material tray 601 or the lower material tray 604 can be: a limiting groove is provided on the connector base 618, and a plurality of limiting blocks for cooperating with the limiting grooves are provided on the upper material tray 601 and the lower material tray. A fixing clip for limiting the connector 14 is provided on the connector base 618.

[0176] The use principle of the connector supply tray 6 is divided into two parts: placing the material and taking the material. The placing of the material is done manually, and the taking of the material is done by the second manipulator 18 and the third manipulator 19. The upper tray 601 and the lower tray 604 are pushed manually or driven by a driving device, which can be a cylinder, a hydraulic cylinder, etc. Assuming that at the beginning, the upper material tray 601 is discharged and the lower material tray 604 is picked up, the positions of the upper material tray 601 and the lower material tray 604 at this time are recorded as the discharge position and the pick-up position respectively; then the upper material tray 601 is pushed to the pick-up position, and the second manipulator 18 or the third manipulator 19 picks up the items, and then the lower material tray 604 is pushed to the discharge position, and the lower material tray 604 is manually discharged; when the connecting piece 14 on the upper material tray 601 is completely taken, the upper material tray 601 is pushed to the discharge position for manual discharge, and then the lower material tray 604 is pushed to the pick-up position for picking up the items, and so on alternately. A certain space is left between the upper material tray 601 and the lower material tray 604 to prevent the upper material tray 601 from touching the connecting piece 14 on the lower material tray 604 during the process of pushing the upper material tray 601.

[0177] 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 606, and the two idle wheels are located at the same height. A material tray conveyor belt 621 is arranged on the two idle wheels, and the upper material tray 601 and the lower material tray 604 are both fixedly arranged on the material tray conveyor belt 621.

[0178] Since the upper material tray 601 and the lower material tray 604 are arranged on the material tray conveyor belt 621, the movement of the upper material tray 601 and the lower material tray 604 is synchronous. When the upper material tray 601 is pushed to the picking position or the discharging position, the lower material tray 604 will move in the opposite direction synchronously with it, and the lower material tray 604 will reach the discharging position or the picking position.

[0179] In order to facilitate manual pushing of the upper material tray 601 and the lower material tray 604, handles 613 are provided on the upper material tray 601 and the lower material tray 604, which can easily pull or push the upper material tray 601 and the lower material tray 604, while preventing the staff from accidentally touching the connecting piece 14.

[0180] In order to prevent the upper material tray 601 and the lower material tray 604 from shaking when taking or putting materials, the first baffle 606 is detachably connected to the second cylinder 607, the piston rod of the second cylinder 607 is fixedly connected to the automatic pin, the extension direction of the second cylinder 607 is perpendicular to the upper material tray 601, the upper material tray 601 is fixedly connected to two positioning plates 608, the upper material tray 601 is a square material tray, the number of positioning plates 608 is two, the two positioning plates 608 are respectively located at the two vertex corners of the upper material tray 601, and the connection direction of the two positioning plates 608 is parallel to the sliding direction of the upper material tray 601. Positioning pin holes for cooperating with automatic pins are opened on the positioning plates 608.

[0181] The sliding connection between the upper material tray 601 and the first baffle 606 is as follows: an upper slide rail 602 is provided on the first baffle 606, and upper stoppers 603 are fixedly connected at both ends of the upper slide rail 602. The upper slide rail 602 is parallel to the first baffle 606, and two long grooves are provided on the upper slide rail 602 in a relative manner along the length direction. The upper slide rail 602 is connected to the upper material tray 601 through a plurality of sliding components 616.

[0182] The specific structure of the sliding assembly 616 is as follows: the sliding assembly 616 includes a middle block 620 and two plug blocks 619, the middle block 620 is located between the two plug blocks 619 and is fixedly connected to the two plug blocks 619, grooves are provided on the middle block 620 and the plug blocks 619, so that the upper slide rail 602 can pass through the middle block 620 and the plug blocks 619, the middle block 620 is connected to the upper material tray 601 by bolts, and the plug block 619 is integrally connected to two plug plates, which are respectively inserted into the two long grooves of the upper slide rail 602, 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 602.

[0183] When the upper material tray 601 is in the discharge position, the upper material tray 601 contacts one of the upper stoppers 603, driving the second cylinder 607, and the second cylinder 607 pushes the automatic pin, which passes through the positioning pin hole on one of the positioning plates 608 to position the upper material tray 601. Since the upper material tray 601 and the lower material tray 604 are arranged on the material tray conveyor belt 621, when the automatic pin positions the upper material tray 601, the material tray conveyor belt 621 no longer works, so the lower material tray 604 also stops moving synchronously. The lower material tray 604 is now in the pick-up position, and the automatic pin is pushed through the positioning pin hole on the positioning plate 608 to position the upper material tray 601. The movable pin actually positions the upper material tray 601 and the lower material tray 604 at the same time; then the second cylinder 607 is controlled, the piston rod contracts, and the automatic pin disengages from the positioning pin hole; then the upper material tray 601 is pushed, and the upper material tray 601 contacts the other upper block 603. At this time, the automatic pin stops pushing when it faces the positioning pin hole on the other positioning plate 608, and the second cylinder 607 is driven. The second cylinder 607 pushes the automatic pin through the positioning pin hole to fix the position of the upper material tray 601 and the lower material tray 604. At this time, the upper material tray 601 is in the picking position, and the lower material tray 604 is in the discharging position. The upper material tray 601 and the lower material tray 604 alternately perform the manual discharging process and the robot picking process.

[0184] The specific structure of the support 605 is as follows: the support 605 includes a support base plate 614, four support support plates 615 are arranged in parallel on the support base plate 614, all the support support plates 615 are commonly connected to a first support connecting plate 609 and two second support connecting plates 617, the first support connecting plate 609 is located between the two second support connecting plates 617, the two second support connecting plates 617 are respectively fixedly connected to the two first baffles 606, the two second support connecting plates 617 are both provided with a lower slide rail 611, the lower slide rail 611 and the first baffle 606 are parallel to each other, and the lower material tray 604 is slidably arranged on the two lower slide rails 611 through the lower slider 612.

[0185] In order to facilitate the judgment of whether the upper material tray 601 and the lower material tray 604 are in the discharge position or the pickup position, two second material sensors 610 are arranged on the first support connecting plate 609. The second material sensors 610 are used to detect whether the upper material tray 601 and the lower material tray 604 are in the pickup position or the discharge position.

[0186] An air pressure speed regulating valve is provided on one of the support plates 615 for adjusting the air pressure of the second cylinder 607 and filtering moisture in the air.

[0187] 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 20, 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 tooling 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.

[0188] The flat wrist arm and support connector combination tooling 7, the oblique wrist arm and support connector combination tooling 20, 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.

[0189] 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 tooling 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 third pressing plate 1225 for pressing the connecting piece 14 onto the third vertical plates 1231.

[0190] The flat wrist arm and support connector combination tooling 7 and the oblique wrist arm and support connector combination tooling 20 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.

[0191] 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 .

[0192] Take the flat wrist arm pre-assembled tooling as an example:

[0193] The flat wrist arm and the load-bearing cable seat positioning tool 12 includes a tool 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 tool support plate 1209. The centering mechanism 702 is used to make the axis of the flat wrist arm 1201 coincide with the axis of the wrist arm channel, and the connector clamping mechanism is used to clamp the connector 14 and fix the position of the connector 14. The tool support plate 1209 is fixedly arranged on the slide 13.

[0194] 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 tooling 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.

[0195] 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 10 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 tooling support 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.

[0196] 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 10 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 plate 1207. After that, the third driving cylinder 1208 is driven to work, and the piston rod of the third driving cylinder 1208 is contracted. 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 1207 touches the first centering stopper 1236, the centering wheel 1202 on the first vertical plate 1207 and the flat wrist arm 1201 are moved. The first vertical plate 1207 stops sliding, and 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 wrist arm 1201, until all the centering wheels 1202 are in contact with the flat wrist arm 1201 and clamp the flat wrist arm 1201, completing the centering process. Then the first manipulator 10 is controlled to drive the flat wrist arm 1201 to move toward the connector clamping mechanism. During the movement of the flat wrist arm 1201 toward the connector clamping mechanism, the centering wheel 1202 will also rotate accordingly, and the surface of the centering wheel 1202 is smooth and has no burrs, so as to avoid leaving scratches on the flat wrist arm 1201.

[0197] The specific structure of the centering mechanism 702 is: the centering mechanism 702 also includes a centering support plate 1234, the centering support plate 1234 is fixedly set on the tooling support plate 1209, the third driving cylinder 1208 is fixedly set on the centering support plate 1234, and the centering 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 to the first connecting block 1221, and the first connecting block 1221 is slidably matched with the second slide rail 1222.

[0198] 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. The first extension plate 1218 is provided with a third through hole, and the aperture of the third 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 third through hole, it is drivingly connected to the other first extension plate 1218. The second centering stopper is respectively provided at both ends of the second slide rail 1222.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] 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 lifting support roller frame 1219, and the lifting support roller frame 1219 includes a support roller bearing plate, and two support roller support plates parallel to each other are arranged on the support roller bearing plate, and the support roller support plates are perpendicular to the support roller bearing plates, 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.

[0204] The connecting member clamping mechanism includes two third vertical plates 1231, which are slidably arranged on the tooling support 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 to a third pressing plate 1225 for pressing the arc-shaped member 31 onto the third vertical plates 1231. The third vertical plates 1231 are also connected to a sixth driving cylinder 1228.

[0205] 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 third pressure plate 1225 to move toward the position of the connecting member 14 until the third pressure plate 1225 presses the arc member 31 onto the third vertical plate 1231.

[0206] The connecting member clamping mechanism also includes a fourth support plate 1235, which is fixedly arranged on the tooling 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.

[0207] 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.

[0208] 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 fifth positioning pin 1232 for cooperating with the connecting member pin hole 1233 .

[0209] 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 fifth positioning pin 1232 is inserted into the connecting member pin hole 1233 .

[0210] The flat wrist arm and load-bearing cable seat positioning tooling 12 also includes a loading platform, which is slidably set on the tooling support plate 1209, and a load-bearing frame 1213 and a fifth driving cylinder 1216 are fixedly set on the loading platform. The load-bearing frame 1213 includes two parallel I-shaped plates, which are fixedly set on the loading platform, and the two I-shaped plates are commonly connected to the 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 rotating support roller support plate 1212 after passing through the load-bearing plate. The rotating support roller 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.

[0211] The tooling 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.

[0212] 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.

[0213] The tooling 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.

[0214] 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.

[0215] The flat arm 1201 is grasped by the first manipulator 10. After the first manipulator 10 grasps the flat arm 1201, the flat arm 1201 is placed in the centering mechanism 702. The centering mechanism 702 is used to adjust the axis direction of the flat arm 1201 to ensure that the axis of the flat arm 1201 coincides with the axis of the arm channel. After the centering process is completed, the first manipulator 10 continues to push the flat arm 1201 through the arm channel until the flat 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.

[0216] 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 .

[0217] 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 first sliding block 710 by bolts, and the piston rod of the first push cylinder 708 is connected to another first sliding block 710 by bolts.

[0218] When the second manipulator 18 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.

[0219] 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.

[0220] 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.

[0221] 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 provided 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 set on the clamp slide rail 714.

[0222] 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.

[0223] 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 connected to the second pressing plate 712, and the second 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.

[0224] Fig.41 The figure shows the initial state and final state of the second pressing plate 712. There is one second pressing plate 712, the piston rod of the second pushing cylinder 713 is fixedly connected to the second pressing plate 712, the clamping member 711 passes through the second pressing plate 712, and the piston cylinder of the second pushing cylinder 713 is rotatable. Initially, the length direction of the second 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 second 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 second 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 second pressing plate 712 is perpendicular to the length direction of the clamp slide rail 714.

[0225] 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.

[0226] The clamping assembly includes a third pushing cylinder 722 and two sliding plates 718 arranged in parallel on the rotating table 717. The third pushing cylinder 722 is drivingly connected to one of the sliding plates 718, and the third pushing cylinder 722 is fixedly connected to the other sliding plate 718. A fourth positioning pin 719 is arranged on the sliding plate 718.

[0227] A flat arm connection hole is provided at one end of the flat arm 1201, and the end of the flat arm 1201 with the flat arm connection 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, a second sliding block 724 is fixedly connected to the sliding plate 718, 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.

[0228] 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 connecting hole extends 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 limit bolt 730 on the sliding plate 718 contacts the limit stop block 729, and the sliding plate 718 stops sliding. 719 is inserted into the flat arm connecting 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 fourth positioning pins 719 on the two sliding plates 718 are inserted into the flat arm connecting 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 fourth 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.

[0229] 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.

[0230] 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.

[0231] 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.

[0232] 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 fourth positioning pins 719 are inserted into the flat arm connecting hole. The two fourth positioning pins 719 jointly position the flat arm 1201 to improve the stability of the flat arm 1201 during rotation.

[0233] 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 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.

[0234] The flat arm and support connector assembly tool 7 also includes a flat arm tool control box 705, which is electrically connected to the second swing cylinder 715 and all cylinders. The working state of the second swing cylinder 715 and all cylinders can be switched at any time through the flat arm tool control box 705.

[0235] The oblique arm and supporting connector combination tooling 20 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 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 arm and supporting connector combination tooling 7. The only difference is that there is only one fourth positioning pin 719 in the rotational positioning mechanism 704 in the oblique arm and supporting connector combination tooling 20.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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 20, and the oblique wrist arm and combination positioning ring positioning tool 9. During actual use, the connecting piece 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 second top plate 1104. The second top plate 1104 is fixedly connected to the moving platform 1111. The operation of the driver 1102 will push the second top plate 1104 to move downward, and the second top plate 1104 will push 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.

[0240] 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 third sliders, and the two third sliders are slidably provided on the two second linear guide rails 1107 respectively.

[0241] The specific setting method between the moving component and the moving platform 1111 is: two third linear guide rails 1113 are fixedly set on the moving platform 1111, and the moving component is fixedly connected to two fourth sliders, and the two fourth sliders are respectively slidably set 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.

[0242] 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 fourth slider, the fourth slider is slidably matched with the third linear guide rail 1113, the first moving plate 1115 is fixedly provided with the first linear guide rail 1105, the first linear guide rail 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 rail 1105 is perpendicular to the length direction of the third linear guide rail 1113. The first linear guide rail 1105 is slidably provided with the second moving plate 1116, and the second moving plate 1116 is fixedly connected with the tightening gun 1101.

[0243] 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.

[0244] When adjusting the position of the tightening gun 1101, the sliding distance of the first movable plate 1115 on the third linear guide 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 1113 can also be obtained, thereby determining the sliding direction and sliding distance of the tightening gun 1101 in the length direction of the third linear guide 1113; the sliding distance of the second movable plate 1116 on the first linear guide 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 1105 can also be obtained, thereby determining the sliding direction and sliding distance of the tightening gun 1101 in the length direction of the first linear guide 1105.

[0245] 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.

[0246] Finally, the pre-configuration system can also include a transfer workbench, a processing device 2, a moving device 3, an adjustment and correction device 4, an oblique wrist arm pipe fitting loading device 5, a waste bin 6, a first manipulator 10, a second manipulator 18, an adjustment mechanism 5, a connector supply tray 6, an oblique wrist arm and a supporting connector combination tooling 20, a flat wrist arm and a supporting connector combination tooling 7, an oblique wrist arm and a combined positioning ring positioning tooling 9, a third manipulator 19, and a flat wrist arm and a load-bearing cable seat positioning tooling 12 are all fixedly arranged on the transfer workbench. The transfer workbench can be fixedly connected with a plurality of mutually parallel square steel pipes. The transfer workbench and the various devices on the transfer workbench can be lifted synchronously by using a forklift in conjunction with the square pipe, thereby conveniently transferring positions and improving the flexibility of the system. On this basis, the discharge table 108 of the flat wrist arm tube loading device 1 is aligned with the supporting mechanism of the processing device 2, but the flat wrist arm tube loading device 1 is not directly connected to the discharge table 108, so that the flat wrist arm tube loading device 1 and the transfer workbench are separated, which makes it convenient to synchronously move the flat wrist arm tube loading device 1 while transferring the transfer workbench and the devices thereon.

[0247] 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.

[0248] 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 wrist-arm pre-assembly system, characterized in that: Including pipe material processing subsystem, pre-assembly tooling subsystem and the first manipulator, The tube processing subsystem includes: A processing device for processing the pipe material into a flat arm or an inclined arm; An adjustment and correction device, used for adjusting and positioning the pipe material; The flat wrist arm pipe fitting feeding device carries a plurality of pipe materials for processing the flat wrist arm; the flat wrist arm pipe fitting feeding device comprises a plurality of feed conveyor belts arranged in parallel, the discharge platform and the feed conveyor belt are both arranged on a support frame, a plurality of feed support blocks for supporting the pipe materials are fixedly arranged on the feed conveyor belt, and the plurality of feed support blocks are evenly distributed along the length direction of the feed conveyor belt, the discharge platform is located at the end of all the feed conveyor belts, and the discharge platform is strip-shaped, a plurality of pairs of discharge rollers are rotatably arranged on the discharge platform, and the plurality of pairs of discharge rollers are distributed along the length direction of the discharge platform; The oblique arm pipe loading device carries a plurality of pipes for processing the oblique arm; the oblique arm pipe loading device comprises a plurality of bins and a third support plate for supporting all the bins, one bin comprises at least two rack beams, all rack beams of the same bin are fixedly provided with at least two partitions, and at least two inclined support beams are provided between two adjacent partitions; A moving device, used for transferring the pipe material to the processing device or the adjusting and correcting device; The pre-assembled tooling subsystem includes: The flat wrist arm pre-assembly tool is used for pre-assembling the flat wrist arm and the connecting parts, including a flat wrist arm and a supporting connector combined tool, a flat wrist arm and a load-bearing cable seat positioning tool, a tool slide rail is arranged between the flat wrist arm and the supporting connector combined tool and the flat wrist arm and the load-bearing cable seat positioning tool, the flat wrist arm and the supporting connector combined tool and the flat wrist arm and the load-bearing cable seat positioning tool are both arranged on a slide table, the slide table is slidably arranged on the tool slide rail, and a flat wrist arm fixing clamp for fixing the flat wrist arm is arranged on the tool slide rail; Oblique arm pre-assembly tooling, used for pre-assembling oblique arm and connecting parts, including oblique arm and supporting connector combination tooling, oblique arm and combined positioning ring positioning tooling; The first manipulator is used to transfer the flat wrist arm or the oblique wrist arm from the tube processing subsystem to the pre-assembly tooling subsystem; Two groups of connector supply trays, a flat wrist arm pre-assembly tooling and an inclined wrist arm pre-assembly tooling are arranged between the two groups of connector supply trays, and the connector supply trays are used to carry a plurality of connectors; Tightening tool, used to fix the connecting piece on the flat arm or the inclined arm; The second manipulator and the third manipulator are used to transfer the connectors from the connector supply tray to the corresponding flat arm pre-assembly tooling or the oblique arm pre-assembly tooling; For the flat wrist arm, one end of the flat wrist arm is placed in the flat wrist arm and support connector combination tooling or the flat wrist arm and load-bearing cable seat positioning tooling, and the flat wrist arm is assisted in clamping by the flat wrist arm fixed clamp, and then the flat wrist arm and support connector combination tooling or the flat wrist arm and load-bearing cable seat positioning tooling is controlled to slide until the connecting piece reaches the connection position, and the flat wrist arm and support connector combination tooling or the flat wrist arm and load-bearing cable seat positioning tooling stops sliding; then the tightening tooling is driven to tighten the bolts on the connecting piece, and the connecting piece is fixed to the flat wrist arm; for the oblique wrist arm, one end of the oblique wrist arm is placed in the oblique wrist arm rotation positioning tooling or the oblique wrist arm positioning tooling, and the first manipulator pushes the oblique wrist arm until the connecting piece reaches the connection position, and then the tightening tooling is driven to tighten the bolts on the connecting piece, and the connecting piece is fixed to the oblique wrist arm.

2. A wrist-arm pre-assembly system as claimed in claim 1, characterized in that: The flat wrist arm pipe loading device includes a discharge platform and a plurality of parallel feed conveyor belts, a plurality of feed support blocks for supporting the pipe material are fixedly arranged on the feed conveyor belts, and the plurality of feed support blocks are evenly distributed along the length direction of the feed conveyor belts, the discharge platform is located at the end of all the feed conveyor belts, and the discharge platform is strip-shaped, a plurality of pairs of discharge rollers are rotatably arranged on the discharge platform, and the plurality of pairs of discharge rollers are distributed along the length direction of the discharge platform.

3. A wrist-arm pre-assembly system as claimed in claim 1, characterized in that: The oblique wrist arm pipe loading device includes multiple silos, one silo includes at least two material rack beams, at least two partitions are fixedly arranged on all the material rack beams of the same silo, at least two inclined support beams are arranged between two adjacent partitions, the partitions and the support beams are parallel to each other, and the support beams of the same silo are fixedly arranged on the material rack beams.

4. The arm-arm pre-assembly system according to claim 1, characterized in that: The processing device comprises a frame, on which a sawing mechanism, a drilling mechanism, a chamfering mechanism, a coding mechanism and a bearing mechanism for bearing pipe materials are arranged; The sawing mechanism comprises a sawing motor which is lifted and lowered on the frame, and the sawing motor is driven and connected to a sawing blade; The drilling mechanism comprises at least one drilling machine fixedly arranged on the frame; The chamfering mechanism comprises a chamfering motor arranged on the frame, and the chamfering motor is drivingly connected to a chamfering knife; The inkjet printing mechanism includes an inkjet printer and an inkjet printing control component for controlling the movement of the inkjet printer, and the inkjet printing control component is arranged on the frame; The supporting mechanism includes a plurality of centering positioning components for positioning the pipe material and at least one clamping component for fixing the pipe material. The centering positioning component includes two relatively arranged centering drive cylinders, one of which is driven by a positioning rod, and the clamping component includes two clamping blocks arranged in parallel, and the two clamping blocks move toward each other.

5. The arm-arm pre-assembly system according to claim 1, characterized in that: The adjustment and correction device includes a strip-shaped base, with an oblique wrist arm adjustment and positioning mechanism and a flat wrist arm adjustment and positioning mechanism fixedly arranged at both ends of the base respectively, and two supporting mechanisms for supporting the oblique wrist arm or the flat wrist arm are fixedly arranged in the middle of the base, and the two supporting mechanisms respectively cooperate with the oblique wrist arm adjustment and positioning mechanism and the flat wrist arm adjustment and positioning mechanism, and the supporting mechanism includes a plurality of supporting units distributed along the length direction of the base, and the supporting unit includes a square tube fixedly arranged on the base, and two supporting rollers are rotatably arranged on the square tube, and the axes of the supporting rollers are parallel to the axes of the oblique wrist arm or the axes of the flat wrist arm.

6. The arm-arm pre-assembly system according to claim 1, characterized in that: The connecting piece 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 arranged on the two first baffles. The lower material tray is slidably arranged on the support and is located between the two first baffles. Multiple connecting pieces are arranged on the upper material tray and the lower material tray.

7. The arm-arm pre-assembly system according to claim 1, characterized in that: The tightening tooling comprises a lifting platform, a driver is arranged on the lifting platform, a moving platform is connected to the driver, the moving platform is slidingly arranged on the lifting platform, a plurality of moving components are movably arranged on the moving platform, a tightening gun is fixedly connected to the moving component, and the tightening gun extends to the bottom of the moving platform.

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