A production line

Abstract

The application discloses a production line, which belongs to the technical field of sleeve pipes and comprises a support, a cross beam arranged on the support, a sliding channel arranged on the cross beam, a pipe penetrating mechanical hand slidingly arranged at one end of the sliding channel, the pipe penetrating mechanical hand being capable of grabbing one end of a reinforcing steel bar, and a sleeve pipe mechanical hand slidingly arranged at the other end of the sliding channel. The sleeve pipe mechanical hand comprises a mounting plate, a mechanical claw arranged on the mounting plate, and a heat shrinkable tube grabbed in the mechanical claw. The heat shrinkable tube is capable of sliding along the sliding channel under the driving of the sleeve pipe mechanical hand, and the reinforcing steel bar is sleeved with the heat shrinkable tube in the mechanical claw under the driving of the pipe penetrating mechanical hand. The structure can replace the traditional manual heat shrinkable tube sleeving and realizes the automation of the heat shrinkable tube sleeving of the reinforcing steel bar.

Description

Technical Field

[0001] This invention relates to the field of sleeve technology, and more specifically to a production line. Background Technology

[0002] In industrial production, many similar bar-shaped components require sleeves. For example, the transverse bars and vertical bars in the steel reinforcement cage of high-speed railway track slabs need to be sleeved with multiple heat shrink tubes spaced at specific intervals.

[0003] The reason for using heat-shrink tubing on the transverse and vertical reinforcing bars of high-speed railway track slabs is primarily because the longitudinal and planar closed loops of the reinforcing bars within the ballastless track slab generate a magnetic field, which affects the transmission performance of the resonant, uninsulated track circuit. Therefore, it is necessary to insulate the track slab reinforcing cage to eliminate the formation of closed loops within the reinforcing bars. In actual production, insulation of the reinforcing cage is achieved by wrapping several sections of heat-shrink tubing around the reinforcing bars. Current technology typically involves manually wrapping many sections of heat-shrink tubing around the reinforcing bars one by one. This method has the following problems in actual production: 1. Manual operation is labor-intensive, has a low degree of automation, and low production efficiency.

[0004] 2. The spacing between several sections of heat shrink tubing on the reinforcing bars is mainly achieved by the operators. If the spacing of the heat shrink tubing is inaccurate, it will not meet the requirements of the reinforcing bar binding points.

[0005] In view of the problems existing in the prior art, the present invention combines years of design and use experience in related fields with strong professional knowledge to design and manufacture a production line to overcome the above-mentioned defects. Summary of the Invention

[0006] To address the problems existing in the prior art, the present invention provides a production line that can replace the traditional manual application of heat shrink tubing and automate the application of heat shrink tubing to steel bars.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a production line, including a base and a sleeve device, the sleeve device including a support, a crossbeam provided on the support, a slide rail provided on the crossbeam, a tube-threading robot arm sliding at one end of the slide rail, the tube-threading robot arm being able to grasp one end of the rebar, and a sleeve-threading robot arm sliding at the other end of the slide rail; The sleeve manipulator includes a mounting plate, on which a mechanical claw is provided. The mechanical claw grips a heat shrink tubing, which can slide along a slide rail under the action of the sleeve manipulator. The reinforcing bar is sleeved with the heat shrink tubing in the mechanical claw under the action of the sleeve manipulator. The base is provided with a first conveyor chain and a second conveyor chain located on one side of the first conveyor chain. Both the first and second conveyor chains are evenly distributed with several positioning grooves. The steel bars are placed in the positioning grooves and can be conveyed along with the first or second conveyor chain. The base is provided with a first lifting guide device, which can lift the steel bars on the first conveyor chain. The base is also provided with a second lifting guide device, which can place the steel bars on the second conveyor chain; The crossbeam of the sleeve device spans above the first and second conveyor chains. The sleeve-piercing robot can grab the steel bars on the first lifting guide device and move the grabbed steel bars from above the first conveyor chain to above the second conveyor chain. The sleeve robot can move above the second conveyor chain. The second lifting guide device includes a second lifting cylinder, a second lifting frame at the end of the second lifting cylinder, and a plurality of steel bar manipulators on the second lifting frame, the steel bar manipulators being able to clamp steel bars; the plurality of steel bar manipulators are arranged along the movement direction of the sleeve manipulator, and the steel bar manipulators are spaced apart from the manipulators after the diffusion is completed; The rebar manipulator is equipped with a tapered guide ramp on the side near the first conveyor chain.

[0008] Preferably, at least one mounting plate is provided, and each mounting plate is provided with a mechanical claw that grips a heat shrink tubing.

[0009] Preferably, a pull rod is connected between two adjacent mounting plates, and each of the two adjacent mounting plates has a pull hole that fits onto the pull rod. Both ends of the pull rod have a stop block, and the size of the stop block is larger than the diameter of the pull hole.

[0010] The mounting plate closest to the tube-piercing robot is connected to a second drive unit, which can drive the connected mounting plate to slide on the slide.

[0011] Preferably, all of the mounting plates can be moved closer together to the end of the slide; The mounting plate is provided with anti-interference holes, the diameter of which is larger than the size of the stop block. The anti-interference holes can prevent the pull rod from interfering with other mounting plates when the mounting plates are brought together.

[0012] Preferably, the slide rails are provided with two slide rails, and a first driving device is provided at one end between the two slide rails. The movement of the tube-piercing robot is driven by the first driving device. The tube-threading manipulator includes a tube-threading connecting plate, which is fixed on the first driving device. Both ends of the tube-threading connecting plate extend to both sides of the two slides, and tube-threading grippers are provided at the bottom of both ends of the tube-threading connecting plate. The mounting plate extends from both ends to the two sides of the slide rails, and mechanical claws are provided at the bottom of both ends of the mounting plate.

[0013] Preferably, the crossbeam is provided with a closing limiting member and a spreading limiting member, wherein the closing limiting member can limit the distance between the mounting plate and the end of the slide after the mounting plate is closed; The diffusion limiting component can limit the position of the mounting plate at the farthest point from the tube-piercing robot.

[0014] Preferably, the first lifting guide device includes a first lifting cylinder, a first lifting frame is provided at the end of the first lifting cylinder, a plurality of rotatable guide wheels are provided on the first lifting frame, and guide grooves are provided on the sidewalls of the guide wheels.

[0015] Preferably, the guide groove cross-section of the guide wheel is V-shaped.

[0016] Preferably, it also includes a feeding device and a cutting device, wherein the feeding device is capable of conveying the heat shrink tubing into a mechanical gripper that approaches the mounting plate; The cutting device can cut the heat shrink tubing between the mechanical claws at the bottom of adjacent mounting plates.

[0017] The advantages of this invention are: 1. This invention uses a tube-threading robot to move the steel bar and engage with the heat shrink tubing in the movable mechanical claw to complete the fitting of the heat shrink tubing onto the steel bar, replacing the traditional manual fitting of heat shrink tubing, realizing the automation of heat shrink tubing fitting of steel bars and reducing labor costs.

[0018] 2. This invention utilizes connecting rods on adjacent mounting plates, and with the help of pull holes on the mounting plates and stops at both ends of the pull rods, it enables the movement of multiple mounting plates, i.e., the movement of multiple heat shrink tubing, by using a second driving device, thereby easily achieving the simultaneous attachment of multiple heat shrink tubing to the reinforcing bars; in addition, this invention utilizes anti-interference holes on the mounting plates to avoid interference between the pull rods and other mounting plates when the mounting plates are brought together.

[0019] 3. The present invention has a tube-threading gripper and a mechanical gripper on both sides of the crossbeam, which can complete the tube-threading of two steel bars in one action, thus further improving efficiency.

[0020] 4. After all the mounting plates are brought together, the mechanical claws at the bottom of the mounting plates can simultaneously grip the heat shrink tubing conveyed by the feeding device, and then the heat shrink tubing between the mechanical claws at the bottom of adjacent mounting plates is cut off by the cutting device, thereby improving the efficiency of conveying each section of heat shrink tubing to the mechanical claws.

[0021] 5. The production line of the present invention transmits unsleeved steel bars through a first conveyor chain. Then, with the help of a first lifting guide device, the steel bars are lifted up. The tubing robot can grab the steel bars on the first lifting guide device and move the grabbed steel bars from above the first conveyor chain to above the second conveyor chain. During this transfer process, the tubing robot can grab the heat shrink tubing and move it above the second conveyor chain and attach the heat shrink tubing to the steel bars, thereby completing the heat shrink tubing action of the steel bars and realizing the automation and continuity of tubing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a sleeve device mounting plate in a production line when they are brought together. Figure 2 A top view of a sleeve assembly mounting plate of a production line when they are brought together. Figure 3 This is a schematic diagram of the structure of a sleeve device mounting plate during diffusion in a production line. Figure 4 This is a partial schematic diagram of the mounting plate position when the mounting plates of the sleeve device in a production line are brought together. Figure 5 This is a partial schematic diagram of the mounting plate position during the diffusion of the mounting plate of a sleeve device in a production line. Figure 6 This is a schematic diagram of a production line structure; Figure 7 This is a schematic diagram of the first lifting guide device in a production line. Figure 8 This is a schematic diagram of the second lifting guide device in a production line. Figure 9 This is a schematic diagram of the first lifting guide device of the present invention; Figure 10 This is a schematic diagram of the second lifting guide device of the present invention; Figure 11 This is a schematic diagram comparing the steel bar sleeve before and after installation.

[0023] In the diagram: 1-Bracket, 2-Crossbeam, 3-Slide rail, 4-First drive device, 5-Pipe connecting plate, 6-Pipe gripper, 7-Casing robot, 8-Second drive device, 9-Pull rod, 10-Mounting plate, 11-Anti-interference hole, 12-Type changing cylinder, 13-Mechanical gripper, 14-Approaching limiter, 15-Diffusion limiter, 16-Base, 17-First conveyor chain, 18-Second conveyor chain, 19-First lifting guide device, 20-Second lifting guide device, 191-Guide wheel, 192-First lifting frame, 193-First lifting cylinder, 201-Conical guide slope, 202-Rebar robot gripper, 203-Second lifting frame, 204-Second lifting cylinder. Detailed Implementation

[0024] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0025] like Figures 1 to 5 As shown, a production line includes a base 16 and a sleeve device. The sleeve device includes a support 1, a crossbeam 2 on the support 1, and a slide rail 3 on the crossbeam 2. A tube-threading robot is slidably mounted on one end of the slide rail 3. The tube-threading robot can grasp one end of a steel bar and move the steel bar by sliding on the slide rail 3. A sleeve-fitting robot 7 is slidably mounted on the other end of the slide rail 3 and holds a heat-shrinkable tube. This invention uses the tube-threading robot to move the steel bar and cooperate with the heat-shrinkable tube in the movable sleeve-fitting robot 7 to complete the fitting of the heat-shrinkable tube onto the steel bar, replacing the traditional manual fitting of heat-shrinkable tubes, realizing the automation of fitting heat-shrinkable tubes onto steel bars, and reducing labor costs.

[0026] like Figures 6 to 11 As shown, the base 16 is equipped with a first conveyor chain 17 and a second conveyor chain 18 disposed on one side of the first conveyor chain 17. The first conveyor chain 17 and the second conveyor chain 18 are arranged parallel to each other, with the first conveyor chain 17 located on one side of the second conveyor chain 18. The two ends of the conveyor chains cooperate with sprockets on the base 16 and are driven by a motor to achieve operation. Of course, multiple first conveyor chains 17 and second conveyor chains 18 can also be arranged in parallel as needed to improve conveying stability.

[0027] In this embodiment, two first conveyor chains 17 and two second conveyor chains 18 are provided. Several positioning blocks are provided on the first conveyor chain 17 and the second conveyor chain 18. Positioning slots are provided on the positioning blocks. The reinforcing bars are placed in the positioning slots and can be conveyed with the first conveyor chain 17 or the second conveyor chain 18, ensuring that the reinforcing bars will not be relatively displaced during the conveying process and ensuring the matching accuracy with the sleeve device. The base 16 is equipped with a first lifting guide device 19, which can lift the steel bars on the first conveyor chain 17. The base 16 is also equipped with a second lifting guide device 20, which can place the steel bars on the second conveyor chain 18 and guide the steel bars during the transfer process. The crossbeam 2 of the sleeve device spans above the first conveyor chain 17 and the second conveyor chain 18. The sleeve manipulator can grab the steel bars on the first lifting guide device 19 and move the grabbed steel bars from above the first conveyor chain 17 to above the second conveyor chain 18. The sleeve manipulator 7 can move above the second conveyor chain 18.

[0028] Specifically, the sleeve manipulator 7 includes a mounting plate 10, on which a mechanical claw 13 is provided. The mechanical claw 13 grips a heat shrink tubing, which can slide along the slide rail 3 under the drive of the sleeve manipulator 7. The reinforcing bar is sleeved with the heat shrink tubing in the mechanical claw 13 under the drive of the sleeve manipulator 7.

[0029] The present invention requires several heat shrink tubing to be fitted on the steel bars. Therefore, in this embodiment, at least one mounting plate 10 is provided. Each mounting plate 10 is provided with a mechanical claw 13 and each claw holds a heat shrink tubing.

[0030] To enable the movement of each mounting plate 10 while ensuring the distance between adjacent mounting plates 10, i.e., the distance between adjacent heat shrink tubing, a tie rod 9 is connected between each pair of adjacent mounting plates 10. Each pair of adjacent mounting plates 10 has a pull hole that fits onto the tie rod 9. Both ends of the tie rod 9 have stops, the size of which is larger than the diameter of the pull hole. The mounting plate 10 closest to the tube-threading robot is connected to a second drive device 8. The second drive device 8 can drive the connected mounting plate to slide on the slide rail 3. The above structure uses one second drive device 8 to drive the movement of multiple mounting plates 10, i.e., the movement of multiple heat shrink tubing, thereby easily enabling multiple heat shrink tubing to be simultaneously fitted onto the reinforcing bars.

[0031] To facilitate the placement of heat shrink tubing onto the mechanical claws 13 of all mounting plates 10 at once, it is preferable that all mounting plates 10 can be moved close together to the end of the slide 3, that is, the heat shrink tubing can be loaded onto the mechanical claws 13 of all mounting plates 10 from one end of the slide 3. It is preferable that the mounting plates 10 are provided with anti-interference holes 11, the diameter of which is larger than the size of the stop block. The anti-interference holes 11 can prevent the pull rod 9 from interfering with other mounting plates 10 when the mounting plates 10 are close together.

[0032] In this embodiment, the mounting plate 10 includes a total of six pieces, namely the first mounting plate, the second mounting plate, the third mounting plate, the fourth mounting plate, the fifth mounting plate, and the sixth mounting plate. A total of five tie rods 9 are connected to the adjacent mounting plates 10. The center line of the anti-interference hole 11 coincides with the center line of the pull hole on some of the mounting plates 10. The first mounting plate has three anti-interference holes 11, the second mounting plate has two anti-interference holes 11, the third mounting plate has one anti-interference hole 11, the fourth mounting plate has one anti-interference hole 11, and the fifth and sixth mounting plates do not have anti-interference holes 11. When the mounting plates 10 are close together, the tie rods 9 can extend directly away from the first mounting plate.

[0033] In this invention, the tie rod 9 between the fourth and fifth mounting plates is designated as the fourth tie rod, and the tie rod 9 between the fifth and sixth mounting plates is designated as the fifth tie rod. A changing cylinder 12 is provided between the fifth and sixth mounting plates. A cylinder connecting plate is connected to the bottom of the cylinder body of the changing cylinder 12. The cylinder connecting plate is fixed on the fourth and fifth tie rods. The telescopic rod of the changing cylinder 12 is fixedly connected to the fifth mounting plate. Through the above structure, the distance between the fifth and sixth mounting plates can be adjusted.

[0034] The present invention preferably has two slides 3, and a first driving device 4 is provided at one end between the two slides 3. The movement of the tube-threading robot is driven by the first driving device 4. The tube-threading robot includes a tube-threading connecting plate 5, which is fixed on the first driving device 4. Both ends of the tube-threading connecting plate 5 extend to both sides of the two slides 3 respectively. Both ends of the tube-threading connecting plate 5 are provided with tube-threading grippers 6. Both ends of the mounting plate 10 extend to both sides of the two slides 3 respectively. Both ends of the mounting plate 10 are provided with mechanical grippers 13. The above structure allows each side of the crossbeam 2 to be provided with a tube-threading gripper 6 and a mechanical gripper 13. The tube-threading of two steel bars can be completed in one action, thus further improving efficiency.

[0035] The crossbeam 2 is equipped with a closing limiting member 14 and a diffusion limiting member 15. The closing limiting member 14 can limit the distance between the mounting plate 10 and the end of the slide 3 after the mounting plate 10 is closed, thereby ensuring the accuracy of the loading position when the heat shrink tubing is loaded. The diffusion limiting member 15 can limit the position of the mounting plate 10 at the farthest position from the tubing insertion robot, thereby ensuring the accuracy of the position when the heat shrink tubing is sleeved on the rebar. Both the closing limiting member 14 and the diffusion limiting member 15 of this utility model can be limiting blocks.

[0036] The aforementioned first lifting guide device 19 specifically includes a first lifting cylinder 193. The end of the first lifting cylinder 193 is provided with a first lifting frame 192. The first lifting frame 192 is provided with a plurality of rotatable guide wheels 191. The plurality of guide wheels 191 are arranged along the length direction of the steel bar to ensure that when the pipe-penetrating gripper 6 moves the steel bar, the steel bar will not be in a cantilevered downward bending state. The side wall of the guide wheel 191 is provided with a guide groove. The cross section of the guide groove of the guide wheel 191 is set as V-shaped to ensure that when the guide wheel 191 is raised, the steel bar on the first conveyor chain 17 can be transferred into the guide groove. The second lifting guide device 20 specifically includes a second lifting cylinder 204. The end of the second lifting cylinder 204 is provided with a second lifting frame 203. The second lifting frame 203 has a plurality of steel bar robotic grippers 202. The steel bar robotic grippers 202 can clamp steel bars. The plurality of steel bar robotic grippers 202 are arranged along the movement direction of the sleeve robotic arm, and the steel bar robotic grippers 202 are spaced apart from the robotic grippers 13 after diffusion to ensure the positional accuracy during sleeve installation. Here, the steel bar robotic grippers 202 are provided with tapered guide slopes 201 on the side near the first conveyor chain 17 to ensure that the steel bars can be accurately inserted into the steel bar robotic grippers 202 during the process of moving the steel bars from above the first conveyor chain 17 to the second conveyor chain 18.

[0037] The present invention also includes a feeding device and a cutting device. The feeding device can transport the heat shrink tubing to the mechanical claws 13 close to the mounting plate 10. The cutting device can cut the heat shrink tubing between the mechanical claws 13 at the bottom of adjacent mounting plates 10. The cutting device is provided with a plurality of cutting blades, which can shuttle between the mechanical claws 13 at the bottom of adjacent mounting plates 10.

[0038] In this invention, the tubing robot 7 in the production line grasps the heat shrink tubing and moves it to a designated position above the second conveyor chain 18. Then, the rebar robot claw 202 rises, and the rebar on the first conveyor chain 17 is lifted by the first lifting guide device 19. The tubing robot can then grasp one end of the rebar on the first lifting guide device 19 and move the grasped rebar from above the first conveyor chain 17 to above the second conveyor chain 18. During this transfer process, the rebar passes through the heat shrink tubing in the tubing robot 7, thus completing the heat shrink tubing action of the rebar. Finally, the tubing robot 7 and the tubing robot release, and the rebar robot claw 202 descends, driving the heat shrink tubing-covered rebar to be transferred to the second conveyor chain.

[0039] Specific working process of the present invention First, all mounting plates 10 are moved to the side close to the feeding device. The feeding device transfers the heat shrink tubing to the mechanical claw 13 and cuts it with the cutting device. Each mechanical claw 13 holds a section of heat shrink tubing. The second drive device 8 drives all the mounting plates 10 to spread until the mounting plate 10 at the farthest position from the tube-piercing robot abuts against the diffusion limiting member 15. The first lifting guide device 19 and the second lifting guide device 20 are raised. The first lifting guide device 19 lifts the steel bar on the first conveyor chain 17, and the tube-penetrating gripper 6 clamps the end of the steel bar. The first driving device 4 drives the tube-penetrating gripper 6 with the steel bar clamped to move from above the first conveyor chain 17 to above the second conveyor chain 18. During this process, the heat shrink tubing on the sleeve manipulator 7 will be sleeved on the steel bar, thereby completing the action of sleeve heat shrink tubing on the steel bar. Moreover, the second lifting guide device 20 can ensure the guidance of the steel bar when it moves from above the first conveyor chain 17 to the second conveyor chain 18. The tube-threading gripper 6 is released, and the mechanical gripper 13 at the bottom of the mounting plate 10 is also released. The second lifting guide device 20 lowers the steel bar with the heat-shrink tubing, and then the steel bar mechanical gripper 202 of the second lifting guide device 20 opens, placing the steel bar with the heat-shrink tubing onto the second conveyor chain 18. The tube-threading manipulator and the sleeve manipulator 7 are reset, thus completing the transfer of the steel bar with the heat-shrink tubing. The sleeve operation of the next steel bar can then be performed, realizing the automation and continuity of the sleeve operation.

[0040] It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention. Furthermore, it should be understood that after reading the technical description of this invention, those skilled in the art can make various alterations, modifications, and / or variations to the invention, and all such equivalent forms also fall within the scope of protection defined by the appended claims.

Claims

1. A production line, characterized in that, Includes a base (16) and a sleeve device. The sleeve device includes a bracket (1), a crossbeam (2) on the bracket (1), a slide (3) on the crossbeam (2), a pipe-threading manipulator sliding at one end of the slide (3), the pipe-threading manipulator being able to grab one end of the reinforcing bar, and a sleeve manipulator (7) sliding at the other end of the slide (3). The sleeve manipulator (7) includes a mounting plate (10), and a mechanical claw (13) is provided on the mounting plate (10). The mechanical claw (13) holds a heat shrink tube, which can slide along the slide rail (3) under the drive of the sleeve manipulator (7). The reinforcing bar is sleeved with the heat shrink tube in the mechanical claw (13) under the drive of the sleeve manipulator. The base (16) is provided with a first conveyor chain (17) and a second conveyor chain (18) located on one side of the first conveyor chain (17). The first conveyor chain (17) and the second conveyor chain (18) are both evenly distributed with a number of positioning grooves. The steel bars placed in the positioning grooves can be conveyed with the first conveyor chain (17) or the second conveyor chain (18). The base (16) is provided with a first lifting guide device (19), which can lift the steel bars on the first conveyor chain (17); The base (16) is also provided with a second lifting guide device (20), which can place the steel bars on the second conveying chain (18); The crossbeam (2) of the sleeve device spans above the first conveyor chain (17) and the second conveyor chain (18). The pipe-piercing manipulator can grab the steel bar on the first lifting guide device (19) and move the grabbed steel bar from above the first conveyor chain (17) to above the second conveyor chain (18). The sleeve manipulator (7) can move above the second conveyor chain (18). The second lifting guide device (20) includes a second lifting cylinder (204), and a second lifting frame (203) is provided at the end of the second lifting cylinder (204). The second lifting frame (203) is provided with a plurality of steel bar manipulators (202), which can clamp steel bars. The plurality of steel bar manipulators (202) are arranged along the movement direction of the sleeve manipulator (7), and the steel bar manipulators (202) are spaced apart from the manipulators (13) after diffusion. The steel bar manipulator (202) is provided with a tapered guide slope (201) on the side near the first conveyor chain (17).

2. The production line according to claim 1, characterized in that, At least one mounting plate (10) is provided, and each mounting plate (10) is provided with a mechanical claw (13) and grips a heat shrink tubing.

3. A production line according to claim 2, characterized in that, A pull rod (9) is connected between two adjacent mounting plates (10). Each of the two adjacent mounting plates (10) has a pull hole and is fitted onto the pull rod (9). Both ends of the pull rod (9) are provided with a stop block, and the size of the stop block is larger than the diameter of the pull hole. The mounting plate (10) closest to the tube-piercing robot is connected to a second drive device (8), which can drive the connected mounting plate (10) to slide on the slide (3).

4. A production line according to claim 3, characterized in that, All of the aforementioned mounting plates (10) can be moved close together to the end of the slide (3); The mounting plate (10) is provided with an anti-interference hole (11). The diameter of the anti-interference hole (11) is larger than the size of the stop block. The anti-interference hole (11) can prevent the pull rod (9) from interfering with other mounting plates (10) when the mounting plates (10) are brought together.

5. A production line according to claim 1, characterized in that, The slide (3) is provided with two slides, and a first drive device (4) is provided at one end between the two slides (3). The movement of the tube-piercing manipulator is driven by the first drive device (4). The tube-threading manipulator includes a tube-threading connecting plate (5), which is fixed on the first driving device (4). Both ends of the tube-threading connecting plate (5) extend to both sides of the two slides (3), and both ends of the tube-threading connecting plate (5) are provided with tube-threading grippers (6). The mounting plate (10) extends to both sides of the two slides (3) at both ends, and mechanical claws (13) are provided at the bottom of both ends of the mounting plate (10).

6. A production line according to claim 4, characterized in that, The crossbeam (2) is provided with a closing limit member (14) and a diffusion limit member (15). The closing limit member (14) can limit the distance between the mounting plate (10) and the end of the slide (3) after the mounting plate (10) is closed. The diffusion limiting member (15) can limit the position of the mounting plate (10) at the farthest position from the tube-piercing robot.

7. A production line according to claim 1, characterized in that, The first lifting guide device (19) includes a first lifting cylinder (193), the end of the first lifting cylinder (193) is provided with a first lifting frame (192), the first lifting frame (192) has a plurality of rotatable guide wheels (191), and the side wall of the guide wheel (191) is provided with a guide groove.

8. A production line according to claim 7, characterized in that, The guide groove of the guide wheel (191) is V-shaped.

9. A production line according to claim 1, characterized in that, It also includes a feeding device and a cutting device, the feeding device being able to deliver the heat shrink tubing into a mechanical gripper (13) that approaches the mounting plate (10); The cutting device can cut the heat shrink tubing between the mechanical claws (13) at the bottom of adjacent mounting plates (10).

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