A towed array assembly production line and implementation method thereof

Abstract

The present invention discloses an assembly production line for a tow array, comprising: a workbench, a straightening and outlet device for realizing the straight outlet of the wire harness, a lifting and transferring device for realizing the loading of the lower frame unit, a screw locking device for realizing the screw locking between the upper frame and the lower frame, and an intermittent transferring and discharging device for realizing the discharge of the tow array and simultaneously providing the power for the wire harness to be unrolled; the two ends of the workbench in the length direction are respectively the main feed end and the main discharging end, the direction from the main feed end to the main discharging end is the production line direction, the straightening and outlet device, the screw locking device and the intermittent transferring and discharging device are sequentially arranged on the workbench along the production line direction, and the lifting and transferring device is arranged below the workbench. The present invention also discloses an implementation method of the assembly production line for the tow array. Compared with the prior art, the present invention can realize the automatic assembly of the tow array, improve the production efficiency and the assembly accuracy of the product.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and in particular relates to an assembly production line of a towed array and an implementation method thereof. Background Art

[0002] When assembling products like towed fiber arrays and communication cable arrays, multiple support frames are spaced along the length of the harness. In practice, the harness is straightened and placed between a semi-cylindrical upper frame and a semi-cylindrical lower frame. Threaded connectors are then used to lock the upper and lower frames together, forming a single cylindrical support frame.

[0003] In the existing technology, there is no automated equipment to achieve the above functions. It relies on manual operation, which has high labor intensity and low efficiency for operators. In addition, manual operation makes it difficult to ensure that the wire harness is in a stable straightened state when assembling the support frame. Therefore, it is difficult to ensure that the distance between two adjacent frames is different, which ultimately affects product quality.

[0004] Therefore, it is necessary to provide a new assembly production line of a towed array and its implementation method to solve the above technical problems. Summary of the Invention

[0005] (1) Technical problem to be solved: Based on this, the present invention provides an assembly production line for a towed array and an implementation method thereof, so as to solve the technical problems in the prior art of low assembly efficiency and poor product quality due to the lack of equipment for automated assembly of towed arrays.

[0006] (II) Technical solution: In order to solve the above technical problems, the present invention proposes an assembly production line for a towed array, wherein the towed array comprises: a wiring harness, a plurality of support frames arranged at intervals along the length direction of the wiring harness, the support frame comprises a lower frame and an upper frame buckled on the lower frame, the upper frame and the lower frame are fixedly connected by nuts and frame screws; the wiring harness comprises a signal line and a metal rope and a flexible rope respectively arranged on both sides of the signal line, the wiring harness is arranged at the joint surface of the upper frame and the lower frame; wherein the nut is fixedly embedded in the lower frame and the lower frame and the nut form a lower frame unit of an integrated structure; the assembly production line of the towed array The line includes: a workbench, a straightening and outlet device for realizing the straight line outlet of the wire harness, a lifting and transferring device for realizing the loading of the lower frame unit, a screw locking device for realizing the screw locking between the upper frame and the lower frame, and an intermittent transferring and discharging device for realizing the drag array discharging and simultaneously providing the power for the wire harness to be displayed; the two ends of the workbench in the length direction are respectively the main feed end and the main discharging end, and the direction from the main feed end to the main discharging end is the production line direction, the straightening and outlet device, the screw locking device and the intermittent transferring and discharging device are sequentially arranged on the workbench along the production line direction, and the lifting and transferring device is arranged below the workbench.

[0007] The present invention also proposes an implementation method of the assembly production line of the towed array as described above, comprising the following steps: S1, pre-fixing and embedding the nut in the lower frame, and the lower frame and the nut forming an integrated lower frame unit; S2, utilizing the straightening wire outlet device to realize that the three wires of the signal wire, the metal rope and the flexible rope are displayed along the production line direction, and the displayed ends are in a straight line state, and the relative positions of the signal wire, the metal rope and the flexible rope are controlled according to the shape of the finished product of the towed array; S3, taking a section on the front section of the wiring harness as a single batch installation section, the length of the single batch installation section is L, utilizing the lifting and loading device to arrange a plurality of the lower frame units at the lower part of the single batch installation section, and before arranging the lower frame units, controlling the adjacent lower frame units according to the shape of the finished product of the towed array. element; S4, arrange multiple upper skeletons on the upper part of the wiring harness to ensure that each lower frame unit in step S3 is buckled with one upper skeleton; S5, use the screw locking device to fix all the upper skeletons and all the lower frame units in steps S3 and S4; and pass the skeleton screws through the upper skeleton and connect them with the nuts embedded in the lower skeleton to fix the upper skeleton and lower skeleton, and complete the assembly of the drag array with a length of L; S6, use the intermittent loading and unloading device to pull the rear section of the wiring harness, so that the wiring harness moves L along the direction of the production line and then stops, realizing unloading and driving the wiring harness to be discharged along the direction of the production line, and the discharge length is L; S7, repeat the above steps S3-S6 until the drag array of the target length is obtained.

[0008] Beneficial effects: Compared with the existing technology, the present invention can realize the automatic assembly of the tow array, improve production efficiency and product assembly accuracy. Specifically: the straightening and discharging device can realize the straightening of the metal rope, and realize the simultaneous discharge of the metal rope, flexible rope and optical cable along a straight line according to the preset position; the lifting and transferring device can improve the efficiency of the assembly of the skeleton and the wire harness, and the position of each lower skeleton is pre-positioned by the telescopic column, thereby avoiding the situation of uneven axial gaps and radial misalignment between the skeletons, and greatly improving the accuracy of the assembly of the skeleton and the wire harness. The screw locking device is used to realize the screw locking between the upper skeleton and the lower skeleton. The intermittent transfer and discharging device utilizes the first openable and closable pressing component, the openable and closable pressure clamping telescopic transfer component and the second openable and closable pressing component to realize the intermittent transfer and discharging of the product, liberating labor and reducing labor costs. When in use, by controlling the states of the first openable and closable pressing component, the openable and closable clamping and telescopic moving component and the second openable and closable pressing component, the state of the wiring harness can be accurately controlled, so that the wiring harness can be flexibly switched between the mobile and fixed states, and the wiring harness can be ensured to be always in a taut and straightened state. The length of each discharge can be accurately controlled, which is conducive to ensuring the distance between adjacent frames and improving the product assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 Schematic diagram of the overall structure of the assembly production line of the towed array of the present invention;

[0011] Figure 2 This is a schematic structural diagram of the finished towed array of the present invention;

[0012] Figure 3 For the Figure 2 An enlarged view of the cross-sectional view of the middle DD line;

[0013] Figure 4 This is a structural diagram of a straightening and outlet device in the production line of the present invention;

[0014] Figure 5 This is a schematic diagram of the main structure of a part of the straightening and outlet device in the production line of the present invention;

[0015] Figure 6 for Figure 5 3D schematic diagram of

[0016] Figure 7 The present invention is a production line: a schematic structural diagram of a three-wire conductor roller assembly in a straightening and outlet device;

[0017] Figure 8 For the Figure 7 An enlarged view of the cross-sectional view of the CC line;

[0018] Figure 9 for Figure 7 A magnified view of the side view;

[0019] Figure 10 A three-dimensional diagram of the lifting and transferring device in the production line of the present invention Figure 1 ;

[0020] Figure 11 A three-dimensional diagram of the lifting and transferring device in the production line of the present invention Figure 2 ;

[0021] Figure 12 This is a schematic diagram of the main view of the lifting and transferring device in the production line of the present invention;

[0022] Figure 13 Schematic top view of the lifting and transferring device in the production line of the present invention;

[0023] Figure 14 Schematic cross-sectional view of a lifting and transferring device in the production line of the present invention;

[0024] Figure 15 for Figure 14 A partial enlarged view of point A in the middle;

[0025] Figure 16 This is a three-dimensional schematic diagram of the structure of the lifting and transferring device in the production line of the present invention (after removing the skeleton support);

[0026] Figure 17 This is a schematic diagram of the overall structure of the screw locking device in the production line of the present invention (also including a lifting and transferring device);

[0027] Figure 18 for Figure 17 A partial enlarged view of point F in the middle;

[0028] Figure 19 The overall structural diagram of the fluent strip feeding rack in the production line of the present invention is as follows;

[0029] Figure 20 This is a schematic diagram of the overall structure of the intermittent transfer and discharge device in the production line of the present invention;

[0030] Figure 21 Schematic top view of a partial structure of the intermittent transfer and discharge device in the production line of the present invention;

[0031] Figure 22 for Figure 21 3D schematic diagram of

[0032] Figure 23 for Figure 22 A partial enlarged view of point E in the middle;

[0033] Figure 24 for Figure 22 A partial enlarged view of point B in the middle.

[0034] Description of reference numerals:

[0035] 100, drag array; 200, intermittent transfer and discharge device; 300, straightening and discharge device; 400, lifting and transfer device; 500, screw locking device; 600, smooth strip feeding rack; 700, workbench;

[0036] 01. Upper frame; 02. Lower frame; 03. Frame screws; 04. Metal rope; 05. Flexible rope; 06. Optical cable; 07. Nut; 08. Lower frame unit;

[0037] 1. Rear support platform; 2. First openable and closable pressing assembly; 3. Openable and closable pressing clamp and telescopic material moving assembly; 4. Second openable and closable pressing assembly; 5. Guide roller assembly; 6. Track table; 7. Discharge track; 8. Limit plate; 9. Hydraulic buffer; 10. Position sensor; 11. Front support platform; 12. Wire straightener; 13. Three-wire conductor roller assembly; 14. Optical cable bracket; 15. Movable carrier plate; 16. Sliding guide assembly; 17. Metal rope reel; 18. Optical cable reel; 19. Flexible rope reel; 20. Wire reel bracket; 21. Pull handle; 22. Meter counter; 23. Travel sensor; 24. Locking sleeve; 25. Limiting washer; 26. Locking nut; 27. Vertical connecting plate; 28. First support plate; 29. ​​Skeleton support; 30. Z-axis telescopic linear drive 31. Connecting cross plate; 32. Telescopic column; 33. Second vertical frame; 34. Second support plate; 35. Z-guide rail and guide sleeve assembly; 36. Z-direction lifting linear drive; 37. X-direction linear drive; 38. First vertical frame; 39. X-guide rail and guide sleeve assembly; 40. Adapter plate; 41. Locking screw; 42. Z-direction descending buffer; 43. Anti-collision block; 44. Connecting screw; 45. Shear pin; 46. Angle steel plate; 47. Z-direction rising buffer; 48. Hard limit bolt; 49. Three-axis screw locking module; 50. Middle mounting frame; 51. Upper frame photoelectric sensor; 52. Liftable upper frame top pressure plate; 53. Retractable upper frame end fixture; 54. Pressure plate lifting drive; 55. Fixture telescopic drive; 56. Feed frame; 57. Slide rail;

[0038] 021, triangular support frame; 022, second height direction telescopic drive; 023, second upper pressing plate; 024, second lower pressing plate;

[0039] 031, upper frame; 032, first upper pressing plate; 033, first lower pressing plate; 034, first guide block; 035, second guide block; 036, first guide rail; 037, second guide rail; 038, first height-direction telescopic drive; 039, first horizontal-direction telescopic drive; 040, retractable wire clamp; 041, third guide block; 042, third guide rail;

[0040] 051, upper guide roller; 052, lower guide roller; 053, left guide roller; 054, right guide roller;

[0041] 111, entrance and exit; 113, guide assembly receiving groove; 114, operating side;

[0042] 131. Base; 132. Elastic pressure plate; 133. Compression spring; 134. Spring upper baffle; 135. First upper roller; 136. First lower roller; 137. Optical cable conductor channel; 138. Second upper roller; 139. Second lower roller; 140. Flexible rope conductor channel; 141. Side sealing plate; 142. Metal rope conductor channel; 143. Optical cable envelope space;

[0043] 0141, optical cable bracket;

[0044] 241, limiting ring;

[0045] 281, connecting hole;

[0046] 291, rack receiving slot; 292, column hole;

[0047] 361, cylinder rod;

[0048] 391, inverted X-direction T-shaped guide rail; 392, X-direction guide sleeve;

[0049] 511. Detect light;

[0050] 521, screw lock probe hole;

[0051] 1311. Metal cable duct; 1312. Optical cable duct; 1313. Flexible cable duct. DETAILED DESCRIPTION

[0052] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0053] The following is combined with Figure 1-24The assembly production line of a towed array and its implementation method of the present invention are further described.

[0054] Please focus on Figure 1-3 The present invention discloses an assembly production line for a towed array. The towed array 100 includes: a wiring harness, a plurality of support frames arranged at intervals along the length direction of the wiring harness, the support frames including a lower frame 02 and an upper frame 01 buckled on the lower frame 02, the upper frame 01 and the lower frame 02 being fixedly connected by nuts 07 and frame screws 03; the wiring harness includes a signal line 06 and a metal rope 04 and a flexible rope 05 respectively arranged on both sides of the signal line 06, the wiring harness is arranged at the joint surface of the upper frame 01 and the lower frame 02; wherein the nut 07 is fixedly embedded in the lower frame 02 and the lower frame 02 and the nut 07 are fixedly embedded in the lower frame 02. The lower frame unit 08 forms an integrated structure; the assembly line of the drag array includes: a workbench 700, a straightening and outlet device 300 for realizing the straight line outlet of the wire harness, a lifting and transferring device 400 for realizing the loading of the lower frame unit 08, a screw locking device 500 for realizing the screw locking between the upper frame 01 and the lower frame 02, and an intermittent transfer and discharge device 200 for realizing the discharge of the drag array 100 and providing the power for the wire harness to be unfolded at the same time; the two ends of the workbench 700 in the length direction are the main feeding end and the main discharging end respectively, and the direction from the main feeding end to the main discharging end is the production line direction ( Figure 1 In the direction indicated by the arrow in the middle), the straightening and discharging device 300, the screw locking device 500 and the intermittent transfer and discharging device 200 are sequentially arranged on the workbench 700 along the production line direction, and the jacking and transferring device 400 is arranged below the workbench 700.

[0055] This invention discloses the overall design layout of the equipment for assembling a towed array 100. This solution includes the overall design concept for implementing the assembly of the towed array 100, such as pre-fixing the nut 07 to the lower frame 02 to facilitate the locking of the frame screw 03. The function of each component is described in detail below.

[0056] Regarding the front support platform 11: the front support platform 11 is used to provide support, and a cabinet structure is formed underneath it, which can be used for support and storage.

[0057] Regarding wire straightener 12: Signal line 06 is a communications optical cable, metal rope 04 is a steel wire rope, and flexible rope 05 is a nylon rope. Because metal rope 04 is relatively stiff and wound on a reel, it needs to be straightened during assembly of towed array 100. Wire straightener 12 is used to straighten and route wire rope 04. It includes multiple sets of transverse sheaves and various longitudinal sheaves. It should be noted that flexible rope 05 and signal line 06 are relatively soft and do not require straightening.

[0058] About the three-wire conductor roller assembly 13: The three-wire conductor roller assembly 13 is used to guide the metal rope 04, the flexible rope 05 and the signal line 06 at the same time, so that the metal rope 04, the flexible rope 05 and the signal line 06 are all arranged along the production line direction, and after the relative positions of the metal rope 04, the flexible rope 05 and the signal line 06 are restricted by the three-wire conductor roller assembly 13, it is convenient for the assembly of the upper frame 01 and the lower frame 02.

[0059] About the retractable wire clamp 040: The retractable wire clamp 040 is used to clamp the extended ends of the metal rope 04 and the flexible rope 05, and works together with the front end components (three-wire conductor roller assembly 13 and wire straightener 12) to ensure that the wire harness is in a straightened state.

[0060] Please focus on Figure 4-9 According to a specific embodiment of the present invention, the workbench 700 includes a front-end support platform 11; the front-end support platform 11 is provided with an entrance and exit 111 for the top of the lifting and moving device 400 to enter and exit; the straightening and outlet device 300 includes a wire straightener 12 and a three-wire conductor roller assembly 13 which are arranged in sequence along the production line direction and respectively installed on the front-end support platform 11; the three-wire conductor roller assembly 13 includes: an elastic wire pressing unit, a conductor unit and a side sealing plate 141; the elastic wire pressing unit includes: arranged in sequence from bottom to top: a base 131, an elastic pressure plate 132, a compression spring 133 and a spring upper baffle 134; the elastic pressure plate 132 and the spring upper baffle 134 are both installed on the base 131 by bolts, the elastic pressure plate 132 is slidably connected to the bolts, and the compression spring 133 is slidably connected to the bolts. The upper and lower ends respectively abut against the spring upper baffle 134 and the elastic pressure plate 132; the wire unit includes a first wire roller and a second wire roller spaced apart on the left and right; an optical cable wire channel 137 is formed between the first wire roller and the second wire roller; the first wire roller includes a first upper roller 135 and a first lower roller 136 arranged up and down, and a metal rope wire channel 142 is formed between the first upper roller 135 and the first lower roller 136; the second wire roller includes a second upper roller 138 and a second lower roller 139 arranged up and down, and a flexible rope wire channel 140 is formed between the second upper roller 138 and the second lower roller 139; the side sealing plates 141 are fixed on both sides of the base 131, the wire unit is installed on the side sealing plates 141, and the side sealing plates 141 are installed on the front support platform 11.

[0061] In this embodiment, the front support platform 11 plays a supporting role, and the structure of a storage cabinet can be formed below it. The steel wire rope is a curved structure after being rolled out from the steel wire rope, and needs to be straightened to ensure straightness. The wire straightener 12 includes correction rollers in the horizontal and vertical directions, and the wire straightener 12 is used to straighten the steel wire rope. The three-wire conductor roller assembly 13 mainly includes two functions. Function 1: Through the elastic wire pressing unit, two wire harnesses (steel wire rope and nylon rope) or three wire harnesses (steel wire rope, nylon rope and optical cable) are respectively pressed, so that the wire harness is always subjected to a certain elastic pressing force. Provide conditions for the wire harness to be output under a certain pressing force, prevent the wire harness from being easily pulled out, and ensure the controllability of the output speed. Function 2: The wire guide unit aligns the three wire harnesses along a predetermined trajectory, guiding them to the predetermined position of the elastic wire pressing unit and the predetermined position for the subsequent support frame assembly process. This ensures that the three wire harnesses align with the three wire harness mounting holes on the lower frame 02, facilitating the smooth subsequent assembly of the support frame. The side sealing plate 141 in the three-wire wire guide roller assembly 13 provides a mounting base for the elastic wire pressing unit and the wire guide unit, forming a single-piece structure for the three-wire wire guide roller assembly 13.

[0062] Regarding the elastic wire-pressing unit: During use, the steel wire rope, nylon rope, and optical cable are respectively arranged in corresponding metal wire-container ducts 1311, optical cable ducts 1312, and flexible wire-container ducts 1313. Compression springs 133 apply elastic squeezing force to the spring upper baffle 134 and elastic pressure plate 132, respectively. The bolt head acts as an upper limit on the spring upper baffle 134. Under the elastic force of compression springs 133, elastic pressure plate 132 applies elastic compression to the wire harness. Elastic pressure plate 132 can be a single piece or two separate pieces. When a single piece, elastic pressure plate 132 can simultaneously apply elastic compression to all three wire harnesses (steel wire rope, nylon rope, and optical cable). Since the diameter of a steel wire rope is similar to that of a nylon rope, while the diameter of an optical cable is much larger, this structure offers the advantage of applying elastic compression to the optical cable. The disadvantage is that in order to press the optical cable, a thicker elastic pressure plate 132 is required. When the elastic pressure plate 132 is divided into two separate pieces, the upper portion of the elastic pressure plate 132 facing the optical cable is an empty slot structure. The elastic pressure plate 132 provides side guidance for the optical cable, and the spring upper baffle 134 provides an upper limit for the optical cable. The optical cable moves within the optical cable envelope space 143 to achieve position limiting.

[0063] Regarding the conductor unit: the metal rope conductor channel 142 is used to guide the steel wire rope, the flexible rope conductor channel 140 is used to guide the nylon rope, and the optical cable conductor channel 137 is used for the passage of the optical cable and limits the two sides of the optical cable.

[0064] During specific implementation, an external openable and closable pressure clamping and telescopic material moving assembly 3 is used to clamp the rear section of the wire harness and move it toward the production line, which can provide power for the display of the wire harness. The present invention can automatically straighten the metal rope 04 and realize the simultaneous discharge of the metal rope 04, the flexible rope 05 and the optical cable along a straight line according to the preset position, thereby avoiding manual operation and improving production efficiency and product assembly accuracy.

[0065] According to a specific embodiment of the present invention, a recessed optical cable trough 1312 is provided in the middle of the upper surface of the base 131, and a metal trough 1311 and a flexible trough 1313 are respectively provided on both sides of the optical cable trough 1312; the optical cable conductor channel 137 is aligned with the optical cable trough 1312, the metal rope conductor channel 142 is aligned with the metal trough 1311, and the flexible rope conductor channel 140 is aligned with the flexible trough 1313; the elastic pressure plates 132 are two spaced apart, and a compression spring 133 is provided between each elastic pressure plate 132 and the base 131; the optical cable trough 1312, the two elastic pressure plates 132 and the spring upper baffle 134 together form an optical cable envelope space 143.

[0066] In this embodiment, the elastic pressure plate 132 is divided into two separate pieces, the optical cable trough 1312 accommodates and supports the bottom of the optical cable, the two elastic pressure plates 132 provide side guidance for the optical cable, and the spring upper baffle 134 provides an upper limit for the optical cable. The optical cable moves in the optical cable envelope space 143 to achieve positioning.

[0067] More specifically, the straightening outlet device 300 also includes an optical cable bracket 14 arranged behind the three-wire conductor roller assembly 13 along the production line direction. The optical cable bracket 14 is fixed on the front support platform 11. The optical cable bracket 14 is provided with an optical cable bracket 0141 that is recessed and aligned with the optical cable trough 1312. Since the overall weight of the optical cable is heavy and the middle section is prone to deformation and sagging, in this embodiment, the lower part of the optical cable is supported by the optical cable bracket 14, which is beneficial to maintaining the straightness of the optical cable and facilitating the smooth progress of subsequent processes. More specifically, there are multiple optical cable brackets 14, and the multiple optical cable brackets 14 are spaced apart along the production line direction. In this embodiment, multiple optical cable brackets 14 are provided to ensure the support effect.

[0068] More specifically, the optical cable trough 1312 and the optical cable support 0141 are both semicircular, while the metal trough 1311 and the flexible trough 1313 are both triangular. In this embodiment, the semicircular shape perfectly matches the shape of the lower portion of the optical cable, facilitating stable support. The cross-sectional area of ​​the triangle is smaller than that of the semicircle. When the triangular metal trough 1311 and the flexible trough 1313 accommodate the lower portion of the semicircular steel wire rope and nylon rope, the elastic pressure plate 132 causes the steel wire rope and nylon rope to deform and cling to the inner walls of the metal trough 1311 and the flexible trough 1313. Therefore, this structure increases the friction between the ropes (steel wire rope and nylon rope) and the trough walls (metal trough 1311 and the flexible trough 1313), ensuring the elastic compression effect.

[0069] More specifically, a side sealing plate 141 is fixedly provided on both sides of the base 131, and the two side sealing plates 141 form a three-wire conductor roller main body accommodating cavity, in which the elastic wire pressing unit and the conductor unit are both accommodated; the bottom of the side sealing plate 141 is spaced apart from the front end support platform 11; more specifically, the distance from each bottom of the side sealing plate 141 to the front end support platform 11 is equal. The bottom surface contour of the side sealing plate 141 corresponds to the front end support platform 11. The adoption of this structure is conducive to reducing the volume of components and achieving structural optimization. In this embodiment, in addition to serving as an installation base, the side sealing plate 141 can also provide motion protection for the internal rolling body, thereby improving safety in use.

[0070] According to a specific embodiment of the present invention, the wire unit is divided into a guiding front section and a guiding rear section respectively located on the front and rear sides of the elastic wire pressing unit. More specifically, the first wire roller is divided into a first front section and a first rear section, and the second wire roller is divided into a second front section and a second rear section; the first front section and the second front section constitute the guiding front section, and the first rear section and the second rear section constitute the guiding rear section. In this embodiment, the wire unit is divided into two sections, front and back, and are respectively arranged on the front and rear sides of the elastic wire pressing unit. It should be noted that the diameters of the steel wire ropes and nylon ropes on both sides are smaller than the diameter of the optical cable in the middle, and are more likely to fall out of the cable trough. Therefore, the first wire roller and the second wire roller are required to guide and limit the two respectively. The use of this structure is conducive to ensuring that the wire harness is smoothly discharged along the predetermined position. The specific explanation is as follows: The structure of this embodiment can effectively ensure the accuracy of the position of the wire harness (steel wire rope and nylon rope) at the front and rear inlets and outlets of the elastic wire pressing unit, and ensure that the steel wire rope and nylon rope can accurately pass through the metal wire accommodating groove 1311 and the flexible wire accommodating groove 1313. Under the action of the compression spring 133, it is always subjected to a certain elastic pressing force, so that the wire harness is output under a certain pressing force, avoiding the wire harness from being easily pulled out, which is conducive to controlling the output speed and output distance.

[0071] More specifically, the straightening and outlet device 300 also includes a movable carrier plate 15, and a sliding guide assembly 16 is provided at the bottom of the movable carrier plate 15. The guiding direction of the sliding guide assembly 16 is located in the horizontal plane and is perpendicular to the production line direction; by fixing the lower part of the wire straightener 12 and the bottom of the side sealing plate 141 on the movable carrier plate 15 respectively, the wire straightener 12 and the three-wire conductor roller assembly 13 are respectively installed on the front support platform 11 through the movable carrier plate 15. In this embodiment, the movable carrier plate 15 can carry the wire straightener 12 and the three-wire conductor roller assembly 13 and move in a direction perpendicular to the production line direction. After the movable carrier plate 15 is removed, an avoidance space is formed, which is conducive to the maintenance of the equipment. During the assembly and debugging stage of the present invention, after the movable carrier plate 15 is removed, the wire harness can be directly connected to the back-end process, which is conducive to the independent debugging of the back-end process.

[0072] According to a specific embodiment of the present invention, the straightening and outlet device 300 also includes a cable reel, which includes: a metal rope reel 17, a flexible rope reel 19, and an optical cable reel 18. The metal rope reel 17 and the optical cable reel 18 are both arranged in front of the front support platform 11 along the production line direction, and the metal rope reel 17 and the optical cable reel 18 share a wire reel bracket 20. The flexible rope reel 19 is fixedly mounted on the movable carrier plate 15 and is located on one side of the wire straightener 12. In this embodiment, a spare wire reel is also provided on the wire reel bracket 20. The metal rope reel 17 is used to wind the metal rope 04, the flexible rope reel 19 is used to wind the flexible rope 05, and the optical cable reel 18 is used to wind the optical cable. Since the metal rope reel 17 containing the steel wire rope and the optical cable reel 18 containing the optical cable are both heavy, these two reels are placed in front of the front support platform 11, and the wire reel bracket 20 is supported on the ground. This helps the wire reel bracket 20 to firmly support the heavier metal rope reel 17 and optical cable reel 18, and also makes it easier to replace the wire reels. The relatively light flexible rope reel 19 is placed on the movable carrier 15, which can support its weight and improve the compactness of the structure.

[0073] More specifically, the front support platform 11 is recessed at a position opposite the movable carrier 15 and forms a guide assembly receiving groove 113. The sliding guide assembly 16 is mounted in the guide assembly receiving groove 113. One side of the front support platform 11 is an operating side 114, on which a flexible rope reel 19 is mounted. There are two sets of sliding guide assemblies 16, one on each side of the flexible rope reel 19. The end of the movable carrier 15 near the operating side 114 is also provided with a pull handle 21. There are two pull handles 21, one on each side of the flexible rope reel 19. In this embodiment, after the front end of the front support platform 11 is lowered, the front support platform 11 is formed into a stepped shape with a lower front and a higher rear. The front end is used to mount the sliding guide assembly 16, and the rear end is used to mount the optical cable bracket 14, ensuring that the front and rear ends of the wiring harness are on the same horizontal line. The sliding guide assembly 16 comprises a guide rail and a slider that cooperates with the guide rail. The guide rail is fixedly mounted on the movable carrier 15, and the slider is fixedly mounted on the lower portion of the movable carrier 15. A flexible rope reel 19 and a pull handle 21 are located on this side to facilitate the operator's access. Due to the long length of the movable carrier 15, two handles are used to facilitate the operator's smooth pulling out of the movable carrier 15.

[0074] More specifically, the wire straightening device 300 further includes a meter counter 22 mounted on the side of the wire straightener 12 away from the handle. The meter counter 22 is mounted on the movable carrier plate 15. In this embodiment, the meter counter 22 is used to obtain the wire length of the wire rope, which is convenient for integration with the electrical control system to achieve automated control of the wire rope length and wire time.

[0075] Please focus on Figure 10-16According to a specific embodiment of the present invention, the lower frame 02 is semi-cylindrical as a whole, and the lower part of the lower frame 02 is provided with four frame bolt holes arranged along the radial direction of the lower frame 02, and the frame bolt holes are arranged along the radial direction of the lower frame 02, and each frame bolt hole is fixedly embedded with a nut 07; the lifting and moving device 400 includes: a frame support 29, a first support plate 28 spaced below the frame support 29, and a vertical connecting plate 27 fixedly connecting the frame support 29 and the first support plate 28; the upper part of the frame support 29 is provided with a frame receiving groove 291 formed by a recess and used to accommodate the lower frame 02; the lifting and moving device 400 also includes a telescopic positioning unit, and the telescopic positioning unit includes: a Z-direction telescopic linear drive 30, a connecting cross plate 31 and a telescopic column 32, and the Z-direction telescopic linear drive 30 The lower part is installed on the upper part of the first support plate 28, and the upper part of the Z-direction telescopic linear drive 30 is fixed to the connecting cross plate 31. The number of telescopic columns 32 is 2n, n is a natural number ≥1, and two adjacent telescopic columns 32 are a group. The positions of the two telescopic columns 32 in the same group correspond one-to-one to the positions of the two skeleton bolt holes in the same lower skeleton 02; the skeleton support 29 is provided with a column hole 292 that passes through it in the up and down directions and is used for the telescopic columns 32 to pass through. The Z-direction telescopic linear drive 30 is used to drive the connecting cross plate 31 to carry all the telescopic columns 32 to move up and down, so as to insert into the skeleton bolt hole to position the lower skeleton 02, or to pull out from the skeleton bolt hole to release the positioning; the jacking and moving device 400 also includes: a jacking and moving unit for driving the first support plate 28 to lift and translate.

[0076] In this embodiment, the connecting cross plate 31 in the telescopic positioning unit is used to connect the Z-axis telescopic linear drive 30 and the telescopic column 32. The connecting cross plate 31 has a larger area than the mounting plate provided by the Z-axis telescopic linear drive 30. Therefore, there is sufficient space to arrange the telescopic column 32. The telescopic column 32 can be arranged according to the position of the frame bolt holes. Multiple groups of telescopic columns 32 can also be arranged to meet the need of positioning multiple lower frames 02 at one time, thereby improving the operating efficiency of the device. When n lower frames 02 need to be positioned, the number of telescopic columns 32 corresponds to n. Connected groups of telescopic columns 32 maintain a certain distance to avoid interference between adjacent lower frames 02 during use. Frame bolt holes are set at corresponding positions on the upper frame 01 and the lower frame 02. In this embodiment, the lower frame 02 is provided with four frame bolt holes arranged in a rectangular shape. Two of the diagonally located holes are used for inserting the telescopic column 32 to achieve positioning.

[0077] The lifting and transferring device 400 arranges multiple lower frame units 08 in a row and transfers them as a whole to the bottom of the wiring harness. During use, the ends of the wiring harness are pre-stretched horizontally. The Z-axis telescopic linear drive 30 drives the telescopic column 32 into the receiving slot 291, aligning the two diagonally arranged frame bolt holes on the lower frame unit 08 with the telescopic column 32 and inserting it. When the telescopic column 32 is inserted into the frame bolt holes, it can limit the rotation of the lower frame 02, thereby achieving the positioning of the lower frame 02. Since the two frame bolt holes into which the telescopic column 32 is inserted are arranged diagonally, this can prevent the lower frame 02 from rotating, which is more conducive to improving the accuracy of positioning. The lower frame 02 is transferred to the bottom of the wiring harness using the lifting and transferring unit, and then the upper frame 01 is fastened to the lower frame unit 08 manually or using a robot. Then, the next process begins, and the screw locking device 500 is used to achieve the screw locking between the upper frame 01 and the lower frame 02.

[0078] The use of the lifting and transferring device 400 can improve the efficiency of the assembly of the skeleton and the wiring harness, and the position of each lower skeleton 02 is pre-determined by the telescopic column 32. Therefore, the axial gap and radial misalignment of the support skeleton after assembly are avoided, which greatly improves the accuracy of the assembly of the skeleton and the wiring harness.

[0079] According to a specific embodiment of the present invention, the first support plate 28 is rectangular, and each set of telescopic positioning units includes four telescopic columns 32. There are two sets of telescopic positioning units, symmetrically located on either side of the first support plate 28. Four vertical connecting plates 27 are located between the skeleton support 29 and the first support plate 28, symmetrically arranged in groups of two on either side of the first support plate 28. A set of telescopic positioning units is located between two vertical connecting plates 27 in the same group. In this embodiment, each set of telescopic positioning units can simultaneously support and position a lower frame 02. Two sets of telescopic positioning units can accommodate four lower frame units 08 at once, improving work efficiency. The symmetrical arrangement of the telescopic positioning units enhances load stability. A set of vertical connecting plates 27, the skeleton support 29, and the first support plate 28 together form a rectangular installation space, within which a set of telescopic positioning units is located. This structure creates a rectangular frame-like support structure with excellent load-bearing properties. Furthermore, the installation space is a relatively closed space, and the Z-direction telescopic linear drive 30 is placed therein, which can provide a certain shell protection for the Z-direction telescopic linear drive 30 and improve safety.

[0080] More specifically, the lifting and transferring unit includes: a second support plate 34, a Z-direction guide rail and guide sleeve assembly 35, a Z-direction lifting linear drive 36 for driving the first support plate 28 to move along the Z direction, and an X-direction linear drive 37 for driving the second support plate 34 to move along the X direction; the second support plate 34 is spaced below the first support plate 28, the lower part of the Z-direction lifting linear drive 36 is installed below the second support plate 34, the upper part of the Z-direction lifting linear drive 36 is connected to the first support plate 28, and the position where the Z-direction lifting linear drive 36 is connected to the first support plate 28 is located on the first support plate 28 The first support plate 28 is symmetrically provided with a first vertical frame 38 on either side of its lower portion, and the second support plate 34 is symmetrically provided with a second vertical frame 33 on either side of its lower portion. The first vertical frame 38 penetrates the second support plate 34 and is slidably connected to the second vertical frame 33 via a Z-guide rail and guide sleeve assembly 35. A set of X-guide rail and guide sleeve assemblies 39 are also symmetrically provided on either side of the lower portion of the second support plate 34. An X-axis linear drive 37 is mounted on one side of the lower portion of the second support plate 34 and is located between the Z-guide rail and guide sleeve assembly 35 and the X-guide rail and guide sleeve assembly 39. In this embodiment, the additional structures, except for the X-guide rail and guide sleeve assembly 39, are all symmetrically arranged. This structure facilitates improved force stability. The setting of the position of the X-direction guide rail guide sleeve assembly 39 is conducive to reducing the overall X-direction size of the jacking and transferring device 400; with this structure, on the basis of providing symmetrical and stable guidance by the two sets of X-direction guide rail guide sleeve assemblies 39, the X-direction guide rail guide sleeve assembly 39 is set as close to the center of the device as possible to ensure that under the action of the X-direction linear drive 37, the second support plate 34 can slide smoothly; the guide rail guide sleeve assemblies in this embodiment (Z-direction guide rail guide sleeve assembly 35 and X-direction guide rail guide sleeve assembly 39) both include guide rails and guide sleeves slidably connected to the guide rails, which are used to realize planar sliding guidance.

[0081] More specifically, the X-axis linear drive 37 is fixed to the second support plate 34 through an adapter plate 40 and a locking screw 41. The adapter plate 40 is located between the X-axis linear drive 37 and the second support plate 34. The locking screw 41 passes through the second support plate 34 and the adapter plate 40 from top to bottom and extends into the X-axis linear drive 37.

[0082] More specifically, the connecting horizontal plate 31, the second support plate 34, and the second vertical frame 33 are all made of steel; the skeleton support 29, the vertical connecting plate 27, and the second vertical frame 33 are all made of aluminum alloy; a Z-direction drop buffer 42 is also mounted on the second plate, and a steel anti-collision block 43 is mounted on one side of the first support plate 28, positioned directly above the Z-direction drop buffer 42. In this embodiment, through the rational design of the materials of each component, the device is not only stable under load, but also lightweight as a whole. The second support plate 34 and the second vertical frame 33 are welded together to form a bottom load-bearing structure. To ensure their load-bearing performance, steel was selected, and the steel-steel welded structure between the components is more stable. The first support plate 28, the first vertical frame 38, the vertical connecting plate 27, and the skeleton support 29 are welded together to form an upper load-bearing structure. The load is relatively small. Aluminum alloy was selected. The aluminum-aluminum welded structure between the components has good welding stability and is light in weight, which helps to reduce the pressure on the bottom load-bearing structure. In this embodiment, when the first support plate 28 descends, the Z-direction descending buffer 42 is used to provide a limited buffer. During an impact, the anti-collision block 43 made of steel directly contacts the Z-direction descending buffer 42, which can prevent the Z-direction descending buffer 42 from directly damaging the aluminum first support plate 28. The anti-collision block 43 has higher strength and is detachably connected to the first support plate 28, making it easy to remove and replace even if damaged.

[0083] More specifically, the anti-collision block 43 is connected to the first support plate 28 via two connecting screws 44 and a shear pin 45, with the shear pin 45 located between the two connecting screws 44. A pin hole is provided on the side of the first support plate 28, into which the shear pin 45 is inserted, and the outer wall of the shear pin 45 abuts against the wall of the pin hole. In this embodiment, the shear pin 45 is primarily used to bear the impact force from the Z-direction drop buffer 42, while the connecting screw 44 primarily serves as a connection. Specifically, since a certain gap is inevitably left between the connecting screw 44 and the screw hole when the connecting screw 44 is connected, if the connection relies solely on the connecting screw 44, the connecting screw 44 is prone to loosening under the repeated impact of the Z-direction drop buffer 42. After adding shear pin 45, because shear pin 45 is tightened in the pin hole, when the collision block 43 is hit, shear pin 45 receives the impact force from the Z-direction drop buffer 42 before connecting screw 44. This structure also helps to improve the connection stability of connecting screw 44, and connecting screw 44 plays a role in assisting in bearing the impact force. Therefore, one shear pin 45 and two connecting screws 44 form three force-bearing surfaces, which are transmitted to the first support plate 28, avoiding the problem of damage caused by excessive local force.

[0084] More specifically, an angle steel plate 46 is welded to one side of the first support plate 28 in the longitudinal direction, and a Z-direction rise buffer 47 is mounted on the angle steel plate 46. A height-adjustable hard limit bolt 48 is also mounted on the angle steel plate 46, and the top surface height of the hard limit bolt 48 is lower than the top surface height of the Z-direction rise buffer 47. In this embodiment, when in use, when the Z-direction rise buffer 47 moves laterally with the first support plate 28 to a preset position, a collision block for use with the Z-direction rise buffer 47 is fixed directly above the angle steel plate 46. The hard limit bolt 48 is threadedly connected to the angle steel plate 46, and its height can be adjusted by rotating the hard limit bolt 48. The height of the Z-direction rise buffer 47 can also be adjusted as needed. After installation, the top surface height of the hard limit bolt 48 is lower than the top surface height of the Z-direction rise buffer 47. The specific height value can be adjusted according to actual needs to ensure that after the rise buffer absorbs the impact, it is just limited by the top surface of the hard limit bolt 48. This structure is beneficial for the Z-direction rising buffer 47 to achieve buffering during rising, and after buffering, the hard limit bolt 48 is used to achieve limiting, which further improves the safety performance and helps to increase the service life of the Z-direction rising buffer 47.

[0085] More specifically, the X-direction guide rail and guide sleeve assembly 39 comprises an inverted X-direction T-shaped guide rail 391, an X-direction guide sleeve 392 mounted on and slidably connected to the inverted X-direction T-shaped guide rail 391, and a fixed connection to the second support plate 34. The lifting and transferring device 400 also includes two travel sensors 23 for detecting the travel of the frame support 29 in the X direction. These sensors 23 are located at either end of the length of the inverted X-direction T-shaped guide rail 391. The Z-direction lifting linear actuator 36 is a pneumatic cylinder, while the Z-direction telescopic linear actuator 30 is a multi-rod cylinder. The receiving groove 291 is a semicircular shape that mates with the outer cylindrical surface of the lower frame 02. In this embodiment, a pneumatic cylinder is used to achieve simple and smooth linear telescopic movement. The semicircular receiving groove 291 mates with the outer cylindrical surface of the lower frame 02, providing stable support for the lower frame 02 when the telescopic column 32 is retracted, facilitating the smooth screw tightening process.

[0086] More specifically, the upper part of the Z-axis lifting linear drive 36 is the cylinder rod 361, and the floating connector includes: a locking sleeve 24, a limiting washer 25 and a locking nut 26. The upper part of the locking sleeve 24 is provided with a raised limiting ring 241, and the first support plate 28 is provided with a connecting hole 281 passing through it; the locking nut 26, the limiting washer 25 and the locking sleeve 24 are sequentially sleeved on the top of the cylinder rod 361 from bottom to top, the limiting washer 25 abuts the lower part of the locking sleeve 24, and the locking nut 26 abuts the lower part of the limiting washer 25. The locking nut 26 and the locking sleeve 24 are respectively threadedly connected to the cylinder rod 361, and the limiting washer 25 is slidably connected to the cylinder rod 361 ; The lower part of the locking sleeve 24 passes through the connecting hole 281, and the limiting ring 241 is located at the upper part of the first support plate 28, and is provided along the radial protrusion connecting hole 281 of the connecting hole 281 to prevent the cylinder rod 361 from falling out of the connecting hole 281 downward; the limiting washer 25 is located at the lower part of the first support plate 28, and is provided along the radial protrusion connecting hole 281 of the connecting hole 281 to prevent the cylinder rod 361 from falling out of the connecting hole 281 upward; the distance between the limiting ring 241 and the limiting washer 25 is D1, the thickness of the first support plate 2 is D2, D1 is greater than D2, and there is a gap between the lower outer side surface of the locking sleeve 24 and the inner wall of the connecting hole 021. The Z-axis lifting linear drive 10 includes a cylinder and a cylinder rod 101. More specifically, the lower part of the locking sleeve 24 is cylindrical, and the connecting hole 021 is a circular hole, such as Figure 15 The diameter of the connecting hole 021 is 2X1 larger than the diameter of the lower portion of the locking sleeve 24 , so the unilateral gap between the lower outer side surface of the locking sleeve 24 and the inner wall of the connecting hole 021 is X1; D1-D2=X2.

[0087] In this embodiment, the distance D1 between the upper and lower stoppers (the stop ring 241 and the stop washer 25) is greater than the thickness D2 of the first support plate 2. This means that the floating connector has a gap in the axial direction of the cylinder rod 101 and the first support plate 2. A gap is also created between the outer wall of the portion of the locking sleeve 24 that passes through the connection hole 021 and the connection hole 021. This means that the floating connector has a gap in the radial direction of the cylinder rod 101 and the first support plate 2. This creates a floating connection structure that not only connects the cylinder rod 101 to the first support plate 2 but also achieves a floating connection. This structure can absorb errors in both height and horizontal directions and prevent damage to the gas rod caused by hard friction between the cylinder rod 101 and the cylinder barrel due to installation accuracy issues when the cylinder rod 101 is extended or retracted.

[0088] Please focus on Figure 20-24, according to a specific embodiment of the present invention, the workbench 700 includes a rear end support platform 1 connected to the front end support platform 11; the intermittent loading and unloading device 200 also includes a first openable and closable pressing component 2, an openable and closable clamping and telescopic moving component 3 and a second openable and closable pressing component 4 which are sequentially arranged on the rear end support platform 1 along the production line direction; the openable and closable clamping and telescopic moving component 3 includes: an upper frame 031, a first upper pressing plate 032, a first lower pressing plate 033, a first height direction telescopic drive 038 and a first horizontal direction telescopic drive 039; the upper frame 031 is arranged above the rear end support platform 1, the upper part of the first height direction telescopic drive 038 is installed on the upper frame 031, the first upper pressing plate 032 is installed at the lower part of the first height direction telescopic drive 038, the first lower pressing plate 033 is arranged below the first upper pressing plate 032, and the first lower pressing plate 033 is connected to the upper frame 031 and moves synchronously with the upper frame 031, the first horizontal direction The telescopic drive 039 is installed on the rear end support platform 1, and the first horizontal direction telescopic drive 039 is connected to the upper frame 031; the openable and closable pressing and telescopic material moving assembly 3 also includes: a first guide block 034, a second guide block 035, a first guide rail 036 and a second guide rail 037; the first guide rail 036 and the second guide rail 037 are respectively fixed on the rear end support platform 1, the first guide rail 036 and the second guide rail 037 are both arranged along the production line direction, the upper frame 031 is arranged above the second guide rail 037, the first height direction telescopic drive 038 is arranged on the side of the upper frame 031 close to the first guide rail 036, the top of the second guide block 035 is connected to the bottom of the first lower pressure plate 033, the second guide block 035 is located on the second guide rail 037 and is slidably connected to the second guide rail 037, the top of the first guide block 034 is connected to the bottom of the upper frame 031, the first guide block 034 is located on the first guide rail 036 and is slidably connected to the first guide rail 036.

[0089] In this embodiment, the first height-direction telescopic drive 038 is used to drive the first upper platen 032 toward or away from the first lower platen 033, and the first horizontal-direction telescopic drive is used to drive the upper frame 031 to move in the direction of the production line or in the opposite direction of the production line. It should be noted that the upper frame 01, the lower frame 02, and the wiring harness (steel wire rope, nylon rope, and optical cable) have already been assembled in the front-end process to form an integrated structure. The rear section of the assembled wiring harness is located above the rear-end support platform 1, and the portion that is about to flow into the rear-end support platform 1 has also been assembled with the upper frame 01 and the lower frame 02. The front section of the wiring harness is still located in the front-end process, awaiting assembly of the upper frame 01 and the lower frame 02.

[0090] In this embodiment, the first openable and closable pressing assembly 2 and the second openable and closable pressing assembly 4 are both openable and closable structures. After the first openable and closable pressing assembly 2 is closed, it can press the part of the rear section of the wiring harness near the rear end feed end. After the second openable and closable pressing assembly 4 is closed, it can press the part of the rear section of the wiring harness near the rear end discharge end. The product is located between the first upper pressing plate 032 and the first lower pressing plate 033. The first height direction telescopic drive 038 extends, so that the first upper pressing plate 032 is close to the first lower pressing plate 033. The first upper pressing plate 032 presses the product against the first lower pressing plate 033. It should be noted that in order to ensure that the product is firmly pressed and moved, the length of the first upper pressing plate 032 and the first lower pressing plate 033 is relatively long. The two cooperate to press multiple skeletons at the same time (an upper skeleton 01 and a lower skeleton 02 are buckled together to form a skeleton). The first openable and closable pressing assembly 2 and the second openable and closable pressing assembly 4 can be telescopic synchronously or work independently. The first closable pressing component 2 and the second closable pressing component 4 can be used to press the product in sections, avoiding the influence of the previous and next processes, which is beneficial to improving the quality of product assembly. In specific use: when the first closable pressing component 2 and the second closable pressing component 4 are both in a closed state, it can be ensured that the rear section of the wiring harness is straightened, and the first horizontal telescopic drive 039 is telescoped to a preset fixed distance, and the length of the rear section of the wiring harness stretched backward each time is also equal. When the threaded connectors are installed in the upper skeleton 01 and the lower skeleton 02 in the front-end process, the first closable pressing component 2 is used to press the product, which is beneficial to keep the front section of the wiring harness in a straight state and ensure the assembly quality of the product. When the next process (finished product winding) is carried out, the second closable pressing component 4 presses the product, which is beneficial to winding. After the first openable and closable pressing assembly 2 and the second openable and closable pressing assembly 4 are opened, the first horizontal telescopic drive 039 drives the upper frame 031 to move along the production line direction, and the first upper pressure plate 032, the first lower pressure plate 033 and the rear end of the wiring harness move as a whole with the upper frame 031 in the production line direction.

[0091] During use, the clamping and telescopic material moving assembly 3 can be opened and closed to clamp the product and pull it back to achieve product discharge. The clamping and telescopic material moving assembly 3 can be opened and closed to release the product, move forward to reset, and then clamp the product and pull it back again, and repeat this cycle to achieve intermittent material transfer and discharge. In specific implementation, in the front-end process, if the length of the upper frame 01 and the lower frame 02 assembled in each batch of the previous process is L, then the length of each discharge in the transfer and discharge process is also set to L, ensuring that the length of the assembly completed in the previous process is completely consistent with the length of the discharge in the next process. After the discharge is completed, the previous process continues to assemble the next batch, and then discharges after completion.

[0092] By using this intermittent transfer and discharge device, the assembled linear product (drag array 100) can be pressed and transferred to the next process (finished product winding). This action also provides power for the unwinding and unloading of the wire harness in the previous process. While transferring and discharging, it also pulls the front-end wire harness to unwind, realizes the unfolding of the wire harness, and is conducive to the continuous progress of the assembly process.

[0093] As can be seen from the above, the intermittent transfer and discharge device 200 has the following advantages: the intermittent transfer and discharge of the product is achieved by utilizing the first openable and closable pressing component 2, the openable and closable pressing clamp and telescopic material transfer component 3, and the second openable and closable pressing component 4, thereby freeing up manpower and reducing labor costs. In addition, during use, by controlling the states of the first openable and closable pressing component 2, the openable and closable pressing clamp and telescopic material transfer component 3, and the second openable and closable pressing component 4, the state of the wiring harness can be precisely controlled, allowing the wiring harness to flexibly switch between the mobile and fixed states, and ensuring that the wiring harness is always in a taut and straightened state. The length of each discharge can be precisely controlled, which is beneficial for ensuring the distance between adjacent frames and improving product assembly quality.

[0094] According to a specific embodiment of the present invention, the retractable pressing clamp and telescopic material moving assembly 3 also includes two retractable wire clamps 040 arranged at intervals. The retractable wire clamps 040 are installed on one side of the upper frame 031 near the rear end feed end; the two retractable wire clamps 040 are used to clamp the steel wire rope and the nylon rope, respectively. In this embodiment, after the upper frame 01 and the lower frame 02 are fixed and fastened, when the external force is large enough, there will be relative sliding between the wire harness and the frame (upper frame 01 and lower frame 02). If only the first upper pressing plate 032 and the first lower pressing plate 033 are used to press the frame (upper frame 01 and lower frame 02), when the product is pulled, there may be a situation where the frame slides while the wire harness is completely motionless, or there may be a slight relative sliding between the frame and the wire harness. In this embodiment, after adding the retractable wire clamps 040, the retractable wire clamps 040 are used to clamp and fix the steel wire rope and nylon rope, which can prevent relative sliding between the frame and the wire harness and ensure the synchronization of the movement of the wire harness and the frame. In addition, in other necessary situations, the openable and closable wire clamp 040 can also be used to clamp and fix the wire rope and nylon rope.

[0095] More specifically, the retractable pressing clamp telescopic material moving assembly 3 further includes a third guide block 041 and a third guide rail 042. The third guide rail 042 is fixed to the rear end support platform 1 and is located on the side of the second guide rail 037 away from the first guide rail 036. The third guide block 041 is located on and slidably connected to the third guide rail 042. The top of the third guide block 041 is connected to the bottom of the first lower pressure plate 033. The first horizontal telescopic drive 039 is located between the second guide rail 037 and the third guide rail 042. In this embodiment, the third guide block 041 and the third guide rail 042 cooperate to form a sliding guide structure, and the second guide rail 037 and the second guide block 035 cooperate to form a sliding guide structure. The guiding direction of both sliding guide structures is consistent with the direction of the production line. Using two sets of sliding guide structures to guide the upper shelf 031 can improve the stability of the guidance, and the first horizontal telescopic drive 039 is located between the second guide rail 037 and the third guide rail 042, which can drive the upper shelf 031 to move steadily and smoothly to avoid force distortion.

[0096] More specifically, the upper portion of the first lower pressing plate 033 is provided with a concave arc-shaped pressing groove; the lower portion of the first upper pressing plate 032 is provided with a concave arc-shaped pressing groove, and a material transfer channel is formed between the first lower pressing plate 033 and the first upper pressing plate 032. The intermittent transfer and discharge device 200 also includes a guide roller assembly 5 located on the side of the second openable and closable pressing assembly 4 away from the openable and closable pressing clamp and telescopic material transfer assembly 3. The guide roller assembly 5 includes upper and lower guide roller units and left and right guide roller units spaced apart along the production line direction. The upper and lower guide roller units include an upper guide roller 051 and a lower guide roller 052 spaced apart from each other, and the left and right guide roller units include a left guide roller 053 and a right guide roller 054 spaced apart from each other.

[0097] It should be noted that the directions of “front”, “back”, “up”, “down”, “left” and “right” in this embodiment refer to Figure 22 In this embodiment, the upper and lower guide roller units and the left and right guide roller units guide the product from four directions, namely, up, down, left and right, so as to smoothly guide the product to the rear-end finished product winding process.

[0098] More specifically, the intermittent transfer discharge device 200 also includes a track table 6 and a finished product reel, which are sequentially arranged on the rear support platform 1 near the rear discharge end. The track table 6 is provided with a discharge track 7 with an upper opening. In this embodiment, after the product exits the guide roller assembly 5, it flows into the discharge track 7 and is then wound on the finished product reel.

[0099] More specifically, the openable and closable pressure clamping and telescopic material moving assembly 3 also includes two sets of mechanical limiters for limiting the upper shelf 031; the two sets of mechanical limiters are respectively arranged at the two ends of the third guide rail 042 in the length direction, and the mechanical limiters are arranged on the side of the third guide rail 042 away from the second guide rail 037; the mechanical limiters include a limit plate 8 and a hydraulic buffer 9 installed on the limit plate 8. In this embodiment, the mechanical limiters cooperate with the front and back sides of the upper shelf 031 to limit the upper shelf 031. The mechanical limiters will not affect the normal movement of the upper shelf 031, and can cooperate with the upper shelf 031 to achieve limiting. When limiting, the upper shelf 031 hits the hydraulic buffer 9, which can achieve smooth and gentle limiting. With this structure, on the one hand, safety can be guaranteed and accidents can be prevented. On the other hand, when transferring and discharging materials, due to the presence of elastic buffers on both sides, a faster moving speed can be set to improve the discharging efficiency.

[0100] More specifically, the retractable press clamp and telescopic material transfer assembly 3 further includes a plurality of position sensors 10 for sensing the position of the upper rack 031. The plurality of position sensors 10 are respectively disposed on the side of the third guide rail 042 away from the second guide rail 037. In this embodiment, the position of the upper rack 031 is sensed by the displacement sensors and fed back to the control system, thereby facilitating automated control.

[0101] More specifically, the first openable and closable pressing assembly 2 and the second openable and closable pressing assembly 4 have the same structure; the first openable and closable pressing assembly 2 includes: a triangular support frame 021, a second height direction telescopic drive 022, a second upper pressing plate 023 and a second lower pressing plate 024, the second upper pressing plate 023 and the second lower pressing plate 024 being arranged one above the other, the triangular support frame 021 and the second lower pressing plate 024 being respectively fixed to the rear end support platform 1, the second height direction telescopic drive 022 being mounted on the triangular support frame 021, and the lower portion of the second height direction telescopic drive 022 being connected to the second upper pressing plate 023 and being used to drive the second upper pressing plate 023 towards or away from the second lower pressing plate 024, a concave arc groove being provided above the second lower pressing plate 024, and a concave arc groove being provided below the second upper pressing plate 023. More specifically, the first upper pressing plate 032 and the first lower pressing plate 033 are the same length. The second upper pressing plate 023 and the second lower pressing plate 024 are the same length. The length of the second lower pressing plate 024 is shorter than that of the first upper pressing plate 032. It should be noted that the lengths of the first upper pressing plate 032 and the first lower pressing plate 033 are relatively short, and only need to press down one section of the skeleton to meet the functional requirements.

[0102] More specifically, the first height-direction telescopic drive 038, the first horizontal-direction telescopic drive 039, and the second height-direction telescopic drive 022 are all pneumatic cylinders, and the retractable wire clamp 040 is a two-finger pneumatic gripper. In this embodiment, the first height-direction telescopic drive 038 and the second height-direction telescopic drive 022 are both used to provide vertical telescopic power, while the first horizontal-direction telescopic drive 039 is used to provide horizontal telescopic power (specifically, along the production line). The first height-direction telescopic drive 038, the second height-direction telescopic drive 022, and the first horizontal-direction telescopic drive 039 can all be pneumatic or hydraulic cylinders.

[0103] It should be noted that, to save costs, the front section of first guide rail 036 and the rear section of third guide rail 042 were eliminated, ensuring that second guide rail 037 is of full length. This structure also ensures smooth guidance. Specifically, when upper rack 031 moves behind rear support platform 1, second guide rail 037 and first guide rail 036 provide guidance; when upper rack 031 moves in front of rear support platform 1, second guide rail 037 and third guide rail 042 provide guidance. This ensures smooth and stable guidance, as two guide rails are always present.

[0104] Please focus on Figure 17-19According to a specific embodiment of the present invention, the screw locking device 500 includes a three-axis screw locking module 49, a middle mounting frame 50 and an upper frame photoelectric sensor 51 respectively mounted on the front support platform 11. The screw locking device 500 also includes: a liftable upper frame top surface pressure plate 52, a retractable upper frame end surface clamp 53, a pressure plate lifting drive 54 and a clamp retracting drive 55; the liftable upper frame top surface pressure plate 52 is provided with a screw locking probe hole 521 passing through it; the liftable upper frame top surface pressure plate 52 is mounted on the middle mounting frame 50 via the pressure plate lifting drive 54. On the top, the upper frame top pressure plate 52 can be lifted and lowered by the pressure plate lifting drive 54; the retractable upper frame end face clamp 53 is installed on the middle mounting frame 50 via the clamp retractable drive 55, and the retractable upper frame end face clamp 53 is retracted and extended by the clamp retractable drive 55; each upper frame 01 located in the single batch installation section is provided with an upper frame photoelectric sensor 51 on one side close to the operating side 114 for detecting whether the upper frame 01 exists; and each upper frame 01 located in the single batch installation section is provided with a retractable upper frame end face clamp 53 on the other side.

[0105] In this embodiment, the three-axis screw locking module 49, also known as an intelligent locking robot or an automatic screw locking machine, is used to automatically lock screws. The three-axis screw locking module 49 is used to lock the skeleton screws 03. The three-axis screw locking module 49 can move in three axes: X, Y, and Z.

[0106] The upper frame photoelectric sensor 51 emits a detection light 511 to detect whether the upper frame 01 exists, and transmits the signal to the three-axis screw locking module 49 to control whether the three-axis screw locking module 49 is in motion, which can avoid empty motion. The middle mounting frame 50 is used to provide an installation base. When in use, the lifting and moving device 400 carries multiple lower frame units 08 and moves to the bottom of the three-axis screw locking module 49 through the entrance and exit 111. Then, an upper frame 01 is fastened to each lower frame unit 08 by a robot or manually, and the pressure plate lifting drive 54 drives the upper frame top surface pressure plate 52 to press down, while pressing the top surfaces of multiple upper frames 01 to limit the upper frames 01 in the height direction. Driven by the clamp retractable drive 55, the retractable upper frame end face clamp 53 on each side of the upper frame moves toward the upper frame 01. The retractable upper frame end face clamp 53 is a two-finger pneumatic gripper. The two fingers of the retractable upper frame end face clamp 53 clamp the ends of the upper frame 01, limiting the position of the upper frame 01. The three-axis screw locking module 49 includes four locking guns arranged in a straight line, a screw feed unit, and a screw hopper. The frame screw 03 is located in the screw hopper. After the upper frame 01 is secured, the locking gun muzzle in the three-axis screw locking module 49 moves to the position on the upper frame 01 where the screw needs to be screwed. This position corresponds to the screw locking probe hole 521. The frame screw 03 is then moved from the screw hopper, through the screw feed unit, to the locking gun muzzle. The locking gun muzzle then passes through the screw locking probe hole 521, automatically locking the frame screw 03. If a particular upper frame photoelectric sensor 51 does not detect the presence of the upper frame 01, the corresponding locking gun will not perform the screw locking action. The three-axis screw locking module 49 can simultaneously lock four frame screws 03 at a time. After completion, it moves to the next row to continue working until all the frame screws 03 fixed to the upper frame 01 are installed. The liftable upper frame top surface pressure plate 52 and the retractable upper frame end face clamp 53 are both retracted, and the top of the jacking and loading device 400 is retracted to the bottom of the front support platform 11 through the entrance and exit 111. Enter the intermittent loading and unloading device 200 to perform the process of unloading the drag array 100 and dragging the wire harness to unfold. During specific implementation, in order to ensure that the upper frame 01 can be loaded smoothly, when the upper frame 01 is loaded, the liftable upper frame top surface pressure plate 52 is in an upward retracted state. The retractable upper frame end face clamp 53 also retracts along the guide rail below it to provide sufficient space for loading the upper frame 01. In this embodiment, the retractable upper frame end face clamp 53 is a moving part, and it is arranged on the side away from the operating side 114 to improve safety.

[0107] More specifically, the assembly production line of the drag array also includes a smooth strip feeding rack 600 that is rectangular as a whole, and the smooth strip feeding rack 600 is tilted on the operating side 114; the smooth strip feeding rack 600 includes a feeding frame 56 with an upper opening; the feeding frame 56 is surrounded by a plurality of material troughs arranged side by side, and a slide rail 57 is provided at the bottom of each material trough.

[0108] In this embodiment, the flow strip feeding rack 600 is used to store the lower rack units 08 and the upper skeleton 01 and to realize feeding. In specific implementation, the material trough of the feeding frame 56 has at least one row for loading the lower rack units 08 and at least one row for loading the upper skeleton 01. The lower rack units 08 and the upper skeleton 01 are placed in the material trough in sequence with the outer cylindrical surfaces facing downwards, and the outer cylindrical surfaces are supported on the slide rails 57. When the lower rack unit 08 is loaded, the operator or the automatic gripper robot takes out one or more consecutive lower rack units 08 from the downward-sloping end of the flow strip feeding rack 600 and transfers them to the rack receiving slot 291. When the upper skeleton 01 is loaded, the operator or the automatic gripper robot takes out one or more consecutive upper skeletons 01 from the downward-sloping end of the flow strip feeding rack 600 and snaps them onto the lower rack unit 08 in the rack receiving slot 291. After the lower shelf unit 08 and the upper frame 01 are taken out, a vacant space is formed. Since the flow strip feeding rack 600 is tilted, the lower shelf unit 08 at the upper end will automatically slide and fill the vacant space immediately to realize automatic feeding.

[0109] The present invention also discloses a method for implementing the assembly line of the towed array according to the above embodiment, comprising the following steps:

[0110] S1. Pre-fix the nut 07 and embed it in the lower frame 02. The lower frame 02 and the nut 07 form an integrated lower frame unit 08. S2. Use the straightening wire device 300 to realize the three wires of signal line 06, metal rope 04 and flexible rope 05 to be stretched along the production line direction, and make the stretched ends in a straight state. Control the relative positions of signal line 06, metal rope 04 and flexible rope 05 according to the shape of the finished product of the tow array 100. S3. Take a section on the front section of the wire harness as a single batch installation section. The length of the single batch installation section is L. Use the lifting and loading device 400 to arrange multiple lower frame units 08 at the bottom of the single batch installation section. Before arranging the lower frame units 08, control the distance between adjacent lower frame units 08 according to the shape of the finished product of the tow array 100. S4. Arrange multiple upper frames 01 on the upper part of the wire harness to ensure that there is an upper frame 01 fastened to each lower frame unit 08 in step S3. S5. Utilize the screw locking device 500 to secure all upper frames 01 and all lower frame units 08 from steps S3 and S4. Utilize the frame screws 03 to penetrate the upper frames 01 and connect them to the nuts 07 embedded in the lower frames 02, thereby securing the upper frames 01 and the lower frames 02 and completing the assembly of the drag array 100 of length L. S6. Utilize the intermittent loading and unloading device 200 to pull the rear section of the wire harness, causing it to move L in the direction of the production line before stopping. This unloading process enables the harness to be unloaded and the wire harness to be unloaded along the production line, with the unloaded wire length being L. S7. Repeat steps S3-S6 above until the drag array 100 of the target length is achieved.

[0111] More specifically, in step S1, the lower frame 02 is made of plastic material and is formed by injection molding, and the nut 07 serves as a metal insert during injection molding; in step S2, the metal rope 04 is straightened by the wire straightener 12 and then stretched into a straight line; in step S3, the method of arranging multiple lower frame units 08 at the lower part of the single batch installation section is: multiple lower frame units 08 are placed on the same frame support 29, and the frame support 29 carries the multiple lower frame units 08 as a whole and moves them to the lower part of the single batch installation section; in step S5, the method of fixing all upper frames 01 and all lower frame units 08 in step S3 and step S4 is: on the basis of the frame support 29 supporting all lower frame units 08, a liftable upper frame top surface pressure plate 52 is used to clamp all upper frames 01 from top to bottom, and a retractable upper frame end face clamp 53 is used to fix both sides of each upper frame 01 respectively.

[0112] In this embodiment, a method for automatically assembling the tow array 100 is provided. The nut 07 is pre-embedded in the lower frame 02. When locking the frame screw 03, the nut 07 does not need to be fixed, which facilitates the automatic locking of the frame screw 03. The wire harness is straightened according to the predetermined position, so that the lower frame unit 08 and the upper frame 01 are fastened together up and down based on the wire harness to ensure assembly accuracy. Multiple upper frames 01 and lower frames 02 are locked in each batch to complete the assembly of a certain length, and the corresponding length of material is discharged again, which is conducive to improving the efficiency of assembly and facilitating repeated implementation. By repeating the above steps in sections, the required continuous length of tow array 100 can be obtained.

[0113] More specifically, there are two liftable upper frame top pressure plates 524, and two sets of lifting and loading devices 400, thus forming two independent product fixing fixtures. When in use, one set of product fixing fixtures is performing the screw locking process while the other set of product fixing fixtures is performing the loading process; the two sets of product fixing fixtures work alternately to avoid waiting, ensure the continuity of the process, and improve production efficiency. The three-axis screw locking module 49 is a set. Since it can be moved along the production line direction, it can be moved to the top of the two frame supports 29 in succession to achieve screw locking. On the basis of completing the screw locking function, the cost is reduced. The three-axis screw locking module 49 is a set. Since it can be moved along the production line direction, it can be moved to the top of the two frame supports 29 in succession to achieve screw locking. On the basis of completing the screw locking function, the cost is reduced.

[0114] It should be noted that the directly purchased parts in this invention include: wire straightener 12, meter counter 22, buffer, first height direction telescopic actuator 038 (pneumatic cylinder), first horizontal direction telescopic actuator 039 (pneumatic cylinder), second height direction telescopic actuator 022 (pneumatic cylinder), retractable wire clamp 040 (pneumatic gripper), and a three-axis screw locking module. The structure of these purchased parts is not specifically described in this invention, which does not affect the full disclosure of this invention.

[0115] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium; it can mean internal communication between two elements, or a "transmission connection," i.e., a power connection through various appropriate means such as a belt drive, a gear drive, or a sprocket drive. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

Claims

1. A towed array assembly production line, the towed array comprising: A wiring harness, a plurality of support frames arranged at intervals along the length direction of the wiring harness, the support frame comprising a lower frame and an upper frame buckled on the lower frame, the upper frame and the lower frame being fixedly connected by nuts and frame screws; the wiring harness comprises a signal line and a metal rope and a flexible rope respectively arranged on both sides of the signal line, the wiring harness is arranged at the joint surface of the upper frame and the lower frame; it is characterized in that the nut is fixedly embedded in the lower frame and the lower frame and the nut form a lower frame unit of an integrated structure; the assembly production line of the towed array comprises: a workbench, a device for realizing the wiring harness to be output in a straight line The straightening and discharging device, the lifting and transferring device for realizing the loading of the lower frame unit, the screw locking device for realizing the screw locking between the upper frame and the lower frame, and the intermittent transferring and discharging device for realizing the discharging of the drag array and providing the power for the wiring harness to be displayed; the two ends of the workbench in the length direction are respectively the main feeding end and the main discharging end, and the direction from the main feeding end to the main discharging end is the production line direction. The straightening and discharging device, the screw locking device and the intermittent transferring and discharging device are sequentially arranged on the workbench along the production line direction, and the lifting and transferring device is arranged below the workbench; The workbench includes a front-end support platform; an entrance and exit for the top of the jacking and moving device is provided on the front-end support platform; the straightening and outlet device includes a wire straightener and a three-wire conductor roller assembly which are arranged in sequence along the production line direction and respectively installed on the front-end support platform; the three-wire conductor roller assembly includes: an elastic wire pressing unit, a conductor unit and a side sealing plate; the elastic wire pressing unit includes: a base, an elastic pressure plate, a compression spring and a spring upper baffle which are arranged in sequence from bottom to top; the elastic pressure plate and the spring upper baffle are both installed on the base by bolts, the elastic pressure plate is slidably connected to the bolts, and the upper and lower ends of the compression spring abut against The spring upper baffle and the elastic pressure plate; the wire unit includes a first wire roller and a second wire roller spaced apart on the left and right; an optical cable wire channel is formed between the first wire roller and the second wire roller; the first wire roller includes a first upper roller and a first lower roller arranged up and down, and a metal rope wire channel is formed between the first upper roller and the first lower roller; the second wire roller includes a second upper roller and a second lower roller arranged up and down, and a flexible rope wire channel is formed between the second upper roller and the second lower roller; the side sealing plates are fixed on both sides of the base, the wire unit is installed on the side sealing plates, and the side sealing plates are installed on the front support platform.

2. The assembly line of the towed array according to claim 1, characterized in that: A recessed optical cable trough is provided in the middle of the upper surface of the base, and a metal trough and a flexible trough are provided on both sides of the optical cable trough respectively; the optical cable conductor channel is aligned with the optical cable trough, the metal rope conductor channel is aligned with the metal trough, and the flexible rope conductor channel is aligned with the flexible trough; the elastic pressure plates are two spaced apart, and a compression spring is provided between each elastic pressure plate and the base, and the optical cable trough, the two elastic pressure plates and the spring upper baffle together form an optical cable envelope space.

3. The assembly line of the towed array according to claim 2, characterized in that: The straightening and outlet device also includes an optical cable bracket arranged behind the three-wire conductor roller assembly along the production line direction, the optical cable bracket is fixed on the front end support platform, and the optical cable bracket is provided with a recessed optical cable bracket aligned with the optical cable trough; the conductor unit is divided into a guide front section and a guide rear section respectively located on the front and rear sides of the elastic wire pressing unit; a side sealing plate is fixed on both sides of the base, and the two side sealing plates form a three-wire conductor roller main body accommodating cavity, and the elastic wire pressing unit and the conductor unit are both accommodated in the three-wire conductor roller main body accommodating cavity; the straightening and outlet device also includes a movable carrier plate, the lower part of the movable carrier plate is provided with a sliding guide assembly, the guiding direction of the sliding guide assembly is located in a horizontal plane and perpendicular to the production line direction; by fixing the lower part of the wire straightener and the bottom of the side sealing plate on the movable carrier plate respectively, the wire straightener and the three-wire conductor roller assembly are respectively installed on the front end support platform via the movable carrier plate.

4. The assembly line of the towed array according to claim 3, characterized in that: The assembly production line of the towed array also includes a cable reel, which includes: a metal rope reel, a flexible rope reel and an optical cable reel, and the metal rope reel and the optical cable reel are both arranged in front of the front end support platform along the production line direction; the flexible rope reel is fixedly mounted on the movable carrier, and the flexible rope reel is located on one side of the wire straightener; the position of the front end support platform facing the movable carrier is recessed downward and forms a guide assembly receiving groove, and the sliding guide assembly is installed in the guide assembly receiving groove, and one side in the width direction of the workbench is the operating side; the flexible rope reel is installed on the operating side, and the number of the sliding guide assemblies is two sets, and the two sets of the sliding guide assemblies are respectively arranged on both sides of the flexible rope reel; the straightening and outlet device also includes a meter installed on the side of the wire straightener away from the handle, and the meter meter is installed on the movable carrier.

5. The assembly line of the towed array according to any one of claims 1 to 4, characterized in that: The lower frame is semi-cylindrical as a whole, and the lower part of the lower frame is provided with four frame bolt holes arranged along the radial direction of the lower frame, and the frame bolt holes are arranged along the radial direction of the lower frame, and each of the frame bolt holes is fixedly embedded with a nut; the jacking and moving device includes: a frame support, a first support plate arranged at intervals below the frame support, and a vertical connecting plate fixedly connecting the frame support and the first support plate; the upper part of the frame support is provided with a frame receiving groove formed by a depression and used to accommodate the lower frame; the jacking and moving device also includes a telescopic positioning unit, and the telescopic positioning unit includes: a Z-direction telescopic linear drive, a connecting cross plate and a telescopic column, and the lower part of the Z-direction telescopic linear drive is installed on the first The upper part of a support plate, the upper part of the Z-direction telescopic linear drive is fixed to the connecting cross plate, the number of the telescopic columns is 2n, n is a natural number ≥1, two adjacent telescopic columns form a group, and the positions of the two telescopic columns in the same group correspond one-to-one to the positions of the two skeleton bolt holes in the same lower skeleton; the skeleton support is provided with a column hole passing through it in the up and down directions and for the telescopic columns to pass through, the Z-direction telescopic linear drive is used to drive the connecting cross plate to carry all the telescopic columns up and down, so as to insert into the skeleton bolt holes to position the lower skeleton, or to pull out from the skeleton bolt holes to release the positioning; the jacking and moving device also includes: a jacking and moving unit for driving the first support plate to rise and fall and translate.

6. The assembly line of the towed array according to claim 5, characterized in that: The first support plate is rectangular, and each set of the telescopic positioning units includes four telescopic columns; the number of the telescopic positioning units is two sets, and the two sets of telescopic positioning units are symmetrically arranged on both sides of the first support plate; the vertical connecting plates are arranged between the skeleton support and the first support plate, and the number of the vertical connecting plates is four, and the four vertical connecting plates are symmetrically arranged in groups of two on both sides of the first support plate, and a set of telescopic positioning units is located between the two vertical connecting plates in the same group; the lifting and moving unit includes: a second support plate, a Z guide rail and guide sleeve assembly, a Z-direction lifting linear drive for driving the first support plate to move along the Z direction, and an X-direction linear drive for driving the second support plate to move along the X direction; the second support plates are spaced apart. The cam is connected to the first support plate by the guide rail, and the cam is connected to the second support plate by the guide rail. The X-axis linear drive is located between the Z-guide rail guide sleeve assembly and the X-guide rail guide sleeve assembly; the X-axis linear drive is fixed to the second support plate through an adapter plate and a locking screw, the adapter plate is located between the X-axis linear drive and the second support plate, and the locking screw passes through the second support plate and the adapter plate from top to bottom and extends into the X-axis linear drive; the connecting cross plate, the second support plate, and the second vertical frame are all made of steel; the skeleton support, the vertical connecting plate, and the second vertical frame are all made of aluminum alloy; a Z-axis descent buffer is also installed on the second support plate, and a collision-resistant block is installed on one side of the first support plate, the collision-resistant block is made of steel, and the collision-resistant block is arranged directly above the Z-axis descent buffer; the collision-resistant block is fixed to the second support plate through Two connecting screws and a shear pin are connected to the first support plate, and the shear pin is located between the two connecting screws; a pin hole is provided on the side of the first support plate, the shear pin is inserted into the pin hole, and the outer wall of the shear pin abuts against the hole wall of the pin hole; an angle steel plate is also welded on one side of the length direction of the first support plate, a Z-direction rising buffer is installed on the angle steel plate, and a height-adjustable hard limit bolt is also installed on the angle steel plate, and the top surface height of the hard limit bolt is lower than the top surface height of the Z-direction rising buffer; the X-guide rail guide sleeve assembly includes: an inverted X-direction T-shaped guide rail, an X-guide sleeve provided on the inverted X-direction T-shaped guide rail and slidably connected to the X-direction T-shaped guide rail, and the X-guide sleeve is fixedly connected to the second support plate;The lifting and moving device also includes a travel sensor for detecting the travel of the skeleton support along the X direction, and there are two travel sensors, and the two travel sensors are arranged at both ends of the length direction of an inverted X-direction T-shaped guide rail; the Z-direction lifting linear drive is a cylinder; the Z-direction telescopic linear drive is a multi-rod cylinder; the receiving groove is a semicircular shape that matches the outer cylindrical surface of the lower skeleton; the upper part of the Z-direction lifting linear drive is a cylinder rod, and the floating connector includes: a locking sleeve, a limit washer and a locking nut, a raised limit ring is provided on the upper part of the locking sleeve, and a connecting hole is provided on the first support plate; the locking nut, the limit washer and the locking sleeve are sequentially sleeved on the top of the cylinder rod from bottom to top, and the limit washer abuts the locking The lower part of the sleeve, the locking nut abuts the lower part of the limiting washer, the locking nut and the locking sleeve are respectively connected to the cylinder rod by threads, and the limiting washer is slidably connected to the cylinder rod; the lower part of the locking sleeve passes through the connecting hole, the limiting ring is located at the upper part of the first support plate, and protrudes from the connecting hole in the radial direction of the connecting hole to prevent the cylinder rod from falling out of the connecting hole downward; the limiting washer is located at the lower part of the first support plate, and protrudes from the connecting hole in the radial direction of the connecting hole to prevent the cylinder rod from falling out of the connecting hole upward; the distance between the limiting ring and the limiting washer is D1, the thickness of the first support plate is D2, D1 is greater than D2, and there is a gap between the lower outer side surface of the locking sleeve and the inner wall of the connecting hole.

7. The assembly line of a towed array according to any one of claims 1 to 4, characterized in that: The working table includes a rear end support table connected to the front end support table; the intermittent loading and unloading device also includes a first openable and closable pressing component, an openable and closable pressing clamping and telescopic moving component and a second openable and closable pressing component which are sequentially arranged on the rear end support table along the direction of the production line; the openable and closable pressing clamping and telescopic moving component includes: an upper frame, a first upper pressing plate, a first lower pressing plate, a first height direction telescopic drive and a first horizontal direction telescopic drive; the upper frame is arranged above the rear end support table, the upper part of the first height direction telescopic drive is installed on the upper frame, the first upper pressing plate is installed on the lower part of the first height direction telescopic drive, the first lower pressing plate is arranged below the first upper pressing plate, and the first lower pressing plate is connected to the upper frame and moves synchronously with the upper frame, the first horizontal direction telescopic drive The drive is installed on the rear end support platform, and the first horizontal telescopic drive is connected to the upper frame; the openable and closable clamping and telescopic material moving assembly also includes: a first guide block, a second guide block, a first guide rail and a second guide rail; the first guide rail and the second guide rail are respectively fixed to the rear end support platform, the first guide rail and the second guide rail are both arranged along the production line direction, the upper frame is arranged above the second guide rail, the first height direction telescopic drive is arranged on the side of the upper frame close to the first guide rail, the top of the second guide block is connected to the bottom of the first lower pressure plate, the second guide block is located on the second guide rail and is slidably connected to the second guide rail, the top of the first guide block is connected to the bottom of the upper frame, the first guide block is located on the first guide rail and is slidably connected to the first guide rail.

8. The assembly line of the towed array according to claim 7, characterized in that: The foldable pressing and telescopic material moving assembly further comprises two foldable wire clamps arranged at intervals, and the two foldable wire clamps are used to clamp the metal rope and the flexible rope respectively; the foldable pressing and telescopic material moving assembly further comprises a third guide block and a third guide rail, the third guide rail is fixed to the rear end support platform, and the third guide rail is located on the side of the second guide rail away from the first guide rail; the third guide block is located on the third guide rail and is slidably connected to the third guide rail, and the top of the third guide block is connected to the bottom of the first lower pressure plate; the first horizontal telescopic drive is located between the second guide rail and the third guide rail; the upper part of the first lower pressure plate is provided with an arc-shaped pressing groove formed by a depression; the lower part of the first upper pressure plate is provided with a depression The arc-shaped pressing groove is formed by the first lower pressure plate and the first upper pressure plate, and a material transfer channel is formed between the first lower pressure plate and the first upper pressure plate; the intermittent loading and unloading device also includes a guide roller assembly arranged on the side of the second openable and closable pressing assembly away from the openable and closable pressing clamping and telescopic material moving assembly, and the guide roller assembly includes an upper and lower guide roller unit and a left and right guide roller unit arranged at intervals along the production line direction, and the upper and lower guide roller units include an upper guide roller and a lower guide roller arranged at intervals up and down, and the left and right guide roller units include a left guide roller and a right guide roller arranged at intervals left and right; the intermittent loading and unloading device also includes a track table and a finished product reel which are sequentially arranged on the rear end support platform, and the track table is provided with a discharging track with an upper opening; the openable and closable pressing clamping and telescopic material moving assembly also includes a device for limiting the upper shelf Two sets of mechanical limiters; the two sets of mechanical limiters are respectively arranged at both ends of the length direction of the third guide rail, and the mechanical limiters are arranged on the side of the third guide rail away from the second guide rail; the mechanical limiters include a limit plate and an oil pressure buffer installed on the limit plate; the openable and closable pressing and telescopic material moving assembly also includes a plurality of position sensors for sensing the upper shelf position, and the plurality of position sensors are respectively arranged on the side of the third guide rail away from the second guide rail; the first openable and closable pressing assembly and the second openable and closable pressing assembly are respectively fixed at both ends of the rear end support platform along the production line direction, and the structures of the first openable and closable pressing assembly and the second openable and closable pressing assembly are the same; the first openable and closable pressing assembly includes: A triangular support frame, a second height direction telescopic drive, a second upper pressure plate and a second lower pressure plate, the second upper pressure plate and the second lower pressure plate are arranged up and down, the triangular support frame and the second lower pressure plate are respectively fixed on the rear end support platform, the second height direction telescopic drive is installed on the triangular support frame, and the lower part of the second height direction telescopic drive is connected to the second upper pressure plate and is used to drive the second upper pressure plate close to or away from the second lower pressure plate, a concave arc groove is provided above the second lower pressure plate, and a concave arc groove is provided below the second upper pressure plate; the first height direction telescopic drive, the first horizontal direction telescopic drive and the second height direction telescopic drive are all cylinders, and the openable and closable wire clamp is a two-finger pneumatic clamp.

9. The assembly line of a towed array according to any one of claims 1 to 4, characterized in that: The screw locking device includes a three-axis screw locking module, a middle mounting frame and an upper frame photoelectric sensor respectively installed on the front support platform, and the screw locking device also includes: a liftable upper frame top surface pressure plate, a retractable upper frame end surface clamp, a pressure plate lifting drive and a clamp retractable drive; the liftable upper frame top surface pressure plate is provided with a screw locking insertion hole passing through it; the liftable upper frame top surface pressure plate is installed on the middle mounting frame through the pressure plate lifting drive, and the liftable upper frame top surface pressure plate is lifted and lowered by the pressure plate lifting drive; the retractable upper frame end surface clamp is installed on the middle mounting frame through the clamp retractable drive, And the retractable upper skeleton end face clamp is retracted and extended under the drive of the clamp retractable drive; each upper skeleton located in the single batch installation section is provided with an upper skeleton photoelectric sensor on one side close to the operating side for detecting whether the upper skeleton exists; each upper skeleton located in the single batch installation section is provided with a retractable upper skeleton end face clamp on the other side; the assembly production line of the drag array also includes a smooth strip feeding rack with a rectangular shape as a whole, and the smooth strip feeding rack is tilted at the operating side; the smooth strip feeding rack includes a feeding frame with an upper opening; the feeding frame is surrounded by a plurality of material troughs arranged side by side, and a slide rail is provided at the bottom of each material trough.

10. A method for implementing the assembly line of a towed array according to any one of claims 1 to 9, characterized in that: The steps include: S1, pre-fixing the nut in the lower frame, so that the lower frame and the nut form an integrated lower frame unit; S2, using the straightening and outlet device to extend the signal line, the metal rope, and the flexible rope along the production line direction, with the extended ends in a straight line, and controlling the relative positions of the signal line, the metal rope, and the flexible rope according to the shape of the finished tow array; S3, selecting a section on the front section of the wiring harness as a single-batch installation section, the length of which is L, and arranging a plurality of lower shelf units below the single-batch installation section using the lifting and loading device. Before arranging the lower shelf units, the distance between adjacent lower shelf units is controlled according to the shape of the finished towed array product; S4, arranging a plurality of the upper frames on the upper part of the wiring harness, ensuring that each lower frame unit in step S3 is buckled with one upper frame; S5, using the screw locking device to fix all the upper frames and all the lower frame units in step S3 and step S4; and passing the frame screws through the upper frames and connecting them with the nuts embedded in the lower frames to achieve the fixation of the upper frames and the lower frames, thereby completing the assembly of the tow array with a length of L; S6, using the intermittent transfer and discharge device to pull the rear section of the wire harness, so that the wire harness moves L along the production line direction and then stops, realizing discharge and driving the wire harness to be discharged along the production line direction, the discharge length of which is L; S7, repeat the above steps S3-S6 until the towed array of the target length is obtained.

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