A straight part positioning and assembling system for rods, tubes

Abstract

The application provides a rod, pipe fitting straight line part positioning and assembling system, which comprises a stereoscopic warehouse, an automatic positioning and assembling work module, an operating tool box and a control system, the automatic positioning and assembling work module is installed at the front side of the stereoscopic warehouse, and the operating tool box is placed at the left and right sides of the automatic positioning and assembling work module. The application has the beneficial effects that the high-precision and high-efficiency positioning and assembling of the same-specification multi-batch rod, pipe fitting and other straight line products and the base interface can be realized. The automatic positioning accuracy of the straight line unit hinge and joint in the range of 2500mm is Dx better than 0.03mm, Dy better than 0.03mm and Dz better than 0.03mm. With the narrowing of the distance between the three groups of sliding tables, the locking positioning device can make the automatic positioning accuracy of the straight line unit hinge and joint in the range of 1000mm be Dx better than 0.02mm, Dy better than 0.02mm and Dz better than 0.02mm.

Description

Technical Field

[0001] This invention belongs to the field of positioning and assembly of linear parts such as rods and pipes where high assembly accuracy is required, and in particular relates to a positioning and assembly system for linear parts such as rods and pipes. Background Technology

[0002] Currently, the assembly of linear products such as rods and pipes, which require high positioning accuracy and have high production volume, is mostly done manually, supplemented by high-precision measuring equipment. This results in low product yield, low production efficiency, and high time costs. Therefore, a positioning and assembly system for linear products such as rods and pipes has emerged. This system is designed for high-precision positioning and assembly of linear products such as rods and pipes, featuring high precision, high automation, and high efficiency. It ensures the precise position and orientation relationship between linear products such as rods and pipes and the base joint during the assembly process, thereby improving work efficiency and quality in the product assembly process. Summary of the Invention

[0003] In view of this, the present invention aims to propose a positioning and assembly system for linear parts such as rods and pipes, in order to solve the problems of low production efficiency, low positioning accuracy, and high positioning and assembly time costs for linear products such as rods and pipes.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0005] A positioning and assembly system for linear rod and pipe parts includes an automated storage and retrieval system, an automatic positioning and assembly module, an operation toolbox, and a control system. The automatic positioning and assembly module is installed on the front of the automated storage and retrieval system, and the operation toolbox is placed on the left and right sides of the automatic positioning and assembly module.

[0006] The automated storage and retrieval system is used to store linear units that need to be solidified;

[0007] The automatic positioning and assembly module is used to precisely position straight rods and hinges through the automatic positioning and adjustment unit, and to install, solidify and bond the straight rods and hinges into a straight unit.

[0008] The toolbox is used to store tools for cleaning both ends of straight rods.

[0009] Furthermore, the automated warehouse includes an outer shell, a frame, a pallet, a hoist, a drive roller conveyor, a transmission chain, a drive motor, and a hinge rod;

[0010] The drive roller conveyor is installed inside each layer of the frame and on the elevator. The transmission chain is set on both sides of the frame and connected to both ends of the elevator to drive the elevator to rise and fall. The drive motor connected to the transmission chain is set on both sides of the frame and installed on the ground. The upper and lower ends of the hinge rod are connected to both sides of the frame through shafts.

[0011] Furthermore, the automatic positioning assembly module includes a manual operating table, an automatic positioning adjustment unit, and a positioning drive device. The automatic positioning adjustment unit is located above the positioning drive device, and the manual operating table surrounds the positioning drive device.

[0012] Furthermore, the positioning drive device includes a locking and positioning release mechanism, a joint adjustment lifting slide, an adjustment module, a tooling transmission mechanism, a tooling slide moving connection mechanism, and a base;

[0013] The base is installed on the ground. The adjustment module includes a lead screw, a linear guide rail, and a linear base, and is driven by a servo motor. Three sets of adjustment modules are installed on the base at equal intervals. The bottom of the first set of joint adjustment lifting slide and its two sliders are screwed to the lead screw guide rail of the first set of adjustment modules, and the linear guide rails of the second and third sets of adjustment modules, respectively. The bottom of the second set of joint adjustment lifting slide and its two sliders are screwed to the lead screw guide rail of the second set of adjustment modules, and the linear guide rails of the first and third sets of adjustment modules, respectively. The bottom of the third set of adjustment lifting slide and its two sliders are screwed to the lead screw guide rail of the third set of adjustment modules, and the linear guide rails of the first and second sets of adjustment modules, respectively. The locking and positioning release mechanism is connected to the rear end of the joint adjustment lifting slide plate. The tooling slide moving connection mechanism is connected to the front end of the joint adjustment lifting slide plate, i.e., the opposite side of the locking and positioning release mechanism. The tooling transmission mechanism is installed on the two upright plates of the base to provide driving force for the automatic positioning adjustment unit.

[0014] Furthermore, the locking and positioning release mechanism includes a pressure plate and an unlocking cylinder;

[0015] The unlocking cylinder is installed on the upper plate of the joint adjustment lifting slide, and the pressure plate is screwed to the end of the push rod of the unlocking cylinder.

[0016] Furthermore, the tooling slide moving connection mechanism includes a gripper and a dual-axis cylinder;

[0017] The base of the dual-axis cylinder is mounted on the upper plate of the joint adjustment lifting slide and is located on the opposite side of the locking and positioning release mechanism. The grippers are screwed to the ends of the push rods at both ends of the dual-axis cylinder.

[0018] Furthermore, the tooling transmission mechanism includes a fixed base, a servo motor, a drive wheel, a conveyor belt, a tension wheel, and a reversing wheel;

[0019] The fixed base is installed on the side plate of the base. The output shaft of the servo motor passes through the shaft hole of the fixed base and its end is connected to the drive wheel by a flat key. Two tension wheels and a reversing wheel are screwed onto the fixed base. The conveyor belt is wound around the two reversing wheels, the tension wheels and the drive wheel.

[0020] Furthermore, the automatic positioning and adjustment unit includes a moving stage, a connector slide, a locking and positioning device, a slider, a connector slide lever, a hinge placement slot, and a linear guide rail;

[0021] A linear guide rail is installed at equal intervals on the moving platform. Each base plate of the joint slide has two sliders, which work in conjunction with the linear guide rails. Each joint slide lever is installed below the upper end of the joint slide plate. The joint slide lever is located in the gripper of the tooling slide moving connection mechanism. The movement control of the joint slide is achieved by the gripper grasping the lever. The locking and positioning device is installed below the rear end of the joint slide plate, and its positioning block is located directly above the locking and positioning release mechanism. Under the action of the compression spring, the upper positioning plate and the positioning block of the locking and positioning device are pressed against the joint slide plate and the upper surface of the moving platform, respectively. The hinge placement groove is installed above the joint slide plate.

[0022] Compared with existing technologies, the positioning and assembly system for linear rod and pipe parts described in this invention has the following advantages:

[0023] (1) The positioning and assembly system for linear rods and pipes described in this invention can achieve high-precision and high-efficiency positioning and assembly of linear products such as rods and pipes of the same specification in multiple batches with the base interface. It can achieve automatic positioning accuracy of Dx better than 0.03mm, Dy better than 0.03mm, and Dz better than 0.03mm for linear unit hinges and joints within a range of 2500mm. As the distance between the three sets of slides is reduced, the locking positioning device can achieve automatic positioning accuracy of Dx better than 0.02mm, Dy better than 0.02mm, and Dz better than 0.02mm for linear unit hinges and joints within a range of 1000mm.

[0024] (2) The positioning and assembly system for linear rod and pipe parts described in this invention can be modularly expanded according to actual working conditions, and has strong versatility. That is, for products of the same specification, the number of bases can be increased to increase the number of products assembled at one time; for products of different specifications but the same length, the base model can be adjusted to assemble multiple models of products.

[0025] (3) The positioning and assembly system for linear parts such as rods and pipes described in this invention improves the automation level of assembly of linear products such as rods and pipes, shortens labor hours, increases product development efficiency, reduces labor costs, and is highly practical. Attached Figure Description

[0026] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0027] Figure 1This is a schematic diagram of the overall structure according to an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the three-dimensional warehouse structure described in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the location of the manual operating table according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the positioning drive device structure according to an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the locking and positioning release mechanism according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the tooling slide moving connection mechanism according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram of the tooling transfer mechanism described in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the automatic positioning and adjustment unit structure according to an embodiment of the present invention.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Automated Warehouse; 101. Frame; 102. Pallet; 103. Elevator; 104. Drive Roller Conveyor; 105. Transmission Chain; 106. Drive Motor; 107. Hinge Rod; 2. Automatic Positioning and Assembly Working Module; 201. Manual Operating Table; 202. Locking and Positioning Release Mechanism; 2021. Pressure Plate; 2022. Unlocking Cylinder; 203. Joint Adjustment Lifting Slide; 204. Adjustment Module; 205. Tooling Transfer Mechanism; 2051. Fixed Base; 2052. Servo motor; 2053. Drive wheel; 2054. Conveyor belt; 2055. Tensioner wheel; 2056. Reversing wheel; 206. Tooling slide moving connection mechanism; 2061. Gripper; 2062. Dual-axis cylinder; 207. Base; 208. Moving table; 209. Joint slide; 210. Locking and positioning device; 211. Slider; 212. Joint slide lever; 213. Hinge placement slot; 214. Linear guide rail; 3. Operating toolbox. Detailed Implementation

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0039] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] like Figures 1 to 8 As shown, a positioning and assembly system for linear rod and pipe parts is described. Taking six sets of linear units as an example, the six hinge placement slots 213 on each joint slide 209 in the figure are shown.

[0042] The positioning and assembly system consists of an automated storage and retrieval system 1, an automatic positioning and assembly module 2, an operation toolbox 3, and a control system. The automatic positioning and assembly module 2 is installed on the front side of the automated storage and retrieval system 1, and the operation toolbox 3 is placed on the left and right sides of the automatic positioning and assembly module 2.

[0043] The automated storage unit 1 is used to store the linear units that need to be cured; the automatic positioning and assembly module 2 is used to accurately position the linear rods and hinges through an automatic rapid positioning mechanism, and to install, cure and bond the linear rods and hinges into linear units; the operation toolbox 3 is used to place tools for cleaning both ends of the linear rods.

[0044] In a preferred embodiment of the present invention, the automated storage and retrieval system 1 includes an outer shell, a frame 101, a pallet 102, a hoist 103, a drive roller conveyor 104, a transmission chain 105, a drive motor 106, and a hinge rod 107.

[0045] The drive roller conveyor 104 is installed on each layer inside the frame 101 and on the elevator 103. The transmission chain 105 is respectively located on both sides of the frame 101 and connected to both ends of the elevator 103, driving the elevator 103 to rise and fall. The drive motor 106, connected to the transmission chain 105, is located on both sides of the frame 101 and installed on the ground, providing power to the transmission hinge. The retractable hinge rod 107 is connected to both sides of the frame 101 via shafts at its upper and lower ends. The automated storage and retrieval system 1 adopts a structure of fixed storage linear units, featuring small footprint, good scalability, and high flexibility.

[0046] In a preferred embodiment of the present invention, the automatic positioning assembly module 2 includes a manual operating table 201, an automatic positioning adjustment unit, and a positioning drive device. The automatic positioning adjustment unit is disposed above the positioning drive device, and the manual operating table 201 is enveloped by the positioning drive device.

[0047] In a preferred embodiment of the present invention, the positioning drive device includes a locking and positioning release mechanism 202, a connector adjustment lifting slide 203, an adjustment module 204, a tooling transmission mechanism 205, a tooling slide moving connection mechanism 206, and a base 207.

[0048] The base 207 is installed on the ground. The adjustment module 204 itself consists of a lead screw, a linear guide rail 214, and a linear base 207, and is driven by a servo motor 2052. Three sets of adjustment modules 204 are installed on the base 207 at equal intervals. The bottom of the first set of joint adjustment lifting slide 203 and its two sliders 211 are screwed to the lead screw guide rail of the first set of adjustment modules 204, and the linear guide rails 214 of the second and third sets of adjustment modules 204, respectively. The bottom of the second set of joint adjustment lifting slide 203 and its two sliders 211 are screwed to the lead screw guide rail of the second set of adjustment modules 204, and the linear guide rails 214 of the first and third sets of adjustment modules 204, respectively. The bottom of the third set of adjustment lifting slide and its two sliders 211 are screwed to the lead screw guide rail of the third set of adjustment modules 204, and the linear guide rails 214 of the first and second sets of adjustment modules 204, respectively. The locking and positioning release mechanism 202 is connected to the rear end of the upper plate of the connector adjusting lifting slide 203. Driven by pneumatic pressure, it uses the pressure plate 2021 at the end as the force point to release the locking and positioning of the device. The tooling slide moving connection mechanism 206 is connected to the front end of the upper plate of the connector adjusting lifting slide 203, opposite to the locking and positioning release mechanism 202. The gripper 2061 of this mechanism can clamp and release under the drive of a cylinder. The tooling transmission mechanism 205 is installed on the two side uprights of the base 207, providing driving force for the automatic positioning and adjustment unit.

[0049] In a preferred embodiment of the present invention, the locking and positioning release mechanism 202 includes a pressure plate 2021 and an unlocking cylinder 2022.

[0050] The unlocking cylinder 2022 is installed on the upper plate of the connector adjustment lifting slide 203, and the pressure plate 2021 is screwed to the end of the push rod of the unlocking cylinder 2022.

[0051] In a preferred embodiment of the present invention, the tooling slide moving connection mechanism 206 includes a gripper 2061 and a dual-axis cylinder 2062.

[0052] The base 207 of the dual-axis cylinder 2062 is mounted on the upper plate of the connector adjustment lifting slide 203 and is located on the opposite side of the locking and positioning release mechanism 202. The gripper 2061 is screwed to the ends of the push rods at both ends of the dual-axis cylinder 2062.

[0053] In a preferred embodiment of the present invention, the tooling transmission mechanism 205 includes a fixed base 2051, a servo motor 2052, a drive wheel 2053, a conveyor belt 2054, a tension wheel 2055, and a reversing wheel 2056.

[0054] The fixed base 2051 is mounted on the side plate of the base 207. The output shaft of the servo motor 2052 passes through the shaft hole of the fixed base 2051, and its end is connected to the drive wheel 2053 via a flat key. Two tension wheels 2055 and a reversing wheel 2056 are screwed onto the fixed base 2051. The conveyor belt 2054 is wound around the two reversing wheels 2056, the tension wheels 2055, and the drive wheel 2053. The mechanism drives the drive wheel 2053 via the servo motor 2052, thereby causing the conveyor belt 2054 to run.

[0055] In a preferred embodiment of the present invention, the automatic positioning and adjustment unit includes a moving stage 208, a connector slide 209, a locking and positioning device 210, a slider 211, a connector slide 209 lever, a hinge placement groove 213, and a linear guide rail 214.

[0056] Three linear guide rails 214 are evenly spaced on the movable stage 208. Each base plate of the connector slide 209 has two sliders 211, which cooperate with the linear guide rails 214. A lever for each connector slide 209 is installed below the upper end of the upper plate. The lever is located within the gripper 2061 of the tooling slide moving connection mechanism 206. The gripper 2061 grasps the lever to control the movement of the connector slide 209. A locking and positioning device 210 is installed below the rear end of the upper plate of the connector slide 209, with its positioning block located directly above the locking and positioning release mechanism 202. Under the force of the compression spring, the upper positioning plate and positioning block of the locking and positioning device 210 press against the upper plate of the connector slide 209 and the upper surface of the movable stage 208, respectively. A hinge placement slot 213 with high flatness (flatness of 0.05 / 100mm) is installed above the upper plate of the joint slide table 209. Multiple sets of high flatness hinge placement slots 213 can be set according to actual working conditions.

[0057] Before assembling linear rod products, the operator selects the linear rod model on the operation screen and clicks the "Automatic Positioning and Adjustment Unit Outbound" button. The automated warehouse 1 starts, transferring an idle automatic positioning and adjustment unit via drive roller conveyor 104 to the elevator 103. Under the control of drive system 106, transmission system 105 drives elevator 103 to transfer the automatic positioning and adjustment unit to tooling transfer mechanism 205 in the positioning drive device. Under the synchronous drive of drive roller conveyor 104 and tooling transfer mechanism 205 in elevator 103, the automatic positioning and adjustment unit is transferred to the positioning drive device.

[0058] The operator places the hinge joint into the hinge placement slot 213, holds the tools in the toolbox 3, and grinds the end face and inner hole of the product joint. After the ground surface meets the assembly requirements, the operator manually cleans the straight rod and applies glue. Finally, the processed straight rod is ready for assembly.

[0059] After determining the model of the linear member to be assembled, the system can automatically retrieve relevant information such as the dimensions of the linear member. Pressing the positioning button initiates the automatic positioning adjustment unit to adjust the positions of the three sets of joint slides 209. Driven by a motor, the joint adjustment lifting slide 203 raises its upper plate, causing the tooling slide moving connection mechanism 206 and the locking and positioning release mechanism 202 on its surface to move vertically. These two mechanisms quickly locate and reach the positions of the joint slide lever 212 and the positioning block of the locking and positioning device 210 using sensors. Driven by a cylinder, the gripper on the tooling slide moving connection mechanism 206 clamps the joint slide lever 212, thus controlling the joint slide. The pressure plate 2021 on the locking and positioning release mechanism 202 contacts the positioning plate surface of the locking and positioning device 210 under the drive of the unlocking cylinder 2022 and applies an upward thrust, causing the spring of the locking and positioning device 210 to shorten its extension distance due to compression, the positioning block separates from the moving table 208, and the joint slide 209 is in the unlocked state.

[0060] The distance between the three sets of connector slides 209 is adjusted based on the linear rod model input before assembly. The system control adjustment module 204 uses three servo motors to drive each lead screw, causing the connector adjustment lifting slide 203 to move along the lead screw axis. Under the control of the tooling slide moving connection mechanism 206 and the locking and positioning release mechanism 202, the connector slide 209 moves on the linear guide rail 214, adjusting the distance between the three sets of connector slides 209. A high-precision magnetic sensor (accuracy ±0.02mm) below the connector slide 209 reads the position of each set of connector slides 209, allowing for precise system adjustment. When the distance between two sets of connector slides 209 reaches the specified value for that linear rod model, the pressure plate of the locking and positioning release mechanism 202 descends, causing the positioning block of the locking and positioning device 210 to lock the connector slide 209 onto the moving table 208 under the action of a spring, maintaining a constant distance between the three sets of connector slides 209. Simultaneously, the grippers of the tooling slide moving connection mechanism 206 are released under the drive of the cylinder, losing control of the connecting slide lever 212. The indicator light turns green, waiting for the operator to load the material and insert the pin.

[0061] Once the pin is inserted, the assembly of a set of linear rods is complete. Clicking the "Complete" button causes the joint adjustment lifting slide 203 to descend under the drive of the motor. This causes the tooling slide moving connection mechanism 206 and the locking and positioning release mechanism 202 on its surface to descend synchronously, until the entire slide is below the height of the lower surface of the moving table 208 in the automatic positioning adjustment unit. The tooling conveying mechanisms 205 on both sides of the positioning drive device are activated, causing the automatic positioning adjustment unit to move towards the drive roller conveyor 14 in the elevator 13. Under the synchronous drive of the drive roller conveyor 14 and the tooling conveying mechanism 205, the assembled linear rod product, along with the automatic positioning adjustment unit, is placed into the elevator 13. Then, under the action of the drive system 16, the transmission system 15, and the drive roller conveyor 14, the product and the automatic positioning adjustment unit are stored in the automated storage and retrieval system 1. After storage is completed, the automated storage and retrieval system 1 continues to retrieve idle automatic positioning adjustment units. This process is repeated until all linear rods are assembled and positioned.

[0062] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A positioning and assembly system for linear parts such as rods and pipes, characterized in that: It includes an automated storage and retrieval system (1), an automatic positioning and assembly module (2), an operation toolbox (3), and a control system. The automatic positioning and assembly module (2) is installed on the front side of the automated storage and retrieval system (1), and the operation toolbox (3) is placed on the left and right sides of the automatic positioning and assembly module (2). The automated storage unit (1) is used to store linear units that need to be solidified; The automatic positioning assembly module (2) is used to accurately position the straight rods and hinges through the automatic positioning adjustment unit, and to install, solidify and bond the straight rods and hinges into a straight unit; The toolbox (3) is used to hold tools for cleaning both ends of straight rods; The automatic positioning assembly module (2) includes a manual operating table (201), an automatic positioning adjustment unit and a positioning drive device. The automatic positioning adjustment unit is located above the positioning drive device, and the manual operating table (201) is enveloped by the positioning drive device. The positioning drive device includes a locking and positioning release mechanism (202), a joint adjustment lifting slide (203), an adjustment module (204), a tooling transmission mechanism (205), a tooling slide moving connection mechanism (206), and a base (207); The base (207) is installed on the ground. The adjustment module (204) includes a lead screw, a linear guide rail (214), and a linear base (207), and is driven by a servo motor (2052). The adjustment modules (204) are installed on the base (207) at equal intervals. The bottom of the first set of joint adjustment lifting slide (203) and its two sliders (211) are respectively screwed to the lead screw guide rail of the first set of adjustment module (204) and the linear guide rail (214) of the second and third sets of adjustment modules (204). The bottom of the second set of joint adjustment lifting slide (203) and its two sliders (211) are respectively screwed to the lead screw guide rail of the second set of adjustment module (204) and the linear guide rail (214) of the first and third sets of adjustment modules (2052). The linear guide rail (214) of the adjustment module (204) is screwed on; the bottom of the third set of adjustment lifting slide and its two sliders (211) are screwed on the lead screw guide rail of the third set of adjustment module (204) and the linear guide rail (214) of the first and second sets of adjustment modules (204) respectively; the locking and positioning release mechanism (202) is connected to the rear end of the upper plate of the joint adjustment lifting slide (203); the tooling slide moving connection mechanism (206) is connected to the front end of the upper plate of the joint adjustment lifting slide (203), i.e., the opposite side of the locking and positioning release mechanism (202); the tooling transmission mechanism (205) is installed on the two upright plates of the base (207) to provide driving force for the automatic positioning adjustment unit; The automatic positioning and adjustment unit includes a moving table (208), a joint slide (209), a locking and positioning device (210), a slider (211), a joint slide (209) lever, a hinge placement slot (213), and a linear guide rail (214). A linear guide rail (214) is installed at equal intervals on the movable stage (208). Each base plate of the joint slide (209) has two sliders (211), which work in conjunction with the linear guide rail (214). The lever of each joint slide (209) is installed below the upper end of the joint slide (209). The lever of the joint slide (209) is located in the gripper (2061) of the tooling slide moving connection mechanism (206), and the lever is gripped by the gripper (2061). The motion control of the joint slide (209) is realized; the locking and positioning device (210) is installed below the rear end of the upper plate of the joint slide (209), and its positioning block is located directly above the locking and positioning release mechanism (202). Under the action of the compression spring, the upper positioning plate and positioning block of the locking and positioning device (210) are pressed against the upper plate of the joint slide (209) and the upper surface of the moving table (208) respectively; the hinge placement groove (213) is installed above the upper plate of the joint slide (209).

2. The positioning and assembly system for linear rod and pipe parts according to claim 1, characterized in that: The automated warehouse (1) includes an outer shell, a frame (101), a pallet (102), a hoist (103), a drive roller conveyor (104), a transmission chain (105), a drive motor (106), and a hinge rod (107); The drive roller conveyor (104) is installed on each layer inside the frame (101) and on the elevator (103). The transmission chain (105) is respectively set on both sides of the frame (101) and connected to both ends of the elevator (103) to drive the elevator (103) to rise and fall. The drive motor (106) connected to the transmission chain (105) is respectively on both sides of the frame (101) and installed on the ground. The upper and lower ends of the hinge rod (107) are connected to both sides of the frame (101) through the shaft.

3. The positioning and assembly system for linear rod and pipe parts according to claim 1, characterized in that: The locking and positioning release mechanism (202) includes a pressure plate (2021) and an unlocking cylinder (2022); The unlocking cylinder (2022) is installed on the upper plate of the connector adjustment lifting slide (203), and the pressure plate (2021) is screwed to the end of the push rod of the unlocking cylinder (2022).

4. The positioning and assembly system for linear rod and pipe parts according to claim 1, characterized in that: The tooling slide moving connection mechanism (206) includes a gripper (2061) and a dual-axis cylinder (2062); The base (207) of the dual-axis cylinder (2062) is mounted on the upper plate of the joint adjustment lifting slide (203) and is located on the opposite side of the locking and positioning release mechanism (202). The gripper (2061) is screwed to the ends of the push rods at both ends of the dual-axis cylinder (2062).

5. The positioning and assembly system for linear rod and pipe parts according to claim 1, characterized in that: The tooling transmission mechanism (205) includes a fixed base (2051), a servo motor (2052), a drive wheel (2053), a conveyor belt (2054), a tension wheel (2055), and a reversing wheel (2056); The fixed base (2051) is installed on the side plate of the base (207). The output shaft of the servo motor (2052) passes through the shaft hole of the fixed base (2051) and its end is connected to the drive wheel (2053) by a flat key. Two tension wheels (2055) and a reversing wheel (2056) are screwed onto the fixed base (2051). The conveyor belt (2054) is wound around the two reversing wheels (2056), the tension wheels (2055) and the drive wheel (2053).

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