Automatic aluminum cantilever production device

Abstract

The invention relates to an aluminum cantilever automatic production device which comprises a long pipe temporary storage device, a cantilever manipulator device, a long pipe machining device, a truss manipulator device, a single-lug pre-assembling device and a sleeve bearing pre-assembling device, and the long pipe temporary storage device is used for temporary storage and continuous supply of unmachined cantilever pipes; the cantilever mechanical arm device is used for grabbing the cantilever pipe from the long pipe temporary storage device and feeding the cantilever pipe into the long pipe machining device. The long pipe machining device is used for machining the cantilever pipe; the single-lug pre-assembling device is used for completing assembling of a single lug and a cantilever pipe. The sleeve bearing pre-assembling device is used for completing assembling of a sleeve seat, a carrier cable seat and a cantilever pipe. And the truss manipulator device is used for transferring the cantilever pipe, tightening and fixing the sleeve seat and the cantilever pipe, and transferring the finished aluminum cantilever to the next station. According to the invention, automatic production of each link of aluminum cantilever assembly is realized; the conveying of the cantilever pipe and the grabbing and displacement of the finished aluminum cantilever are operated by the truss manipulator, so that the running route of the production line is simpler, and the running efficiency of the production line is improved.

Description

Technical Field

[0001] The invention relates to the field of contact network aluminum arm production, and in particular to an automatic production device for the aluminum arm. Background Art

[0002] The rapid development of railway construction in my country has led to new demands for the process quality standards of relevant components within the industry, and the need for increasingly precise construction and maintenance of operating lines. The overhead contact network (OCN) is a crucial component of railway operation. Connected to the power lines of the electric railway, it directly carries the primary responsibility of delivering energy to electric trains. The arm, a support device for the overhead contact network, makes pre-assembly a crucial element of electrified railway construction. High-speed railways require extremely precise installation of the overhead contact network. Since most components of high-speed railway overhead contact network projects cannot be repeatedly disassembled and assembled, accurate calculations are required to precisely assemble the arm support device in a single assembly. Due to the high altitude and other constraints of the site, pre-assembly of the arm support device on the ground is necessary. The quality of the initial installation of the entire overhead contact suspension directly impacts the quality, schedule, and efficiency of subsequent construction. During the production of aluminum cantilevers, a single ear must be installed on the oblique and flat cantilevers. The flat and oblique cantilevers are then inserted into the two sleeve seats of the sleeve seat, respectively. A load-bearing cable seat is installed on one end of the flat cantilevers, and the fastening bolts on the load-bearing cable seat and the sleeve seat are tightened. The aforementioned production process presents the following technical difficulties, making it difficult to achieve automated production of aluminum cantilevers:

[0003] 1) The wrist-arm tube is a long tube structure, and the installation positions of the single ear, sleeve seat, and load-bearing cable seat on the wrist-arm tube are all required. When assembling with the wrist-arm tube, the transportation of the wrist-arm tube must be stopped at any time and the wrist-arm tube must be clamped and fixed to install the aforementioned accessories. In the existing technology, the single ear, load-bearing cable seat, and sleeve seat are often manually installed on the wrist-arm tube and adjusted in position, resulting in low assembly efficiency;

[0004] 2) In the current production process of the wrist arm, the wrist arm tube is mostly transported by a ground clamping and conveying device. During the pushing process, the devices of other processes need to be avoided, which makes the route design of the production line complicated and affects the operating efficiency of the production line.

[0005] In view of this, the present invention provides an automatic production device for aluminum arms, which realizes the temporary storage of arm tubes, continuous loading, transportation to the arm tube processing device for punching, cutting, chamfering, continuous loading, grabbing, and assembly of single ears, continuous loading, grabbing, and assembly of sleeve seats and load-bearing cable seats, and automated production of each link of the transportation of finished aluminum arms. In addition, the transfer of arm tubes and the grabbing and shifting of finished aluminum arms are operated by truss robots, which reduces the design avoidance problems caused by the need to avoid interference with ground components, makes the production line operation route simpler, and improves the efficiency of the production line operation. Summary of the Invention

[0006] The present invention is intended to provide an automatic production device for aluminum arms to solve the deficiencies in the prior art. The technical problems to be solved by the present invention are achieved through the following technical solutions.

[0007] An automatic production device for an aluminum arm comprises a long tube buffer device, a cantilever manipulator device, a long tube processing device, a truss manipulator device, a single ear pre-fitting device, and a sleeve pre-fitting device. The long tube buffer device is used to buffer and continuously supply unprocessed arm tubes; the cantilever manipulator device is arranged at the front side of the long tube buffer device, and is used to grab the arm tube from the long tube buffer device and send it to the long tube processing device; the long tube processing device is arranged at the right side of the long tube buffer device, and is used to drill, cut, and chamfer the arm tube; the single ear pre-fitting device is used to cache ... used to grab the arm tube from the long tube buffer device and send it to the long tube processing device; the long tube processing device is set at the right side of the long tube buffer device, and is used to drill, cut, and chamfer the arm tube; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the cantilever manipulator device is used to grab the arm tube from the long tube buffer device and send it to the long tube processing device; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the single ear pre-fitting device is used to cache and continuously supply unprocessed arm tubes; the single ear pre The assembly device is arranged on the right side of the long tube processing device, and is used to continuously supply the single ear and complete the assembly of the single ear and the wrist arm tube; the sleeve pre-assembly device is arranged on the rear side of the single ear pre-assembly device, and is used to continuously supply the sleeve seat and the load-bearing cable seat, complete the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and transport the finished aluminum wrist arm to the next workstation; the truss manipulator device is arranged above the single ear pre-assembly device and the sleeve pre-assembly device, and is used to transfer the wrist arm tube equipped with a single ear, tighten the sleeve seat and the wrist arm tube, and transfer the finished aluminum wrist arm to the next workstation.

[0008] In the present invention, the aluminum arm production line includes a production line bottom skid placed on the bottom surface, and the long tube buffer device, cantilever manipulator device, long tube processing device, truss manipulator device, single ear pre-fitting device and sleeve pre-fitting device are placed on the production line bottom skid, and a number of evenly spaced lifting ears are provided on the front and rear sides of the production line bottom skid to facilitate the overall movement of the aluminum arm production line. In this embodiment, during production, first, the long tube buffer device stores a number of arm tubes and continuously transports them to the production line, the cantilever manipulator device grabs the arm tubes from the long tube buffer device and transfers them to the long tube processing device for drilling, cutting and chamfering. After cutting, the longer reusable waste is clamped by the cantilever manipulator device and temporarily stored on the short tube support frame of the cantilever manipulator device, and the shorter waste is clamped by the cantilever manipulator device and placed in the waste box on the left side of the long tube processing device. The wrist arm tube processed by the long tube processing device includes an oblique wrist arm and a flat wrist arm. The oblique wrist arm and the flat wrist arm are transferred to the single-ear pre-fitting device through the single-ear pre-fitting device, and single ears are installed on the oblique wrist arm and the flat wrist arm respectively. The wrist arm tube with the single ear is clamped by the truss robot device and transferred to the sleeve pre-fitting device, and the assembly of the sleeve seat and the load-bearing cable seat is completed. Finally, the finished aluminum wrist arm is transferred to the finished product conveying device by the truss robot device and transferred to the next workstation.

[0009] The present invention provides an automatic production device for aluminum arms, which realizes the temporary storage of arm tubes, continuous loading, transportation to the arm tube processing device for punching, cutting, and chamfering, continuous loading, grabbing, and assembly of single ears, continuous loading, grabbing, and assembly of sleeve seats and load-bearing cable seats, and automated production of each link of transportation of finished aluminum arms. In addition, the transfer of arm tubes and the grabbing and shifting of finished aluminum arms are operated by truss robots, which reduces the design avoidance problems caused by the need to avoid interference with ground components, makes the production line operation route simpler, and improves the efficiency of production line operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a structural schematic diagram of the present invention;

[0011] Figure 2 This is a schematic structural diagram of the long tube buffer device of the present invention;

[0012] Figure 3 Schematic diagram of the structure of the cantilever manipulator device in the present invention;

[0013] Figure 4 It is a structural diagram of the cantilever manipulator body in the present invention;

[0014] Figure 5 This is a schematic structural diagram of the cantilever manipulator body from another angle in the present invention;

[0015] Figure 6 This is a structural diagram of the cantilever manipulator body from another angle in the present invention;

[0016] Figure 7 It is a structural schematic diagram of the long tube processing device of the present invention;

[0017] Figure 8 It is a structural schematic diagram of the sawing assembly in the present invention;

[0018] Figure 9 Schematic diagram of the structure of the truss manipulator device in the present invention;

[0019] Figure 10 It is a structural diagram of the truss manipulator installation assembly in the present invention;

[0020] Figure 11 Schematic diagram of the structure of the truss torsion-fixing assembly in the present invention;

[0021] Figure 12 It is a structural schematic diagram of the truss blanking assembly in the present invention;

[0022] Figure 13 It is a structural schematic diagram of the truss pipe moving assembly in the present invention;

[0023] Figure 14Schematic diagram of the structure of the single-ear pre-matching device of the present invention;

[0024] Figure 15 Schematic diagram of the structure of the single-ear assembly device of the present invention;

[0025] Figure 16 This is a schematic structural diagram of a single-ear pre-assembled push head assembly in the present invention;

[0026] Figure 17 Schematic diagram of the structure of the single-ear tightening device of the present invention;

[0027] Figure 18 Schematic diagram of the structure of the single-ear grasping manipulator in the present invention;

[0028] Figure 19 It is a structural schematic diagram of the sleeve pre-assembly device of the present invention;

[0029] Figure 20 Schematic diagram of the structure of a single ear in the present invention;

[0030] Figure 21 Schematic diagram of the structure of the sleeve seat in the present invention;

[0031] Figure 22 It is a structural schematic diagram of the load-bearing cable seat in the present invention;

[0032] The reference numerals in the accompanying drawings are: 10, long tube caching device, 11, long tube caching rack, 111, long tube transmission shaft, 12, long tube supporting device, 13, long tube rotation drive motor, 14, coupling, 20, cantilever manipulator device, 21, cantilever support rack, 22, short tube support rack, 23, cantilever manipulator body, 231, cantilever beam, 232, cantilever manipulator transverse movement drive assembly, 2321, cantilever seat plate, 2322, cantilever transverse movement motor, 2323, cantilever transverse movement gear, 2324, cantilever transverse movement guide wheel, 2325, cantilever transverse movement guide wheel cover, 233, cantilever manipulator longitudinal movement drive assembly, 2331, cantilever longitudinal movement motor, 2332, cantilever longitudinal movement gear, 2333, cantilever longitudinal movement rack, 2334, cantilever longitudinal guide wheel, 234, manipulator grasping assembly, 2341, cantilever lifting column, 2342, cantilever connecting aluminum profile, 2343, cantilever clamp longitudinal cylinder, 2344, cantilever clamp fixing plate, 2345, cantilever clamp cylinder, 2346, cantilever clamp, 235, cantilever manipulator lifting assembly, 2351, cantilever lifting connecting plate, 2352, cantilever lifting motor, 2353, cantilever lifting gear, 2354, cantilever lifting rack, 24, waste box, 30, long tube processing device, 31, wrist arm tube processing box, 311, processing chip drop hole, 32, sawing and pressing assembly, 321, sawing and pressing bottom plate, 322, sawing and pressing support block, 323, sawing and pressing seat, 324, sawing Compression rod, 325, sawing pressing cylinder, 33, drilling machine, 34, chamfering machine, 35, sawing assembly, 351, sawing motor support seat, 352, sawing lifting cylinder bracket, 353, sawing lifting cylinder, 354, sawing motor, 355, saw blade, 356, sawing protective cover, 36, drilling chip guard, 37, chamfering chip guard, 40, truss manipulator device, 41, truss bracket, 42, truss manipulator mounting assembly, 421, truss manipulator crossbeam, 4221, truss connecting side plate I, 4222, truss connecting side plate II, 4231, truss transverse drive motor, 4232, truss drive shaft, 4233, truss manipulator transverse gear, 4234, truss transverse guide wheel, 4241, truss Longitudinal movement motor, 4242, truss longitudinal movement gear, 4243, truss longitudinal movement rack, 4251, truss lifting column, 4252, truss lifting motor, 4253, truss lifting gear, 4254, truss lifting rack, 43, truss fixed torque assembly, 431, truss tightening fixing plate, 432, truss tightening motor, 433, truss tightening sleeve, 44, truss blanking assembly, 441, truss blanking fixing plate, 442, truss blanking profile, 443, finished product clamping cylinder, 444, finished product clamping claw, 4451, finished product lifting cylinder connecting plate, 4452, blanking vertical plate, 4453, blanking support plate, 4454, finished product lifting cylinder, 4455, finished product lifting cylinder moving platform, 4456, finished product cylinder guide block,4457, finished cylinder guide shaft, 45, truss pipe transfer assembly, 451, pipe transfer transition plate, 452, pipe transfer connection profile, 453, pipe transfer beam, 454, pipe transfer clamp cylinder, 455, pipe transfer clamp, 50, single ear pre-matching device, 51, wrist arm pipe fixed length support device, 511, fixed length fixed support wheel assembly, 512, pipe dragging manipulator, 52, single ear buffer conveying device, 53, single ear assembly device, 531, single ear pre-matching push head assembly, 5311, single ear push head base, 5312, single ear Push head transverse movement motor, 5313, single ear push head column, 5314, single ear push head cylinder, 5315, single ear push head clamp mounting plate, 5316, single ear push head clamp rotary cylinder, 5317, single ear push head clamp cylinder, 5318, single ear push head clamp, 532, single ear pre-assembled clamping wheel assembly, 5321, single ear clamping cylinder, 5322, single ear clamping block, 5323, single ear clamping roller, 533, single ear tightening device, 5331, single ear tightening seat plate, 5332, single ear tightening transverse movement motor , 5333, single ear tightening transverse gear, 5334, single ear tightening support plate, 5335, single ear tightening lifting cylinder, 5336, single ear tightening shaft mounting plate, 5337, single ear tightening shaft seat plate, 5338, single ear tightening motor, 5339, single ear tightening sleeve, 54, single ear grabbing manipulator, 541, single ear grabbing manipulator seat plate, 542, single ear manipulator motor, 543, single ear grabbing column, 544, single ear grabbing longitudinal cylinder, 545, single ear grabbing longitudinal cylinder slide, 546, single Ear grabbing and lifting cylinder connecting plate, 547, single ear grabbing and lifting cylinder, 548, single ear lifting cylinder slide, 549, single ear clamping cylinder, 5491, single ear clamping claw, 60, sleeve pre-assembly device, 61, sleeve seat buffer conveying device, 62, load-bearing cable seat buffer conveying device, 63, flat wrist arm pushing device, 64, inclined wrist arm pushing device, 65, sleeve pre-assembly part manipulator, 66, sleeve bearing positioning and assembly device, 67, sleeve pre-assembly ground rail tightening device, 68, guide cone manipulator device, 69, finished product conveying device. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] Example 1:

[0035] Reference Figure 1As shown, an automatic production device for aluminum cantilever, the improvement of which is that it includes a long tube buffer device 10, a cantilever manipulator device 20, a long tube processing device 30, a truss manipulator device 40, a single ear pre-fitting device 50, and a sleeve pre-fitting device 60, wherein the long tube buffer device 10 is used to buffer and continuously supply unprocessed cantilever tubes; the cantilever manipulator device 20 is arranged on the front side of the long tube buffer device 10, and is used to grab the cantilever tube from the long tube buffer device 10 and send it to the long tube processing device 30; the long tube processing device 30 is arranged on the right side of the long tube buffer device 10, and is used to drill and cut the cantilever tube Cutting and chamfering processing; the single ear pre-fitting device 50 is arranged on the right side of the long tube processing device 30, and is used for continuously supplying the single ear and completing the assembly of the single ear and the wrist arm tube; the sleeve pre-fitting device 60 is arranged on the rear side of the single ear pre-fitting device 50, and is used for continuously supplying the sleeve seat and the load-bearing cable seat, completing the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and conveying the finished aluminum wrist arm to the next station; the truss manipulator device 40 is arranged above the single ear pre-fitting device 50 and the sleeve pre-fitting device 60, and is used for transferring the wrist arm tube equipped with the single ear, tightening the sleeve seat and the wrist arm tube, and transferring the finished aluminum wrist arm to the next station.

[0036] In this embodiment, the aluminum arm production line includes a production line bottom skid placed on the bottom surface, and the long tube buffer device 10, cantilever manipulator device 20, long tube processing device 30, truss manipulator device 40, single ear pre-fitting device 50 and sleeve pre-fitting device 60 are placed on the production line bottom skid. A number of evenly spaced lifting ears are provided on the front and back sides of the production line bottom skid to facilitate the overall movement of the aluminum arm production line. In this embodiment, during production, first, the long tube buffer device 10 stores a number of arm tubes and continuously transports them to the production line. The cantilever manipulator device 20 grabs the arm tubes from the long tube buffer device 10 and transfers them to the long tube processing device 30 for drilling, cutting and chamfering. After cutting, the longer reusable waste is clamped by the cantilever manipulator device 20 and temporarily stored on the short tube support frame 22 of the cantilever manipulator device 20. The shorter waste is clamped by the cantilever manipulator device 20 and placed in the waste box 24 on the left side of the long tube processing device 30. The wrist arm tube processed by the long tube processing device 30 includes an oblique wrist arm and a flat wrist arm, which are transferred to the single ear pre-fitting device 50 through the single ear pre-fitting device 50, and single ears are installed on the oblique wrist arm and the flat wrist arm respectively, and the wrist arm tube with the single ear is clamped by the truss robot device 40 and transferred to the sleeve pre-fitting device 60, and the assembly of the sleeve seat and the load-bearing cable seat is completed, and finally the finished aluminum wrist arm is transferred to the finished product conveying device 69 by the truss robot device 40 and transferred to the next workstation.

[0037] The present embodiment provides an automatic production device for aluminum arms, which realizes the temporary storage of arm tubes, continuous loading, transportation to the arm tube processing device for punching, cutting, and chamfering, continuous loading, grabbing, and assembly of single ears, continuous loading, grabbing, and assembly of sleeve seats and load-bearing cable seats, and automated production of each link of the transportation of finished aluminum arms. In addition, the transfer of arm tubes and the grabbing and shifting of finished aluminum arms are operated by truss robots, which reduces the design avoidance problems caused by the need to avoid interference with ground components, makes the production line operation route simpler, and improves the efficiency of the production line operation.

[0038] Example 2:

[0039] Based on Example 1, Figure 2 As shown, the long tube cache device 10 includes a plurality of long tube cache racks 11, a plurality of long tube support devices 12 and a long tube rotation drive motor 13. The long tube support device 12 is arranged between adjacent long tube cache racks 11. The long tube support device 12 includes a supporting wheel and a supporting wheel lifting column. The supporting wheel lifting column is used to automatically adjust the height of the supporting wheel, and the supporting wheel is used to support and transport the wrist arm tube; the long tube cache rack 11 is provided with a plurality of parallel wrist arm tube storage brackets, and the long tube rotation drive motor 13 is connected to the long tube cache rack 11 for driving the long tube cache rack 11 to rotate, thereby continuously supplying the wrist arm tube. The adjacent long tube cache racks 11 are connected by a long tube transmission shaft 111 and a coupling 14, so that the long tube rotation drive motor 13 synchronously drives the long tube cache rack 11 to rotate.

[0040] In this embodiment, unprocessed longer wrist arm tubes are continuously stored on the long tube cache rack 11. When the wrist arm tubes on the long tube cache rack 11 are rotated and moved above the long tube support device 12, the height of the support wheel is adjusted by the support wheel lifting column so that the support wheel supports the wrist arm tube and facilitates the transfer of the wrist arm tube to the long tube processing device 30 for processing through the cantilever robot device 20.

[0041] Example 3:

[0042] On the basis of Example 1 or 2, refer to Figure 3 As shown, the cantilever manipulator device 20 includes a cantilever support frame 21, and a plurality of short tube support frames 22 are arranged below the cantilever support frame 21. A cantilever manipulator body 23 is installed on the cantilever support frame 21. The cantilever manipulator body 23 can move laterally and longitudinally relative to the cantilever support frame 21. The cantilever manipulator body 23 includes a cantilever clamp 2346, and the cantilever clamp 2346 is used to clamp the wrist arm tube. The cantilever clamp 2346 as a whole can move longitudinally and move up and down.

[0043] Further, refer to Figures 4 to 6As shown, the cantilever manipulator body 23 includes a cantilever beam 231, and a cantilever manipulator transverse driving assembly 232 is installed on the cantilever beam 231. The cantilever manipulator transverse driving assembly 232 is used to drive the cantilever manipulator body 23 as a whole to move laterally along the cantilever support frame 21. The cantilever manipulator transverse driving assembly 232 includes a cantilever seat plate 2321 installed on the bottom surface of the cantilever beam 231, and a cantilever transverse motor 2322 is installed on the cantilever seat plate 2321. The output shaft of the cantilever transverse motor 2322 faces downward and extends out of the cantilever seat plate 2321. The lower end of the output shaft of the cantilever transverse motor 2322 is fixedly installed with a cantilever transverse gear 2323, and a cantilever transverse rack is installed on the upper end surface of the cantilever support frame 21. The cantilever transverse gear 2323 and the cantilever transverse rack are mutually matched and connected.

[0044] In this embodiment, when the cantilever manipulator body 23 moves laterally along the cantilever support frame 21 , the cantilever transverse movement click 2322 rotates, driving the cantilever transverse movement gear 2323 to rotate, thereby driving the cantilever manipulator body 23 to move laterally along the cantilever support frame 21 .

[0045] Furthermore, cantilever transverse guide bars are installed at intervals in the front and rear on the upper end surface of the cantilever support frame 21, and cantilever transverse guide wheels 2324 are installed on the lower end surface of the cantilever seat plate 2321 at positions outside the two cantilever transverse guide bars, and the cantilever transverse guide wheels 2324 are movably connected with the cantilever transverse guide bars in cooperation with each other.

[0046] In this embodiment, the setting of the cantilever transverse movement guide bar and the cantilever transverse movement guide wheel 2324, on the one hand, guides the transverse movement of the cantilever manipulator body 23, and on the other hand, limits the connection between the cantilever manipulator body 23 and the cantilever support frame 21.

[0047] Furthermore, the outer cover of the cantilever transverse guide wheel 2324 is provided with a cantilever transverse guide wheel cover 2325.

[0048] Furthermore, the cantilever transverse guide bar and the cantilever transverse rack are an integrated structure, that is, the inner side of the cantilever transverse rack is a toothed rack structure, and the outer side is a guide bar structure that matches the cantilever transverse guide wheel 2324. This arrangement saves more parts and makes the structure more compact.

[0049] Furthermore, a cantilever manipulator longitudinal movement drive assembly 233 is installed on the cantilever crossbeam 231, and the cantilever manipulator longitudinal movement drive assembly 233 is used to drive the cantilever manipulator body 23 to move longitudinally. The cantilever manipulator longitudinal movement drive assembly 233 includes a cantilever longitudinal movement motor 2331 installed on the cantilever seat plate 2321, and the output shaft of the cantilever longitudinal movement motor 2331 faces upward and passes through the cantilever seat plate 2321. A cantilever longitudinal movement gear 2332 is fixedly installed on the upper end of the output shaft of the cantilever longitudinal movement motor 2331, and a cantilever longitudinal movement rack 2333 is installed on the lower end surface of the cantilever crossbeam 231 at a position between the upper end surface of the cantilever seat plate 2321, and the cantilever longitudinal movement gear 2332 and the cantilever longitudinal movement rack 2333 are engaged with each other.

[0050] In this embodiment, when the cantilever manipulator body 23 moves longitudinally relative to the cantilever support frame 21, the cantilever longitudinal movement motor 2331 rotates, driving the cantilever longitudinal movement gear 2332 to rotate, thereby driving the cantilever seat plate 2321 to move longitudinally. Since the front and rear positions of the cantilever seat plate 2321 and the cantilever support frame 21 are limited, the cantilever manipulator body 23 is driven to move longitudinally as a whole.

[0051] Furthermore, cantilever longitudinal movement guide bars are installed at intervals on the left and right sides of the lower end surface of the cantilever beam 231, and cantilever longitudinal movement guide wheels 2334 are respectively installed on the upper surface of the cantilever seat plate 2321 at positions outside the two cantilever longitudinal movement guide bars, and the cantilever longitudinal movement guide bars and the cantilever longitudinal movement guide wheels 2334 are connected to each other in a coordinated manner.

[0052] In this embodiment, the setting of the cantilever longitudinal movement guide bar and the cantilever longitudinal movement guide wheel 2334, on the one hand, guides the longitudinal movement of the cantilever manipulator body 23, and on the other hand, the connection between the cantilever seat plate 2321 and the cantilever beam 231 plays a limiting role.

[0053] Furthermore, the outer cover of the cantilever longitudinal guide wheel 2334 is provided with a cantilever longitudinal guide wheel cover.

[0054] Furthermore, the cantilever longitudinal movement guide bar and the cantilever longitudinal movement rack 2333 are integrated structures, that is, the inner side of the cantilever longitudinal movement rack 2333 is a toothed rack structure, and the outer side is a guide bar matching the cantilever longitudinal movement guide wheel 2334. This arrangement saves more parts and has a more compact structure.

[0055] Furthermore, a manipulator grasping assembly 234 is installed on the cantilever beam 231, and the manipulator grasping assembly 234 includes a cantilever lifting column 2341 installed at one end of the cantilever beam 231, and a cantilever connecting aluminum profile 2342 is installed at the lower end of the cantilever connecting aluminum profile 2342, and a cantilever clamp longitudinal movement cylinder 2343 is installed at the lower end of the cantilever clamp longitudinal movement cylinder 2343, and the movable end of the cantilever clamp longitudinal movement cylinder 2343 is fixedly connected to a cantilever clamp fixing plate 2344, and cantilever clamp cylinders 2345 are respectively installed at the left and right ends of the cantilever clamp fixing plate 2344, and the output ends of the front and rear ends of the cantilever clamp cylinder 2345 are respectively connected to cantilever clamps 2346.

[0056] In this embodiment, the cantilever clamp longitudinal movement cylinder 2343 is used to drive the cantilever clamp fixing plate 2344 to move longitudinally, thereby driving the cantilever clamp 2346 to move longitudinally as a whole; the cantilever clamp cylinder 2345 is used to drive the cantilever clamps 2346 to move closer to each other to clamp the wrist-arm tube, and move away from each other to release the wrist-arm tube.

[0057] Furthermore, a cantilever manipulator lifting assembly 235 is installed between the cantilever beam 231 and the cantilever lifting column 2341. The cantilever manipulator lifting assembly 235 includes a cantilever lifting connecting plate 2351 fixedly installed on the end of the cantilever beam 231 and movably connected to the cantilever lifting column 2341. A cantilever lifting motor 2352 is installed on the cantilever lifting connecting plate 2351. The output shaft of the cantilever lifting motor 2352 passes through the cantilever lifting connecting plate 2351 and a cantilever lifting gear 2353 is fixedly installed on the end. A cantilever lifting rack 2354 is installed on the cantilever lifting column 2341. The cantilever lifting gear 2353 and the cantilever lifting rack 2354 are engaged with each other.

[0058] Furthermore, the cantilever lifting connecting plate 2351 and the cantilever lifting column 2341 are movably connected through a guide rail and a slider.

[0059] Example 4:

[0060] Based on any of the above embodiments, Figure 7As shown, the long tube processing device 30 includes a carpal-arm tube processing box 31, and a sawing assembly 35, a drilling machine 33 and a chamfering machine 34 are provided on the upper end surface of the carpal-arm tube processing box 31. The sawing assembly 35 is arranged at the left end portion of the carpal-arm tube processing box 31, and is used to cut the carpal-arm tube; the left and right sides of the sawing assembly 35 are respectively provided with sawing and pressing assemblies 32, and the sawing and pressing assemblies 32 are used to press and fix the carpal-arm tube, so as to facilitate the sawing assembly 35 to cut the carpal-arm tube; the drilling machine 33 is arranged on the front and rear sides of the right side of the sawing assembly 35, and is used to drill a through hole at the end of the carpal-arm tube; the chamfering machine 34 can move forward and backward relative to the carpal-arm tube processing box 31, and is used to chamfer the end of the carpal-arm tube.

[0061] In this embodiment, the position of the sawing and pressing assembly 32 matches the position of the long tube support device 12 in the long tube buffer device 10; the left end of the arm tube from the long tube buffer device 10 is clamped by the cantilever manipulator device 20 and sent to the sawing and pressing assembly 32 in the long tube processing device 30. After being clamped and fixed by the sawing and pressing assembly 32, the arm tube is cut by the sawing assembly 35; the arm tube on the left side of the sawing assembly 35 is clamped and removed by the cantilever manipulator device 20, and the right end of the arm tube on the right side of the sawing assembly 35 is mounted on the fixed length fixed support wheel assembly 511 in the single ear pre-matching device 50 and is clamped and moved to the right by the tube dragging manipulator 512. The drilling machine 33 is used to drill a through hole at the end of the arm tube, and the chamfering machine 34 is used to chamfer the end of the arm tube.

[0062] Further, refer to Figure 8 As shown, the sawing and pressing assembly 32 includes a sawing and pressing base plate 321 installed on the upper end of the wrist-arm tube processing box 31, and a sawing and pressing support block 322 is installed on the upper end of the sawing and pressing base plate 321. The upper end surface of the sawing and pressing support block 322 is provided with a V-shaped groove for supporting the wrist-arm tube. A sawing and pressing seat 323 is installed on one side of the upper end of the sawing and pressing base plate 321, and a sawing and pressing cylinder 325 is rotatably installed on the other side. The upper end of the sawing and pressing seat 323 is rotatably connected to one end of the sawing and pressing rod 324, and the other end of the sawing and pressing rod 324 is rotatably connected to the output rod of the sawing and pressing cylinder 325.

[0063] In this embodiment, the output rod of the sawing and pressing cylinder 325 contracts downward, driving the rear end of the sawing and pressing rod 324 to move downward, thereby compressing the wrist-arm tube on the sawing and pressing support block 322; the output rod of the sawing and pressing cylinder 325 extends upward, driving the rear end of the sawing and pressing rod 324 to lift, thereby releasing the wrist-arm tube on the sawing and pressing support block 322. The bottom end of the sawing and pressing cylinder 325 is rotatably connected to the sawing and pressing base plate 321. When the rear end of the sawing and pressing rod 324 moves up and down, the sawing and pressing cylinder 325 is allowed to form a certain angle with the sawing and pressing base plate 321, thereby preventing the output rod of the sawing and pressing cylinder 325 from getting stuck.

[0064] Furthermore, the sawing assembly 35 includes a sawing lifting cylinder bracket 352 installed on the wrist-arm tube processing box 31, and a sawing motor support seat 351 is slidably installed on one side of the sawing lifting cylinder bracket 352. One end of the sawing lifting cylinder 353 is fixedly connected to the sawing lifting cylinder bracket 352, and the other end is fixedly connected to the sawing motor support seat 351. A sawing motor 354 is installed on the sawing motor support seat 351, and the output shaft of the sawing motor 354 is fixedly connected to the saw blade 355.

[0065] In this embodiment, the output rod of the sawing lifting cylinder 353 extends downward, driving the sawing motor support seat 351 to descend, thereby driving the saw blade 355 to descend, so as to make way for the wrist-arm tube to extend into the long tube processing device 30; when cutting the wrist-arm tube, the output rod of the sawing lifting cylinder 353 retracts upward, driving the sawing motor support seat 351 to rise, thereby driving the saw blade 355 to rise, and at the same time, the sawing motor 354 drives the saw blade 355 to rotate, thereby realizing the cutting of the wrist-arm tube by the saw blade 355.

[0066] Furthermore, a drilling chip cover 36 is provided on the wrist-arm tube processing box 31 between the drill bits of the two drilling machines 33 to prevent the splashing of debris generated by drilling, so that the debris generated by drilling falls into the debris box inside the wrist-arm tube processing box 31.

[0067] Furthermore, a chip-dropping hole 311 is provided on the wrist-arm tube processing box 31 , so that the chips generated by chamfering by the chamfering machine 34 fall into the chip box inside the wrist-arm tube processing box 31 through the chip-dropping hole 311 .

[0068] Furthermore, a chamfering chip shield 36 is provided on the wrist-arm tube processing box 31 at a position on the left side of the processing chip-falling hole 311 to prevent the chips generated by the chamfering from splashing to the drilling machine.

[0069] Example 5:

[0070] Based on any of the above embodiments, Figure 9As shown, the truss manipulator device 40 includes a truss bracket 41, and three truss manipulator mounting assemblies 42 are mounted on the truss bracket 41. The truss manipulator mounting assembly 42 can move laterally relative to the truss bracket 41. The truss manipulator mounting assembly 42 includes a truss manipulator beam 421 and a truss lifting column 4251. The truss lifting column 4251 can move longitudinally and up and down relative to the truss manipulator beam 421. From left to right, the bottom ends of the truss lifting columns 4251 of the three truss manipulator mounting assemblies 42 are respectively installed with a truss pipe moving assembly 45, a truss blanking assembly 44 and a truss torque fixing assembly 43.

[0071] In this embodiment, the truss support 41 includes truss columns, truss cross-support beams, and truss longitudinal beams. The truss cross-support beams and truss longitudinal beams enclose a square truss upper frame. The truss columns are used to support the truss upper frame, allowing it to be installed above the single-ear pre-fitting device 50 and the sleeve pre-fitting device 60. The truss manipulator mounting assembly 42 is installed between the two truss cross-support beams and can move laterally along the truss cross-support beams. The truss manipulator mounting assembly 42 adopts a universal modular design. According to the requirements of the production line, a corresponding number of truss manipulator mounting assemblies 42 can be installed on the truss support 41, and a corresponding truss manipulator can be installed at the lower end of the truss lifting column 4251. In this embodiment, the truss tube transfer assembly 45 is used to transfer the wrist arm tube installed with a single ear in the single ear pre-fitting device 50 to the sleeve pre-fitting device 60 for assembly of the sleeve seat and the load-bearing cable seat; the truss torque fixing assembly 43 is used to tighten the tightening bolts on the sleeve seat or the load-bearing cable seat, thereby fixing the sleeve seat or the load-bearing cable seat to the wrist arm tube; the truss blanking assembly 44 is used to transfer the wrist arm tube installed with the sleeve seat, the load-bearing cable seat and the single ear, that is, the finished aluminum wrist arm to the finished product conveying device 69.

[0072] This embodiment uses a truss manipulator to perform the operations of transferring, torsion fixing and unloading the wrist-arm tube, reducing the design avoidance issues due to the need to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of the production line operation.

[0073] Example 6:

[0074] Based on Example 5, Figure 10As shown, the two ends of the truss manipulator beam 421 of the truss manipulator mounting assembly 42 are respectively installed with a truss connecting side plate I4221 and a truss connecting side plate II4222, a truss manipulator transverse driving motor 4231 is installed on the truss manipulator beam 421, and the truss connecting side plate I4221 and the truss connecting side plate II4222 are respectively rotatably connected with a truss manipulator transverse gear 4233, the bidirectional output rod of the truss transverse driving motor 4231 is respectively fixedly connected to the two truss manipulator transverse gears 4233, a truss manipulator transverse rack is installed on the truss bracket 41, and the truss manipulator transverse gear 4233 is engaged with the truss manipulator transverse rack.

[0075] Furthermore, truss guide bars are provided at the upper and lower ends of the truss cross support beam of the truss bracket 41, and truss transverse guide wheels 4234 that match the truss guide bars are provided on the outer surfaces of the truss connecting side panels I4221 and the truss connecting side panels II4222, and the truss transverse guide wheels 4234 are cooperatively connected with the truss guide bars.

[0076] In this embodiment, after the truss manipulator mounting assembly 42 is installed between the truss cross-support beams of the truss bracket 41, the truss connecting side plate I4221 and the truss connecting side plate II4222 are placed on the inner sides of the two truss cross-support beams, and the truss manipulator transverse gear 4233 is meshed with the truss manipulator transverse rack. At this time, the truss transverse guide wheel 4234 is mutually connected with the truss guide bars at the upper and lower ends of the truss cross-support beam. When the truss manipulator mounting assembly 42 is moved transversely as a whole, the truss transverse drive motor 4231 rotates, driving the truss manipulator transverse gear 4233 to rotate, thereby causing the truss manipulator mounting assembly 42 to move transversely as a whole. The provision of the truss guide bar and the truss transverse guide wheel 4234, on the one hand, guides the movement of the truss manipulator mounting assembly 42, and on the other hand, limits the connection between the truss manipulator mounting assembly 42 and the truss cross-support beam.

[0077] Furthermore, a truss manipulator longitudinal movement plate is slidably installed on the truss manipulator beam 421 through guide rails and sliders, and the truss lifting column 4251 is installed on the truss manipulator longitudinal movement plate, and a truss longitudinal movement motor 4241 is installed on the truss manipulator longitudinal movement plate, and the output shaft of the truss longitudinal movement motor 4241 extends downward from the truss manipulator longitudinal movement plate and a truss longitudinal movement gear 4242 is installed on the end, and a truss longitudinal movement rack 4243 is installed on the truss manipulator beam 421, and the truss longitudinal movement gear and the truss longitudinal movement rack 4243 are engaged with each other. The rotation of the truss longitudinal movement motor 4241 drives the truss longitudinal movement gear 4242 to rotate, thereby driving the truss lifting column 4251 to move longitudinally along the truss manipulator beam 421.

[0078] Furthermore, the truss lifting column 4251 is slidably connected to the truss longitudinal movement plate through guide rails and sliders, and a truss lifting motor 4252 is installed on the longitudinal movement plate of the truss manipulator, and a truss lifting gear 4253 is installed at the end of the output shaft of the truss lifting motor 4252, and a truss lifting rack 4254 is installed on the truss lifting column 4251, and the truss lifting gear 4253 and the truss lifting rack 4254 are engaged with each other. The rotation of the truss lifting motor 4252 drives the truss lifting gear 4253 to rotate, thereby driving the truss lifting column 4251 to move up and down relative to the truss manipulator beam 421.

[0079] Example 7:

[0080] On the basis of Example 5 or 6, refer to Figure 11 As shown, the truss torque assembly 43 includes a truss tightening plate 431 installed at the bottom end of the truss lifting column 4251, two truss tightening motors 432 installed on the truss tightening plate 431, and a truss tightening sleeve 433 fixedly connected to the output shaft of the truss tightening motor 432, and the truss tightening sleeve 433 is placed below the truss tightening plate 431.

[0081] In this embodiment, the truss torque fixing assembly 43 is moved to above the sleeve seat and / or the load-bearing cable seat installed on the wrist arm tube, and the truss tightening sleeve 433 is sleeved on the outside of the tightening bolt at the upper end of the sleeve seat or the load-bearing cable seat, and the truss tightening motor 432 is started, so that the output shaft of the truss tightening motor 432 drives the truss tightening sleeve 433 to rotate, thereby tightening the tightening bolt at the upper end of the sleeve seat or the load-bearing cable seat, and then fixing the sleeve seat or the load-bearing cable seat to the wrist arm tube.

[0082] Example 8:

[0083] On the basis of any one of Examples 5 to 7, the truss unloading assembly 44 includes a truss unloading fixing plate 441 fixedly mounted on the bottom end of the truss lifting column 4251, and a truss unloading profile 442 is installed at the lower end of the truss unloading fixing plate 441, and a finished product clamping cylinder 443 is installed at one end and below the middle of the truss unloading profile. The finished product clamping cylinder 443 is used to drive the two finished product clamping jaws 444 to approach each other to clamp the wrist arm tube and move away from each other to release the wrist arm tube. The other end of the truss unloading profile 442 is installed with a finished product lifting cylinder connecting plate 4451, and the bottom end of the finished product lifting cylinder connecting plate 4451 is installed with a finished product lifting cylinder 4454, and the finished product lifting cylinder moving platform 4455 of the finished product lifting cylinder 4454 is fixedly connected to the unloading vertical plate 4452, and the bottom end of the unloading vertical plate 4452 is vertically installed with an unloading support plate 4453.

[0084] Furthermore, the bottom end of the finished product lifting cylinder connecting plate 4451 is located on both sides of the finished product lifting cylinder 4454, and the finished product cylinder guide blocks 4456 are respectively provided. The finished product cylinder guide blocks 4456 are installed on the unloading vertical plate 4452 on both sides of the finished product lifting cylinder moving platform 4455. The finished product lifting cylinder 4454 is respectively provided with a finished product cylinder guide shaft 4457. One end of the finished product cylinder guide shaft 4457 is fixedly connected to the finished product cylinder guide block 4456 on the unloading vertical plate 4452, and the other end is slidably connected to the finished product cylinder guide block 4456 on the finished product lifting cylinder connecting plate 4451.

[0085] In this embodiment, the finished product clamping claw 444 is used to clamp and fix the flat arm of the finished aluminum arm, and the blanking support plate 4453 is used to support the oblique arm of the finished aluminum arm. The position of the blanking support plate 4453 can be moved forward and backward. During movement, the output rod of the finished product lifting cylinder 4454 extends, pushing the finished product lifting cylinder moving platform 4455 backward, thereby pushing the blanking vertical plate 4452 and the blanking support plate 4453 backward, so as to adjust to a suitable distance to support the oblique arm, thereby facilitating the transfer of the finished aluminum arm to the finished product conveying device 69. The provision of the finished product cylinder guide block 4456 and the finished product cylinder guide shaft 4457, on the one hand, increases the stability of the movable connection between the blanking vertical plate 4452 and the finished product lifting cylinder connecting plate 4451, and on the other hand, makes the movement of the blanking support plate 4453 more stable and smooth.

[0086] Example 9:

[0087] Based on any one of Examples 5 to 8, Figure 13 As shown, the truss pipe transfer assembly 45 includes a pipe transfer transition plate 451 fixedly installed on the bottom end of the truss lifting column 4251, and a pipe transfer connecting profile 452 is installed at the bottom end of the pipe transfer connecting profile 452. A pipe transfer beam 453 is installed at the lower end of the pipe transfer beam 453, and the bottom end surfaces of the two ends of the pipe transfer beam 453 are respectively installed with pipe transfer claw cylinders 454. The pipe transfer claw cylinders 454 drive the two pipe transfer claws 455 to approach each other to clamp and fix the wrist arm tube, and move away from each other to release the wrist arm tube.

[0088] Example 10:

[0089] Based on any of the above embodiments, Figure 14As shown, the single-ear pre-fitting device 50 includes a wrist-arm tube fixed-length support device 51, a single-ear buffer conveying device 52, a single-ear assembling device 53 and a single-ear grasping manipulator 54. The wrist-arm tube fixed-length support device 51 is used to receive the wrist-arm tube processed by the long tube processing device 30 and support it; the single-ear buffer conveying device 52 is arranged in front of the wrist-arm tube fixed-length support device 51, and is used to continuously supply a single ear by means of a rotary motion; the single-ear grasping manipulator 54 is arranged on the right side of the single-ear buffer conveying device 52 The single-ear assembly device 53 is arranged between the wrist-arm tube fixed-length support device 51 and the single-ear buffer conveying device 52; the truss manipulator device 40 transfers the wrist-arm tube in the wrist-arm tube fixed-length support device 51 to the single-ear assembly device 53, and the single-ear grasping manipulator 54 grasps the single ear on the single-ear buffer conveying device 52, and transfers the single ear to the single-ear assembly device 53, so that the wrist-arm tube passes through the single ear, and the bolts on the single ear are tightened by the single-ear assembly device 53, thereby fixing the single ear to the wrist-arm tube.

[0090] Furthermore, the wrist-arm tube fixed-length support device 51 includes a tube-dragging robot 512 and a plurality of fixed-length fixed support wheel assemblies 511 arranged laterally at intervals. The long fixed support wheel assembly 511 is used to support and transport the processed wrist-arm tube from the long tube processing device 30; the tube-dragging robot 512 is used to clamp and fix the upper half of the right end of the wrist-arm tube and drag the wrist-arm tube to the right so that it is placed on the fixed-length fixed support wheel assembly 511.

[0091] Further, refer to Figure 15 As shown, the single-ear assembly device 53 includes a single-ear pre-fitted push head assembly 531 movably mounted on the ground rail, a plurality of single-ear pre-fitted pressure wheel assemblies 532 arranged at intervals in the horizontal direction, and a single-ear tightening device 533. The single-ear pre-fitted pressure wheel assembly 532 is used to support the wrist-arm tube from the wrist-arm tube fixed-length support device 51 and can compress and fix the wrist-arm tube; the single-ear pre-fitted push head assembly 531 can move laterally relative to the ground rail I, and is used to clamp and fix the left end of the wrist-arm tube placed on the single-ear pre-fitted pressure wheel assembly 532 and drive the wrist-arm tube to move left and right; the single-ear tightening device 533 can move laterally relative to the ground rail I, and is used to tighten the two bolts at the lower end of the single ear mounted on the wrist-arm tube, thereby fixing the position of the single ear and the wrist-arm tube.

[0092] Example 11:

[0093] Based on Example 10, Figure 16As shown, the single-ear pre-assembled push head assembly 531 includes a single-ear push head base 5311 movably mounted on the ground rail, a single-ear push head transverse movement motor 5312 is fixedly mounted on the single-ear push head base 5311, the output shaft of the single-ear push head transverse movement motor 5312 extends downwardly out of the single-ear push head base 5311 and a single-ear push head transverse movement gear is mounted on the end of the output shaft, and the single-ear push head transverse movement gear is meshed with the rack on the ground rail; a single-ear push head column 5313 is mounted on the single-ear push head base 5311, and the single-ear push head column 531 3 is provided with a single-ear push head cylinder 5314 on the upper end, a single-ear push head clamp mounting plate 5315 is fixedly provided on the movable end of the single-ear push head cylinder 5314, a single-ear push head clamp rotating cylinder 5316 is provided on the single-ear push head clamp mounting plate 5315, an output end of the single-ear push head clamp rotating cylinder 5316 is fixedly connected with a single-ear push head clamp cylinder 5317, and the single-ear push head clamp rotating cylinder 5316 is used to control the single-ear push head clamps 5318 to retract to each other to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube.

[0094] In this embodiment, when the single-ear pre-matched push head assembly 531 is working, the single-ear push head transverse movement motor 5312 rotates to drive the single-ear pre-matched push head assembly 531 to move left and right along the ground rail I to the target position, and the single-ear push head clamping cylinder 5316 controls the single-ear push head clamping cylinder 5318 to retract each other to clamp and fix the wrist arm tube, and the single-ear push head transverse movement motor 5312 drives the single-ear pre-matched push head assembly 531 to continue to move transversely, so that the right end of the wrist arm tube is inserted into the single ear, and continues to move transversely to the target position and stops; the single-ear push head cylinder 53 14 can drive the single-ear push head clamp mounting plate 5315 to continue to move horizontally for a certain distance to adjust the relative position of the single ear and the wrist arm tube. The single-ear push head clamp rotary cylinder 5316 can drive the single-ear push head clamp cylinder 5317 to rotate and swing, thereby driving the wrist arm tube to rotate around its own axis to adjust the orientation of the single ear so that the bolt of the single ear faces downward, and then the wrist arm tube is pressed and fixed by the single-ear pre-fitted clamping wheel assembly 532, so that the single-ear tightening device 533 can tighten the bolt on the single ear from below.

[0095] Example 12:

[0096] On the basis of Example 10 or 11, refer to Figure 17As shown, the single-ear tightening device 533 includes a single-ear tightening base plate 5331 movably mounted on the ground rail, a single-ear tightening transverse motor 5332 is mounted on the single-ear tightening base plate 5331, the output shaft of the single-ear tightening transverse motor 5332 extends downwardly from the single-ear tightening base plate 5331 and the end thereof is fixedly connected to a single-ear tightening transverse gear 5333, the single-ear tightening transverse gear 5333 and the rack on the ground rail are meshed with each other; the single-ear tightening support plate 5331 is mounted on the single-ear tightening base plate 5331 334. A single-ear tightening lifting cylinder 5335 is installed on the single-ear tightening support plate 5334. The output rod of the single-ear tightening lifting cylinder 5335 faces upward and the end is fixedly connected to a single-ear tightening shaft mounting plate 5336. A single-ear tightening shaft base plate 5337 is installed on the single-ear tightening shaft mounting plate 5336. Two single-ear tightening motors 5338 arranged in parallel are installed on the single-ear tightening shaft base plate 5337. The output shaft of the single-ear tightening motor 5338 faces upward and a single-ear tightening sleeve is installed on the end.

[0097] In this embodiment, when the single-ear tightening device 533 is working, the single-ear tightening transverse movement motor 5332 rotates to drive the single-ear tightening device 533 to move transversely along the ground rail I to the bottom of the single ear installed on the wrist arm tube, and the output rod of the single-ear tightening lifting cylinder extends upward, driving the single-ear tightening motor 5338 to move upward. At the same time, the single-ear tightening electric 5338 is started, driving the single-ear tightening sleeve 5339 to rotate, so that the single-ear tightening device 533 tightens the bolt at the lower end of the single ear from bottom to top below the single ear.

[0098] Example 13:

[0099] Based on any one of Examples 10 to 12, Figure 18 As shown, the single-ear grabbing manipulator 54 includes a single-ear grabbing manipulator base plate 541 movably mounted on the ground rail II, a single-ear manipulator motor 542 is mounted on the single-ear grabbing manipulator base plate 541, the output shaft of the single-ear manipulator motor 542 extends downward from the single-ear grabbing manipulator base plate 541 and the end thereof is fixedly connected to a single-ear manipulator gear, the single-ear manipulator gear is meshed with the rack on the ground rail II; a single-ear grabbing column 543 is mounted on the single-ear grabbing manipulator 541, and a single-ear grabbing column 543 is mounted on one side of its upper end. A single-ear grabbing and longitudinal movement cylinder 544, a single-ear grabbing and lifting cylinder connecting plate 546 is fixedly installed on the single-ear grabbing and longitudinal movement cylinder slide plate 545 of the single-ear grabbing and longitudinal movement cylinder 544, at least two single-ear grabbing and lifting cylinders 547 are installed on the single-ear grabbing and lifting cylinder connecting plate 546, a single-ear clamping cylinder 549 is fixedly installed on the lower end of the single-ear lifting cylinder slide 548 of the single-ear grabbing and lifting cylinder 547, and the single-ear clamping cylinder 549 is used to control the two single-ear clamping claws 5491 to approach each other to clamp the single ear and move away from each other to release the single ear.

[0100] In this embodiment, when the single-ear grabbing manipulator 54 is working, the single-ear manipulator motor 542 rotates to drive the single-ear grabbing manipulator 54 to move horizontally to the left side of the single-ear buffer conveying device 52, and the single-ear grabbing longitudinal movement cylinder 544 is used to adjust the front and rear positions of the single-ear clamping claw 5491. The single-ear grabbing lifting cylinder 547 is used to adjust the height of the single-ear clamping claw 5491 so that the single-ear clamping claw 5491 is in a suitable position to facilitate grabbing the single ear. The single-ear clamping cylinder 549 is used to control the single-ear clamping claws 5491 to move closer to each other. The single ear is clamped and fixed, and then the single ear gripping lifting cylinder 547 is used to control the single ear clamping claw 5491 holding the single ear to rise, and then the single ear manipulator motor 542, the single ear gripping longitudinal movement cylinder 544, and the single ear gripping lifting cylinder 547 are used to control the single ear clamping claw 5491 to move to a suitable position so that the wrist arm tube can smoothly pass through the single ear, and then the single ear pre-fitted clamping wheel assembly 532 is used to press and fix the wrist arm tube, so that it is convenient for the single ear tightening device 533 to tighten the bolts on the single ear from below.

[0101] Example 14:

[0102] Based on any of the above embodiments, Figures 19 to 22 As shown, the sleeve pre-matching device 60 includes a sleeve seat buffer conveying device 61, a load-bearing cable seat buffer conveying device 62, a flat arm pushing device 63, an oblique arm pushing device 64, a sleeve pre-parts manipulator 65, a sleeve bearing positioning assembly device 66, a sleeve pre-ground rail tightening device 67, a guide cone manipulator device 68, and a finished product conveying device 69. The sleeve seat buffer conveying device 61 and the load-bearing cable seat buffer conveying device 62 are arranged in parallel horizontally, and are respectively used to continuously supply the sleeve seat and the load-bearing cable seat in a rotary motion; the front of the sleeve seat buffer conveying device 61 is sequentially provided with ground rail III and ground rail IV from back to front, and the flat arm pushing device 63 is arranged on the ground rail III and It can move laterally relative to the ground rail III, and is used to clamp and push the flat arm; the oblique arm pushing device 64 is arranged on the ground rail IV and can move laterally relative to the ground rail IV, and is used to clamp and push the oblique arm; the pre-part manipulator 65 is used to clamp the sleeve seat on the sleeve seat cache conveying device 61 and the load-bearing cable seat on the load-bearing cable seat cache conveying device 62 and place them on the sleeve bearing positioning assembly device 66, and the guide cone manipulator device 68 is used to install the guide cone on the end of the flat arm or the oblique arm to locate the position of the flat arm or the oblique arm; the pre-ground rail tightening device 67 is arranged below the sleeve bearing positioning assembly device 66, and is used to tighten the bolts at the lower end of the load-bearing cable seat.

[0103] The installation process of the sleeve seat and the bearing cable seat is as follows: first, the sleeve seat on the sleeve seat buffer conveying device 61 and the bearing cable seat on the bearing cable seat buffer conveying device 62 are clamped and placed on the sleeve bearing positioning assembly device 66 by the sleeve pre-parts manipulator 65, and the truss pipe transfer component 45 equipped with a single-ear flat arm or an oblique arm is grasped and transferred to the sleeve bearing positioning assembly device 66 by the truss manipulator device 40 and inserted into the sleeve seat and the bearing cable seat, and the guide cone manipulator device 68 moves to the sleeve bearing positioning assembly device 66. The right side of the mounting device 66 is used to install the guide cone on the right end of the flat arm or the oblique arm to position the flat arm or the oblique arm; then the bolts at the upper end of the sleeve seat and the upper end of the load-bearing cable seat are tightened and fixed by the truss fixed torque component 43 of the truss manipulator device 40, and the bolts at the lower end of the load-bearing cable seat are tightened by the pre-ground rail tightening device 67 to complete the assembly of the finished aluminum arm; finally, the finished aluminum arm is transferred to the finished product conveying device 69 by the truss blanking component 44 of the truss manipulator device 40.

[0104] It should be noted that the above detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which this application belongs.

[0105] It should be noted that the terms used herein are intended only to describe specific embodiments and are not intended to limit the exemplary embodiments described herein. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0106] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0107] In addition, the terms "comprises" and "comprising" and any variations thereof are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0108] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be subsequently positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways, such as rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0109] In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, similar symbols typically identify similar components, unless the context dictates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0110] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automatic production device for aluminum arms, characterized in that: The invention comprises a long tube buffer device (10), a cantilever manipulator device (20), a long tube processing device (30), a truss manipulator device (40), a single ear pre-fitting device (50), and a sleeve pre-fitting device (60). The long tube buffer device (10) is used to buffer and continuously supply unprocessed wrist arm tubes; the cantilever manipulator device (20) is arranged on the front side of the long tube buffer device (10) and is used to grab the wrist arm tube from the long tube buffer device (10) and send it to the long tube processing device (30); the long tube processing device (30) is arranged on the right side of the long tube buffer device (10) and is used to perform drilling, cutting, and chamfering on the wrist arm tube. The single ear pre-fitting device (50) is arranged on the right side of the long tube processing device (30), and is used to continuously supply the single ear and complete the assembly of the single ear and the wrist arm tube; the sleeve bearing pre-fitting device (60) is arranged on the rear side of the single ear pre-fitting device (50), and is used to continuously supply the sleeve seat and the load-bearing cable seat, complete the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and transport the finished aluminum wrist arm to the next station; the truss manipulator device (40) is arranged above the single ear pre-fitting device (50) and the sleeve bearing pre-fitting device (60), and is used to transfer the wrist arm tube equipped with the single ear, tighten and fix the sleeve seat and the wrist arm tube, and transfer the finished aluminum wrist arm to the next station.

2. The automatic production device for aluminum arms according to claim 1 is characterized in that: The long tube buffer device (10) comprises a plurality of long tube buffer racks (11), a plurality of long tube support devices (12) and a long tube rotary drive motor (13). The long tube support device (12) is arranged between adjacent long tube buffer racks (11). The long tube support device (12) comprises a supporting wheel and a supporting wheel lifting column. The supporting wheel lifting column is used to automatically adjust the height of the supporting wheel. The supporting wheel is used to support and transport the wrist arm tube. The long tube buffer rack (11) is provided with a plurality of wrist arm tube storage brackets arranged in parallel. The long tube rotary drive motor (13) is connected to the long tube buffer rack (11) and is used to drive the long tube buffer rack (11) to rotate, thereby continuously supplying the wrist arm tube. Adjacent long tube buffer racks (11) are connected via a long tube transmission shaft (111) and a coupling (14), so that the long tube rotary drive motor (13) synchronously drives the long tube buffer rack (11) to rotate.

3. The automatic production device for aluminum arms according to claim 1 is characterized in that: The cantilever manipulator device (20) comprises a cantilever support frame (21), a plurality of short tube support frames (22) are arranged below the cantilever support frame (21), a cantilever manipulator body (23) is installed on the cantilever support frame (21), the cantilever manipulator body (23) can move laterally and longitudinally relative to the cantilever support frame (21), the cantilever manipulator body (23) comprises a cantilever clamp (2346), the cantilever clamp (2346) is used to clamp the wrist arm tube, and the cantilever clamp (2346) as a whole can move longitudinally and move up and down; Preferably, the cantilever manipulator body (23) comprises a cantilever crossbeam (231), a cantilever manipulator transverse driving assembly (232) is mounted on the cantilever crossbeam (231), the cantilever manipulator transverse driving assembly (232) is used to drive the cantilever manipulator body (23) as a whole to move transversely along the cantilever support frame (21), and the cantilever manipulator transverse driving assembly (232) comprises a cantilever seat plate (2321) mounted on the bottom surface of the cantilever crossbeam (231). ), a cantilever lateral movement motor (2322) is installed on the cantilever seat plate (2321), the output shaft of the cantilever lateral movement motor (2322) faces downward and extends out of the cantilever seat plate (2321), a cantilever lateral movement gear (2323) is fixedly installed on the lower end of the output shaft of the cantilever lateral movement motor (2322), a cantilever lateral movement rack is installed on the upper end surface of the cantilever support frame (21), and the cantilever lateral movement gear (2323) and the cantilever lateral movement rack are mutually matched and connected; Preferably, cantilever transverse guide strips are installed at intervals on the upper end surface of the cantilever support frame (21), and cantilever transverse guide wheels (2324) are installed on the lower end surface of the cantilever seat plate (2321) at positions outside the two cantilever transverse guide strips, respectively, and the cantilever transverse guide wheels (2324) are movably connected to the cantilever transverse guide strips in cooperation with each other; Preferably, a cantilever manipulator longitudinal movement driving assembly (233) is installed on the cantilever cross beam (231), and the cantilever manipulator longitudinal movement driving assembly (233) is used to drive the cantilever manipulator body (23) to move longitudinally, and the cantilever manipulator longitudinal movement driving assembly (233) includes a cantilever longitudinal movement motor (2331) installed on the cantilever seat plate (2321), the output shaft of the cantilever longitudinal movement motor (2331) faces upward and passes through the cantilever seat plate (2321), and a cantilever longitudinal movement gear (2332) is fixedly installed on the upper end of the output shaft of the cantilever longitudinal movement motor (2331), and a cantilever longitudinal movement rack (2333) is installed on the lower end surface of the cantilever cross beam (231) at a position between the upper end surface of the cantilever seat plate (2321), and the cantilever longitudinal movement gear (2332) and the cantilever longitudinal movement rack (2333) are meshed with each other; Preferably, cantilever longitudinal movement guide strips are installed at intervals on the left and right sides of the lower end surface of the cantilever cross beam (231), and cantilever longitudinal movement guide wheels (2334) are installed on the upper surface of the cantilever seat plate (2321) at positions outside the two cantilever longitudinal movement guide strips, respectively, and the cantilever longitudinal movement guide strips and the cantilever longitudinal movement guide wheels (2334) are connected to each other in a coordinated manner; Preferably, a manipulator grasping assembly (234) is installed on the cantilever beam (231), and the manipulator grasping assembly (234) includes a cantilever lifting column (2341) installed at one end of the cantilever beam (231), a cantilever connecting aluminum profile (2342) is installed at the lower end of the cantilever connecting aluminum profile (2342), a cantilever clamping claw longitudinal movement cylinder (2343) is installed at the lower end of the cantilever connecting aluminum profile (2342), the movable end of the cantilever clamping claw longitudinal movement cylinder (2343) is fixedly connected to a cantilever clamping claw fixing plate (2344), the left and right ends of the cantilever clamping claw fixing plate (2344) are respectively installed with cantilever clamping claw cylinders (2345), and the output ends of the front and rear ends of the cantilever clamping claw cylinder (2345) are respectively connected to cantilever clamping claws (2346); Preferably, a cantilever manipulator lifting assembly (235) is installed between the cantilever cross beam (231) and the cantilever lifting column (2341), and the cantilever manipulator lifting assembly (235) includes a cantilever lifting connecting plate (2351) fixedly installed on the end of the cantilever cross beam (231) and movably connected to the cantilever lifting column (2341), a cantilever lifting motor (2352) is installed on the cantilever lifting connecting plate (2351), the output shaft of the cantilever lifting motor 2352 passes through the cantilever lifting connecting plate (2351) and a cantilever lifting gear (2353) is fixedly installed on the end, a cantilever lifting rack (2354) is installed on the cantilever lifting column (2341), and the cantilever lifting gear (2353) and the cantilever lifting rack (2354) are meshed with each other.

4. The automatic production device for aluminum arms according to claim 1 is characterized in that: The long tube processing device (30) comprises a carpal-arm tube processing box (31), and a sawing assembly (35), a drilling machine (33) and a chamfering machine (34) are arranged on the upper end surface of the carpal-arm tube processing box (31). The sawing assembly (35) is arranged at the left end of the carpal-arm tube processing box (31) and is used to cut the carpal-arm tube; the left and right sides of the sawing assembly (35) are respectively provided with sawing and pressing assemblies (32), and the sawing and pressing assemblies (32) are used to press and fix the carpal-arm tube, so as to facilitate the sawing assembly (35) to cut the carpal-arm tube; the drilling machine (33) is arranged on the front and rear sides of the right side of the sawing assembly (35) and is used to drill a through hole at the end of the carpal-arm tube; the chamfering machine (34) can move forward and backward relative to the carpal-arm tube processing box (31) and is used to chamfer the end of the carpal-arm tube; Preferably, the sawing and pressing assembly (32) comprises a sawing and pressing base plate (321) mounted on the upper end of the wrist-arm tube processing box (31), a sawing and pressing support block (322) being mounted on the upper end of the sawing and pressing base plate (321), a V-shaped groove being arranged on the upper end surface of the sawing and pressing support block (322) for supporting the wrist-arm tube, a sawing and pressing seat (323) being mounted on one side of the upper end of the sawing and pressing base plate (321), and a sawing and pressing cylinder (325) being rotatably mounted on the other side, the upper end of the sawing and pressing seat (323) being rotatably connected to one end of a sawing and pressing rod (324), and the other end of the sawing and pressing rod (324) being rotatably connected to the output rod of the sawing and pressing cylinder (325); Preferably, the sawing assembly (35) comprises a sawing lifting cylinder bracket (352) mounted on the wrist-arm tube processing box (31); a sawing motor support seat (351) is slidably mounted on one side of the sawing lifting cylinder bracket (352); one end of the sawing lifting cylinder (353) is fixedly connected to the sawing lifting cylinder bracket (352) and the other end is fixedly connected to the sawing motor support seat (351); a sawing motor (354) is mounted on the sawing motor support seat (351); and an output shaft of the sawing motor (354) is fixedly connected to a saw blade (355).

5. The automatic production device for aluminum arms according to claim 1 is characterized in that: The truss manipulator device (40) comprises a truss support (41), three truss manipulator mounting assemblies (42) are mounted on the truss support (41), the truss manipulator mounting assembly (42) can move laterally relative to the truss support (41), the truss manipulator mounting assembly (42) comprises a truss manipulator crossbeam (421) and a truss lifting column (4251), the truss lifting column (4251) can move longitudinally and lift relative to the truss manipulator crossbeam (421), and the bottom ends of the truss lifting columns (4251) of the three truss manipulator mounting assemblies (42) are respectively mounted with a truss pipe moving assembly (45), a truss blanking assembly (44) and a truss torque fixing assembly (43); Preferably, a truss connecting side plate I (4221) and a truss connecting side plate II (4222) are respectively installed at both ends of the truss manipulator crossbeam (421) of the truss manipulator mounting assembly (42), a truss transverse driving motor (4231) is installed on the truss manipulator crossbeam (421), and a truss manipulator transverse gear (4233) is respectively rotatably connected to the truss connecting side plate I (4221) and the truss connecting side plate II (4222), a bidirectional output rod of the truss transverse driving motor (4231) is respectively fixedly connected to two truss manipulator transverse gears (4233), a truss manipulator transverse rack is installed on the truss bracket (41), and the truss manipulator transverse gear (4233) is meshed with the truss manipulator transverse rack; Preferably, truss guide strips are provided at the upper and lower ends of the truss cross support beam of the truss bracket (41), and truss transverse guide wheels (4234) matching the truss guide strips are provided on the outer sides of the truss connecting side plate I (4221) and the truss connecting side plate II (4222), and the truss transverse guide wheels (4234) are connected to the truss guide strips in a coordinated manner; Preferably, a truss manipulator longitudinal movement plate is slidably installed on the truss manipulator crossbeam (421) through a guide rail and a slider, the truss lifting column (4251) is installed on the truss manipulator longitudinal movement plate, a truss longitudinal movement motor (4241) is installed on the truss manipulator longitudinal movement plate, the output shaft of the truss longitudinal movement motor (4241) extends downward from the truss manipulator longitudinal movement plate and a truss longitudinal movement gear (4242) is installed on the end, a truss longitudinal movement rack (4243) is installed on the truss manipulator crossbeam (421), the truss longitudinal movement gear and the truss longitudinal movement rack (4243) are meshed with each other, and the rotation of the truss longitudinal movement motor (4241 drives the truss longitudinal movement gear (4242) to rotate, thereby driving the truss lifting column (4251) to move longitudinally along the truss manipulator crossbeam (421); Preferably, the truss lifting column (4251) is slidably connected to the truss longitudinal movement plate via a guide rail and a slider, a truss lifting motor (4252) is installed on the truss manipulator longitudinal movement plate, a truss lifting gear (4253) is installed at the end of the output shaft of the truss lifting motor (4252), a truss lifting rack (4254) is installed on the truss lifting column (4251), the truss lifting gear (4253) and the truss lifting rack (4254) are meshed with each other, and the truss lifting motor (4252) rotates to drive the truss lifting gear (4253) to rotate, thereby driving the truss lifting column (4251) to move up and down relative to the truss manipulator crossbeam (421); Preferably, the truss torque-fixing assembly (43) comprises a truss tightening plate (431) installed at the bottom end of the truss lifting column (4251), two truss tightening motors (432) installed on the truss tightening plate (431), and a truss tightening sleeve (433) fixedly connected to the output shaft of the truss tightening motor (432), and the truss tightening sleeve (433) is placed below the truss tightening plate (431); Preferably, the truss blanking assembly (44) includes a truss blanking fixing plate (441) fixedly mounted on the bottom end of the truss lifting column (4251), a truss blanking profile (442) is mounted at the lower end of the truss blanking fixing plate (441), and a finished product clamping cylinder (443) is mounted below one end and the middle of the truss blanking profile, and the finished product clamping cylinder (443) is used to drive two finished product clamping claws (444) to approach each other to clamp the wrist arm tube. The two arms are moved away from each other to release the arm tube, the other end of the truss blanking profile (442) is installed with a finished product lifting cylinder connecting plate (4451), the bottom end of the finished product lifting cylinder connecting plate (4451) is installed with a finished product lifting cylinder (4454), the finished product lifting cylinder moving platform (4455) of the finished product lifting cylinder (4454) is fixedly connected with a blanking vertical plate (4452), and the bottom end of the blanking vertical plate (4452) is vertically installed with a blanking support plate (4453); Preferably, the bottom end of the finished product lifting cylinder connecting plate (4451) is located on both sides of the finished product lifting cylinder (4454) and is provided with finished product cylinder guide blocks 4 (456), and the positions on both sides of the finished product lifting cylinder moving platform (4455) on the unloading vertical plate (4452) are provided with finished product cylinder guide blocks (4456), and the finished product lifting cylinder 4 (454) is provided with finished product cylinder guide shafts (4457), one end of the finished product cylinder guide shaft (4457) is fixedly connected to the finished product cylinder guide block (4456) on the unloading vertical plate (4452), and the other end is slidably connected to the finished product cylinder guide block (4456) on the finished product lifting cylinder connecting plate (4451); Preferably, the truss tube transfer assembly (45) includes a tube transfer transition plate (451) fixedly mounted on the bottom end of the truss lifting column (4251), a tube transfer connecting profile (452) is mounted on the bottom end of the tube transfer connecting profile (452), a tube transfer beam (453) is mounted on the lower end of the tube transfer beam (453), and tube transfer claw cylinders (454) are respectively mounted on the bottom end surfaces of both ends of the tube transfer beam (453), and the two tube transfer claws (455) are driven by the tube transfer claw cylinders (454) to move closer to each other to clamp and fix the wrist arm tube, and move away from each other to release the wrist arm tube.

6. The automatic production device for aluminum arms according to claim 1 is characterized in that: The single-ear pre-fitting device (50) comprises a wrist-arm tube fixed-length support device (51), a single-ear buffer conveying device (52), a single-ear assembly device (53) and a single-ear grabbing manipulator (54). The wrist-arm tube fixed-length support device (51) is used to receive the wrist-arm tube processed by the long tube processing device (30) and support it; the single-ear buffer conveying device (52) is arranged in front of the wrist-arm tube fixed-length support device (51) and is used to continuously supply a single ear by means of a rotary motion; the single-ear grabbing manipulator (54) is arranged on the right side of the single-ear buffer conveying device (52). , the single-ear assembly device (53) is arranged between the wrist-arm tube fixed-length support device (51) and the single-ear buffer conveying device (52); the truss manipulator device (40) transfers the wrist-arm tube in the wrist-arm tube fixed-length support device (51) to the single-ear assembly device (53); the single-ear grasping manipulator (54) grasps the single ear on the single-ear buffer conveying device (52), and transfers the single ear to the single-ear assembly device (53), so that the wrist-arm tube passes into the single ear, and the bolt on the single ear is tightened by the single-ear assembly device (53), so that the single ear is fixedly connected to the wrist-arm tube; Preferably, the wrist-arm tube fixed-length support device (51) comprises a tube-dragging manipulator (512) and a plurality of fixed-length fixed support wheel assemblies (511) arranged at intervals in the transverse direction, wherein the long fixed support wheel assembly (511) is used to support and transport the processed wrist-arm tube from the long tube processing device (30); the tube-dragging manipulator (512) is used to clamp and fix the upper half of the right end of the wrist-arm tube and drag the wrist-arm tube to the right so that it is placed on the fixed-length fixed support wheel assembly (511).

7. The automatic production device for aluminum arms according to claim 6 is characterized by: The single-ear assembly device (53) comprises a single-ear pre-assembled push head assembly (531) movably mounted on the ground rail, a plurality of single-ear pre-assembled clamping wheel assemblies (532) arranged at intervals in the horizontal direction, and a single-ear tightening device (533). The single-ear pre-assembled clamping wheel assembly (532) is used to support the wrist-arm tube from the wrist-arm tube fixed-length support device (51) and can compress and fix the wrist-arm tube; the single-ear pre-assembled push head assembly (531) can move laterally relative to the ground rail I, and is used to clamp and fix the left end of the wrist-arm tube placed on the single-ear pre-assembled clamping wheel assembly (532) and drive the wrist-arm tube to move left and right; the single-ear tightening device (533) can move laterally relative to the ground rail I, and is used to tighten two bolts at the lower end of the single ear mounted on the wrist-arm tube, thereby fixing the position of the single ear and the wrist-arm tube.

8. The automatic production device for aluminum arms according to claim 7 is characterized in that: The single-ear pre-assembled push head assembly (531) comprises a single-ear push head base (5311) movably mounted on a ground rail, a single-ear push head transverse movement motor (5312) fixedly mounted on the single-ear push head base (5311), an output shaft of the single-ear push head transverse movement motor (5312) extending downward from the single-ear push head base (5311) and a single-ear push head transverse movement gear mounted on the end of the output shaft, the single-ear push head transverse movement gear and the rack on the ground rail are meshed with each other; a single-ear push head column (5313) is mounted on the single-ear push head base (5311), and the single-ear push head column (5313) is A single-ear push head cylinder (5314) is installed at the upper end, and a single-ear push head clamping claw mounting plate (5315) is fixedly installed on the movable end of the single-ear push head cylinder (5314), and a single-ear push head clamping claw rotating cylinder (5316) is installed on the single-ear push head clamping claw mounting plate (5315). The output end of the single-ear push head clamping claw rotating cylinder (5316) is fixedly connected to a single-ear push head clamping claw cylinder (5317). The single-ear push head clamping claw rotating cylinder (5316) is used to control the single-ear push head clamping claws (5318) to retract together to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube.

9. The automatic production device for aluminum arms according to claim 7, characterized in that: The single-ear tightening device (533) comprises a single-ear tightening seat plate (5331) movably mounted on the ground rail, a single-ear tightening transverse motor (5332) is mounted on the single-ear tightening seat plate (5331), an output shaft of the single-ear tightening transverse motor (5332) extends downward from the single-ear tightening seat plate (5331) and a single-ear tightening transverse gear (5333) is fixedly connected to the end thereof, the single-ear tightening transverse gear (5333) is meshed with a rack on the ground rail; a single-ear tightening support plate (5332) is mounted on the single-ear tightening seat plate (5331) 4), a single-ear tightening lifting cylinder (5335) is installed on the single-ear tightening support plate (5334), the output rod of the single-ear tightening lifting cylinder (5335) faces upward and the end is fixedly connected to a single-ear tightening shaft mounting plate (5336), a single-ear tightening shaft seat plate (5337) is installed on the single-ear tightening shaft mounting plate (5336), and two single-ear tightening motors (5338) arranged in parallel are installed on the single-ear tightening shaft seat plate (5337), and the output shaft of the single-ear tightening motor (5338) faces upward and a single-ear tightening sleeve is installed on the end.

10. The automatic production device for aluminum arms according to claim 6, characterized in that: The single-ear grabbing manipulator (54) comprises a single-ear grabbing manipulator seat plate (541) movably mounted on the ground rail II, a single-ear grabbing manipulator motor (542) is mounted on the single-ear grabbing manipulator seat plate (541), an output shaft of the single-ear grabbing manipulator motor (542) extends downward from the single-ear grabbing manipulator seat plate (541) and a single-ear manipulator gear is fixedly connected to the end thereof, the single-ear manipulator gear is meshed with a rack on the ground rail II; a single-ear grabbing column (543) is mounted on the single-ear grabbing manipulator seat plate (541), and a single-ear grabbing column (543) is mounted on one side of the upper end thereof. A single-ear grabbing lifting cylinder connecting plate (546) is fixedly installed on the single-ear grabbing lifting cylinder slide plate (545) of the single-ear grabbing lifting cylinder (544), at least two single-ear grabbing lifting cylinders (547) are installed on the single-ear grabbing lifting cylinder connecting plate (546), and a single-ear clamping cylinder (549) is fixedly installed on the lower end of the single-ear lifting cylinder slide (548) of the single-ear grabbing lifting cylinder (547), and the single-ear clamping cylinder (549) is used to control the two single-ear clamping claws (5491) to approach each other to clamp the single ear and fix it, and to move away from each other to release the single ear.

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