Aluminum wrist arm automatic production device

Abstract

The present application relates to a kind of aluminum arm automatic production device, including long tube buffer device, cantilever manipulator device, long tube processing device, truss manipulator device, single ear pre-assembly device, sleeve bearing pre-assembly device, long tube buffer device is used to buffer and continuously supply unprocessed arm pipe;Cantilever manipulator device is used to grab arm pipe from long tube buffer device and send into long tube processing device;Long tube processing device is used to process arm pipe;Single ear pre-assembly device is used to complete the assembly of single ear and arm pipe;Sleeve bearing pre-assembly device is used to complete the assembly of sleeve seat, force bearing seat and arm pipe;Truss manipulator device is used to move arm pipe, tighten and fix sleeve seat and arm pipe, and move finished product aluminum arm to next station.The present application realizes the automation production of each link of aluminum arm assembly;Truss manipulator is used to operate for arm pipe transfer and finished product aluminum arm gripping displacement, so that production line route is simpler, and the operation efficiency of production line is improved.

Description

Technical Field

[0001] This invention relates to the field of aluminum cantilever arms for overhead contact lines, and more specifically to an automated production device for aluminum cantilever arms. Background Technology

[0002] With the rapid development of railway construction in my country, new requirements have been placed on the process quality standards of related components in the railway industry, and the precision requirements for the construction and maintenance of railway lines are becoming increasingly stringent. In railway lines, the overhead contact system is a crucial component ensuring normal railway operation. Connected to the electrified railway power supply lines, it directly undertakes the primary task of supplying energy to electric trains. The cantilever arm is the support device for the overhead contact system, and its pre-assembly is an important aspect of electrified railway construction. High-speed railways have extremely high precision requirements for overhead contact system installation. Since most components of high-speed railway overhead contact system projects cannot be repeatedly disassembled and reassembled, the cantilever arm support device must be precisely assembled in one go after accurate calculations. Due to constraints such as high altitude conditions on site, a pre-fabrication method based on ground batches is necessary. The quality of this one-time installation of the entire contact suspension directly affects the quality, progress, and efficiency of subsequent construction. In the production process of aluminum cantilever arms, single ears need to be fitted onto the inclined and flat cantilever arms. Then, the flat and inclined cantilever arms are respectively inserted into the two sleeve seats of the sleeve base. A load-bearing cable seat is fitted onto one end of the flat cantilever arm, and then the fastening bolts on the load-bearing cable seat and the sleeve base are tightened. The following technical difficulties exist in the aforementioned production process, making it difficult to automate the production of aluminum cantilever arms:

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

[0004] 2) Currently, in the production process of the cantilever arm, the cantilever arm tube is mostly transported using ground clamping and conveying devices. During the pushing process, it is necessary to avoid other process devices, 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 automated production device for aluminum cantilever arms, which realizes the automation of each stage of the production process, including the temporary storage and continuous feeding of cantilever arm tubes, their conveying to the cantilever arm tube processing device for drilling, cutting, and chamfering, continuous feeding, gripping, and assembly of single ears, continuous feeding, gripping, and assembly of sleeve seats and load-bearing cable seats, and the conveying of finished aluminum cantilever arms. Furthermore, the transfer of cantilever arm tubes and the gripping and displacement of finished aluminum cantilever arms are all operated by gantry robots, reducing the design avoidance issues that need to be considered to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of the production line operation. Summary of the Invention

[0006] The present invention aims to provide an automated aluminum cantilever arm production device to overcome the shortcomings of the prior art. The technical problem to be solved by the present invention is achieved through the following technical solution.

[0007] An automated aluminum cantilever production device includes a long tube buffer device, a cantilever manipulator device, a long tube processing device, a truss manipulator device, a single-ear pre-assembly device, and a sleeve pre-assembly device. The long tube buffer device is used to buffer and continuously supply unprocessed cantilever tubes. The cantilever manipulator device is located in front of the long tube buffer device and is used to grab the cantilever tubes from the long tube buffer device and feed them into the long tube processing device. The long tube processing device is located on the right side of the long tube buffer device and is used to perform drilling, cutting, and chamfering on the cantilever tubes. The single-ear pre-assembly device... The assembly device is located on the right side of the long tube processing device, used to continuously supply single ears and complete the assembly of single ears with the cantilever tube; the sleeve pre-assembly device is located behind the single ear pre-assembly device, used to continuously supply sleeve seats and load-bearing cable seats, complete the assembly of sleeve seats, load-bearing cable seats and cantilever tubes, and transport the finished aluminum cantilever to the next station; the truss robot is located above the single ear pre-assembly device and the sleeve pre-assembly device, used to transfer the cantilever tube with the single ear assembled, tighten and fix the sleeve seat and the cantilever tube, and transfer the finished aluminum cantilever to the next station.

[0008] In this invention, the aluminum cantilever production line includes a production line base skid placed on the bottom surface. The long tube buffer device, cantilever robot device, long tube processing device, truss robot device, single-ear pre-assembly device, and sleeve pre-assembly device are placed on the production line base skid. Several evenly spaced lifting lugs are provided on the front and rear sides of the production line base skid to facilitate the overall movement of the aluminum cantilever production line. In this embodiment, during production, firstly, the long tube buffer device stores several cantilever tubes and continuously feeds them to the production line. The cantilever robot device grabs the cantilever tubes from the long tube buffer device and transfers them to the long tube processing device for drilling, cutting, and chamfering. The longer reusable scraps after cutting are held by the cantilever robot device and temporarily stored on the short tube support frame of the cantilever robot device. The shorter scraps are held by the cantilever robot device and placed in the waste bin on the left side of the long tube processing device. After being processed by the long tube processing device, the cantilever tube includes a slanted cantilever and a flat cantilever. The slanted cantilever and the flat cantilever are transferred to the single-ear pre-assembly device through the single-ear pre-assembly device, and single ears are installed on the slanted cantilever and the flat cantilever respectively. The cantilever tube with the single ears installed is clamped and transferred to the sleeve pre-assembly device by the truss robot device, and the sleeve seat and the load-bearing cable seat are assembled. Finally, the finished aluminum cantilever is transferred to the finished product conveying device by the truss robot device and transferred to the next station.

[0009] This invention provides an automated aluminum cantilever production device that automates the entire process, including temporary storage of cantilever tubes, continuous feeding, conveying to the cantilever tube processing device for drilling, cutting, and chamfering, continuous feeding, gripping, and assembly of single ears, continuous feeding, gripping, and assembly of sleeve seats and load-bearing cable seats, and conveying of finished aluminum cantilever arms. Furthermore, the transfer of cantilever tubes and the gripping and repositioning of finished aluminum cantilever arms are all operated by gantry robots, reducing the design avoidance issues that need to be considered to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of the production line operation. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of the present invention;

[0011] Figure 2 This is a schematic diagram of the long-tube buffer device in this invention;

[0012] Figure 3 This is a schematic diagram of the cantilever manipulator device in this invention;

[0013] Figure 4 This is a schematic diagram of the structure of the cantilever manipulator body in this invention;

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

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

[0016] Figure 7 This is a schematic diagram of the long tube processing device in this invention;

[0017] Figure 8 This is a schematic diagram of the sawing assembly in this invention;

[0018] Figure 9 This is a schematic diagram of the gantry robot device in this invention;

[0019] Figure 10 This is a schematic diagram of the gantry robot installation assembly in this invention;

[0020] Figure 11 This is a schematic diagram of the truss torsion assembly in the present invention;

[0021] Figure 12 This is a schematic diagram of the truss cutting assembly in this invention;

[0022] Figure 13 This is a schematic diagram of the truss pipe-moving assembly in this invention;

[0023] Figure 14This is a schematic diagram of the single-ear pre-fitting device in this invention;

[0024] Figure 15 This is a schematic diagram of the single-ear assembly device in this invention;

[0025] Figure 16 This is a schematic diagram of the single-ear pre-fitted pusher assembly in this invention;

[0026] Figure 17 This is a schematic diagram of the single-ear tightening device in this invention;

[0027] Figure 18 This is a schematic diagram of the single-ear grasping robot in this invention;

[0028] Figure 19 This is a schematic diagram of the pre-assembly device for the sleeve bearing in this invention;

[0029] Figure 20 This is a schematic diagram of the structure of a single ear in this invention;

[0030] Figure 21 This is a schematic diagram of the sleeve seat in this invention;

[0031] Figure 22 This is a schematic diagram of the load-bearing cable seat in this invention;

[0032] The reference numerals in the attached figures are, in order: 10, long tube buffer device; 11, long tube buffer frame; 111, long tube drive shaft; 12, long tube support device; 13, long tube rotary drive motor; 14, coupling; 20, cantilever manipulator device; 21, cantilever support frame; 22, short tube support frame; 23, cantilever manipulator body; 231, cantilever crossbeam; 232, cantilever manipulator lateral movement drive assembly; 2321, cantilever base plate; 2322, cantilever lateral movement motor; 2323, cantilever lateral movement gear; 2324, cantilever lateral movement guide wheel; 2325, cantilever lateral 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. Robotic arm gripping assembly; 2341. Cantilever lifting column; 2342. Cantilever connecting aluminum profile; 2343. Cantilever gripper longitudinal movement cylinder; 2344. Cantilever gripper fixing plate; 2345. Cantilever gripper cylinder; 2346. Cantilever gripper; 235. Cantilever robotic arm lifting assembly; 2351. Cantilever lifting connecting plate; 2352. Cantilever lifting motor; 2353. Cantilever lifting gear; 2354. Cantilever lifting rack; 24. Scrap bin; 30. Long tube processing device; 31. Wrist arm tube processing box; 311. Processing chip removal hole; 32. Sawing and clamping assembly; 321. Sawing and clamping base plate; 322. Sawing and clamping support block; 323. Sawing and clamping seat; 324. Sawing... 325. Clamping rod; 33. Sawing clamping cylinder; 34. Drilling machine; 35. Chamfering machine; 36. Sawing assembly; 37. Sawing motor support; 38. Sawing lifting cylinder bracket; 39. Sawing lifting cylinder; 30. Sawing motor; 31. Saw blade; 32. Sawing protective cover; 43. Drilling chip guard; 44. Chamfering chip guard; 45. Truss robot device; 46. Truss bracket; 47. Truss robot mounting assembly; 48. Truss robot beam; 49. Truss connecting side plate I; 40. Truss connecting side plate II; 41. Truss transverse drive motor; 42. Truss drive shaft; 42. Truss robot transverse gear; 43. Truss transverse guide wheel; 44. Truss. Longitudinal traverse motor, 4242; Truss longitudinal traverse gear, 4243; Truss longitudinal traverse rack, 4251; Truss lifting column, 4252; Truss lifting motor, 4253; Truss lifting gear, 4254; Truss lifting rack, 43; Truss torsion control assembly, 431; Truss tightening fixing plate, 432; Truss tightening motor, 433; Truss tightening sleeve, 44; Truss unloading assembly, 441; Truss unloading fixing plate, 442; Truss unloading profile, 443; Finished product gripper cylinder, 444; Finished product gripper, 4451; Finished product lifting cylinder connecting plate, 4452; Unloading upright plate, 4453; Unloading support plate, 4454; Finished product lifting cylinder, 4455; Finished product lifting cylinder moving table, 4456; Finished product cylinder guide block.4457. Finished product cylinder guide shaft; 45. Truss pipe moving assembly; 451. Pipe moving transition plate; 452. Pipe moving connecting profile; 453. Pipe moving beam; 454. Pipe moving gripper cylinder; 455. Pipe moving gripper; 50. Single ear pre-assembly device; 51. Cantilever tube fixed length support device; 511. Fixed length fixed support wheel assembly; 512. Pipe dragging robot; 52. Single ear buffer conveying device; 53. Single ear assembly device; 531. Single ear pre-assembly pusher assembly; 5311. Single ear pusher 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 gripper mounting plate, 5316, single-ear push head gripper rotary cylinder, 5317, single-ear push head gripper cylinder, 5318, single-ear push head gripper, 532, single-ear pre-fitting clamping roller assembly, 5321, single-ear clamping cylinder, 5322, single-ear clamping block, 5323, single-ear clamping support roller, 533, single-ear tightening device, 5331, single-ear tightening base plate, 5332, single-ear tightening transverse movement motor 5333. Single-ear tightening of transverse gear; 5334. Single-ear tightening of support plate; 5335. Single-ear tightening of lifting cylinder; 5336. Single-ear tightening of shaft mounting plate; 5337. Single-ear tightening of shaft seat plate; 5338. Single-ear tightening of motor; 5339. Single-ear tightening of sleeve; 54. Single-ear gripping robot; 541. Single-ear gripping robot base plate; 542. Single-ear robot motor; 543. Single-ear gripping column; 544. Single-ear gripping longitudinal cylinder; 545. Single-ear gripping longitudinal cylinder slide plate; 546. Single... 547. Single-ear gripping and lifting cylinder connecting plate; 548. Single-ear lifting cylinder slide; 549. Single-ear clamping cylinder; 5491. Single-ear gripper; 60. Sleeve bearing 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-parts robot; 66. Sleeve bearing positioning and assembly device; 67. Sleeve pre-rail tightening device; 68. Guide cone robot device; 69. Finished product conveying device. Detailed Implementation

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0034] Example 1:

[0035] Reference Figure 1As shown, an automated aluminum cantilever arm production device is improved in 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-assembly device 50, and a sleeve pre-assembly device 60. The long tube buffer device 10 is used to buffer and continuously supply unprocessed cantilever arm tubes. The cantilever manipulator device 20 is located in front of the long tube buffer device 10 and is used to grab the cantilever arm tube from the long tube buffer device 10 and feed it into the long tube processing device 30. The long tube processing device 30 is located on the right side of the long tube buffer device 10 and is used to drill and cut the cantilever arm tube. The process includes cutting and chamfering; the single-ear pre-assembly device 50 is located on the right side of the long tube processing device 30, used to continuously supply single ears and complete the assembly of single ears with the cantilever tube; the sleeve pre-assembly device 60 is located behind the single-ear pre-assembly device 50, used to continuously supply sleeve seats and load-bearing cable seats, complete the assembly of sleeve seats, load-bearing cable seats and cantilever tubes, and transport the finished aluminum cantilever to the next station; the truss robot device 40 is located above the single-ear pre-assembly device 50 and the sleeve pre-assembly device 60, used to transfer the cantilever tube equipped with single ears, tighten and fix the sleeve seat and cantilever tube, and transfer the finished aluminum cantilever to the next station.

[0036] In this embodiment, the aluminum cantilever production line includes a production line base skid placed on the bottom surface. The long tube buffer device 10, cantilever robot device 20, long tube processing device 30, truss robot device 40, single-ear pre-assembly device 50, and sleeve pre-assembly device 60 are placed on the production line base skid. Several evenly spaced lifting lugs are provided on the front and rear sides of the production line base skid to facilitate the overall movement of the aluminum cantilever production line. In this embodiment, during production, firstly, the long tube buffer device 10 stores several cantilever tubes and continuously feeds them to the production line. The cantilever robot device 20 grabs the cantilever tubes from the long tube buffer device 10 and transfers them to the long tube processing device 30 for drilling, cutting, and chamfering. The longer reusable scraps after cutting are held by the cantilever robot device 20 and temporarily stored on the short tube support frame 22 of the cantilever robot device 20. The shorter scraps are held by the cantilever robot device 20 and placed in the waste bin 24 on the left side of the long tube processing device 30. The cantilever tubes processed by the long tube processing device 30 include inclined cantilever arms and flat cantilever arms. The inclined and flat cantilever arms are transferred to the single-ear pre-assembly device 50, and single ears are installed on the inclined and flat cantilever arms respectively. The cantilever arm tube with single ears installed is picked up by the truss robot device 40 and transferred to the sleeve pre-assembly device 60, and the sleeve seat and load-bearing cable seat are assembled. Finally, the finished aluminum cantilever arm is transferred to the finished product conveying device 69 by the truss robot device 40 and transferred to the next station.

[0037] This embodiment provides an automated aluminum cantilever production device that automates the temporary storage, continuous feeding, and conveying of cantilever tubes to a cantilever tube processing device for drilling, cutting, and chamfering; continuous feeding, gripping, and assembly of single ears; continuous feeding, gripping, and assembly of sleeve seats and load-bearing cable seats; and the conveying of finished aluminum cantilever arms. Furthermore, the transfer of cantilever tubes and the gripping and repositioning of finished aluminum cantilever arms are all operated by gantry robots, reducing the design avoidance issues that need to be considered to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of the production line operation.

[0038] Example 2:

[0039] Based on Example 1, referring to Figure 2 As shown, the long tube buffer device 10 includes several long tube buffer racks 11, several long tube support devices 12, and a long tube rotary drive motor 13. The long tube support devices 12 are arranged between adjacent long tube buffer racks 11. Each long tube support device 12 includes a support roller and a support roller lifting column. The support roller lifting column is used to automatically adjust the height of the support roller, and the support roller is used to support and transport the carpal tube. Several carpal tube storage brackets are arranged in parallel on the long tube buffer racks 11. The long tube rotary drive motor 13 is connected to the long tube buffer racks 11 and is used to drive the long tube buffer racks 11 to rotate, thereby continuously supplying the carpal tubes. Adjacent long tube buffer racks 11 are connected to each other through a long tube drive shaft 111 and a coupling 14, so that the long tube rotary drive motor 13 synchronously drives the long tube buffer racks 11 to rotate.

[0040] In this embodiment, long, unprocessed carpal tubes are continuously stored on the long tube buffer rack 11. When the carpal tube on the long tube buffer rack 11 rotates and moves above the long tube support device 12, the height of the support roller is adjusted by lifting the column of the support roller so that the support roller supports the carpal tube and facilitates the transfer of the carpal tube to the long tube processing device 30 for processing by the cantilever robot device 20.

[0041] Example 3:

[0042] Based on Example 1 or 2, refer to Figure 3 As shown, the cantilever manipulator device 20 includes a cantilever support frame 21, with several short tube support frames 22 arranged below the cantilever support frame 21. The cantilever manipulator body 23 is mounted 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 gripper 2346, which is used to grip the wrist arm tube. The cantilever gripper 2346 as a whole can move longitudinally and move up and down.

[0043] Furthermore, refer to Figures 4 to 6As shown, the cantilever manipulator body 23 includes a cantilever beam 231, on which a cantilever manipulator lateral movement drive assembly 232 is mounted. The cantilever manipulator lateral movement drive assembly 232 is used to drive the cantilever manipulator body 23 to move laterally along the cantilever support frame 21. The cantilever manipulator lateral movement drive assembly 232 includes a cantilever base plate 2321 mounted on the bottom surface of the cantilever beam 231. A cantilever lateral movement motor 2322 is mounted on the cantilever base plate 2321. The output shaft of the cantilever lateral movement motor 2322 faces downward and extends out of the cantilever base plate 2321. A cantilever lateral movement gear 2323 is fixedly mounted on the lower end of the output shaft of the cantilever lateral movement motor 2322. A cantilever lateral movement rack is mounted on the upper surface of the cantilever support frame 21. The cantilever lateral movement gear 2323 and the cantilever lateral movement rack are connected to each other.

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

[0045] Furthermore, cantilever lateral guide strips are installed at intervals on the upper end face of the cantilever support frame 21, and cantilever lateral guide wheels 2324 are respectively installed on the lower end face of the cantilever base plate 2321 at positions outside the two cantilever lateral guide strips. The cantilever lateral guide wheels 2324 are movably connected to the cantilever lateral guide strips.

[0046] In this embodiment, the cantilever lateral movement guide strip and the cantilever lateral movement guide wheel 2324 serve two purposes: firstly, to guide the lateral movement of the cantilever manipulator body 23; and secondly, to limit the connection between the cantilever manipulator body 23 and the cantilever support frame 21.

[0047] Furthermore, the cantilever lateral guide wheel 2324 is covered by a cantilever lateral guide wheel cover 2325.

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

[0049] Furthermore, a cantilever manipulator longitudinal movement drive assembly 233 is installed on the cantilever beam 231. 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 base plate 2321. The output shaft of the cantilever longitudinal movement motor 2331 faces upward and passes through the cantilever base plate 2321. A cantilever longitudinal movement gear 2332 is fixedly installed at the upper end of the output shaft of the cantilever longitudinal movement motor 2331. A cantilever longitudinal movement rack 2333 is installed on the lower end face of the cantilever beam 231 at a position between it and the upper end face of the cantilever base plate 2321. The cantilever longitudinal movement gear 2332 and the cantilever longitudinal movement rack 2333 mesh 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 base plate 2321 to move longitudinally. Since the front and rear positions of the cantilever base plate 2321 and the cantilever support frame 21 are limited, the cantilever manipulator body 23 as a whole is driven to move longitudinally.

[0051] Furthermore, cantilever longitudinal guide strips are installed at intervals on the lower end face of the cantilever beam 231, and cantilever longitudinal guide wheels 2334 are respectively installed on the upper surface of the cantilever seat plate 2321 at positions outside the two cantilever longitudinal guide strips. The cantilever longitudinal guide strips and the cantilever longitudinal guide wheels 2334 are connected to each other.

[0052] In this embodiment, the cantilever longitudinal movement guide strip and the cantilever longitudinal movement guide wheel 2334 serve two purposes: firstly, they guide the longitudinal movement of the cantilever manipulator body 23; secondly, the connection between the cantilever base plate 2321 and the cantilever crossbeam 231 serves a limiting function.

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

[0054] Furthermore, the cantilever longitudinal guide bar and the cantilever longitudinal rack 2333 are integrated into a single structure. That is, the inner side of the cantilever longitudinal rack 2333 is a toothed rack structure, and the outer side is a guide bar that matches the cantilever longitudinal guide wheel 2334. This design saves on the number of parts and makes the structure more compact.

[0055] Furthermore, a robotic gripper assembly 234 is installed on the cantilever beam 231. The robotic gripper 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 gripper longitudinal movement cylinder 2343 is installed at the lower end of the cantilever gripper longitudinal movement cylinder 2343. A cantilever gripper fixing plate 2344 is fixedly connected to the movable end of the cantilever gripper fixing plate 2344. Cantilever gripper cylinders 2345 are respectively installed at the left and right ends of the cantilever gripper cylinder 2345. Cantilever grippers 2346 are respectively connected to the output ends of the front and rear ends of the cantilever gripper cylinder 2345.

[0056] In this embodiment, the cantilever gripper longitudinal movement cylinder 2343 is used to drive the cantilever gripper fixing plate 2344 to move longitudinally, thereby driving the cantilever gripper 2346 to move longitudinally as a whole; the cantilever gripper cylinder 2345 is used to drive the cantilever grippers 2346 to move closer to each other to clamp the wrist arm tube and to move further apart 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 at 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 at its 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 mesh with each other.

[0058] Furthermore, the cantilever lifting connecting plate 2351 and the cantilever lifting column 2341 are movably connected via guide rails and sliders.

[0059] Example 4:

[0060] Based on any of the foregoing embodiments, refer to Figure 7As shown, the long tube processing device 30 includes a brachiopod processing box 31. A sawing assembly 35, a drilling machine 33, and a chamfering machine 34 are arranged on the upper surface of the brachiopod processing box 31. The sawing assembly 35 is located at the left end of the brachiopod processing box 31 and is used to cut the brachiopod. Sawing clamping assemblies 32 are respectively arranged on the left and right sides of the sawing assembly 35. The sawing clamping assemblies 32 are used to clamp and fix the brachiopod, thereby facilitating the sawing assembly 35 to cut the brachiopod. The drilling machine 33 is located on the front and rear sides of the right side of the sawing assembly 35 and is used to drill through holes at the end of the brachiopod. The chamfering machine 34 can move back and forth relative to the brachiopod processing box 31 and is used to chamfer the end of the brachiopod.

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

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

[0063] In this embodiment, the output rod of the sawing clamping cylinder 325 retracts downward, causing the rear end of the sawing clamping rod 324 to move downward, thereby clamping the arm tube on the sawing clamping block 322; the output rod of the sawing clamping cylinder 325 extends upward, causing the rear end of the sawing clamping rod 324 to lift, thereby releasing the arm tube on the sawing clamping block 322. The bottom end of the sawing clamping cylinder 325 is rotatably connected to the sawing clamping base plate 321, so when the rear end of the sawing clamping rod 324 moves up and down, the sawing clamping cylinder 325 is allowed to be at a certain angle to the sawing clamping base plate 321, avoiding the output rod of the sawing clamping cylinder 325 from jamming.

[0064] Furthermore, the sawing assembly 35 includes a sawing lifting cylinder bracket 352 mounted on the arm tube processing box 31. A sawing motor support 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 351. A sawing motor 354 is mounted on the sawing motor support 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 351 to descend, thereby driving the saw blade 355 to descend, so as to make way for the arm tube to enter the long tube processing device 30; when cutting the arm tube, the output rod of the sawing lifting cylinder 353 retracts upward, driving the sawing motor support 351 to rise, thereby driving the saw blade 355 to rise. At the same time, the sawing motor 354 drives the saw blade 355 to rotate, thereby realizing the cutting of the arm tube by the saw blade 355.

[0066] Furthermore, a drilling chip shield 36 is provided on the arm tube processing box 31 at the position between the drill bits of the two drilling machines 33 to block the splashing of the drilling chips, so that the drilling chips fall into the chip box inside the arm tube processing box 31.

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

[0068] Furthermore, a chamfered chip guard 36 is provided on the arm tube processing box 31 at the left side of the processing chip 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 foregoing embodiments, refer to Figure 9As shown, the truss manipulator device 40 includes a truss support 41, on which three truss manipulator mounting assemblies 42 are mounted. The truss manipulator mounting assemblies 42 can move laterally relative to the truss support 41. Each truss manipulator mounting assembly 42 includes a truss manipulator crossbeam 421 and a truss lifting column 4251. The truss lifting column 4251 can move longitudinally and vertically relative to the truss manipulator crossbeam 421. From left to right, the bottom ends of the truss lifting columns 4251 of the three truss manipulator mounting assemblies 42 are respectively equipped with a truss pipe moving assembly 45, a truss unloading assembly 44, and a truss torsion control assembly 43.

[0071] In this embodiment, the truss support 41 includes truss columns, truss horizontal support beams, and truss longitudinal beams. The truss horizontal support beams and truss longitudinal beams mutually enclose a square upper truss frame. The truss columns support the upper truss frame, allowing it to be erected above the single-ear pre-assembly device 50 and the sleeve-bearing pre-assembly device 60. The truss robot mounting assembly 42 is mounted between two truss horizontal support beams and can move laterally along them. The truss robot mounting assembly 42 adopts a universal modular design, allowing for the installation of a corresponding number of truss robot mounting assemblies 42 on the truss support 41 according to production line requirements, with corresponding truss robots 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 cantilever tube with a single ear installed in the single ear pre-assembly device 50 to the sleeve bearing pre-assembly device 60 for assembling the sleeve seat and the load-bearing cable seat; the truss torsion set 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 cantilever tube; the truss unloading assembly 44 is used to transfer the cantilever tube with the sleeve seat, the load-bearing cable seat, and the single ear installed, i.e., the finished aluminum cantilever, to the finished product conveying device 69.

[0072] This embodiment uses a gantry robot to perform the transfer, torque setting, and unloading operations of the wrist arm tube, reducing the design avoidance issues that need to be considered to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of production line operation.

[0073] Example 6:

[0074] Based on Example 5, referring to Figure 10As shown, the two ends of the truss manipulator beam 421 of the truss manipulator mounting assembly 42 are respectively equipped with truss connecting side plates I 4221 and II 4222. A truss lateral drive motor 4231 is installed on the truss manipulator beam 421. Truss manipulator lateral gears 4233 are rotatably connected to the truss connecting side plates I 4221 and II 4222. The bidirectional output rod of the truss lateral drive motor 4231 is fixedly connected to the two truss manipulator lateral gears 4233. A truss manipulator lateral rack is installed on the truss bracket 41. The truss manipulator lateral gears 4233 and the truss manipulator lateral rack mesh with each other.

[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 plate I 4221 and the truss connecting side plate II 4222. The truss transverse guide wheels 4234 are connected to the truss guide bars in cooperation.

[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 I 4221 and truss connecting side plate II 4222 are placed inside the two truss cross support beams. The truss manipulator transverse gear 4233 meshes with the truss manipulator transverse rack. At this time, the truss transverse guide wheel 4234 cooperates with the truss guide strips at the upper and lower ends of the truss cross support beams. When the truss manipulator mounting assembly 42 moves laterally 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 laterally as a whole. The truss guide strips and the truss transverse guide wheel 4234 serve two purposes: firstly, to guide the movement of the truss manipulator mounting assembly 42; and secondly, to limit the connection between the truss manipulator mounting assembly 42 and the truss cross support beams.

[0077] Furthermore, a truss manipulator longitudinal transfer plate is slidably mounted on the truss manipulator crossbeam 421 via guide rails and sliders. The truss lifting column 4251 is mounted on the truss manipulator longitudinal transfer plate. A truss longitudinal transfer motor 4241 is mounted on the truss manipulator longitudinal transfer plate. The output axis of the truss longitudinal transfer motor 4241 extends downward from the truss manipulator longitudinal transfer plate, and a truss longitudinal transfer gear 4242 is mounted at its end. A truss longitudinal transfer rack 4243 is mounted on the truss manipulator crossbeam 421. The truss longitudinal transfer gear and the truss longitudinal transfer rack 4243 mesh with each other. The rotation of the truss longitudinal transfer motor 4241 drives the rotation of the truss longitudinal transfer gear 4242, thereby driving the truss lifting column 4251 to move longitudinally along the truss manipulator crossbeam 421.

[0078] Furthermore, the truss lifting column 4251 and the truss longitudinal transfer plate are slidably connected via guide rails and sliders. A truss lifting motor 4252 is installed on the truss manipulator longitudinal transfer 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 mesh 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] Based on Example 5 or 6, refer to Figure 11 As shown, the truss torsion assembly 43 includes a truss tightening and fixing plate 431 installed at the bottom of the truss lifting column 4251, two truss tightening motors 432 installed on the truss tightening and fixing plate 431, and a truss tightening sleeve 433 fixedly connected to the output shaft of the truss tightening motors 432. The truss tightening sleeve 433 is located below the truss tightening and fixing plate 431.

[0081] In this embodiment, the truss torsion assembly 43 moves to the top of the sleeve seat and / or the load-bearing cable seat installed on the cantilever tube, and the truss tightening sleeve 433 is fitted onto the outside of the tightening bolt at the upper end of the sleeve seat or the load-bearing cable seat. 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 cantilever tube.

[0082] Example 8:

[0083] Based on any of embodiments 5 to 7, the truss unloading assembly 44 includes a truss unloading fixing plate 441 fixedly installed at the bottom end of the truss lifting column 4251. A truss unloading profile 442 is installed at the lower end of the truss unloading fixing plate 441. A finished product gripper cylinder 443 is installed below one end and the middle of the truss unloading profile. The finished product gripper cylinder 443 is used to drive two finished product grippers 444 to move closer to each other to clamp the cantilever tube and move further apart to release the cantilever tube. A finished product lifting cylinder connecting plate 4451 is installed at the other end of the truss unloading profile 442. A finished product lifting cylinder 4454 is installed at the bottom end of the finished product lifting cylinder connecting plate 4451. A finished product lifting cylinder moving platform 4455 of the finished product lifting cylinder 4454 is fixedly connected to the unloading upright plate 4452. A unloading support plate 4453 is vertically installed at the bottom end of the unloading upright plate 4452.

[0084] Furthermore, finished product cylinder guide blocks 4456 are respectively provided at the bottom end of the finished product lifting cylinder connecting plate 4451 on both sides of the finished product lifting cylinder 4454. Finished product cylinder guide blocks 4456 are installed on the unloading upright plate 4452 on both sides of the finished product lifting cylinder moving platform 4455. Finished product cylinder guide shafts 4457 are respectively provided on both sides of the finished product lifting cylinder 4454. One end of the finished product cylinder guide shaft 4457 is fixedly connected to the finished product cylinder guide block 4456 on the unloading upright 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 gripper 444 is used to clamp and fix the flat arm of the finished aluminum bracket, and the unloading plate 4453 is used to support the inclined arm of the finished aluminum bracket. The position of the unloading plate 4453 can move back and forth. When moving, the output rod of the finished product lifting cylinder 4454 extends, pushing the finished product lifting cylinder moving platform 4455 backward, thereby pushing the unloading upright plate 4452 and the unloading plate 4453 backward, thereby adjusting to a suitable distance to support the inclined arm, thus facilitating the transfer of the finished aluminum bracket to the finished product conveying device 69. The finished product cylinder guide block 4456 and the finished product cylinder guide shaft 4457 increase the stability of the movable connection between the unloading upright plate 4452 and the finished product lifting cylinder connecting plate 4451, and make the movement of the unloading plate 4453 more stable and smooth.

[0086] Example 9:

[0087] Based on any of Examples 5 to 8, refer to Figure 13 As shown, the truss pipe-moving assembly 45 includes a pipe-moving transition plate 451 fixedly installed at the bottom end of the truss lifting column 4251. A pipe-moving connecting profile 452 is installed at the bottom end of the pipe-moving transition plate 451. A pipe-moving beam 453 is installed at the lower end of the pipe-moving connecting profile 452. Pipe-moving clamp cylinders 454 are respectively installed on the bottom end faces of both ends of the pipe-moving beam 453. The two pipe-moving clamps 455 are driven to move closer to each other to clamp and fix the cantilever pipe, and move further apart to release the cantilever pipe.

[0088] Example 10:

[0089] Based on any of the foregoing embodiments, refer to Figure 14As shown, the single-ear pre-fitting device 50 includes a carpal tube fixed-length support device 51, a single-ear buffer conveying device 52, a single-ear assembly device 53, and a single-ear grasping robot 54. The carpal tube fixed-length support device 51 is used to receive and support the carpal tube processed by the long tube processing device 30. The single-ear buffer conveying device 52 is located in front of the carpal tube fixed-length support device 51 and is used to continuously supply single ears through rotational motion. The single-ear grasping robot 54 is located to the right of the single-ear buffer conveying device 52. The single ear assembly device 53 is disposed between the carpal tube fixed length support device 51 and the single ear buffer conveying device 52; the truss manipulator device 40 transfers the carpal tube in the carpal 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 carpal tube passes into 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 carpal tube.

[0090] Furthermore, the fixed-length support device 51 for the carpal tube includes a tube-dragging robot 512 and several horizontally spaced fixed-length support wheel assemblies 511. The fixed-length support wheel assemblies 511 are used to support and transport the processed carpal 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 carpal tube and drag the carpal tube to the right to place it on the fixed-length support wheel assembly 511.

[0091] Furthermore, refer to Figure 15 As shown, the single-ear assembly device 53 includes a single-ear pre-fitting push head assembly 531 movably mounted on the ground rail, several single-ear pre-fitting clamping roller assemblies 532 arranged laterally at intervals, and a single-ear tightening device 533. The single-ear pre-fitting clamping roller assembly 532 is used to support the carpal tube from the carpal tube fixed-length support device 51 and can clamp and fix the carpal tube. The single-ear pre-fitting 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 carpal tube placed on the single-ear pre-fitting clamping roller assembly 532 and drive the carpal 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 installed on the carpal tube, thereby fixing the position of the single ear and the carpal tube.

[0092] Example 11:

[0093] Based on Example 10, referring to Figure 16As shown, the single-ear pre-fitted pusher assembly 531 includes a single-ear pusher base 5311 movably mounted on a ground rail. A single-ear pusher traverse motor 5312 is fixedly mounted on the single-ear pusher base 5311. The output shaft of the single-ear pusher traverse motor 5312 extends downward from the single-ear pusher base 5311, and a single-ear pusher traverse gear is mounted at the end of the output shaft. The single-ear pusher traverse gear meshes with a rack on the ground rail. A single-ear pusher column 5313 is mounted on the single-ear pusher base 5311. A single-ear pusher cylinder 5314 is installed at the upper end of 3. A single-ear pusher gripper mounting plate 5315 is fixedly installed at the movable end of the single-ear pusher cylinder 5314. A single-ear pusher gripper rotary cylinder 5316 is installed on the single-ear pusher gripper mounting plate 5315. A single-ear pusher gripper rotary cylinder 5317 is fixedly connected to the output end of the single-ear pusher gripper rotary cylinder 5316. The single-ear pusher gripper rotary cylinder 5316 is used to control the single-ear pusher grippers 5318 to retract with each other to clamp and fix the carpal tube, and to move away from each other to release the carpal tube.

[0094] In this embodiment, when the single-ear pre-fitted pusher assembly 531 is working, the single-ear pusher lateral movement motor 5312 rotates, driving the single-ear pre-fitted pusher assembly 531 to move left and right along the ground rail I to the target position. Then, the single-ear pusher gripper rotary cylinder 5316 controls the single-ear pusher grippers 5318 to retract towards each other to clamp and fix the carpal tube. The single-ear pusher lateral movement motor 5312 drives the single-ear pre-fitted pusher assembly 531 to continue lateral movement so that the right end of the carpal tube passes through the single ear. It continues to lateral movement until it stops at the target position. The single-ear pusher cylinder 5312... 14 can drive the single-ear push head gripper mounting plate 5315 to continue to move laterally a certain distance to adjust the relative position of the single ear and the wrist arm tube. The single-ear push head gripper rotary cylinder 5316 can drive the single-ear push head gripper 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. Then, the single ear pre-fitted clamping wheel assembly 532 is used to clamp and fix the wrist arm tube, so that the single ear tightening device 533 can tighten the bolt on the single ear from below.

[0095] Example 12:

[0096] Based on 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 downward from the single-ear tightening base plate 5331, and a single-ear tightening transverse gear 5333 is fixedly connected to its end. The single-ear tightening transverse gear 5333 meshes with a rack on the ground rail. A single-ear tightening support plate 5 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 is fixedly connected to a single-ear tightening shaft mounting plate 5336 at its end. A single-ear tightening shaft seat plate 5337 is installed on the single-ear tightening shaft seat plate 5336. Two single-ear tightening motors 5338 are installed on the single-ear tightening shaft seat plate 5337. The output shaft of the single-ear tightening motor 5338 faces upward and is equipped with a single-ear tightening sleeve at its end.

[0097] In this embodiment, when the single-ear tightening device 533 is working, the single-ear tightening transverse motor 5332 rotates and drives the single-ear tightening device 533 to move laterally along the ground rail I to below the single ear installed on the wrist arm tube. 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 motor 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 of Examples 10 to 12, refer to Figure 18 As shown, the single-ear gripping manipulator 54 includes a single-ear gripping manipulator base plate 541 movably mounted on the ground rail II. A single-ear gripping manipulator motor 542 is mounted on the single-ear gripping manipulator base plate 541. The output shaft of the single-ear gripping manipulator motor 542 extends downward from the single-ear gripping manipulator base plate 541, and a single-ear gripping manipulator gear is fixedly connected to its end. The single-ear gripping manipulator gear meshes with a rack on the ground rail II. A single-ear gripping column 543 is mounted on the single-ear gripping manipulator 541. A single-ear gripping column is mounted on one side of the upper end of the single-ear gripping column 543. A single-ear gripping longitudinal movement cylinder 544 is provided. A single-ear gripping lifting cylinder connecting plate 546 is fixedly installed on the single-ear gripping longitudinal movement cylinder slide plate 545 of the single-ear gripping longitudinal movement cylinder 544. At least two single-ear gripping lifting cylinders 547 are installed on the single-ear gripping lifting cylinder connecting plate 546. A single-ear clamping cylinder 549 is fixedly installed at the lower end of the single-ear lifting cylinder slide 548 of the single-ear gripping lifting cylinder 547. The single-ear clamping cylinder 549 is used to control the two single-ear grippers 5491 to move closer to each other to clamp and fix the single ear, and to move away from each other to release the single ear.

[0100] In this embodiment, when the single-ear grasping robot 54 is working, the single-ear robot motor 542 rotates, driving the single-ear grasping robot 54 to move laterally to the left side of the single-ear buffer conveying device 52. The front and rear positions of the single-ear gripper 5491 are adjusted by the single-ear grasping longitudinal movement cylinder 544, and the height of the single-ear gripper 5491 is adjusted by the single-ear grasping lifting cylinder 547, so that the single-ear gripper 5491 is in a suitable position to facilitate grasping the single ear. The single-ear clamping cylinder 549 controls the single-ear grippers 5491 to move closer to each other. The single ear is clamped and fixed. Then, the single ear gripper 5491 holding the single ear is raised by the single ear gripping and lifting cylinder 547. Then, the single ear gripper 5491 is moved to a suitable position by the single ear manipulator motor 542, the single ear gripping longitudinal movement cylinder 544, and the single ear gripping and lifting cylinder 547, so that the wrist arm tube can be smoothly inserted into the single ear. 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.

[0101] Example 14:

[0102] Based on any of the foregoing embodiments, refer to Figures 19 to 22 As shown, the sleeve pre-assembly device 60 includes a sleeve seat buffer conveying device 61, a load-bearing cable seat buffer conveying device 62, a horizontal cantilever pusher device 63, a slanted cantilever pusher device 64, a sleeve pre-assembly part manipulator 65, a sleeve positioning and assembly device 66, a sleeve pre-assembly 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 horizontally side by side, and are used to continuously supply the sleeve seat and the load-bearing cable seat by means of rotary motion, respectively. Ground rail III and ground rail IV are arranged sequentially from back to front in front of the sleeve seat buffer conveying device 61, and the horizontal cantilever pusher device 63 is arranged on ground rail III and The device can move laterally relative to ground rail III for clamping and pushing the flat cantilever arm; the inclined cantilever arm pushing device 64 is set on ground rail IV and can move laterally relative to ground rail IV for clamping and pushing the inclined cantilever arm; the pre-fitting part manipulator 65 is used to clamp the sleeve seat on the sleeve seat buffer conveying device 61 and the load-bearing cable seat on the load-bearing cable seat buffer conveying device 62 and place them on the sleeve bearing positioning assembly device 66; the guide cone manipulator device 68 is used to install the guide cone on the end of the flat cantilever arm or the inclined cantilever arm to position the flat cantilever arm or the inclined cantilever arm; the pre-fitting ground rail tightening device 67 is set below the sleeve bearing positioning assembly device 66 for tightening the bolts at the lower end of the load-bearing cable seat.

[0103] The installation process of the sleeve seat and the load-bearing cable seat is as follows: First, the sleeve seat on the sleeve seat buffer conveying device 61 and the load-bearing cable seat on the load-bearing cable seat buffer conveying device 62 are clamped and placed on the sleeve seat positioning assembly device 66 by the sleeve seat buffer conveying device 65. Then, the truss pipe moving assembly 45, which is equipped with a single-ear flat or inclined cantilever arm, is gripped and transferred to the sleeve seat positioning assembly device 66 by the truss manipulator device 40 and inserted into the sleeve seat and the load-bearing cable seat. Finally, the guide cone manipulator device 68 moves to the sleeve seat positioning assembly. The guide cone is installed on the right side of the mounting device 66 to position the flat or inclined cantilever 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 torsion assembly 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-rail tightening device 67, thus completing the assembly of the finished aluminum cantilever arm; finally, the finished aluminum cantilever arm is transferred to the finished product conveying device 69 by the truss unloading assembly 44 of the truss manipulator device 40.

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

[0105] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments described in this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" 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," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0107] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

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

[0109] In the detailed description above, reference has been made to the accompanying drawings, which form part of this document. In the drawings, similar symbols typically identify similar parts unless the context otherwise indicates otherwise. The illustrated embodiments described in the detailed specification, drawings, and claims are not intended 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 above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic production device for aluminum cantilever arms, characterized in that: The system 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-assembly device (50), and a sleeve pre-assembly device (60). The long tube buffer device (10) is used to buffer and continuously supply unprocessed carpal tubes. The cantilever manipulator device (20) is located in front of the long tube buffer device (10) and is used to grab the carpal tube from the long tube buffer device (10) and feed it into the long tube processing device (30). The long tube processing device (30) is located on the right side of the long tube buffer device (10) and is used to drill holes in the carpal tube. Cutting and chamfering; the single-ear pre-assembly device (50) is located on the right side of the long tube processing device (30) and is used to continuously supply single ears and complete the assembly of single ears with the cantilever tube; the sleeve pre-assembly device (60) is located on the rear side of the single-ear pre-assembly device (50) and is used to continuously supply sleeve seats and load-bearing cable seats, complete the assembly of sleeve seats, load-bearing cable seats and cantilever tubes, and transport the finished aluminum cantilever to the next work station; the truss manipulator device (40) is located above the single-ear pre-assembly device (50) and the sleeve pre-assembly device (60) and is used to transfer cantilever tubes equipped with single ears, tighten and fix sleeve seats and cantilever tubes, The finished aluminum wrist arm is transferred to the next workstation; the truss manipulator device (40) includes a truss support (41), on which three truss manipulator mounting components (42) are mounted. The truss manipulator mounting components (42) can move laterally relative to the truss support (41). The truss manipulator mounting components (42) include a truss manipulator beam (421) and a truss lifting column (4251). The truss lifting column (4251) can move longitudinally and vertically relative to the truss manipulator beam (421). From left to right, the three truss manipulator mounting components (42) are connected by a truss... The bottom end of the lifting column (4251) is equipped with a truss pipe moving assembly (45), a truss unloading assembly (44), and a truss torsion assembly (43). The truss pipe moving assembly (45) is used to move the cantilever tube with a single ear installed in the single ear pre-assembly device (50) to the sleeve bearing pre-assembly device (60) for assembling the sleeve seat and the load-bearing cable seat. The truss torsion 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 cantilever tube. The truss unloading assembly (44) is used to move the cantilever tube with the sleeve seat, the load-bearing cable seat, and the single ear installed to the finished product conveying device (69).

2. The automatic aluminum cantilever arm production device according to claim 1, characterized in that: The long tube buffer device (10) includes several long tube buffer racks (11), several long tube support devices (12), and a long tube rotary drive motor (13). The long tube support devices (12) are arranged between adjacent long tube buffer racks (11). The long tube support devices (12) include rollers and roller lifting columns. The roller lifting columns are used to automatically adjust the height of the rollers. The rollers are used to support and transport the carpal tubes. Several parallel carpal tube storage brackets are provided on the long tube buffer racks (11). The long tube rotary drive motor (13) is connected to the long tube buffer racks (11) and is used to drive the long tube buffer racks (11) to rotate, thereby continuously supplying the carpal tubes. Adjacent long tube buffer racks (11) are connected to each other through a long tube drive shaft (111) and a coupling (14), so that the long tube rotary drive motor (13) synchronously drives the long tube buffer racks (11) to rotate.

3. The automatic aluminum cantilever production device according to claim 1, characterized in that: The cantilever manipulator device (20) includes a cantilever support frame (21), and several short tube support frames (22) are provided below the cantilever support frame (21). The 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 gripper (2346), which is used to grip the wrist arm tube. The cantilever gripper (2346) as a whole can move longitudinally and move up and down.

4. The automatic aluminum cantilever arm production device according to claim 3, characterized in that: The cantilever manipulator body (23) includes a cantilever beam (231), on which a cantilever manipulator lateral movement drive assembly (232) is mounted. The cantilever manipulator lateral movement drive assembly (232) is used to drive the cantilever manipulator body (23) to move laterally along the cantilever support frame (21). The cantilever manipulator lateral movement drive assembly (232) includes a cantilever base plate (2321) mounted on the bottom surface of the cantilever beam (231). A cantilever traverse motor (2322) is installed on the cantilever base plate (2321). The output shaft of the cantilever traverse motor (2322) faces downward and extends out of the cantilever base plate (2321). A cantilever traverse gear (2323) is fixedly installed at the lower end of the output shaft of the cantilever traverse motor (2322). A cantilever traverse rack is installed on the upper surface of the cantilever support frame (21). The cantilever traverse gear (2323) and the cantilever traverse rack are connected to each other.

5. The automatic aluminum cantilever arm production device according to claim 4, characterized in that: The upper end face of the cantilever support frame (21) is equipped with cantilever lateral guide strips spaced back and forth, and the lower end face of the cantilever base plate (2321) is equipped with cantilever lateral guide wheels (2324) located outside the two cantilever lateral guide strips respectively. The cantilever lateral guide wheels (2324) are movably connected to the cantilever lateral guide strips.

6. The automatic aluminum cantilever arm production device according to claim 4, characterized in that: A cantilever manipulator longitudinal movement drive assembly (233) is installed on the cantilever beam (231). 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 base plate (2321). The output shaft of the cantilever longitudinal movement motor (2331) faces upward and passes through the cantilever base plate (2321). A cantilever longitudinal movement gear (2332) is fixedly installed at the upper end of the output shaft of the cantilever longitudinal movement motor (2331). A cantilever longitudinal movement rack (2333) is installed on the lower end face of the cantilever beam (231) at a position between it and the upper end face of the cantilever base plate (2321). The cantilever longitudinal movement gear (2332) and the cantilever longitudinal movement rack (2333) mesh with each other.

7. An automatic aluminum cantilever production device according to claim 6, characterized in that: Cantilever longitudinal guide strips are installed at intervals on the lower end face of the cantilever beam (231). Cantilever longitudinal guide wheels (2334) are installed on the upper surface of the cantilever seat plate (2321) at positions outside the two cantilever longitudinal guide strips. The cantilever longitudinal guide strips and the cantilever longitudinal guide wheels (2334) are connected to each other.

8. An automatic aluminum cantilever production device according to claim 4, characterized in that: A robotic gripper assembly (234) is installed on the cantilever beam (231). The robotic gripper 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 lifting column (2341). A cantilever gripper longitudinal movement cylinder (2343) is installed at the lower end of the cantilever connecting aluminum profile (2342). A cantilever gripper fixing plate (2344) is fixedly connected to the movable end of the cantilever gripper longitudinal movement cylinder (2343). Cantilever gripper cylinders (2345) are installed at the left and right ends of the cantilever gripper fixing plate (2344). Cantilever gripper claws (2346) are connected to the output ends of the front and rear ends of the cantilever gripper cylinders (2345).

9. An automatic aluminum cantilever production device according to claim 8, characterized in that: 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 at 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 at its end. A cantilever lifting rack (2354) is installed on the cantilever lifting column (2341). The cantilever lifting gear (2353) meshes with the cantilever lifting rack (2354).

10. An automatic aluminum cantilever production device according to claim 1, characterized in that: The long tube processing device (30) includes a brachiopod processing box (31). A sawing assembly (35), a drilling machine (33), and a chamfering machine (34) are provided on the upper surface of the brachiopod processing box (31). The sawing assembly (35) is located at the left end of the brachiopod processing box (31) and is used to cut the brachiopod. A sawing clamping assembly (32) is provided on the left and right sides of the sawing assembly (35). The sawing clamping assembly (32) is used to clamp and fix the brachiopod, so as to facilitate the sawing assembly (35) to cut the brachiopod. The drilling machine (33) is located on the front and rear sides of the right side of the sawing assembly (35) and is used to drill through holes at the end of the brachiopod. The chamfering machine (34) can move back and forth relative to the brachiopod processing box (31) and is used to chamfer the end of the brachiopod.

11. An automatic aluminum cantilever production device according to claim 10, characterized in that: The sawing and clamping assembly (32) includes a sawing and clamping base plate (321) installed on the upper end of the arm tube processing box (31). A sawing and clamping support block (322) is installed on the upper end of the sawing and clamping base plate (321). A V-shaped groove is provided on the upper end surface of the sawing and clamping support block (322) for supporting the arm tube. A sawing and clamping seat (323) is installed on one side of the upper end of the sawing and clamping base plate (321), and a sawing and clamping cylinder (325) is rotatably installed on the other side. The upper end of the sawing and clamping seat (323) is rotatably connected to one end of the sawing and clamping rod (324), and the other end of the sawing and clamping rod (324) is rotatably connected to the output rod of the sawing and clamping cylinder (325).

12. The automatic aluminum cantilever production device according to claim 10, characterized in that: The sawing assembly (35) includes a sawing lifting cylinder bracket (352) mounted on the arm tube processing box (31). A sawing motor support (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 (351). A sawing motor (354) is mounted on the sawing motor support (351), and the output shaft of the sawing motor (354) is fixedly connected to the saw blade (355).

13. The automatic aluminum cantilever arm production device according to claim 1, characterized in that: The truss manipulator mounting assembly (42) has truss connecting side plates I (4221) and truss connecting side plates II (4222) installed at both ends of the truss manipulator beam (421). A truss lateral drive motor (4231) is installed on the truss manipulator beam (421). Truss manipulator lateral gears (4233) are rotatably connected to the truss connecting side plates I (4221) and II (4222). The bidirectional output rod of the truss lateral drive motor (4231) is fixedly connected to the two truss manipulator lateral gears (4233). A truss manipulator lateral rack is installed on the truss bracket (41). The truss manipulator lateral gears (4233) mesh with the truss manipulator lateral rack.

14. The automatic aluminum cantilever arm production device according to claim 13, characterized in that: The truss support (41) has truss guide bars at both ends of the truss cross support beam. The outer surfaces of the truss connecting side plate I (4221) and the truss connecting side plate II (4222) are provided with truss transverse guide wheels (4234) that match the truss guide bars. The truss transverse guide wheels (4234) are connected to the truss guide bars.

15. An automatic aluminum cantilever production device according to claim 13, characterized in that: A truss manipulator longitudinal plate is slidably mounted on the truss manipulator crossbeam (421) via guide rails and sliders. The truss lifting column (4251) is mounted on the truss manipulator longitudinal plate. A truss longitudinal motor (4241) is mounted on the truss manipulator longitudinal plate. The output axis of the truss longitudinal motor (4241) extends downward from the truss manipulator longitudinal plate and a truss longitudinal gear (4242) is mounted at its end. A truss longitudinal rack (4243) is mounted on the truss manipulator crossbeam (421). The truss longitudinal gear and the truss longitudinal rack (4243) mesh with each other. The rotation of the truss longitudinal motor (4241) drives the truss longitudinal gear (4242) to rotate, thereby driving the truss lifting column (4251) to move longitudinally along the truss manipulator crossbeam (421).

16. An automatic aluminum cantilever production device according to claim 15, characterized in that: The truss lifting column (4251) and the truss manipulator longitudinal plate are slidably connected by guide rails and sliders. A truss lifting motor (4252) is installed on the truss manipulator longitudinal 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) mesh with each other. 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 beam (421).

17. An automatic aluminum cantilever production device according to claim 1, characterized in that: The truss torsion assembly (43) includes a truss tightening plate (431) installed at the bottom 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 motors (432). The truss tightening sleeve (433) is located below the truss tightening plate (431).

18. An automatic aluminum cantilever production device according to claim 1, characterized in that: The truss unloading assembly (44) includes a truss unloading fixing plate (441) fixedly installed at the bottom of the truss lifting column (4251). A truss unloading profile (442) is installed at the lower end of the truss unloading fixing plate (441). A finished product gripper cylinder (443) is installed below one end and the middle of the truss unloading profile. The finished product gripper cylinder (443) is used to drive two finished product grippers (444) to move closer to each other to clamp the carpal tube. The other end of the truss unloading profile (442) is equipped with a finished product lifting cylinder connecting plate (4451), the bottom end of the finished product lifting cylinder connecting plate (4451) is equipped 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 to the unloading upright plate (4452), and the bottom end of the unloading upright plate (4452) is vertically equipped with an unloading support plate (4453).

19. An automatic aluminum cantilever production device according to claim 18, characterized in that: The bottom end of the finished product lifting cylinder connecting plate (4451) is provided with finished product cylinder guide blocks (4456) on both sides of the finished product lifting cylinder (4454). Finished product cylinder guide blocks (4456) are installed on both sides of the finished product lifting cylinder moving platform (4455) on the unloading upright plate (4452). Finished product cylinder guide shafts (4457) are provided on both sides of the finished product lifting cylinder (4454). One end of the finished product cylinder guide shaft (4457) is fixedly connected to the finished product cylinder guide block (4456) on the unloading upright 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).

20. An automatic aluminum cantilever production device according to claim 1, characterized in that: The truss pipe moving assembly (45) includes a pipe moving transition plate (451) fixedly installed at the bottom end of the truss lifting column (4251). A pipe moving connecting profile (452) is installed at the bottom end of the pipe moving transition plate (451). A pipe moving beam (453) is installed at the lower end of the pipe moving connecting profile (452). A pipe moving claw cylinder (454) is installed on the bottom end face of both ends of the pipe moving beam (453). The pipe moving claw cylinder (454) drives the two pipe moving claws (455) to move closer to each other to clamp and fix the carousel tube, and to move away from each other to release the carousel tube.

21. The automatic aluminum cantilever arm production device according to claim 1, characterized in that: The single-ear pre-assembly device (50) includes a carpal tube fixed-length support device (51), a single-ear buffer conveying device (52), a single-ear assembly device (53), and a single-ear grasping robot (54). The carpal tube fixed-length support device (51) is used to receive the carpal tube processed by the long tube processing device (30) and support it. The single-ear buffer conveying device (52) is located in front of the carpal tube fixed-length support device (51) and is used to continuously supply the single ear through rotational motion. The single-ear grasping robot (54) is located on the right side of the single-ear buffer conveying device (52). The single ear assembly device (53) is located between the carpal tube fixed length support device (51) and the single ear buffer conveying device (52); the truss manipulator device (40) transfers the carpal tube in the carpal 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 carpal tube is inserted into the single ear, and the bolts on the single ear are tightened by the single ear assembly device (53) to fix the single ear to the carpal tube.

22. The automatic aluminum cantilever arm production device according to claim 21, characterized in that: The fixed-length support device (51) for the carpal tube includes a tube-dragging robot (512) and several horizontally spaced fixed-length support wheel assemblies (511). The fixed-length support wheel assembly (511) is used to support and transport the processed carpal 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 carpal tube and drag the carpal tube to the right to place it on the fixed-length support wheel assembly (511).

23. The automatic aluminum cantilever arm production device according to claim 21, characterized in that: The single-ear assembly device (53) includes a single-ear pre-fitting push head assembly (531) movably mounted on the ground rail, a number of single-ear pre-fitting clamping roller assemblies (532) arranged laterally, and a single-ear tightening device (533). The single-ear pre-fitting clamping roller assembly (532) is used to support the carpal tube from the carpal tube fixed-length support device (51) and can clamp and fix the carpal tube. The single-ear pre-fitting 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 carpal tube placed on the single-ear pre-fitting clamping roller assembly (532) and drive the carpal 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 installed on the carpal tube, thereby fixing the position of the single ear and the carpal tube.

24. An automatic aluminum cantilever production device according to claim 23, characterized in that: The single-ear pre-fitted pusher assembly (531) includes a single-ear pusher base (5311) movably mounted on a ground rail. A single-ear pusher traverse motor (5312) is fixedly mounted on the single-ear pusher base (5311). The output shaft of the single-ear pusher traverse motor (5312) extends downward from the single-ear pusher base (5311), and a single-ear pusher traverse gear is mounted at the end of the output shaft. The single-ear pusher traverse gear meshes with a rack on the ground rail. A single-ear pusher column (5313) is mounted on the single-ear pusher base (5311). A single-ear pusher cylinder (5314) is installed at the upper end. A single-ear pusher gripper mounting plate (5315) is fixedly installed at the movable end of the single-ear pusher cylinder (5314). A single-ear pusher gripper rotary cylinder (5316) is installed on the single-ear pusher gripper mounting plate (5315). A single-ear pusher gripper rotary cylinder (5317) is fixedly connected to the output end of the single-ear pusher gripper rotary cylinder (5316). The single-ear pusher gripper rotary cylinder (5316) is used to control the single-ear pusher grippers (5318) to retract with each other to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube.

25. An automatic aluminum cantilever production device according to claim 23, characterized in that: The single-ear tightening device (533) includes a single-ear tightening base plate (5331) movably mounted on a 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 downward from the single-ear tightening base plate (5331) and is fixedly connected to a single-ear tightening transverse gear (5333) at its end. The single-ear tightening transverse gear (5333) meshes with a rack on the ground rail. A single-ear tightening support plate (533) is mounted on the single-ear tightening base 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 is fixedly connected to a single-ear tightening shaft mounting plate (5336) at its end. A single-ear tightening shaft seat plate (5337) is installed on the single-ear tightening shaft mounting plate (5336). Two single-ear tightening motors (5338) are installed on the single-ear tightening shaft seat plate (5337) in parallel. The output shaft of the single-ear tightening motor (5338) faces upward and is equipped with a single-ear tightening sleeve at its end.

26. An automatic aluminum cantilever production device according to claim 21, characterized in that: The single-ear gripping manipulator (54) includes a single-ear gripping manipulator base plate (541) movably mounted on the ground rail II. A single-ear gripping manipulator motor (542) is mounted on the single-ear gripping manipulator base plate (541). The output shaft of the single-ear gripping manipulator motor (542) extends downward from the single-ear gripping manipulator base plate (541) and a single-ear gripping gear is fixedly connected to its end. The single-ear gripping manipulator gear meshes with a rack on the ground rail II. A single-ear gripping column (543) is mounted on the single-ear gripping manipulator base plate (541). A single-ear gripping tool is mounted on one side of the upper end of the single-ear gripping column (543). Take the longitudinal movement cylinder (544). The single ear grasping longitudinal movement cylinder slide plate (545) of the single ear grasping longitudinal movement cylinder (544) is fixedly installed with a single ear grasping lifting cylinder connecting plate (546). At least two single ear grasping lifting cylinders (547) are installed on the single ear grasping lifting cylinder connecting plate (546). The lower end of the single ear lifting cylinder slide (548) of the single ear grasping lifting cylinder (547) is fixedly installed with a single ear clamping cylinder (549). The single ear clamping cylinder (549) is used to control the two single ear grippers (5491) to move closer to each other to clamp and fix the single ear, and to move away from each other to release the single ear.

Images