Automatic assembling device for aluminum cantilever

Abstract

The invention relates to an automatic aluminum cantilever assembling device which comprises a truss manipulator device, a single-lug pre-assembling device and a sleeve bearing pre-assembling device, and the single-lug pre-assembling device is used for continuously supplying single lugs and completing assembling of the single lugs and cantilever pipes; the sleeve bearing pre-assembling device is arranged on the rear side of the single-lug pre-assembling device and used for continuously supplying sleeve pipe bases and carrier cable bases, completing assembling of the sleeve pipe bases, the carrier cable bases and cantilever pipes and conveying finished aluminum cantilevers to the next station. And the truss manipulator device is arranged above the single-lug pre-assembling device and the sleeve bearing pre-assembling device, and is used for transferring a cantilever pipe assembled with a single lug, tightening and fixing a sleeve seat and the cantilever pipe, and transferring a finished aluminum cantilever to a next station. Automatic production of all links of aluminum cantilever assembly is achieved; the truss manipulator is used for transferring the cantilever pipe and grabbing and shifting the finished aluminum cantilever, so that the running route of the production line is simpler, and the running efficiency of the production line is improved.

Description

Technical Field

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

[0002] With the rapid development of railway construction in my country, new requirements have been put forward for the process quality standards of relevant components in the railway industry, and the requirements for the construction and maintenance accuracy of the driving line are getting higher and higher. In the railway driving line, the contact network is an important part to ensure the normal operation of the railway. It is connected to the electric railway power supply line and directly undertakes the primary task of transmitting energy for electric trains. The arm is a contact network support device, and the pre-assembly of the arm is an important part of the construction of electrified railways. High-speed railways have extremely high requirements for the accuracy of contact network installation, and most of the parts of high-speed railway contact network projects cannot be disassembled and assembled repeatedly. After accurate calculation, the arm support device must be accurately assembled in place at one time. Due to the high altitude and other conditions on the site, it is necessary to adopt the mode of prefabrication on the ground in advance. The quality of one-time construction in the entire contact suspension directly affects the quality, progress and construction efficiency of subsequent construction. During the production process of the aluminum wrist arm, it is necessary to set a single ear on the oblique wrist arm and the flat wrist arm, and then insert the flat wrist arm and the oblique wrist arm into the two sleeve seats of the sleeve seat respectively, and set the load-bearing cable seat on one end of the flat wrist arm, and then tighten the fastening bolts on the load-bearing cable seat and the sleeve seat. In the above production process, there are the following technical difficulties, which make it difficult to realize automated production of the aluminum wrist arm:

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

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

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

[0006] The present invention is intended to provide an aluminum arm automatic assembly device to solve the deficiencies in the prior art. The technical problem to be solved by the present invention is achieved through the following technical solutions.

[0007] An automatic assembly device for an aluminum wrist arm comprises a truss manipulator device, a single ear pre-assembly device, and a sleeve pre-assembly device, wherein the single ear pre-assembly device is used to continuously supply a single ear and complete the assembly of the single ear and a wrist arm tube; the sleeve pre-assembly device is arranged at the rear side of the single ear pre-assembly device, and is used to continuously supply a sleeve seat and a load-bearing cable seat, complete the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and transport the finished aluminum wrist arm to the next workstation; the truss manipulator device is arranged above the single ear pre-assembly device and the sleeve pre-assembly device, and is used to transfer the wrist arm tube equipped with a single ear, tighten and fix the sleeve seat and the wrist arm tube, and transfer the finished aluminum wrist arm to the next workstation.

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

[0009] The present invention provides an automatic assembly device for an aluminum arm. The truss manipulator installation component adopts a universal modular design. According to the requirements of the production line, a corresponding number of truss manipulator installation components can be installed on the truss bracket and a corresponding truss manipulator can be installed at the lower end of the truss lifting column. The present invention realizes the continuous loading, grabbing and assembly of a single ear, the continuous loading, grabbing and assembly of a sleeve seat and a load-bearing cable seat, and the automated production of each link of the transportation of the finished aluminum arm. The truss manipulator is used to operate the transfer 3434 of the arm tube and the grabbing and shifting of the finished aluminum arm, thereby reducing the design avoidance problem due to the need to avoid interference with ground components, making the production line operation route simpler and improving the efficiency of the production line operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0011] Figure 2 It is a structural schematic diagram of the aluminum arm production line in the present invention;

[0012] Figure 3 It is a structural schematic diagram of the long tube buffer device in the present invention;

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

[0014] Figure 5 It is a schematic diagram of the structure of the cantilever manipulator body in the present invention;

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

[0016] Figure 7 It is a structural schematic diagram of the cantilever manipulator body in another angle of the present invention;

[0017] Figure 8 It is a structural schematic diagram of the long tube processing device of the present invention;

[0018] Fig. 9 It is a schematic diagram of the structure of the sawing assembly in the present invention;

[0019] Fig.10 It is a structural schematic diagram of the truss manipulator device in the present invention;

[0020] Fig.11 It is a structural schematic diagram of the truss manipulator installation assembly in the present invention;

[0021] Fig.12 It is a structural schematic diagram of the truss torsion-fixing assembly in the present invention;

[0022] Fig.13 It is a structural schematic diagram of the truss blanking assembly in the present invention;

[0023] Fig.14 It is a structural schematic diagram of the truss pipe moving assembly in the present invention;

[0024] Fig.15 It is a structural schematic diagram of a single-ear pre-matching device in the present invention;

[0025] Fig.16 It is a structural schematic diagram of a single-ear assembly device in the present invention;

[0026] Fig.17 This is a structural schematic diagram of a single-ear pre-assembled push head assembly in the present invention;

[0027] Fig.18 It is a schematic diagram of the structure of the single-ear tightening device in the present invention;

[0028] Fig.19 It is a structural schematic diagram of a single-ear grasping manipulator in the present invention;

[0029] Fig. 20 It is a structural schematic diagram of the sleeve pre-assembly device in the present invention;

[0030] Fig.21 It is a schematic diagram of the structure of a single ear in the present invention;

[0031] Fig. 22 It is a structural schematic diagram of the sleeve seat in the present invention;

[0032] Fig.23 It is a structural schematic diagram of the load-bearing cable seat in the present invention;

[0033] The reference numerals in the accompanying drawings are: 10, long tube caching device, 11, long tube caching frame, 111, long tube transmission shaft, 12, long tube supporting device, 13, long tube rotation driving motor, 14, coupling, 20, cantilever manipulator device, 21, cantilever supporting frame, 22, short tube supporting frame, 23, cantilever manipulator body, 231, cantilever beam, 232, cantilever manipulator transverse movement driving assembly, 2321, cantilever seat plate, 2322, cantilever transverse movement motor, 2323, cantilever transverse movement gear, 2324, cantilever transverse movement guide wheel, 2325, cantilever transverse movement guide wheel cover, 233, cantilever manipulator longitudinal movement driving assembly, 2331, cantilever longitudinal movement motor, 2332, cantilever longitudinal movement gear, 2333, cantilever longitudinal movement rack, 2334, cantilever longitudinal guide wheel, 234, manipulator grab assembly, 2341, cantilever lifting column, 2342, cantilever connecting aluminum profile, 2343, cantilever clamp longitudinal cylinder, 2344, cantilever clamp fixing plate, 2345, cantilever clamp cylinder, 2346, cantilever clamp, 235, cantilever manipulator lifting assembly, 2351, cantilever lifting connecting plate, 2352, cantilever lifting motor, 2353, cantilever lifting gear, 2354, cantilever lifting rack, 24, waste box, 30, long tube processing device, 31, wrist arm tube processing box, 311, processing chip drop hole, 32, sawing and clamping assembly, 321, sawing and clamping bottom plate, 322, sawing and clamping support block, 323, sawing and clamping seat, 324, sawing Clamping rod, 325, sawing clamping cylinder, 33, drilling machine, 34, chamfering machine, 35, sawing assembly, 351, sawing motor support seat, 352, sawing lifting cylinder bracket, 353, sawing lifting cylinder, 354, sawing motor, 355, saw blade, 356, sawing protective cover, 36, drilling chip cover, 37, chamfering chip cover, 40, truss manipulator device, 41, truss bracket, 42, truss manipulator installation assembly, 421, truss manipulator crossbeam, 4221, truss connecting side plate I, 4222, truss connecting side plate II, 4231, truss transverse drive motor, 4232, truss transmission shaft, 4233, truss manipulator transverse gear, 4234, truss transverse guide wheel, 4241, truss Longitudinal shift motor, 4242, truss longitudinal shift gear, 4243, truss longitudinal shift rack, 4251, truss lifting column, 4252, truss lifting motor, 4253, truss lifting gear, 4254, truss lifting rack, 43, truss fixed torque assembly, 431, truss tightening 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 clamping cylinder, 444, finished product clamping claw, 4451, finished product lifting cylinder connecting plate, 4452, unloading plate, 4453, unloading support plate, 4454, finished product lifting cylinder, 4455, finished product lifting cylinder moving platform, 4456, finished product cylinder guide block,4457, finished cylinder guide shaft, 45, truss pipe transfer assembly, 451, pipe transfer transition plate, 452, pipe transfer connection profile, 453, pipe transfer beam, 454, pipe transfer clamp cylinder, 455, pipe transfer clamp, 50, single ear pre-matching device, 51, wrist arm pipe fixed length support device, 511, fixed length fixed support wheel assembly, 512, pipe dragging manipulator, 52, single ear buffer conveying device, 53, single ear assembly device, 531, single ear pre-matching push head assembly, 5311, single ear push head base, 5312, single ear Push head transverse movement motor, 5313, single ear push head column, 5314, single ear push head cylinder, 5315, single ear push head clamp mounting plate, 5316, single ear push head clamp rotary cylinder, 5317, single ear push head clamp cylinder, 5318, single ear push head clamp, 532, single ear pre-assembled clamping wheel assembly, 5321, single ear clamping cylinder, 5322, single ear clamping block, 5323, single ear clamping roller, 533, single ear tightening device, 5331, single ear tightening seat plate, 5332, single ear tightening transverse movement motor , 5333, single ear tightening transverse gear, 5334, single ear tightening support plate, 5335, single ear tightening lifting cylinder, 5336, single ear tightening shaft mounting plate, 5337, single ear tightening shaft seat plate, 5338, single ear tightening motor, 5339, single ear tightening sleeve, 54, single ear grabbing manipulator, 541, single ear grabbing manipulator seat plate, 542, single ear manipulator motor, 543, single ear grabbing column, 544, single ear grabbing longitudinal cylinder, 545, single ear grabbing longitudinal cylinder slide, 546, single Ear grabbing lifting cylinder connecting plate, 547, single ear grabbing lifting cylinder, 548, single ear lifting cylinder slide, 549, single ear clamping cylinder, 5491, single ear clamping claw, 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, oblique wrist arm pushing device, 65, sleeve pre-parts manipulator, 66, sleeve bearing positioning assembly device, 67, sleeve pre-ground rail tightening device, 68, guide cone manipulator device, 69, finished product conveying device. , DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] Embodiment 1:

[0036] Reference Figure 1 and Figure 2As shown, an aluminum arm automatic assembly device, the improvement of which is that it includes a long tube buffer device 10, a cantilever manipulator device 20, a long tube processing device 30, a truss manipulator device 40, a single ear pre-fitting device 50, and a sleeve pre-fitting device 60, wherein the long tube buffer device 10 is used to buffer and continuously supply unprocessed arm tubes; the cantilever manipulator device 20 is arranged on the front side of the long tube buffer device 10, and is used to grab the arm tube from the long tube buffer device 10 and send it to the long tube processing device 30; the long tube processing device 30 is arranged on the right side of the long tube buffer device 10, and is used to drill and cut the arm tube. Cutting and chamfering processing; the single ear pre-fitting device 50 is arranged on the right side of the long tube processing device 30, and is used to continuously supply the single ear and complete the assembly of the single ear and the wrist arm tube; the sleeve bearing pre-fitting device 60 is arranged on the rear side of the single ear pre-fitting device 50, and is used to continuously supply the sleeve seat and the load-bearing cable seat, complete the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and transport the finished aluminum wrist arm to the next station; the truss manipulator device 40 is arranged above the single ear pre-fitting device 50 and the sleeve bearing pre-fitting device 60, and is used to transfer the wrist arm tube equipped with a single ear, tighten and fix the sleeve seat and the wrist arm tube, and transfer the finished aluminum wrist arm to the next station.

[0037] In this embodiment, the aluminum arm production line includes a production line bottom skid placed on the bottom surface, the long tube buffer device 10, the cantilever manipulator device 20, the long tube processing device 30, the truss manipulator device 40, the single ear pre-fitting device 50 and the sleeve bearing pre-fitting device 60 are placed on the production line bottom skid, and a number of evenly spaced lifting ears are arranged on the front and rear sides of the production line bottom skid to facilitate the overall movement of the aluminum arm production line. In this embodiment, during production, first, the long tube buffer device 10 stores a number of arm tubes and continuously transports them to the production line, the cantilever manipulator device 20 grabs the arm tubes from the long tube buffer device 10 and transfers them to the long tube processing device 30 for drilling, cutting and chamfering, the longer reusable waste after cutting is clamped by the cantilever manipulator device 20 and temporarily stored on the short tube support frame 22 of the cantilever manipulator device 20, and the shorter waste is clamped by the cantilever manipulator device 20 and placed in the waste box 24 on the left side of the long tube processing device 30. The wrist arm tube processed by the long tube processing device 30 includes an oblique wrist arm and a flat wrist arm. The oblique wrist arm and the flat wrist arm are transferred to the single ear pre-fitting device 50 through the single ear pre-fitting device 50, and a single ear is installed on the oblique wrist arm and the flat wrist arm respectively. The wrist arm tube installed with the single ear is clamped by the truss manipulator device 40 and transferred to the sleeve pre-fitting device 60, and the assembly of the sleeve seat and the load-bearing cable seat is completed. Finally, the finished aluminum wrist arm is transferred to the finished product conveying device 69 by the truss manipulator device 40 and transferred to the next workstation.

[0038] The present embodiment provides an automatic assembly device for an aluminum wrist arm, which realizes the temporary storage of wrist arm tubes, continuous loading, transportation to the wrist arm tube processing device for punching, cutting, chamfering, continuous loading, grabbing, and assembly of a single ear, continuous loading, grabbing, and assembly of a sleeve seat and a load-bearing cable seat, and automated production of each link of the transportation of the finished aluminum wrist arm. The transfer of the wrist arm tube and the grabbing and shifting of the finished aluminum wrist arm are all operated by a truss manipulator, which reduces the design avoidance problems due to the need to avoid interference with ground components, makes the production line operation route simpler, and improves the efficiency of the production line operation.

[0039] Embodiment 2:

[0040] Based on Example 1, Figure 3 As shown, the long tube caching device 10 includes a plurality of long tube caching racks 11, a plurality of long tube supporting devices 12 and a long tube rotary drive motor 13. The long tube supporting device 12 is arranged between adjacent long tube caching racks 11. The long tube supporting device 12 includes a supporting wheel and a supporting wheel lifting column. The supporting wheel lifting column is used to automatically adjust the height of the supporting wheel, and the supporting wheel is used to support and transport the wrist arm tube; the long tube caching rack 11 is provided with a plurality of wrist arm tube storage brackets arranged in parallel. The long tube rotary drive motor 13 is connected to the long tube caching rack 11 and is used to drive the long tube caching rack 11 to rotate, thereby continuously supplying the wrist arm tube. The adjacent long tube caching racks 11 are connected by a long tube transmission shaft 111 and a coupling 14, so that the long tube rotary drive motor 13 synchronously drives the long tube caching rack 11 to rotate.

[0041] In this embodiment, unprocessed longer wrist arm tubes are continuously stored on the long tube cache rack 11. When the wrist arm tubes on the long tube cache rack 11 are rotated and moved to the top of the long tube support device 12, the height of the support wheel is adjusted by the support wheel lifting column so that the support wheel can support the wrist arm tube and facilitate the cantilever robot device 20 to transfer the wrist arm tube to the long tube processing device 30 for processing.

[0042] Embodiment 3:

[0043] Based on Example 1 or 2, Figure 4 As shown, the cantilever manipulator device 20 includes a cantilever support frame 21, and a plurality of short tube support frames 22 are arranged below the cantilever support frame 21. A cantilever manipulator body 23 is installed on the cantilever support frame 21. The cantilever manipulator body 23 can move laterally and longitudinally relative to the cantilever support frame 21. The cantilever manipulator body 23 includes a cantilever clamp 2346, and the cantilever clamp 2346 is used to clamp the wrist arm tube. The cantilever clamp 2346 as a whole can move longitudinally and move up and down.

[0044] Further, see Figures 5 to 7As shown, the cantilever manipulator body 23 includes a cantilever cross beam 231, on which a cantilever manipulator transverse driving assembly 232 is installed, and the cantilever manipulator transverse driving assembly 232 is used to drive the cantilever manipulator body 23 to move laterally along the cantilever support frame 21 as a whole, and the cantilever manipulator transverse driving assembly 232 includes a cantilever seat plate 2321 installed on the bottom surface of the cantilever cross beam 231, and a cantilever transverse motor 2322 is installed on the cantilever seat plate 2321, and the output shaft of the cantilever transverse motor 2322 faces downward and extends out of the cantilever seat plate 2321, and a cantilever transverse gear 2323 is fixedly installed at the lower end of the output shaft of the cantilever transverse motor 2322, and a cantilever transverse rack is installed on the upper end surface of the cantilever support frame 21, and the cantilever transverse gear 2323 and the cantilever transverse rack are connected with each other.

[0045] In this embodiment, when the cantilever manipulator body 23 moves laterally along the cantilever support frame 21 , the cantilever transverse movement click 2322 rotates, driving the cantilever transverse movement gear 2323 to rotate, thereby driving the cantilever manipulator body 23 to move laterally along the cantilever support frame 21 .

[0046] Furthermore, cantilever transverse guide bars are installed at intervals on the front and rear ends of the upper end surface of the cantilever support frame 21, and cantilever transverse guide wheels 2324 are installed on the lower end surface of the cantilever seat plate 2321 at positions located outside the two cantilever transverse guide bars, and the cantilever transverse guide wheels 2324 are movably connected with the cantilever transverse guide bars in cooperation with each other.

[0047] In this embodiment, the setting of the cantilever transverse movement guide bar and the cantilever transverse movement guide wheel 2324, on the one hand, guides the transverse movement of the cantilever manipulator body 23, and on the other hand, limits the connection between the cantilever manipulator body 23 and the cantilever support frame 21.

[0048] Furthermore, the outer cover of the cantilever transverse guide wheel 2324 is provided with a cantilever transverse guide wheel cover 2325.

[0049] Furthermore, the cantilever transverse guide bar and the cantilever transverse rack are an integrated structure, that is, the inner side of the cantilever transverse rack is a toothed rack structure, and the outer side is a guide bar structure matching the cantilever transverse guide wheel 2324. Such a setting saves more parts and makes the structure more compact.

[0050] Furthermore, a cantilever manipulator longitudinal movement drive component 233 is installed on the cantilever cross beam 231, and the cantilever manipulator longitudinal movement drive component 233 is used to drive the cantilever manipulator body 23 to move longitudinally. The cantilever manipulator longitudinal movement drive component 233 includes a cantilever longitudinal movement motor 2331 installed on the cantilever seat plate 2321, and the output shaft of the cantilever longitudinal movement motor 2331 faces upward and passes through the cantilever seat plate 2321. A cantilever longitudinal movement gear 2332 is fixedly installed on the upper end of the output shaft of the cantilever longitudinal movement motor 2331, and a cantilever longitudinal movement rack 2333 is installed on the lower end surface of the cantilever cross beam 231 at a position between the upper end surface of the cantilever seat plate 2321, and the cantilever longitudinal movement gear 2332 and the cantilever longitudinal movement rack 2333 are meshed with each other.

[0051] In this embodiment, when the cantilever manipulator body 23 moves longitudinally relative to the cantilever support frame 21, the cantilever longitudinal movement motor 2331 rotates, driving the cantilever longitudinal movement gear 2332 to rotate, thereby driving the cantilever seat plate 2321 to move longitudinally. Since the front and rear positions of the cantilever seat plate 2321 and the cantilever support frame 21 are limited, the cantilever manipulator body 23 is driven to move longitudinally as a whole.

[0052] Furthermore, cantilever longitudinal movement guide bars are installed at intervals on the left and right sides of the lower end surface of the cantilever cross beam 231, and cantilever longitudinal movement guide wheels 2334 are respectively installed on the upper surface of the cantilever seat plate 2321 at positions outside the two cantilever longitudinal movement guide bars, and the cantilever longitudinal movement guide bars and the cantilever longitudinal movement guide wheels 2334 are connected to each other in a coordinated manner.

[0053] In this embodiment, the setting of the cantilever longitudinal movement guide bar and the cantilever longitudinal movement guide wheel 2334, on the one hand, plays a guiding role in the longitudinal movement of the cantilever manipulator body 23, and on the other hand, the connection between the cantilever seat plate 2321 and the cantilever cross beam 231 plays a limiting role.

[0054] Furthermore, the outer cover of the cantilever longitudinal guide wheel 2334 is provided with a cantilever longitudinal guide wheel cover.

[0055] Furthermore, the cantilever longitudinal shift guide bar and the cantilever longitudinal shift rack 2333 are integrated structures, that is, the inner side of the cantilever longitudinal shift rack 2333 is a toothed rack structure, and the outer side is a guide bar matching the cantilever longitudinal shift guide wheel 2334. Such an arrangement saves more parts and has a more compact structure.

[0056] Furthermore, a robot gripping assembly 234 is installed on the cantilever beam 231, and the robot gripping assembly 234 includes a cantilever lifting column 2341 installed on one end of the cantilever beam 231, and a cantilever connecting aluminum profile 2342 is installed at the lower end of the cantilever connecting aluminum profile 2342, and a cantilever clamp longitudinal movement cylinder 2343 is installed at the lower end of the cantilever clamp longitudinal movement cylinder 2343, and the movable end of the cantilever clamp longitudinal movement cylinder 2343 is fixedly connected to a cantilever clamp fixing plate 2344, and cantilever clamp cylinders 2345 are respectively installed on the left and right ends of the cantilever clamp fixing plate 2344, and the output ends of the front and rear ends of the cantilever clamp cylinder 2345 are respectively connected to cantilever clamps 2346.

[0057] In this embodiment, the cantilever clamp longitudinal movement cylinder 2343 is used to drive the cantilever clamp fixing plate 2344 to move longitudinally, thereby driving the cantilever clamp 2346 to move longitudinally as a whole; the cantilever clamp cylinder 2345 is used to drive the cantilever clamp 2346 to move closer to each other to clamp the wrist-arm tube, and move away from each other to release the wrist-arm tube.

[0058] Furthermore, a cantilever manipulator lifting assembly 235 is installed between the cantilever beam 231 and the cantilever lifting column 2341, and the cantilever manipulator lifting assembly 235 includes a cantilever lifting connecting plate 2351 fixedly installed on the end of the cantilever beam 231 and movably connected to the cantilever lifting column 2341, a cantilever lifting motor 2352 is installed on the cantilever lifting connecting plate 2351, the output shaft of the cantilever lifting motor 2352 passes through the cantilever lifting connecting plate 2351 and a cantilever lifting gear 2353 is fixedly installed on the end, a cantilever lifting rack 2354 is installed on the cantilever lifting column 2341, and the cantilever lifting gear 2353 and the cantilever lifting rack 2354 are meshed with each other.

[0059] Furthermore, the cantilever lifting connection plate 2351 is movably connected to the cantilever lifting column 2341 via a guide rail and a slider.

[0060] Embodiment 4:

[0061] Based on any of the above embodiments, Figure 8As shown, the long tube processing device 30 includes a wrist-arm tube processing box 31, and a sawing assembly 35, a drilling machine 33 and a chamfering machine 34 are arranged on the upper end surface of the wrist-arm tube processing box 31. The sawing assembly 35 is arranged at the left end of the wrist-arm tube processing box 31, and is used to cut the wrist-arm tube; the left and right sides of the sawing assembly 35 are respectively provided with sawing and clamping assemblies 32, and the sawing and clamping assemblies 32 are used to clamp and fix the wrist-arm tube, so as to facilitate the sawing assembly 35 to cut the wrist-arm tube; the drilling machine 33 is arranged on the front and rear sides of the right side of the sawing assembly 35, and is used to drill a through hole at the end of the wrist-arm tube; the chamfering machine 34 can move forward and backward relative to the wrist-arm tube processing box 31, and is used to chamfer the end of the wrist-arm tube.

[0062] In this embodiment, the position of the sawing and pressing assembly 32 matches the position of the long tube supporting device 12 in the long tube buffer device 10; the left end of the arm tube from the long tube buffer device 10 is clamped by the cantilever manipulator device 20 and sent to the sawing and pressing assembly 32 in the long tube processing device 30, and after being clamped and fixed by the sawing and pressing assembly 32, the arm tube is cut by the sawing assembly 35; the arm tube on the left side of the sawing assembly 35 is clamped and removed by the cantilever manipulator device 20, and the right end of the arm tube on the right side of the sawing assembly 35 is mounted on the fixed length fixed support wheel assembly 511 in the single ear pre-matching device 50, and is clamped and moved to the right by the tube dragging manipulator 512. The drilling machine 33 is used to drill a through hole at the end of the arm tube, and the chamfering machine 34 is used to chamfer the end of the arm tube.

[0063] Further, see Fig. 9 As shown, the sawing and pressing assembly 32 includes a sawing and pressing base plate 321 installed on the upper end of the wrist-arm tube processing box 31, and a sawing and pressing support block 322 is installed on the upper end of the sawing and pressing base plate 321. The upper end surface of the sawing and pressing support block 322 is provided with a V-shaped groove for supporting the wrist-arm tube. A sawing and pressing seat 323 is installed on one side of the upper end of the sawing and pressing base plate 321, and a sawing and pressing cylinder 325 is rotatably installed on the other side. The upper end of the sawing and pressing seat 323 is rotatably connected to one end of the sawing and pressing rod 324, and the other end of the sawing and pressing rod 324 is rotatably connected to the output rod of the sawing and pressing cylinder 325.

[0064] In this embodiment, the output rod of the sawing and pressing cylinder 325 contracts downward, driving the rear end of the sawing and pressing rod 324 to move downward, thereby pressing the arm tube on the sawing and pressing support block 322; the output rod of the sawing and pressing cylinder 325 extends upward, driving the rear end of the sawing and pressing rod 324 to lift, thereby releasing the arm tube on the sawing and pressing support block 322. The bottom end of the sawing and pressing cylinder 325 is rotatably connected to the sawing and pressing bottom plate 321, so when the rear end of the sawing and pressing rod 324 moves up and down, the sawing and pressing cylinder 325 is allowed to be at a certain angle with the sawing and pressing bottom plate 321, so as to prevent the output rod of the sawing and pressing cylinder 325 from being stuck.

[0065] Furthermore, the sawing assembly 35 includes a sawing lifting cylinder bracket 352 installed on the wrist-arm tube processing box 31, and a sawing motor support seat 351 is slidably installed on one side of the sawing lifting cylinder bracket 352. One end of the sawing lifting cylinder 353 is fixedly connected to the sawing lifting cylinder bracket 352, and the other end is fixedly connected to the sawing motor support seat 351. A sawing motor 354 is installed on the sawing motor support seat 351, and the output shaft of the sawing motor 354 is fixedly connected to the saw blade 355.

[0066] In this embodiment, the output rod of the sawing lifting cylinder 353 extends downward, driving the sawing motor support seat 351 to descend, thereby driving the saw blade 355 to descend, so as to make way for the wrist-arm tube to extend into the long tube processing device 30; when cutting the wrist-arm tube, the output rod of the sawing lifting cylinder 353 contracts upward, driving the sawing motor support seat 351 to rise, thereby driving the saw blade 355 to rise, and at the same time, the sawing motor 354 drives the saw blade 355 to rotate, thereby realizing the cutting of the wrist-arm tube by the saw blade 355.

[0067] Furthermore, a drilling chip cover 36 is provided on the wrist-arm tube processing box 31 between the drill bits of the two drilling machines 33 to prevent the splashing of debris generated by drilling, so that the debris generated by drilling falls into the chip box in the wrist-arm tube processing box 31.

[0068] Furthermore, a chip-dropping hole 311 is provided on the wrist-arm tube processing box 31 , so that the chips generated by the chamfering of the chamfering machine 34 can fall into the chip box in the wrist-arm tube processing box 31 through the chip-dropping hole 311 .

[0069] Furthermore, a chamfering chip blocking cover 36 is provided on the wrist arm tube processing box 31 at a position on the left side of the processing chip falling hole 311 to prevent the chips generated by the chamfering from splashing to the drilling machine.

[0070] Embodiment 5:

[0071] Based on any of the above embodiments, Fig.10As shown, the truss manipulator device 40 includes a truss support 41, on which three truss manipulator mounting assemblies 42 are mounted, and the truss manipulator mounting assembly 42 can move laterally relative to the truss support 41. The truss manipulator mounting assembly 42 includes a truss manipulator crossbeam 421 and a truss lifting column 4251, and the truss lifting column 4251 can move longitudinally and up and down 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 installed with a truss pipe moving assembly 45, a truss unloading assembly 44 and a truss torque fixing assembly 43.

[0072] In this embodiment, the truss support 41 includes a truss column, a truss cross support beam and a truss longitudinal beam, wherein the truss cross support beam and the truss longitudinal beam mutually enclose a square truss upper frame, and the truss column is used to support the truss upper frame so that the truss upper frame is erected above the single ear pre-fitting device 50 and the sleeve bearing pre-fitting device 60. The truss manipulator installation assembly 42 is erected between two truss cross support beams and can move laterally along the truss cross support beams. The truss manipulator installation assembly 42 adopts a universal modular design, and a corresponding number of truss manipulator installation assemblies 42 can be installed on the truss support 41 according to the requirements of the production line, and a corresponding truss manipulator can be installed at the lower end of the truss lifting column 4251. In this embodiment, the truss tube transfer assembly 45 is used to transfer the wrist arm tube installed with a single ear in the single ear pre-assembly device 50 to the sleeve pre-assembly device 60 for assembly of the sleeve seat and the load-bearing cable seat; the truss torque fixing assembly 43 is used to tighten the tightening bolts on the sleeve seat or the load-bearing cable seat, thereby fixing the sleeve seat or the load-bearing cable seat to the wrist arm tube; the truss unloading assembly 44 is used to transfer the wrist arm tube installed with the sleeve seat, the load-bearing cable seat and the single ear, that is, the finished aluminum wrist arm to the finished product conveying device 69.

[0073] This embodiment adopts a truss manipulator to perform the operations of transferring, twisting and unloading the wrist-arm tube, reducing the design avoidance issues due to the need to avoid interference with ground parts, making the production line operation route simpler and improving the efficiency of the production line operation.

[0074] Embodiment 6:

[0075] Based on Example 5, Fig.11As shown, a truss connecting side plate I4221 and a truss connecting side plate II4222 are respectively installed at both ends of the truss manipulator crossbeam 421 of the truss manipulator mounting assembly 42, a truss transverse driving motor 4231 is installed on the truss manipulator crossbeam 421, and a truss manipulator transverse gear 4233 is respectively rotatably connected to the truss connecting side plate I4221 and the truss connecting side plate II4222, a bidirectional output rod of the truss transverse driving motor 4231 is respectively fixedly connected to two of the truss manipulator transverse gears 4233, a truss manipulator transverse rack is installed on the truss bracket 41, and the truss manipulator transverse gear 4233 is meshed with the truss manipulator transverse rack.

[0076] Furthermore, truss guide strips are provided at the upper and lower ends of the truss cross support beam of the truss bracket 41, and truss transverse guide wheels 4234 matching the truss guide strips are provided on the outer surfaces of the truss connecting side panels I4221 and the truss connecting side panels II4222, and the truss transverse guide wheels 4234 are cooperatively connected with the truss guide strips.

[0077] In this embodiment, after the truss manipulator installation assembly 42 is erected between the truss transverse support beams of the truss bracket 41, the truss connecting side plate I4221 and the truss connecting side plate II4222 are placed on the inner side of the two truss transverse support beams, and the truss manipulator transverse gear 4233 is meshed with the truss manipulator transverse rack. At this time, the truss transverse guide wheel 4234 is connected with the truss guide bars at the upper and lower ends of the truss transverse support beam. When the truss manipulator installation assembly 42 is moved transversely as a whole, the truss transverse drive motor 4231 rotates, driving the truss manipulator transverse gear 4233 to rotate, thereby causing the truss manipulator installation assembly 42 to move transversely as a whole. The setting of the truss guide bar and the truss transverse guide wheel 4234, on the one hand, guides the movement of the truss manipulator installation assembly 42, and on the other hand, limits the connection between the truss manipulator installation assembly 42 and the truss transverse support beam.

[0078] Furthermore, a truss manipulator longitudinal movement plate is slidably installed on the truss manipulator cross beam 421 through guide rails and sliders, the truss lifting column 4251 is installed on the truss manipulator longitudinal movement plate, a truss longitudinal movement motor 4241 is installed on the truss manipulator longitudinal movement plate, the output shaft of the truss longitudinal movement motor 4241 extends downward from the truss manipulator longitudinal movement plate and a truss longitudinal movement gear 4242 is installed on the end, a truss longitudinal movement rack 4243 is installed on the truss manipulator cross beam 421, the truss longitudinal movement gear and the truss longitudinal movement rack 4243 are meshed with each other, and the rotation of the truss longitudinal movement motor 4241 drives the truss longitudinal movement gear 4242 to rotate, thereby driving the truss lifting column 4251 to move longitudinally along the truss manipulator cross beam 421.

[0079] Furthermore, the truss lifting column 4251 is slidably connected to the truss longitudinal movement plate through guide rails and sliders, a truss lifting motor 4252 is installed on the longitudinal movement plate of the truss manipulator, a truss lifting gear 4253 is installed at the end of the output shaft of the truss lifting motor 4252, a truss lifting rack 4254 is installed on the truss lifting column 4251, the truss lifting gear 4253 and the truss lifting rack 4254 are meshed with each other, and the truss lifting gear 4253 is driven to rotate by the rotation of the truss lifting motor 4252, thereby driving the truss lifting column 4251 to move up and down relative to the truss manipulator beam 421.

[0080] Embodiment 7:

[0081] Based on Example 5 or 6, Fig.12 As shown, the truss torque assembly 43 includes a truss tightening plate 431 installed at the bottom end of the truss lifting column 4251, two truss tightening motors 432 installed on the truss tightening plate 431, and a truss tightening sleeve 433 fixedly connected to the output shaft of the truss tightening motor 432, and the truss tightening sleeve 433 is placed below the truss tightening plate 431.

[0082] In this embodiment, the truss torque fixing assembly 43 is moved to above the sleeve seat and / or the load-bearing cable seat installed on the wrist arm tube, and the truss tightening sleeve 433 is sleeved on the outside of the tightening bolt at the upper end of the sleeve seat or the load-bearing cable seat, and the truss tightening motor 432 is started, so that the output shaft of the truss tightening motor 432 drives the truss tightening sleeve 433 to rotate, thereby tightening the tightening bolt at the upper end of the sleeve seat or the load-bearing cable seat, and then fixing the sleeve seat or the cable seat to the wrist arm tube.

[0083] Embodiment 8:

[0084] Based on any one of Examples 5 to 7, Fig.13 As shown, the truss unloading assembly 44 includes a truss unloading fixing plate 441 fixedly installed on 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 clamping cylinder 443 is installed at one end and below the middle of the truss unloading profile, the finished product clamping cylinder 443 is used to drive two finished product clamping jaws 444 to approach each other to clamp the wrist arm tube and move away from each other to release the wrist arm tube, 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 4454 is fixedly connected to the unloading vertical plate 4452, and a unloading support plate 4453 is vertically installed at the bottom end of the unloading vertical plate 4452.

[0085] Furthermore, the bottom end of the finished product lifting cylinder connecting plate 4451 is located on both sides of the finished product lifting cylinder 4454, and finished product cylinder guide blocks 4456 are respectively provided thereon; the unloading vertical plate 4452 is provided with finished product cylinder guide blocks 4456 on both sides of the finished product lifting cylinder moving platform 4455; and 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 vertical plate 4452, and the other end is slidably connected to the finished product cylinder guide block 4456 on the finished product lifting cylinder connecting plate 4451.

[0086] In this embodiment, the finished product clamping claw 444 is used to clamp and fix the flat arm in the finished aluminum arm, and the unloading support plate 4453 is used to support the oblique arm in the finished aluminum arm. The position of the unloading support plate 4453 can be moved forward and backward. When moving, the output rod of the finished product lifting cylinder 4454 extends to push the finished product lifting cylinder moving platform 4455 to move backward, thereby pushing the unloading vertical plate 4452 and the unloading support plate 4453 to move backward, so as to adjust to a suitable distance to support the oblique arm, so as to facilitate the transfer of the finished aluminum arm to the finished product conveying device 69. The provision of the finished product cylinder guide block 4456 and the finished product cylinder guide shaft 4457, on the one hand, increases the stability of the movable connection between the unloading vertical plate 4452 and the finished product lifting cylinder connecting plate 4451, and on the other hand, makes the movement of the unloading support plate 4453 more stable and smooth.

[0087] Embodiment 9:

[0088] Based on any one of Examples 5 to 8, Fig.14 As shown, the truss tube transfer assembly 45 includes a tube transfer transition plate 451 fixedly installed on the bottom end of the truss lifting column 4251, a tube transfer connecting profile 452 is installed on the bottom end of the tube transfer connecting profile 452, a tube transfer beam 453 is installed on the lower end of the tube transfer beam 453, and tube transfer claw cylinders 454 are respectively installed on the bottom end surfaces of the two ends of the tube transfer beam 453, and the two tube transfer claws 455 are driven by the tube transfer claw cylinders 454 to approach each other to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube.

[0089] Embodiment 10:

[0090] Based on any of the above embodiments, Fig.15As shown, the single-ear pre-fitting device 50 includes a wrist-arm tube fixed-length support device 51, a single-ear buffer conveying device 52, a single-ear assembly device 53 and a single-ear grabbing manipulator 54. The wrist-arm tube fixed-length support device 51 is used to receive the wrist-arm tube processed by the long tube processing device 30 and support it; the single-ear buffer conveying device 52 is arranged in front of the wrist-arm tube fixed-length support device 51, and is used to continuously supply a single ear by means of a rotary motion; the single-ear grabbing manipulator 54 is arranged on the right side of the single-ear buffer conveying device 52 The single-ear assembly device 53 is arranged between the wrist-arm tube fixed-length support device 51 and the single-ear buffer conveying device 52; the truss manipulator device 40 transfers the wrist-arm tube in the wrist-arm tube fixed-length support device 51 to the single-ear assembly device 53, and the single-ear grasping manipulator 54 grasps the single ear on the single-ear buffer conveying device 52, and transfers the single ear to the single-ear assembly device 53, so that the wrist-arm tube passes through the single ear, and the bolts on the single ear are tightened by the single-ear assembly device 53, so that the single ear is fixedly connected to the wrist-arm tube.

[0091] Furthermore, the wrist-arm tube fixed-length support device 51 includes a tube-dragging manipulator 512 and a plurality of fixed-length support wheel assemblies 511 arranged laterally at intervals, the long fixed support wheel assembly 511 being used to support and transport the processed wrist-arm tube from the long tube processing device 30; the tube-dragging manipulator 512 being used to clamp and fix the upper half of the right end of the wrist-arm tube and drag the wrist-arm tube to the right so that it is placed on the fixed-length fixed support wheel assembly 511.

[0092] Further, see Fig.16 As shown, the single-ear assembly device 53 includes a single-ear pre-fitted push head assembly 531 movably mounted on the ground rail, a plurality of single-ear pre-fitted clamping wheel assemblies 532 arranged at intervals in the horizontal direction, and a single-ear tightening device 533, wherein the single-ear pre-fitted clamping wheel assembly 532 is used to support the wrist-arm tube from the wrist-arm tube fixed-length support device 51 and can compress and fix the wrist-arm tube; the single-ear pre-fitted push head assembly 531 can move laterally relative to the ground rail I, and is used to clamp and fix the left end of the wrist-arm tube placed on the single-ear pre-fitted clamping wheel assembly 532 and drive the wrist-arm tube to move left and right; the single-ear tightening device 533 can move laterally relative to the ground rail I, and is used to tighten the two bolts at the lower end of the single ear mounted on the wrist-arm tube, thereby fixing the position of the single ear and the wrist-arm tube.

[0093] Embodiment 11:

[0094] Based on Example 10, Fig.17As shown, the single-ear pre-assembled push head assembly 531 includes a single-ear push head base 5311 movably mounted on the ground rail, a single-ear push head transverse movement motor 5312 is fixedly mounted on the single-ear push head base 5311, the output shaft of the single-ear push head transverse movement motor 5312 extends downwardly out of the single-ear push head base 5311 and a single-ear push head transverse movement gear is mounted on the end of the output shaft, and the single-ear push head transverse movement gear is meshed with the rack on the ground rail; a single-ear push head column 5313 is mounted on the single-ear push head base 5311, and the single-ear push head column 531 3 is provided with a single-ear push head cylinder 5314 at the upper end, a single-ear push head clamping claw mounting plate 5315 is fixedly mounted on the movable end of the single-ear push head cylinder 5314, a single-ear push head clamping claw rotating cylinder 5316 is mounted on the single-ear push head clamping claw mounting plate 5315, a single-ear push head clamping claw rotating cylinder 5316 is fixedly connected to a single-ear push head clamping claw cylinder 5317 at the output end of the single-ear push head clamping claw rotating cylinder 5316, and the single-ear push head clamping claw rotating cylinder 5316 is used to control the single-ear push head clamping claws 5318 to retract to each other to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube.

[0095] In this embodiment, when the single-ear pre-fitting push head assembly 531 is working, the single-ear push head transverse movement motor 5312 rotates to drive the single-ear pre-fitting push head assembly 531 to move left and right along the ground rail I to the target position, and the single-ear push head clamping claw rotary cylinder 5316 controls the single-ear push head clamping claw 5318 to retract each other to clamp and fix the wrist arm tube, and the single-ear push head transverse movement motor 5312 drives the single-ear pre-fitting push head assembly 531 to continue to move transversely, so that the right end of the wrist arm tube is inserted into the single ear, and continues to move transversely to the target position and stops; the single-ear push head cylinder 53 14 can drive the single-ear push head clamp mounting plate 5315 to continue to move horizontally for a certain distance to adjust the relative position of the single ear and the wrist arm tube. The single-ear push head clamp rotary cylinder 5316 can drive the single-ear push head clamp cylinder 5317 to rotate and swing, thereby driving the wrist arm tube to rotate around its own axis to adjust the orientation of the single ear so that the bolt of the single ear faces downward, and then the wrist arm tube is pressed and fixed by the single-ear pre-assembled clamping wheel assembly 532, so as to facilitate the single-ear tightening device 533 to tighten the bolt on the single ear from below.

[0096] Embodiment 12:

[0097] Based on Example 10 or 11, Fig.18As shown, the single-ear tightening device 533 includes a single-ear tightening seat plate 5331 movably mounted on the ground rail, a single-ear tightening transverse motor 5332 is mounted on the single-ear tightening seat plate 5331, the output shaft of the single-ear tightening transverse motor 5332 extends downwardly out of the single-ear tightening seat plate 5331 and a single-ear tightening transverse gear 5333 is fixedly connected to the end thereof, the single-ear tightening transverse gear 5333 is meshed with the rack on the ground rail; the single-ear tightening support plate 5332 is mounted on the single-ear tightening seat plate 5331 334, a single-ear tightening lifting cylinder 5335 is installed on the single-ear tightening support plate 5334, the output rod of the single-ear tightening lifting cylinder 5335 faces upward and the end is fixedly connected with a single-ear tightening shaft mounting plate 5336, a single-ear tightening shaft seat plate 5337 is installed on the single-ear tightening shaft mounting plate 5336, and two single-ear tightening motors 5338 arranged in parallel are installed on the single-ear tightening shaft seat plate 5337, the output shaft of the single-ear tightening motor 5338 faces upward and a single-ear tightening sleeve is installed on the end.

[0098] In this embodiment, when the single-ear tightening device 533 is working, the single-ear tightening transverse movement motor 5332 rotates to drive the single-ear tightening device 533 to move transversely along the ground rail I to the bottom of the single ear installed on the wrist arm tube, and the output rod of the single-ear tightening lifting cylinder extends upward, driving the single-ear tightening motor 5338 to move upward. At the same time, the single-ear tightening 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.

[0099] Embodiment 13:

[0100] Based on any one of Examples 10 to 12, Fig.19 As shown, the single-ear grasping manipulator 54 includes a single-ear grasping manipulator base plate 541 movably mounted on the ground rail II, a single-ear grasping manipulator motor 542 is mounted on the single-ear grasping manipulator base plate 541, an output shaft of the single-ear grasping manipulator motor 542 extends downward from the single-ear grasping manipulator base plate 541 and a single-ear manipulator gear is fixedly connected to the end thereof, the single-ear manipulator gear is meshed with the rack on the ground rail II; a single-ear grasping column 543 is mounted on the single-ear grasping manipulator 541, and a single-ear grasping column 543 is mounted on one side of the upper end thereof. A single-ear grabbing and longitudinal shifting cylinder 544, a single-ear grabbing and longitudinal shifting cylinder slide plate 545 of which is fixedly mounted a single-ear grabbing and lifting cylinder connecting plate 546, at least two single-ear grabbing and lifting cylinders 547 are mounted on the single-ear grabbing and lifting cylinder connecting plate 546, a single-ear clamping cylinder 549 is fixedly mounted on the lower end of the single-ear lifting cylinder slide 548 of the single-ear grabbing and lifting cylinder 547, and the single-ear clamping cylinder 549 is used to control the two single-ear clamping claws 5491 to approach each other to clamp the single ear and to move away from each other to release the single ear.

[0101] In this embodiment, when the single-ear grabbing manipulator 54 is working, the single-ear manipulator motor 542 rotates to drive the single-ear grabbing manipulator 54 to move horizontally to the left side of the single-ear buffer conveying device 52, and the single-ear grabbing longitudinal movement cylinder 544 is used to adjust the front and rear position of the single-ear clamping claw 5491, and the height of the single-ear grabbing lifting cylinder 547 is adjusted to make the single-ear clamping claw 5491 in a suitable position to facilitate grabbing of the single ear, and the single-ear clamping cylinder 549 is used to control the single-ear clamping claws 5491 to move closer to each other. The single ear is clamped and fixed, and then the single ear gripping lifting cylinder 547 is used to control the single ear clamping claw 5491 holding the single ear to rise, and then the single ear manipulator motor 542, the single ear gripping longitudinal movement cylinder 544, and the single ear gripping lifting cylinder 547 are used to control the single ear clamping claw 5491 to move to a suitable position so that the wrist arm tube can be smoothly inserted into the single ear, and then the wrist arm tube is clamped and fixed by the single ear pre-equipped clamping wheel assembly 532, so as to facilitate the single ear tightening device 533 to tighten the bolts on the single ear from below.

[0102] Embodiment 14:

[0103] Based on any of the above embodiments, Figure 20 to Figure 23 As shown, the sleeve bearing pre-assembly device 60 includes a sleeve seat buffer conveying device 61, a load-bearing cable seat buffer conveying device 62, a flat wrist arm pushing device 63, an inclined wrist arm pushing device 64, a sleeve pre-parts manipulator 65, a sleeve bearing positioning assembly device 66, a sleeve pre-ground rail tightening device 67, a guide cone manipulator device 68, and a finished product conveying device 69. The sleeve seat buffer conveying device 61 and the load-bearing cable seat buffer conveying device 62 are arranged in parallel horizontally, and are respectively used to continuously supply the sleeve seat and the load-bearing cable seat in a rotary motion; the front of the sleeve seat buffer conveying device 61 is sequentially provided with ground rails III and IV from back to front, and the flat wrist arm pushing device 63 is arranged on the ground rail III and It can move laterally relative to the ground rail III, and is used to clamp and push the flat wrist arm; the inclined wrist arm pushing device 64 is arranged on the ground rail IV and can move laterally relative to the ground rail IV, and is used to clamp and push the inclined wrist arm; the pre-sleeving part manipulator 65 is used to clamp the sleeve seat on the sleeve seat cache conveying device 61 and the load-bearing cable seat on the load-bearing cable seat cache conveying device 62 and place them on the sleeve bearing positioning assembly device 66, and the guide cone manipulator device 68 is used to install the guide cone at the end of the flat wrist arm or the inclined wrist arm to locate the position of the flat wrist arm or the inclined wrist arm; the pre-sleeving ground rail tightening device 67 is arranged below the sleeve bearing positioning assembly device 66, and is used to tighten the bolts at the lower end of the load-bearing cable seat.

[0104] The installation process of the sleeve seat and the bearing cable seat is as follows: first, the sleeve seat on the sleeve seat buffer conveying device 61 and the bearing cable seat on the bearing cable seat buffer conveying device 62 are clamped and placed on the sleeve bearing positioning assembly device 66 by the sleeve pre-parts manipulator 65, and the truss pipe transfer assembly 45 equipped with a single-ear flat wrist arm or an inclined wrist arm is grasped and transferred to the sleeve bearing positioning assembly device 66 by the truss manipulator device 40 and inserted into the sleeve seat and the bearing cable seat, and the guide cone manipulator device 68 moves to the sleeve bearing positioning assembly The right side of the mounting device 66 is used to install the guide cone on the right end of the flat arm or the inclined arm to position the flat arm or the inclined 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 fixing and torque 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-ground rail tightening device 67 to complete the assembly of the finished aluminum arm; finally, the finished aluminum arm is transferred to the finished product conveying device 69 by the truss unloading assembly 44 of the truss manipulator device 40.

[0105] It should be noted that the above detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present application belongs.

[0106] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments described in the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0107] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0108] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. 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 explicitly listed, but may include other steps or units that are not explicitly listed or inherent to these processes, methods, products, or apparatuses.

[0109] For ease of description, spatially relative terms, such as "above", "above", "on the upper surface of", "above", etc., may be used herein to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may 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 spatially relative descriptions used herein are interpreted accordingly.

[0110] In the above detailed description, reference is made to the accompanying drawings, which form a part of this document. In the accompanying drawings, similar symbols typically identify similar components unless the context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be used, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic assembly device for aluminum arms, characterized in that: The invention comprises a truss manipulator device (40), a single ear pre-fitting device (50), and a sleeve pre-fitting device (60). The single ear pre-fitting device (50) is used to continuously supply a single ear and complete the assembly of the single ear and the wrist arm tube; the sleeve pre-fitting device (60) is arranged at the rear side of the single ear pre-fitting device (50), and is used to continuously supply a sleeve seat and a load-bearing cable seat, complete the assembly of the sleeve seat, the load-bearing cable seat and the wrist arm tube, and transport the finished aluminum wrist arm to the next workstation; the truss manipulator device (40) is arranged above the single ear pre-fitting device (50) and the sleeve pre-fitting device (60), and is used to transfer the wrist arm tube equipped with a single ear, tighten and fix the sleeve seat and the wrist arm tube, and transfer the finished aluminum wrist arm to the next workstation.

2. The automatic assembly device for aluminum arms according to claim 1 is characterized in that: The truss manipulator device (40) includes a truss support (41), and three truss manipulator mounting assemblies (42) are mounted on the truss support (41). The truss manipulator mounting assembly (42) can move laterally relative to the truss support (41). The truss manipulator mounting assembly (42) includes a truss manipulator crossbeam (421) and a truss lifting column (4251). The truss lifting column (4251) can move longitudinally and up and down 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 installed with a truss pipe moving assembly (45), a truss unloading assembly (44) and a truss torque fixing assembly (43).

3. The aluminum arm automatic assembly device according to claim 2 is characterized in that: A truss connecting side plate I (4221) and a truss connecting side plate II (4222) are respectively installed at both ends of the truss manipulator crossbeam (421) of the truss manipulator mounting assembly (42); a truss transverse driving motor (4231) is installed on the truss manipulator crossbeam (421); the truss connecting side plate I (4221) and the truss connecting side plate II (4222) are respectively rotatably connected with a truss manipulator transverse gear (4233); a bidirectional output rod of the truss transverse driving motor (4231) is respectively fixedly connected to two of the truss manipulator transverse gears (4233); a truss manipulator transverse rack is installed on the truss bracket (41); the truss manipulator transverse gear (4233) and the truss manipulator transverse rack are meshed with each other.

4. The aluminum arm automatic assembly device according to claim 3 is characterized in that: Truss guide strips are arranged at the upper and lower ends of the truss cross support beam of the truss bracket (41), and truss transverse guide wheels (4234) matching the truss guide strips are arranged on the outer surfaces of the truss connecting side plate I (4221) and the truss connecting side plate II (4222), and the truss transverse guide wheels (4234) are connected to the truss guide strips in a coordinated manner.

5. The aluminum arm automatic assembly device according to claim 3 is characterized in that: A truss manipulator longitudinal movement plate is slidably installed on the truss manipulator cross beam (421) through a guide rail and a slider, and the truss lifting column (4251) is installed on the truss manipulator longitudinal movement plate. A truss longitudinal movement motor (4241) is installed on the truss manipulator longitudinal movement plate. The output shaft of the truss longitudinal movement motor (4241) extends downward from the truss manipulator longitudinal movement plate and a truss longitudinal movement gear (4242) is installed on the end. A truss longitudinal movement rack (4243) is installed on the truss manipulator cross beam (421), and the truss longitudinal movement gear and the truss longitudinal movement rack (4243) are meshed with each other. The rotation of the truss longitudinal movement motor (4241) drives the truss longitudinal movement gear (4242) to rotate, thereby driving the truss lifting column (4251) to move longitudinally along the truss manipulator cross beam (421).

6. The aluminum arm automatic assembly device according to claim 5, characterized in that: The truss lifting column (4251) is slidably connected to the truss longitudinal movement plate via a guide rail and a slider, a truss lifting motor (4252) is installed on the truss manipulator longitudinal movement plate, a truss lifting gear (4253) is installed at the end of the output shaft of the truss lifting motor (4252), a truss lifting rack (4254) is installed on the truss lifting column (4251), the truss lifting gear (4253) and the truss lifting rack (4254) are meshed with each other, and the truss lifting gear (4253) is driven to rotate by the rotation of the truss lifting motor (4252), thereby driving the truss lifting column (4251) to move up and down relative to the truss manipulator beam (421).

7. The automatic assembly device for aluminum arms according to claim 2 is characterized in that: The truss torque-fixing assembly (43) comprises a truss tightening plate (431) installed at the bottom end of the truss lifting column (4251), two truss tightening motors (432) installed on the truss tightening plate (431), and a truss tightening sleeve (433) fixedly connected to the output shaft of the truss tightening motor (432), and the truss tightening sleeve (433) is placed below the truss tightening plate (431).

8. The aluminum arm automatic assembly device according to claim 2, characterized in that: The truss blanking assembly (44) comprises a truss blanking fixing plate (441) fixedly mounted on the bottom end of the truss lifting column (4251), a truss blanking profile (442) is mounted on the lower end of the truss blanking fixing plate (441), and a finished product clamping cylinder (443) is mounted below one end and the middle of the truss blanking profile, and the finished product clamping cylinder (443) is used to drive two finished product clamping claws (444) to approach each other to clamp the wrist arm tube and mutually Move away to release the arm tube, the other end of the truss blanking profile (442) is installed with a finished product lifting cylinder connecting plate (4451), the bottom end of the finished product lifting cylinder connecting plate (4451) is installed with a finished product lifting cylinder (4454), the finished product lifting cylinder moving platform (4455) of the finished product lifting cylinder (4454) is fixedly connected with a blanking vertical plate (4452), and the bottom end of the blanking vertical plate (4452) is vertically installed with a blanking support plate (4453); Preferably, the bottom end of the finished product lifting cylinder connecting plate (4451) is located on both sides of the finished product lifting cylinder (4454) and finished product cylinder guide blocks (4456) are respectively provided, and the finished product cylinder guide blocks (4456) are installed on the unloading vertical plate (4452) on both sides of the finished product lifting cylinder moving platform (4455), and 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 vertical plate (4452), and the other end is slidably connected to the finished product cylinder guide block (4456) on the finished product lifting cylinder connecting plate (4451).

9. The aluminum arm automatic assembly device according to claim 2, characterized in that: The truss tube transfer assembly (45) comprises a tube transfer transition plate (451) fixedly mounted on the bottom end of the truss lifting column (4251), a tube transfer connection profile (452) being mounted on the bottom end of the tube transfer transition plate (451), a tube transfer beam (453) being mounted on the lower end of the tube transfer connection profile (452), and tube transfer claw cylinders (454) being mounted on the bottom end surfaces of both ends of the tube transfer beam (453), and the tube transfer claw cylinders (454) are used to drive two tube transfer claws (455) to move closer to each other to clamp and fix the wrist arm tube, and move away from each other to release the wrist arm tube.

10. The aluminum arm automatic assembly device according to claim 1, characterized in that: The single-ear pre-fitting device (50) comprises a wrist-arm tube fixed-length support device (51), a single-ear buffer conveying device (52), a single-ear assembly device (53) and a single-ear grabbing manipulator (54). The wrist-arm tube fixed-length support device (51) is used to receive the wrist-arm tube processed by the long tube processing device (30) and support it; the single-ear buffer conveying device (52) is arranged in front of the wrist-arm tube fixed-length support device (51) and is used to continuously supply a single ear by means of a rotary motion; the single-ear grabbing manipulator (54) is arranged on the right side of the single-ear buffer conveying device (52). , the single-ear assembly device (53) is arranged between the wrist-arm tube fixed-length support device (51) and the single-ear buffer conveying device (52); the truss manipulator device (40) transfers the wrist-arm tube in the wrist-arm tube fixed-length support device (51) to the single-ear assembly device (53); the single-ear grasping manipulator (54) grasps the single ear on the single-ear buffer conveying device (52), and transfers the single ear to the single-ear assembly device (53), so that the wrist-arm tube passes into the single ear, and the bolt on the single ear is tightened by the single-ear assembly device (53), so that the single ear is fixedly connected to the wrist-arm tube; Preferably, the wrist-arm tube fixed-length support device (51) comprises a tube-pulling manipulator (512) and a plurality of fixed-length fixed support wheel assemblies (511) arranged at intervals in the transverse direction, wherein the long fixed support wheel assemblies (511) are used to support and transport the processed wrist-arm tube from the long tube processing device (30); the tube-pulling manipulator (512) is used to clamp and fix the upper half of the right end of the wrist-arm tube and drag the wrist-arm tube to the right to place it on the fixed-length fixed support wheel assembly (511); Preferably, the single-ear assembly device (53) comprises a single-ear pre-assembled push head assembly (531) movably mounted on the ground rail, a plurality of single-ear pre-assembled clamping wheel assemblies (532) arranged at intervals in the horizontal direction, and a single-ear tightening device (533), wherein the single-ear pre-assembled clamping wheel assembly (532) is used to support the wrist-arm tube from the wrist-arm tube fixed-length support device (51) and can compress and fix the wrist-arm tube; the single-ear pre-assembled push head assembly (531) can move laterally relative to the ground rail I, and is used to clamp and fix the left end of the wrist-arm tube placed on the single-ear pre-assembled clamping wheel assembly (532) and drive the wrist-arm tube to move left and right; the single-ear tightening device (533) can move laterally relative to the ground rail I, and is used to tighten two bolts at the lower end of the single ear mounted on the wrist-arm tube, thereby fixing the position of the single ear and the wrist-arm tube; Preferably, the single-ear pre-assembled push head assembly (531) includes a single-ear push head base (5311) movably mounted on the ground rail, a single-ear push head transverse movement motor (5312) is fixedly mounted on the single-ear push head base (5311), an output shaft of the single-ear push head transverse movement motor (5312) extends downward from the single-ear push head base (5311) and a single-ear push head transverse movement gear is mounted on the end of the output shaft, and the single-ear push head transverse movement gear is meshed with a rack on the ground rail; a single-ear push head column (5313) is mounted on the single-ear push head base (5311), and the single-ear push head column (5313) is fixedly mounted on the single-ear push head base (5311). ) is installed with a single-ear push head cylinder (5314) at the upper end, a single-ear push head clamping claw mounting plate (5315) is fixedly installed on the movable end of the single-ear push head cylinder (5314), a single-ear push head clamping claw rotating cylinder (5316) is installed on the single-ear push head clamping claw mounting plate (5315), and a single-ear push head clamping claw cylinder (5317) is fixedly connected to the output end of the single-ear push head clamping claw rotating cylinder (5316), and the single-ear push head clamping claw rotating cylinder (5316) is used to control the single-ear push head clamping claws (5318) to retract mutually to clamp and fix the wrist arm tube, and to move away from each other to release the wrist arm tube; Preferably, the single-ear tightening device (533) comprises a single-ear tightening seat plate (5331) movably mounted on the ground rail, a single-ear tightening transverse motor (5332) is mounted on the single-ear tightening seat plate (5331), an output shaft of the single-ear tightening transverse motor (5332) extends downward from the single-ear tightening seat plate (5331) and a single-ear tightening transverse gear (5333) is fixedly connected to the end thereof, the single-ear tightening transverse gear (5333) is meshed with a rack on the ground rail; a single-ear tightening support plate (5332) is mounted on the single-ear tightening seat plate (5331) 334), a single-ear tightening lifting cylinder (5335) is installed on the single-ear tightening support plate (5334), the output rod of the single-ear tightening lifting cylinder (5335) faces upward and the end is fixedly connected to a single-ear tightening shaft mounting plate (5336), a single-ear tightening shaft seat plate (5337) is installed on the single-ear tightening shaft mounting plate (5336), and two single-ear tightening motors (5338) arranged in parallel are installed on the single-ear tightening shaft seat plate (5337), and the output shaft of the single-ear tightening motor (5338) faces upward and a single-ear tightening sleeve is installed on the end; Preferably, the single-ear grabbing manipulator (54) comprises a single-ear grabbing manipulator base plate (541) movably mounted on the ground rail II, a single-ear grabbing manipulator motor (542) is mounted on the single-ear grabbing manipulator base plate (541), an output shaft of the single-ear grabbing manipulator motor (542) extends downward from the single-ear grabbing manipulator base plate (541) and a single-ear manipulator gear is fixedly connected to the end thereof, the single-ear manipulator gear is meshed with a rack on the ground rail II; a single-ear grabbing column (543) is mounted on the single-ear grabbing manipulator base plate (541), a single-ear grabbing column (543) is mounted on one side of the upper end thereof; An ear grabbing longitudinal displacement cylinder (544), a single-ear grabbing lifting cylinder connecting plate (546) is fixedly mounted on the single-ear grabbing longitudinal displacement cylinder slide plate (545) of the single-ear grabbing lifting cylinder (544), at least two single-ear grabbing lifting cylinders (547) are mounted on the single-ear grabbing lifting cylinder connecting plate (546), a single-ear clamping cylinder (549) is fixedly mounted on the lower end of the single-ear lifting cylinder slide (548) of the single-ear grabbing lifting cylinder (547), and the single-ear clamping cylinder (549) is used to control two single-ear clamping claws (5491) to move closer to each other to clamp the single ear and move away from each other to release the single ear.

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