An automatic production and assembly device and method for a wrist arm

Abstract

The present application belongs to the field of wrist arm assembly, and particularly relates to a wrist arm automatic production and assembly device and method, aiming to solve the problems of low function integration, non-optimal cutting process, inaccurate load cable seat positioning and incomplete quality detection of the catenary wrist arm assembly. The present application comprises: a pretreatment device for cutting, chamfering, punching and code spraying pretreatment of the wrist arm to be assembled; in the cutting process, the pre-assembly information of the anchor section to be produced is obtained, a cutting scheme is generated based on the preset parameters, and the wrist arm to be assembled is cut based on the cutting device according to the cutting scheme; a pre-assembly device for fixing the wrist arm to be assembled after chamfering; a feeding device for posture detection of the load cable seat through a visual detection system, inserting the wrist arm to be assembled into the load cable seat, and torque fastening, and discharging after detection. The present application reduces the cost by optimizing the cutting method; the visual positioning of the mechanical arm ensures the assembly accuracy, and the automatic detection stabilizes the quality.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of wrist arm assembly, and particularly relates to a wrist arm automatic production and assembly device and method. BACKGROUND

[0002] With the rapid development of the field of rail transit, the catenary wrist arm assembly technology has experienced an evolution process from manual assembly to semi-automatic assembly. The early wrist arm assembly mainly relies on manual operation, which is completed through manual cutting, mechanical punching and manual positioning of the load cable seat, etc., and has low assembly efficiency and poor quality stability. In recent years, numerical control cutting equipment and simple mechanical arm auxiliary assembly have been gradually introduced in the industry to realize the automation of part of the processes. However, there are still the following technical bottlenecks:

[0003] Single function and low efficiency: The traditional wrist arm assembly device can usually only complete a single process (such as cutting or punching), and different processes need to rely on multiple equipment switching and manual intervention, which leads to scattered process flow and low efficiency. For example, the cut wrist arm needs to be manually transported to the next station for chamfering or punching, which increases the operation complexity and time cost.

[0004] Material waste and insufficient cutting precision: The existing cutting process lacks intelligent planning and usually adopts a fixed length cutting mode, which does not dynamically optimize the cutting scheme according to the actual anchor segment demand, resulting in low material utilization and large amount of waste. At the same time, manual operation is easy to introduce cutting size deviation, which affects the subsequent assembly precision.

[0005] Poor positioning precision of the clamp assembly: In the clamp assembly link such as the load cable seat, the existing technology relies on manual positioning or simple fixture fixing. Due to the lack of high-precision detection and dynamic adjustment means, the insertion position of the clamp and the wrist arm is easy to deviate, especially when tightening the bolt, the posture is often not aligned, which leads to fastening failure or thread damage. In addition, the manual tightening torque consistency is poor, which easily causes assembly looseness or overload risk.

[0006] Quality detection relies on manual operation: The assembled wrist arm needs to be manually inspected for surface damage and size compliance, the detection standard is subjective, the missed detection rate is high, and it is difficult to meet the quality stability requirements under batch production.

[0007] Based on this, the present application provides a wrist arm automatic production and assembly device and method. SUMMARY

[0008] In order to solve the above problems in the prior art, i.e., the problems of low function integration, non-optimal cutting process, inaccurate load cable seat positioning and incomplete quality detection of the catenary wrist arm assembly, the present application provides a wrist arm automatic production and assembly device and method.

[0009] In a first aspect of the present application, a wrist arm automatic production and assembly device is provided, which comprises:

[0010] A wrist arm carrying device for clamping a wrist arm and carrying to each station;

[0011] A pretreatment device for cutting, chamfering, punching and code spraying pretreatment of the assembled wrist arm;

[0012] In the cutting process, the pre-assembly information of the anchor section to be produced is obtained, a cutting scheme is generated based on the preset parameters, and the assembled wrist arm is cut based on the cutting device according to the cutting scheme;

[0013] A pre-assembly device for fixing the cable seat and the pretreated wrist arm, and realizing the insertion and fixation between the wrist arm and the cable seat on the pre-assembly device;

[0014] The loading device includes a six-axis manipulator for clamping the cable seat, after clamping, the posture of the cable seat is detected by a visual detection system, when the posture is incorrect, the posture of the cable seat is adjusted by rotating the six-axis manipulator, after adjustment, the cable seat is fixed by the pre-assembly device, and the assembled wrist arm is inserted into the cable seat by the wrist arm carrying device, and then torque fastening is performed;

[0015] The cable seat is placed on a rack;

[0016] The detection device is used for surface damage detection of the assembled wrist arm, and the unloaded after detection is qualified.

[0017] Further, the pre-assembly device includes a first guide rail, a cable seat fixing device and a first clamping device;

[0018] A plurality of cable seat fixing devices capable of moving along the first guide rail are installed on the first guide rail, each two cable seat fixing devices are moved to both sides of a cable seat to realize clamping and fixing, and the first clamping device is used for clamping the end of the wrist arm.

[0019] Further, the rack includes a base, a first support frame, a first sleeve and an extension link;

[0020] The base is fixed to the ground, the first support frame is slidingly connected to the base, a plurality of first sleeves are installed on the first support frame at intervals along the length direction of the first support frame, an extension link capable of moving along the first sleeve is arranged in the first sleeve, and the cable seat is sleeved on the extension link.

[0021] Further, torque fastening is achieved by tightening devices, a plurality of tightening devices are installed on a multidirectional motion device, the multidirectional motion device includes a connecting plate, a longitudinal motion device, a second guide rail, a first sliding block and a third guide rail;

[0022] The tightening device array is distributed on a connecting plate, the connecting plate is installed on the moving end of a longitudinal moving device and moves along the longitudinal direction of the longitudinal moving device, the fixed end of the longitudinal moving device is installed on the second guide rail and moves along the length direction of the second guide rail, and the length direction of the second guide rail is parallel to the length direction of the wrist arm;

[0023] The second guide rail is fixed on the first slider, the first slider is arranged on the third guide rail and moves along the third guide rail, the third guide rail is perpendicular to the second guide rail, and the third guide rail is fixed with the second rack;

[0024] The tightening device is composed of a rotatable fastening head, and the fastening head is matched with the size of the bolt on the force bearing seat.

[0025] Further, the tightening device comprises a third rotating mechanism, a cross shaft coupling, a fastening head, a connecting block, a second slider, and a fourth guide rail.

[0026] The fixed end of the third rotating mechanism is installed on the connecting plate, the rotating end of the third rotating mechanism is drivingly connected with the driving shaft of the cross shaft coupling, the driven shaft of the cross shaft coupling is connected with the connecting block bearing, the connecting block is installed on the second slider, the second slider is arranged on the fourth guide rail which moves along the fourth guide rail, and the fourth guide rail is fixed with the connecting plate.

[0027] The fastening head is installed on the driven shaft of the cross shaft coupling.

[0028] Further, the pre-arrangement device further comprises a first rack, a first rotating mechanism, a second rack, and a second rotating mechanism.

[0029] The first rack is installed on the rotating end of the first rotating mechanism, the fixed end of the first rotating mechanism is installed on the second rack, the second rack is fixed with the ground, the fixed end of the second rotating mechanism is installed on one side of the first rack, the rotating end of the second rotating mechanism is fixed with the first guide rail, and the first clamping device is installed on the second rack.

[0030] The first rack comprises a first support rod and a second support rod.

[0031] The end of the first support rod is installed on the rotating end of the first rotating mechanism, one side surface of the first support rod is fixed with the second support rod, and the fixed end of the second rotating mechanism is installed on the second support rod.

[0032] The first guide rail, the plurality of force bearing seat fixing devices, and the first clamping device constitute a first structure, and the first structure is symmetrically arranged along the center of the second rotating mechanism.

[0033] The two first structures, the second rotating mechanism and the second support rod are symmetrically arranged along the center of the first support rod.

[0034] Further, one tightening device is arranged above each of the two symmetrically arranged first structures.

[0035] Further, the six-axis manipulator and the rack are distributed in at least two groups along the length direction of the wrist arm.

[0036] Further, the visual detection system is distributed on both sides of the rack.

[0037] Further, the wrist arm carrying device is a truss manipulator.

[0038] In the second aspect, the present application provides a wrist arm automatic production and assembly method based on the wrist arm automatic production and assembly device in the first aspect, and the method comprises the following steps:

[0039] In step S1, the wrist arm is clamped by the wrist arm carrying device and carried to the pretreatment device.

[0040] In step S2, the pretreatment device obtains the pre-assembly information of the anchor segment to be produced, generates a cutting scheme based on preset parameters, and performs cutting according to the cutting scheme, and then performs chamfering, punching and code spraying.

[0041] In step S3, the pretreated wrist arm is fixed on the pre-assembly device by the wrist arm carrying device.

[0042] In step S4, the six-axis manipulator clamps the cable seat from the rack, and the visual detection system detects the posture of the cable seat; when the posture is incorrect, the six-axis manipulator is adjusted to align the posture of the cable seat, the pre-assembly device is used to fix the cable seat with correct posture, then the wrist arm is inserted into the cable seat by the wrist arm carrying device, and the torque is fastened.

[0043] In step S5, the wrist arm is carried to the detection device by the wrist arm carrying device, the surface damage of the assembled wrist arm is detected, and the discharging operation is performed after the detection is qualified.

[0044] The present application has the following advantages:

[0045] Full-process automation and efficiency improvement: through the cooperation of the wrist arm carrying device, the pretreatment device, the pre-assembly device and the feeding device, the full-process automation from cutting, chamfering, punching to hoop assembly is realized, the manual intervention and equipment switching time are reduced, the assembly efficiency is significantly improved, and the method is suitable for large-scale batch production requirements.

[0046] Material utilization optimization and waste reduction: In the cutting process, a cutting scheme is dynamically generated based on the pre-configuration information of the anchor segment to be produced, and the cutting path is intelligently planned in combination with preset parameters (such as wrist arm length, hole layout) to maximize the utilization of raw materials and reduce waste generation, significantly reducing production costs.

[0047] Improved hoop assembly precision and consistency: Real-time recognition of hoop posture is achieved through the cooperation of six-axis mechanical arm and vision detection system positioning technology, and the position and angle are dynamically adjusted by six-axis mechanical arm to ensure accurate alignment of hoop and wrist arm; torque tightening device sets standardized torque value to avoid over-tightening or loosening problems caused by manual operation.

[0048] Stable and controllable assembly quality: Surface damage scanning and size compliance detection of assembled wrist arms are performed by automatic detection device, and image recognition algorithm is used instead of manual visual inspection to eliminate subjective judgment differences.

[0049] Process integration and flexible adaptation capability: The device supports rapid adaptation of multiple specifications of wrist arms and hoops, and the pretreatment and assembly process is adjusted through parameterized programming, without the need to replace hardware to be compatible with different models of products, significantly improving the flexibility of the production line and meeting the diversified scene requirements of railway catenary. BRIEF DESCRIPTION OF DRAWINGS

[0050] Other features, objects and advantages of the present application will become more apparent through reading the detailed description of the non-limiting embodiments made with reference to the following drawings:

[0051] Figure 1 is a whole schematic diagram of a wrist arm automatic production and assembly device of the present application;

[0052] Figure 2 is a whole schematic diagram of a pre-configuration device of a wrist arm automatic production and assembly device of the present application;

[0053] Figure 3 is a pre-configuration station of Figure 2 ;

[0054] Figure 4 is a first rotating mechanism of Figure 2 ;

[0055] Figure 5 is a schematic diagram of a rack of a wrist arm automatic production and assembly device of the present application;

[0056] Figure 6 is a partial schematic diagram of an array distribution of a tightening device of a wrist arm automatic production and assembly device of the present application;

[0057] Figure 7 is a first sliding block of a wrist arm automatic production and assembly device of the present application;

[0058] Figure 8 Figure 1 is a schematic diagram of a tightening device structure of a wrist arm automatic production and assembly device according to the present application;

[0059] Figure 9 Figure 2 is a first perspective view of a cutting device of the wrist arm automatic production and assembly device according to the present application;

[0060] Figure 10 Figure 3 is a second perspective view of the cutting device of the wrist arm automatic production and assembly device according to the present application;

[0061] Figure 11 Figure 4 is a partial enlarged view of a cutting knife position in the cutting device according to the present application; Figure 10

[0062] Figure 12 Figure 5 is a partial enlarged view of an alignment device in the cutting device according to the present application; Figure 9

[0063] Figure 13 Figure 6 is a schematic diagram of a first gripper in the cutting device according to the present application; Figure 9

[0064] Figure 14 Figure 7 is a schematic diagram of a second translation mechanism in the cutting device according to the present application; Figure 10

[0065] Figure 15 Figure 8 is a schematic diagram of a turnover mechanism in the cutting device according to the present application; Figure 10

[0066] Figure 16 Figure 9 is a schematic diagram of the turnover mechanism in the cutting device according to the present application; Figure 9

[0067] Figure 17 Figure 10 is a schematic diagram of a chamfering device in the wrist arm automatic production and assembly device according to the present application;

[0068] Figure 18 Figure 17 Figure 11 is a first end partial enlarged view of the chamfering device according to the present application;

[0069] Figure 19 Figure 17 Figure 12 is a second end partial enlarged view of the chamfering device according to the present application;

[0070] Figure 20 Figure 13 is a schematic diagram of a code spraying and punching device in the wrist arm automatic production and assembly device according to the present application;

[0071] Figure 21 Figure 19 Figure 14 is a partial enlarged view of a drilling portion of the code spraying and punching device according to the present application;

[0072] Figure 22 ​​​​​​​​​is a structural schematic view of a detection device in a wrist arm automatic production and assembly device of the present application;

[0073] Figure 23 is Figure 21 a structural schematic view of a center line scanning mechanism;

[0074] Figure 24 is Figure 21 a structural schematic view of a center surface rotating mechanism. DETAILED DESCRIPTION

[0075] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended for the purpose of interpretation of the related application, and are not limiting of the application. In addition, it should be noted that only parts related to the application are shown in the drawings for ease of description.

[0076] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0077] As Figure 1 shown, the present application provides a wrist arm automatic production and assembly device, which comprises:

[0078] a wrist arm carrying device 1 for clamping and carrying a wrist arm to each station;

[0079] a pretreatment device for cutting, chamfering, punching and code spraying pretreatment of the wrist arm to be assembled;

[0080] In the cutting process, the pre-assembly information of the anchor segment to be produced is obtained, a cutting scheme is generated based on preset parameters, and the wrist arm to be assembled is cut based on the cutting device 2 according to the cutting scheme;

[0081] a pre-assembly device 3 for fixing the load cable seat and the pretreated wrist arm, and realizing the insertion and fixation between the wrist arm and the load cable seat on the pre-assembly device 3;

[0082] a feeding device 4, which comprises a six-axis manipulator 5 for clamping the load cable seat, after clamping, the posture of the load cable seat is detected by a visual detection system 6, when the posture is incorrect, the posture of the load cable seat is adjusted by rotating the six-axis manipulator 5, after adjustment, the load cable seat is fixed by the pre-assembly device 3, and the wrist arm to be assembled is inserted into the load cable seat by the wrist arm carrying device 1, and after insertion, torque fastening is performed;

[0083] wherein the load cable seat is placed on a rack 7;

[0084] a detection device 8 for surface damage detection of the assembled wrist arm, and after detection, the qualified product is discharged.

[0085] In this embodiment, the wrist arm handling device 1 is a gantry manipulator, which can grip the wrist arm, transport and place it at each workstation. The gantry manipulator is selected to be able to move along the X, Y and Z axes, and its range of motion is at least greater than the maximum width and length of each device.

[0086] The pre-processing device is used to pre-process the wrist arm to be assembled by cutting, chamfering, punching, and coding. Specifically, it includes a cutting device 2, a chamfering device 11, and a coding and punching device 12. The cutting device 2 has the following specific structure:

[0087] Cutting device 2 is used to acquire pre-assembly information of the anchor section to be produced, generate a cutting scheme based on preset parameters, and cut the cantilever arm to be assembled according to the cutting scheme.

[0088] like Figures 9-16 As shown, the cutting device 2 includes a cutting station frame 21, a first translation mechanism 22, a fourth rotation mechanism 23, a cutting blade 24, a second translation mechanism 25, a first gripper 26, a second gripper 27, a third translation mechanism 28, a flipping mechanism 29, a third gripper 30, a support sleeve 301, and a first roller 302.

[0089] The cutting station frame 21 is fixed to the ground. The fixed end of the first translation mechanism 22 is installed on the cutting station frame 21. The moving end of the first translation mechanism 22 is fixed to the fixed end of the fourth rotation mechanism 23. The rotating end of the fourth rotation mechanism 23 is coaxially fixed to the cutting blade 24.

[0090] A second translation mechanism 25 is installed on the cutting station frame 21. A set of first grippers 26 is installed on the second translation mechanism 25. The first grippers 26 move along the length direction of the cutting station frame 21 through the second translation mechanism 25. A set of fixed second grippers 27 is installed on the side of the cutting station frame 21 near the cutting blade 24. The first grippers 26 and the second grippers 27 are used to clamp and fix the wrist arm.

[0091] The cutting station frame 21 is also equipped with a third translation mechanism 28. The third translation mechanism 28 is equipped with two moving ends, and each moving end is equipped with a flipping mechanism 29. One flipping mechanism 29 is equipped with a third gripper 30 and a first roller 302, and the other flipping mechanism 29 is equipped with a support sleeve 301.

[0092] The arm is first fixed by the second clamp jaw 27, then the second clamp jaw 27 is moved to a preset position, and the arm is passed through the support sleeve 301, and then clamped and fixed by the first clamp jaw 26 and the third clamp jaw 30, at this time, the fourth rotating mechanism 23 is driven to rotate the cutting knife 24, and then the first translation mechanism 22 is driven to move the fourth rotating mechanism 23 and the cutting knife 24 towards the arm, so as to cut the arm;

[0093] After cutting, the turning mechanism 29 is started to turn the arm part fixed by the third clamp jaw 30 and the support sleeve 301 by 180°, and then the moving end of the third translation mechanism 28 is started to transport the arm to the working range of the arm carrying device 1, and the arm is carried to the chamfering device 11 by the arm carrying device 1 for chamfering.

[0094] The above is the process of cutting the arm with an initial length of 12 meters, and the following steps are performed when cutting the arm with an initial length of 4-5 meters or the remaining arm of the 12-meter-long arm:

[0095] When cutting the remaining arm, that is, the arm fixed by the first clamp jaw 26 and the second clamp jaw 27 continues to be cut next time, or directly cutting the arm with a length of 4-5 meters, first loosen the second clamp jaw 27, move the first clamp jaw 26, align the end of the arm with the alignment device 14, at this time the system obtains the position of the end of the arm, calculates the length to be cut, moves the second clamp jaw 27 to the cutting area again, starts the fourth rotating mechanism 23 and the first translation mechanism 22, drives the cutting knife 24 to cut the arm again, this process does not need the cooperation of the turning mechanism 29, the remaining material is directly dropped into the material collecting box 13, and the first clamp jaw 26 and the second clamp jaw 27 are loosened, and the arm is carried to the chamfering device 11 by the arm carrying device 1 for chamfering.

[0096] The alignment device 14 includes a first baffle 141 driven by a linear motor, when cutting the 12-meter-long arm, the first baffle 141 is driven by the linear motor to the lower side of the cutting station rack 21, when cutting the 4-5-meter-long arm, the first baffle 141 is driven by the linear motor to the upper side of the cutting station rack 21, to realize the alignment function.

[0097] The support sleeve 301 has different sizes according to the diameter of the arm to be cut, and is fixed by the clamping mechanism 15 driven by a cylinder or a linear motor.

[0098] The inside of the support sleeve 301 is additionally provided with a polyurethane friction layer to avoid damaging the surface of the arm when clamping.

[0099] The first clamping jaw 26, the second clamping jaw 27 and the third clamping jaw 30 are all driven to clamp by a cylinder or a linear motor.

[0100] The clamping mechanism 15 and the first clamping jaw 26, the second clamping jaw 27 and the third clamping jaw 30 are all provided with a pressure sensor, so that the clamping force can be monitored in real time to prevent overload deformation.

[0101] The inner layer of the first clamping jaw 26, the second clamping jaw 27 and the third clamping jaw 30 is provided with a silica gel gasket to prevent damage to the coating film of the outer layer of the wrist arm, the clamping jaw is integrated with a displacement sensor and a pressure sensor to realize double-verification of the clamping state, and the sensor is used to detect an abnormal state, and when the abnormal state occurs, an emergency stop (such as automatic cut-off of the power supply of the cutting knife when the clamping fails) is triggered.

[0102] The auxiliary cutting device 16 is also provided in the embodiment, and the auxiliary cutting device 16 comprises a fourth translation mechanism 161 and a roller set 162.

[0103] The fixed end of the fourth translation mechanism 161 is fixed on the cutting station rack 21, and the moving end of the fourth translation mechanism 161 is provided with the roller set 162, when cutting, the fourth translation mechanism 161 is driven to make the roller set 162 adhere to the outer surface of the wrist arm to support the wrist arm and avoid deformation during cutting.

[0104] For the turnover mechanism 29, a person skilled in the art can select any mechanism capable of realizing the turnover function, and the present application does not make specific limitation, but in the embodiment, a turnover mechanism 29 capable of being realized is given with reference to Figures 13-16 The turnover mechanism 29 in the embodiment comprises a cylinder 291, a first connecting rod 292, a second connecting rod 293 and a third connecting rod 294.

[0105] The fixed end of the cylinder 291 is hinged to the moving end of the third translation mechanism 28, the telescopic end of the cylinder 291 is hinged to the middle part of the first connecting rod 292, one end of the first connecting rod 292 is hinged to one end of the second connecting rod 293, and the other end of the second connecting rod 293 is hinged to one end of the third connecting rod 294. The other end of the third connecting rod 294 is hinged to the moving end of the third translation mechanism 28, and the other end of the first connecting rod 292 is hinged to the moving end of the third translation mechanism 28.

[0106] One end of the first connecting rod 292 is fixed with the third clamping jaw 30 and the first roller 302 or the support sleeve 301.

[0107] The first connecting rod 292 is overturned through the expansion and contraction of the expansion end of the air cylinder 291, and the third clamping jaw 30, the first roller 302 and the support sleeve 301 drive the wrist arm to overturn.

[0108] In the embodiment, the second translation mechanism 25 and the third translation mechanism 28 can be any kind of mechanism capable of moving, can be a hydraulic mechanism, a pneumatic mechanism, etc., and the application is not limited specifically. In the embodiment, the second translation mechanism 25 and the third translation mechanism 28 are both composed of a gear and rack structure and a slider guide rail structure. Specifically,

[0109] Referring to Figures 12-14 , the second translation mechanism 25 includes a first gear 251, a first rack 252, a fifth guide rail 253, a fifth slider 254 and a first servo motor 255.

[0110] The first rack 252 and the fifth guide rail 253 are both fixed on the cutting station rack 21. The first rack 252 is engaged with the first gear 251, and the first gear 251 is supported on the fifth slider 254. The fifth slider 254 is arranged on the fifth guide rail 253 and moves along the fifth guide rail 253. The first clamping jaw 26 is installed on the fifth slider 254.

[0111] The first gear 251 is drivingly connected with the first servo motor 255, and the first servo motor 255 is fixed with the fifth slider 254.

[0112] When the first servo motor 255 is started, the first gear 251 is driven to rotate. The first gear 251 is engaged with the first rack 252 and moves along the first rack 252, thereby driving the fifth slider 254 to move along the fifth guide rail 253.

[0113] The third translation mechanism 28 is identical in structure to the second translation mechanism 25, and will not be described here.

[0114] According to the above content, the steps of wrist arm cutting are as follows:

[0115] Step 1: Initial positioning

[0116] Place the wrist arm to be cut (12 meters / 4-5 meters) on the cutting station rack 21, and the second clamping jaw 27 performs initial fixation (the 12-meter-long wrist arm needs to pass through the support sleeve).

[0117] Step 2: Cutting parameter setting

[0118] The system obtains pre-configuration information and wrist arm end positioning data, automatically generates a cutting scheme according to preset parameters, calculates the cutting length and determines the cutting position.

[0119] Step 3: long-spec wrist arm cutting process (12 meters)

[0120] The first jaw 26 is fixed in coordination with the third jaw 30, the fourth rotating mechanism 23 drives the cutting knife 24 to rotate at high speed, the first translation mechanism 22 pushes the cutting knife 24 to complete cutting, the overturning mechanism 29 performs a 180° overturning action, and the third translation mechanism 28 moves the cutting section to the carrying station;

[0121] Step 4: short-spec / remaining material cutting process (4-5 meters)

[0122] The second jaw 27 is released from fixation, the first jaw 26 moves the wrist arm to be aligned with the alignment device 14, the system recalculates the remaining material cutting length, the second translation mechanism 25 is adjusted to the new cutting position, and secondary cutting is performed, and the cutting remaining material is automatically dropped into the material collecting box 13;

[0123] Step 5: finished product transfer

[0124] All jaws are synchronously released from fixation, the wrist arm carrying device 1 grabs the cutting finished product and transfers it to the chamfering device 11 for subsequent processing;

[0125] Step 6: system reset

[0126] Each translation / rotation mechanism returns to the initial position, the support sleeve 301 is reset for the next operation, and the material collecting box is automatically emptied for detection.

[0127] The present application realizes continuous cutting and overturning of long-spec wrist arms through the timing cooperation of multiple translation mechanisms and jaws, significantly improves the production line rhythm, and reduces the need for manual intervention. The cutting logic design compatible with long and short materials maximizes the utilization rate of raw materials and reduces waste.

[0128] For the rapid switching capability of wrist arms of different diameters, the replaceable support sleeve is matched with the adaptive clamping mechanism to meet diversified production needs. The intervention of the dynamic support structure during cutting effectively suppresses material deformation and ensures the consistency of the cutting surface quality.

[0129] The multi-jaw cooperative fixation mechanism avoids the risk of workpiece displacement during cutting, and cooperates with the equipment state interlocking control to prevent safety accidents caused by misoperation. Through the mechanical linkage design of the overturning mechanism and the translation mechanism, the workpiece posture adjustment process is ensured to be stable and controllable.

[0130] As shown in Figures 17-19 The chamfering device 11 includes a chamfering station rack 111, a fifth translation mechanism 112, a fourth jaw 113, a fifth jaw 114, a sixth jaw 115, a second servo motor 116, a chamfering tool head 117, and a sixth translation mechanism 118.

[0131] The chamfering station frame 111 is fixed to the ground, a fifth translation mechanism 112 is installed on the chamfering station frame 111, the moving end of the fifth translation mechanism 112 can move along the length direction of the chamfering station frame 111, a fourth clamping jaw 113 is installed on the moving end of the fifth translation mechanism 112, and the fourth clamping jaw 113 is used for clamping the cut arm and moving the end of the arm to a position close to the chamfering tool head 117;

[0132] The fifth clamping jaw 114 and the sixth clamping jaw 115 are fixedly installed on one end of the chamfering station frame 111 close to the chamfering tool head 117, and the fifth clamping jaw 114 and the sixth clamping jaw 115 are used for clamping the arm after the end of the arm moves to the chamfering tool head 117, so that the position deviation during chamfering is prevented;

[0133] The chamfering tool head 117 is coaxially fixed with the rotating end of the second servo motor 116, the fixed end of the second servo motor 116 is installed on the moving end of the sixth translation mechanism 118, the chamfering tool head 117 is driven to move to the end of the arm by the sixth translation mechanism 118, and the chamfering function is realized;

[0134] The second servo motor 116, the chamfering tool head 117 and the sixth translation mechanism 118 are symmetrically arranged along the center of the chamfering station frame 111, the two ends of the arm can be chamfered without reversing, and a roller is arranged between the fifth translation mechanism 112 and the symmetrically arranged chamfering tool head 117, so that the friction of the arm during movement is reduced.

[0135] The specific structure of the fifth translation mechanism 112 of the present application is described in the description of the second translation mechanism 25, and details are not repeated here.

[0136] The second baffle 119 is arranged between the sixth clamping jaw 115 and the chamfering tool head 117, and between the fourth clamping jaw 113 and the symmetrically arranged chamfering tool head 117, a through hole 1191 is formed in the second baffle 119, the arm can pass through the through hole 1191, the stability during chamfering is realized by arranging the second baffle 119 and the through hole 1191, and the chamfering precision is improved.

[0137] The working process of the chamfering device is as follows:

[0138] Step 1: initial positioning of the arm and preparation for chamfering of the first end

[0139] The fourth clamping jaw 113 clamps the cut arm, the fifth translation mechanism 112 moves along the length direction of the chamfering station frame 111, the end to be machined of the arm is sent to a position close to the chamfering tool head 117, the fifth clamping jaw 114 and the sixth clamping jaw 115 clamp the arm, and the position deviation during chamfering is prevented.

[0140] Step 2: First end chamfering

[0141] The sixth translation mechanism 118 pushes the chamfering tool head 117 to move towards the end of the wrist arm, while the second servo motor 116 is started to drive the chamfering tool head to rotate at high speed. After the chamfering tool head 117 contacts the end of the wrist arm to complete the chamfering process, the sixth translation mechanism 118 retreats the tool head, and the second servo motor 116 is turned off.

[0142] Step 3: Wrist arm reversing and second end positioning

[0143] The fourth, fifth and sixth clamps 113, 114 and 115 are all loosened, and the fifth translation mechanism 112 moves the fourth clamp 113 to the set position and re-clamps the wrist arm. The fifth translation mechanism 112 moves in the opposite direction to send the unprocessed end of the wrist arm to the vicinity of the symmetrically arranged chamfering tool head 117. The fifth and sixth clamps 114 and 115 clamp the wrist arm to ensure processing stability.

[0144] Step 4: Second end chamfering

[0145] The sixth translation mechanism 118 on the symmetric side pushes the symmetrically arranged chamfering tool head 117 to move to the other end of the wrist arm, and the symmetrically arranged second servo motor 116 is started synchronously. After the chamfering tool head 117 completes the processing of the other end, it retreats to the original position and the motor is turned off.

[0146] Step 5: Reset and standby

[0147] All clamps are loosened, and the processed wrist arm is moved out of the work station. The fifth translation mechanism 112 drives the fourth clamp 113 to return to the initial position, and all components are reset, ready for the next cycle.

[0148] As shown in Figures 20-21 , the code and punching device 12 comprises a code and punching work station frame 121, a drilling part 122, a seventh translation mechanism 123, a seventh clamp 124, an eighth clamp 125 and a code spraying part 126;

[0149] The code and punching work station frame 121 is fixed to the ground, the drilling part 122 is installed at one end of the code and punching work station frame 121, and the fixed end of the seventh translation mechanism 123 is also installed on the code and punching work station frame 121. The moving end of the seventh translation mechanism 123 is installed with the seventh clamp 124, and the eighth clamp 125 is installed on the side of the code and punching work station frame 121 close to the drilling part 122. The seventh clamp 124 is used to clamp the wrist arm and move it to the drilling part 122, and the eighth clamp 125 is used to clamp the wrist arm after it is moved to the drilling part 122, to realize stable drilling.

[0150] The code spraying part 126 is installed in the middle of the code spraying and punching station rack 121, and is used for spraying code for the wrist arm.

[0151] The drilling part 122, the seventh translation mechanism 123, the seventh clamping jaw 124, the eighth clamping jaw 125 and the code spraying part 126 are arranged in two groups along the width direction of the code spraying and punching station rack 121, so that two stations are simultaneously processed.

[0152] The two-station action is coordinated by PLC programming, the high-load periods of drilling and code spraying are staggered, the device vibration interference is reduced, and a sensor is arranged between the two stations. If the wrist arm position deviates or the collision risk is triggered, the device is immediately paused and an alarm is given.

[0153] The drilling part 122 comprises an eighth translation mechanism 1221, a third servo motor 1222 and a drill bit 1223.

[0154] The eighth translation mechanism 1221 is installed on the code spraying and punching station rack 121, the third servo motor 1222 is installed on the moving end of the eighth translation mechanism 1221, and the output shaft of the third servo motor 1222 is coaxially fixed with the drill bit 1223.

[0155] In this embodiment, the specific structure of the seventh translation mechanism 123 is described with reference to the second translation mechanism 25, and the eighth translation mechanism 1221 is preferably a nut screw mechanism.

[0156] In order to facilitate the overall layout and save space, the two groups of drilling parts 122 are perpendicular to each other.

[0157] According to the structure and function of the code spraying and punching device 12, the working process can be divided into the following steps:

[0158] Step 1: initial clamping and positioning

[0159] The seventh translation mechanism 123 drives the seventh clamping jaw 124 to clamp the wrist arm to be processed, and moves the wrist arm transversely along the code spraying and punching station rack 121 to accurately deliver the wrist arm to the processing position of the drilling part 122.

[0160] Step 2: drilling and punching

[0161] When the wrist arm reaches the drilling part 122, the eighth clamping jaw 125 clamps the wrist arm from the side of the code spraying and punching station rack 121, and forms double fixation with the seventh clamping jaw 124 to ensure the stability of the drilling process. Then the drilling part 122 is started to accurately punch the preset position of the wrist arm.

[0162] Step 3: transfer to the code spraying position after punching

[0163] After drilling is completed, the eighth gripper 125 is released, and the seventh translation mechanism 123 drives the seventh gripper 124 to clamp the wrist arm and move it laterally along the frame, moving the set position of the wrist arm, such as the drilling area or marking area, to directly below the inkjet printing unit 126.

[0164] Step 4: Inkjet Printing Operation

[0165] After receiving the arm positioning signal, the coding unit 126 starts the coding program and sprays the coding information on the designated surface of the arm (such as near the hole or the preset marking area) to complete the permanent marking.

[0166] Step 5: Reset and Cycle

[0167] After the inkjet printing is completed, the seventh gripper 124 releases the wrist arm, and the seventh translation mechanism 123 returns to its initial position, waiting for the next wrist arm to enter, and a new round of drilling-inkjet printing cycle begins.

[0168] Among them, such as Figure 1 As shown, before performing the punching and coding processes, the chamfered wrist arm is placed on the buffer station 17, which includes:

[0169] A matrix-style storage array, each storage location is equipped with an RFID positioning chip, a weight sensor and an infrared detection device. The RFID positioning chip records the three-dimensional coordinates of the wrist arm, the weight sensor verifies the wrist arm's positioning status, and the infrared detection device monitors the surface temperature change of the wrist arm.

[0170] The data acquisition module collects the following information in real time and generates a unique traceability code:

[0171] Basic process parameters include cutting power, cutting speed, chamfer angle, and hole position coordinate deviation.

[0172] Process traceability data includes: pretreatment equipment number, spindle vibration amplitude, processing environment temperature and humidity, operator number, and quality inspection electronic signature;

[0173] Quality inspection indicators include: wrist-arm length deviation and straightness;

[0174] The QR code generation unit converts the unique traceability code into an ECC200 error-correcting QR code that conforms to the ISO / IEC 15415 standard Grade A. The QR code embeds a short link URL that points to the MES system database index.

[0175] The MES system database stores the following related information:

[0176] Material batch information: including steel furnace number and supplier quality inspection report;

[0177] Equipment maintenance records: including chamfer tool replacement timestamp;

[0178] Operational data: including on-site installation GPS coordinates, periodic inspection rust detection records.

[0179] The present application realizes full-dimensional monitoring of the physical state of the wrist arm through matrix storage design and multi-sensor fusion (RFID positioning + weight verification + infrared monitoring), the positioning accuracy is improved from ±5mm of traditional manual recording to ±0.1mm, the weight deviation detection sensitivity reaches ±50g, the temperature monitoring resolution is 0.1℃, and the data confusion problem caused by material accumulation in traditional assembly line operation is effectively avoided.

[0180] Using short chain URL encoding technology, the traceability data of a single wrist arm is compressed from 2KB directly stored by traditional two-dimensional code to 128B, the database access response time is shortened to within 200ms, which reduces 80% network bandwidth occupation compared with the prior art, and through ECC200 error correction level, the two-dimensional code recognition rate is ensured to be >99.5% under harsh working conditions.

[0181] Through a three-level data association architecture (basic process / process traceability / quality detection), the query from raw materials (steel furnace number) to terminal operation and maintenance (rust record) is realized, the quality problem positioning time is shortened from several hours of traditional manual investigation to within 15 minutes, and the specific process equipment (such as chamfering machine number with vibration exceeding standard) and the person in charge (operator ID) can be accurately traced.

[0182] Based on the time series database storage of the processing environment temperature and humidity and the device vibration correlation data, a tool wear prediction model is automatically generated, the chamfer tool replacement period is adjusted dynamically, and the waste rate caused by excessive tool wear is reduced.

[0183] The pre-arrangement device 3 comprises a first guide rail 31, a load cable seat fixing device 32 and a first clamping device 33;

[0184] A plurality of load cable seat fixing devices 32 capable of moving along the first guide rail 31 are installed on the first guide rail 31, and each two load cable seat fixing devices 32 are moved to the two sides of a load cable seat to realize clamping and fixing, and the first clamping device 33 is used for clamping the end of the wrist arm.

[0185] In order to avoid that the wrist arm cannot pass through when the load cable seat fixing device 32 clamps the load cable seat, in the embodiment, the load cable seat fixing device 32 is arranged in a U shape, and the surface clamping the load cable seat does not include a middle hollow area.

[0186] More specifically, referring to Figures 2-4 , the pre-arrangement device 3 further comprises a first rack 34, a first rotating mechanism 35, a second rack 36 and a second rotating mechanism 37;

[0187] The first rack 34 is installed on the rotating end of the first rotating mechanism 35, the fixed end of the first rotating mechanism 35 is installed on the second rack 36, the second rack 36 is fixed to the ground, one side of the first rack 34 is installed with the fixed end of the second rotating mechanism 37, the rotating end of the second rotating mechanism 37 is fixed to the first guide rail 31, and the first clamping device 33 is installed on the second rack 36;

[0188] The first rack 34 comprises a first supporting rod 341 and a second supporting rod 342;

[0189] The end of the first supporting rod 341 is installed on the rotating end of the first rotating mechanism 35, one side surface of the first supporting rod 341 is fixed to the second supporting rod 342, and the fixed end of the second rotating mechanism 37 is installed on the second supporting rod 342;

[0190] The first guide rail 31, the plurality of force cable seat fixing devices 32 and the first clamping device 33 constitute a first structure, and the first structure is symmetrically arranged along the center of the second rotating mechanism 37;

[0191] The two first structures symmetrically arranged, the second rotating mechanism 37 and the second supporting rod 342 are symmetrically arranged along the center of the first supporting rod 341.

[0192] When the pre-assembly device 3 is used, the six-axis manipulator 5 is used to clamp the force cable seat and place it between the two force cable seat fixing devices 32, the force cable seat fixing device 32 is used to move on the first guide rail 31, the force cable seat is clamped and fixed, after being fixed, the wrist arm after being punched and coded is clamped by the truss manipulator, the wrist arm is inserted into the force cable fixing seat, and the first clamping device 33 is used for clamping and fixing, at this time, the first rotating mechanism 35 is driven to rotate, the clamped wrist arm is turned over by 180 degrees, because the wrist arm is downward after being turned over, the second rotating mechanism 37 is driven to rotate by 180 degrees, the wrist arm is turned over to the upper side again, the bolt on the force cable seat is tightened by the tightening device 9, the fixing between the force cable seat and the wrist arm is realized, and the assembly is realized;

[0193] Because the two ends of the first supporting rod 341 are symmetrically provided with two groups of first structures, the second rotating mechanism 37 and the second supporting rod 342, after the first rotating mechanism 35 is turned over, the symmetrically arranged second rotating mechanism 37 is driven to rotate by 180 degrees, the force cable seat fixing device 32 in the symmetrically arranged first structure is turned to the upper side, so that the pipe can be synchronously inserted during the tightening process, and the work efficiency is improved.

[0194] One end of the first guide rail 31 is rotationally connected with the second rotating mechanism 37, and the other end of the first guide rail 31 is supported on the first rack 34, avoiding cantilever beam structure.

[0195] Similarly, one end of the first support rod 341 is connected with the rotating end of the first rotating mechanism 35, and the other end of the first support rod 341 is supported on the second rack 36.

[0196] According to the above, the working process of the pre-assembly device can be summarized as follows:

[0197] Step 1: clamping and positioning of the cable seat

[0198] The six-axis robot 5 clamps the cable seat and places it between the two cable seat fixing devices 32, which move towards each other along the first guide rail 31 to clamp and fix the cable seat from both sides.

[0199] Step 2: preparation for arm assembly

[0200] The truss robot grabs the arm that has completed punching and code spraying, and inserts the arm into the fixed cable seat, and the first clamping device 33 clamps the end of the arm to achieve double positioning.

[0201] Step 3: first overturning operation

[0202] Start the first rotating mechanism 35 to drive the first rack 34 to rotate 180°, and the arm system is overturned to an inverted state with the action of the rotating mechanism.

[0203] Step 4: secondary posture adjustment

[0204] At the same time as the first overturning, start the second rotating mechanism 37 to drive the first guide rail to rotate 180°, and through the second overturning, the arm returns to the normal upward posture.

[0205] Step 5: bolt tightening operation

[0206] The tightening device 9 automatically tightens the cable seat bolts to complete the rigid connection of the cable seat and the arm.

[0207] Step 6: synchronous operation of symmetrical structure

[0208] When the bolt is tightened on one side, the first structure on the other symmetrical side is synchronously rotated 180° by the second rotating mechanism, and the cable seat fixing device 32 on the standby side is rotated to the working position to prepare for the next cycle, realizing parallel operation of assembly and material preparation.

[0209] The application realizes synchronous and parallel operation of assembly and material preparation through the design of symmetrical double structure, when the assembly of the cable seat and the wrist arm is completed on one side, the positioning preparation of the next workpiece can be completed in advance on the other side, thereby reducing the waiting time of process switching.

[0210] Through twice 180° flipping actions (coordinated by the first rotating mechanism 35 and the second rotating mechanism 37), the working face is always kept facing the operation area, thereby avoiding the problem of limited operation visual angle or difficult manual intervention caused by device flipping.

[0211] The coordinated operation of the six-axis manipulator 5 and the truss manipulator realizes the full-process automation of cable seat grabbing, wrist arm penetration, clamping and fixing, reduces manual operation errors, and guarantees assembly precision.

[0212] The mechanical balance design of the symmetrical structure reduces the influence of load deviation on the rotating mechanism during unilateral operation, prolongs the service life of the device, and reduces the interference of vibration on assembly precision.

[0213] The modularized first structure (including guide rails, clamping devices, etc.) design facilitates quick disassembly and replacement of local components, and reduces device maintenance complexity.

[0214] The combination of the movable cable seat fixing device and the clamping device can be compatible with different specifications of cable seats and wrist arm sizes, and expand the application scenarios of the device.

[0215] The automatic cooperation of the flipping mechanism 29 and the manipulator avoids the physical consumption of manual handling of heavy wrist arms or adjustment of assembly angles, and reduces operation safety hazards.

[0216] As shown in Figure 5 the rack 7 includes a base 71, a first support frame 72, a first sleeve 73 and a telescopic connecting rod 74;

[0217] The base 71 is fixed to the ground, the first support frame 72 is in sliding connection with the base 71, a plurality of first sleeves 73 are installed on the first support frame 72 at intervals along the length direction of the first support frame 72, the first sleeves 73 are provided with telescopic connecting rods 74 capable of moving therein, and the cable seat is sleeved on the telescopic connecting rods 74.

[0218] In the application, during clamping of the cable seat, the clamping end of the six-axis manipulator 5 is kept in a clamping state, moves to the end of the telescopic connecting rod 74, pushes forward by a set distance, moves the telescopic connecting rod 74 along the sleeve, at this time, the two sides of the clamping end of the six-axis manipulator 5 have moved to the inside of the cable seat, the clamping end of the six-axis manipulator 5 is controlled to open and support the inside of the cable seat, the cable seat and the six-axis manipulator 5 are fixed, and the carrying function is realized.

[0219] The base 71 is fixed to the ground, specifically fixed to the ground through anchor bolts, and is provided with a linear guide rail on the surface, and the first support frame 72 is slidably connected to the guide rail at the bottom and can be adjusted in position along the base 71.

[0220] According to the above, the steps of taking out the material are summarized as follows:

[0221] Step 1: Preloading of the rack

[0222] The artificial or auxiliary equipment puts the load cable seat into the telescopic connecting rod 74 one by one, and the spring force pushes the telescopic connecting rod 74 to keep the extended state, so that the load cable seat is suspended and positioned.

[0223] Step 2: Mechanical hand alignment

[0224] The six-axis mechanical hand 5 moves to the target work position directly above, the mechanical hand gripper is closed in a contracted state, and approaches along the axis direction of the telescopic connecting rod 74.

[0225] Step 3: Triggering of connecting rod compression

[0226] The end of the mechanical hand gripper contacts the end of the telescopic connecting rod 74, and continuously advances for a set stroke (such as 20mm), and after the connecting rod is retracted, the inner cavity of the load cable seat is completely exposed.

[0227] Step 4: Inner support clamping

[0228] The two side executors of the gripper expand outward synchronously, and the outer side wall of the expanded gripper tightly abuts the inner cavity surface of the load cable seat, and rigid grabbing is realized through friction and shape cooperation.

[0229] Step 5: Taking out and transferring

[0230] The mechanical hand keeps the clamping state and vertically lifts, and the load cable seat is separated from the telescopic connecting rod to complete the taking out.

[0231] The present application adjusts the sleeve group spacing through the slidable support frame, adapts to the batch storage of load cable seats of different specifications, the precise cooperation of the sleeve and the telescopic connecting rod provides an axial alignment reference for the mechanical hand, reduces the complexity of the visual detection system 6, the inner support clamping avoids scratching the outer surface of the traditional gripper, and is especially suitable for surface treatment workpieces.

[0232] As shown in Figures 6-8 The torque fastening in the present application is realized through a tightening device 9, a plurality of the tightening device 9 is installed on a multidirectional motion device 10, the multidirectional motion device 10 includes a connecting plate 101, a longitudinal movement device 102, a second guide rail 103, a first sliding block 104 and a third guide rail 105;

[0233] The array of tightening devices 9 is distributed on a connecting plate 101, which is installed on the moving end of a longitudinal moving device 102 and moves along the longitudinal direction of the longitudinal moving device 102, the fixed end of the longitudinal moving device 102 is installed on the second guide rail 103 and moves along the length direction of the second guide rail 103, the length direction of the second guide rail 103 is parallel to the length direction of the wrist arm;

[0234] The second guide rail 103 is fixed on the first sliding block 104, which is arranged on the third guide rail 105 and moves along the third guide rail 105, the third guide rail 105 is perpendicular to the second guide rail 103, and the third guide rail 105 is fixed with the second rack 36;

[0235] The tightening device 9 is composed of a rotatable fastening head 91, which is matched in size with the bolt on the force cable seat.

[0236] The tightening device 9 includes a third rotating mechanism 92, a cross shaft coupling 93, a fastening head 91, a connecting block 94, a second sliding block 95, and a fourth guide rail 96.

[0237] The fixed end of the third rotating mechanism 92 is installed on the connecting plate 101, the rotating end of the third rotating mechanism 92 is drivingly connected with the driving shaft of the cross shaft coupling 93, the driven shaft of the cross shaft coupling 93 is bearingly connected with the connecting block 94, the connecting block 94 is installed on the second sliding block 95, the second sliding block 95 is arranged on the fourth guide rail 96 which moves along the fourth guide rail 96, and the fourth guide rail 96 is fixed with the connecting plate 101.

[0238] The fastening head 91 is installed on the driven shaft of the cross shaft coupling 93.

[0239] The following is a step-by-step description of the working process of the tightening device:

[0240] Step 1: Bolt positioning preparation

[0241] Drive the longitudinal moving device 102 and the connecting plate 101 to move along the second guide rail 103, so that the tightening device 9 is longitudinally aligned with the force cable seat bolt group on the wrist arm; the first sliding block 104 carries the second guide rail 103 to move transversely along the third guide rail 105, and fine-tune the horizontal position of the tightening device 9.

[0242] Step 2: Floating alignment compensation

[0243] The fastening head 91 realizes vertical floating through the cooperation of the fourth guide rail 96 and the second sliding block 95, and the universal joint structure of the cross shaft coupling 93 allows the fastening head 91 to adapt to the inclination within ±5°.

[0244] Step 3: Contact pre-pressing

[0245] The third rotating mechanism 92 drives the cross shaft 93 main shaft to rotate, drives the fastening head 91 to rotate at low speed, and drives the connecting plate 101 to move downward along the longitudinal movement device 102, so that the fastening head 91 in rotation is in contact with the bolt head; the second sliding block 95 is continuously pressed to slide along the fourth guide rail 96, and the pressure sensor is triggered to confirm that the contact is completed.

[0246] Step 4: Graded torque fastening

[0247] The third rotating mechanism 92 is switched to a torque control mode, and a rotating torque is applied in two stages:

[0248] First stage: high speed and low torque to rotate into the bolt to a preset threshold;

[0249] Second stage: low speed and high torque to reach the final fastening value;

[0250] The cross shaft compensates for the axial deviation when transmitting the torque, so as to avoid the damage of the bolt caused by the lateral force.

[0251] Step 5: Multi-bolt cooperative operation

[0252] The arrayed multiple tightening devices 9 synchronously execute steps 2-4, and simultaneously complete the fastening of all bolts of the same load cable seat;

[0253] For a non-uniformly distributed bolt group, sequential fastening is realized through the composite motion of the longitudinal movement device 102 and the third guide rail 105.

[0254] Step 6: Reset and cycle

[0255] After the fastening is completed, the longitudinal movement device 102 lifts the connecting plate 101 to a safe height, the first sliding block 104 retreats along the third guide rail 105 to the initial working position, and the next operation cycle is prepared.

[0256] The second guide rail 103 and the third guide rail 105 realize large-range high-precision positioning through longitudinal and transverse composite motion; the cross shaft 93 and the fourth guide rail 96 are combined to eliminate the influence of assembly cumulative error on the fastening quality; the arrayed tightening device supports multi-bolt synchronous operation, and the efficiency is improved by more than 3 times compared with single-head tightening; the graded torque application strategy is combined with pressure feedback to prevent bolt slipping or insufficient pre-tightening force.

[0257] The upper part of each of the two first structures is provided with a tightening device 9.

[0258] In the embodiment, the six-axis manipulator 5 and the rack 7 are distributed along the length direction of the wrist arm in at least two groups, each group of manipulators is equipped with an independent control module, and supports synchronous or alternating operation mode.

[0259] Each six-axis robot 5 corresponds to a set of racks 7, and two sets of racks 7 are arranged in the direction of the wrist arm axis, and the distance between adjacent racks 7 is greater than the maximum unfolding radius of the six-axis robot 5, so as to avoid motion interference.

[0260] As shown in Figure 7 The visual detection system 6 is distributed on both sides of the rack 7.

[0261] The visual detection system 6 in the application detects the posture by the following way:

[0262] The visual detection system 6 adopts a high-resolution industrial camera (such as a 20 million pixel CMOS sensor), and is also provided with a combination of a ring LED light source and a polarizing filter to eliminate the interference of metal surface reflection.

[0263] Among them, the application dynamically adjusts the brightness of the LED light source according to the intensity of the ambient light.

[0264] The detection process is as follows:

[0265] An anti-reflection imaging environment is constructed by the combination of the ring LED light source and the polarizing filter, and the brightness of the light source is dynamically adjusted based on the intensity of the ambient light;

[0266] After the clamping action of the six-axis robot 5 is completed, three frames of front view perpendicular to the clamping axis are continuously collected by using a high-resolution industrial camera;

[0267] The geometric features of the edge profile of the inner cavity of the bearing cable seat, the installation hole center coordinates and the process features of the bolt hole distribution are synchronously extracted by a deep convolution network;

[0268] The three-dimensional space registration relationship between the feature point cloud and the standard CAD model is constructed, and the 6-degree-of-freedom pose error parameters including the translation deviation (ΔX, ΔY, ΔZ) and the Euler angle rotation deviation are obtained by iterative calculation based on the ICP algorithm;

[0269] A multi-objective decision algorithm is used to generate a compensation motion sequence, and when the combined deviation exceeds a threshold value, a pose synchronous compensation mode is started, and the compensation amount is converted through the base coordinate system and then the joint angle adjustment amount is generated by inverse kinematics calculation;

[0270] A quintic polynomial interpolation algorithm is used to generate a smooth motion trajectory to drive the robot to perform axial translation compensation and center point Euler angle rotation compensation in the clamping state.

[0271] After the compensation action is completed, a secondary visual closed-loop verification is triggered until the pose deviation converges to a preset tolerance range.

[0272] The application effectively eliminates the mirror reflection interference of the metal surface through the cooperation of the annular LED light source and the polarization filter, combines the dynamic adjustment function of the light source brightness, ensures the imaging clarity and feature contrast in complex lighting environment, and provides stable and reliable visual input for high-precision identification.

[0273] The deep learning model is used to synchronously extract the geometric features (such as contours and hole positions) of the workpiece and the preset process features (such as bolt distribution), so as to realize dual verification of structure form and assembly specification, and significantly improve the integrity and anti-interference ability of feature matching.

[0274] Based on the composite deviation threshold judgment mechanism, the position priority correction, the angle priority correction or the pose synchronous compensation strategy is autonomously selected, the problem of increasing iteration times caused by the traditional single compensation mode is avoided, and the efficiency and cooperativeness of the manipulator posture adjustment are improved.

[0275] By combining inverse kinematics calculation and quintic polynomial interpolation algorithm, the pose deviation is converted into smooth motion trajectory of the manipulator joint, the mechanical vibration and path mutation risk are effectively inhibited, and the stability and continuity of fine adjustment action in the clamping state are ensured.

[0276] The secondary visual re-inspection trigger logic is adopted to construct a closed-loop control process of "detection-compensation-verification", so as to ensure that the pose deviation strictly converges to the system allowable error range after iterative correction, and meet the tolerance requirement of the precision assembly scene.

[0277] Through decoupling design of the standard CAD model and the point cloud registration algorithm, the rapid parameterization adaptation of different specifications of workpieces is supported, the system reconstruction cost during product line change is reduced, and the expansibility of the equipment in multi-specification mixed production is enhanced.

[0278] After the assembly is completed, the truss manipulator carries the combination of the cable seat and the wrist arm to the detection device 8, detects the surface of the combination by line scanning, and discharges the qualified and unqualified combinations to different storage areas.

[0279] As shown in Figures 22-24 The detection device 8 includes a detection station rack 81, a ninth translation mechanism 82, a second clamping device 83, a tenth translation mechanism 84, a line scanning mechanism 85, a third clamping device 86 and a surface rotating mechanism 87.

[0280] The detection station rack 81 is fixed to the ground, the ninth translation mechanism 82 and the tenth translation mechanism 84 are installed on the detection station rack 81, the second clamping device 83 is installed on the ninth translation mechanism 82, the second clamping device 83 is used for clamping the combination of the cable seat and the wrist arm, the line scanning mechanism 85 is installed on the tenth translation mechanism 84, the tenth translation mechanism 84 is used for driving the line scanning mechanism 85 to move along the length direction of the wrist arm, and the line scanning mechanism 85 is used for moving to scan the surface of the combination of the cable seat and the wrist arm, and the obtained data is uploaded to a judgment system for damage judgment.

[0281] The fixed end of the surface rotating mechanism 87 is installed on the detection station rack 81, the rotating end of the surface rotating mechanism 87 is fixed to the third clamping device 86, the third clamping device 86 is used for clamping the end of the wrist arm, after the line scanning mechanism 85 completes the scanning, the second clamping device 83 moves along the length direction of the detection station rack 81, the end of the wrist arm is moved to the clamping area of the third clamping device 86, the third clamping device 86 clamps the wrist arm, the surface rotating mechanism 87 is driven to rotate, the third clamping device 86 and the combination are driven to rotate by a set angle, and the line scanning mechanism 85 performs the scanning action again after the rotation, so that the detection of the surface at other angles is realized.

[0282] The detection device 8 further comprises an eleventh translation mechanism 88 and a twelfth translation mechanism 89.

[0283] The ninth translation mechanism 82 and the second clamping device 83 are symmetrically arranged along the center of the width direction of the detection station rack 81.

[0284] The eleventh translation mechanism 88 is installed on the tenth translation mechanism 84, the line scanning mechanism 85 is installed on the eleventh translation mechanism 88, the movement direction of the eleventh translation mechanism 88 is perpendicular to the movement direction of the tenth translation mechanism 84, and the eleventh translation mechanism 88 is used for driving the line scanning mechanism 85 to scan the wrist arm combination on the symmetrically arranged second clamping device 83, so that multi-station detection is realized and the work efficiency is improved.

[0285] On this basis, the surface rotating mechanism 87 is installed on the moving end of the twelfth translation mechanism 89, the fixed end of the twelfth translation mechanism 89 is fixed to the detection station rack 81, the movement direction of the twelfth translation mechanism 89 is parallel to the movement direction of the eleventh translation mechanism 88, and the twelfth translation mechanism 89 is used for driving the third clamping device 86 to clamp another group of wrist arm combinations.

[0286] The detection process of the detection device 8 is as follows:

[0287] Step 1: Workpiece fixation and initial scanning

[0288] The second clamping device 83 clamps the combination of the cable seat and the wrist arm, and the ninth translation mechanism 82 positions it to the detection station; the tenth translation mechanism 84 drives the line scanning mechanism 85 to move along the length direction of the wrist arm, scans the surface data of the combination, and uploads it to the judgment system for damage judgment.

[0289] Step 2: Switching clamping and rotating adjustment

[0290] After the scanning is completed, the second clamping device 83 releases the combination, the ninth translation mechanism 82 moves along the length direction of the detection station rack to move the end of the wrist arm to the clamping area of the third clamping device 86, the third clamping device 86 clamps the end of the wrist arm, and the surface rotating mechanism 87 drives the combination to rotate by a set angle (such as 90° or 180°), preparing for multi-angle scanning.

[0291] Step 3: Multi-angle scanning and data review

[0292] The line scanning mechanism moves along the length direction of the wrist arm again to scan the surface after rotation, and the data is uploaded to the system at the same time, and steps 2-3 are repeated until the surface detection of all preset angles is completed.

[0293] Step 4: Symmetrical station synchronous detection

[0294] The eleventh translation mechanism 88 adjusts the position of the line scanning mechanism to scan the wrist arm combination on the second clamping device 83 of the other symmetrical station, and the twelfth translation mechanism 89 drives the surface rotating mechanism 87 and the third clamping device 86 to move to the corresponding station to clamp and rotate the other combination, realizing the alternate detection of the double stations.

[0295] While one station is scanning, the other station is synchronously preparing for workpiece clamping or rotation, shortening the detection period, and after the detection is completed, the clamping device is reset to wait for the next group of workpieces to enter, forming a continuous operation cycle.

[0296] The present application supports synchronous operation of double stations through the symmetrical arrangement of clamping devices and translation mechanisms, realizes parallel operation of detection and workpiece clamping, greatly shortens the detection period, and is suitable for efficient processing of batch workpieces.

[0297] Through the cooperative control of the rotating mechanism and the clamping device, the workpiece can be rotated at multiple angles, and the line scanning mechanism is moved and scanned, eliminating the detection blind area and ensuring omnidirectional identification of surface damage.

[0298] The combination design of the multi-directional movement (length, width direction) of the translation mechanism and the rotating mechanism can accurately adjust the scanning path and the workpiece posture, meeting the detection needs of workpieces of different sizes and shapes.

[0299] The clamping, moving, rotating and scanning actions are automatically completed by the mechanism, which reduces the risk of manual operation errors, reduces labor intensity, and guarantees the consistency and reliability of detection.

[0300] The independent driving mode of the symmetric station design and the translation mechanism facilitates subsequent addition of detection stations or upgrading of the scanning equipment, and improves the expandability and compatibility of the system.

[0301] The instant linkage of the line scanning data and the damage judgment system can analyze the results synchronously during the detection process, support rapid adjustment of detection parameters or re-inspection, and avoid the efficiency loss of traditional offline analysis.

[0302] The judgment system is configured to perform damage judgment, specifically including:

[0303] The data acquisition module is used for receiving the workpiece surface scanning data uploaded by the line scanning mechanism, and performing noise reduction, coordinate alignment and gray scale normalization preprocessing on the data;

[0304] The feature comparison module internally stores a standard workpiece three-dimensional model and a defect feature library, locates the surface abnormal area through difference analysis, and extracts the geometric parameters and texture features of the defect;

[0305] The dynamic judgment module is based on a preset process threshold and a multi-algorithm fusion (including image processing and machine learning model) to classify and judge the defects;

[0306] The multi-view fusion module splices the scanning data under different rotation angles into a complete three-dimensional model, and cross- validates the multi-angle detection results at the same position;

[0307] The feedback execution module outputs the defect information in real time, triggers an alarm signal, and generates a detection report containing defect distribution and judgment conclusion;

[0308] The self-learning optimization module dynamically updates the defect feature library and the scanning parameters according to the historical detection data, and improves the judgment accuracy and adaptability.

[0309] Further, the line scanning mechanism and the judgment system are connected through an edge computing device to realize real-time data processing and localized judgment.

[0310] The present embodiment also includes a plurality of finished product unloading vehicles 18, which respectively carry the wrist arm and the load bearing cable seat assembly that pass the detection to different finished product unloading vehicles 18 through the truss mechanical hand, and utilize the finished product unloading vehicles 18 to carry to different storage areas.

[0311] The second embodiment of the present application proposes an automatic wrist arm production and assembly method based on an automatic wrist arm production and assembly device, which includes the following steps:

[0312] Step S1, the wrist arm is clamped by the wrist arm carrying device 1 and carried to a pretreatment device;

[0313] Step S2, the pretreatment device obtains pre-arrangement information of the anchor segment to be produced, generates a cutting scheme based on preset parameters, and performs cutting according to the cutting scheme, and performs chamfering, punching and code spraying after cutting;

[0314] Step S3, the pretreated wrist arm is fixed on the pre-arrangement device 3 by the wrist arm carrying device 1.

[0315] Step S4, the six-axis manipulator 5 clamps the cable seat from the rack 7, and the visual detection system 6 detects the posture of the cable seat; when the posture is incorrect, the six-axis manipulator 5 is adjusted to align the posture of the cable seat, the pre-arrangement device 3 is fixed, the wrist arm is inserted into the cable seat by the wrist arm carrying device 1, and the torque is fastened.

[0316] Step S5, the wrist arm is carried to the detection device 8 by the wrist arm carrying device 1, the surface damage of the assembled wrist arm is detected, and the discharging operation is performed after the detection is qualified.

[0317] In the description of the present application, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0318] In addition, it should be noted that, in the description of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0319] The term "includes" or any other similar term is intended to cover non-exclusive inclusion, so that the process, method, article or equipment / device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes the elements inherent in the process, method, article or equipment / device.

[0320] The technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical schemes after the changes or replacements will all fall within the protection scope of the present application.

Claims

1. An automated production and assembly device for a wrist arm, characterized in that, The device includes: Wrist arm transport device (1) is used to clamp the wrist arm and transport it to each workstation; The pre-processing device is used to pre-process the cantilever arm to be assembled by cutting, chamfering, punching and coding. During the cutting process, the pre-assembly information of the anchor section to be produced is obtained, a cutting scheme is generated based on preset parameters, and the cantilever arm to be assembled is cut based on the cutting device (2) according to the cutting scheme. The pre-assembly device (3) is used to fix the load-bearing cable seat and the pre-treated cantilever arm, and to realize the insertion and fixation between the cantilever arm and the load-bearing cable seat on the pre-assembly device (3); The feeding device (4) includes a six-axis manipulator (5) for clamping the load-bearing cable seat. After clamping, the posture of the load-bearing cable seat is detected by a vision inspection system (6). When the posture is incorrect, the posture of the load-bearing cable seat is adjusted by rotating the six-axis manipulator (5). After adjustment, the load-bearing cable seat is fixed by a pre-assembly device (3), and the wrist arm to be assembled is inserted into the load-bearing cable seat by a wrist arm handling device (1). After insertion, torque is tightened. The load-bearing cable seat is placed on the material rack (7); The testing device (8) is used to detect surface damage on the assembled wrist arm. After passing the test, the arm is unloaded. The pre-assembly device (3) includes a first guide rail (31), a load-bearing cable seat fixing device (32), and a first clamping device (33). The first guide rail (31) is equipped with a plurality of load-bearing cable seat fixing devices (32) that can move along it. Each pair of load-bearing cable seat fixing devices (32) moves to both sides of a load-bearing cable seat to achieve clamping and fixing. The first clamping device (33) is used to clamp the end of the wrist arm. The pre-assembly device (3) also includes a first frame (34), a first rotating mechanism (35), a second frame (36), and a second rotating mechanism (37); The first frame (34) is mounted on the rotating end of the first rotating mechanism (35), the fixed end of the first rotating mechanism (35) is mounted on the second frame (36), the second frame (36) is fixed to the ground, the fixed end of the second rotating mechanism (37) is mounted on one side of the first frame (34), the rotating end of the second rotating mechanism (37) is fixed to the first guide rail (31), and the first clamping device (33) is mounted on the second frame (36). The first frame (34) includes a first support rod (341) and a second support rod (342); The end of the first support rod (341) is mounted on the rotating end of the first rotating mechanism (35), and one side surface of the first support rod (341) is fixed to the second support rod (342). The fixed end of the second rotating mechanism (37) is mounted on the second support rod (342). The first guide rail (31), the plurality of the load-bearing cable seat fixing devices (32) and the first clamping device (33) constitute a first structure, which is symmetrically arranged along the center of the second rotating mechanism (37); The two first structures, the second rotating mechanism (37), and the second support rod (342) are symmetrically arranged around the center of the first support rod (341); The material rack (7) includes a base (71), a first support frame (72), a first sleeve (73), and a telescopic connecting rod (74). The base (71) is fixed to the ground, and the first support frame (72) is slidably connected to the base (71). Multiple first sleeves (73) are installed on the first support frame (72) at intervals along its length direction. A telescopic connecting rod (74) that can move along the first sleeve (73) is provided inside the first sleeve (73). The load-bearing cable seat is sleeved on the telescopic connecting rod (74).

2. The automatic production and assembly device for a wrist arm according to claim 1, characterized in that, Torque fastening is achieved by tightening devices (9), and multiple tightening devices (9) are installed on a multi-directional motion device (10), which includes a connecting plate (101), a longitudinal moving device (102), a second guide rail (103), a first slider (104), and a third guide rail (105). The tightening devices (9) are arrayed on the connecting plate (101). The connecting plate (101) is installed on the moving end of the longitudinal moving device (102) and moves longitudinally thereon. The fixed end of the longitudinal moving device (102) is installed on the second guide rail (103) and moves along its length direction. The length direction of the second guide rail (103) is parallel to the length direction of the wrist arm. The second guide rail (103) is fixed on the first slider (104), the first slider (104) is disposed on the third guide rail (105) and moves along it, the third guide rail (105) is perpendicular to the second guide rail (103), and the third guide rail (105) is fixed to the second frame (36); The tightening device (9) is composed of a rotatable fastening head (91), and the size of the fastening head (91) matches that of the bolt on the load-bearing cable seat.

3. The automatic production and assembly device for a wrist arm according to claim 2, characterized in that, The tightening device (9) includes a third rotating mechanism (92), a cross coupling (93), a connecting block (94), a second slider (95), and a fourth guide rail (96). The fixed end of the third rotating mechanism (92) is mounted on the connecting plate (101), and the rotating end of the third rotating mechanism (92) is driven and connected to the drive shaft of the cross coupling (93). The driven shaft of the cross coupling (93) is connected to the connecting block (94) by a bearing. The connecting block (94) is mounted on the second slider (95). The second slider (95) is arranged on the fourth guide rail (96) that moves along it. The fourth guide rail (96) is fixed to the connecting plate (101). The fastening head (91) is mounted on the driven shaft of the cross coupling (93).

4. The automatic production and assembly device for a wrist arm according to claim 1, characterized in that, The six-axis robot (5) and the material rack (7) are distributed in at least two groups along the length of the wrist arm.

5. The automatic production and assembly device for a wrist arm according to claim 4, characterized in that, The visual inspection system (6) is distributed on both sides of the material rack (7).

6. The automatic production and assembly device for a wrist arm according to claim 1, characterized in that, The wrist arm handling device (1) is a gantry manipulator.

7. An automated production and assembly method for a wrist arm, based on the automated production and assembly device for a wrist arm according to any one of claims 1-6, characterized in that, The method includes the following steps: Step S1: The wrist arm is clamped and transported to the pretreatment device by the wrist arm transport device (1); Step S2: The pre-processing device obtains the pre-configuration information of the anchor section to be produced, generates a cutting scheme based on preset parameters, and performs cutting according to the cutting scheme. After cutting, chamfering, punching and inkjet printing are performed. Step S3: Fix the pre-treated wrist arm onto the pre-assembly device (3) using the wrist arm transport device (1); Step S4: The six-axis robot (5) clamps the load-bearing cable seat from the material rack (7), and the visual inspection system (6) performs posture detection on the load-bearing cable seat. When the posture is incorrect, the six-axis robot (5) is adjusted to align the posture of the load-bearing cable seat. The pre-fitting device (3) is used to fix the posture-adjusted load-bearing cable seat. Then, the wrist arm is inserted into the load-bearing cable seat through the wrist arm handling device (1) and tightened with torque. Step S5: The wrist arm is transported to the testing device (8) by the wrist arm transporting device (1). The surface damage of the assembled wrist arm is tested. After the test is qualified, the unloading operation is performed.

Images