An automatic cutting and production assembly device for a wrist arm

Abstract

This utility model belongs to the field of catenary assembly, specifically relating to an automatic cutting and production assembly device for catenary arms, aiming to solve problems such as low functional integration and suboptimal cutting processes in catenary arm assembly. This utility model includes: a cutting station frame; a cutting execution mechanism, which includes a cutting blade capable of rotation and movement towards the catenary arm; wherein the length of the catenary arm includes a first length and a second length, the first length being greater than the second length; a catenary arm clamping mechanism for clamping and moving the catenary arm, awaiting cutting by the cutting blade; and a flipping mechanism for receiving the first length of the catenary arm, clamping and fixing it. After the first length of the catenary arm is cut, the remaining catenary arm on the flipping mechanism is flipped 180° to the working range of the catenary arm transport device for further preprocessing. This utility model reduces costs by optimizing the cutting method, integrates multiple workstations, and improves assembly efficiency.

Description

Technical Field

[0001] This utility model belongs to the field of wrist arm assembly, and specifically relates to an automatic cutting and production assembly device for wrist arms. Background Technology

[0002] As a key component of the rail transit overhead contact system, the cutting accuracy and processing efficiency of the cantilever arm directly affect the installation quality and construction progress. Traditional cantilever arm cutting mainly relies on manual operation or semi-automatic cutting equipment, which presents the following technical problems:

[0003] Firstly, manual operation relies on experience, resulting in unstable cutting accuracy and easy dimensional errors. Secondly, existing semi-automatic equipment is mostly designed for single-length specifications. When dealing with cantilever arms of different initial lengths (such as 12 meters long or 4-5 meters short materials), frequent adjustments to the clamps and positioning devices are required, leading to poor adaptability and low efficiency. Thirdly, the cut cantilever arms need to be manually transported to the chamfering station, resulting in poor process connection and potential safety hazards. Fourthly, the lack of stable clamping and automatic positioning mechanisms when cutting short or surplus materials can easily lead to material waste or equipment damage.

[0004] Therefore, there is an urgent need for an integrated and multifunctional automatic cutting and assembly device for wrist arms to solve the problems of low efficiency, poor adaptability and scattered processes in existing technologies. Utility Model Content

[0005] To address the aforementioned problems in the prior art, namely the low functional integration and suboptimal cutting process in the assembly of overhead contact line cantilever arms, this utility model provides an automatic cutting and production assembly device for cantilever arms.

[0006] In a first aspect, this utility model provides an automatic wrist and arm cutting device, the device comprising:

[0007] The cutting station frame is fixed to the ground.

[0008] A cutting actuator includes a cutting blade that can rotate and move toward a wrist arm, the cutting blade being used to cut the wrist arm when rotated;

[0009] The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length;

[0010] The wrist arm clamping mechanism is used to clamp the wrist arm and move it to a preset position, waiting for the cutting blade to cut.

[0011] The flipping mechanism is used to receive the first length of the wrist arm, clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism is flipped 180° to the working range of the wrist arm handling device for the next pre-processing.

[0012] Furthermore, the cutting actuator includes a first translation mechanism and a fourth rotation mechanism;

[0013] The cutting station frame is equipped with a fixed end of a first translation mechanism, the moving end of the first translation mechanism is fixed to the fixed end of the fourth rotation mechanism, and the rotating end of the fourth rotation mechanism is coaxially fixed with the cutting blade.

[0014] Furthermore, the wrist arm gripping mechanism includes a second translation mechanism, a first gripper, a second gripper, and a third translation mechanism;

[0015] A second translation mechanism is installed on the cutting station frame, and a set of first grippers is installed on the second translation mechanism. The first grippers move along the length direction of the cutting station frame through the second translation mechanism. A set of fixed second grippers is installed on the side of the cutting station frame near the cutting blade. The first grippers and the second grippers are used to clamp and fix the wrist arm.

[0016] Furthermore, the tilting mechanism is equipped with a third gripper, a support sleeve, and a first roller;

[0017] The cutting station frame is also equipped with a third translation mechanism, which has two moving ends. Each moving end has a flipping mechanism, one of which has a third gripper and a first roller, and the other has a support sleeve.

[0018] Furthermore, the tilting mechanism includes a cylinder, a first connecting rod, a second connecting rod, and a third connecting rod;

[0019] The fixed end of the cylinder is hinged to the moving end of the third translation mechanism, the telescopic end of the cylinder is hinged to the middle of the first connecting rod, one end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the moving end of the third translation mechanism, and the other end of the first connecting rod is hinged to the moving end of the third translation mechanism.

[0020] One end of the first connecting rod is fixed to the third gripper and the first roller or support sleeve.

[0021] Furthermore, the second translation mechanism includes a first gear, a first rack, a fifth guide rail, a fifth slider, and a first servo motor;

[0022] The first rack and the fifth guide rail are both fixed on the cutting station frame. The first rack and the first gear mesh. The first gear is bearing on the fifth slider. The fifth slider is arranged on the fifth guide rail and moves along it. The fifth slider is equipped with a first gripper.

[0023] The first gear is driven and connected to the first servo motor, and the first servo motor is fixed to the fifth slider.

[0024] Furthermore, it also includes an alignment device, which includes a first baffle and a linear motor. The first baffle is fixed to the moving end of the linear motor, and the fixed end of the linear motor is fixed to the cutting station frame.

[0025] The initial position of the first baffle is set below the mounting surface of the cutting station frame. When cutting the second length of the cantilever arm, the first baffle moves to the working position, which is set above the mounting surface of the cutting station frame and can overlap with the end face of the cantilever arm.

[0026] Furthermore, an auxiliary cutting device is provided, which includes a fourth translation mechanism and a roller assembly;

[0027] The fixed end of the fourth translation mechanism is fixed on the cutting station frame, and a roller assembly is installed on the moving end of the fourth translation mechanism. The roller assembly is in contact with the surface of the cutting position of the wrist arm.

[0028] Furthermore, a material collection box is provided below the cutting blade and the wrist arm, and the material collection box is fixed to the cutting station frame.

[0029] In a second aspect, this utility model provides an automated production and assembly device for a wrist arm, based on an automated cutting device for a wrist arm, the production and assembly device comprising:

[0030] A wrist arm transport device is used to clamp a wrist arm and transport it to various workstations;

[0031] Cutting device, including:

[0032] The cutting station frame is fixed to the ground.

[0033] A cutting actuator includes a cutting blade that can rotate and move toward a wrist arm, the cutting blade being used to cut the wrist arm when rotated;

[0034] The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length;

[0035] The wrist arm clamping mechanism is used to clamp the wrist arm and move it to a preset position, waiting for the cutting blade to cut.

[0036] The flipping mechanism is used to receive the first length of the wrist arm, clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism is flipped 180° to the working range of the wrist arm handling device for the next pre-processing step.

[0037] After cutting, the material is transported to the chamfering, coding, and punching stations via a cantilever transport device for pre-processing such as chamfering, coding, and punching.

[0038] A pre-assembly device 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;

[0039] The feeding device includes a six-axis manipulator for clamping the load-bearing cable seat. After clamping, the posture of the load-bearing cable seat is detected by a vision inspection system. When the posture is incorrect, the posture of the load-bearing cable seat is adjusted by rotating the six-axis manipulator. After adjustment, the load-bearing cable seat is fixed by a pre-assembly device, and the wrist arm to be assembled is inserted into the load-bearing cable seat by a wrist arm handling device. After insertion, torque is tightened.

[0040] The testing device is used to detect surface damage on the assembled cantilever arm, and the arm is unloaded after passing the test.

[0041] The beneficial effects of this utility model are:

[0042] Multi-specification adaptive capability: Through the coordinated action of the first, second, and third grippers, combined with the movement control of the second and third translation mechanisms, flexible clamping and precise positioning of long arms, short materials, and surplus materials are achieved, eliminating the need for frequent manual adjustments to the equipment and significantly improving adaptability to arms of different lengths.

[0043] Process integration: Through the cooperation of the flipping mechanism and the third translation mechanism, the arm is automatically flipped and transferred to the handling station after cutting, realizing continuous operation of cutting, flipping and handling, reducing manual intervention and improving processing efficiency and safety.

[0044] Resource utilization optimization: Alignment devices and collection bins are designed for scrap material cutting. The system automatically calculates and positions the scrap material cutting length to avoid material waste. At the same time, it realizes automatic classification and collection of short and scrap materials, reducing production costs.

[0045] Compact and efficient structure: The linkage design of the cutting blade with the fourth rotating mechanism and the first translation mechanism, together with the guiding effect of the support sleeve and rollers, ensures the stability of the cutting process and improves the cutting quality; multiple mechanisms are integrated into the same workstation frame, reducing the equipment's footprint.

[0046] Full-process automation: From clamping and fixing, cutting, flipping to transporting to the chamfering device, the entire process is automated, reducing the intensity of manual operation, and is especially suitable for large-scale batch production scenarios. Attached Figure Description

[0047] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0048] Figure 1 This is a first-view schematic diagram of the entire automatic wrist arm cutting device of this utility model;

[0049] Figure 2 This is a second-view schematic diagram of the entire automatic wrist arm cutting device of this utility model;

[0050] Figure 3 yes Figure 2 A magnified view of the location of the cutting blade;

[0051] Figure 4 yes Figure 1 A partial enlarged view of the center alignment device;

[0052] Figure 5 yes Figure 1 Schematic diagram of the first gripper in the middle;

[0053] Figure 6 yes Figure 2 A schematic diagram of the second translation mechanism;

[0054] Figure 7 yes Figure 2 A schematic diagram of the flipping mechanism;

[0055] Figure 8 yes Figure 1 A schematic diagram of the structure of the tilting mechanism;

[0056] Figure 9 This is an overall schematic diagram of an automatic production and assembly device for a wrist arm according to this utility model;

[0057] Figure 10 This is a schematic diagram of the overall structure of a chamfering device in an automated production and assembly device for a cantilever arm.

[0058] Figure 11 yes Figure 10 Enlarged view of the first end;

[0059] Figure 12 yes Figure 10 A magnified view of the second end;

[0060] Figure 13 This is a schematic diagram of the inkjet printing and punching device in an automated production and assembly apparatus for a wrist arm.

[0061] Figure 14 yes Figure 13 A partial enlarged view of the borehole section;

[0062] Figure 15 This is an overall schematic diagram of the pre-assembled device;

[0063] Figure 16 yes Figure 15A magnified view of a pre-assembly workstation;

[0064] Figure 17 yes Figure 15 Enlarged view of the first rotating mechanism;

[0065] Figure 18 This is a schematic diagram of the material rack;

[0066] Figure 19 This is a partial schematic diagram of the distribution of the tightening device array;

[0067] Figure 20 This is a schematic diagram of the first slider;

[0068] Figure 21 This is a schematic diagram of the tightening device. Detailed Implementation

[0069] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0070] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0071] like Figure 1 As shown in the first embodiment of this utility model, an automatic wrist arm cutting device is provided. The wrist arm cut by the device is pre-treated by chamfering, punching and inkjet printing and then assembled with the load-bearing cable seat.

[0072] The automatic cutting device is used to obtain the pre-assembly information of the anchor section to be produced, generate a cutting plan based on preset parameters, and cut the cantilever arm to be assembled according to the cutting plan.

[0073] like Figures 1-8 As shown, the cutting device includes a cutting station frame 21, which is fixed to the ground;

[0074] A cutting actuator includes a cutting blade 24 that is rotatable and movable toward the wrist arm, the cutting blade 24 being used to cut the wrist arm when rotated;

[0075] The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length; the first length is 12 meters and the second length is 4-5 meters.

[0076] The wrist arm clamping mechanism is used to clamp the wrist arm and move it to a preset position, waiting for the cutting blade 24 to cut.

[0077] The flipping mechanism 29 is used to receive the first length of the wrist arm and clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism 29 is flipped 180° to the working range of the wrist arm handling device 1 for the next preprocessing step.

[0078] The cutting actuator includes a first translation mechanism 22 and a fourth rotation mechanism 23;

[0079] The cutting station frame 21 is equipped with the fixed end of the first translation mechanism 22, the moving end of the first translation mechanism 22 is fixed to the fixed end of the fourth rotation mechanism 23, and the rotating end of the fourth rotation mechanism 23 is coaxially fixed to the cutting blade 24.

[0080] The wrist arm clamping mechanism includes a second translation mechanism 25, a first gripper 26, a second gripper 27, and a third translation mechanism 28;

[0081] 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.

[0082] The flipping mechanism 29 is equipped with a third gripper 30, a support sleeve 301, and a first roller 302.

[0083] The cutting station frame 21 is also equipped with a third translation mechanism 28, which has two moving ends. 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.

[0084] The wrist arm is first fixed by the second gripper 27, then the second gripper 27 is moved to a preset position, and the wrist arm is passed through the support sleeve 301. The first gripper 26 and the third gripper 30 are used to clamp and fix it again. At this time, the fourth rotation mechanism 23 is driven to rotate the cutting blade 24, and then the first translation mechanism 22 is driven to move the fourth rotation mechanism 23 and the cutting blade 24 toward the wrist arm to achieve wrist arm cutting.

[0085] After cutting, the flipping mechanism 29 is activated to flip the wrist arm portion fixed by the third gripper 30 and the support sleeve 301 by 180°. Then, the moving end of the third translation mechanism 28 is activated to transport the wrist arm to the working range of the wrist arm transport device 1. The wrist arm transport device 1 is used to transport the wrist arm to the chamfering device 11 for chamfering.

[0086] The above describes the process of cutting a cantilever arm with an initial length of 12 meters. When cutting the remaining portion of a cantilever arm with an initial length of 4-5 meters, or a 12-meter cantilever arm, the following steps should be performed:

[0087] When cutting the remaining cantilever arm, i.e., the cantilever arm fixed by the first gripper 26 and the second gripper 27, to continue the next cut, or when directly cutting a 4-5 meter long cantilever arm, first release the second gripper 27, move the first gripper 26, and align the end of the cantilever arm with the alignment device 14. At this time, the system obtains the position of the end of the cantilever arm, calculates the length to be cut, and then moves the second gripper 27 again to move the cantilever arm to the cutting area. The fourth rotation mechanism 23 and the first translation mechanism 22 are activated to drive the cutting blade 24 to cut the cantilever arm again. This process does not require the cooperation of the flipping mechanism 29. The remaining material after cutting falls directly into the collection box 13. Release the first gripper 26 and the second gripper 27, and use the cantilever arm transporting device 1 to transport the cantilever arm to the chamfering device 11 for chamfering.

[0088] The alignment device 14 includes a first baffle 141 and a linear motor. The first baffle 141 is fixed to the moving end of the linear motor, and the fixed end of the linear motor is fixed to the cutting station frame 21.

[0089] The initial position of the first baffle 141 is set below the mounting surface of the cutting station frame 21. When cutting the second length of the cantilever arm, the first baffle 141 moves to the working position, which is set above the mounting surface of the cutting station frame 21 and can overlap with the end face of the cantilever arm.

[0090] When cutting a 12-meter-long cantilever arm, the first baffle 141 is driven by a linear motor to the lower part of the cutting station frame 21. When cutting a 4-5 meter-long cantilever arm, the first baffle 141 is driven by a linear motor to the upper part of the cutting station frame 21 to achieve alignment.

[0091] The support sleeve 301 is selected according to the diameter of the arm to be cut and is fixed by the clamping mechanism 15, which is driven by a cylinder or a linear motor to achieve clamping.

[0092] The inner side of the support sleeve 301 is provided with a polyurethane friction layer to avoid damage to the wrist and arm surface during clamping.

[0093] The first gripper 26, the second gripper 27, and the third gripper 30 are all driven by a cylinder or a linear motor to achieve clamping.

[0094] Pressure sensors are installed on the clamping mechanism 15 and the first clamp 26, the second clamp 27 and the third clamp 30. The clamping force is monitored in real time by the pressure sensors to prevent overload deformation.

[0095] The first gripper 26, the second gripper 27 and the third gripper 30 are fitted with silicone pads on their inner layers to prevent damage to the coating on the outer layer of the wrist arm. The grippers integrate a displacement sensor and a pressure sensor to achieve dual verification of the gripping state. At the same time, the sensors detect abnormal states and trigger an emergency stop when an abnormal state occurs (such as automatically cutting off the power to the cutting blade when the gripping fails).

[0096] This embodiment also includes an auxiliary cutting device 16, which includes a fourth translation mechanism 161 and a roller group 162.

[0097] The fixed end of the fourth translation mechanism 161 is fixed on the cutting station frame 21, and the moving end of the fourth translation mechanism 161 is equipped with a roller assembly 162, which is in contact with the surface of the cutting position of the wrist arm.

[0098] During cutting, the fourth translation mechanism 161 is driven to make the roller assembly 162 fit against the outer surface of the wrist arm, supporting the wrist arm and preventing deformation during cutting.

[0099] A material collection box 13 is provided below the cutting blade 24 and the wrist arm, and the material collection box 13 is fixed to the cutting station frame 21.

[0100] Regarding the flipping mechanism 29, those skilled in the art can choose any mechanism capable of achieving the flipping function; this utility model does not impose specific limitations. However, in this embodiment, see [reference needed]. Figures 5-8 A flipping mechanism 29 that can be implemented is provided. In this embodiment, the flipping mechanism 29 includes a cylinder 291, a first connecting rod 292, a second connecting rod 293 and a third connecting rod 294.

[0101] 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 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.

[0102] One end of the first connecting rod 292 is fixed to the third gripper 30 and the first roller 302 or the support sleeve 301.

[0103] The extension and retraction of the cylinder 291 telescopic end enables the first connecting rod 292 to flip, thereby enabling the third gripper 30, the first roller 302, and the support sleeve 301 to drive the wrist arm to flip.

[0104] In this embodiment, the second translation mechanism 25 and the third translation mechanism 28 can be any type of mechanism capable of movement, such as a hydraulic mechanism, a pneumatic mechanism, etc. This utility model does not impose specific limitations. However, in this embodiment, both the second translation mechanism 25 and the third translation mechanism 28 are composed of a combination of a gear and rack structure and a slider guide rail structure. Specifically:

[0105] See Figures 5-6 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;

[0106] The first rack 252 and the fifth guide rail 253 are both fixed on the cutting station frame 21. The first rack 252 meshes with the first gear 251. The first gear 251 is bearing on the fifth slider 254. The fifth slider 254 is arranged on the fifth guide rail 253 and moves along it. The fifth slider 254 is equipped with a first gripper 26.

[0107] The first gear 251 is driven and connected to the first servo motor 255, and the first servo motor 255 is fixed to the fifth slider 254.

[0108] When the first servo motor 255 starts, it drives the first gear 251 to rotate. The first gear 251 meshes with the first rack 252 and moves along the first rack 252, driving the fifth slider 254 to move along the fifth guide rail 253.

[0109] The third translation mechanism 28 has the same structure as the second translation mechanism 25, and will not be described in detail here.

[0110] Based on the above, the steps for wrist and arm cutting can be summarized as follows:

[0111] Step 1: Initial Positioning

[0112] Place the cantilever arm to be cut (12m / 4-5m specifications) on the cutting station frame 21, and the second gripper 27 performs the initial fixation (the 12m long cantilever arm needs to pass through the support sleeve);

[0113] Step 2: Setting Cutting Parameters

[0114] The system acquires pre-configuration information and wrist arm end-positioning data, automatically generates a cutting plan based on preset parameters, calculates the cutting length, and determines the cutting position.

[0115] Step 3: Cutting process for long-specification cantilever arm (12 meters)

[0116] The first gripper 26 and the third gripper 30 work together to fix the cutting blade 24 at high speed. The fourth rotating mechanism 23 drives the cutting blade 24 to rotate at high speed. The first translation mechanism 22 pushes the cutting blade 24 to complete the cutting. The flipping mechanism 29 performs a 180° flipping action. The third translation mechanism 28 transfers the cutting segment to the handling station.

[0117] Step 4: Short-size / leftover material cutting process (4-5 meters)

[0118] Release the second gripper 27 to fix it, move the first gripper 26 to the alignment device 14 for calibration, the system recalculates the remaining material cutting length, the second translation mechanism 25 is adjusted to the new cutting position, and a second cutting is performed. The cutting residue automatically falls into the collection box 13.

[0119] Step 5: Transfer of finished product

[0120] All grippers are released and fixed simultaneously, and the wrist arm conveying device 1 grabs the cut finished product and transfers it to the chamfering device 11 for subsequent processing.

[0121] Step 6: System Reset

[0122] Each translation / rotation mechanism returns to its initial position, the support sleeve 301 resets to prepare for the next operation, and the remaining material in the collection box is automatically emptied and detected.

[0123] This invention achieves continuous cutting and flipping transport of long-specification cantilever arms through the sequential coordination of multiple translation mechanisms and grippers, significantly improving production line cycle time and reducing the need for manual intervention. The cutting logic design, compatible with both long and short materials, ensures maximum raw material utilization and minimizes waste generation.

[0124] To enable rapid switching between different diameter arms, a replaceable support sleeve and an adaptive clamping mechanism are used to meet diverse production needs. The intervention of the dynamic support structure during cutting effectively suppresses material deformation and ensures consistent cut surface quality.

[0125] The multi-gripper collaborative fixing mechanism avoids the risk of workpiece displacement during cutting, and the interlocking control of the equipment status prevents safety accidents caused by misoperation. The mechanical linkage design of the flipping mechanism and the translation mechanism ensures that the workpiece posture adjustment process is smooth and controllable.

[0126] like Figure 9As shown, in the second embodiment of this utility model, an automatic production and assembly device for a wrist arm is provided, based on the automatic cutting device for a wrist arm described in the first embodiment. The production and assembly device includes:

[0127] The wrist arm transport device 1 is used to clamp the wrist arm and transport it to each workstation.

[0128] Cutting device 2, comprising:

[0129] The cutting station frame 21 is fixed to the ground;

[0130] A cutting actuator includes a cutting blade 24 that is rotatable and movable toward the wrist arm, the cutting blade 24 being used to cut the wrist arm when rotated;

[0131] The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length;

[0132] The wrist arm clamping mechanism is used to clamp the wrist arm and move it to a preset position, waiting for the cutting blade 24 to cut.

[0133] The flipping mechanism 29 is used to receive the first length of the wrist arm and clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism 29 is flipped 180° to the working range of the wrist arm conveying device 1 for the next preprocessing step.

[0134] After cutting, the material is transported by the cantilever transport device 1 to the chamfering station, the coding and punching station for chamfering, coding and punching pre-processing; the chamfering station is equipped with a chamfering device 11, and the coding and punching station is equipped with a coding and punching device 12.

[0135] 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.

[0136] 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 the 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 the pre-assembly device 3, and the wrist arm to be assembled is inserted into the load-bearing cable seat by the wrist arm handling device 1. After insertion, torque is tightened.

[0137] The testing device 8 is used to detect surface damage on the assembled cantilever arm. After passing the test, the arm is unloaded.

[0138] The load-bearing cable seat is placed on the material rack 7;

[0139] 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.

[0140] like Figures 10-12 As shown, the chamfering device 11 includes: a chamfering station frame 111, a fifth translation mechanism 112, a fourth gripper 113, a fifth gripper 114, a sixth gripper 115, a second servo motor 116, a chamfering cutter head 117, and a sixth translation mechanism 118;

[0141] 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 gripper 113 is installed on the moving end of the fifth translation mechanism 112. The fourth gripper 113 is used to grip the cut arm and move the end of the arm to a position close to the chamfering cutter head 117.

[0142] A fifth gripper 114 and a sixth gripper 115 are fixedly installed on one end of the chamfering cutter head 117 on the chamfering station frame 111. The fifth gripper 114 and the sixth gripper 115 are used to clamp the wrist arm after the end of the wrist arm moves to the chamfering cutter head 117 to prevent position displacement during chamfering.

[0143] The chamfering 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 head 117 is moved to the end of the wrist arm by the sixth translation mechanism 118 to realize the chamfering function.

[0144] The second servo motor 116, the chamfering cutter head 117 and the sixth translation mechanism 118 are symmetrically arranged along the center of the chamfering station frame 111, so that the two ends of the wrist arm can be chamfered without changing direction. A roller is provided between the fifth translation mechanism 112 and the symmetrically arranged chamfering cutter head 117 to reduce the friction of the wrist arm when it moves.

[0145] The specific structure of the fifth translation mechanism 112 of this utility model is described in the description of the second translation mechanism 25, and will not be repeated here.

[0146] In this embodiment, a second baffle 119 is provided between the sixth gripper 115 and the chamfering cutter head 117, and between the fourth gripper 113 and the symmetrically arranged chamfering cutter head 117. The second baffle 119 has a through hole 1191, through which the wrist arm can pass. By providing the second baffle 119 and the through hole 1191, stability can be achieved during chamfering, and the accuracy of chamfering can be improved.

[0147] The working process of the chamfering device is as follows:

[0148] Step 1: Initial positioning of the wrist arm and preparation of the first end chamfer

[0149] The fourth gripper 113 clamps the cut arm, and the fifth translation mechanism 112 moves along the length of the chamfering station frame 111 to bring the end of the arm to be processed to a position close to the chamfering cutter head 117. The fifth gripper 114 and the sixth gripper 115 clamp the arm to prevent position displacement during the chamfering process.

[0150] Step 2: Chamfering the first end

[0151] The sixth translation mechanism 118 pushes the chamfering cutter head 117 towards the end of the wrist arm, while the second servo motor 116 starts, driving the chamfering cutter head to rotate at high speed. After the chamfering cutter head 117 contacts the end of the wrist arm and completes the chamfering process, the sixth translation mechanism 118 retracts the cutter head, and the second servo motor 116 shuts off.

[0152] Step 3: Wrist-arm reversal and second-end positioning

[0153] The fourth jaw 113, the fifth jaw 114, and the sixth jaw 115 all release. The fifth translation mechanism 112 moves the fourth jaw 113 to the set position and re-clamps the wrist arm. The fifth translation mechanism 112 moves in the opposite direction, bringing the unprocessed end of the wrist arm to the vicinity of the symmetrically arranged chamfering cutter heads 117. The fifth jaw 114 and the sixth jaw 115 clamp the wrist arm to ensure machining stability.

[0154] Step 4: Chamfering the second end

[0155] The sixth translation mechanism 118 on the symmetrical side pushes the symmetrically arranged chamfering cutter head 117 to the other end of the wrist arm, and the symmetrically arranged second servo motor 116 starts synchronously. After the chamfering cutter head 117 completes the machining on the other end, it returns to its original position and the motor is turned off.

[0156] Step 5: Reset and Standby

[0157] All grippers release, and the machined wrist arm is removed from the workstation. The fifth translation mechanism 112 drives the fourth gripper 113 back to its initial position, and all components reset, ready for the next cycle.

[0158] like Figures 13-14 As shown, the coding and punching device 12 includes a coding and punching station frame 121, a drilling section 122, a seventh translation mechanism 123, a seventh gripper 124, an eighth gripper 125, and a coding section 126.

[0159] The coding and drilling station frame 121 is fixed to the ground. The drilling part 122 is installed at one end of the coding and drilling station frame 121. The fixed end of the seventh translation mechanism 123 is also installed on the coding and drilling station frame 121. The moving end of the seventh translation mechanism 123 is equipped with a seventh gripper 124. An eighth gripper 125 is installed on the side of the coding and drilling station frame 121 near the drilling part 122. The seventh gripper 124 is used to grip the wrist arm and move it to the drilling part 122. The eighth gripper 125 is used to grip the wrist arm after it moves to the drilling part 122 to achieve stable drilling.

[0160] The coding unit 126 is installed in the middle of the coding and punching station frame 121 and is used to code the wrist arm.

[0161] The drilling section 122, the seventh translation mechanism 123, the seventh gripper 124, the eighth gripper 125, and the coding section 126 are arranged in two sets along the width direction of the coding and drilling station frame 121, so as to realize simultaneous processing at two stations.

[0162] The PLC programming coordinates the actions of the two workstations, staggering the high-load periods of drilling and coding to reduce equipment vibration interference. Sensors are installed between the two workstations, and if the arm position shifts or a collision risk is triggered, the system will immediately stop and trigger an alarm.

[0163] The drilling section 122 includes an eighth translation mechanism 1221, a third servo motor 1222, and a drill bit 1223;

[0164] The eighth translation mechanism 1221 is installed on the inkjet and punching station frame 121. A third servo motor 1222 is installed on the moving end of the eighth translation mechanism 1221. The output shaft of the third servo motor 1222 is coaxially fixed with the drill bit 1223.

[0165] In this embodiment, the specific structure of the seventh translation mechanism 123 is described in the description of the second translation mechanism 25, and will not be repeated here. The eighth translation mechanism 1221 is preferably a nut and screw mechanism.

[0166] To facilitate the overall layout and save space, the two sets of drilling sections 122 are perpendicular to each other.

[0167] Based on the structure and function of the coding and punching device 12, its working process can be divided into the following steps:

[0168] Step 1: Initial clamping and positioning

[0169] The seventh translation mechanism 123 drives the seventh gripper 124 to clamp the wrist arm to be processed and move it laterally along the inkjet and punching station frame 121 to accurately transport the wrist arm to the processing position of the drilling section 122.

[0170] Step 2: Drilling and fixing holes

[0171] Once the cantilever arm reaches the drilling section 122, the eighth gripper 125 clamps the cantilever arm from the side of the inkjet and drilling station frame 121, forming a double fixation with the seventh gripper 124 to ensure the stability of the drilling process; then the drilling section 122 starts to precisely drill holes at the preset position of the cantilever arm.

[0172] Step 3: After drilling, transfer to the coding position

[0173] 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.

[0174] Step 4: Inkjet Printing Operation

[0175] 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.

[0176] Step 5: Reset and Cycle

[0177] 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.

[0178] Among them, such as Figure 9 As shown, before performing the punching and coding processes, the chamfered wrist arm is placed on the buffer station 17, which includes:

[0179] 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.

[0180] The data acquisition module collects the following information in real time and generates a unique traceability code:

[0181] Basic process parameters include cutting power, cutting speed, chamfer angle, and hole position coordinate deviation.

[0182] Process traceability data includes: pretreatment equipment number, spindle vibration amplitude, processing environment temperature and humidity, operator number, and quality inspection electronic signature;

[0183] Quality inspection indicators include: wrist-arm length deviation and straightness;

[0184] 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.

[0185] The MES system database stores the following related information:

[0186] Material batch information: including steel furnace number and supplier quality inspection report;

[0187] Equipment maintenance records include timestamps for chamfering tool replacements;

[0188] Operational data includes on-site GPS coordinates and rust detection records from regular inspections.

[0189] This utility model achieves 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 in traditional manual recording to ±0.1mm, the weight deviation detection sensitivity reaches ±50g, and the temperature monitoring resolution is 0.1℃, effectively avoiding the data confusion problem caused by material accumulation in traditional assembly line operations.

[0190] By using short-link URL encoding technology, the amount of traceability data for a single wrist arm is compressed from 2KB of traditional QR code direct storage to 128B, and the database access response time is shortened to less than 200ms. Compared with existing technologies, network bandwidth usage is reduced by 80%, while the ECC200 error correction level ensures that the QR code recognition rate is >99.5% under harsh working conditions.

[0191] Through a three-level data association architecture (basic process / process traceability / quality inspection), it is possible to query from raw materials (steel furnace number) to terminal operation and maintenance (rust record). The time for locating quality problems has been shortened from several hours of traditional manual investigation to within 15 minutes. It can also accurately trace back to specific process equipment (such as the number of the chamfering machine with excessive vibration) and the responsible person (operator number).

[0192] Based on the correlation data of processing environment temperature and humidity and equipment vibration stored in the time-series database, a tool wear prediction model is automatically generated, so that the chamfering tool replacement cycle is dynamically adjusted, reducing the scrap rate caused by excessive tool wear.

[0193] like Figures 15-16As shown, 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;

[0194] 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.

[0195] In order to prevent the arm from being unable to pass through when the load-bearing cable seat fixing device 32 clamps the load-bearing cable seat, the load-bearing cable seat fixing device 32 is set as U-shaped in this embodiment, and the surface of the load-bearing cable seat clamping device does not include the hollow area in the middle.

[0196] More specifically, see Figures 15-17 The pre-assembly device 3 further includes a first frame 34, a first rotating mechanism 35, a second frame 36, and a second rotating mechanism 37;

[0197] 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.

[0198] The first frame 34 includes a first support rod 341 and a second support rod 342;

[0199] 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.

[0200] The first guide rail 31, the plurality of load-bearing 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;

[0201] The two first structures, the second rotating mechanism 37, and the second support rod 342 are symmetrically arranged along the center of the first support rod 341.

[0202] When using the pre-assembly device 3 of this utility model, the six-axis manipulator 5 first clamps the load-bearing cable seat and places it between two load-bearing cable seat fixing devices 32. The load-bearing cable seat fixing devices 32 move on the first guide rail 31 to clamp and fix the load-bearing cable seat. After fixing, the truss manipulator clamps the punched and coded wrist arm and inserts it into the load-bearing cable fixing seat. It is then clamped and fixed by the first clamping device 33. At this time, the first rotating mechanism 35 is driven to rotate, and the clamped wrist arm is rotated 180 degrees. Since the wrist arm is facing down after being rotated, the second rotating mechanism 37 is driven to rotate 180 degrees, so that the wrist arm is rotated to the top again. The tightening device 9 tightens the bolts on the load-bearing cable seat to fix the load-bearing cable seat and the wrist arm, thus realizing the assembly.

[0203] Since two sets of first structures, the second rotating mechanism 37 and the second support rod 342 are symmetrically arranged at both ends of the first support rod 341, after the first rotating mechanism 35 flips, it drives the symmetrically arranged second rotating mechanism 37 to rotate 180 degrees, and rotates the load-bearing cable seat fixing device 32 in the symmetrically arranged first structure to the top. Therefore, the pipe can be threaded synchronously during the tightening process, which improves work efficiency.

[0204] One end of the first guide rail 31 is rotatably connected to the second rotating mechanism 37, and the other end of the first guide rail 31 is bearing on the first frame 34 to avoid a cantilever beam structure.

[0205] Similarly, one end of the first support rod 341 is connected to the rotating end of the first rotating mechanism 35, and the other end of the first support rod 341 is bearing on the second frame 36.

[0206] Based on the above, the workflow of the pre-assembly device can be summarized as follows:

[0207] Step 1: Clamping and positioning of the load-bearing cable seat

[0208] The six-axis robot arm 5 clamps the load-bearing cable seat and places it between two load-bearing cable seat fixing devices 32. The two load-bearing cable seat fixing devices 32 move towards each other along the first guide rail 31 and clamp the load-bearing cable seat from both sides to complete the fixing.

[0209] Step 2: Preparation for wrist arm assembly

[0210] The truss robot grabs the wrist arm that has been punched and marked, inserts the wrist arm into the fixed load-bearing cable seat, and the first clamping device 33 clamps the end of the wrist arm to achieve dual positioning.

[0211] Step 3: First flipping operation

[0212] The first rotating mechanism 35 is activated to drive the first frame 34 to rotate 180° as a whole, and the wrist arm system flips to an inverted state as the rotating mechanism moves.

[0213] Step 4: Secondary attitude adjustment

[0214] Simultaneously with the first flip, the second rotation mechanism 37 is activated to drive the first guide rail to rotate 180°, and the wrist arm is restored to the upward-facing position through a second flip.

[0215] Step 5: Bolt tightening operation

[0216] The tightening device 9 automatically tightens the bolts of the load-bearing cable seat, completing the rigid connection between the load-bearing cable seat and the cantilever arm.

[0217] Step 6: Synchronous Operation of Symmetrical Structures

[0218] When bolts are tightened on one side, the first structure on the other symmetrical side rotates 180° synchronously through the second rotating mechanism, and the load-bearing cable seat fixing device 32 on the spare side rotates to the working position to prepare for the next cycle, realizing parallel operation of assembly and material preparation.

[0219] This invention utilizes a symmetrical dual-structure design to achieve simultaneous parallel operation of assembly and material preparation. While the load-bearing cable seat and cantilever arm are being assembled on one side, the positioning preparation for the next workpiece can be completed on the other side in advance, reducing the waiting time for process changeovers.

[0220] By performing two 180° rotation actions (with the first rotation mechanism 35 and the second rotation mechanism 37 working together), the working surface is always kept facing the operating area, avoiding the problem of limited operating view or difficulty in manual intervention caused by equipment rotation.

[0221] The collaborative operation of the six-axis robot and the gantry robot enables full automation of the process of gripping the load-bearing cable seat, inserting the wrist arm, and clamping and fixing, reducing human operation errors and ensuring assembly accuracy.

[0222] The symmetrical structure's mechanical balance design reduces the impact of load offset on the rotating mechanism during unilateral operation, extends the equipment's service life, and reduces the interference of vibration on assembly accuracy.

[0223] The modular first structure (including guide rails, clamping devices, etc.) design facilitates the quick disassembly and replacement of local components, reducing the complexity of equipment maintenance.

[0224] The combination of a movable load-bearing cable seat fixing device and a clamping device can accommodate load-bearing cable seats of different specifications and cantilever sizes, expanding the application scenarios of the device.

[0225] The flipping mechanism 29 works in conjunction with the robotic arm to avoid the physical labor required to manually handle heavy wrist arms or adjust assembly angles, while also reducing operational safety hazards.

[0226] like Figure 18As shown, the material rack 7 includes a base 71, a first support frame 72, a first sleeve 73, and a telescopic connecting rod 74;

[0227] 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. A telescopic connecting rod 74 that can move along the first sleeve 73 is provided inside the first sleeve 73, and the load-bearing cable seat is sleeved on the telescopic connecting rod 74.

[0228] In this invention, during the clamping process of the six-axis manipulator 5, the clamping end of the six-axis manipulator 5 first maintains the clamping state, moves to the end of the telescopic link 74, and pushes forward a set distance, causing the telescopic link 74 to move along the sleeve. At this time, both sides of the clamping end of the six-axis manipulator 5 have moved into the interior of the load-bearing cable seat. The clamping end of the six-axis manipulator 5 is then opened to support the interior of the load-bearing cable seat, thereby fixing the load-bearing cable seat to the six-axis manipulator 5 and realizing the transportation function.

[0229] The base 71 is fixed to the ground. Specifically, the base 71 is fixed to the ground by anchor bolts and has a linear guide rail on its surface. The bottom of the first support frame 72 is slidably connected to the base guide rail and can be adjusted along the base 71. Multiple first sleeves 73 are arranged longitudinally on the first support frame 72, and their spacing is set according to the specifications of the load-bearing cable seat.

[0230] Based on the above, the steps for material collection can be summarized as follows:

[0231] Step 1: Preloading the material rack

[0232] Manual or auxiliary equipment is used to insert the load-bearing cable seats one by one into the telescopic connecting rod 74. The spring force pushes the telescopic connecting rod 74 to keep it in an extended state, so that the load-bearing cable seats are suspended and positioned.

[0233] Step 2: Robotic arm alignment

[0234] The six-axis robot arm 5 moves to directly above the target workstation, and the robot arm grippers close and retract, approaching along the axis of the telescopic link 74.

[0235] Step 3: Linkage compression trigger

[0236] The end of the robotic gripper contacts the end of the telescopic link 74 and continues to advance forward by a set stroke (e.g., 20mm). After the link retracts, the inner cavity of the load-bearing cable seat is fully exposed.

[0237] Step 4: Internal support clamping

[0238] The actuators on both sides of the gripper expand outwards synchronously. After expansion, the outer wall of the gripper is tightly attached to the inner surface of the load-bearing cable seat, and rigid gripping is achieved through friction and shape matching.

[0239] Step 5: Material Transfer

[0240] The robotic arm maintains its gripping position and lifts vertically, while the load-bearing cable detaches from the telescopic link to complete the material removal.

[0241] This utility model adjusts the spacing of the sleeve assembly through a sliding support frame, adapting to the batch storage of load-bearing cable seats of different specifications. The precise cooperation between the sleeve and the telescopic connecting rod provides an axial alignment reference for the robot, reducing the complexity of the vision inspection system. The internal support clamping avoids scratching the outer surface of traditional grippers, making it particularly suitable for surface-treated workpieces.

[0242] like Figures 19-21 As shown, the torque fastening in this utility model is achieved by tightening device 9. Multiple tightening devices 9 are installed on multi-directional motion device 10. Multi-directional motion device 10 includes connecting plate 101, longitudinal moving device 102, second guide rail 103, first slider 104 and third guide rail 105.

[0243] The tightening devices 9 are arrayed on the connecting plate 101. The connecting plate 101 is mounted on the moving end of the longitudinal moving device 102 and moves longitudinally thereon. The fixed end of the longitudinal moving device 102 is mounted 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.

[0244] 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.

[0245] The tightening device 9 is composed of a rotatable fastening head 91, and the size of the fastening head 91 is matched with that of the bolt on the load-bearing cable seat.

[0246] The tightening device 9 includes a third rotating mechanism 92, a cross coupling 93, a fastening head 91, a connecting block 94, a second slider 95, and a fourth guide rail 96;

[0247] The fixed end of the third rotating mechanism 92 is mounted on the connecting plate 101. 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 bearing connected to the connecting block 94. The connecting block 94 is mounted on the second slider 95. The second slider 95 is arranged on the fourth guide rail 96 along which it moves. The fourth guide rail 96 is fixed to the connecting plate 101.

[0248] The fastening head 91 is mounted on the driven shaft of the cross coupling 93.

[0249] The following is a step-by-step description of the working process of the tightening device:

[0250] Step 1: Bolt positioning preparation

[0251] The longitudinal moving device 102 and the connecting plate 101 are moved along the second guide rail 103 to align the tightening device 9 longitudinally with the load-bearing cable seat bolt group on the cantilever arm; the first slider 104 carries the second guide rail 103 to move laterally along the third guide rail 105 to finely adjust the horizontal position of the tightening device 9.

[0252] Step 2: Floating Alignment Compensation

[0253] The fastening head 91 floats vertically through the cooperation of the fourth guide rail 96 and the second slider 95. The universal joint structure of the cross coupling 93 allows the fastening head 91 to tilt adaptively within a range of ±5°.

[0254] Step 3: Contact Pre-compression

[0255] The third rotating mechanism 92 drives the cross coupling 93 to rotate, causing the fastening head 91 to rotate at low speed. The connecting plate 101 moves down along the moving end of the longitudinal moving device 102, so that the rotating fastening head 91 contacts the bolt head. Continuous downward pressure causes the second slider 95 to slide along the fourth guide rail 96, triggering the pressure sensor to confirm that the contact is complete.

[0256] Step 4: Graded torque tightening

[0257] The third rotating mechanism 92 switches to torque control mode, applying rotational torque in two stages:

[0258] Phase 1: Screw the bolt in at high speed and low torque to the preset threshold;

[0259] Second stage: Low speed and high torque to reach the final tightening value;

[0260] Cross couplings compensate for axial deviations when transmitting torque, preventing bolt damage caused by lateral forces.

[0261] Step 5: Multi-bolt collaborative operation

[0262] Multiple tightening devices 9 arranged in an array simultaneously execute steps 2-4, completing the tightening of all bolts on the same load-bearing cable seat at the same time; for bolt groups that are not uniformly distributed, sequential tightening is achieved through the combined movement of the longitudinal moving device 102 and the third guide rail 105.

[0263] Step 6: Reset and Cycle

[0264] After the fastening is completed, the longitudinal moving device 102 raises the connecting plate 101 to a safe height, and the first slider 104 returns to the initial position along the third guide rail 105 to prepare for the next work cycle.

[0265] This invention achieves wide-range, high-precision positioning through the longitudinal and transverse compound motion of the second guide rail 103 and the third guide rail 105; the combined design of the cross coupling 93 and the fourth guide rail 96 eliminates the impact of accumulated assembly errors on the fastening quality; the array-type tightening device supports simultaneous operation of multiple bolts, improving the efficiency by more than 3 times compared to single-head tightening; the graded torque application strategy combined with pressure feedback prevents bolt stripping or insufficient preload.

[0266] A tightening device 9 is provided on the top of each of the two symmetrically arranged first structures.

[0267] In this embodiment, at least two sets of the six-axis robot arm 5 and the material rack 7 are distributed along the length of the wrist arm. Each set of robot arms is equipped with an independent control module, supporting synchronous or alternating operation modes. Each six-axis robot arm 5 corresponds to one set of material racks 7. The two sets of material racks 7 are arranged at intervals along the axis of the wrist arm, and the distance between adjacent material racks 7 is greater than the maximum unfolding radius of the six-axis robot arm 5 to avoid motion interference.

[0268] like Figure 18 As shown, the vision inspection system 6 is distributed on both sides of the material rack 7.

[0269] This embodiment also includes multiple finished product unloading carts 18, which transport the qualified and unqualified cantilever and load-bearing cable assembly to different finished product unloading carts 18 by gantry manipulators, and then transport them to different storage areas using the finished product unloading carts 18.

[0270] In the description of this utility model, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate direction or positional relationships, are based on the direction or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0271] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0272] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent in such process, method, article, or apparatus / device.

[0273] The technical solution of this utility model has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1. A wrist arm automatic cutting device, characterized by, The device includes: The cutting station frame (21) is fixed to the ground; A cutting actuator includes a cutting blade (24) that is rotatable and movable toward the wrist arm, the cutting blade (24) being used to cut the wrist arm when rotated; The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length; A wrist arm clamping mechanism is used to clamp the wrist arm and move the wrist arm to a preset position, waiting for the cutting blade (24) to cut; The flipping mechanism (29) is used to receive the first length of the wrist arm and clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism (29) is flipped 180° to the working range of the wrist arm handling device (1) for the next pre-processing.

2. A wrist-arm automatic cutting device according to claim 1, characterized in that The cutting actuator includes a first translation mechanism (22) and a fourth rotation mechanism (23); The cutting station frame (21) is equipped with the fixed end of the first translation mechanism (22), the moving end of the first translation mechanism (22) is fixed to the fixed end of the fourth rotation mechanism (23), and the rotating end of the fourth rotation mechanism (23) is coaxially fixed to the cutting blade (24).

3. A wrist-arm automatic cutting device according to claim 1, characterized in that, The wrist arm gripping mechanism includes a second translation mechanism (25), a first gripper (26), and a second gripper (27); 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.

4. A wrist-arm automatic cutting device according to claim 1, characterized in that, The flipping mechanism (29) is equipped with a third gripper (30), a support sleeve (301) and a first roller (302); The cutting station frame (21) is also equipped with a third translation mechanism (28), which has two moving ends. Each moving end is equipped with a flipping mechanism (29). One of the flipping mechanisms (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).

5. A wrist-arm automatic cutting device according to claim 4, characterized in that The flipping mechanism (29) includes a cylinder (291), a first connecting rod (292), a second connecting rod (293), and a third connecting rod (294); 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 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), 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). One end of the first connecting rod (292) is fixed to the third gripper (30) and the first roller (302) or the support sleeve (301).

6. A wrist-arm automatic cutting device according to claim 3, characterized in that 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); The first rack (252) and the fifth guide rail (253) are both fixed on the cutting station frame (21). The first rack (252) and the first gear (251) mesh. The first gear (251) is bearing on the fifth slider (254). The fifth slider (254) is arranged on the fifth guide rail (253) and moves along it. The fifth slider (254) is equipped with a first gripper (26). The first gear (251) is driven and connected to the first servo motor (255), and the first servo motor (255) is fixed to the fifth slider (254).

7. A wrist-arm automatic cutting device according to claim 3, characterized in that, It also includes an alignment device (14), which includes a first baffle (141) and a linear motor. The first baffle (141) is fixed to the moving end of the linear motor, and the fixed end of the linear motor is fixed to the cutting station frame (21). The initial position of the first baffle (141) is set below the mounting surface of the cutting station frame (21). When cutting the second length of the cantilever arm, the first baffle (141) moves to the working position, which is set above the mounting surface of the cutting station frame (21) and can overlap with the end face of the cantilever arm.

8. A wrist-arm automatic cutting device according to claim 1, characterized in that, An auxiliary cutting device (16) is provided, which includes a fourth translation mechanism (161) and a roller assembly (162). The fixed end of the fourth translation mechanism (161) is fixed on the cutting station frame (21), and a roller assembly (162) is installed on the moving end of the fourth translation mechanism (161). The roller assembly (162) is in contact with the surface of the cutting position of the wrist arm.

9. A wrist-arm automatic cutting device according to claim 1, characterized in that, A collection box (13) is provided below the cutting blade (24) and the wrist arm, and the collection box (13) is fixed to the cutting station frame (21).

10. An automatic production assembly device for a wrist arm, based on an automatic cutting device for a wrist arm according to any one of claims 1 to 9, characterized in that, The production assembly equipment includes: Wrist arm transport device (1), used to clamp the wrist arm and transport it to each workstation; Cutting device (2), comprising: The cutting station frame (21) is fixed to the ground; A cutting actuator includes a cutting blade (24) that is rotatable and movable toward the wrist arm, the cutting blade (24) being used to cut the wrist arm when rotated; The length of the wrist arm includes a first length and a second length, wherein the first length is greater than the second length; A wrist arm clamping mechanism is used to clamp the wrist arm and move the wrist arm to a preset position, waiting for the cutting blade (24) to cut; The flipping mechanism (29) is used to receive the first length of the wrist arm and clamp and fix it. After the first length of the wrist arm is cut, the remaining wrist arm on the flipping mechanism (29) is flipped 180° to the working range of the wrist arm handling device (1) for the next pre-processing. After cutting, the material is transported by a cantilever transport device (1) to the chamfering station, inkjet printing and punching station for chamfering, inkjet printing and punching pre-processing; 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 testing device (8) is used to test the surface damage of the assembled wrist arm. After passing the test, the arm is unloaded.

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