An automatic assembly device for a wrist arm

Abstract

The utility model belongs to the wrist arm assembly field, concretely relates to a wrist arm automatic assembly device. It aims at solving the problems of low efficiency, insufficient multi-station cooperation, poor adjustment precision of force bearing cable seat posture and difficult guarantee of bolt fastening consistency of existing wrist arm assembly which depends on manual work or semi-automatic equipment. The utility model includes: pre-assembly device, it includes two symmetrical pre-assembly stations, and can overturn simultaneously and individually; each pre-assembly station is used for fixing a force bearing cable seat, and simultaneously fixes wrist arm feeding device after the wrist arm is inserted into the force bearing cable seat, is used for clamping the force bearing cable seat and adjusting posture; after insertion and fixation, the wrist arm and the force bearing cable seat on different pre-assembly stations are assembled through tightening device. The utility model realizes the comprehensive promotion of wrist arm assembly efficiency, positioning precision, torque consistency and production line flexibility through double pre-assembly station cooperative overturning, six-axis mechanical hand vision rectification and multidirectional array tightening technology.

Description

Technical Field

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

[0002] Currently, the assembly of railway catenary cantilever arms is still mainly done manually, supplemented by some semi-automated equipment. In the traditional process, operators need to manually adjust the installation angle of the load-bearing cable seat and align and insert it with the cantilever arm tube. During the process, they rely on experience to judge the positional accuracy, which is prone to assembly deviations due to visual errors or fatigue.

[0003] While existing semi-automatic equipment can achieve simple clamping, it generally adopts a single-station design, resulting in long tooling changeover times. Furthermore, it lacks real-time detection capabilities for the complex spatial posture of the load-bearing cable seat, making it difficult to adapt to the assembly requirements of different component models. In the fastening process, traditional tightening equipment is mostly single-axis driven, requiring each bolt to be positioned and locked individually, which is inefficient and cannot guarantee the consistency of torque when tightening multiple bolts simultaneously.

[0004] Furthermore, during the insertion of the cantilever arm and the load-bearing cable seat, unstable clamping can easily cause relative displacement of components, leading to thread damage or assembly failure. These problems make it difficult for existing technologies to meet the requirements of large-scale, high-precision, and flexible production. High labor costs and insufficient quality stability have become key bottlenecks restricting the improvement of overhead contact line construction efficiency.

[0005] Based on this, the present invention proposes an automatic wrist arm assembly device. Utility Model Content

[0006] To address the aforementioned problems in existing technologies, namely, the reliance on manual or semi-automatic equipment for cantilever assembly, resulting in low efficiency, insufficient multi-station coordination, poor accuracy in adjusting the posture of the load-bearing cable seat, and difficulty in ensuring consistent bolt tightening, this utility model provides an automatic cantilever assembly device, which includes:

[0007] The pre-assembly device includes two symmetrically arranged pre-assembly stations. The two pre-assembly stations are connected to a first rotating mechanism for simultaneous rotation. Each individual pre-assembly station is driven by a second rotating mechanism for individual rotation.

[0008] Each pre-assembly station includes multiple load-bearing cable holder clamping devices and a first clamping device. Every two load-bearing cable holder clamping devices are used to clamp and fix a load-bearing cable holder. The first clamping device is used to fix the wrist arm after it is inserted into the load-bearing cable holder.

[0009] 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 transferred to the pre-assembly device for fixing and the insertion of the wrist arm.

[0010] After being inserted and fixed, the components are tightened by torque using a tightening device to achieve automatic assembly. Multiple tightening devices are arrayed on a multi-directional motion device, which drives the tightening devices to move in multiple directions to assemble the cantilever arms and load-bearing cable seats at different pre-assembly stations.

[0011] Furthermore, each of the pre-assembled stations can fix two sets of load-bearing cable seats and two cantilever arms.

[0012] Furthermore, the two pre-assembly stations are connected to the first rotating mechanism for simultaneous rotation, and each individual pre-assembly station is driven by the second rotating mechanism for individual rotation. The specific structure is as follows:

[0013] Each of the pre-assembled workstations also includes a first guide rail, a first frame, and a second frame;

[0014] The first guide rail is equipped with multiple load-bearing cable seat fixing devices that can move along it;

[0015] The first frame is mounted on the rotating end of the first rotating mechanism, the fixed end of the first rotating mechanism is mounted on the second frame, the second frame is fixed to the ground, the fixed end of the second rotating mechanism is mounted on one side of the first frame, the rotating end of the second rotating mechanism is fixed to the first guide rail, and the second frame is mounted on the first clamping device.

[0016] The first frame includes a first support rod and a second support rod;

[0017] The end of the first support rod is mounted on the rotating end of the first rotating mechanism, one side surface of the first support rod is fixed to the second support rod, and the fixed end of the second rotating mechanism is mounted on the second support rod.

[0018] The first guide rail, the plurality of the load-bearing cable 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;

[0019] The two first structures, the second rotating mechanism, and the second support rod are symmetrically arranged along the center of the first support rod.

[0020] Furthermore, the load-bearing cable seat is installed on the material rack, which includes a base, a first support frame, a first sleeve, and a telescopic connecting rod;

[0021] The base is fixed to the ground, the first support frame is slidably connected to the base, and a first sleeve is installed on the first support frame at a set distance along its length. A telescopic connecting rod that can move along the first sleeve is provided inside the first sleeve, and the load-bearing cable seat is sleeved on the telescopic connecting rod.

[0022] Furthermore, multiple tightening devices are mounted on a multi-directional motion device, which includes a connecting plate, a longitudinal moving device, a second guide rail, a first slider, and a third guide rail.

[0023] The tightening device array is distributed on the connecting plate. The connecting plate is installed on the moving end of the longitudinal moving device and moves longitudinally thereon. The fixed end of the longitudinal moving device is installed on the second guide rail and moves along its length direction. The length direction of the second guide rail is parallel to the length direction of the wrist arm.

[0024] The second guide rail is fixed on the first slider, the first slider is disposed on the third guide rail and moves along it, the third guide rail is perpendicular to the second guide rail, and the third guide rail is fixed to the second frame;

[0025] The tightening device consists of a rotatable fastening head, the size of which is matched with the bolt on the load-bearing cable seat.

[0026] Furthermore, the tightening device includes a third rotating mechanism, a cross coupling, a connecting block, a second slider, and a fourth guide rail;

[0027] The fixed end of the third rotating mechanism is mounted on the connecting plate, and the rotating end of the third rotating mechanism is driven and connected to the drive shaft of the cross coupling. The driven shaft of the cross coupling is connected to the connecting block bearing. The connecting block is mounted on the second slider, and the second slider is arranged on the fourth guide rail that moves along it. The fourth guide rail is fixed to the connecting plate.

[0028] The fastening head is installed on the driven shaft of the cross coupling.

[0029] Furthermore, at least two sets of the six-axis robot and the material rack are distributed along the length direction of the wrist arm.

[0030] Furthermore, the vision inspection system is distributed on both sides of the material rack.

[0031] Furthermore, the wrist arm is transported to the pre-assembly device by a wrist arm transport device and inserted into the load-bearing cable seat. The wrist arm transport device is a truss manipulator.

[0032] Furthermore, before assembly, the wrist arm undergoes pre-treatment using a cutting device, a chamfering device, a coding device, and a drilling device.

[0033] The beneficial effects of this utility model are:

[0034] Dual-station collaboration and flipping control: Through the symmetrical arrangement of two pre-assembled stations and the synchronous flipping design of the first rotating mechanism, the two stations can work alternately, reducing waiting time; combined with the independent flipping adjustment of a single station by the second rotating mechanism, it is possible to assemble two cantilever arms at one station, improving equipment utilization and production cycle.

[0035] Intelligent posture correction and precise positioning: The six-axis robot is equipped with a vision detection system, which provides real-time feedback on the spatial posture of the load-bearing cable seat through image recognition, and automatically plans the robot's motion trajectory to complete multi-degree-of-freedom posture adjustment, completely eliminating positioning errors caused by manual intervention and ensuring the accuracy of interlacing alignment.

[0036] Highly flexible tightening and full coverage: The multi-directional motion device drives the array of tightening devices, which can move and position quickly in three-dimensional space, simultaneously covering different bolt groups at multiple pre-configured workstations, realizing parallel tightening of multiple workstations and multiple bolts, greatly shortening the assembly cycle. At the same time, the torque closed-loop control ensures that the torque at each connection point is uniform and meets the standard.

[0037] Anti-misalignment clamping and stable assembly: The load-bearing cable seat clamping device adopts a double-point clamping structure, which, together with the first clamping device after the cantilever arm is inserted, provides rigid fixation and forms a double constraint. This effectively suppresses component displacement caused by external force or vibration during assembly, avoids problems such as poor thread engagement, and improves the success rate of one-time assembly.

[0038] Modular expansion capability: The modular design of pre-configured workstations and tightening devices allows for flexible addition or reduction of the number of workstations or adjustment of the layout according to production needs, and is compatible with the assembly process of different specifications of cantilever products, enhancing the adaptability of the equipment and the space for production line upgrades. Attached Figure Description

[0039] 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:

[0040] Figure 1 This is an overall schematic diagram of an automatic wrist arm assembly device according to this utility model;

[0041] Figure 2 yes Figure 1 A magnified view of a pre-assembly station;

[0042] Figure 3 yes Figure 1 A partial enlarged view of the first rotating mechanism;

[0043] Figure 4 This is a schematic diagram of the material rack in an automatic assembly device for a wrist arm according to this utility model;

[0044] Figure 5 This is a partial schematic diagram of the screwing device array distribution of an automatic wrist arm assembly device according to this utility model;

[0045] Figure 6 This is a schematic diagram of the first slider of an automatic wrist arm assembly device according to the present invention;

[0046] Figure 7 This is a schematic diagram of the tightening device structure of an automatic wrist arm assembly device according to this utility model;

[0047] Figure 8 This is an overall schematic diagram of an automatic wrist arm assembly device of this utility model and its other pre-processing stations;

[0048] Figure 9 This is a first-person view of the entire cutting device;

[0049] Figure 10 This is a second-view schematic diagram of the entire cutting device;

[0050] Figure 11 yes Figure 10 A magnified view of the location of the cutting blade;

[0051] Figure 12 yes Figure 9 A partial enlarged view of the center alignment device;

[0052] Figure 13 yes Figure 9 A schematic diagram of the first gripper in the cutting device;

[0053] Figure 14 yes Figure 10 A schematic diagram of the second translation mechanism in the cutting device;

[0054] Figure 15 yes Figure 10 A schematic diagram of the flipping mechanism in the cutting device;

[0055] Figure 16 yes Figure 9 A schematic diagram of the flipping mechanism in the cutting device;

[0056] Figure 17 This is a schematic diagram of the overall structure of the chamfering device;

[0057] Figure 18 yes Figure 17 Enlarged view of the first end;

[0058] Figure 19yes Figure 17 A magnified view of the second end;

[0059] Figure 20 This is a structural diagram of the inkjet printing and punching device;

[0060] Figure 21 yes Figure 19 A magnified view of a portion of the drilled section;

[0061] Figure 22 This is a schematic diagram of the detection device;

[0062] Figure 23 yes Figure 21 Schematic diagram of the centerline scanning mechanism;

[0063] Figure 24 yes Figure 21 A schematic diagram of the middle surface rotation mechanism. Detailed Implementation

[0064] 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.

[0065] 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.

[0066] like Figures 1-7 As shown, this utility model provides an automatic wrist arm assembly device, which includes:

[0067] The pre-assembly device 3 includes two symmetrically arranged pre-assembly stations. The two pre-assembly stations are connected to the first rotating mechanism 35 for simultaneous rotation. Each individual pre-assembly station is driven by the second rotating mechanism 37 for individual rotation.

[0068] Each pre-assembly station includes multiple load-bearing cable holder clamping devices 32 and a first clamping device 33. Every two load-bearing cable holder clamping devices 32 are used to clamp and fix a load-bearing cable holder, and the first clamping device 33 is used to fix the wrist arm after it is inserted into the load-bearing cable holder.

[0069] 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 transferred to the pre-assembly device 3 for fixing and the insertion of the wrist arm.

[0070] After being inserted and fixed, the tightening device 9 is used to tighten the torque to achieve automatic assembly. Multiple tightening devices 9 are arrayed on a multi-directional motion device 10. The multi-directional motion device 10 is used to drive the tightening devices 9 to move in multiple directions to assemble the cantilever arm and load-bearing cable seat at different pre-assembly stations.

[0071] See details Figures 1-3 Each of the pre-assembly stations can fix two sets of load-bearing cable seats and two cantilever arms. Both pre-assembly stations are driven and connected to the first rotating mechanism 35, enabling simultaneous rotation. Each individual pre-assembly station is driven by the second rotating mechanism 37, enabling individual rotation. Its specific structure is as follows:

[0072] Each of the pre-assembled workstations also includes a first guide rail 31, a first frame 34, and a second frame 36;

[0073] Multiple load-bearing cable seat fixing devices 32 that can move along the first guide rail 31 are installed on it;

[0074] 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.

[0075] The first frame 34 includes a first support rod 341 and a second support rod 342;

[0076] 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.

[0077] 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;

[0078] 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.

[0079] Among them, such as Figure 8 As shown, the wrist arm undergoes pre-processing by a cutting device 2, a chamfering device 11, a coding device 12, and a drilling device 12 before assembly.

[0080] Among them, see Figure 2In 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 the load-bearing cable seat does not include the hollow area in the middle.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] Based on the above, the workflow of the pre-assembly device can be summarized as follows:

[0086] Step 1: Clamping and positioning of the load-bearing cable seat

[0087] 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.

[0088] Step 2: Preparation for wrist arm assembly

[0089] 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.

[0090] Step 3: First flipping operation

[0091] 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.

[0092] Step 4: Secondary attitude adjustment

[0093] 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.

[0094] Step 5: Bolt tightening operation

[0095] 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.

[0096] Step 6: Synchronous Operation of Symmetrical Structures

[0097] 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.

[0098] This invention utilizes a symmetrical dual-structure design to achieve simultaneous and parallel assembly and material preparation. While one side is assembling the load-bearing cable seat and the cantilever arm, the other side can prepare the positioning for the next workpiece in advance, reducing the waiting time for process changes.

[0099] 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 facing the operating area, avoiding the problem of limited operating view or difficulty in manual intervention caused by equipment rotation.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] like Figure 4 As shown, the material rack 7 includes a base 71, a first support frame 72, a first sleeve 73, and a telescopic connecting rod 74;

[0106] The base 71 is fixed to the ground, and the first support frame 72 is slidably connected to the base 71. A first sleeve 73 is installed on the first support frame 72 at a set distance 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.

[0107] 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.

[0108] 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.

[0109] Based on the above, the steps for material collection can be summarized as follows:

[0110] Step 1: Preloading the material rack

[0111] 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.

[0112] Step 2: Robotic arm alignment

[0113] 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.

[0114] Step 3: Linkage compression trigger

[0115] 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.

[0116] Step 4: Internal support clamping

[0117] 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.

[0118] Step 5: Material Transfer

[0119] 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.

[0120] 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.

[0121] like Figures 5-7 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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;

[0126] 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.

[0127] The fastening head 91 is mounted on the driven shaft of the cross coupling 93.

[0128] The following is a step-by-step description of the working process of the tightening device:

[0129] Step 1: Bolt positioning preparation

[0130] 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.

[0131] Step 2: Floating Alignment Compensation

[0132] 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°.

[0133] Step 3: Contact Pre-compression

[0134] 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.

[0135] Step 4: Graded torque tightening

[0136] The third rotating mechanism 92 switches to torque control mode, applying rotational torque in two stages:

[0137] Phase 1: Screw the bolt in at high speed and low torque to the preset threshold;

[0138] Second stage: Low speed and high torque to reach the final tightening value;

[0139] Cross couplings compensate for axial deviations when transmitting torque, preventing bolt damage caused by lateral forces.

[0140] Step 5: Multi-bolt collaborative operation

[0141] Multiple tightening devices 9 distributed in an array simultaneously execute steps 2-4, thereby tightening all bolts of the same load-bearing cable seat at the same time;

[0142] For bolt groups with non-uniform distribution, sequential fastening is achieved through the combined movement of the longitudinal moving device 102 and the third guide rail 105.

[0143] Step 6: Reset and Cycle

[0144] 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.

[0145] 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.

[0146] A tightening device 9 is provided on the top of each of the two symmetrically arranged first structures.

[0147] In this embodiment, the six-axis robot arm 5 and the material rack 7 are distributed in at least two groups along the length of the wrist arm. Each group of robot arms is equipped with an independent control module, supporting synchronous or alternating operation modes.

[0148] Each six-axis robot 5 corresponds to a set of material racks 7. The two sets of material racks 7 are arranged at intervals along the axis of the wrist arm. The distance between adjacent material racks 7 is greater than the maximum unfolding radius of the six-axis robot 5 to avoid motion interference.

[0149] like Figure 7 As shown, the vision inspection system 6 is distributed on both sides of the material rack 7.

[0150] This embodiment also includes a wrist arm transport device 1, which is used to clamp the wrist arm and transport it to each workstation;

[0151] 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.

[0152] The specific structure of the cutting device 2 includes:

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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:

[0161] 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.

[0162] The alignment device 14 includes a first baffle 141, which is driven by a linear motor. When cutting a 12-meter-long cantilever arm, the first baffle 141 is driven by the 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 the linear motor to the upper part of the cutting station frame 21 to achieve the alignment function.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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).

[0168] This embodiment also includes an auxiliary cutting device 16, which includes a fourth translation mechanism 161 and a roller group 162.

[0169] 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. When cutting, the fourth translation mechanism 161 is driven to make the roller assembly 162 fit against the outer surface of the wrist arm to support the wrist arm and prevent deformation during cutting.

[0170] 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 13-16 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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:

[0175] See 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;

[0176] 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.

[0177] 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.

[0178] 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.

[0179] The third translation mechanism 28 has the same structure as the second translation mechanism 25, and will not be described in detail here.

[0180] Based on the above, the steps for wrist and arm cutting can be summarized as follows:

[0181] Step 1: Initial Positioning

[0182] 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);

[0183] Step 2: Setting Cutting Parameters

[0184] 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.

[0185] Step 3: Cutting process for long-specification cantilever arm (12 meters)

[0186] 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.

[0187] Step 4: Short-size / leftover material cutting process (4-5 meters)

[0188] 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.

[0189] Step 5: Transfer of finished product

[0190] 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.

[0191] Step 6: System Reset

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] like Figures 17-19 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;

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] The working process of the chamfering device is as follows:

[0204] Step 1: Initial positioning of the wrist arm and preparation of the first end chamfer

[0205] 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.

[0206] Step 2: Chamfering the first end

[0207] 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.

[0208] Step 3: Wrist-arm reversal and second-end positioning

[0209] 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.

[0210] Step 4: Chamfering the second end

[0211] 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.

[0212] Step 5: Reset and Standby

[0213] 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.

[0214] like Figures 20-21 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] The drilling section 122 includes an eighth translation mechanism 1221, a third servo motor 1222, and a drill bit 1223;

[0220] 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.

[0221] 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.

[0222] To facilitate the overall layout and save space, the two sets of drilling sections 122 are perpendicular to each other.

[0223] Based on the structure and function of the coding and punching device 12, its working process can be divided into the following steps:

[0224] Step 1: Initial clamping and positioning

[0225] 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.

[0226] Step 2: Drilling and fixing holes

[0227] 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.

[0228] Step 3: After drilling, transfer to the coding position

[0229] 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.

[0230] Step 4: Inkjet Printing Operation

[0231] 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.

[0232] Step 5: Reset and Cycle

[0233] 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.

[0234] 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:

[0235] 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.

[0236] The data acquisition module collects the following information in real time and generates a unique traceability code:

[0237] Basic process parameters include cutting power, cutting speed, chamfer angle, and hole position coordinate deviation.

[0238] Process traceability data includes: pretreatment equipment number, spindle vibration amplitude, processing environment temperature and humidity, operator number, and quality inspection electronic signature;

[0239] Quality inspection indicators include: wrist-arm length deviation and straightness;

[0240] 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.

[0241] The MES system database stores the following related information:

[0242] Material batch information: including steel furnace number and supplier quality inspection report;

[0243] Equipment maintenance records: include timestamps for chamfering tool replacement;

[0244] Operational data includes on-site GPS coordinates and rust detection records from regular inspections.

[0245] 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.

[0246] 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.

[0247] 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).

[0248] 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.

[0249] like Figures 22-24 As shown, the detection device 8 includes a detection station frame 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 rotation mechanism 87.

[0250] The inspection station frame 81 is fixed to the ground. A ninth translation mechanism 82 and a tenth translation mechanism 84 are installed on the inspection station frame 81. A second clamping device 83 is installed on the ninth translation mechanism 82. The second clamping device 83 is used to clamp the combination of the load-bearing cable seat and the cantilever arm. A line scanning mechanism 85 is installed on the tenth translation mechanism 84. The tenth translation mechanism 84 is used to drive the line scanning mechanism 85 to move along the length direction of the cantilever arm. The line scanning mechanism 85 is used to scan the surface of the combination of the load-bearing cable seat and the cantilever arm, and upload the acquired data to the judgment system for damage determination.

[0251] The fixed end of the surface rotation mechanism 87 is mounted on the inspection station frame 81, and the rotating end of the surface rotation mechanism 87 is fixed to the third clamping device 86. The third clamping device 86 is used to clamp the end of the wrist arm. After the line scanning mechanism 85 completes the scanning, the second clamping device 83 is released. The second clamping device 83 moves along the length direction of the inspection station frame 81, moving the end of the wrist arm to the clamping area of ​​the third clamping device 86. The third clamping device 86 clamps the wrist arm, drives the surface rotation mechanism 87 to rotate, and drives the third clamping device 86 and the assembly to rotate by a set angle. After rotation, the line scanning mechanism 85 performs the scanning action again to realize the detection of surfaces at other angles.

[0252] The detection device 8 further includes an eleventh translation mechanism 88 and a twelfth translation mechanism 89;

[0253] The ninth translation mechanism 82 and the second clamping device 83 are symmetrically arranged along the width direction of the detection station frame 81.

[0254] The eleventh translation mechanism 88 is mounted on the tenth translation mechanism 84, and a line scanning mechanism 85 is mounted 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. The eleventh translation mechanism 88 is used to drive the line scanning mechanism 85 to scan the wrist arm assembly on the symmetrically arranged second clamping device 83, so as to realize multi-station detection and improve work efficiency.

[0255] Based on this, the surface rotation 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 on the inspection station frame 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 to drive the third clamping device 86 to clamp another set of wrist arm assemblies.

[0256] The detection process of the detection device 8 is as follows:

[0257] Step 1: Workpiece Fixation and Initial Scanning

[0258] The second clamping device 83 clamps the assembly of the load-bearing cable seat and the cantilever arm, and the ninth translation mechanism 82 positions it to the inspection station; the tenth translation mechanism 84 drives the line scanning mechanism 85 to move along the length of the cantilever arm, scans the surface data of the assembly, and uploads it to the judgment system for damage determination.

[0259] Step 2: Switch between clamping and rotation adjustment

[0260] After scanning is completed, the second clamping device 83 releases the assembly, the ninth translation mechanism 82 moves along the length of the inspection station frame, and moves 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 rotation mechanism (87) drives the assembly to rotate by a set angle (such as 90° or 180°) to prepare for multi-angle scanning.

[0261] Step 3: Multi-angle scanning and data verification

[0262] The line scanning mechanism moves again along the length of the wrist arm to scan the rotated surface. The data is uploaded to the system synchronously. Steps 2-3 are repeated until all preset angles of the surface are detected.

[0263] Step 4: Synchronous detection at symmetrical workstations

[0264] The eleventh translation mechanism 88 adjusts the position of the line scanning mechanism and scans the wrist arm assembly on the second clamping device 83 of another symmetrical station. The twelfth translation mechanism 89 drives the surface rotation mechanism 87 and the third clamping device 86 to move to the corresponding station, clamp and rotate the other assembly, and realize the alternating detection of the two stations.

[0265] While one station is scanning, the other station simultaneously prepares for workpiece clamping or rotation, shortening the inspection cycle. After inspection, the clamping device is reset, waiting for the next set of workpieces to enter, forming a continuous operation cycle.

[0266] This invention supports simultaneous operation of two workstations through symmetrically arranged clamping devices and translation mechanisms, enabling parallel operation of inspection and workpiece clamping, significantly shortening the inspection cycle, and making it suitable for efficient processing of batch workpieces.

[0267] Through the coordinated control of the rotating mechanism and the clamping device, the workpiece can be rotated at multiple angles. Combined with the moving scan of the line scanning mechanism, blind spots in the detection are eliminated, ensuring all-round identification of surface damage.

[0268] The combination design of the translation mechanism's multi-directional movement (length and width directions) and the rotation mechanism can accurately adjust the scanning path and workpiece posture to meet the inspection needs of workpieces of different sizes and shapes.

[0269] Clamping, moving, rotating, and scanning actions are all completed automatically by the mechanism, reducing the risk of human error, reducing labor intensity, and ensuring the consistency and reliability of testing.

[0270] The symmetrical workstation design and independent drive mode of the translation mechanism facilitate the addition of inspection workstations or the upgrading of scanning equipment, thereby improving the system's scalability and compatibility.

[0271] The real-time linkage between line scan data and the damage assessment system allows for simultaneous analysis of results during the detection process, supports rapid adjustment of detection parameters or re-inspection, and avoids the efficiency loss of traditional offline analysis.

[0272] 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.

[0273] 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.

[0274] 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.

[0275] 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.

[0276] 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. An automatic wrist arm assembly device, characterized in that, The device includes: The pre-assembly device (3) includes two symmetrically arranged pre-assembly stations. The two pre-assembly stations are connected to the first rotating mechanism (35) for simultaneous rotation. Each individual pre-assembly station is driven by the second rotating mechanism (37) for individual rotation. Each pre-assembly station includes multiple load-bearing cable holder clamping devices (32) and a first clamping device (33). Every two load-bearing cable holder clamping devices (32) are used to clamp and fix a load-bearing cable holder, and the first clamping device (33) is used to fix the arm after the arm is inserted into the load-bearing cable holder. 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 detection 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 transferred to the pre-assembly device (3) for fixing and the insertion of the wrist arm. After being inserted and fixed, the tightening device (9) is used to tighten the torque to achieve automatic assembly. Multiple tightening devices (9) are arrayed on a multi-directional motion device (10). The multi-directional motion device (10) is used to drive the tightening device (9) to move in multiple directions to assemble the cantilever arm and load-bearing cable seat at different pre-assembly stations.

2. The automatic wrist arm assembly device according to claim 1, characterized in that, Each of the pre-configured stations can fix two sets of load-bearing cable seats and two cantilever arms.

3. The automatic wrist arm assembly device according to claim 2, characterized in that, The two pre-assembly stations are connected to the first rotating mechanism (35) for simultaneous rotation, and each individual pre-assembly station is driven by the second rotating mechanism (37) for individual rotation. The specific structure is as follows: Each of the pre-assembled workstations also includes a first guide rail (31), a first frame (34), and a second frame (36). Multiple load-bearing cable clamping devices (32) that can move along the first guide rail (31) are installed on it. 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 clamping 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).

4. The automatic wrist arm assembly device according to claim 1, characterized in that, The load-bearing cable seat is installed on the material rack (7), which 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). A first sleeve (73) is installed on the first support frame (72) at a set distance along its length direction. 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).

5. The automatic wrist arm assembly device according to claim 3, characterized in that, Multiple tightening devices (9) are mounted 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.

6. The automatic wrist arm assembly device according to claim 5, 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).

7. The automatic wrist arm assembly device according to claim 4, 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.

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

9. The automatic wrist arm assembly device according to claim 1, characterized in that, The wrist arm is transported by the wrist arm transport device (1) to the pre-assembly device (3) and inserted into the load-bearing cable seat. The wrist arm transport device (1) is a truss manipulator.

10. The automatic wrist arm assembly device according to claim 1, characterized in that, Before assembly, the wrist arm undergoes pretreatment by a cutting device (2), a chamfering device (11), a coding and drilling device (12).

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