CN111890043A

CN111890043A - Intelligent production line assembly system for high-speed railway contact network cantilever

Info

Publication number: CN111890043A
Application number: CN202010858898.1A
Authority: CN
Inventors: 戚广枫; 李红梅; 石瑞霞; 方志国; 陈国�; 吕青松; 余培根; 赵军; 耿肖
Original assignee: Kunshan Huizhi Automation Technology Co ltd; China Railway Siyuan Survey and Design Group Co Ltd
Current assignee: Kunshan Huizhi Automation Technology Co ltd; China Railway Siyuan Survey and Design Group Co Ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2020-11-06

Abstract

The invention discloses an intelligent production line assembly system for a cantilever of a high-speed railway contact network, which comprises a pipe fitting cutting device, a robot device, an earring cache loading device and a pipe fitting earring assembly device, wherein the pipe fitting cutting device is used for conveying pipe fittings and cutting the pipe fittings to obtain a cantilever pipe fitting with a set length; the earring caching and loading device is used for enabling earrings to be arranged according to a set sequence for caching; the robot device is used for clamping earrings on the earring cache loading device to the pipe fitting earring assembling device, clamping wrist arm pipe fittings to the earring cache loading device, enabling the earrings to penetrate through the wrist arm pipe fittings, and then screwing bolts used for fixing the earrings and the wrist arm pipe fittings to assemble the earrings and the wrist arm pipe fittings. According to the invention, through the matching of the pipe fitting cutting device, the robot device, the ear ring cache loading device and the pipe fitting ear ring assembling device, the automatic assembly of the wrist arm pipe fitting and the ear ring can be realized, so that the manual labor amount is reduced, and the production efficiency can be greatly improved.

Description

Intelligent production line assembly system for high-speed railway contact network cantilever

Technical Field

The invention belongs to the technical field of cantilever pre-assembly production, and particularly relates to an intelligent production line assembly system for a cantilever of a high-speed railway contact network.

Background

The cutting of the wrist arm pipe and the supporting pipe has strict process standards, no professional wrist arm pipe and supporting pipe cutting platform exists in the market at present, and the methods adopted by each construction unit are different. The traditional method has the difficulties that the technological standards of parts cannot be highly unified, the measurement cutting precision is insufficient, the information management of the whole life cycle is not available, and the like, and the work efficiency and the unified standard need to be further improved.

The traditional pre-preparation workshop wrist arm pipe and support pipe raw material cutting method generally adopts 3-4 common pipe fittings with standard length, such as long pipe fittings with the length of 2.6m, 2.8m, 3.0m, 3.4m or 14 m. During cutting, raw materials with similar lengths are selected according to the length of a wrist tube in a wrist arm pre-prepared table, the tube is manually picked up to the cutting platform, the scale lines are aligned to carry out manual marking and mechanical cutting, after the cutting is finished, the tube is manually picked up to drill holes on the drilling platform, and then the tube is manually picked up to the pre-prepared platform to be pre-prepared. A large amount of manpower and material resources are wasted in the transportation of the cutting mode.

The marking off of traditional pre-prepared workshop wrist arm pipe and stay tube pre-prepared length compares raw and other materials scale on cutting platform, and the cutting of drawing a line is carried out according to the position of comparing, and the manual work is drawn a line according to the scale line and is cut the technology error great, and because of the people therefore, the technology standard is not unified.

Traditional pre-prepared workshop cantilever pre-prepared information does not have tracking two-dimensional code or two-dimensional code and prints out the subsides on wrist arm pipe or pillar artificially, and this kind of mode causes the two-dimensional code easily to be damaged, can't read information through the two-dimensional code after the time is permanent, because cantilever pre-prepared information loses easily, can't carry out full life cycle's information-based management.

At present, in the assembly of contact network wrists, the means of loading, unloading and standard torque installation of the intelligent pre-assembly workshop of the wrists of each construction unit are different. The traditional method is that manual feeding, manual blanking and a manual torque wrench are used for realizing pre-assembly of the wrist arm and pre-tightening of torque. Not only the loading of the parts and the picking up of the pre-assembled wrist arms are all done manually, but also the torque of the part bolts on the pipe is all done manually.

However, the traditional method has a plurality of defects, mainly including that the technological standard of parts cannot be highly unified, the torque pre-tightening is not in place or the torque is over-torqued, and the work efficiency and the unified standard need to be further improved; and manual feeding and discharging are adopted, so that the workload is large, and the efficiency is low.

Usually, the wrist arm is a long and straight rod-shaped structure, and a pipe fitting ear ring is arranged at a corresponding position on the periphery of the wrist arm for positioning and realizing connection of related structural components. Moreover, according to the different application ranges of the contact system (generally, the different speeds of the train), the cantilever structure corresponding to the contact system has certain difference. In addition, the assembly to the cantilever is mostly carried out by adopting a manual assembly mode at present, the labor cost of the mode is high, the assembly efficiency is low, and the increasing requirement of the cantilever at the present stage can not be fully met.

In the pre-assembly processing process of the contact network cantilever, the earrings are placed in the charging basket in a mess, a worker needs to assemble a dropper to take a plurality of connecting wire clamps, the defect of manual operation exists, and the continuity of cantilever assembly is poor.

Disclosure of Invention

Aiming at the defects or improvement requirements of the prior art, the invention provides an assembling system for an intelligent production line of a high-speed railway contact network cantilever, which can realize pipe cutting, ear ring threading and ear ring screwing in the intelligent production of the cantilever, ensure the continuity and accuracy of the production of the cantilever and reduce the amount of manual labor in the production process of the cantilever.

In order to achieve the above object, according to an aspect of the present invention, there is provided an intelligent production line assembling system for a cantilever of a high-speed railway contact system, comprising a pipe cutting device, a robot device, an earring buffer loading device, and a pipe earring assembling device, wherein:

the pipe fitting cutting device is used for conveying and cutting the pipe fittings to obtain cantilever pipe fittings with set lengths, and the cantilever pipe fittings with the set lengths obtained through cutting are placed on the discharging platform;

the earring caching and loading device is used for enabling earrings to be arranged according to a set sequence for caching;

the robot device is used for clamping earrings on the earring caching and loading device to the pipe fitting earring assembling device, clamping wrist arm pipe fittings to the earring caching and loading device, enabling the earrings to penetrate through the wrist arm pipe fittings, and then screwing bolts used for fixing the earrings and the wrist arm pipe fittings, so that the assembly of the earrings and the wrist arm pipe fittings is realized.

Preferably, the pipe cutting apparatus includes a pipe buffering unit, a pipe automatic-feeding unit, a pipe transmission unit, and a pipe cutting unit, which are sequentially provided along a transfer line of the pipe, and:

the pipe fitting caching unit is arranged on the side edge of the pipe fitting transmission unit, is provided with a slope inclined towards the pipe fitting transmission unit and is used for storing a plurality of pipe fittings to be cut simultaneously;

the automatic pipe fitting feeding unit is arranged at the end part and below the pipe fitting transmission unit and used for pushing the pipe fitting rolled down from the pipe fitting caching unit to the pipe fitting transmission unit;

the pipe fitting transmission unit is used for actuating the pipe fitting to sequentially move for a preset distance along the longitudinal direction of the pipe fitting and comprises a plurality of supporting rollers, a moving platform and a platform guide rail; the support roller is used for being supported below the pipe fitting without power, the moving platform is provided with a pipe fitting pressure head, the pipe fitting pressure head is used for pressing the pipe fitting downwards on the support roller, and the moving platform is used for sliding along the platform guide rail, sequentially moving for a preset distance and driving the pipe fitting forwards; the platform guide rail is used for enabling the moving platform to reciprocate;

the tube cutting unit is used for cutting the tube to obtain the wrist-arm tube with a preset length.

Preferably, the automatic pipe-handling unit comprises an end pipe-blocking device for allowing a head pipe to roll down while blocking a subsequent pipe from rolling down, and a lower pipe-handling device for pushing the head pipe onto the support rollers.

Preferably, the end pipe blocking device comprises a blocking plate and a stopper;

the blocking plates are arranged at two ends of the long pipe fitting raw material and are provided with holes for the stoppers to pass through;

the stopper is arranged on the stopper plate, has a telescopic structure, passes through the hole of the stopper, is inserted into the pipe end of the second pipe fitting behind the head pipe fitting, and stops the lower roll of the second pipe fitting and the subsequent pipe fitting.

Preferably, the earring buffer loading device comprises a rack and a buffer component;

the cache assembly comprises a cache bracket and a plurality of cache units arranged on the cache bracket; the buffer support is used for supporting the buffer unit; the buffer unit is used for sequentially buffering the plurality of earring pieces in the longitudinal direction;

the buffer components are movably or fixedly arranged on the rack, and each buffer unit forms a certain inclination angle with the horizontal plane respectively so as to realize the one-by-one feeding of the ear ring pieces from the feeding end to the discharging end of the buffer unit; correspondingly, at least one limiting unit is arranged at the discharge end and used for preventing the ear ring piece from falling off from the buffer unit.

Preferably, the robot device comprises a workbench, at least one sliding table unit is arranged on the workbench, and the sliding table unit can slide along the guide rails arranged on two sides;

the sliding table unit is fixedly connected with the bottom of the six-axis robot, the end part of the other end of the six-axis robot is fixedly connected with the manipulator, and the pipe fitting is clamped through the manipulator;

the manipulator comprises a truss directly connected with the six-axis robot, the end parts of two ends of the truss are provided with a first clamping end and a second clamping end in the vertical direction, servo tightening guns are respectively arranged at the bottoms of two sides of the truss, and the corresponding servo tightening guns are rotatably and fixedly connected with the truss; the tightening end of the servo tightening gun realizes automatic tightening of torque of the fitting on the pipe fitting.

Preferably, the pipe fitting earring assembling device comprises at least one assembling unit, wherein the assembling unit comprises a bracket, a sliding support component and a clamping component;

the sliding support assembly and the clamping assembly are respectively arranged at two ends of the top of the bracket and are respectively used for supporting and clamping two ends of a wrist arm; the sliding guide strips and the follow-up chains are respectively arranged on the two transverse sides of the bracket along the axial direction of the bracket and are used for matching the two transverse ends of the sliding support assembly so as to realize the reciprocating motion of the sliding support assembly along the transverse direction of the bracket;

the sliding support assembly comprises a sliding unit and a support unit; the sliding unit comprises one sliding table or a plurality of sliding tables arranged in parallel in the axial direction of the bracket; the sliding table is transversely arranged along the bracket, one end of the sliding table is connected to the follow-up chain in a matching mode, the other end of the sliding table is provided with a driving unit, and the output end of the driving unit is matched with the sliding guide strip and used for driving the sliding table to axially reciprocate along the bracket; the sliding table can be fixedly provided with an installation plate, and at least one pipe fitting lug can be fixedly arranged on the installation plate, so that each pipe fitting lug is coaxial respectively, and the pipe fitting lug close to the clamping assembly is coaxially aligned with the clamping assembly;

the supporting unit is arranged on the sliding table and comprises at least two supporting wheels and pressing wheels arranged above the two supporting wheels, the supporting wheels are used for supporting two sides of the bottom of the cantilever, the pressing wheels are arranged on the rotating mechanism, and the cantilever on each supporting wheel can be kept away or the cantilever can be pressed on each supporting wheel under the control of the rotating mechanism.

Preferably, the pipe ear ring assembling device comprises a clamping unit;

the clamping unit comprises an end pressing block and a bottom supporting block; the bottom supporting block is vertically arranged and is provided with a lifting mechanism corresponding to the bottom supporting block, so that the bottom supporting block can be vertically lifted under the control of the lifting mechanism; the end pressing block is arranged on the rotating mechanism, and the rotating mechanism can drive the end pressing block to be close to or far away from a cantilever placed on the bottom supporting block, so that the clamping or loosening of the cantilever between the end pressing block and the bottom supporting block is realized.

Preferably, the clamping assembly of the pipe fitting earring assembling device further comprises a rotating unit;

the rotating unit comprises an end top block, an end gear, an end rack and a driving mechanism; the end part top block is arranged on one side of the clamping unit, an accommodating groove is formed in one side of the end part top block close to the cantilever placing area, and the end part of the cantilever can be embedded into the accommodating groove and locked in the accommodating groove; the end gear is coaxially arranged on one side of the end top block, which is far away from the containing groove, is correspondingly meshed with the end rack, and can rotate in a reciprocating manner under the movement of the end rack; the driving mechanism is correspondingly matched with the end part of the end part rack and can drive the end part rack to reciprocate.

Preferably, the pipe fitting earring assembling device further comprises a sliding table provided with an end clamp, the end clamp is arranged on the corresponding mounting plate, and a through hole along the axial direction of the support is formed in the middle of the end clamp and used for the wrist arm to penetrate through and clamp the wrist arm.

In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

1) according to the invention, through the matching of the pipe fitting cutting device, the robot device, the earring caching and loading device and the pipe fitting earring assembling device, the automatic assembly of the cantilever pipe fitting and the earring can be realized, so that the amount of manual labor is reduced, and the production efficiency can be greatly improved.

The pipe fitting cutting device is sequentially provided with a pipe fitting caching unit, a pipe fitting automatic pipe feeding unit, a pipe fitting transmission unit and a pipe fitting cutting unit according to the working procedures, various production data of the pipe fitting, such as cutting length, drilling position, earring position and type, pipe fitting code spraying information and the like, are input into the units through PLC communication, the data read by the units are automatically converted into execution actions for production, and the wrist arm pipe and the support pipe are automatically marked, cut and sprayed with codes. The pipe fitting cutting device provided by the invention adopts the intelligent control of the cantilever pre-configuration data to realize the process data management and control on the construction process quality in the key pre-configuration process

2) The earring caching and loading device provided by the invention realizes automatic loading of earrings in a wrist arm machining process, improves the production efficiency, realizes control of the earring caching and loading process, has the characteristics of simple structure, convenience in operation, better applicability, high efficiency, high automation degree and the like, is matched with a robot device to form a wrist arm pre-assembly automatic production line together, reduces the additional labor cost caused by earring caching and loading in the wrist arm machining process, and further reduces the whole wrist arm assembly cost.

3) According to the robot unit, the pipe fitting is clamped through the manipulator, so that the problem of manual loading and unloading in the prior art can be solved, the standard torque automatic installation of the accessories on the pipe fitting can be realized, and the adverse effects of insufficient torque screwing or excessive torque caused by the fact that a manual torque wrench is adopted to realize the torque screwing in the prior art are avoided.

4) The robot unit of the invention drives the manipulator to move through the six-axis robot, so that the pipe fitting can be conveyed to the automatic pre-assembly platform from the cutting and drilling stations for loading and unloading, and the parts can be loaded and unloaded from the accessory turntable tool platform.

5) According to the robot unit, the end head of the tightening end of the servo tightening gun is of a structure matched with the bolt and used for performing bolt tightening operation on the lug ring on the clamped pipe fitting, under the condition that the manipulator clamps the pipe fitting, the servo tightening gun rotates and extends to the position corresponding to the bolt to be tightened on the lug ring and is clamped at the top of the bolt, and the power end drives the tightening end to rotate, so that the bolt on the lug ring is automatically tightened.

6) The robot unit and the servo tightening gun have adjustable standard values of torque, can adjust the standard values of the torque according to the tightening strength required by different pipe sizes, and are suitable for the automatic installation of the accessory standard torque of the pipe fittings with different sizes.

7) According to the robot unit, the plurality of sliding table units are arranged, so that the function of the rail can be fully utilized, the clamping and carrying work of a plurality of mechanical arms is realized, and the work efficiency of the whole assembly system is improved under the synergistic effect.

8) The pipe fitting earring assembling device suitable for the contact network cantilever comprises a sliding support component and a clamping component which are correspondingly arranged on a support, and by utilizing the corresponding arrangement of a sliding unit and a support unit in the sliding support component, the stable arrangement and clamping of two ends of the cantilever before assembling can be effectively realized, the assembling control of the corresponding pipe fitting earring at the corresponding position on the cantilever is realized, the automatic assembling of the pipe fitting earring at the corresponding position of the cantilever is realized, the assembling accuracy of the pipe fitting earring is ensured, the assembling efficiency of the pipe fitting earring is improved, and the assembling cost of the contact network cantilever is reduced;

9) according to the pipe fitting earring assembly device suitable for the contact network cantilever, the clamping unit and the rotating unit are arranged on the clamping assembly, so that end clamping in the cantilever assembly process is effectively realized by using the clamping unit, the automatic assembly process of the cantilever is facilitated, the end clamping of the cantilever can be effectively realized by using the rotating unit, the rotation of the cantilever around a shaft can also be realized, convenience is provided for the shaft machining of the corresponding part of the cantilever, the automation degree of the assembly and machining of the cantilever is further improved, the assembly and machining precision of the cantilever is guaranteed, and the machining cost of the cantilever is reduced;

10) according to the pipe fitting earring assembling device suitable for the contact net cantilever, the corresponding profiling blocks are arranged on the mounting plates corresponding to the pipe fitting earrings, so that the containing and fixing of the pipe fitting earrings can be effectively realized, the accuracy of the pipe fitting earrings matching the cantilever is ensured, and the corresponding assembling of pipe fitting earrings in different orders and different quantities can be realized by correspondingly replacing or adjusting the mounting plates on the sliding tables, so that the adaptability and compatibility of an automatic assembling system are effectively improved, the application range of the automatic assembling system is expanded, and the assembling cost of the cantilever is further reduced;

11) the pipe fitting earring assembly device suitable for the contact network cantilever is simple in structure and easy and convenient to operate, can effectively realize automatic assembly of the cantilever, avoids the defects of large labor amount, poor positioning precision and the like in the traditional cantilever manufacturing process, and effectively improves the efficiency and precision of cantilever assembly; moreover, the number and the sequence of the earrings which are actually assembled can be changed by correspondingly changing the mounting plates on the sliding table, so that the automatic assembling device is suitable for the automatic assembling of different types of wrists, the application range of a wrist assembling system is effectively expanded, and the assembling cost of the wrists is reduced.

Drawings

FIG. 1 is a schematic layout of a pipe cutting apparatus, a robotic apparatus, an earring buffer loading apparatus, and a pipe earring assembly apparatus of the present invention;

FIG. 2 is a schematic top view of the pipe cutting apparatus of the present invention;

FIG. 3 is a perspective view of the pipe cutting apparatus of the present invention;

FIG. 4 is a schematic view of the pipe buffering unit and the pipe automatic pipe feeding unit of the pipe cutting apparatus of the present invention;

FIG. 5 is a schematic view of a pipe drive unit of the pipe cutting apparatus of the present invention;

FIG. 6 is a schematic view of the pipe perforating unit and the pipe cutting unit of the pipe cutting apparatus of the present invention;

FIG. 7 is a perspective view of the robotic device of the present invention;

FIG. 8 is a top view of the robotic device of the present invention;

FIG. 9 is an enlarged view of a portion of the manipulator of the robotic device of the present invention from one of its views;

FIG. 10 is a partial enlarged view of the robot hand of the robot device according to the present invention from another view

FIG. 11 is a perspective view of an apparatus for assembling a pipe earring according to the present invention;

FIG. 12 is a schematic plan view of a fitting earring assembly of the present invention;

FIG. 13 is a plan view of a partial schematic view of a first fitting unit of the pipe earring fitting apparatus of the present invention;

FIG. 14 is a perspective view of a second assembly unit of the apparatus for assembling a pipe earring of the present invention;

FIG. 15 is a plan view of a second assembly cell of the pipe earring assembly of the present invention;

FIG. 16 is a schematic view of a clamping end portion of a first assembly unit of the apparatus for assembling a pipe earring according to the present invention;

FIG. 17 is a schematic view of the wrist-arm tube of the ear ring assembly apparatus of the present invention mated with a support unit;

FIG. 18 is a schematic perspective view of an earring buffer loading device according to the present invention;

FIG. 19 is a side view of the earring buffer attachment of the present invention;

FIG. 20 is a schematic view of a buffer assembly of one structure of the device for loading earring buffer of the present invention;

FIG. 21 is a schematic view of a buffer assembly of another structure of an ear ring buffer loading device according to the present invention;

FIG. 22 is a schematic view of the end of the guide rail of the earring buffer loading device of the present invention;

FIG. 23 is a schematic view of a first earring buffered by the earring buffer on-device in the present invention;

fig. 24 is a schematic view of a second earring of the earring buffer loading device buffer of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 to 24, an intelligent production line assembling system for a high-speed railway contact system cantilever comprises a pipe fitting cutting device 400, a robot device 500, an earring cache loading device 700 and a pipe fitting earring assembling device 600, wherein: the pipe cutting device 400 is used for conveying and cutting pipes to obtain cantilever pipes with set lengths, and the cantilever pipes with the set lengths obtained by cutting are placed on the discharging platform; the earring buffering and loading device 700 is configured to arrange earrings according to a set sequence for buffering, and the earring buffering and loading device 700 is disposed beside the robot device 500; the robot device 500 is used for clamping earrings on the earring cache loading device 700 onto the pipe fitting earring assembling device 600, clamping wrist arm pipe fittings onto the earring cache loading device 600, enabling the earrings to penetrate through the wrist arm pipe fittings, and then screwing bolts used for fixing the earrings and the wrist arm pipe fittings, so that the assembly of the earrings and the wrist arm pipe fittings is realized. The earring buffer mounting device 700 in fig. 1 is illustrated in a block diagram, and the specific structure can be seen in fig. 18 and fig. 19 later.

Specifically, the pipe cutting device 400 of the present invention includes a pipe buffer unit 401, an automatic pipe feeding unit 402, a pipe transmission unit 403, a pipe punching unit 404, a pipe cutting unit 405, and a pipe code spraying unit 406, which are sequentially disposed.

The tubular buffer unit 401 is disposed at a side of the tubular transfer unit 403, and has a slope inclined toward the tubular transfer unit 403 for simultaneously storing a plurality of 350-hour tubulars. Pipe fitting buffer memory unit 401 includes a plurality of pipe fitting supports 4011 that set gradually along pipe fitting length direction, and the upper end of pipe fitting support is equipped with a plurality of wedge strips 4012, the pipe fitting of the range on the wedge strip 4012 utilizes self gravity to roll down in proper order. Can deposit the tubular product of different pipe diameters size simultaneously on the pipe fitting support 4011, the tubular product raw materials is 12m long, and this embodiment is along vertically being equipped with four pipe fitting buffer memory units 401.

The pipe automatic-installing unit 402 is provided at an end and below the pipe driving unit 403 for pushing the pipe rolled down from the pipe buffering unit 401 to the pipe driving unit 403. The tubular automatic pipe-up unit 402 includes an end stop and a lower pipe-up device. The end pipe stop is used to allow a leading pipe to roll down while blocking the subsequent pipe from rolling down, and the lower pipe stop is used to push the leading pipe onto the support rollers 4031. Preferably, the end baffle tube device comprises a baffle plate 4021 and a baffle 4022; the blocking plates 4021 are arranged at two ends of the long pipe fitting raw material and are provided with holes for the blocking devices 4022 to penetrate through; the stopper 4022 is arranged on the stopper 4021, has a telescopic structure, passes through the hole of the stopper 4022, is inserted into the pipe end of the second pipe after the head pipe, and stops the second pipe and the subsequent pipe from rolling down. Preferably, the stopper 4022 is a telescopic cylinder. Preferably, the lower pipe installing device is an electric pushing cylinder 4023, an inserting plate is arranged at the upper part of the electric pushing cylinder 4023 and is inserted between the head pipe fitting and the second pipe fitting, an arc-shaped groove is formed in one side, close to the head pipe fitting, of the inserting plate, the head pipe fitting is pushed into the groove of the supporting roller 4031 along with the rising of the electric pushing cylinder, and then the lower pipe installing device retracts to prepare for pushing of the next pipe fitting.

The pipe transmission unit 403 is used for actuating the pipe to move sequentially along the longitudinal direction of the pipe by a preset distance, and comprises a plurality of supporting rollers 4031, a moving platform 4032 and a platform guide 4033; the support rollers 4031 are used for supporting below the pipe without power, the moving platform 4032 is provided with a pipe pressure head 40321, the pipe pressure head 40321 is used for pressing the pipe downwards on the support rollers 4031, and the moving platform 4032 is used for sliding along the platform guide rail 4033 and moving a preset distance in sequence to drive the pipe forwards; the stage rail 4033 is used for reciprocating the moving stage 4032. The tubular transmission unit 403 further comprises a drive motor 4034 and a drive rack 4035; the driving motor 4034 is arranged on the moving platform 4032, the driving rack 4035 is longitudinally and fixedly arranged along the platform guide rail 4033, and the output end of the driving motor 4034 is meshed with the driving rack 4035. Various production data of the pipe fitting such as cutting length are input to the mobile platform 4032 through PLC communication, the mobile platform 4032 reads the cutting length data and automatically converts the cutting length data into distance data needing to be moved, the pipe fitting is driven to be cut according to the preset distance, and automatic operation of cutting with different preset lengths is sequentially achieved. If the length of the tubular is not sufficient to support it at the penultimate support rollers after cutting, the motion platform 4032 further includes a tubular gripper head disposed below the tubular to grip and move the tubular with the tubular ram 40321 when the rear end of the tubular is unsupported by the support rollers.

The pipe perforating unit 404 is used to perforate a predetermined position of the pipe. The tubular perforating unit 404 includes a drill 4041 and a pipe rotator 4042; the pipe rotating machine 4042 is configured to rotate a pipe member circumferentially by a predetermined angle to determine a position to be drilled, and to drill a hole by the drilling machine 4041.

The pipe cutting unit 405 is used to cut the pipe to a predetermined length. The tube severing unit 405 comprises a tube locking device 4051 and a cutting knife 4052; the pipe locking device 4051 is used for fixedly locking a pipe to be cut, and the cutting knife 4052 is used for cutting off the pipe.

The pipe fitting code spraying unit 406 is used for spraying code spraying marks on the pipe wall and spraying maintainable marking lines on the earrings.

The pipe cutting device 400 is sequentially provided with a pipe caching unit, an automatic pipe feeding unit, a pipe transmission unit, a pipe punching unit, a pipe cutting unit and a pipe code spraying unit according to the procedures, various production data of the pipe, such as cutting length, drilling position, earring position and type, pipe code spraying information and the like, are input into the units through PLC communication, the data read by the units are automatically converted into execution actions for production, and the wrist arm pipe and the support pipe are automatically marked, cut and sprayed with codes.

The pipe fitting cutting device 400 is suitable for cutting 350-type pipe fittings, the cantilever machining equipment 4000 is suitable for cutting 250-type pipe fittings, and the specific structure of the cantilever machining equipment 4000 refers to patent CN 201821007310.6. It should be noted that the model 250 and the model 350 are respectively the speed of the train which is matched to run after the arrangement of the wrist arm is 250km/h and 350 km/h.

The robot device 500 for clamping the catenary cantilever pipe fitting comprises a sliding table unit 501, a guide rail 502, a servo motor 503, a six-axis robot 504, a drag chain 505, a manipulator 506 and a servo tightening gun 507.

Specifically, on the table top of the automatic assembling line for the overhead line system cantilever pipe fittings, at least one sliding table unit 501 is arranged and can slide along the guide rails 502 arranged on two sides, and two opposite sliding table units 501 are arranged on the guide rails 502 and share the same set of guide rails 502 for movement. Each sliding table unit is driven by a corresponding servo motor 503, and the servo motor 503 is connected with a speed reducer. The rotating gear of the servo motor 503 is matched with the gear arranged on the side edge of the working table, and the sliding table unit 501 is driven to slide along the track 502 by the movement of the servo motor 503 along the gear. Set up a plurality of slip table units can make full use of orbital effect, realize the centre gripping transport work of a plurality of manipulators, synergism to improve whole assembly system's work efficiency.

A drag chain 505 is provided at one lateral side of the sliding table unit 501, and may be used to protect cables and the like provided therein during operation.

The sliding table unit 501 is provided with a plurality of bases, the size and the height of the bases are preferably the same, the sliding table unit 501 is fixedly connected with the six-axis robot 504 through the bases, and the other end of the six-axis robot 504 is fixedly connected with the manipulator 506. The six-axis robot 504 can drive the manipulator 506 to move in multiple directions such as rotation, vertical, horizontal and extension, and can flexibly pick up and carry wrist pipe fittings, so that the wrist pipe fittings can reach a working area without dead angles. The servo drive sliding table unit can further increase the flexible working area of the robot along the sliding of the guide rail, and can adapt to the production conditions of various cantilever products.

The robot 506 is fixedly connected with the upper end of the six-axis robot 504, the robot 506 comprises a truss directly connected with the six-axis robot 504, preferably, the middle part of the truss is fixedly connected with the end of the six-axis robot 504, and the connecting strength of the robot 506 and the six-axis robot 504 is enhanced through a connecting rod perpendicular to the truss. The truss both ends are preferably horizontal symmetrical structure, and the tip at both ends is equipped with vertical first exposed core 508 and second exposed core 509, and both locate respectively on the connecting portion of truss tip to the cylinder that corresponds on the first exposed core 508 and the second exposed core 509 of both sides set up respectively through the truss can realize vertical flexible, thereby realizes the clamp of cantilever pipe fitting and unclamps.

The bottom parts of the two sides of the truss are respectively and fixedly provided with a horizontally placed servo tightening gun 507, the servo tightening gun 507 is rotatably and fixedly connected with the truss, one end of the servo tightening gun 507 is a power end, the other end of the servo tightening gun 507 is a tightening end, and the end of the servo tightening gun is matched with a bolt and used for tightening the bolt of an earring on a clamped pipe fitting; for example, if the bolt to be tightened is a hex bolt passing through the ear of the tubular, the end of the servo tightening gun 507 is a corresponding hexagonal hollow structure. The truss of both sides is equipped with limiting plate 510 respectively, and the spacing hole that is equipped with on the limiting plate 510, and during the inoperative time, the end of screwing up of servo rifle 507 shortens to pass the above-mentioned spacing hole that corresponds, make servo rifle 507 fixed, avoid it to rock all around along.

During operation, under the condition that the manipulator clamps the cantilever pipe fitting, the tightening end of the servo tightening gun 507 contracts, is separated from the limiting plate 510, rotates and extends to the position corresponding to the bolt to be tightened on the ear ring, is clamped at the top of the bolt, and the power end drives the tightening end to rotate, so that the bolt on the ear ring is automatically tightened.

The standard value of the torque of the servo tightening gun 507 is adjustable, the standard value of the torque can be adjusted according to tightening strength required by different pipe sizes, and the servo tightening gun is suitable for automatic installation of accessory standard torque of pipe fittings with different sizes.

The robotic device 500 of the present invention may be used in conjunction with a vision recognition device to pick up material and tighten bolts during operation.

The pipe fitting earring assembly device 600 suitable for the contact net cantilever in the preferred embodiment of the invention can be used for automatic assembly of 250 type cantilever pipe fittings and 350 type cantilever pipe fittings. To this end, the pipe earring assembling apparatus 600 is provided with a first assembling unit 610 and a second assembling unit 650 for automatic assembling of different types of wrists, respectively. Obviously, according to actual needs, other types of assembly units may be provided, and the existing first assembly unit 610 and the second assembly unit 650 may be modified into other types of assembly units.

The first assembling unit 610 and the second assembling unit 650 are respectively disposed on the frame support 690, and the tops of both ends of the support 690 in the axial direction are respectively provided with a clamping assembly and a sliding support assembly for clamping and supporting the wrist 640.

More specifically, the sliding support assembly of the first assembling unit 610 includes a first sliding table 611, a second sliding table 612, and a third sliding table 613 sequentially arranged side by side along the axial direction of the bracket, wherein the end portions of the three sliding tables located on the same side are respectively provided with a first driving unit 614, and a sliding guide bar 655 is axially arranged on the side wall surface of the bracket 690. The sliding guide bar 655 has a rack gear along the axial direction, and the end of the output shaft of the first driving unit 614 is provided with a gear which is correspondingly engaged and matched with the sliding guide bar 655, and the first driving unit 614 is preferably a servo motor. Through the control of servo motor, can correspond and drive the gear and mesh on slip conducting bar 655 and move about to the slip of realization correspondence slip table.

In order to realize the sliding of the sliding tables along the axial direction of the bracket 690, one end of each sliding table departing from the first driving unit 614 is respectively provided with a follow-up chain 617 along the axial direction of the bracket 690, so that when each sliding table is driven by a servo motor to slide along the axial direction, the follow-up chains 617 can also move synchronously, and the axial direction of each sliding table is ensured to be always perpendicular to the axial direction of the bracket 690.

Further, a mounting plate 657 is provided on the top of each slide table, and corresponding profile blocks, namely a first profile block 615 and a second profile block 616, are provided on the mounting plate 657 for placing the first ear ring 620 and the second ear ring 630, respectively. When the earrings are placed on the corresponding contour blocks, the axes of the through holes in the middle of the earrings are along the axis of the bracket 690, and the axes of the earrings are coaxial, so that the wrist arm 640 can sequentially pass through the through holes in the middle of the earrings.

Be provided with the slip supporting component respectively on each slip table for support the cantilever 640 that carries out the earring assembly, the slip supporting component includes a pinch roller 618 and two supporting wheel 619, and three wheels are 120 intervals and set up, and pinch roller 618 can compress tightly directly over cantilever 640. The axes of the three wheels are preferably in the same cantilever cross section, so that when the sliding table slides along the axial direction, each wheel can rotate correspondingly. Also, the pinch roller 618 of the preferred embodiment is disposed at the end of the rotational axis such that the pinch roller 618 can be rotated to an area away from the location where the wrist 640 is disposed prior to operation, facilitating placement and removal of the wrist before and after assembly. Obviously, the sliding support assembly can be arranged on each sliding table, or can be arranged on part of the sliding tables, and in a preferred embodiment, the sliding support assembly is arranged on each sliding table.

One end of the bracket 690 is provided with a clamping assembly for clamping, fixing and rotation control of the end part during assembly of the wrist arm. Specifically, the clamping assembly comprises an end pressing block 660, an end jacking block 661, an end gear 662, an end rack 663, a driving rod 664 and a driving cylinder 665. The end pressing block 660 is arranged on the rotating shaft and can be driven by the rotating shaft to adjust the position, so that the end pressing block 660 can be driven by the rotating shaft to rotate right above the wrist arm 640 after the wrist arm 640 is placed on the support 690, and the end pressing block is correspondingly pressed. Correspondingly, a bottom supporting block is arranged right below the end pressing block 660 and correspondingly arranged on an output shaft of a lifting assembly, and the vertical lifting of the bottom supporting block can be realized by controlling the lifting assembly, so that the wrist arm 640 is clamped between the bottom supporting block and the end pressing block 660.

Tip kicking block 661 is discoid structure, and its tip is provided with the recess for the tip of cantilever 640 can imbed and fix in this recess, and the rotation of cantilever 640 can be realized to the rotation of cooperation tip kicking block 661, accomplishes the ascending processing of 360 directions of cantilever. Correspondingly, an end gear 662 is arranged on one side, away from the wrist arm 640, of the end top block 661, an end rack 663 is arranged corresponding to the end gear 662 in a matched mode, the end rack 663 is meshed with the end gear 662 in a matched mode, corresponding rotation of the end gear 662 can be achieved through telescopic displacement of the end rack 663, and then rotation control of the wrist arm 640 is achieved.

The telescopic motion of the end rack 663 is realized by a driving air cylinder 665, an output shaft of the end rack 663 is connected to the end of the end rack 663 through a driving rod 664, and the end top block 661 can rotate by driving the driving air cylinder 665 to drive the driving rod 664 to perform axial motion. When the installation is actually carried out, the number and the sequence of the earrings which can be assembled can be correspondingly changed by changing the installation plates on the corresponding sliding tables, so that the first assembly unit 610 can meet the assembly requirements of different wrists 640, and the top of each installation plate is provided with a corresponding profiling block structure. Of course, it is also possible to arrange a second assembly unit 650, or a similar third assembly unit, fourth assembly unit, etc. side by side with the first assembly unit 610 as shown in the preferred embodiment of the present invention.

In the second assembling unit 650, the configuration thereof provided on the holder 690 is largely different from that of the first assembling unit 610 in the number of the profile blocks provided on the top of the mounting plates 657 on the respective slide tables thereof (i.e., the fourth slide table 651, the fifth slide table 652, and the sixth slide table 653) and the order of arrangement of the profile blocks in the axial direction of the holder 690. Therefore, the number and the arrangement sequence of the earrings which can be sleeved on the periphery of the wrist arm 640 can be adjusted, and the assembly requirements of the corresponding type of wrist arm can be met. In a preferred embodiment, the sliding table of the first assembling unit 610 sequentially includes two first ear rings 620 disposed on the first sliding table 611, one first ear ring 620 disposed on the second sliding table 612, and one second ear ring 630 disposed on the third sliding table 613. Accordingly, the slide table of the second assembling unit 650 includes a first ear ring 620 provided on the sixth slide table 653 and a second ear ring 630 provided on the fifth slide table 652, and the mounting plate of the fourth slide table 651 is provided with an end clamp 659 for clamping the wrist arm 640 passing through the end clamp 659.

Through the corresponding arrangement of the first assembling unit 610 and the second assembling unit 650, the automatic assembling of the pipe ear ring on the contact system cantilever can be realized, and in the preferred embodiment, the first assembling unit 610 is taken as an example, and the assembling process is as follows: (1) installing a first earring 620 and a second earring 630 to be assembled on the contour block on the corresponding sliding table mounting plate and fixing the same, so that the middle through holes of the earrings are coaxial respectively; meanwhile, each sliding table is controlled to slide to one side far away from the clamping assembly; (2) opening the pressing wheel 618 on each sliding table to enable the pressing wheel 618 to be in a non-working position, namely enabling the pressing wheel 618 to be far away from the position right above the position between the two supporting wheels 619; (3) the end part of the wrist arm 640 which is subjected to cutting processing is placed between the end part pressing block 660 and the bottom supporting block of the clamping component, and through the lifting control of the bottom supporting block, one end of the wrist arm 640 can be pressed, and the other end of the wrist arm 640 is supported and placed on a group of supporting wheels 619 close to one side of the clamping component (namely, on the two supporting wheels 619 on the first sliding table 611); at this time, the wrist 640 is coaxial with the axis of each earring; (4) controlling the first driving unit 614 on the first sliding table 611 to start to operate until each ear ring on the first sliding table 611 moves to a corresponding position, and then controlling the pressing wheel 618 on the first sliding table 611 to press the wrist arm 640; (5) controlling the first driving unit 614 on the second sliding table 612 to start to operate until each ear ring on the second sliding table 612 moves to a corresponding position, and then controlling the pressing wheel 618 on the second sliding table 612 to press the wrist arm 640; (6) controlling the first driving unit 614 on the third sliding table 613 to start operating until each ear ring on the third sliding table 613 moves to a corresponding position, and then controlling the pressing wheel 618 on the third sliding table 613 to press the wrist arm 640; (7) locking each tubular earring in a corresponding position on the wrist 640 by a robotic arm or other means; (8) opening the end pressing block 660, releasing the clamping of the end pressing block 660 and the bottom supporting block on the wrist 640, controlling each sliding table to move away from the clamping assembly for a certain distance at the same time, enabling the end of the wrist 640 to be far away from the clamping assembly, opening each pressing wheel, and blanking the assembled wrist 640 in a mechanical grabbing arm or manual grabbing mode; (9) when the assembled cantilever 640 needs to be subjected to annular rotation processing, after the cantilever 640 is coaxial with the middle through hole of the end top block 661, the axial movement of the cantilever 640 is controlled (the axial movement of the cantilever 640 can be completed by a mechanical arm or manually, or can be completed by driving a corresponding sliding table after a corresponding pressing wheel 618 presses the cantilever 640), so that the end of the cantilever 640 is embedded into a groove in the middle of the end top block 661, and the end of the cantilever 640 is locked by the end top block 661; (10) controlling the driving cylinder 665 to drive the driving rod 664 to move, so that the end rack 663 drives the end gear 662 to move, the wrist arm 640 rotates to a corresponding angle, locking adjustment and subsequent treatment of corresponding earrings are completed, and each earring is ensured to be located at a corresponding position after being machined; (11) after the above processing is completed, the locking of each component to the wrist 640 is released, and the assembled wrist 640 is transferred to the next station by means of manual work and mechanical arms.

The processing procedure of the second assembling unit 650 in the preferred embodiment of the present invention is similar to the above-mentioned procedure, and the difference between the two procedures is mainly the number and the sequence of the earrings, which are not described herein again.

The earring buffer loading device 700 of the contact net cantilever comprises a frame 701 and a buffer component. The rack is matched with the cache assembly to support the cache assembly; the buffer assembly comprises at least one buffer unit, and the buffer unit is used for buffering at least one group of ear ring pieces of the same type or at least one group of ear ring pieces of different types and feeding the ear ring pieces one by one. In a preferred embodiment, the natural sliding direction of the ear ring member in fig. 18 (i.e. the feeding direction, i.e. the obliquely downward direction as shown in fig. 19) is taken as the longitudinal direction, and the horizontal direction perpendicular to the longitudinal direction is taken as the transverse direction.

Specifically, in the preferred embodiment of the rack 701 as shown in fig. 18 and 19, the rack 701 has a rectangular frame structure, and the four corners of the frame structure are provided with pillars at the bottom.

Further, the buffer assembly is disposed on the rack 701, and the buffer assembly includes a buffer support 702 and a plurality of buffer units disposed on the buffer support 702. Specifically, the buffer bracket 702 in the preferred embodiment includes two first cross beams disposed along the transverse direction, a pair of longitudinal beams disposed along the longitudinal direction is preferably disposed between the two first cross beams, the two longitudinal beams are disposed at intervals in the transverse direction, and two ends of the longitudinal beam are respectively fixedly connected to two ends of the first cross beam, so that the two first cross beams and the two longitudinal beams form a frame structure. Preferably, a plurality of longitudinal beams arranged at intervals along the transverse direction are arranged between the two longitudinal beams.

In addition, a pair of second cross beams is further arranged above the plane where the two first cross beams are located, the two second cross beams are arranged at intervals in the longitudinal direction, and two ends of the second cross beams are connected with the end portions of the pillars arranged on the longitudinal beams on two sides of the cache support 702.

Further, the lifting mechanism is arranged on the corresponding part of the cache support 702 or on all the first cross beams, and the lifting mechanism can be used for adjusting the vertical height of the first cross beams so as to adjust the positions of the feed inlet and the discharge outlet of the cache unit and adjust the feeding rate of the middle ear ring piece of the cache unit.

Two ends of the first cross beam positioned at the feed inlet of the buffer unit are provided with lifting mechanisms which can adjust the feed rate of the feed inlet of the buffer unit and the feed rate of the lug piece of the buffer unit, and correspondingly, a support with a rotating mechanism is also arranged between the other first cross beam and the rack 701, and the included angle formed by two contact surfaces of the support is adjusted to adapt to the angle formed by the contact surfaces of the longitudinal beam and the rack.

For example, in a preferred embodiment, the ear ring members to be cushioned include a first ear ring member 708 and a second ear ring member 709. Wherein, the lower part of the first ear ring piece 708 is a bottom ring in a thin ring shape, and the upper part thereof is a connecting body with a wider structure; the second ear ring member 709 is composed of a connecting portion and a collar. Accordingly, the cache unit in the preferred embodiment includes a first cache unit and a second cache unit as shown in fig. 18.

Specifically, the first buffer unit is used for buffering the first ear-ring member 708 and comprises a first guide rod 706, a second guide rod 707, a first blocking unit 703 and a limiting unit 705. The first guide rods 706 in the preferred embodiment are two transversely spaced apart parallel rods, and the first guide rods 706 are spaced apart a distance to form a gap for the bottom ring to pass through. The first ear ring member 708 can be inserted into the gap between the two first guide rods 706 by its bottom ring, and is abutted and limited on the top surfaces of the two first guide rods 706 by the connecting body.

Further, the second guide rod 707 is disposed corresponding to the first ear-ring component 708 that is disposed on the two first guide rods 706 to achieve a limiting effect, and is disposed above a plane where the two first guide rods 706 are located along the longitudinal direction, so that the connecting body can be clamped between the first guide rods 706 and the second guide rod 707 to prevent the first ear-ring component 708 from jumping in the vertical direction.

Accordingly, the limiting unit 705 in the preferred embodiment is disposed at an end of the first guiding rod 706, specifically, at an end of the discharging hole with a lower horizontal height, and includes a limiting block capable of being displaced, and the limiting block can close or release an end of a gap between the two first guiding rods 706 through displacement control. For example, in a preferred embodiment, the limiting unit 705 is an air cylinder, and includes a cylinder body and a telescopic rod capable of performing reciprocating expansion, the limiting block is disposed at an end of the telescopic rod, and the position of the limiting block can be correspondingly adjusted by controlling the expansion of the telescopic rod.

Further, the first blocking unit 703 is disposed at one side of the limiting unit 705, and a single material taking station of the first ear ring member 708 is formed on the first guide rod 706 therebetween. Preferably, the first barrier units 703 are at least two spaced apart in the longitudinal direction, and the distance between two adjacent first barrier units 703 just corresponds to the distance between two adjacent first ear ring members 708.

The second buffer unit is similar to the first buffer unit in arrangement form, and the greatest difference is that the second guide rod is arranged and the blocking unit is arranged. I.e. the second buffer unit still comprises two first guiding rods 706 arranged at intervals, and the ends of the first guiding rods 706 are provided with limiting units, so that the collar can be inserted with the bottom between the two first guiding rods 706 when the axis is arranged along the longitudinal direction. Meanwhile, the second guide rod 707 of the second buffer unit is disposed corresponding to the connecting portion, which is preferably disposed above one first guide rod 706, so that after the lantern ring is disposed correspondingly, the connecting portion can correspondingly extend into the space between the first guide rod 706 and the second guide rod 707, thereby realizing the limit of the connecting portion and avoiding the rotation and the jumping of the second ear ring member 709 on the buffer unit.

Further, the second blocking unit 704 is disposed at one side of the limiting unit 705, and a single material taking station of the second ear ring member 709 is formed on the first guide rod 706 therebetween. Preferably, the second barrier units 704 are longitudinally spaced apart by at least one third barrier unit 710, and the distance between two adjacent barrier units corresponds to the distance between two adjacent first ear ring members 708.

The second blocking unit 704 and the third blocking unit 710 are disposed below the guide rails, an L-shaped baffle is disposed at an end of a telescopic rod of the second blocking unit 704, a vertical plate of the L-shaped baffle can penetrate through a gap between the guide rails and is matched with an end face of the lantern ring to block displacement of the second ear ring member 709, and the third blocking unit 710 extends through a hole of the second ear ring member 709 through the telescopic rod and completes position fixing of the second ear ring member 709 together with the second guide rod 707.

In addition, the form of the third barrier unit 710 is not limited to this, the third barrier unit 710 is arranged on the corresponding side of the connecting part of the second ear-ring member 709, the end part of the telescopic rod of the third barrier unit is provided with a wedge-shaped barrier block, and the limit barrier and the contact barrier of the second ear-ring member 709 are realized through the reciprocating motion of the telescopic rod of the third barrier unit; the end of the telescopic rod of the third blocking unit 710 in the preferred embodiment may be provided with a baffle plate matched with the side of the connecting portion, so as to block the connecting portion and further complete the blocking of the second ear-ring member 709. The third barrier unit 710 has various structures and arrangements, and will not be described herein.

The first guide rod 706 is connected with the longitudinal beam through an L-shaped connecting plate, and two ends of the second guide rod 707 are respectively fixed below the two second cross beams. The outer surface of the guide rod is smooth, so that the ear ring piece can be conveniently displaced on the buffer unit.

With the above preferred arrangement, the device shown in fig. 18 and 19 can be obtained to realize the buffering workpiece-loading processes of different types of ear ring pieces, which are as follows: (1) adjusting a lifting mechanism of the first cross beam to enable the feed port to be in a proper position; (2) sequentially feeding the earring pieces to be stored into the guide rail from the feed inlet of the buffer unit, and enabling the earring pieces to slide downwards until the earring pieces are blocked by the blocking unit; (3) when the buffer unit is a first buffer unit, one first blocking unit is used for blocking the whole ear ring piece sequence, and after the ear ring pieces are filled, the telescopic rod of the other first blocking unit extends out to block the subsequent ear ring pieces; when the buffer unit is located at the second buffer unit, the second blocking unit is used for blocking the whole ear ring piece sequence, after the ear ring pieces are completely filled, the telescopic rod of the third blocking unit extends out, the telescopic rod penetrates through the hanging ring hole of the second ear ring piece and fixes the second ear ring piece together with the guide rail and the second guide rod so as to block the subsequent ear ring pieces; (4) the telescopic rods of the blocking units close to the limiting units shrink, and the ear ring pieces between the blocking units slide down to the material taking station; (5) the telescopic rods of the blocking units extend and reset, and the telescopic rod of the other blocking unit contracts, so that the ear ring piece caching sequence glides and moves one ear ring piece body position; (6) the robot grabs the ear ring piece, and the material taking station is vacated; (7) operations (3) to (6) are repeated.

When the intelligent production of the cantilever is carried out, certain manual operation can be assisted, most of the operation is finished automatically, particularly, the robot device 500 is assisted with a visual identification technology, and the robot device 500 can take materials, discharge materials, screw down and the like.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a high-speed railway contact net cantilever intelligent production line assembly system which characterized in that, includes pipe fitting cutting device, robot device, earring buffer memory loading attachment and pipe fitting earring assembly quality, wherein:

2. The intelligent production line assembly system for the cantilever of the high-speed railway contact line as claimed in claim 1, wherein the pipe cutting device comprises a pipe buffering unit, an automatic pipe feeding unit, a pipe transmission unit and a pipe cutting unit which are sequentially arranged along a transmission line of the pipe, and further comprises:

3. The intelligent production line assembly system for the cantilever of the high-speed railway contact line as claimed in claim 2, wherein the automatic pipe-feeding unit comprises an end pipe-blocking device and a lower pipe-feeding device, the end pipe-blocking device is used for allowing the head pipe to roll down and blocking the subsequent pipe from rolling down, and the lower pipe-feeding device is used for pushing the head pipe onto the supporting roller.

4. The assembly system of the intelligent production line of the cantilever of the high-speed railway contact network of claim 3, wherein the end pipe blocking device comprises a blocking plate and a blocking device;

5. The assembling system for the intelligent production line of the cantilever of the high-speed railway contact line according to claim 1, wherein the earring buffer loading device comprises a rack and a buffer component;

6. The assembling system of the intelligent production line of the cantilever of the high-speed railway contact network as claimed in claim 1, wherein the robot device comprises a workbench, at least one sliding table unit is arranged on the workbench, and the sliding table unit can slide along guide rails arranged on two sides;

7. The assembling system for the intelligent production line of the high-speed railway contact network cantilever as claimed in claim 1, wherein the pipe fitting earring assembling device comprises at least one assembling unit, and the assembling unit comprises a bracket, a sliding support component and a clamping component;

8. The assembling system for the intelligent production line of the high-speed railway contact network cantilever as claimed in claim 7, wherein the pipe fitting earring assembling device comprises a clamping unit;

9. The assembling system for the intelligent production line of the cantilever of the high-speed railway contact line according to claim 7, wherein the clamping component of the pipe fitting earring assembling device further comprises a rotating unit;

10. The assembling system for the intelligent production line of the cantilever of the high-speed railway contact line as claimed in claim 7, wherein the pipe fitting earring assembling device further comprises a sliding table provided with an end clamp, the end clamp is arranged on the corresponding mounting plate, and a through hole along the axial direction of the bracket is formed in the middle of the end clamp and used for the cantilever to pass through and clamp the cantilever.