CN114147441B

CN114147441B - Production device for simplified oblique cantilever

Info

Publication number: CN114147441B
Application number: CN202111350823.3A
Authority: CN
Inventors: 林云志; 李育冰; 刘洪生; 胡闯; 安小旭; 陈瑞峰; 王辉; 苗建美; 李�浩; 李志军; 陈晓
Original assignee: China Railway Electrification Engineering Group Co Ltd; Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
Current assignee: China Railway Electrification Engineering Group Co Ltd; Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-09-23
Anticipated expiration: 2041-11-15
Also published as: WO2023082489A1; CN114147441A

Abstract

The invention relates to a production device of a simplified oblique cantilever, which comprises: the pushing unit is used for clamping and pushing the inclined cantilever pipe; the fastening unit is used for clamping and fastening the inclined cantilever pipe when the inclined cantilever pipe is assembled with the aluminum alloy support connector and the aluminum alloy positioning ring; the connector gripper is used for gripping the aluminum alloy support connector and continuously supplying supplementary materials; the positioning ring gripper is used for gripping the aluminum alloy positioning ring and continuously supplying supplementary materials; the connector caching frame is used for storing an aluminum alloy supporting connector and continuously supplying supplementary materials to the connector gripper; the positioning ring caching frame is used for storing the aluminum alloy positioning ring and continuously supplying the material to the positioning ring gripper. The invention can realize the automatic assembly production of the inclined cantilever pipe, the aluminum alloy support connector and the aluminum alloy positioning ring, thereby improving the automation degree in the inclined cantilever production process.

Description

Production device for simplified oblique cantilever

Technical Field

The invention relates to the field of production of a simplified oblique cantilever of a contact network, in particular to a production device of the simplified oblique cantilever.

Background

With the rapid development of railway construction in China, new requirements are put forward on the process quality standards of related parts in the railway industry, and the requirements on construction and maintenance accuracy of a driving line are higher and higher. In a railway train line, a contact network is an important component for ensuring the normal operation of a railway, is lapped on an electric railway power supply line, and directly undertakes the primary task of conveying energy for an electric train. The cantilever is a contact net supporting device, and the cantilever pre-assembly is an important content in the construction of the electrified railway. The requirement of high-speed railways on the installation precision of contact nets is extremely high, most parts of high-speed railway contact net engineering cannot be repeatedly disassembled and assembled, after accurate calculation, a cantilever supporting device must be accurately assembled in place at one time, the cantilever supporting device is limited by conditions such as on-site high altitude and the like, a mode of prefabricating in batches on the ground in advance needs to be adopted, the quality of one-time construction in the whole contact suspension is good, and the quality, the progress and the construction efficiency of subsequent construction are directly influenced. The inclined wrist arm comprises an inclined wrist arm tube A, an aluminum alloy support connector B and an aluminum alloy positioning ring C, wherein the aluminum alloy support connector B and the aluminum alloy positioning ring C are sleeved on the inclined wrist arm tube A. As shown in fig. 13, the oblique carpal arm tube a includes an arm tube body a1, a connecting lug a2 at one end of the arm tube body a1, and a round boss A3. As shown in fig. 14, the aluminum alloy support connector B includes an upper connecting portion aB1, a left hinge portion aB2, and a right screw portion aB3, and the upper connecting portion aB1 includes a lug connecting hole aB11 and a lug groove aB 12. As shown in fig. 15, aluminum alloy positioning ring C includes upper connection bC1, left hinge bC2, right thread connection bC3 and lower connection C4, upper connection bC1 including lug connection aperture bC11 and lug groove bC 12. The processing and assembling production process of the inclined cantilever comprises the steps of selecting and feeding materials, pushing the materials to a processing area, mechanically processing, returning the materials to an assembly area, pushing the materials to assemble and the like. The inclined cantilever is in a long pipe shape, so that the inclined cantilever needs to be pushed to a preset position in the pushing and assembling process, the inclined cantilever is sleeved with the aluminum alloy support connector and the aluminum alloy positioning ring in the pushing and assembling process, and finally the inclined cantilever is assembled after the inclined cantilever is screwed by the screwing device. There is not the automated production device to the equipment of oblique cantilever among the prior art, oblique cantilever pipe A's centre gripping propelling movement and with aluminum alloy support connector B, aluminum alloy holding ring C's assembly mostly be artifical manual completion, this inefficiency that has led to oblique cantilever production process, and the assembled position is difficult to accurate control to can't satisfy the automated production requirement of oblique cantilever.

In view of the above, the invention provides a simplified oblique cantilever production device, which clamps an oblique cantilever pipe by using a clamping device with a special structure and pushes the tube by using a pushing unit, and also provides a connector buffer frame, a gripper, a positioning ring buffer frame, a gripper, a fastening unit, a screwing device and other parts which are required in the screwing process and have special structures, so that the technical problems of low efficiency and inaccurate positioning in the manual production of the oblique cantilever in the prior art are solved, and the automation degree in the assembly process of the oblique cantilever is further improved.

Disclosure of Invention

The invention aims to provide a simplified inclined cantilever production device to solve the defects in the prior art, and the technical problem to be solved by the invention is realized by the following technical scheme.

In a simplified oblique wrist arm manufacturing apparatus, the improvement comprising: the pushing unit is used for clamping and pushing the inclined cantilever pipe; the fastening unit is used for clamping and fastening the inclined cantilever pipe when the inclined cantilever pipe is assembled with the aluminum alloy support connector and the aluminum alloy positioning ring; a connector gripper for gripping the aluminum alloy support connector and continuously supplying a topping material; the positioning ring gripper is used for gripping the aluminum alloy positioning ring and continuously supplying supplementary materials; the connector caching frame is used for storing an aluminum alloy supporting connector and continuously supplying supplementary materials to the connector gripper; the positioning ring caching frame is used for storing the aluminum alloy positioning ring and continuously supplying supplementary materials to the positioning ring gripper; the feeding gripper moves along the truss to grab the inclined wrist arm pipe and then continues to move to the pushing unit, meanwhile, the connector gripper and the locating ring gripper respectively grab the aluminum alloy supporting connector and the aluminum alloy locating ring which are located on the connector caching frame and the locating ring caching frame and move to preset positions along the truss, the pushing unit clamps and pushes the inclined wrist arm pipe to move so that the inclined wrist arm pipe penetrates through the aluminum alloy supporting connector and the aluminum alloy locating ring, the fastening unit clamps the inclined wrist arm pipe tightly, the screwing device screws the aluminum alloy supporting connector tightly and withdraws, the fastening unit loosens the inclined wrist arm pipe, the pushing unit drives the inclined wrist arm pipe to rotate 180 degrees, the fastening unit clamps the inclined wrist arm pipe tightly, the pushing unit loosens the inclined wrist arm pipe tightly, the screwing device screws the aluminum alloy locating ring tightly and withdraws, and the fastening unit loosens the inclined wrist arm pipe tightly, so that the production of the inclined wrist arm is completed.

The clamping device with the special structure is arranged for clamping the inclined cantilever tube and pushing the inclined cantilever tube through the pushing unit, and meanwhile, the connector buffer frame and the gripper, the positioning ring buffer frame and the gripper with the special structure, and the fastening unit, the screwing device and other parts required in the screwing process are arranged, so that the automatic assembly production of the inclined cantilever tube, the aluminum alloy support connector and the aluminum alloy positioning ring is realized, and the automation degree in the inclined cantilever production process is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of a pushing unit according to the present invention;

FIG. 3 is a schematic view of the structure of the driving device and the supporting base plate according to the present invention;

FIG. 4 is a schematic view of a clamping device according to the present invention;

FIG. 5 is a schematic top view of the clamping device of the present invention;

FIG. 6 is a schematic structural view of a support frame a according to the present invention;

FIG. 7 is a schematic view of the structure of the fastening unit of the present invention;

FIG. 8 is a schematic diagram of the construction of the connector finger of the present invention;

FIG. 9 is a schematic view of another angled configuration of the connector finger of the present invention;

FIG. 10 is a schematic diagram of a connector buffer rack according to the present invention;

FIG. 11 is a schematic view of the structure of the storage table of the present invention;

FIG. 12 is a schematic view of another angle of the storage platform of the present invention;

FIG. 13 is a schematic structural view of the wrist tube according to the present invention;

FIG. 14 is a schematic structural view of an aluminum alloy support connector according to the present invention;

FIG. 15 is a schematic structural view of an aluminum alloy retaining ring according to the present invention;

the reference numbers in the drawings are, in order: 01. a pushing unit, 11, a clamping device, 111, support columns a, 112, a first connecting piece, 113, first cylinders a, 1131, cylinder angle adjusting screws a, 114, rotating pieces a, 115, a second connecting piece, 116, second cylinders a, 1161, air inlet and outlet connecting pieces a, 117, a third connecting piece, 118, a fourth connecting piece, 1181, a T-shaped horizontal part, 1182, a T-shaped vertical part, 119, a fifth connecting piece, 1191, a first connecting part, 1192, a second connecting part, 1193, a third connecting part, 1110, a clamping block, 11101, an arc surface part, 11102, a rectangular groove, 11103, a circular groove, 1111, 12, a support frame a, 121, a support frame body, 1211, a support connecting plate, 122, a lifting cylinder, 1221, an air cylinder telescopic rod, 123, a connecting platen, 1231, a U-shaped connecting frame a, 124, a riding wheel a, 13, a driving device, 131, a driving device body, 132, a driving bottom plate, 133. a driving pressure plate, 14, a supporting base plate, 141, an anti-collision block, 142, a proximity switch, 143, a detection sensor, 02, a fastening unit, 21, a supporting column b, 221, a riding wheel b, 222, an upper pressure block, 223, a first cylinder b, 224, a mounting plate, 225, a U-shaped connecting frame b, 226, a mounting block, 227, a connecting block, 231, a second cylinder b, 232, a first bedplate, 233, a sliding plate, 234, a sliding rail, 235, a third cylinder, 236, a second bedplate, 237, a mounting seat, 238, a solenoid valve, 03, a connector gripper, 31, a first connecting plate, 32, a first cylinder c, 321, a cylinder angle adjusting screw b, 33, a rotating piece b, 34, a second connecting plate, 35, a third connecting plate, 36, a second cylinder c, 361, a push-pull rod c, 362, an air inlet and outlet connecting piece b, 37, a first clamping plate, 38, a fourth connecting plate 381, a clamping lug, 39, a second clamping plate, 391. clamping convex columns, 310, clamping plates, 311, guide plates, 3111, guide chamfers, 04, positioning ring grippers, 05, connector buffer racks, 51, support frames B, 52, drive motors, 53, drive turntables, 531, turntable pallets, 532, pallet pressing sheets, 54, connector storage racks, 541, storage tables, 542, clamping plates, 543, connecting vertical plates, 544, connecting bottom plates, 545, limiting plates, 5451, first L-shaped plates, 5452, second L-shaped plates, 5453, strip-shaped holes, 5454, magnetic blocks, 55, pre-installed detection pieces, 551, detection clamping strips, 56, detection supports, 561, sensor connecting pieces, 57, proximity switches, 06, positioning ring buffer racks, 07, screwing devices, 08, loading grippers, 09, trusses, A, oblique wrist arm tubes, A1, arm tube bodies, A2, connecting lugs, A3, round convex points, B, aluminum alloy support connectors, B1 and upper connecting parts a, b11, lug connecting holes a and B12, lug grooves a and B2, a left hinge part a, B3, a right screwed part a, C and an aluminum alloy positioning ring, C1, an upper connecting part B, C11, a lug connecting hole B, C12, a lug groove B, C2, a left hinge part B, C3, a right screwed part B, C4 and a lower connecting part.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Example 1:

referring to fig. 1 to 15, a simplified oblique wrist arm manufacturing apparatus is improved by including: the pushing unit 01 is used for clamping and pushing the inclined cantilever tube A; the fastening unit 02 is used for clamping and fastening the inclined wrist arm pipe A when the inclined wrist arm pipe A, the aluminum alloy support connector B and the aluminum alloy positioning ring C are assembled; the connector gripper 03 is used for gripping the aluminum alloy support connector B and continuously supplying supplementary materials; the positioning ring gripper 04 is used for gripping the aluminum alloy positioning ring C and continuously supplying supplementary materials; the connector buffer rack 05 is used for storing the aluminum alloy supporting connector B and continuously supplying supplementary materials to the connector gripper 03; the positioning ring caching frame 06 is used for storing an aluminum alloy positioning ring C and continuously supplying supplementary materials to the positioning ring gripper 04; the feeding gripper 08 moves along the truss 09 to grab the inclined cantilever tube A and then moves to the pushing unit 01, meanwhile, the connector gripper 03 and the positioning ring gripper 04 grab the aluminum alloy support connector B and the aluminum alloy positioning ring C which are positioned on the connector cache frame 05 and the positioning ring cache frame 06 respectively and move to preset positions along the truss 09, the pushing unit 01 clamps and pushes the inclined cantilever tube A to move so that the inclined cantilever tube A penetrates through the aluminum alloy support connector B and the aluminum alloy positioning ring C, the fastening unit 02 clamps the inclined cantilever tube A, the screwing device 07 screws the aluminum alloy support connector B and withdraws, the fastening unit 02 loosens the inclined cantilever tube A, the pushing unit 01 drives the inclined cantilever tube A to rotate 180 degrees, the fastening unit 02 clamps the inclined cantilever tube A and simultaneously pushes the unit 01 loosens the inclined cantilever tube A, the screwing device 07 screws the aluminum alloy positioning ring C and withdraws, the fastening unit 02 looses the inclined cantilever tube A, thereby completing the production of the oblique wrist arm.

According to the embodiment, the inclined cantilever pipe is clamped and pushed through the pushing unit through the clamping device with the special structure, the connector buffer frame and the gripper, the positioning ring buffer frame and the gripper with the special structure are arranged, the fastening unit required in the tightening process is screwed, parts such as the screwing device are screwed, and therefore automatic assembly production of the inclined cantilever pipe, the aluminum alloy supporting connector and the aluminum alloy positioning ring is achieved, and the automation degree in the inclined cantilever production process is improved.

Example 2:

on the basis of embodiment 1, referring to fig. 2 to 6, the pushing unit 01 includes a supporting base plate 14, a driving device 13 slidably disposed on the supporting base plate 14, and a clamping device 11 fixedly connected to the driving device 13 and driven by the driving device 13 to move along the supporting base plate 14, wherein a plurality of supporting frames a12 for supporting the oblique cantilever a are disposed on a side of the supporting base plate 14; the clamping device 11 is provided with a clamping gripper, the end part of the clamping gripper is provided with a clamping block 1110, the opposite surface of the clamping block 1110 is an arc surface part 11101, the arc surface part 11101 is provided with a groove part, the arc surface part 11101 is matched with the arm tube body A1 and can clamp the arm tube body A1 between the two clamping blocks 1110, and the groove part is matched with the round convex point A3 and can contain the round convex point A3; the upper end of the supporting frame a12 is provided with a lifting platform, the lifting platform supports the inclined cantilever tube A when the driving device 13 drives the clamping device 11 to move, and when the clamping device 11 is close to the supporting frame a12, the lifting platform descends to avoid the clamping device 11.

In this embodiment, the supporting base plate 14 plays a supporting role for the driving device 13 and the clamping device 11 and provides a sliding track for the driving device 13 and the clamping device 11, the driving device 13 is used for driving the clamping device 11 to move along the supporting base plate 14, the clamping device 11 is used for clamping the oblique wrist arm tube a, the clamping hand and the clamping block 1110 are used for clamping the oblique wrist arm tube a, and the lifting platform is used for supporting the oblique wrist arm tube a, so that the levelness of the oblique wrist arm tube a when being pushed to advance is ensured, and the accuracy of the oblique wrist arm tube a when being assembled with the aluminum alloy supporting connector B and the aluminum alloy positioning ring C is further ensured. The arc 11101 of the clamping block 1110 is used for clamping the arm tube body A1, and the groove of the clamping block 1110 is used for accommodating the round convex point A3.

It should be noted that the lifting platform is provided because when the clamping device 11 moves, the lifting platform will obstruct the clamping hand of the clamping device 11, and therefore the downward movement of the lifting platform will avoid the clamping device 11. The reason why the lifting platform will obstruct the clamping device 11 is that when the supporting frame a12 supports the oblique wrist tube a, the upper end of the lifting platform crosses the lower end of the clamping hand grip, so that the long tube-shaped oblique wrist tube a can be effectively supported in the horizontal direction.

Further, the output end of the driving device 13 is provided with a gear, and the supporting bottom plate 14 is provided with a rack matched with the gear.

Furthermore, sliding rails are disposed on the supporting bottom plate 14, and sliding grooves matched with the sliding rails are disposed on the driving bottom plate 132 of the driving device 13.

Further, an anti-collision block 141 is provided at an end of the support base plate 14.

In this embodiment, by providing the anti-collision block 141, the driving device 13 can be prevented from being collided and damaged during the reset.

Further, a proximity switch 142 is disposed on a side portion of the support base 14 near an end portion, and a driving pressing piece 133 engaged with the proximity switch is disposed on the driving base 132 of the driving device 13.

In this embodiment, by providing the proximity switch 142 and the driving pressure piece 133, the initial position and the movement position of the driving device 13 and the holding device 11 can be accurately measured.

Further, a detection sensor 143 is disposed on an end portion of the driving base plate 132 of the driving device 13 near the clamping device 11.

Further, the detection sensor 143 is a diffuse reflection photoelectric sensor.

In this embodiment, the detection sensor 143 is configured to detect whether the support frame a12 exists on the movement path of the clamping device 11, when the support frame a12 exists in front of the clamping device 11, that is, the support frame a12 is about to interfere with the movement of the clamping device 11, the detection sensor 143 feeds back a signal, and the control device controls the lifting platform to move downward according to the signal, so as to complete the avoidance of the support frame a12 on the clamping device 11.

Further, referring to fig. 6, the supporting frame a12 includes a supporting member body 121, a lifting cylinder 122 disposed at an upper end of the supporting member body 121, and a lifting platform connected to a cylinder expansion link 1221 of the lifting cylinder 122, where the lifting platform includes a connection platform 123 connected to the cylinder expansion link 1221 and a supporting roller a124 disposed at an end of the connection platform 123, when the supporting frame a12 supports the oblique wrist arm tube a, the supporting roller a124 abuts against the oblique wrist arm tube a, and when the supporting frame a12 retracts the clamping device 11, the cylinder expansion link 1221 retracts to drive the supporting roller a124 to separate from the oblique wrist arm tube a.

Furthermore, a support connection plate 1211 is disposed at an upper end of the support frame body 121, and the lifting cylinder 122 is disposed on the support connection plate 1211.

Further, a U-shaped connecting frame a1231 is arranged on the connecting bedplate 123, and the riding wheel a124 is arranged on the U-shaped connecting frame a 1231.

In this embodiment, the supporting frame body 121 is used to support the components thereon, the lifting cylinder 122 and the cylinder expansion link 1221 are used to drive the lifting platform to move up and down, and the supporting roller a124 is used to support the oblique cantilever a. It should be noted that the reason why the lifting platform needs to be able to move up and down is that the clamping fingers of the clamping device 11 collide with the riding wheels a124 during the movement of the clamping device 11, so that when the clamping device 11 moves towards the supporting frame a12, the lifting platform descends to avoid the movement path of the clamping device 11.

Further, as shown in fig. 4 and 5, the clamping device 11 includes a supporting column a111 disposed on the driving bottom plate 132 of the driving device 13, a first air cylinder a113 disposed at an upper end of the supporting column a111, and a second air cylinder a116 rotatably connected to the first air cylinder a113, the clamping hand is connected to the second air cylinder a116, and the clamping hand is driven by the second air cylinder a116 to perform an opening and closing motion so as to loosen and clamp the wrist tube.

In this embodiment, the supporting column a111 is used for supporting the first cylinder a113 and a second cylinder a116 thereon, and the like, and the second cylinder a116 is used for driving the clamping hand to clamp and release the inclined cantilever pipe. In this embodiment, the first cylinder a113 is used to drive the second cylinder a116 and the clamping gripper disposed on the second cylinder a116 to rotate 180 °. It should be noted that the first air cylinder a113 needs to be provided, and the second air cylinder a116 and the clamping gripper are driven to rotate by the first air cylinder a113, because the vertical direction of the aluminum alloy positioning ring may be changed according to the design requirements when the aluminum alloy positioning ring is assembled with the oblique cantilever tube, that is, the vertical direction of the aluminum alloy positioning ring may be the same as the vertical direction of the aluminum alloy supporting connector, and may be opposite to the vertical direction of the aluminum alloy supporting connector. In order to ensure that the assembly direction of the aluminum alloy positioning ring and the inclined wrist arm tube is correct, the first air cylinder a113 drives the second air cylinder a116 to rotate for 180 degrees or not, and therefore the correct assembly direction of the aluminum alloy positioning ring after assembly is ensured.

Further, the first cylinder a113 and the supporting column a111 are connected through a first connecting piece 112, and the first connecting piece 112 is an L-shaped plate; further, a rib 1111 is disposed on the first connecting member 112.

In the present embodiment, the first connecting member 112 is provided for the purpose of facilitating connection, replacement, and maintenance between the first cylinder a113 and the supporting column a 111; the rib 1111 is disposed to enhance the supporting strength of the first connecting member 112.

Further, a cylinder angle adjusting screw a1131 is disposed on the first cylinder a 113. The angle of the first cylinder a113 can be adjusted by providing the cylinder angle adjusting screw a1131, thereby ensuring the accuracy of the rotation angle of the second cylinder a 116.

Further, the second cylinder a116 is connected to an air inlet and outlet connecting piece a1161, the air inlet and outlet connecting piece a1161 is disposed on the supporting pillar a111, and the air inlet and outlet connecting piece a1161 is an air inlet and outlet electromagnetic valve.

In this embodiment, the air inlet/outlet solenoid valve is used as the air inlet/outlet connection part a1161, and the clamping and releasing of the clamping gripper can be controlled by controlling the air inlet/outlet direction of the air inlet/outlet solenoid valve, so as to clamp and release the oblique cantilever tube a.

Further, a rotating part a114 is arranged on the first cylinder a113, and the second cylinder a116 is driven by the rotating part a114 to rotate 180 °.

Further, the second cylinder a116 is connected to the rotating part a114 through a second connecting part 115, the second connecting part 115 is an L-shaped plate, and a vertical part of the second connecting part 115 is connected to the rotating part a114 and the second cylinder a 116.

In this embodiment, the second connecting element 115 is provided to facilitate the connection, replacement and maintenance between the rotating element a114 and the second cylinder a 116; the horizontal portion of the second connecting member 115 may serve as a support for the second cylinder a116, thereby ensuring the levelness of the second cylinder a 116.

Further, the clamping gripper comprises a third connecting member 117 connected to the second cylinder a116, a fourth connecting member 118 slidably connected to the third connecting member 117 and driven by the second cylinder a116 to slide relative to the third connecting member 117, and a fifth connecting member 119 connected to the fourth connecting member 118, wherein the clamping block 1110 is disposed at an end of the fifth connecting member 119.

In this embodiment, the third connecting member 117 is used to connect with the second cylinder a116, and the fourth connecting member 118 is used to connect the third connecting member 117 and the fifth connecting member 119 and drive the fifth connecting member 119 to slide relative to the third connecting member 117. In the embodiment, the clamping hand is arranged into four parts, on one hand, in order to facilitate processing and production, the clamping hand is arranged into four split parts, and each part is easier to process; another aspect is to facilitate installation and replacement maintenance, and when a certain part is broken, only the part may be replaced.

Further, the fourth connecting member 118 is T-shaped, a T-shaped horizontal portion of the fourth connecting member 118 is matched with a sliding groove formed in the third connecting member 117, and a T-shaped vertical portion of the fourth connecting member 118 is connected to the fifth connecting member 119.

In this embodiment, the fourth connecting member 118 is configured to be T-shaped, and on one hand, the fourth connecting member 118 can be matched with the upper chute of the third connecting member 117 to provide a moving path for opening and closing the clamping gripper, and on the other hand, the connection, replacement and maintenance of the fifth connecting member 119 and the fourth connecting member 118 can be facilitated.

Further, the fifth connecting member 119 includes a first connecting portion 1191, a second connecting portion 1192, and a third connecting portion 1193, which are connected in sequence, and the first connecting portion 1191 and the third connecting portion 1193 are parallel to each other and are connected by the second connecting portion 1192.

In this embodiment, the first connection portion 1191 of the fifth connection member 119 is used to connect with the fourth connection member 118, the third connection portion 1193 is used to connect with the clamping block 1110, and the second connection portion 1192 is provided to provide a space for accommodating the connection lug a 2.

Further, the groove portion includes a rectangular groove 11102 and a circular groove 11103 which are connected in sequence, the rectangular groove 11102 is located at the end of the clamping block 1110, the rectangular groove 11102 can accommodate a part of the rounded convex point A3, and the circular groove 11103 can accommodate the whole of the rounded convex point A3.

In this embodiment, by providing the rectangular groove 11102 and the circular groove 11103 and limiting the sizes of the rectangular groove 11102 and the circular groove 11103, when the clamping gripper clamps the oblique wrist arm tube, the round protrusion A3 of the oblique wrist arm tube moves relatively along the rectangular groove 11102 to the second cylinder a116, and when the round protrusion A3 of the oblique wrist arm tube moves to the circular groove 11103, the second cylinder a116 drives the clamping gripper to clamp the oblique wrist arm tube. That is, the circular groove 11103 and the rectangular groove 11102 are provided to avoid the circular convex point a3 of the oblique wrist arm tube, so that the clamping block 1110 can smoothly clamp the oblique wrist arm tube.

Example 3:

on the basis of embodiment 1 or 2, referring to fig. 7, the fastening unit 02 includes a supporting column b21, a pressing device is installed at the upper end of the supporting column b21, the pressing device includes an installation plate 224, a supporting roller b221 which is located above the installation plate 224 and can rotate is installed on the installation plate 224, an upper pressing block 222 corresponding to the position of the supporting roller b221 is installed above the supporting roller b221, an oblique cantilever tube a is clamped between the supporting roller b221 and the upper pressing block 222, the upper pressing block 222 is installed at the output end of a first cylinder b223, the first cylinder b223 is vertically installed on the installation plate 224, the output end of the first cylinder b223 faces upwards, the output end of the first cylinder b223 moves downwards to drive the upper pressing block 222 to move downwards to press the oblique cantilever tube a onto the supporting roller b221, and the output end of the first cylinder b223 moves upwards to drive the upper pressing block 222 to move upwards to release the oblique cantilever tube a.

In this embodiment, when the wrist tube a is used, one end of the wrist tube a is clamped and fixed by the clamping device and moved to the assembly area under the driving of the traction device, at this time, the height of the supporting roller b221 on the supporting column b21 is matched with the height of the wrist tube a, the supporting roller b221 is in the shape of a roller with a middle concave part and two sides protruding, the size of the middle concave part is matched with the size of the arm tube body a1, the bottom of the wrist tube a moves above the supporting roller b221 in the moving process and is clamped in the middle concave part of the supporting roller b221, the first cylinder b223 is at the highest position of the stroke, the upper pressing block 222 does not press the wrist tube a downwards, the wrist tube a continues to move to the target position, the supporting roller b221 rotates along with the wrist tube a to reduce the friction force with the bottom of the wrist tube a, after the wrist tube a moves to the target position, the output end of the first cylinder b223 contracts to drive the upper pressing block 222 to move downwards until the wrist tube a presses the wrist tube b, go up the lower extreme of briquetting 222 and be the shape of falling V, cooperate with riding wheel b221 and can be better to oblique wrist arm pipe A fix a position, avoid its horizontal migration, the accessory equipment back that finishes, the output of first cylinder b223 stretches out, drives and goes up briquetting 222 and shift up, and then with oblique wrist arm pipe A release, be convenient for move oblique wrist arm pipe A to next station.

Further, a U-shaped connecting frame b225 is mounted on the mounting plate 224, and the riding wheel b221 is rotatably mounted in the U-shaped connecting frame b 225.

Further, a connecting block 227 is horizontally installed at the output end of the first cylinder b223, an installation block 226 is fixedly installed at one end of the connecting block 227, and the upper pressing block 222 is installed on the lower end surface of the installation block 226.

Further, a position adjusting device is arranged between the supporting column b21 and the pressing device and is used for adjusting the horizontal position and the height of the pressing device; the position adjusting device comprises a second air cylinder b231 horizontally arranged at the upper end of the supporting column b21, the output end of the second air cylinder b231 is connected with the pressing device, and the output end of the second air cylinder b231 moves horizontally to drive the pressing device to move along the horizontal direction so as to adjust the horizontal position of the pressing device.

Further, a first platen 232 is installed at the output end of the second cylinder b231, a sliding plate 233 is horizontally installed at one side of the first platen 232 facing the second cylinder b231, and the pressing device is installed on the upper surface of the sliding plate 233.

Further, a sliding groove is formed in the bottom surface of the sliding plate 233, and a sliding rail 234 matched with the sliding groove is mounted on the upper surface of the second cylinder b 231.

In this embodiment, the output end initial state of the second cylinder b231 is in the extended state so that the position of the pressing device is matched with the position of the inclined wrist arm pipe, preparation is made for pressing and fixing the inclined wrist arm pipe, the pressing device needs to avoid avoidance, and the second cylinder b231 contracts at this time to drive the pressing device to move towards the direction far away from the position of the inclined wrist arm pipe, so as to avoid interference with other parts. The sliding slot of the sliding plate 233 and the sliding rail 234 of the second cylinder b231 guide the movement of the pressing device, so that the pressing device can move more stably.

Further, the position adjusting device further comprises a lifting device arranged between the second cylinder b231 and the supporting column b 21; the lifting device comprises a third air cylinder 235 vertically arranged at the upper end of the supporting column b21, the output end of the third air cylinder 235 faces upwards, and the output end of the third air cylinder 235 is connected with the bottom surface of the second air cylinder b 231.

Further, an output end of the third cylinder 235 is mounted with a second platen 236, and the second cylinder b231 is mounted on an upper end surface of the second platen 236.

In this embodiment, during the use, the output of first cylinder b223 stretches out, drives briquetting 222 and shifts up in order to keep away from oblique wrist arm pipe, and the output shrink of third cylinder 235 drives second cylinder b231 and moves down, and then drives riding wheel b221 on the mounting panel 224 and moves down to make riding wheel b221 break away from oblique wrist arm pipe, then second cylinder b231 contracts, drives the whole translation of closing device, keeps away from oblique wrist arm pipe, in order to dodge draw gear, avoid interfering.

Further, the first cylinder b223, the second cylinder b231 and the third cylinder 235 are respectively communicated with an air supply device through electromagnetic valves. The solenoid valve is used for controlling the flow of the air flow so as to adjust the acting force of the air cylinder.

Further, a mounting seat 237 is installed at the upper end of the supporting column b21, and the third cylinder 235 is installed on one side surface of the mounting seat 237.

Furthermore, two solenoid valves 238 are installed on the supporting column b21, and the second cylinder b231 and the third cylinder 235 are respectively communicated with an air supply device through the two solenoid valves 238.

Example 4:

on the basis of any one of the above embodiments, referring to fig. 8 and 9, the connector gripper 03 includes a connector gripper body, the connector gripper body includes a first cylinder c32, a second cylinder c36 rotatably connected to the first cylinder c32, and a gripping gripper disposed at two ends of the second cylinder c36 and capable of moving toward and away from two end surfaces of the second cylinder c36, gripping grippers 391 are disposed at two sides of the second cylinder c36, the gripping gripper is provided with a gripping protrusion 391 adapted to a lug connecting hole aB11 of a connecting portion aB1 of the aluminum alloy support connector B, the gripping gripper is provided with a gripping protrusion 381 adapted to a lug groove aB12 of the connecting portion aB1 of the aluminum alloy support connector B, and a distance between the gripping grippers is matched to a front-back thickness of the aluminum alloy support connector B.

In this embodiment, the first air cylinder c32 is used to drive the second air cylinder c36 and the gripping gripper and the clamping gripper provided on the second air cylinder c36 to rotate 180 °. It should be noted that, the first air cylinder c32 is required to be arranged, and the second air cylinder c36 and the gripping and holding hand are driven to rotate by the first air cylinder c32, because the aluminum alloy support connector has specific requirements on the direction of the aluminum alloy support connector when being assembled with the oblique wrist tube. For example, referring to fig. 1, when the left hinge aB2 of the aluminum alloy support connector needs to be located on the left side of the arm tube body in the axial direction, the connector gripper 03 can assemble the aluminum alloy support connector with the wrist tube without rotating after gripping the aluminum alloy support connector; if the left hinge part aB2 of the aluminum alloy support connector needs to be located on the axial right side of the arm pipe body, after the connector gripper 03 grabs the aluminum alloy support connector, the first air cylinder c32 drives the second air cylinder c36 to rotate for 180 degrees so as to drive the grabbed aluminum alloy support connector to rotate for 180 degrees, and then the aluminum alloy support connector and the inclined wrist arm pipe are assembled.

In this embodiment, the second cylinder c36 drives the clamping hand to open and close, so that the clamping convex column 391 on the clamping hand grips the lug connecting hole aB11 of the aluminum alloy support connector, and the aluminum alloy support connector is gripped; the clamping hand is used for preventing the aluminum alloy support connector from moving in the thickness direction and simultaneously preventing the aluminum alloy support connector from rotating; the clamping projection 381 is used for positioning the aluminum alloy support connector, so that the vertical shafts of the aluminum alloy support connector and the connector gripper body are overlapped as much as possible, and the aluminum alloy support connector is prevented from shifting in the left-right direction.

Further, a cylinder angle adjusting screw b321 is arranged on the first cylinder c 32. In this embodiment, the angle of the first cylinder c32 can be adjusted by providing the cylinder angle adjusting screw b321, thereby ensuring the accuracy of the rotation angle of the second cylinder c 36.

Further, an air inlet and outlet connecting piece b362 is arranged on the second air cylinder c 36; further, the air inlet and outlet connection b362 is an air inlet and outlet solenoid valve. In this embodiment, choose for use business turn over gas solenoid valve as business turn over gas connecting piece b362, thereby can control the opening and the closure of getting the tongs in order to accomplish snatching and unloading to aluminum alloy support connector through the business turn over gas solenoid valve's business turn over gas direction of air.

Further, a first connection plate 31 is provided at an upper portion of the first cylinder c 32.

Furthermore, the lower part of the first cylinder c32 is provided with a rotating part b33, the rotating part b33 is connected with the second cylinder c36, the first cylinder c32 drives the rotating part b33 to rotate, and the rotating part b33 drives the second cylinder c36 to rotate by 180 degrees.

Furthermore, a second connecting plate 34 is arranged at the lower part of the rotating part b33, a third connecting plate 35 is arranged at the upper part of the second cylinder c36, and the rotating part b33 is fixedly connected with the second cylinder c36 through the second connecting plate 34 and the third connecting plate 35. In this embodiment, by providing the second connecting plate 34 and the third connecting plate 35, it is possible to facilitate connection and disconnection of the second cylinder c36 and the first cylinder c32, and to facilitate replacement and maintenance of the second cylinder c36 and the gripping hand thereon, and the gripping hand.

Further, the clamping hand comprises a first clamping plate 37 connected with a push-pull rod c361 of a second air cylinder c36, a second clamping plate 39 fixedly connected with the first clamping plate 37, clamping convex columns 391 matched with lug connecting holes aB11 of a connecting part aB1 on the aluminum alloy support connector are arranged on the opposite end faces of the two second clamping plates 39, the second air cylinder c36 drives the push-pull rod c361 to move in a telescopic mode, and the clamping hand is driven by the push-pull rod c361 to clamp and unload the aluminum alloy support connector through the clamping convex columns 391.

In this embodiment, the first clamping plate 37 is used to connect with the push-pull rod c361 of the second cylinder c36, the second clamping plate 39 is used to connect the first clamping plate 37 with the clamping convex column 391, and the clamping convex column 391 is used to clamp the aluminum alloy support connector. In the embodiment, the clamping gripper is arranged into three parts, on one hand, the clamping gripper is arranged into three split parts for convenience of processing and production, and each part is easier to process; on the other hand, for convenience of installation and replacement maintenance, for example, after the gripping convex column 391 is worn due to long-term use, only the gripping convex column 391 may be replaced.

Furthermore, the number of the push-pull rods c361 of the second cylinder c36 is four, the four push-pull rods c361 are distributed in a rectangular shape, and the first clamping plates 37 on the two sides of the second cylinder c36 are detachably and fixedly connected with the two push-pull rods c361 on the diagonal line of the rectangular shape.

In this embodiment, the four push-pull rods c361 of the second cylinder c36 are arranged in a rectangular distribution, and the first clamping plate 37 is connected with the two push-pull rods c361 on the diagonal line of the rectangle, because the two push-pull rods c361 can perform mutual limiting during the telescopic movement, thereby preventing the displacement of the aluminum alloy support connector to be clamped caused by the deflection of the clamping gripper.

Furthermore, an external thread is arranged at the end of the push-pull rod c361 close to the first clamping plate 37, a through hole is arranged at the joint of the push-pull rod c361 and the first clamping plate 37, a groove for accommodating a nut is arranged at the position of the through hole on the end surface of the first clamping plate 37 far away from the second cylinder c36, and the push-pull rod c361 passes through the through hole and is detachably and fixedly connected with the first clamping plate 37 through the nut.

Further, a through hole through which two push-pull rods c361 located on the other diagonal line of the rectangle pass is formed in the first clamping plate 37.

Furthermore, the second clamping plate 39 is L-shaped, the upper end of the vertical portion of the second clamping plate 39 is detachably and fixedly connected with the first clamping plate 37, the clamping convex columns 391 are arranged on the opposite end surfaces of the horizontal portions of the two second clamping plates 39, and the clamping convex columns 391 are detachably and fixedly connected with the second clamping plates 39.

In this embodiment, the second presss from both sides gets board 39 and sets up to L shape, makes things convenient for the second to press from both sides to get board 39 and first clamp and gets board 37, presss from both sides the connection of getting projection 391 and change each other on the one hand, and on the other hand, the horizontal part that the second pressed from both sides gets board 39 also can carry on spacingly to the aluminium alloy support connector of snatching, prevents that the aluminium alloy support connector from taking place the skew of left and right directions in the process of snatching.

Further, a clamping groove is formed in the lower end face of the first clamping plate 37, and the vertical portion of the second clamping plate 39 is clamped into the clamping groove and is detachably and fixedly connected with the first clamping plate 37 through a screw.

Further, the clamping gripper comprises a fourth connecting plate 38 connected to the lower portion of the second cylinder c36 and clamping plates 310 arranged at two ends of the fourth connecting plate 38, and arc-shaped grooves matched with the outer diameter of the arm pipe body A1 are formed in the clamping plates 310.

In this embodiment, the fourth connecting plate 38 is used to connect the second cylinder c36 and the clamping plate 310, so as to facilitate the installation, replacement and maintenance of the clamping plate 310; the holding plate 310 is used to prevent displacement of the aluminum alloy support connector in the thickness direction while preventing rotation of the aluminum alloy support connector.

Further, a holding projection 381 which fits into a lug groove aB12 of an aluminum alloy support connector upper connecting portion aB1 is provided on a lower surface of the fourth connecting plate 38.

Further, the surfaces of the two clamping plates 310 opposite to each other are provided with guide plates 311, the guide plates 311 are provided with arc-shaped grooves matched with the outer diameter of the arm tube body a1, and the arc-shaped grooves are provided with guide chamfers 3111.

In this embodiment, through setting up guide plate 311 and guide chamfer 3111, can make things convenient for the equipment of oblique cantilever pipe and aluminum alloy support connector, thereby can also prevent to take place to collide with, scrape in oblique cantilever pipe and the aluminum alloy support connector assembling process simultaneously and lead to oblique cantilever pipe tip and/or surface to appear colliding with mark and/or mar. The reason why the knocking marks and scratches on the end face and the surface of the inclined wrist arm tube are avoided is that the surface of the arm tube body is required to be smooth in the inclined wrist arm product standard, and once the knocking marks and scratches appear, the whole inclined wrist arm cannot be used and can only be scrapped.

Further, the positioning ring grip 04 and the connector grip 03 have the same structure. In the present embodiment, the positioning ring gripper 04 and the connector gripper 03 have the same structure, because the upper, left, and right structures of the aluminum alloy positioning ring C are the same as the upper, left, and right structures of the aluminum alloy supporting connector B, and thus the grippers of the two are also the same.

Example 5:

on the basis of any one of the foregoing embodiments, referring to fig. 10 to 12, the connector buffer rack 05 includes a support frame b51, a driving turntable 53 is disposed on the support frame b51, the driving turntable 53 is connected to a driving motor 52 disposed on the support frame b51, a connector storage rack 54 is disposed on the driving turntable 53, a storage table 541 is disposed on the connector storage rack 54, and the storage table 541 is used for hanging an aluminum alloy support connector; the storage table 541 comprises an arc surface part and a plane part connected with the arc surface part, and the arc surface part of the storage table 541 is matched with the inner peripheral surface of the aluminum alloy support connector; the driving motor 52 drives the driving turntable 53 to rotate, the driving turntable 53 drives the connector storage rack 54 on the driving turntable 53 to rotate, and the aluminum alloy supporting connector hung on the storage platform 541 is continuously supplied with supplementary materials.

In this embodiment, the supporting frame b51 is used to support the whole buffer rack, the driving motor 52 is used to provide power for the rotation of the driving turntable 53, the driving turntable 53 is used to carry the connector storage rack 54 and drive it to rotate in a rotary manner, that is, the connector storage rack 54 rotates in a rotary manner around the central axis of the whole buffer rack along with the rotation of the driving turntable 53, and the storage platform 541 of the connector storage rack 54 is used to hang the aluminum alloy supporting connector to be assembled.

When the embodiment is used specifically, the driving motor 52 drives the driving turntable 53 to rotate, the driving turntable 53 drives the connector storage rack 54 on the driving turntable to rotate, and the aluminum alloy supporting connector hung on the storage platform 541 is continuously supplied with supplementary material.

Further, a chamfer is provided on an end surface of the arc surface of the storage stage 541.

Further, the middle part of drive carousel 53 is equipped with detects support 56, be equipped with detection sensor on detecting support 56, detection sensor is used for detecting whether to hang on depositing platform 541 and put the aluminum alloy and support the connector.

Further, a sensor connecting piece 561 is arranged on the detection support 56, and the detection sensor is arranged on the sensor connecting piece 561.

Further, the detection sensor is a diffuse reflection photoelectric sensor.

In this embodiment, a plurality of detection sensors are provided, and when a certain detection sensor detects that there is no aluminum alloy support connector on the storage platform 541, that is, when the number of aluminum alloy support connectors is insufficient, the control system reminds the operator to replenish the aluminum alloy support connectors on the storage platform 541 in time.

Further, the bottom of the supporting frame b51 is provided with a sliding contraction piece.

In this embodiment, through setting up the slip shrink piece, can shrink whole buffer memory frame among the truss of oblique cantilever assembly line to avoid the super wide problem in the equipment transportation, and then be convenient for transport and reinstallate.

Further, the connector storage rack 54 includes a connection base plate 544 connected to the drive dial 53 and a connection vertical plate 543 provided on the connection base plate 544, and the storage stage 541 is provided at an upper end portion of the connection vertical plate 543.

Further, the connection base plate 544 is detachably and fixedly connected to the driving turntable 53.

In this embodiment, the connection base plate 544 is used for connecting with the driving turntable 53, and is detachably and fixedly connected, so that replacement and maintenance can be facilitated; the connecting vertical plate 543 is used for connecting the storage platform 541 and the connecting bottom plate 544, and provides support for the storage platform 541, and provides an accommodating space for the aluminum alloy supporting connector hung on the storage platform 541.

Further, a clamping plate 542 is disposed on a planar portion of the storage platform 541, and an end surface of the clamping plate 542 protrudes out of the storage platform 541; when the aluminum alloy support connector is hung on the storage platform 541, the clamping plate 542 is clamped into the right screwed part aB3 of the aluminum alloy support connector, and the aluminum alloy support connector is opened and closed to be matched with the outer diameter of the arm pipe body through the clamping of the clamping plate 542.

Further, the locking plate 542 abuts against the connecting vertical plate 543.

In this embodiment, the reason why the locking plate 542 is provided and one end of the locking plate 542 protrudes out of the storage platform 541 is that the screwing tightness of the right screwed portion aB3 of the aluminum alloy support connector is different, which makes the inner diameter of the aluminum alloy support connector different, and the supporting oblique wrist arm tube is a steel tube with the same diameter, which requires that the inner diameter of the aluminum alloy support connector to be assembled on the oblique wrist arm tube at least matches with the outer diameter of the arm tube body, i.e. the arm tube body can be accommodated and penetrated therein, and the locking plate 542 serves this purpose. When the inner diameter of the aluminum alloy support connector is too small, the aluminum alloy support connector cannot be hung on the storage stage 541 due to the presence of the catching plate 542, which also indicates that the aluminum alloy support connector cannot be assembled with the oblique cantilever tube. At this time, the worker needs to unscrew the right screwed portion aB3 of the aluminum alloy support connector and hang the connector on the storage platform 541, so that the aluminum alloy support connector to be assembled meets the assembly requirement.

Furthermore, it is equipped with the limiting plate 545 to connect riser 543 and be close to upper end department, the limiting plate 545 include with first L shaped plate 5451 that connects riser 543, with the second L shaped plate 5452 that first L shaped plate 5451 is connected, be equipped with the bar hole 5453 on the second L shaped plate 5452, screw or bolt pass behind the bar hole 5453 with first L shaped plate 5451 and second L shaped plate 5452 fixed connection.

In this embodiment, the position of the aluminum alloy support connector hung on the storage platform 541 is limited by the limiting plate 545, the limiting plate 545 is split, and the strip-shaped hole is formed in the second L-shaped plate 5452, so that the position of the second L-shaped plate 5452 relative to the first L-shaped plate 5451 can be conveniently adjusted, and the position of the limiting plate 545 limited by the aluminum alloy support connector is adjusted. For example, after adjusting the position of the second L-shaped plate 5452 with respect to the first L-shaped plate 5451, the depth to which the aluminum alloy support connector is hung in the storage stage 541 can be limited so that the aluminum alloy support connector does not contact with the connection riser 543.

Further, a magnetic block 5454 is disposed on a surface of the second L-shaped plate 5452 facing the storage platform 541.

In this embodiment, the magnetic suction block 5454 is used for sucking and fixing the aluminum alloy supporting connector hung on the storage platform 541, so as to prevent the aluminum alloy supporting connector from rotating and deviating around the storage platform 541.

It should be noted that when the gap between the locking plate 542 and the right screw-connection portion aB3 of the aluminum alloy support connector is small, the stroke space of the aluminum alloy support connector rotationally offset relative to the storage platform 541 is small, and at this time, the locking plate 542 can also prevent the aluminum alloy support connector from rotationally offset; when the gap between the locking plate 542 and the right screw-connection part aB3 of the aluminum alloy support connector is large, the aluminum alloy support connector has a large stroke space for the storage platform 541 to rotate and shift, and at this time, the magnetic block 5454 is required to adsorb and fix the aluminum alloy support connector, thereby preventing the aluminum alloy support connector from rotating and shifting.

Furthermore, a preassembled detector 55 is arranged on the support frame b51, a detection card bar 551 is arranged on the circumferential surface of the preassembled detector 55, and the direction in which the detection card bar 551 protrudes out of the circumferential surface of the preassembled detector 55 is the same as the direction in which the clamping plate 542 protrudes out of the storage table 541.

In this embodiment, the preassembly detecting member 55 and the detecting card bar 551 thereon are provided, and the protruding direction of the detecting card bar 551 is the same as the protruding direction of the clamping plate 542, so that the preassembly detecting member 55 can be used to detect whether the inner diameter of the aluminum alloy supporting connector to be hung on the storage platform 541 is proper, the detecting card bar 551 can be used to detect whether the inner diameter of the aluminum alloy supporting connector to be hung is proper, and detect whether the direction of the aluminum alloy supporting connector to be hung is correct, that is, the right screwed portion aB3 of the aluminum alloy supporting connector to be hung is ensured to be correct, thereby smoothly hanging the aluminum alloy supporting connector on the storage platform and smoothly clamping the clamping plate 542 into the right screwed portion aB 3.

Further, a turntable support block 531 is arranged on the rotating belt of the driving turntable 53, and the connecting bottom plate 544 is detachably and fixedly connected with the turntable support block 531. In this embodiment, the connector buffer rack 4 can be conveniently replaced and maintained by providing the turntable tray 531 and detachably and fixedly connecting the connection base plate 544 to the turntable tray 531.

Further, a supporting block pressing sheet 532 is arranged on the turntable supporting block 531, and a proximity switch 57 matched with the supporting block pressing sheet 532 is arranged on the driving turntable 53.

In this embodiment, the support block sheeting 532 cooperates with the proximity switch 57 to zero the encoder in the control system once every rotation of the drive dial 53, thereby ensuring accurate positioning of each connector storage rack 54. In this embodiment, only one supporting block pressing sheet 532 is provided, and only one proximity switch 57 is provided, when the supporting block pressing sheet 532 triggers the proximity switch 57, the encoder starts counting, after the encoder counts to a preset value, the driving motor 52 stops running, and the connector gripper 03 grabs the aluminum alloy supporting connector hung on the storage table 541; then the driving motor 52 continues to run, and after the encoder counts to the next preset value, the driving motor 52 stops running again to wait for the aluminum alloy support connectors to be grabbed, thereby ensuring that the parking positions of each connector storage rack 54 are accurate. When the drive turntable 53 rotates for one circle and the tray pressing sheet 532 triggers the proximity switch 57, the encoder count is cleared and the next cycle is started.

Further, the positioning ring buffer frame 06 has the same structure as the connector buffer frame 05. In this embodiment, the positioning ring buffer frame 06 and the connector buffer frame 05 are configured to have the same structure, because the upper, left, and right structures of the aluminum alloy positioning ring C are the same as the upper, left, and right structures of the aluminum alloy supporting connector B, and thus the structures of the two buffer frames are also the same.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A production device of a simplified oblique cantilever is characterized by comprising: the pushing unit (01) is used for clamping and pushing the inclined wrist arm tube (A); the fastening unit (02) is used for clamping and fastening the inclined wrist arm pipe (A) when the inclined wrist arm pipe (A), the aluminum alloy support connector (B) and the aluminum alloy positioning ring (C) are assembled; a connector gripper (03), wherein the connector gripper (03) is used for gripping the aluminum alloy support connector (B) and continuously supplying supplementary materials; the positioning ring gripper (04) is used for gripping the aluminum alloy positioning ring (C) and continuously supplying supplementary materials; a connector buffer rack (05), wherein the connector buffer rack (05) is used for storing an aluminum alloy supporting connector (B) and continuously supplying supplementary materials to the connector gripper (03); the positioning ring caching frame (06) is used for storing an aluminum alloy positioning ring (C) and continuously supplying supplementary materials to the positioning ring gripper (04); the feeding gripper (08) moves along a truss (09) to grab the inclined wrist arm pipe (A) and then continues to move to the pushing unit (01), meanwhile, the connector gripper (03) and the locating ring gripper (04) respectively grab the aluminum alloy supporting connector (B) and the aluminum alloy locating ring (C) which are located on the connector caching frame (05) and the locating ring caching frame (06) and move to preset positions along the truss (09), the pushing unit (01) clamps and pushes the inclined wrist arm pipe (A) to move so that the inclined wrist arm pipe (A) penetrates through the aluminum alloy supporting connector (B) and the aluminum alloy locating ring (C), the fastening unit (02) clamps the inclined wrist arm pipe (A), the screwing device (07) screws the aluminum alloy supporting connector (B) and withdraws, the fastening unit (02) loosens the inclined wrist arm pipe (A), the pushing unit (01) drives the inclined wrist arm pipe (A) to rotate 180 degrees, the fastening unit (02) clamps the inclined wrist arm pipe (A), the pushing unit (01) loosens the inclined wrist arm pipe (A), the screwing device (07) screws the aluminum alloy positioning ring (C) and withdraws, and the fastening unit (02) loosens the inclined wrist arm pipe (A), so that the production of the inclined wrist arm is completed; the pushing unit (01) comprises a supporting bottom plate (14), a driving device (13) arranged on the supporting bottom plate (14) in a sliding mode, and a clamping device (11) which is fixedly connected with the driving device (13) and can be driven by the driving device (13) to move along the supporting bottom plate (14), wherein a plurality of supporting frames a (12) used for supporting the inclined wrist arm pipe (A) are arranged on the side portion of the supporting bottom plate (14); the clamping device (11) is provided with a clamping hand grip, the end part of the clamping hand grip is provided with a clamping block (1110), the opposite surface of the clamping block (1110) is an arc surface part (11101), the arc surface part (11101) is provided with a groove part, the arc surface part (11101) is matched with the arm pipe body (A1) and can clamp the arm pipe body (A1) between the two clamping blocks (1110), and the groove part is matched with the round convex point (A3) and can contain the round convex point (A3) therein; support frame a (12) upper end is equipped with the elevating platform, the elevating platform supports oblique wrist arm pipe (A) when drive arrangement (13) drive clamping device (11) motion, works as when clamping device (11) are close support frame a (12), the elevating platform descends in order to dodge clamping device (11).

2. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: and a detection sensor (143) is arranged on the end part, close to the clamping device (11), of the driving bottom plate (132) of the driving device (13).

3. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: the support frame a (12) comprises a support piece body (121), a lifting cylinder (122) arranged at the upper end of the support piece body (121), and a lifting platform connected with a cylinder telescopic rod (1221) of the lifting cylinder (122), the lifting platform comprises a connecting platform plate (123) connected with the cylinder telescopic rod (1221) and a supporting wheel a (124) arranged at the end of the connecting platform plate (123), when the support frame a (12) supports the oblique wrist arm pipe (A), the supporting wheel a (124) is abutted against the oblique wrist arm pipe (A), and when the support frame a (12) avoids the clamping device (11), the cylinder telescopic rod (1221) contracts to drive the supporting wheel a (124) to be separated from the oblique wrist arm pipe (A).

4. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: the clamping device (11) comprises a supporting column a (111) arranged on a driving bottom plate (132) of the driving device (13), a first air cylinder a (113) arranged at the upper end of the supporting column a (111), and a second air cylinder a (116) rotatably connected with the first air cylinder a (113), the clamping hand is connected with the second air cylinder a (116), and the clamping hand is driven by the second air cylinder a (116) to open and close so as to loosen and clamp the inclined wrist arm pipe (A).

5. The apparatus for producing a simplified oblique wrist arm as claimed in claim 4, wherein: the clamping gripper comprises a third connecting piece (117) connected with the second air cylinder a (116), a fourth connecting piece (118) connected with the third connecting piece (117) in a sliding mode and capable of sliding relative to the third connecting piece (117) under the driving of the second air cylinder a (116), and a fifth connecting piece (119) connected with the fourth connecting piece (118), and the clamping block (1110) is arranged at the end of the fifth connecting piece (119).

6. The apparatus for producing a simplified oblique wrist arm according to claim 5, wherein: the fourth connecting piece (118) is T-shaped, the T-shaped horizontal part of the fourth connecting piece (118) is matched with the sliding groove in the third connecting piece (117), and the T-shaped vertical part of the fourth connecting piece (118) is connected with the fifth connecting piece (119).

7. The apparatus for producing a simplified oblique wrist arm as claimed in claim 5, wherein: fifth connecting piece (119) are including the connection one (1191), connect two (1192) and connect three (1193) that connect gradually, connect one (1191) with it is parallel to each other and connect through connecting two (1192) to connect three (1193).

8. The apparatus for producing a simplified oblique wrist arm according to claim 5, wherein: the groove part comprises a rectangular groove (11102) and a circular groove (11103) which are connected in sequence, the rectangular groove (11102) is positioned at the end part of the clamping block (1110), the rectangular groove (11102) can accommodate a part of the round salient point (A3), and the circular groove (11103) can accommodate the whole of the round salient point (A3).

9. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: the fastening unit (02) comprises a supporting column b (21), a pressing device is installed at the upper end of the supporting column b (21), the pressing device comprises a mounting plate (224), a riding wheel b (221) which is positioned above the mounting plate (224) and can rotate is mounted on the mounting plate (224), an upper pressing block (222) corresponding to the position of the riding wheel b (221) is arranged above the riding wheel b (221), the inclined wrist arm tube (A) is clamped between the riding wheel b (221) and the upper pressing block (222), go up briquetting (222) and install in the output of first cylinder b (223), first cylinder b (223) vertical install in on mounting panel (224) and its output up, the output downstream of first cylinder b (223) drives briquetting (222) downstream with oblique wrist arm pipe (A) compress tightly in riding wheel b (221) is last, the output rebound of first cylinder b (223) drives briquetting (222) upward movement and will release oblique wrist arm pipe (A).

10. The apparatus for producing a simplified oblique wrist arm as claimed in claim 9, wherein: the output end horizontal installation of first cylinder b (223) has connecting block (227), the one end fixed mounting of connecting block (227) has installation piece (226), go up briquetting (222) install in on the lower terminal surface of installation piece (226).

11. The apparatus for producing a simplified oblique wrist arm as claimed in claim 9, wherein: a position adjusting device is arranged between the supporting column b (21) and the pressing device and is used for adjusting the horizontal position and the height of the pressing device; the position adjusting device comprises a second air cylinder b (231) horizontally arranged at the upper end of the supporting column b (21), the output end of the second air cylinder b (231) is connected with the pressing device, and the output end of the second air cylinder b (231) horizontally moves to drive the pressing device to move along the horizontal direction so as to adjust the horizontal position of the pressing device.

12. The apparatus for producing a simplified oblique wrist arm as claimed in claim 11, wherein: the output end of the second cylinder b (231) is provided with a first bedplate (232), one side of the first bedplate (232) facing the second cylinder b (231) is horizontally provided with a sliding plate (233), and the pressing device is arranged on the upper surface of the sliding plate (233).

13. The apparatus for producing a simplified oblique wrist arm as claimed in claim 11, wherein: the position adjusting device also comprises a lifting device arranged between the second air cylinder b (231) and the supporting column b (21); the lifting device comprises a third air cylinder (235) vertically installed at the upper end of the supporting column b (21), the output end of the third air cylinder (235) faces upwards, and the output end of the third air cylinder (235) is connected with the bottom surface of the second air cylinder b (231).

14. The apparatus for producing a simplified oblique wrist arm as claimed in claim 13, wherein: the output end of the third air cylinder (235) is provided with a second bedplate (236), and the second air cylinder b (231) is arranged on the upper end face of the second bedplate (236).

15. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: the connector gripper (03) comprises a connector gripper body, the connector gripper body comprises a first air cylinder c (32), a second air cylinder c (36) rotatably connected with the first air cylinder c (32), and a clamping gripper arranged at two ends of the second air cylinder c (36) and capable of moving close to and away from two end faces of the second air cylinder c (36), clamping grippers are arranged on two sides of the second cylinder c (36), clamping convex columns (391) matched with lug connecting holes a (B11) of a connecting part a (B1) on the aluminum alloy support connector (B) are arranged on the clamping grippers, and the clamping hand grips are provided with clamping convex blocks (381) matched with the lug grooves a (B12) of the connecting part a (B1) on the aluminum alloy support connector (B), and the distance between the two clamping hand grips is matched with the front and back thickness of the aluminum alloy support connector (B).

16. The apparatus for producing a simplified oblique wrist arm as claimed in claim 15, wherein: first cylinder c (32) lower part is equipped with and rotates piece b (33), rotate piece b (33) with second cylinder c (36) are connected, first cylinder c (32) drive rotates piece b (33) and rotates, it drives second cylinder c (36) and carries out 180 rotations to rotate piece b (33).

17. The apparatus for producing a simplified oblique wrist arm as claimed in claim 15, wherein: the clamping hand comprises a first clamping plate (37) connected with a push-pull rod c (361) of a second cylinder c (36), a second clamping plate (39) fixedly connected with the first clamping plate (37), clamping convex columns (391) matched with lug connecting holes a (B11) of a connecting part a (B1) on an aluminum alloy support connector (B) are arranged on the opposite end faces of the two second clamping plates (39), the second cylinder c (36) drives the push-pull rod c (361) to move in a telescopic mode, and the clamping hand is driven by the push-pull rod c (361) to clamp and unload the aluminum alloy support connector (B) through the clamping convex columns (391).

18. The apparatus for producing a simplified oblique wrist arm as claimed in claim 17, wherein: the number of the push-pull rods c (361) of the second cylinder c (36) is four, the four push-pull rods c (361) are distributed in a rectangular shape, and the first clamping plates (37) on two sides of the second cylinder c (36) are detachably and fixedly connected with the two push-pull rods c (361) on the diagonal of the rectangular shape.

19. The apparatus for producing a simplified oblique wrist arm as claimed in claim 17, wherein: the second clamping plate (39) is L-shaped, the upper end of the vertical part of the second clamping plate (39) is detachably and fixedly connected with the first clamping plate (37), the two clamping convex columns (391) are arranged on the opposite end surfaces of the horizontal part of the second clamping plate (39), and the clamping convex columns (391) are detachably and fixedly connected with the second clamping plate (39).

20. The apparatus for producing a simplified oblique wrist arm as claimed in claim 17, wherein: the clamping hand comprises a fourth connecting plate (38) connected to the lower portion of the second cylinder c (36) and clamping plates (310) arranged at two ends of the fourth connecting plate (38), and arc-shaped grooves matched with the outer diameter of the arm pipe body (A1) are formed in the clamping plates (310).

21. The apparatus for producing a simplified oblique wrist arm as claimed in claim 20, wherein: a holding projection 381 fitted to a lug groove a B12 of a connecting portion a B1 of an aluminum alloy support connector B is provided on a lower surface of the fourth connecting plate 38.

22. The apparatus for producing a simplified oblique wrist arm as claimed in claim 21, wherein: the surface of the two clamping plates (310) opposite to each other is provided with a guide plate (311), the guide plate (311) is provided with an arc-shaped groove matched with the outer diameter of the arm tube body (A1), and the arc-shaped groove is provided with a guide chamfer (3111).

23. The apparatus for producing a simplified oblique wrist arm as claimed in claim 1, wherein: the connector cache frame (05) comprises a support frame b (51), a driving turntable (53) is arranged on the support frame b (51), the driving turntable (53) is connected with a driving motor (52) arranged on the support frame b (51), a connector storage frame (54) is arranged on the driving turntable (53), a storage table (541) is arranged on the connector storage frame (54), and the storage table (541) is used for hanging an aluminum alloy supporting connector; the storage table (541) comprises an arc surface part and a plane part connected with the arc surface part, and the arc surface part of the storage table (541) is matched with the inner circumferential surface of the aluminum alloy support connector; the driving motor (52) drives the driving turntable (53) to rotate, the driving turntable (53) drives the connector storage rack (54) on the driving turntable to rotate, and the aluminum alloy supporting connector hung on the storage platform (541) is continuously supplied with supplementary materials.

24. The apparatus for producing a simplified oblique wrist arm as claimed in claim 23, wherein: the connector storage rack (54) comprises a connecting bottom plate (544) connected with the driving turntable (53) and a connecting vertical plate (543) arranged on the connecting bottom plate (544), and the storage platform (541) is arranged at the upper end part of the connecting vertical plate (543).

25. The apparatus for producing a simplified oblique wrist arm as claimed in claim 23, wherein: a clamping plate (542) is arranged on the plane part of the storage table (541), and one end face of the clamping plate (542) protrudes out of the storage table (541); when the aluminum alloy support connector (B) is hung on the storage platform (541), the clamping plate (542) is clamped into the right screwed part a (B3) of the aluminum alloy support connector (B), and the aluminum alloy support connector (B) is opened and closed to be matched with the outer diameter of the arm tube body (A1) through the clamping of the clamping plate (542).

26. The apparatus for producing a simplified oblique wrist arm as claimed in claim 24, wherein: connect riser (543) and be equipped with limiting plate (545) near upper end department, limiting plate (545) include with connect first L shaped plate (5451) that riser (543) are connected, with second L shaped plate (5452) that first L shaped plate (5451) are connected, be equipped with bar hole (5453) on second L shaped plate (5452), screw or bolt pass behind bar hole (5453) with first L shaped plate (5451) and second L shaped plate (5452) fixed connection.

27. The apparatus for producing a simplified oblique wrist arm as claimed in claim 26, wherein: and a magnetic suction block (5454) is arranged on the surface of the second L-shaped plate (5452) facing the storage table (541).

28. The apparatus for producing a simplified oblique wrist arm as claimed in claim 25, wherein: the supporting frame b (51) is provided with a preassembly detection piece (55), the circumferential surface of the preassembly detection piece (55) is provided with a detection card strip (551), and the direction of the detection card strip (551) protruding out of the circumferential surface of the preassembly detection piece (55) is the same as the direction of the clamping plate (542) protruding out of the storage table (541).

29. The apparatus for producing a simplified oblique wrist arm as claimed in claim 23, wherein: the middle part of drive carousel (53) is equipped with detects support (56), be equipped with detection sensor on detecting support (56), detection sensor is used for detecting whether to hang on depositing platform (541) and has put aluminum alloy support connector (B).

30. The apparatus for producing a simplified oblique wrist arm as claimed in claim 24, wherein: a turntable supporting block (531) is arranged on a rotating belt of the driving turntable (53), and the connecting bottom plate (544) is detachably and fixedly connected with the turntable supporting block (531).

31. The apparatus for producing a simplified oblique wrist arm as claimed in claim 30, wherein: the rotary table supporting block (531) is provided with a supporting block pressing sheet (532), and the driving rotary table (53) is provided with a proximity switch (57) matched with the supporting block pressing sheet (532).