CN116408640A - Automatic arm support assembling equipment - Google Patents
Automatic arm support assembling equipment Download PDFInfo
- Publication number
- CN116408640A CN116408640A CN202111633449.8A CN202111633449A CN116408640A CN 116408640 A CN116408640 A CN 116408640A CN 202111633449 A CN202111633449 A CN 202111633449A CN 116408640 A CN116408640 A CN 116408640A
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- Prior art keywords
- boom
- supporting
- support
- arm
- conveying
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- 230000007246 mechanism Effects 0.000 claims description 84
- 238000003825 pressing Methods 0.000 claims description 19
- 238000010408 sweeping Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of arm support assembly, in particular to automatic arm support assembling equipment. The device comprises a plurality of groups of cantilever crane conveying lines which are arranged in parallel, wherein the tail ends of one group of cantilever crane conveying lines which are positioned at the outermost side are provided with conveying trolleys, and the tail ends of the rest cantilever crane conveying lines except the conveying trolleys are provided with fixed supports for fixing cantilever cranes; the conveying trolley is used for supporting the arm frames conveyed by the arm frame conveying lines positioned at the outermost side, and completing sequential combined feeding of a plurality of arm frames conveyed by the arm frame conveying lines. The invention solves the problems of low efficiency, high load workload, unsafe and the like of the assembly of the artificial arm support, so as to realize unmanned assembly of the arm support, high efficiency, high safety, high quality and the like.
Description
Technical Field
The invention relates to the technical field of arm support assembly, in particular to automatic arm support assembling equipment.
Background
The arm support is a key component of a crane, the working platform is a straight arm type working platform and other engineering equipment with a sleeved arm type structure, and the manufacturing and assembling procedures of the engineering equipment are important. At present, the existing arm support assembly equipment is formed by manually adjusting and assembling the arm support, wherein the hoisting and the adjusting of the arm support are realized through traveling crane, the assembly workload of workers is large, and the safety hazards exist, so that safety accidents occur.
Disclosure of Invention
Aiming at the problems, the invention aims to provide automatic arm support assembling equipment so as to solve the problems of low efficiency, high load workload, unsafe and the like of the assembly of an artificial arm support and realize unmanned assembly of the arm support, high efficiency, high safety, high quality and the like.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the automatic boom assembling equipment comprises a plurality of groups of boom conveying lines which are arranged in parallel, wherein the tail ends of one group of boom conveying lines which are positioned at the outermost side are provided with conveying trolleys, and the tail ends of the rest boom conveying lines except the conveying trolleys are provided with fixed supports for fixing the boom; the conveying trolley is used for supporting the arm frames conveyed by the arm frame conveying lines positioned at the outermost side, and completing sequential combined feeding of a plurality of arm frames conveyed by the arm frame conveying lines.
The conveying trolley comprises a trolley body, a lifting mechanism, a Y-direction driving mechanism, a rotary driving mechanism, a supporting frame, a pressing mechanism I, a lifting platform and a moving platform, wherein the lifting mechanism is arranged on the trolley body, the top of the lifting mechanism is connected with the lifting platform, and the moving platform is arranged on the lifting platform and can move along the Y-axis direction; the Y-direction driving mechanism is arranged on the lifting platform and connected with the moving platform, and is used for driving the moving platform to move along the Y-axis direction; the rotary driving mechanism and the support frame are arranged on the mobile platform, and the rotary driving mechanism is connected with the support frame and is used for driving the support frame to rotate around the X axis; the upper end both sides of support frame are equipped with hold-down mechanism I, and the support frame is used for supporting the cantilever crane, and two hold-down mechanism I are used for pressing from both sides the cantilever crane.
The support frame is arc structure, and is equipped with a plurality of supporting pieces that are used for supporting the cantilever crane in the inboard.
The bottom of the mobile platform is provided with a plurality of rollers for walking; the top of the mobile platform is provided with a plurality of supporting wheels for supporting the supporting frame.
The movable platform is provided with a pinch roller used for limiting from the upper part of the supporting frame.
The rotary driving mechanism comprises a rotary driving motor, a rotary driving gear and an arc-shaped rack, wherein the arc-shaped rack is arranged at the bottom of the supporting frame, the rotary driving motor is arranged on the moving platform, and the rotary driving gear is arranged at the output end of the rotary driving motor and meshed with the arc-shaped rack.
The tail end of the lifting platform along the X-axis direction is provided with a pushing support, the pushing support is provided with a force transducer, and the tail end of the arm support arranged on the supporting frame is contacted with the force transducer.
The fixed support comprises two groups of support columns, a support mechanism and a compression mechanism II, wherein each group of support columns is provided with the support mechanism and the compression mechanism II, and the support mechanism is used for supporting the bottom of the arm support; the pressing mechanism II is used for clamping from two sides of the arm support.
The supporting mechanism and the pressing mechanism II comprise a hydraulic cylinder II and a positioning block arranged at the output end of the hydraulic cylinder II.
The tail end of each arm support conveying line is respectively provided with a three-axis robot which is used for conveying the arm support; and each group of arm support conveying lines are provided with a code scanning assembly.
The invention has the advantages and beneficial effects that:
1. the arm support automatic assembling equipment provided by the invention can solve the problem of high-load work of workers, liberate productivity and realize safe production; the invention can improve the production efficiency of the arm support and realize full-automatic production.
2. According to the arm support automatic assembly equipment, various detection equipment is adopted, so that the product precision and the product qualification rate are improved, the production cost is effectively saved, and the production benefit is improved.
3. The arm support automatic assembling equipment provided by the invention can realize the compatible use of multiple products, effectively utilizes resources to a certain extent and realizes the resource saving.
Drawings
FIG. 1 is a schematic diagram of an automatic boom assembling device;
FIG. 2 is a top view of an arm support automatic assembly device according to the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 1;
FIG. 4 is a cross-sectional view of B-B, C-C of FIG. 1;
in the figure: 1. the device comprises a boom conveying line, 1.1, a sweeping component 2, a boom, 2.1, a first arm, 2.2, a second arm, 2.3, a third arm, 3, a three-axis robot, 3.1, a truss robot, 3.2, a clamping mechanism, 4, a conveying trolley, 4.1, a vehicle body, 4.2, a lifting mechanism, 4.3, a Y-direction driving mechanism, 4.4, rollers, 4.5, a rotary driving mechanism, 4.6, a supporting wheel, 4.7, a pinch roller, 4.8, a supporting frame, 4.9, a compressing mechanism I, 4.10, a pushing support, 4.11, a lifting platform, 4.12, a moving platform, 5, a fixed support, 5.1, a supporting column, 5.2, a supporting mechanism, 5.3 and a compressing mechanism II.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, an embodiment of the present invention provides an automatic boom assembling device, which includes a plurality of groups of boom conveying lines 1 arranged in parallel, wherein the tail ends of a group of boom conveying lines 1 positioned at the outermost side are provided with conveying trolleys 4, and the tail ends of the rest boom conveying lines 1 except the conveying trolleys 4 are provided with fixing supports 5 for fixing the boom 2; the conveying trolley 4 is used for supporting the arm frames 2 conveyed by the arm frame conveying lines 1 positioned at the outermost side, and completing sequential combined feeding of the arm frames 2 conveyed by the arm frame conveying lines 1.
As shown in fig. 3, in the embodiment of the present invention, the conveying trolley 4 includes a vehicle body 4.1, a lifting mechanism 4.2, a Y-direction driving mechanism 4.3, a rotation driving mechanism 4.5, a supporting frame 4.8, a pressing mechanism i 4.9, a lifting platform 4.11 and a moving platform 4.12, wherein the lifting mechanism 4.2 is disposed on the vehicle body 4.1, the top of the lifting mechanism 4.2 is connected with the lifting platform 4.11, and the moving platform 4.12 is disposed on the lifting platform 4.11 and can move along the Y-axis direction; the Y-direction driving mechanism 4.3 is arranged on the lifting platform 4.11 and is connected with the moving platform 4.12, and the Y-direction driving mechanism 4.3 is used for driving the moving platform 4.12 to move along the Y-axis direction; the rotary driving mechanism 4.5 and the supporting frame 4.8 are arranged on the mobile platform 4.12, the rotary driving mechanism 4.5 is connected with the supporting frame 4.8, and the rotary driving mechanism 4.5 is used for driving the supporting frame 4.8 to rotate around the X axis; the upper end both sides of support frame 4.8 are equipped with hold-down mechanism I4.9, and support frame 4.8 is used for supporting cantilever crane 2, and two hold-down mechanism I4.9 are used for pressing from both sides cantilever crane 2.
In the embodiment of the invention, the supporting frame 4.8 is of an arc-shaped structure, and a plurality of supporting blocks for supporting the arm support 2 are arranged on the inner side. The bottom of the mobile platform 4.12 is provided with a plurality of rollers 4.4 for walking on the lifting platform 4.11; the top of the mobile platform 4.12 is provided with a plurality of supporting wheels 4.6, the supporting frames 4.8 of the supporting wheels 4.6 are placed on the supporting wheels 4.6, and the arc-shaped bottom of the supporting wheels 4.6 is supported through the height setting of the supporting wheels 4.6.
Further, a pinch roller 4.7 for limiting from the upper part of the supporting frame 4.8 is arranged on the movable platform 4.12.
In the embodiment of the invention, the rotary driving mechanism 4.5 comprises a rotary driving motor, a rotary driving gear and an arc-shaped rack, wherein the arc-shaped rack is arranged at the bottom of the supporting frame 4.8, the rotary driving motor is arranged on the moving platform 4.12, and the rotary driving gear is arranged at the output end of the rotary driving motor and meshed with the arc-shaped rack. The rotary driving motor drives the rotary driving gear to rotate, so that the arc-shaped rack and the support frame 4.8 are driven to rotate in the circumferential direction. Specifically, the Y-direction driving mechanism 4.3 employs a rack-and-pinion linear driving mechanism. The compressing mechanism I4.9 comprises a hydraulic cylinder I and a clamping block provided with an output end of the hydraulic cylinder I, and the hydraulic cylinder I drives the clamping block to extend or retract, so that clamping or releasing of the arm support 2 is realized.
In the embodiment of the invention, the lifting mechanism 4.2 adopts the oil cylinder and the scissor fork to realize the movement in the vertical Z-axis direction, and the oil cylinder drives the scissor fork to lift.
In the embodiment of the invention, the tail end of the lifting platform 4.11 along the X-axis direction is provided with a pushing support 4.10, the pushing support 4.10 is provided with a force transducer, and the tail end of the arm support 2 placed on the support frame 4.8 is contacted with the force transducer.
As shown in fig. 4, in the embodiment of the present invention, the fixed support 5 includes two groups of support columns 5.1, a support mechanism 5.2 and a pressing mechanism ii 5.3, wherein the two groups of support columns 5.1 are respectively provided with the support mechanism 5.2 and the pressing mechanism ii 5.3, and the support mechanism 5.2 is used for supporting the bottom of the arm support 2; the pressing mechanism II 5.3 is used for clamping from two sides of the arm support 2.
Specifically, the supporting mechanism 5.2 and the pressing mechanism II 5.3 comprise a hydraulic cylinder II and a positioning block arranged at the output end of the hydraulic cylinder II. The hydraulic cylinder II in the pressing mechanism II 5.3 drives the positioning block to extend or retract, so that the arm support 2 is clamped or released. The hydraulic cylinder II in the supporting mechanism 5.2 drives the positioning block to extend or retract, and the supporting height can be adjusted.
On the basis of the embodiment, the automatic boom assembling equipment provided by the invention further comprises three-axis robots 3, wherein the three-axis robots 3 are respectively arranged at the tail end of each group of boom conveying lines 1, and the three-axis robots 3 are used for conveying the booms 2; specifically, the triaxial robot 3 is in the prior art, and realizes transfer of the arm support 2 to the conveying trolley 4 or the fixed support 5 and gesture recognition of the arm support 2. The three-axis robot 3 is composed of a truss robot 3.1, a clamping mechanism 3.2 and an identification camera, wherein the truss robot 3.1 has a degree of freedom in the X, Y, Z direction.
Further, each group of arm support conveying lines 1 is provided with a sweeping component 1.1. The arm support conveying line 1 can realize model identification of the arm support 2 and convey the arm support 2 to a work station to be on line. Tooling is arranged on the arm support conveying line 1 and advances synchronously with the line body.
The invention provides automatic arm support assembling equipment, which comprises the following working processes:
the boom conveyor line 1 steps and conveys the boom 2 (taking one-section boom 2.1, two-section boom 2.2 and three-section boom 2.3 with gradually enlarged inner diameters as an example), accessories of the boom 2 are not installed between the boom conveyor line and the boom conveyor line, the boom conveyor line 1.1 identifies the model of the component at the moment, and then the boom 2 is conveyed to an area to be grabbed, and a dotted line area is shown in the figure. The three-axis robot 3 replaces the appropriate clamping mechanism 3.2, and the three-axis robot 3 comprises a first three-axis robot, a second three-axis robot and a third three-axis robot. The first triaxial robot grabs a section of arm 2.1, places a section of arm 2.1 on the travelling bogie 4, and the pressing mechanism I4.9 moves through the hydraulic cylinder I to clamp a section of arm 2.1. The body 4.1 of the conveying trolley 4 moves to the position capable of realizing the combined conveying of the arm support 2, namely the movement of an X axis; the lifting mechanism 4.2 realizes movement in the vertical Z-axis direction through the oil cylinder and the scissor fork, the Y-axis driving mechanism 4.3 and the idler wheel 4.4 realize movement in the Y-axis direction, and the rotary driving mechanism 4.5, the pinch roller 4.7 and the supporting wheel 4.6 realize rotation of the supporting frame 4.8 around the X-axis. The second triaxial robot grabs the two-section arm 2.2 and is placed on the fixed support 5, and the pressing mechanism II 5.3 presses the two-section arm 2.2. The camera of the second three-axis robot recognizes the cross section position of the two-section arm 2.2, the conveying trolley 4 drives the one-section arm 2.1 to perform rotation adjustment on the Y axis and the Z axis and around the X axis, after the adjustment is finished, the conveying trolley 4 drives the one-section arm 2.1 to feed along the X axis, the one-section arm 2.1 is inserted into the two-section arm 2.2, and the sleeving of the one-section arm 2.1 and the two-section arm 2.2 is completed. In the sleeving process, a force transducer arranged in the pushing support 4.10 is used for carrying out thrust monitoring, the sleeving resistance is monitored in real time, and when the resistance is larger, the conveying trolley 4 is used for adjusting the one section of arm 2.1 up and down and left and right until the combination of the one section of arm 2.1 and the two sections of arms 2.2 is completed. Similarly, the conveying trolley 4 moves to the lower part of the two-section arm 2.2, and the sleeving of the two-section arm 2.2 and the three-section arm 2.3 is completed. And the like, the combination of the multi-section arms can be realized.
According to the invention, unmanned assembly can be realized from feeding to adjustment, so that the production efficiency can be improved to a great extent, and the arm support assembly can be safely and automatically carried out to meet the requirements of the current social crane and arm type ascending equipment.
The automatic arm support assembling equipment solves the problems of low efficiency, high load workload, unsafe and the like of manual arm support assembly, and realizes unmanned arm support assembly, high efficiency, safety, high quality and the like.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The automatic boom assembling equipment is characterized by comprising a plurality of groups of boom conveying lines (1) which are arranged in parallel, wherein the tail ends of one group of boom conveying lines (1) which are positioned at the outermost side are provided with conveying trolleys (4), and the tail ends of the rest boom conveying lines (1) except the conveying trolleys (4) are provided with fixed supports (5) for fixing the boom (2); the conveying trolley (4) is used for supporting the arm frames (2) conveyed by the arm frame conveying lines (1) at the outermost side, and completing sequential combined feeding of the plurality of arm frames (2) conveyed by the arm frame conveying lines (1).
2. The automatic boom assembling device according to claim 1, wherein the conveying trolley (4) comprises a trolley body (4.1), a lifting mechanism (4.2), a Y-direction driving mechanism (4.3), a rotary driving mechanism (4.5), a supporting frame (4.8), a pressing mechanism I (4.9), a lifting platform (4.11) and a moving platform (4.12), wherein the lifting mechanism (4.2) is arranged on the trolley body (4.1), the top of the lifting mechanism (4.2) is connected with the lifting platform (4.11), and the moving platform (4.12) is arranged on the lifting platform (4.11) and can move along the Y-axis direction; the Y-direction driving mechanism (4.3) is arranged on the lifting platform (4.11) and is connected with the moving platform (4.12), and the Y-direction driving mechanism (4.3) is used for driving the moving platform (4.12) to move along the Y-axis direction; the rotary driving mechanism (4.5) and the supporting frame (4.8) are arranged on the mobile platform (4.12), the rotary driving mechanism (4.5) is connected with the supporting frame (4.8), and the rotary driving mechanism (4.5) is used for driving the supporting frame (4.8) to rotate around the X axis; the upper end both sides of support frame (4.8) are equipped with hold-down mechanism I (4.9), and support frame (4.8) are used for supporting cantilever crane (2), and two hold-down mechanism I (4.9) are used for pressing from both sides cantilever crane (2).
3. The automatic boom assembling device according to claim 2, wherein the supporting frame (4.8) has an arc-shaped structure, and a plurality of supporting blocks for supporting the boom (2) are arranged on the inner side.
4. The boom automatic assembling device according to claim 3, wherein a plurality of rollers (4.4) for walking are arranged at the bottom of the mobile platform (4.12); the top of the mobile platform (4.12) is provided with a plurality of supporting wheels (4.6) for supporting the supporting frame (4.8).
5. The boom automatic assembling device according to claim 4, wherein a pinch roller (4.7) for limiting from the upper part of the supporting frame (4.8) is arranged on the moving platform (4.12).
6. The boom automatic assembling device according to claim 3, wherein the rotation driving mechanism (4.5) comprises a rotation driving motor, a rotation driving gear and an arc-shaped rack, wherein the arc-shaped rack is arranged at the bottom of the supporting frame (4.8), the rotation driving motor is arranged on the moving platform (4.12), and the rotation driving gear is arranged at the output end of the rotation driving motor and meshed with the arc-shaped rack.
7. The automatic boom assembling device according to claim 2, wherein a pushing support (4.10) is arranged at the tail end of the lifting platform (4.11) along the X-axis direction, a force transducer is arranged on the pushing support (4.10), and the tail end of the boom (2) placed on the supporting frame (4.8) is in contact with the force transducer.
8. The automatic boom assembling device according to claim 1, wherein the fixed support (5) comprises two groups of support columns (5.1), a support mechanism (5.2) and a pressing mechanism II (5.3), each group of support columns (5.1) is provided with the support mechanism (5.2) and the pressing mechanism II (5.3), and the support mechanism (5.2) is used for supporting the bottom of the boom (2); the pressing mechanism II (5.3) is used for clamping from two sides of the arm support (2).
9. The automatic boom assembling device according to claim 8, wherein the supporting mechanism (5.2) and the pressing mechanism (5.3) comprise a hydraulic cylinder II and a positioning block arranged at an output end of the hydraulic cylinder II.
10. The automatic boom assembling device according to any one of claims 1 to 9, wherein the end of each group of boom conveyor lines (1) is respectively provided with a three-axis robot (3), and the three-axis robot (3) is used for conveying the boom (2); and each group of arm support conveying lines (1) is provided with a code sweeping component (1.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111633449.8A CN116408640A (en) | 2021-12-29 | 2021-12-29 | Automatic arm support assembling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111633449.8A CN116408640A (en) | 2021-12-29 | 2021-12-29 | Automatic arm support assembling equipment |
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| Publication Number | Publication Date |
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| CN116408640A true CN116408640A (en) | 2023-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111633449.8A Pending CN116408640A (en) | 2021-12-29 | 2021-12-29 | Automatic arm support assembling equipment |
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| CN (1) | CN116408640A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206861A (en) * | 2023-10-30 | 2023-12-12 | 中国联合工程有限公司 | A robot arm system and working method for aerial work platform assembly |
-
2021
- 2021-12-29 CN CN202111633449.8A patent/CN116408640A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206861A (en) * | 2023-10-30 | 2023-12-12 | 中国联合工程有限公司 | A robot arm system and working method for aerial work platform assembly |
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