CN216541691U - Flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly - Google Patents

Abstract

A flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly comprises two groups of connecting piece supply discs, wherein one group of connecting piece supply discs comprises a plurality of connecting piece supply discs, and a flat cantilever pre-assembly tool and an inclined cantilever pre-assembly tool are arranged between the two groups of connecting piece supply discs; the flat cantilever pre-assembly tool comprises a flat cantilever and support connector combination tool and a flat cantilever and messenger cable seat positioning tool; the inclined cantilever pre-assembly tool comprises an inclined cantilever and support connector combination tool and an inclined cantilever and combination positioning ring positioning tool; the flat cantilever and support connector combined tool, the flat cantilever and carrier cable seat positioning tool, the inclined cantilever and support connector combined tool and the inclined cantilever and combined positioning ring positioning tool are all provided with tightening tools. The utility model provides a horizontal and inclined cantilever pre-assembly tool system for cantilever pre-assembly, which can automatically complete pre-assembly among a horizontal cantilever, an inclined cantilever and different connecting pieces and improve the working efficiency and precision.

Description

Flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly

Technical Field

The utility model relates to the technical field of cantilever pre-assembly, in particular to a flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly.

Background

The cantilever is the important component of contact net, and the cantilever comprises parts such as flat cantilever, oblique cantilever, and different connecting pieces need be used in the connection between the different parts. Because the final installation position of the cantilever is on the upper part of the support, the cantilever is usually pre-assembled in advance for the stability of the cantilever assembly and reducing the potential safety hazard of workers, and the connecting piece is fixed on the flat cantilever and the inclined cantilever in advance. However, the wrist arm is usually produced in a large scale, and most of the existing tools also need manual assistance in use, so that the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects in the prior art, the utility model provides a flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly.

In order to achieve the purpose, the utility model provides the following technical scheme: a flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly comprises two groups of connecting piece supply discs, wherein one group of connecting piece supply discs comprises a plurality of connecting piece supply discs, and a flat cantilever pre-assembly tool and an inclined cantilever pre-assembly tool are arranged between the two groups of connecting piece supply discs;

the flat cantilever pre-assembly tool comprises a flat cantilever and support connector combination tool and a flat cantilever and messenger cable seat positioning tool; the inclined cantilever pre-assembly tool comprises an inclined cantilever and support connector combination tool and an inclined cantilever and combination positioning ring positioning tool;

and screwing tools are arranged near the flat cantilever and support connector combined tool, the flat cantilever and carrier cable seat positioning tool, the inclined cantilever and support connector combined tool and the inclined cantilever and combined positioning ring positioning tool.

As a further optimization of the flat inclined cantilever pre-assembly tool system for the cantilever pre-assembly, the method comprises the following steps: the connecting piece supplies the charging tray and includes support, upper charging tray and lower floor's charging tray, and parallel arrangement has two first baffles on the support, and upper charging tray slides and sets up on two first baffles, and lower floor's charging tray slides and sets up on the support and lies in between two first baffles, all is provided with a plurality of connecting pieces on upper charging tray and the lower floor's charging tray.

As a further optimization of the flat inclined cantilever pre-assembly tool system for the cantilever pre-assembly, the method comprises the following steps: the tightening tool comprises a lifting platform, a driver is arranged on the lifting platform, the driver is connected with a moving platform in a driving mode, the moving platform is arranged on the lifting platform in a sliding mode, a plurality of moving assemblies are arranged on the moving platform in a moving mode, the moving assemblies are fixedly connected with tightening guns, and the tightening guns extend to the lower portion of the moving platform.

As a further optimization of the flat inclined cantilever pre-assembly tool system for the cantilever pre-assembly, the method comprises the following steps: the centering mechanism comprises a third driving cylinder and two first vertical plates which are arranged in parallel, the first vertical plates are arranged on the first supporting plates in a sliding mode, the third driving cylinder is connected with one of the first vertical plates in a driving mode, the third driving cylinder is fixedly connected with the other first vertical plate, and centering wheels used for limiting the flat cantilever or the inclined cantilever from the peripheral side are arranged on the first vertical plates in a rotating mode;

the fixture comprises a first pushing cylinder and two first sliding blocks which are oppositely arranged, the connecting piece is positioned between the two first sliding blocks, the first pushing cylinder is in driving connection with one first sliding block, and the first pushing cylinder is fixedly connected with the other first sliding block; the fixture for positioning the flat cantilever and the carrier cable seat further comprises a connecting piece clamping mechanism, the connecting piece clamping mechanism comprises two third vertical plates, the third vertical plates are arranged on the first supporting plate in a sliding mode, a plurality of first driving cylinders are arranged on the third vertical plates, and the first driving cylinders are connected with second pressing plates used for pressing the connecting pieces onto the third vertical plates;

the flat cantilever and support connector combined tool and the inclined cantilever and support connector combined tool respectively comprise a rotary positioning mechanism, the rotary positioning mechanism comprises a second swing cylinder, the second swing cylinder is in driving connection with a rotary table, and a clamping assembly used for clamping the flat cantilever or the inclined cantilever is arranged on the rotary table.

As a further optimization of the flat inclined cantilever pre-assembly tool system for the cantilever pre-assembly, the method comprises the following steps: the centering mechanism further comprises a fourth driving cylinder, the fourth driving cylinder is in driving connection with a jacking support roller used for supporting the flat cantilever or the oblique cantilever, and the axial direction of the jacking support roller is perpendicular to the axial direction of the flat cantilever or the oblique cantilever.

The beneficial effects are that: the utility model provides a horizontal and inclined cantilever pre-assembly tool system for cantilever pre-assembly, which can automatically complete pre-assembly among a horizontal cantilever, an inclined cantilever and different connecting pieces and improve the working efficiency and precision.

Drawings

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

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of the relationship of the second robot arm and the adjustment mechanism;

FIG. 4 is a perspective view of the adjustment mechanism;

FIG. 5 is a perspective view of the supply tray;

FIG. 6 is a front view of FIG. 5;

FIG. 7 is a side view of FIG. 5;

FIG. 8 is a top view of FIG. 5;

FIG. 9 is a perspective view of the connector;

FIG. 10 is a schematic structural view of the slide assembly;

fig. 11 is a schematic perspective view of the flat cantilever and messenger wire seat positioning tool

FIG. 12 is a side view of FIG. 11;

FIG. 13 is a perspective view of the centering mechanism;

FIG. 14 is a front view of FIG. 13;

FIG. 15 is a perspective view of the link clamping mechanism I;

FIG. 16 is a perspective view of the link clamping mechanism II;

FIG. 17 is a front view of FIG. 15;

FIG. 18 is a perspective view of the combination tool of the flat cantilever and the support connector;

FIG. 19 is a side view of FIG. 18;

FIG. 20 is a perspective view of the clamp mechanism;

FIG. 21 is a front view of FIG. 20;

FIG. 22 is a side view of FIG. 20;

FIG. 23 is a top view of FIG. 20;

figure 24 is a perspective view of the flat cantilever swivel mechanism;

FIG. 25 is a front view of FIG. 24;

FIG. 26 is a side view of FIG. 24;

fig. 27 is a schematic perspective view of the positioning tool for the inclined wrist arm and the combined positioning ring;

FIG. 28 is a perspective view of the tightening tool;

FIG. 29 is a front view of FIG. 28;

FIG. 30 is a side view of FIG. 28;

FIG. 31 is a top view of FIG. 28;

FIG. 32 is a schematic view of the combination of the inclined bracket and the support connector and the tightening tool;

figure 33 is a perspective view of a flat cantilever fixed jaw.

Description of the drawings: 1. a measuring table;

2. a first manipulator;

3. a second manipulator;

4. the device comprises an adjusting mechanism 401, a first positioning block 402, a side plate 403, an adjusting slide rail 404, a first swing cylinder 405, a fixed base 406 and a first cylinder;

5. the connecting piece supplies charging tray, 501, upper charging tray, 502, upper slide rail, 503, upper stop block, 504, lower charging tray, 505, support, 506, first baffle, 507, second cylinder, 508, locating plate, 509, first support connecting plate, 510, sensor, 511, lower slide rail, 512, lower slide block, 513, handle, 514, support bottom plate, 515, support supporting plate, 516, sliding assembly, 517, second support connecting plate, 518, connecting piece base, 519, insert block, 520, middle block, 521, conveyor belt;

6. the inclined cantilever and the support connector are combined;

7. a flat cantilever and support connector combined tool 701, an inclined cantilever, 702, an alignment mechanism, 703, a clamp mechanism, 704, a rotary positioning mechanism, 705, an inclined cantilever tool control box, 706, a tool workbench, 707, a clamp workbench, 708, a first pushing cylinder, 709, a fixed block, 710, a first sliding block, 711, a pressing piece, 712, a first pressing plate, 713, a second pushing cylinder, 714, a clamp sliding rail, 715, a second swinging cylinder, 716, a support vertical plate, 717, a rotary table, 718, a sliding plate, 719, a second positioning pin, 720, a rotary positioning workbench, 721, a trapezoidal vertical plate, 722, a third pushing cylinder, 723, a first guide rail, 724, a second sliding block, 725, a fourth pushing cylinder, 726, a second guide rail, 727, a second baffle, 728, a first limit bolt, 729, a limit stop bolt, 730, and a second limit bolt;

8. the flat cantilever is used for fixing the clamping jaw;

9. positioning tooling for the inclined cantilever and the combined positioning ring;

10. a third manipulator;

11. the device comprises a tightening tool, 1101, a tightening gun, 1102, a driver, 1103, a driver supporting seat, 1104, a top plate, 1105, a first linear guide rail, 1106, a lifting table, 1107, a second linear guide rail, 1108, a lifting table bottom plate, 1109, a damper, 1110, a limiting piece, 1111, a moving table, 1112, a first scale, 1113, a third linear guide rail, 1114, a first pointer, 1115, a first moving plate, 1116, a second moving plate, 1117, a sleeve, 1118, an oil cylinder, 1119, a second pointer, 1120 and a second scale; 12. a flat cantilever and a carrier cable seat positioning tool 1201, a flat cantilever, 1202, a centering wheel, 1203, a first driving cylinder, 1204, a flat cantilever tool control box, 1205, a rotary carrier roller, 1206, a second driving cylinder, 1207, a first vertical plate, 1208, a third driving cylinder, 1209, a first supporting plate, 1210, a fourth driving cylinder, 1211, a second vertical plate, 1212, a second supporting plate, 1213, a force-bearing frame, 1214, a control box carrier plate, 1215, a first sliding rail, 1216, a fifth driving cylinder, 1217, a first cylinder connecting plate, 1218, a first extension plate, 1219, a supporting frame, 1220, a jacking carrier roller, 1221, a first connecting block, 1222, a second sliding rail, 1223, a second positioning block, 1224, a second extension plate, 1225, a second pressing plate, 1226, a second cylinder connecting plate, 1227, a third sliding rail, 1228, a sixth driving cylinder, 1229, a second connecting block, 1230, an arc-shaped piece, 1231, a third driving cylinder, 1232. a third positioning pin 1233, a connecting member pin hole 1234, a third support plate 1235, a fourth support plate 1236, and a first centering block;

13. a sliding table;

14. a connecting member.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 33, a flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly includes two sets of connecting member supply trays 5, wherein the connecting member supply trays 5 include a plurality of connecting member supply trays 5, and a flat cantilever pre-assembly tool and an inclined cantilever pre-assembly tool are disposed between the two sets of connecting member supply trays 5.

The flat cantilever pre-assembly tool comprises a flat cantilever and support connector combination tool 7 and a flat cantilever and messenger wire seat positioning tool 12.

The inclined cantilever pre-assembly tool comprises an inclined cantilever and support connector combination tool 6 and an inclined cantilever and combination positioning ring positioning tool 9.

And screwing tools 11 are arranged near the flat cantilever and support connector combined tool 7, the flat cantilever and carrier cable seat positioning tool 12, the inclined cantilever and support connector combined tool 6 and the inclined cantilever and combined positioning ring positioning tool 9.

The connecting piece supply tray 5 comprises a support 505, an upper layer tray 501 and a lower layer tray 504, two first baffle plates 506 are arranged on the support 505 in parallel, the upper layer tray 501 is arranged on the two first baffle plates 506 in a sliding mode, the lower layer tray 504 is arranged on the support 505 in a sliding mode and located between the two first baffle plates 506, and a plurality of connecting pieces 14 are arranged on the upper layer tray 501 and the lower layer tray 504.

The tightening tool 11 comprises an elevating platform 1106, a driver 1102 is arranged on the elevating platform 1106, the driver 1102 is connected with a moving platform 1111 in a driving mode, the moving platform 1111 is arranged on the elevating platform 1106 in a sliding mode, a plurality of moving assemblies are arranged on the moving platform 1111 in a moving mode, a tightening gun 1101 is fixedly connected with the moving assemblies, and the tightening gun 1101 extends towards the lower portion of the moving platform 1111.

The flat cantilever and support connector combined tool 7, the flat cantilever and messenger wire seat positioning tool 12, the inclined cantilever and support connector combined tool 6 and the inclined cantilever and combined positioning ring positioning tool 9 all comprise an aligning mechanism 702, the aligning mechanism 702 comprises a third driving cylinder 1208 and two first vertical plates 1207 arranged in parallel, the first vertical plates 1207 are arranged on the first support plates 1209 in a sliding mode, the third driving cylinder 1208 is in driving connection with one of the first vertical plates 1207, the third driving cylinder 1208 is fixedly connected with the other first vertical plate 1207, and the first vertical plates 1207 are rotatably provided with aligning wheels 1202 used for limiting the flat cantilever 1201 or the inclined cantilever 701 from the peripheral side.

The flat cantilever and support connector combined tool 7, the inclined cantilever and support connector combined tool 6 and the inclined cantilever and combined positioning ring positioning tool 9 all comprise a clamp mechanism 703 for clamping a connecting piece 14, the clamp mechanism 703 comprises a first pushing cylinder 708 and two first sliding blocks 710 which are oppositely arranged, the connecting piece 14 is positioned between the two first sliding blocks 710, the first pushing cylinder 708 is in driving connection with one of the first sliding blocks 710, and the first pushing cylinder 708 is fixedly connected with the other first sliding block 710.

The flat cantilever and messenger wire seat positioning tool 12 further comprises a connecting piece clamping mechanism, the connecting piece clamping mechanism comprises two third vertical plates 1231, the third vertical plates 1231 are slidably arranged on the first supporting plate 1209, a plurality of first driving cylinders 1203 are arranged on the third vertical plates 1231, and the first driving cylinders 1203 are connected with second pressing plates 1225 used for pressing the connecting piece 14 onto the third vertical plates 1231.

The flat cantilever and support connector combined tool 7 and the inclined cantilever and support connector combined tool 6 both comprise a rotary positioning mechanism 704, the rotary positioning mechanism 704 comprises a second swing cylinder 715, the second swing cylinder 715 is in driving connection with a rotating platform 717, and the rotating platform 717 is provided with a clamping component for clamping the flat cantilever 1201 or the inclined cantilever 701.

The centering mechanism 702 further includes a fourth driving cylinder 1210, the fourth driving cylinder 1210 is connected to a jacking bracket roller 1220 for supporting the flat cantilever 1201 or the swash cantilever 701 in a driving manner, and an axial direction of the jacking bracket roller 1220 is perpendicular to an axial direction of the flat cantilever 1201 or the swash cantilever 701.

The connector 14 comprises devices used in the cantilever pre-assembly process, such as a messenger wire seat, a combined positioning ring, a support connector, etc., for connecting the flat cantilever 1201, the inclined cantilever 701 and other components of the cantilever.

The concrete structural form of the connecting piece 14 is as follows: the link 14 comprises two arcuate pieces 1230, the two arcuate pieces 1230 being bolted together to form a wrist channel that receives the flat 1201 or oblique 701 wrists. When the connecting member 14 is a messenger wire seat, one of the arc-shaped members 1230 is connected with two second extension plates 1224 arranged in parallel, and two connecting member pin holes 1233 are formed on the second extension plates 1224. When the connecting member 14 is a combined retaining ring or a support connector, two second extending plates 1224 are connected to one of the curved members 1230, and a connecting member pin hole 1233 is formed on the second extending plates 1224.

The tooling system further comprises a measuring table 1, and the measuring table 1 adopts a positioning and measuring device for processing the wrist arm with the publication number of CN212432045U, which is not described herein again. The measuring table 1 is used for measuring the specific position of the connecting piece 14 on the flat cantilever 1201 or the inclined cantilever 701 to obtain the connecting position of the connecting piece 14.

A tool slide rail is arranged between the flat cantilever and support connector combined tool 7 and the flat cantilever and messenger cable seat positioning tool 12, the flat cantilever and support connector combined tool 7 and the flat cantilever and messenger cable seat positioning tool 12 are both arranged on the sliding table 13, the sliding table 13 is arranged on the tool slide rail in a sliding manner, and a flat cantilever fixing clamping jaw 8 for fixing the flat cantilever 1201 is arranged on the tool slide rail.

The use principle of the tool system is as follows: the first mechanical arm 2 grabs the flat cantilever 1201 or the inclined cantilever 701, and the second mechanical arm 3 and the third mechanical arm 10 take the connecting piece 14 off the connecting piece 14 supply tray and place the connecting piece 14 to the corresponding flat cantilever pre-assembly tool and the inclined cantilever pre-assembly tool. And then the first manipulator 2 moves the flat cantilever 1201 between the flat cantilever and support connector combination tool 7 and the flat cantilever and messenger cable seat positioning tool 12 or moves the oblique cantilever 701 between the oblique cantilever rotation positioning tool 7 and the oblique cantilever positioning tool 9. And finally, the assembled flat cantilever 1201 or inclined cantilever 701 is grabbed onto the measuring table 1 by using the first manipulator 2 for measurement, so that the installation position of the connecting piece 14 is ensured to meet the requirement.

For the flat cantilever 1201, one end of the flat cantilever 1201 is placed into the flat cantilever and support connector combination tool 7 or the flat cantilever and messenger cable seat positioning tool 12, the flat cantilever 1201 is clamped by the flat cantilever fixing clamping jaw 8 in an auxiliary mode, then the flat cantilever and support connector combination tool 7 or the flat cantilever and the messenger cable seat positioning tool 12 are controlled to slide until the connecting piece 14 reaches the connecting position, and the flat cantilever and support connector combination tool 7 or the flat cantilever and the messenger cable seat positioning tool 12 stop sliding. And then the tightening tool 11 is driven, and the tightening tool 11 tightens the bolt on the connecting piece 14 to fix the connecting piece 14 on the flat cantilever 1201.

For the oblique cantilever 701, one end of the oblique cantilever 701 is placed into the oblique cantilever rotating and positioning tool 7 or the oblique cantilever positioning tool 9, the first manipulator 2 pushes the oblique cantilever 701 until the connecting piece 14 reaches the connecting position, then the screwing tool 11 is driven, the screwing tool 11 screws the bolt on the connecting piece 14, and the connecting piece 14 is fixed on the oblique cantilever 701.

In order to avoid the phenomenon that the second manipulator 3 and the third manipulator 10 are blocked in the process of transferring the connecting piece 14 to each tool, an adjusting mechanism 4 is arranged near the second manipulator 3 and the third manipulator 10, after the second manipulator 3 and the third manipulator 10 take the connecting piece 14 off the supply tray 5, the connecting piece 14 is firstly placed on the adjusting mechanism 4, the connecting piece 14 is rotated by the adjusting mechanism 4, and then the second manipulator 3 and the third manipulator 10 take the connecting piece 14 off the adjusting mechanism 4 and transfer the connecting piece 14 to each tool.

The adjusting mechanism 4 comprises a fixed base 405, a first swing cylinder 404 is arranged on the fixed base 405, the first swing cylinder 404 is connected with an adjusting workbench, an adjusting slide rail 403 is fixedly arranged on the adjusting workbench, first adjusting stop blocks are fixedly arranged at two ends of the adjusting slide rail 403, two side plates 402 are slidably arranged on the adjusting slide rail 403, the two side plates 402 are parallel to each other, a second adjusting stop block is fixedly arranged in a region between the two side plates 402 on the adjusting workbench, a first positioning block 401 is fixedly connected with the side plates 402, a plurality of first positioning pins are fixedly arranged on the first positioning block 401, and the number of the first positioning pins is set according to the specific structure of the connecting piece 14. The adjusting mechanism 4 further includes a first air cylinder 406, an extending direction of the first air cylinder 406 is parallel to a length direction of the adjusting slide rail 403, a cylinder body of the first air cylinder 406 is connected to one of the side plates 402 by a bolt, and a piston rod of the first air cylinder 406 is connected to the other side plate 402 by a bolt.

The adjusting mechanism 4 uses the principle: after the second robot 3 and the third robot 10 place the connecting element 14 between the two first positioning blocks 401, the first cylinder 406 is driven, the piston rod of the first cylinder 406 contracts, the side plate 402 connected with the piston rod of the first cylinder 406 slides on the adjusting slide rail 403 in the direction of the connecting element 14 until the side plate 402 contacts with the second adjusting stop, the first positioning pin on the side plate 402 is inserted into the connecting element pin hole 1233 on one of the second extension plates 1224 of the connecting element 14, and the side plate 402 does not slide any more. As the first cylinder 406 continues to operate, the piston rod of the first cylinder 406 continues to retract, so that the cylinder body of the first cylinder 406 and the side plate 402 connected thereto begin to slide toward the connecting member 14 until the side plate 402 contacts the second adjustment stop, and the first alignment pin on the side plate 402 is inserted into the connecting member pin hole 1233 on the other second extension plate 1224 of the connecting member 14, at which time neither side plate 402 can slide any more, so that the first cylinder 406 stops operating. After the connecting member 14 is fixed by the two first positioning pins, the first swing cylinder 404 is driven, the first swing cylinder 404 drives the adjusting table to rotate, and the connecting member 14 rotates accordingly. After the connecting member 14 is rotated by a proper angle, the first cylinder 406 is driven, the piston rod of the first cylinder 406 is extended, and the side plate connected to the piston rod of the first cylinder 406 slides away from the connecting member 14 until the side plate 402 contacts the first adjustment stopper, and the side plate 402 stops sliding. As the first cylinder 406 continues to operate, the piston rod of the first cylinder 406 continues to extend, so that the cylinder body of the first cylinder 406 and the side plate 402 connected with the cylinder body start to slide in the direction away from the connecting piece 14 until the side plate 402 contacts with the first adjusting stop, at this time, the two side plates 402 stop sliding, all the first positioning pins are separated from the connecting piece pin holes 1233, the adjusting mechanism 4 releases the connecting piece 14, and the second manipulator 3 and the third manipulator 10 take down the connecting piece 14.

The connecting piece supply tray 5 comprises a support 505, an upper tray 501 and a lower tray 504, wherein two first baffles 506 are arranged on the support 505 in parallel, the upper tray 501 is arranged on the two first baffles 506 in a sliding manner, the lower tray 504 is arranged on the support 505 in a sliding manner and is positioned between the two first baffles 506, and a plurality of connecting pieces 14 are arranged on the upper tray 501 and the lower tray 504. Two of the connecting piece supply trays 5 are provided, the two connecting piece supply trays 5 are respectively used for bearing the combined positioning ring and the carrier cable seat, and one connecting piece supply tray 5 is provided for bearing the support connector.

The connecting piece 14 passes through the connecting piece base 14 and sets up on upper charging tray 501 and lower floor's charging tray 504, and connecting piece 14 can be dismantled with connecting piece base 518 and be connected, and the connected mode between connecting piece 14, connecting piece base 518 and upper charging tray 501 or lower floor's charging tray 504 can be: the connecting piece base 518 is provided with a limiting groove, and the upper-layer material disc 501 and the lower-layer material disc are both provided with a plurality of limiting blocks matched with the limiting groove. The connector base 518 is provided with a retaining clip for retaining the connector 14.

The connecting piece supply tray 5 is divided into two parts using the principle: and (5) discharging and taking the parts. The emptying is carried out manually, and the taking is finished by the second mechanical arm 3 and the third mechanical arm 10. The upper tray 501 and the lower tray 504 are manually pushed or driven by a driving device, which may be an air cylinder, a hydraulic cylinder, or the like. If the situation is in the beginning, the upper-layer material tray 501 is discharged, the lower-layer material tray 504 is taken, and the positions of the upper-layer material tray 501 and the lower-layer material tray 504 at the moment are respectively marked as a discharging position and a taking position; then, the upper layer material tray 501 is pushed to a material taking position, a second manipulator or a third manipulator takes the material, then the lower layer material tray 504 is pushed to a material placing position, and the lower layer material tray 504 is manually placed; after the connecting pieces 14 on the upper tray 501 are taken out, the upper tray 501 is pushed to the discharging position for manual discharging, and then the lower tray 504 is pushed to the taking position for taking pieces, and the steps are alternated. A certain space is left between the upper layer tray 501 and the lower layer tray 504, so that the upper layer tray 501 is prevented from touching the connecting piece 14 on the lower layer tray 504 in the process of pushing the upper layer tray 501.

In order to ensure that the two processes of emptying and taking can be carried out simultaneously: two idle wheels are arranged on the first baffle 506, the two idle wheels are positioned at the same height, a conveyor belt 521 is arranged on the two idle wheels, and the upper layer material tray 501 and the lower layer material tray 504 are fixedly arranged on the conveyor belt 521.

Because the upper tray 501 and the lower tray 504 are arranged on the conveyor belt 521, the movement of the upper tray 501 and the lower tray 504 is synchronized, when the upper tray 501 is pushed to the picking position or the discharging position, the lower tray 504 moves in the opposite direction synchronously with the upper tray, and the lower tray 504 reaches the discharging position or the picking position.

In order to facilitate the manual pushing of the upper-layer material tray 501 and the lower-layer material tray 504, the handles 513 are arranged on the upper-layer material tray 501 and the lower-layer material tray 504, so that the upper-layer material tray 501 and the lower-layer material tray 504 can be easily pulled or pushed, and meanwhile, the phenomenon that a worker mistakenly touches the connecting piece 14 is avoided.

In order to prevent the upper tray 501 and the lower tray 504 from shaking when taking or placing materials, the first baffle 506 is detachably connected with the second cylinder 507, the piston rod of the second cylinder 507 is fixedly connected with the automatic pin, the extending direction of the second cylinder 507 is perpendicular to the upper tray 501, the upper tray 501 is fixedly connected with two positioning plates 508, the upper tray 501 is a square tray, the number of the positioning plates 508 is two, the two positioning plates 508 are respectively positioned at two top corners of the upper tray 501, and the connecting direction of the two positioning plates 508 is parallel to the sliding direction of the upper tray 501. The positioning plate 508 is provided with a positioning pin hole for matching with the automatic pin.

The sliding connection mode between the upper-layer material tray 501 and the first baffle 506 is as follows: an upper layer slide rail 502 is arranged on the first baffle 506, and both ends of the upper layer slide rail 502 are fixedly connected with upper layer stoppers 503. The upper layer sliding rail 502 and the first baffle 506 are parallel to each other, two long grooves are oppositely formed in the upper layer sliding rail 502 along the length direction, and the upper layer sliding rail 502 and the upper layer charging tray 501 are connected through a plurality of sliding assemblies 516.

The specific structure of the sliding component 516 is: the sliding assembly 516 comprises a middle block 520 and two insertion blocks 519, the middle block 520 is located between the two insertion blocks 519 and fixedly connected with the two insertion blocks 519, grooves are formed in the middle block 520 and the insertion blocks 519 to enable the upper-layer sliding rail 502 to penetrate through the middle block 520 and the insertion blocks 519 conveniently, the middle block 520 is connected with the upper-layer material tray 501 through bolts, the insertion blocks 519 are integrally connected with two insertion plates, the two insertion plates are respectively inserted into two long grooves of the upper-layer sliding rail 502, and gaps are reserved between the insertion plates and the long grooves to enable the sliding assembly to slide on the upper-layer sliding rail 502.

When the upper layer material tray 501 is located at a discharging position, the upper layer material tray 501 is in contact with one upper layer stop block 503 to drive the second air cylinder 507, the second air cylinder 507 pushes the automatic pin, the automatic pin penetrates through a positioning pin hole on one positioning plate 508 to position the upper layer material tray 501, because the upper layer material tray 501 and the lower layer material tray 504 are arranged on the conveyor belt 521, when the automatic pin positions the upper layer material tray 501, the conveyor belt 521 does not work any more, the lower layer material tray 504 also synchronously stops moving, the lower layer material tray 504 is located at a taking position at the moment, and the automatic pin actually positions the upper layer material tray 501 and the lower layer material tray 504 at the same time; then, the second air cylinder 507 is controlled, the piston rod contracts, and the automatic pin is separated from the positioning pin hole; then, the upper layer material tray 501 is pushed, the upper layer material tray 501 is in contact with another upper layer stop block 503, the automatic pin stops pushing when facing a positioning pin hole on another positioning plate 508 at the moment, a second cylinder 507 is driven, the second cylinder 507 pushes the automatic pin to pass through the positioning pin hole, the positions of the upper layer material tray 501 and the lower layer material tray 504 are fixed, the upper layer material tray 501 is located at a material taking position at the moment, the lower layer material tray 504 is located at a material placing position, and the upper layer material tray 501 and the lower layer material tray 504 alternately perform a manual material placing process and a mechanical arm material taking process.

The specific structure of the support 505 is: the support 505 includes support bottom plate 514, parallel arrangement has four support supporting plates 515 on the support bottom plate 514, all support supporting plates 515 are connected with first support connecting plate 509 and two second support connecting plates 517 jointly, first support connecting plate 509 is located between two second support connecting plates 517, two second support connecting plates 517 respectively with two first baffle 506 fixed connection, all be provided with lower floor's slide rail 511 on two second support connecting plates 517, lower floor's slide rail 511 is parallel to each other with first baffle 506, lower floor's charging tray 504 slides through lower floor's slider 512 and sets up on two lower floor's slide rails 511.

In order to facilitate the judgment of whether the upper tray 501 and the lower tray 504 are at the discharging position or the picking position, two sensors 510 are arranged on the first support connecting plate 509, and the sensors 510 are photoelectric sensors.

One of the support plates 515 is provided with an air pressure speed regulating valve for regulating the air pressure of the second air cylinder 507 and filtering moisture in the air.

The flat cantilever and messenger wire seat positioning tool 12 comprises a first support plate 1209, an alignment mechanism 702 and a connecting piece clamping mechanism. The centering mechanism 702 and the connector clamping mechanism are both disposed on the first support plate 1209. The centering mechanism 702 is used to align the axis of the flat cantilever 1201 with the axis of the cantilever channel, and the connector clamping mechanism is used to clamp the connector 14 and fix the position of the connector 14. The first support plate 1209 is fixedly provided on the slide table 13.

Centering mechanism 702 includes that the third drives actuating cylinder 1208 and two parallel arrangement's first riser 1207, and first riser 1207 slides and sets up on first backup pad 1209, and the third drives actuating cylinder 1208 and one of them first riser 1207 drive connection, and the third drives actuating cylinder 1208 and another first riser 1207 fixed connection, rotates on first riser 1207 to be provided with and is used for carrying out spacing centering wheel 1202 from week side pair wrist arm 1201.

Four centering wheels 1202 are arranged on each first vertical plate 1207, wherein two centering wheels 1202 are the same in height and incline upwards, the other two centering wheels 1202 are the same in height and incline downwards, the centering wheels 1202 on the two first vertical plates 1207 are symmetrically arranged, the first mechanical arm 2 grabs the flat cantilever 1201 to enable the flat cantilever 1201 to pass through a centering channel formed between the eight centering wheels 1202, the extending direction of a third driving cylinder 1208 is perpendicular to the axial direction of the flat cantilever 1201, the two first vertical plates 1207 are arranged on the first supporting plate 1209 in a sliding mode, a cylinder body of the third driving cylinder 1208 is fixedly connected with one first vertical plate 1207, a piston rod of the third driving cylinder 1208 passes through the first vertical plate 1207 connected with the cylinder body of the third driving cylinder and then is connected with the other first vertical plate 1207, and a first centering stop 1236 is arranged between the two first vertical plates 1207.

In the centering process, the space between the two first vertical plates 1207 is marked as a centering area, and at the beginning, the distance between the two first vertical plates 1207 is larger, the first manipulator 2 grasps the flat cantilever 1201 and places the flat cantilever into the centering area, and at this time, a distance is reserved between the flat cantilever 1201 and the first vertical plates 1207; then, the third driving cylinder 1208 is driven to work, the piston rod of the third driving cylinder 1208 contracts, the first vertical plate 1207 connected with the piston rod of the third driving cylinder 1208 slides towards the wrist-leveling arm 1201 first, when the first vertical plate 1207 contacts with the first centering stop 1236, the centering wheel 1202 on the first vertical plate 1207 is attached to the wrist-leveling arm 1201, the first vertical plate 1207 stops sliding, and as the third driving cylinder 1208 continues to work, the piston rod of the third driving cylinder 1208 continues to contract, so that the cylinder body of the third driving cylinder 1208 and the first vertical plate 1207 connected with the cylinder body slide towards the wrist-leveling arm 1201 synchronously until all the centering wheels 1202 are attached to the wrist-leveling arm 1201 and clamp the wrist-leveling arm 1201, and the centering process is completed. And then, operating the first manipulator 2 to drive the flat wrist arm 1201 to move towards the connecting piece clamping mechanism. In the process that the flat wrist arm 1201 moves towards the connecting piece clamping mechanism, the centering wheel 1202 also rotates along with the flat wrist arm 1201, the surface of the centering wheel 1202 is smooth and has no burrs, and scratches are avoided being left on the flat wrist arm 1201.

The centering mechanism 702 has the following specific structure: centering mechanism 702 still includes third support plate 1234, and third support plate 1234 is fixed to be set up on first support plate 1209, and the third drives actuating cylinder 1208 and fixes to be set up on third support plate 1234, is provided with second slide rail 1222 on the third support plate 1234, and the length direction of second slide rail 1222 is perpendicular with the axis direction of flat cantilever 1201, and first riser 1207 fixedly connected with first connecting block 1221, first connecting block 1221 and second slide rail 1222 sliding fit.

The specific connection mode of the third driving cylinder 1208 and the two first vertical plates 1207 is as follows: first vertical plate 1207 is integrally connected with first extending plate 1218, first vertical plate 1207 and first extending plate 1218 form an L-shaped structure, and first extending plate 1218 is located at a height not exceeding the height of the position of lowest center wheel 1202, so as to avoid affecting the movement of wrist-balancing arm 1201. The cylinder body of the third driving cylinder 1208 is connected with one of the first extending plates 1218 through a bolt, a through hole is formed in the first extending plate 1218, the aperture of the through hole is larger than the diameter of a piston rod of the third driving cylinder 1208, the piston rod of the third driving cylinder 1208 is in driving connection with the other first extending plate 1218 after penetrating through the through hole, and second centering stoppers are respectively arranged at two ends of the second slide rail 1222.

When the centering process is performed, the third driving cylinder 1208 is driven, the first extending plate 1218 connected with the piston rod of the third driving cylinder 1208 drives the first vertical plate 1207 connected with the third driving cylinder to slide towards the first centering stop 1236, when the first connecting block 1221 is in contact with the first centering stop 1236, the first extending plate 1218 stops moving, and the third driving cylinder 1208 continues to work, the piston rod of the third driving cylinder 1208 contracts, so that the cylinder body of the third driving cylinder 1208 and the first extending plate 1218 connected with the third driving cylinder 1218 slide towards the first centering stop 1236 until all the centering wheels 1202 are attached to the flat wrist arm 1201, and the centering process is completed.

When the centering mechanism 702 needs to loosen the flat cantilever 1201, the third driving cylinder 1208 is driven, a piston rod of the third driving cylinder 1208 extends, the first extending plate 1218 connected to the piston rod of the third driving cylinder 1208 drives the first vertical plate 1207 connected to the first extending plate to slide in the direction of the nearest second centering block first, when the first connecting block 1221 connected to the first vertical plate 1207 contacts with the second centering block, the first vertical plate 1207 stops sliding, because the third driving cylinder 1208 continues to work, the piston rod of the third driving cylinder 1208 continues to extend, so that the cylinder body of the third driving cylinder 1208 and the first extending plate 1218 connected to the third driving cylinder 1208 slide in the direction of the nearest second centering block synchronously until the two first connecting blocks 1221 contact with the second centering block, at this time, the two first vertical plates 1207 cannot slide, and the third driving cylinder 1208 stops working.

In order to keep the flat cantilever 1201 stable, the centering mechanism 702 further includes a fourth driving cylinder 1210, an extending direction of the fourth driving cylinder 1210 is perpendicular to the ground, the fourth driving cylinder 1210 is connected to drive a jacking roller 1220 for supporting the flat cantilever 1201, and an axial direction of the jacking roller 1220 is perpendicular to the axial direction of the flat cantilever 1201.

The fourth driving cylinder 1210 is activated, and the fourth driving cylinder 1210 pushes the jacking support roller 1220 to move upwards until the jacking support roller contacts with the flat-cantilever 1201, so as to provide support for the flat-cantilever 1201. In the process of horizontal movement of the flat cantilever 1201, the jacking support roller 1220 rotates along with the movement of the flat cantilever 1201, so as to prevent the flat cantilever 1201 from being scratched.

In order to avoid contact between the fourth driving cylinder 1210 and the jacking support roller 1220 and prevent the jacking support roller 1220 from not rotating so as to scratch the flat cantilever 1201 in the moving process of the flat cantilever 1201, the jacking support roller 1220 is rotatably connected with a support frame 1219, the support frame 1219 comprises a support roller bearing plate, two support roller support plates which are parallel to each other are arranged on the support roller bearing plate, the support roller support plates and the support roller bearing plates are perpendicular to each other, guide shafts are arranged on the two support roller support plates, the two guide shafts are respectively inserted into two ends of the jacking support roller 1220, the jacking support roller 1220 can rotate between the two support roller support plates, a T-shaped groove is formed in the support roller bearing plate, and the end of a piston rod of the fourth driving cylinder 1210 is fixedly arranged in the T-shaped groove.

Connecting piece clamping mechanism includes two third risers 1231, and third riser 1231 slides and sets up on first backup pad 1209, is provided with the first actuating cylinder 1203 that drives of a plurality of on the third riser 1231, and first actuating cylinder 1203 is connected with and is used for compressing tightly the second clamp plate 1225 on the third riser 1231 with arc 31. The third upright plate 1231 is also connected with a sixth driving cylinder 1228.

The connecting piece 14 sets up between two third risers 1231, for the position of fixed connecting piece 14 on third riser 1231, set up first actuating cylinder 1203 that drives on third riser 1231, the extending direction of first actuating cylinder 1203 is parallel to each other with the axis direction of flat cantilever 1201, after the position of connecting piece 14 has set up, drive first actuating cylinder 1203, first actuating cylinder 1203 drives second clamp plate 1225 and moves to the position of connecting piece 14, until second clamp plate 1225 compresses tightly arc 31 on third riser 1231.

The connecting piece clamping mechanism further comprises a fourth supporting plate 1235, the fourth supporting plate 1235 is fixedly arranged on the first supporting plate 1209, the fourth supporting plate 1235 is fixedly provided with a third sliding rail 1227, the length direction of the third sliding rail 1227 is perpendicular to the axis direction of the flat cantilever 1201, a third vertical plate 1231 is fixedly connected with a second connecting block 1229, the second connecting block 1229 is slidably arranged on the third sliding rail 1227, the two third vertical plates 1231 are respectively and fixedly connected with a first cylinder connecting plate 1217 and a second cylinder connecting plate 1226, the first cylinder connecting plate 1217 and the second cylinder connecting plate 1226 are respectively and fixedly connected with the two second connecting blocks 1229, a sixth driving cylinder 1228 is in driving connection with the first cylinder connecting plate 1217, the other first cylinder connecting plate 1217 is in driving connection with the second cylinder connecting plate 1226, and the extending directions of the two sixth driving cylinders 1228 are parallel to the third sliding rail 1227. The fourth supporting plate 1235 is provided with two cylinder supporting seats, the two cylinder supporting seats are located on two sides of the third sliding rail 1227, and the two sixth driving cylinders 1228 are respectively and fixedly arranged on the two cylinder supporting seats.

When the positions of the two third vertical plates 1231 need to be adjusted, the two sixth driving cylinders 1228 are driven, and the extension or contraction of the piston rods of the sixth driving cylinders 1228 drives the third vertical plates 1231 to slide on the third slide rails 1227. A special-shaped channel is formed between the two third vertical plates 1231, the shape of the special-shaped channel is matched with that of the connecting piece 14, and a certain distance is always kept between the two third vertical plates 1231, so that the connecting piece 14 can be prevented from being extruded by the two third vertical plates 1231 when the piston rod of the sixth driving cylinder 1228 is completely contracted.

To further position the attachment 14: the third vertical plate 1231 is fixedly connected to a second positioning block 1223, and the second positioning block 1223 is provided with a third positioning pin 1232 for being matched with the connecting member pin hole 1233.

When the connecting member 14 is positioned, the two sixth driving cylinders 1228 are driven to adjust the distance between the two third vertical plates 1231, so that the third positioning pins 1232 are inserted into the connecting member pin holes 1233.

The fixture 12 further comprises an object stage, the object stage is arranged on the first supporting plate 1209 in a sliding manner, a bearing frame 1213 and a fifth driving cylinder 1216 are fixedly arranged on the object stage, the bearing frame 1213 comprises two I-shaped plates arranged in parallel, the I-shaped plates are fixedly arranged on the object stage, the two I-shaped plates are connected with the bearing plates together, the fifth driving cylinder 1216 is located between the two I-shaped plates, the fifth driving cylinder 1216 penetrates through the bearing plates and is connected with a second supporting plate 1212, the second supporting plate 1212 is integrally connected with two second vertical plates 1211 arranged in parallel, two rotary supporting rollers 1205 for supporting the cantilever 1201 are connected between the two second vertical plates 1211 together, and the axial direction of the rotary supporting rollers 1205 is parallel to the axial direction of the cantilever 1201.

The first supporting plate 1209 is provided with a first slide rail 1215 and a cylinder supporting seat, the length direction of the first slide rail 1215 is perpendicular to the axis direction of the flat cantilever 1201, the first slide rail 1215 is provided with a third connecting block in a sliding manner, the third connecting block is fixedly connected with an objective table, and the fifth driving cylinder 1216 is arranged on the objective table. Be provided with the second on the cylinder supporting seat and drive actuating cylinder 1206, the extending direction that the second drove actuating cylinder 1206 is parallel with the length direction of first slide rail 1215, and the second drives actuating cylinder 1206 and objective table drive connection. The two rotary rollers 1205 are rotatably disposed between the two second vertical plates 1211.

After the flat cantilever 1201 passes through the cantilever channel, a second driving cylinder 1206 is driven, the second driving cylinder 1206 drives the objective table to slide on a first slide rail 1215 through a third connecting block, and the position of a rotary support roller 1205 on the horizontal plane is adjusted; the fifth driving cylinder 1216 is driven, and the fifth driving cylinder 1216 drives the rotary carrier roller 1205 to ascend or descend, thereby adjusting the position of the rotary carrier roller 1205 on the vertical plane. The position of the rotary support roller 1205 is adjusted to ensure that the flat cantilever 1201 can fall between the two rotary support rollers 1205 after penetrating through the cantilever channel, the two rotary support rollers 1205 support the flat cantilever 1201, when the flat cantilever 1201 needs to rotate, the rotary support roller 1205 can rotate along with the flat cantilever 1201, the flat cantilever 1201 is ensured not to be scratched, and meanwhile, the stability of the flat cantilever 1201 during rotation can be improved by the support provided by the rotary support roller 1205 for the flat cantilever 1201.

The first supporting plate 1209 is further fixedly connected with a control box carrier plate 1214, a flat cantilever tooling control box 1204 is fixedly arranged on the control box carrier plate 1214, the flat cantilever tooling control box 1204 is electrically connected with all the cylinders, and all the cylinders are controlled and switched through the flat cantilever tooling control box 1204.

The flat cantilever and support connector combined tool 7 comprises an alignment mechanism 702, a clamp mechanism 703 and a rotary positioning mechanism 704. The structure and the principle of the centering mechanism 702 in the flat cantilever and support connector combined tool 7 are the same as those in the flat cantilever and messenger wire seat positioning tool 12.

The flat cantilever 1201 is grabbed by the first mechanical arm 2, the flat cantilever 1201 is placed into the centering mechanism 702 after the first mechanical arm 2 grabs the flat cantilever 1201, and the centering mechanism 702 is used for adjusting the axial direction of the flat cantilever 1201 and ensuring that the axial line of the flat cantilever 1201 is overlapped with the axial line of a cantilever channel; after the centering process is completed, the first manipulator 2 continues to push the flat cantilever 1201 through the cantilever channel until the flat cantilever 1201 is clamped by the rotational positioning mechanism 704. The tool further comprises a tool workbench 706, and the centering mechanism 702, the clamping mechanism 703 and the rotary positioning mechanism 704 are all arranged on the tool workbench 706. The tooling workbench 706 is fixedly arranged on the sliding table 13.

The clamping mechanism 703 comprises a first pushing cylinder 708 and two first sliding blocks 710 arranged oppositely, the connecting member 14 is located between the two first sliding blocks 710, the first pushing cylinder 708 is in driving connection with one of the first sliding blocks 710, and the first pushing cylinder 708 is fixedly connected with the other first sliding block 710.

The fixture mechanism 703 further comprises a fixture worktable 707, the fixture worktable 707 is fixedly arranged on the tooling worktable 706, the first pushing cylinder 708 and the two first sliding blocks 710 are both arranged on the fixture worktable 707, the two first sliding blocks 710 are used for clamping the connecting piece 14, and a certain distance is left between the two first sliding blocks 710 to avoid that the connecting piece 14 is extruded and deformed due to the over-small distance. Four clamp stoppers are arranged on the clamp workbench 707 along the sliding direction of the first sliding block 710, three moving spaces are formed between the four clamp stoppers, and the two first sliding blocks 710 are respectively located in the two outer moving spaces. The extending direction of the first pushing cylinder 708 is perpendicular to the axial direction of the flat cantilever 1201, the cylinder body of the first pushing cylinder 708 is connected with one first sliding block 710 through a bolt, and the piston rod of the first pushing cylinder 708 is connected with the other first sliding block 710 through a bolt.

When the second manipulator 3 places one connecting piece 14 between the two first sliding blocks 710, the first pushing cylinder 708 is driven, the piston rod of the first pushing cylinder 708 contracts, the first sliding block 710 connected with the piston rod of the first pushing cylinder 708 moves towards the connecting piece 14 along the extending direction of the first pushing cylinder 708 until the first sliding block 710 contacts with the clamp stop, the first sliding block 710 stops moving, the piston rod of the first pushing cylinder 708 continues to contract due to the fact that the first pushing cylinder 708 continues to work, the cylinder body of the first pushing cylinder 708 and the first sliding block 710 connected with the cylinder body synchronously move towards the connecting piece 14 until the two first sliding blocks 710 clamp the connecting piece 14, at this time, the two first sliding blocks 11 both contact with the clamp stop and cannot continue to move, and the first pushing cylinder 708 stops working.

When the clamp mechanism 703 is required to release the connecting member 14, the first pushing cylinder 708 is driven, the piston rod of the first pushing cylinder 708 extends, the first sliding block 710 connected to the piston rod of the first pushing cylinder 708 slides in the direction away from the connecting member 14 along the extending direction of the first pushing cylinder 708 until the first sliding block 710 contacts with the clamp stop, and the first sliding block 710 stops moving, because the first pushing cylinder 708 continues to work, the piston rod of the first pushing cylinder 708 continues to extend, so that the cylinder body of the first pushing cylinder 708 and the first sliding block 710 connected thereto synchronously slide in the direction away from the connecting member 14 until both the first sliding blocks 710 contact with the clamp stop, the two first sliding blocks 710 cannot continue to move, and the first pushing cylinder 708 stops working.

The first sliding block 710 is fixedly connected with a fixing block 709, the shapes of the two fixing blocks 709 and the two first sliding blocks 710 are manufactured according to the shape of the connecting piece 14, a special-shaped channel is formed between the two fixing blocks 709 and the two first sliding blocks 710, and the shape of the special-shaped channel is similar to that of the connecting piece 14, so that the two first sliding blocks 710 after pitch separation can be attached to the connecting piece 14.

In order to facilitate the sliding of the first sliding block 710 on the fixture worktable 707 and to ensure that the two first sliding blocks 710 are in the same straight line, a fixture slide rail 714 is fixedly arranged on the fixture worktable 707, the length direction of the fixture slide rail 714 is parallel to the extending direction of the first pushing cylinder 708, and the two first sliding blocks 710 are both slidably arranged on the fixture slide rail 714.

In order to avoid the position conflict between the first pushing cylinder 708 and the clamp sliding rail 714, the first pushing cylinder 708 drives the first sliding block 710 to slide on the clamp sliding rail 714 through the clamp vertical plate 35, so as to ensure that a sufficient distance is left between the first pushing cylinder 708 and the clamp sliding rail 714, so as to prevent the first pushing cylinder 708 from affecting the clamp sliding rail 714 during operation.

A second pushing cylinder 713 is arranged between the two first sliding blocks 710, and the extending direction of the second pushing cylinder 713 is parallel to the axial direction of the flat cantilever 1201. The second pushing cylinder 713 is connected with a first pressing plate 712 in a driving manner, and a pressing member 711 for pressing the connecting member 14 to the first sliding block 710 is arranged on the first pressing plate 712 in a penetrating manner. The second pushing cylinder 713 divides the clamp slide rail 714 into two sections, two first sliding blocks 710 are respectively located on the two sections of clamp slide rails 714, and four clamp stoppers are respectively fixedly disposed at two ends of the two sections of clamp slide rails 714.

Fig. 20 shows an initial state and a final state of the first pressing plate 712. The number of the first pressing plates 712 is one, the piston rod of the second push cylinder 713 is fixedly connected with the first pressing plates 712, the pressing member 711 penetrates through the first pressing plates 712, and the piston cylinder of the second push cylinder 713 is rotatable. Initially, the length direction of the first pressing plate 712 is parallel to the length direction of the clamp sliding rail 714, the pressing member 711 faces the first sliding block 710 at this time, the second pushing cylinder 713 is driven, the second pushing cylinder 713 drives the first pressing plate 712 to rotate until the pressing member 711 faces the connecting member 14, meanwhile, a piston rod of the second pushing cylinder 713 contracts, the second pushing cylinder 713 drives the first pressing plate 712 to move in the direction of the connecting member 14 until the pressing member 711 presses the connecting member 14, and finally, the length direction of the first pressing plate 712 is perpendicular to the length direction of the clamp sliding rail 714.

The rotary positioning mechanism 704 comprises a second swing cylinder 715 and a rotary positioning workbench 720, the rotary positioning workbench 720 is slidably arranged on the tooling workbench 706, the sliding direction of the rotary positioning workbench 720 is perpendicular to the axial direction of the flat cantilever 1201, the second swing cylinder 715 is fixedly arranged on the rotary positioning workbench 720, the second swing cylinder 715 is in driving connection with a rotary table 717, and the rotary table 717 is provided with a clamping component for clamping the flat cantilever 1201.

The clamping assembly comprises a third pushing cylinder 722 and two sliding plates 718 arranged on the rotating platform 717 in parallel, the third pushing cylinder 722 is in driving connection with one sliding plate 718, the third pushing cylinder 722 is fixedly connected with the other sliding plate 718, and a second positioning pin 719 is arranged on the sliding plate 718.

One end of the flat cantilever 1201 is provided with a flat cantilever pin hole, and the end of the flat cantilever 1201 with the flat cantilever pin hole passes through the centering channel and the cantilever channel and then extends into the space between the two sliding plates 718. The rotating platform 717 is fixedly provided with a first guide rail 723, the sliding plate 718 is fixedly connected with a second sliding block 724, the second sliding block 724 is in sliding fit with the first guide rail 723, a cylinder body of the third pushing cylinder 722 is connected with one sliding plate 718 through a bolt, and a piston rod of the third pushing cylinder 722 penetrates through the sliding plate 718 connected with the cylinder body of the third pushing cylinder 722 and then is connected with the other sliding plate 718 through a bolt. Be provided with limit stop 729 between two boards 718 that slide on revolving stage 717, still fixedly on revolving stage 717 be provided with two first limit bolt 728, the axis direction of first limit bolt 728 is the same with the axis direction of flat cantilever 1201, and two first limit bolt 728 are located the one side that is located two boards 718 that slide respectively, all are provided with second limit bolt 730 on two boards 718 that slide, and second limit bolt 730 is towards limit stop 729.

The extending direction of the third pushing cylinder 722 is perpendicular to the axial direction of the flat cantilever 1201, after one end of the flat cantilever 1201 with a flat cantilever pin hole extends between the two sliding plates 718, the third pushing cylinder 722 is driven, the piston rod of the third pushing cylinder 722 contracts, the sliding plate 718 connected with the piston rod of the third pushing cylinder 722 slides on the first guide rail 723 towards the flat cantilever 1201 until the second limit bolt 730 on the sliding plate 718 contacts with the limit stop 729, the sliding plate 718 stops sliding, the second positioning pin 719 on the sliding plate 718 is inserted into the flat cantilever pin hole on the flat cantilever 1201, as the third pushing cylinder 722 continues to work, the piston rod of the third pushing cylinder 722 continues to contract, so that the cylinder body of the third pushing cylinder 722 and the sliding plate 718 connected therewith synchronously slide towards the flat cantilever direction until the second limit bolts 730 on the two sliding plates 718 both contact with the limit stop 729, at this time, the second positioning pins 719 on the two sliding plates 718 are inserted into the flat-wrist-arm pin holes of the flat-wrist arms 1201, so that the flat-wrist arms 1201 are positioned, and the third pushing cylinders 722 stop working. In the rotation process of the flat wrist arm 1201, the flat wrist arm 1201 is driven to rotate by the two second positioning pins 719, and meanwhile, the positioning pins can ensure that the flat wrist arm 1201 does not get away from the rotation positioning mechanism 704 in the rotation process.

When the flat cantilever 1201 needs to be loosened by the rotary positioning mechanism 704, the third pushing cylinder 722 is driven, a piston rod of the third pushing cylinder 722 extends, the sliding plate 718 connected with the piston rod of the third pushing cylinder 722 slides on the first guide rail 723 in the direction away from the flat cantilever 1201 until the sliding plate 718 is in contact with the first limiting bolt 728, the sliding plate 718 stops sliding, the piston rod of the third pushing cylinder 722 continues to extend due to the fact that the third pushing cylinder 722 continues to work, so that the cylinder body of the third pushing cylinder 722 and the sliding plate 718 connected with the cylinder body synchronously slide in the direction away from the flat cantilever 1201 until the two sliding plates 718 are in contact with the two first limiting bolts 728 respectively, the two sliding plates 718 both stop sliding, and the third pushing cylinder 722 stops working.

The specific setting mode between the rotary positioning workbench 720 and the tooling workbench 706 is as follows: a supporting vertical plate 716 is arranged between the second swing cylinder 715 and the rotating table 717, the supporting vertical plate 716 is fixedly arranged on the rotary positioning workbench 720, two second guide rails 726 are fixedly arranged on the tooling workbench 706, the rotary positioning workbench 720 is slidably arranged on the two second guide rails 726, the length direction of the second guide rails 726 is parallel to the extension direction of the third pushing cylinder 722, the rotary positioning workbench 720 is connected with a fourth pushing cylinder 725, and the extension direction of the fourth pushing cylinder 725 is parallel to the length direction of the second guide rails 726.

In order to enhance the stability of the rotational positioning mechanism 704, a trapezoidal vertical plate 721 is fixedly connected between the supporting vertical plate 716 and the rotational positioning table 720. Two second baffles 727 are arranged on the tooling workbench 706 in parallel, the second baffles 727 are used for limiting the rotating positioning workbench 720 to prevent the rotating positioning mechanism 704 from being separated from the tooling workbench 706, and the connecting line direction between the two second baffles 727 is parallel to the length direction of the second guide rail 726.

When the rotary positioning mechanism 704 positions the flat cantilever 1201, the fourth pushing cylinder 725 is driven first, the fourth pushing cylinder 725 drives the rotary positioning workbench 720 to slide on the second guide rail 726, the position of the rotary positioning mechanism 704 is adjusted, then the third pushing cylinder 722 is driven until the two second positioning pins 719 are inserted into the flat cantilever pin holes, the two second positioning pins 719 position the flat cantilever 1201 together, and the stability of the flat cantilever 1201 in the rotating process is improved.

The flat cantilever and support connector combined tool 7 is used in cooperation with other tools in practical application, when the flat cantilever 1201 needs to be rotated, the flat cantilever 1201 penetrates through a cantilever channel of the connecting piece 14 at the moment, the third driving cylinder 1208 and the first pushing cylinder 708 are driven, the centering mechanism 702 is separated from the flat cantilever 1201, the connecting piece 14 is separated from the clamp mechanism 703, then the second swinging cylinder 715 is controlled, the rotating platform 717 is rotated, and the rotating platform 717 drives the flat cantilever 1201 to rotate through the clamping component. The order of the centering mechanism 702 and the clamping mechanism 703 may be reversed.

The flat cantilever and support connector combined tool 7 further comprises a flat cantilever tool control box 705, the flat cantilever tool control box 705 is electrically connected with the second swing cylinder 715 and all cylinders, and the working states of the second swing cylinder 715 and all cylinders can be switched at any time through the flat cantilever tool control box 705.

The inclined cantilever and support connector combined tool 6 comprises an alignment mechanism 702, a clamp mechanism 703 and a rotary positioning mechanism 704, the alignment mechanism 702 is identical to the alignment mechanism 702 in the flat cantilever and messenger cable seat positioning tool 12 in structure and principle, the clamp mechanism 703 and the rotary positioning mechanism 704 are identical to the flat cantilever and support connector combined tool 7 in structure and principle, and only one second positioning pin 719 is arranged in the inclined cantilever and rotary positioning mechanism 704 in the support connector combined tool 6.

The difference between the inclined cantilever and the combined positioning ring positioning tool 9 and the flat cantilever and the messenger wire seat positioning tool 12 is only that the mechanism for clamping the connecting piece 14 is the clamp mechanism 703, and the structure and the principle of the clamp mechanism 703 in the inclined cantilever and the combined positioning ring positioning tool 9 are the same as those of the flat cantilever and the support connector combined tool 7.

The tightening tool 11 comprises an elevating platform 1106, a driver 1102 is arranged on the elevating platform 1106, a moving platform 1111 is connected with the driver 1102 in a driving mode, the moving platform 1111 is arranged on the elevating platform 1106 in a sliding mode, a plurality of moving assemblies are arranged on the moving platform 1111 in a moving mode, a tightening gun 1101 is fixedly connected with the moving assemblies, and the tightening gun 1101 extends towards the lower portion of the moving platform 1111.

The number of bolts required for fixing the same position on the connecting piece 14 is one or two, so that the number of the tightening guns 1101 is two, the number of the moving assemblies is also two, and the moving assemblies and the tightening guns 1101 correspond to each other one by one. The moving table 1111 is horizontally disposed, and the moving assembly is used to adjust the position of the tightening gun 1101 on the moving table 1111, i.e., to adjust the position of the tightening gun 1101 on the horizontal plane. An actuator support base 1103 is fixedly provided on the upper portion of the lifting table 1106, and an actuator 1102 is provided on the actuator support base 1103. The driver 1102 may be an air cylinder, a hydraulic cylinder, or other mechanism or device capable of driving the moving platform 1111 to reciprocate. The actuation of the actuator 1102 and the operation of the tightening gun 1101 can be controlled using a valve island.

The use principle of the screwing tool 11 is as follows: the total four of the tightening tools 11 are respectively located on a flat cantilever and support connector combined tool 7, a flat cantilever and carrier cable seat positioning tool 12, an inclined cantilever and support connector combined tool 6 and an inclined cantilever and combined positioning ring positioning tool 9, in the practical use process, the connecting piece 14 is located below the moving table 1111, when the bolt needs to be tightened, the driver 1102 is driven, the driver 1102 is fixedly connected with the top plate 1104, the top plate 1104 is fixedly connected with the moving table 1111, the top plate 1104 can be pushed by the driver 1102 to move downwards, the top plate 1104 pushes the moving table 1111 to move downwards, the tightening gun 1101 can descend along with the bolt, the tightening gun 1101 comprises a sleeve 1117, and the sleeve 1117 is used for tightening the bolt. The position of the tightening gun 1101 on the mobile station 1111 may be manually adjusted, the mobile assembly adjusted for use before the tightening gun 1101 is lowered, or adjusted by an air cylinder to adjust the tightening gun position before or during lowering of the tightening gun 1101. The position of the tightening gun 1101 is adjusted by the moving assembly until the bolt extends into the sleeve 1117, the driver 1102 stops working to drive the tightening gun 1101, the sleeve 1117 tightens the bolt, then the tightening gun 1101 stops working, the driver 1102 is driven, and the driver 1102 drives the moving platform 1111 to move upwards until reset.

To facilitate movement of mobile station 1111: the lifting platform 1106 is fixedly connected with a lifting platform bottom plate 1108, and the length direction of the lifting platform 1106 is perpendicular to the lifting platform bottom plate 1108. Be provided with hydro-cylinder 1118 on the elevating platform 1106, screw up the frock and should use with other frock cooperations when using, hydro-cylinder 1118 is used for the oil supply of slip table 13. Two second linear guide rails 1107 are fixedly arranged on the lifting platform 1106 along the length direction, two first sliding blocks are fixedly connected to the mobile platform 1111, and the two first sliding blocks are respectively arranged on the two second linear guide rails 1107 in a sliding manner.

The specific arrangement between the mobile component and the mobile station 1111 is as follows: two third linear guide rails 1113 are fixedly arranged on the moving table 1111, two second sliding blocks are fixedly connected to the moving assembly, the two second sliding blocks are respectively arranged on the two third linear guide rails 1113 in a sliding mode, the moving of the moving assembly on the third linear guide rails 1113 can be adjusted manually, the position of the tightening gun 1101 is adjusted in advance so as to be used, and the adjusting can also be carried out through an air cylinder.

The specific structure of the moving assembly is as follows: the moving assembly comprises a first moving plate 1115, the first moving plate 1115 is fixedly connected with a second slider, the second slider is in sliding fit with a third linear guide rail 1113, a first linear guide rail 1105 is fixedly arranged on the first moving plate 1115, a third slider is slidably arranged on the first linear guide rail 1105 and fixedly connected with the second moving plate 1116, and the length direction of the first linear guide rail 1105 is perpendicular to the length direction of the third linear guide rail 1113. A second moving plate 1116 is slidably disposed on the first linear guide 1105, and the second moving plate 1116 is fixedly connected to the tightening gun 1101.

To improve the positional adjustment accuracy of the tightening gun 1101: the first moving plate 1115 is fixedly provided with a first pointer 1114, and the moving table 1111 is provided with a first scale 1112 matched with the first pointer 1114. The second pointer 1119 is fixedly arranged on the second moving plate 1116, and the second scale 1120 matched with the second pointer 1119 is arranged on the first moving plate 1115.

When the position of the tightening gun 1101 is adjusted, the sliding distance of the first moving plate 1115 on the third linear guide 1113 can be obtained from the first pointer 1114 and the first scale 1112, and the sliding direction and the sliding distance of the tightening gun 1101 in the longitudinal direction of the third linear guide 1113 can also be determined by obtaining the real-time position of the tightening gun 1101 on the third linear guide 1113; the sliding distance of the second moving plate 1116 on the first linear guide 1105 can be obtained from the second pointer 1119 and the second scale 1120, and the sliding direction and the sliding distance of the tightening gun 1101 in the longitudinal direction of the first linear guide 1105 can also be determined by obtaining the real-time position of the tightening gun 1101 on the first linear guide 1105.

To limit the lifting speed of the mobile station 1111 and to limit the lifting length of the mobile station 1111: a damper 1109 and a stopper 1110 are fixedly provided on the lifting table 1106, the damper 1109 is located below the moving table 1111 and faces the moving table 1111, and the stopper 1110 is located on a side of the damper 1109.

Finally, the tooling system can also comprise a transfer workbench, the first manipulator 2, the second manipulator 3, an adjusting mechanism 4, a connecting piece supply material tray 5, an inclined cantilever and support connector combined tooling 6, a flat cantilever and support connector combined tooling 7, an inclined cantilever and combined positioning ring positioning tooling 9, a third manipulator 10, a flat cantilever and a carrier cable seat positioning tooling 12 which are all fixedly arranged on the transfer workbench, the transfer workbench can be fixedly connected with a plurality of square pipes which are parallel to each other, a forklift can be utilized to be matched with the square pipes to lift the transfer workbench and all devices on the transfer workbench synchronously, so that the position is conveniently transferred, and the flexibility of the tooling system is improved.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (5)

1. The utility model provides a cantilever is joined in marriage with flat inclined cantilever pre-assembly frock system which characterized in that: the device comprises two groups of connecting piece supply trays (5), wherein one group of connecting piece supply trays (5) comprises a plurality of connecting piece supply trays (5), and a flat cantilever pre-assembly tool and an inclined cantilever pre-assembly tool are arranged between the two groups of connecting piece supply trays (5);

the flat cantilever pre-assembly tool comprises a flat cantilever and support connector combination tool (7) and a flat cantilever and messenger wire seat positioning tool (12); the inclined cantilever pre-assembly tool comprises an inclined cantilever and support connector combination tool (6) and an inclined cantilever and combination positioning ring positioning tool (9); and screwing tools (11) are arranged near the flat cantilever and support connector combined tool (7), the flat cantilever and carrier cable seat positioning tool (12), the inclined cantilever and support connector combined tool (6) and the inclined cantilever and combined positioning ring positioning tool (9).

2. The flat and inclined cantilever pre-assembly tooling system for cantilever pre-assembly as claimed in claim 1, wherein: the connecting piece supplies charging tray (5) including support (505), upper charging tray (501) and lower floor's charging tray (504), parallel arrangement has two first baffle (506) on support (505), and upper charging tray (501) slide to set up on two first baffle (506), and lower floor's charging tray (504) slide to set up on support (505) and lie in between two first baffle (506), all is provided with a plurality of connecting pieces (14) on upper charging tray (501) and lower floor's charging tray (504).

3. The flat and inclined cantilever pre-assembly tooling system for cantilever pre-assembly as claimed in claim 1, wherein: screw up frock (11) including elevating platform (1106), be provided with driver (1102) on elevating platform (1106), driver (1102) drive is connected with mobile station (1111), and mobile station (1111) slides and sets up on elevating platform (1106), and the removal is moved on mobile station (1111) and is provided with a plurality of and removes the subassembly, removes subassembly fixedly connected with and screws up rifle (1101), screws up rifle (1101) and extends to the below of mobile station (1111).

4. The flat and inclined cantilever pre-assembly tooling system for cantilever pre-assembly as claimed in claim 1, wherein: the flat cantilever and support connector combined tool (7), the flat cantilever and carrier cable seat positioning tool (12), the inclined cantilever and support connector combined tool (6) and the inclined cantilever and combined positioning ring positioning tool (9) respectively comprise a centering mechanism (702), the centering mechanism (702) comprises a third driving cylinder (1208) and two first vertical plates (1207) which are arranged in parallel, the first vertical plates (1207) are arranged on the first support plate (1209) in a sliding manner, the third driving cylinder (1208) is in driving connection with one of the first vertical plates (1207), the third driving cylinder (1201) is fixedly connected with the other first vertical plate (1207), and a centering wheel (1202) for limiting the flat cantilever (701) or the inclined cantilever (701) from the peripheral side is arranged on each first vertical plate (1207) in a rotating manner;

the flat cantilever and support connector combined tool (7), the inclined cantilever and support connector combined tool (6) and the inclined cantilever and combined positioning ring positioning tool (9) respectively comprise a clamp mechanism (703) for clamping a connecting piece (14), the clamp mechanism (703) comprises a first pushing cylinder (708) and two first sliding blocks (710) which are oppositely arranged, the connecting piece (14) is positioned between the two first sliding blocks (710), the first pushing cylinder (708) is in driving connection with one of the first sliding blocks (710), and the first pushing cylinder (708) is fixedly connected with the other first sliding block (710);

the connecting piece clamping mechanism comprises two third vertical plates (1231), the third vertical plates (1231) are arranged on the first supporting plate (1209) in a sliding mode, a plurality of first driving cylinders (1203) are arranged on the third vertical plates (1231), and the first driving cylinders (1203) are connected with second pressing plates (1225) used for pressing the connecting pieces (14) onto the third vertical plates (1231);

the flat cantilever and support connector combined tool (7) and the inclined cantilever and support connector combined tool (6) comprise rotary positioning mechanisms (704), each rotary positioning mechanism (704) comprises a second swing cylinder (715), each second swing cylinder (715) is in driving connection with a rotary table (717), and the rotary tables (717) are provided with clamping components for clamping the flat cantilever (1201) or the inclined cantilever (701).

5. The flat and inclined cantilever pre-assembly tool system for cantilever pre-assembly as claimed in claim 4, wherein: the centering mechanism (702) further comprises a fourth driving cylinder (1210), the fourth driving cylinder (1210) is in driving connection with a jacking support roller (1220) used for supporting the flat cantilever (1201) or the oblique cantilever (701), and the axial direction of the jacking support roller (1220) is perpendicular to the axial direction of the flat cantilever (1201) or the oblique cantilever (701).

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