阅读说明：本技术 一种腕臂生产加工设备 (Cantilever production and processing equipment ) 是由 秦俊非 董建林 袁海林 周绍启 连进 于 2021-10-21 设计创作，主要内容包括：本发明提供了一种腕臂生产加工设备,包括上料装置、锯切打孔装置、缓存备料装置和组装装置；通过上料装置将待加工管材输送到锯切打孔装置内,通过锯切打孔装置根据实际需要的管材长度对待加工管材先进行切割,然后对切割后的管材进行打孔操作；进行切割打孔过的管材通过备料机器人放置到备料缓存装置中,根据组装装置的需求再通过上料机器人将管材送到组装装置上,通过组装装置在管材上安装零部件。本发明有益效果：一种腕臂生产加工设备将上料装置、锯切打孔装置、缓存备料装置和组装装置融为一体,提高生产效率,降低运营成本,适用于现代化的腕臂生产加工。(The invention provides a wrist arm production and processing device which comprises a feeding device, a saw cutting and punching device, a cache material preparation device and an assembling device, wherein the feeding device comprises a feeding device, a saw cutting and punching device and a buffer material preparation device; conveying the pipe to be processed into a sawing and punching device through a feeding device, cutting the pipe to be processed through the sawing and punching device according to the length of the pipe actually required, and then punching the cut pipe; the tube stock that the cutting was punched is placed through the robot of prepareeing material and is got ready in the buffer memory device, and on the demand according to assembly device sent the tube stock to assembly device through the material loading robot again, installed spare part on the tube stock through assembly device. The invention has the beneficial effects that: the utility model provides a cantilever production and processing equipment integrates loading attachment, saw cut perforating device, buffer memory device and assembly device of prepareeing material, improves production efficiency, reduces the operation cost, is applicable to the wrist production and processing of modernization.)

1. The utility model provides a cantilever production and processing equipment which characterized in that: the device comprises a feeding device, a sawing and punching device, a buffer material preparation device and an assembling device;

conveying the pipe (1) to be processed into a sawing and punching device through a feeding device, cutting the pipe (1) to be processed through the sawing and punching device according to the length of the pipe required actually, and then punching the cut pipe;

the tube stock that the cutting was punched is placed through the robot of prepareeing material and is got ready in the buffer memory device, and on the demand according to assembly device sent the tube stock to assembly device through the material loading robot again, installed spare part on the tube stock through assembly device.

2. The wrist arm production and processing device according to claim 1, wherein: the feeding device comprises a lifting unit (2) and a conveying unit (3), wherein the lifting unit (2) is used for lifting the pipe (1) to be processed to the conveying unit (3) from a material preparation area, and the conveying unit (3) is used for conveying the pipe (1) to be processed to the processing equipment of the next step;

the lifting unit (2) comprises a conveying mechanism and a lifting mechanism (22), the conveying mechanism is connected with the lifting mechanism (22), and the conveying mechanism is used for conveying the pipe (1) to be processed to the lifting mechanism (22) from the material preparation area;

the conveying mechanism comprises a horizontal conveying belt (211) and a horizontal driving wheel, the horizontal conveying belt (211) is annularly arranged on the outer side of the driving wheel, the horizontal driving wheel comprises a horizontal driving wheel (2121) and a horizontal driven wheel (2122) which are arranged at two ends, and the conveying belt is driven to rotate through the rotation of the horizontal driving wheel (2121) and the horizontal driven wheel (2122);

the horizontal driving wheel (2121) is meshed with the horizontal conveying belt, and the horizontal driven wheel (2122) is meshed with the horizontal conveying belt;

a plurality of groups of conveying mechanisms are arranged along the length direction of the feeding machine;

the outer surface of the horizontal conveying belt (211) is provided with a plurality of connecting blocks, supporting grooves (2111) are arranged on the connecting blocks, and the bottoms of the supporting grooves (2111) are detachably connected with the connecting blocks;

the upper surface of the supporting groove (2111) is provided with a V-shaped opening (2112), and the pipe (1) to be processed is placed in the V-shaped opening (2112);

a gasket is arranged between the inner wall of the V-shaped opening (2112) and the pipe (1) to be processed;

two adjacent connecting blocks are mutually independent;

the same horizontal transmission rod (213) penetrates through the horizontal driving wheels (2121) of the plurality of groups of conveying mechanisms, and the horizontal transmission rod (213) and the horizontal driving wheels (2121) are driven to rotate by the driving motor;

the lifting mechanism (22) comprises a vertical bracket (221) and a vertical conveyor belt (222), wherein the vertical conveyor belt (222) is installed on the vertical bracket (221);

the outer surface of the vertical conveyor belt (222) is provided with a plurality of connecting blocks, lifting components (2221) are mounted on the connecting blocks, and the lifting components (2221) are detachably connected with the connecting blocks;

the vertical conveyor belt (222) is also provided with a corresponding vertical driving wheel, and the vertical conveyor belt (222) is driven to move by the vertical driving wheel;

one side of the lifting component (2221) close to the connecting block is an installation part, and the side far away from the connecting block is a lifting part;

the lifting part is provided with an accommodating groove for accommodating a pipe (1) to be processed;

an anti-skid gasket is arranged between the contact part of the accommodating groove and the pipe (1) to be processed;

the vertical driving wheel comprises a vertical driving wheel and a vertical driven wheel;

the vertical driving wheel is meshed with the vertical transmission belt (222), and the vertical driven wheel is meshed with the vertical transmission belt (222);

a plurality of groups of lifting mechanisms (22) are arranged along the length direction of the feeding machine;

the same vertical transmission rod (2222) is arranged between the vertical driving wheels of the plurality of groups of lifting mechanisms (22) in a penetrating way, and the vertical transmission rod (2222) and the vertical driving wheels are driven to rotate by a driving motor;

the vertical support (221) is erected above the horizontal conveying belt (211), a pause waiting area (23) is arranged at the position, close to the vertical support (221), of the horizontal conveying belt, and the pause waiting area (23) is arranged below the lifting assembly (2221);

a first sensor (24) is arranged on the side of the horizontal conveyor belt, and a second sensor (25) is arranged on the side of the vertical conveyor belt (222);

a visual inspection mechanism is arranged on one side of the lifting unit (2) far away from the conveying unit (3), and comprises a visual inspection support (26) and a visual inspection wheel (27), and the visual inspection wheel (27) is arranged on the visual inspection support (26);

the visual inspection wheels (27) are provided with two to-be-processed pipes (1) which are placed on the visual inspection wheels (27), and the to-be-processed pipes (1) are in running fit with the visual inspection wheels (27).

3. The wrist arm production and processing device according to claim 2, wherein: the conveying unit (3) comprises conveying rollers (31) and a transfer mechanism, the transfer mechanism is used for conveying the pipe (1) to be processed to the conveying rollers (31), the conveying rollers (31) are used for conveying the pipe (1) to be processed to the processing equipment of the next step, and the conveying unit (3) is provided with a plurality of groups along the length direction of the feeding machine;

the transfer mechanism comprises a lifting mechanism and a transition plate (34);

the lifting mechanism comprises a lifting cylinder (32) and a lifting plate (33), the lifting cylinder (32) drives the lifting plate (33) to move up and down, the upper surface of the lifting plate (33) and the upper surface of the transition plate (34) are in the same horizontal plane when the lifting cylinder (32) is in an extension state, and the upper surface of the lifting plate (33) and the contact surface of the conveying roller (31) are in the same horizontal plane when the lifting cylinder (32) is in a contraction state;

two parallel supporting rails (35) are arranged at the bottom of the conveying roller (31), and the conveying roller (31) is supposed to be arranged above the two supporting rails (35);

the lifting mechanism is arranged in a gap between the two support rails (35);

the height of the upper surface of the transition plate (34) on the side close to the lifting plate (33) is lower than that of the upper surface on the side far away from the lifting plate (33);

the height of the upper surface of the lifting plate (33) close to one side of the transition plate (34) is higher than that of the upper surface of the lifting plate far away from one side of the transition plate (34) so as to ensure that the pipe (1) to be processed slides onto the lifting plate (33);

one side of the lifting plate (33) close to the transition plate (34) is a horizontal part, one side of the lifting plate (33) far away is provided with an arc-shaped limiting part (331), and the limiting part is used for preventing the pipe (1) to be processed from falling off from the lifting plate (33);

the lifting device also comprises a third sensor (36), wherein the third sensor (36) is arranged close to the lifting cylinder (32) and below the lifting plate (33);

the pipe machining device further comprises a limiting baffle (37), wherein the limiting baffle (37) is arranged on one side, away from the transition plate (34), of the lifting plate (33) and used for preventing the pipe (1) to be machined from falling off from the conveying unit (3);

the conveying rollers (31) comprise driving conveying rollers (31) and driven conveying rollers (31), and the driving conveying rollers (31) are driven to rotate through a driving motor.

4. The wrist arm production and processing device according to claim 1, wherein: the cache material preparation device comprises a cache frame, a cache robot and a control system;

the cache robot is connected with a paw (401) for clamping the cantilever (4), and is connected with the control system;

a plurality of placing positions are arranged on the cache frame, and the cache robot takes down the processed cantilever (4) from the sawing and punching assembly line (402) and places the processed cantilever on the placing positions on the cache frame;

a sensor (412) for detecting the placing state of the wrist arm (4) is arranged on the placing position;

the buffer storage rack comprises a first buffer storage rack (403) and a second buffer storage rack (409), the first buffer storage rack (403) is used for placing the finished cantilever (4), and the second buffer storage rack (409) is used for placing leftovers;

the first cache frame (403) comprises a base (404) and a supporting beam (405), wherein the upper surface of the base (404) is provided with a mounting groove (406) for placing the supporting beam (405), the bottom of the supporting beam (405) is provided with a mounting block (407) corresponding to the mounting groove (406), and the supporting beam (405) is vertically arranged on the base (404) through the mounting block (407);

a plurality of accommodating grooves (408) for placing the wrists (4) are formed in the side of the supporting beam (405);

at least two supporting beams (405) are arranged on the base (404) in parallel;

at least one accommodating groove (408) is arranged from top to bottom along the height direction of the supporting beams (405), and at least two accommodating grooves (408) of the supporting beams (405) are correspondingly arranged to form a placing position for placing the wrist arm (4);

the accommodating groove (408) is provided with a V-shaped opening with an upward opening, and a gasket is arranged on the inner wall of the V-shaped opening;

a connecting rod (410) is arranged between two adjacent supporting beams (405), and two ends of the connecting rod (410) are detachably connected with the supporting beams (405);

the second cache frame (409) comprises a plurality of horizontally arranged placing grooves (411), the placing grooves (411) are provided with V-shaped openings with upward openings, and gaskets are arranged on the inner walls of the V-shaped openings;

a sensor (412) is further arranged below the placing groove (411) and used for detecting whether the wrist arm (4) is placed on the placing groove (411).

5. The caching method for the cantilever production and processing equipment based on claim 4, wherein the caching method comprises the following steps:

labeling the accommodating groove (408) and the placing groove (411) to form a library position number, matching the library position number with the coordinate positions of the accommodating groove (408) and the placing groove (411), and storing the information into a control system;

the control system controls the cache robot to move to a sawing and punching assembly line (402) to take the cantilever (4) and place the cantilever on the containing groove (408) or the placing groove (411), meanwhile, the control system changes the state of the placing position into placed state, the placing positions of other un-placed cantilevers (4) are in un-placed state, and then the control system controls the cache robot to place the cantilevers (4) on the placing positions in the un-placed state in sequence;

after the buffer robot places the cantilever (4) on the placing position, the parameter information of the cantilever (4) is associated with the placing position, so that the material can be taken according to the use requirements of different types of cantilevers (4) in the follow-up process;

the material storage system further comprises a buffer robot for discharging, the buffer robot for discharging acquires material information of each placement position from the control system according to the use requirements of a subsequent assembly line, the appointed placement position is taken according to the requirements, and the state of the placement position in the control system is changed from 'placed' to 'not placed' after the placement position is taken;

and when all the placing positions are in the placed state, sending alarm information through the control system.

6. The wrist arm production and processing device according to claim 1, wherein: the assembling device comprises an equipment support (5), a first clamping component (55) and an accessory mounting component (515), wherein the first clamping component (55) is installed in a matched mode with the equipment support (5), the accessory mounting component (515) is connected with the equipment support (5) in a sliding mode through a first guide rail, a positioning mechanism and a sliding mechanism (581) are arranged on the accessory mounting component (515), the positioning mechanism is used for clamping and positioning accessories, a roller (702) is arranged on the sliding mechanism (581), and the sliding mechanism (581) is used for axially limiting the pipe fittings.

7. The wrist arm production and processing device according to claim 6, wherein: the accessory mounting assembly (515) comprises an assembly main body and a sliding plate (514), the accessory mounting assembly (515) main body is fixedly connected with the sliding plate (514), the sliding plate (514) is in sliding connection with the equipment support (5) through a first guide rail, a moving servo motor (512) is mounted on the sliding plate (514), a moving gear is arranged on an output shaft of the moving servo motor (512), and a moving rack (513) meshed with the moving gear of the moving servo motor (512) is arranged on the equipment support (5);

the accessory mounting assembly (515) comprises a first messenger seat (524) mounting assembly (53) for mounting a messenger seat (524) and a first sleeve (521) mounting assembly (54) for mounting a sleeve (521), the first messenger seat (524) mounting assembly (53) is mounted at one end of the guide rail close to the clamping assembly, the first sleeve (521) mounting assembly (54) is mounted at one end of the guide rail far away from the clamping assembly, and torque guns (516) for screwing nuts are arranged on the first messenger seat (524) mounting assembly (53) and the first sleeve (521) mounting assembly (54);

the torque gun (516) is installed with the accessory installation component (515) in a matched mode through a position adjusting mechanism (517), the position adjusting mechanism (517) comprises a torque gun (516) installation plate (528), a pressing cylinder (601) and an adjusting cylinder (609), a shell of the pressing cylinder (601) is fixedly connected with the vertical support (604), a main shaft of the pressing cylinder (601) is fixedly connected with the torque gun (516) installation plate (528), the torque gun (516) installation plate (528) is connected with the vertical support (604) in a sliding mode through a Z-axis guide rail, the pressing cylinder (601) is used for adjusting the vertical height of the torque gun (516) installation plate (528), and the number of the torque guns (516) is two;

the vertical support (604) is provided with a soft limiting column and a hard limiting column (605) which limit a torque gun (516) mounting plate (528), the soft limiting column is a soft limiting cylinder (606), and the movable end of the limiting cylinder (606) faces the operating platform;

the shell of the torque gun (516) is fixedly connected with an X-axis connecting plate (607), the X-axis connecting plate (607) is in sliding connection with a Y-axis connecting plate (608) through an X-axis guide rail, the Y-axis connecting plate (608) is in sliding connection with a mounting plate (528) through a Y-axis guide rail, an X-axis adjusting cylinder (603) is fixedly arranged on the Y-axis connecting plate (608), and a main shaft of the X-axis adjusting cylinder (603) is fixedly connected with the X-axis connecting plate (607);

an X-axis pointer (610) is arranged on the side face of the X-axis connecting plate (607), an X-axis graduated scale (611) corresponding to the X-axis pointer (610) is arranged at the corresponding position of the Y-axis connecting plate (608), a Y-axis pointer (612) is arranged on the Y-axis connecting plate (608), and a Y-axis graduated scale corresponding to the Y-axis pointer (612) is arranged at the corresponding position of the mounting plate (528) of the torque gun (516);

the shell of the adjusting cylinder (609) is fixedly connected with a sliding plate (514), the main shaft of the adjusting cylinder (609) is fixedly connected with a vertical support (604), the vertical support (604) is slidably connected with the sliding plate (514) through a guide rail, and the adjusting cylinder (609) adjusts the position of the vertical support (604) in the horizontal direction;

the first messenger seat (524) mounting component (53) comprises a sliding plate (514), a messenger seat (524) positioning mechanism (523), a sliding mechanism (581), a jacking mechanism and a supporting mechanism (520), the messenger wire seat (524) positioning mechanism (523) comprises a first positioning block (910) and a first positioning cylinder (912), the number of the first positioning blocks (910) is two, the two first positioning blocks (910) are fixedly provided with first positioning plates (911) for limiting the edge part of the messenger wire seat (524), the two first positioning plates (911) are oppositely arranged to form a clamping position for the messenger wire seat (524), the first positioning block (910) is connected with the sliding plate (514) in a sliding way through a guide rail, the shell of the first positioning cylinder (912) is fixedly connected with one first positioning block (910), and the main shaft of the first positioning cylinder (912) is fixedly connected with the other first positioning block (910);

a second limiting part (804) is further fixedly arranged on the sliding plate (514), the second limiting part (804) is of an L-shaped structure, a second limiting screw (805) for limiting the first positioning block (910) is arranged on the second limiting part (804), and the second limiting screw (805) is in threaded connection with the second limiting part (804);

the sliding plate (514) is also provided with a jacking mechanism for jacking the side surface of the bearing cable seat (524), the jacking mechanism comprises a fixed block (907), a sliding block (906) and a jacking part (909), the fixed block (907) is fixedly connected with the sliding plate (514), the number of the sliding blocks (906) is two, the sliding plate (514) is provided with a strip-shaped through hole, the sliding block (906) is arranged at the inner side of the strip-shaped through hole, the sliding block (906) is in sliding connection with the sliding plate (514), the fixed block (907) is provided with a buffer spring (905) corresponding to the sliding block (906), the jacking part (909) comprises a sliding part, a hinged part and a limiting part for jacking the side surface of the bearing cable seat (524), the hinged part is hinged with the positioning block, the sliding part is of a cylindrical structure, the bottom end of the sliding block (906) is of an inclined plane structure, and the upper end of the jacking part (909) is provided with a reset spring (908), two ends of the return spring (908) are respectively and fixedly connected with the positioning block and the jacking piece (909);

the sliding plate (514) is further provided with a sliding mechanism (581) used for clamping a pipe fitting, the sliding mechanism (581) comprises two sliding blocks (701) and two sliding cylinders (703), the two sliding blocks (701) are oppositely arranged to form a clamping position for clamping the pipe fitting, one end, close to the pipe fitting, of each sliding block (701) is provided with a roller (702), each sliding block (701) is connected with the corresponding sliding plate (514) in a sliding mode through a guide rail, a shell of each sliding cylinder (703) is fixedly connected with one sliding block (906), and a main shaft of each sliding cylinder (703) is fixedly connected with the other sliding block (906);

the sliding plate (514) is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block (906), and the first limiting screw rod is in threaded connection with the first limiting part;

the sliding plate (514) is further provided with a supporting mechanism (520), the supporting mechanism (520) comprises a supporting cylinder (901) and a supporting piece (903) fixedly connected with a main shaft of the supporting cylinder (901), a shell of the supporting cylinder (901) is fixedly connected with the sliding plate (514), the top end of the supporting piece (903) is provided with a supporting wheel (902) used for supporting a pipe fitting, the supporting piece (903) is further provided with two guide rods (904), and the two guide rods (904) are slidably connected with the sliding plate (514) through linear bearings;

the first sleeve (521) mounting component (54) comprises a sleeve (521) positioning mechanism (519), a sliding plate (514), a sliding mechanism (581), a jacking mechanism and a supporting mechanism (520), the sleeve (521) positioning mechanism (519) comprises a second positioning block (801) and a second positioning cylinder (803), the number of the second positioning blocks (801) is two, the two second positioning blocks (801) are fixedly provided with second positioning plates (802) used for limiting the edge parts of the sleeve (521), the two second positioning plates (802) are oppositely arranged to form clamping positions for the sleeve (521), the second positioning block (801) is connected with the sliding plate (514) in a sliding way through a guide rail, the shell of the second positioning cylinder (803) is fixedly connected with one second positioning block (801), and the main shaft of the second positioning cylinder (803) is fixedly connected with the other second positioning block (801);

the clamping block (526) is also provided with two jacking cylinders (806), and the output shaft ends of the two jacking cylinders (806) correspond to the nuts of the fastening bolts on the sleeve (521);

a second limiting part (804) is further fixedly arranged on the sliding plate (514), the second limiting part (804) is of an L-shaped structure, a second limiting screw (805) for limiting the second positioning block (801) is arranged on the second limiting part (804), and the second limiting screw (805) is in threaded connection with the second limiting part (804);

the sliding plate (514) is also provided with a jacking mechanism for jacking the side surface of the sleeve (521), the jacking mechanism comprises a fixed block (907), a sliding block (906) and a jacking piece (909), the fixed block (907) is fixedly connected with the sliding plate (514), the number of the sliding blocks (906) is two, the sliding plate (514) is provided with a strip-shaped through hole, the sliding block (906) is arranged at the inner side of the strip-shaped through hole, the sliding block (906) is slidably connected with the sliding plate (514), the fixed block (907) is provided with a buffer spring (905) corresponding to the sliding block (906), the jacking piece (909) comprises a sliding part, a hinged part and a limiting part for jacking the side surface of the sleeve (521), the hinged part is hinged with the positioning block, the sliding part is of a cylindrical structure, the bottom end of the sliding block (906) is of an inclined plane structure, and the upper end of the jacking piece (909) is provided with a return spring (908), two ends of the return spring (908) are respectively and fixedly connected with the positioning block and the jacking piece (909);

the sliding plate (514) is further provided with a sliding mechanism (581) used for clamping a pipe fitting, the sliding mechanism (581) comprises two sliding blocks (701) and two sliding cylinders (703), the two sliding blocks (701) are oppositely arranged to form a clamping position for clamping the pipe fitting, one end, close to the pipe fitting, of each sliding block (701) is provided with a roller (702), each sliding block (701) is connected with the corresponding sliding plate (514) in a sliding mode through a guide rail, a shell of each sliding cylinder (703) is fixedly connected with one sliding block (906), and a main shaft of each sliding cylinder (703) is fixedly connected with the other sliding block (701);

the sliding plate (514) is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block (906), and the first limiting screw rod is in threaded connection with the first limiting part;

still be equipped with supporting mechanism (520) on slide (514), supporting mechanism (520) including support cylinder (901), with support cylinder (901) main shaft fixed connection's support piece (903), the casing and slide (514) fixed connection of support cylinder (901), the top of support piece (903) is equipped with supporting wheel (902) that are used for supporting the pipe fitting, still be equipped with guide bar (904) on support piece (903), guide bar (904) quantity is two, the bracing piece passes through linear bearing and slide (514) sliding connection.

8. The wrist arm production and processing device according to claim 7, wherein: the clamping assembly comprises two clamping cylinders (525) and two clamping blocks (526), one of the two clamping blocks (526) is fixedly connected with a shell of the clamping cylinder (525), the other clamping block is fixedly connected with a main shaft of the clamping cylinder (525), the clamping block (526) is in sliding connection with the mounting plate (528) through a guide rail, the two clamping blocks (526) form a clamping position for the pipe fitting, a V-shaped groove is formed in the end face, close to the pipe fitting, of the clamping block (526), and a gasket (527) made of polytetrafluoroethylene is fixedly arranged on the surface of the V-shaped groove;

the mounting plate (528) is provided with a limiting plate (529), threaded holes are formed in the two clamping blocks (526), limiting bolts (530) are mounted on the inner sides of the threaded holes, the nut ends of the two limiting bolts (530) are oppositely arranged, the two ends of the limiting plate (529) limit the limiting bolts (530), one end, close to the clamping blocks (526), of the limiting plate (529) limits pipe fittings, and the mounting plate (528) is mounted with the equipment support (5) in a matched mode;

the equipment support (5) is provided with a turnover assembly (56), the turnover assembly (56) comprises a turnover cylinder (531) fixedly arranged on the equipment support (5), a shell of the turnover cylinder (531) is fixedly connected with the equipment support (5), an output shaft of the turnover cylinder (531) is provided with a turnover rack (532), a mounting plate (528) is provided with a connecting shaft (535), the connecting shaft (535) is provided with a turnover gear (533) meshed with the turnover rack (532) of the output shaft of the turnover cylinder (531), the connecting shaft (535) is rotatably connected with a turnover connecting plate (534), and the turnover connecting plate (534) is fixedly connected with the equipment support (5);

the equipment support (5) is further provided with a second guide rail and a second clamping assembly (57), the second guide rail is provided with a second messenger wire seat (524) installation assembly (58), the second messenger wire seat (524) installation assembly (58) is in sliding connection with the equipment support (5) through the second guide rail, and the second clamping assembly (57) is fixedly connected with the equipment support (5);

the equipment support is characterized in that a third guide rail and a third clamping assembly (510) are further arranged on the equipment support (5), a second sleeve (521) mounting assembly (511) and a third messenger cable seat (524) mounting assembly (59) are arranged on the third guide rail, the second sleeve (521) mounting assembly (511) and the third messenger cable seat (524) mounting assembly (59) are both connected with the equipment support (5) in a sliding mode through the third guide rail, the third clamping assembly (510) is fixedly connected with the equipment support (5), the third messenger cable seat (524) mounting assembly (59) is mounted at one end, close to the third clamping assembly (510), of the third guide rail, and the second sleeve (521) mounting assembly (511) is mounted at one end, far away from the third clamping assembly (510), of the third guide rail.

9. The wrist assembly method of the wrist production and processing equipment according to any one of claims 6 to 8, comprising the steps of:

s1, grabbing the accessory by using an accessory grabbing mechanical arm (52), wherein the accessory comprises a sleeve (521) and a messenger cable seat (524), and the accessory is respectively placed in a positioning mechanism of a corresponding accessory installation component (515), and the positioning mechanism acts to clamp and position the accessory;

s2, grabbing the pipe by using a pipe grabbing mechanical arm (51), placing the pipe in a sliding mechanism (581) of the accessory installation component (515), and clamping the pipe by the action of the sliding mechanism (581) so that the pipe and the accessory are coaxial;

s3, the movable pipe passes through the inside of the fitting, moves towards the clamping assembly, and moves to the designated position, and the clamping assembly acts to clamp the pipe;

s4, the other accessory installation component (515) moves towards the direction of the clamping component, the pipe enters the sliding mechanism (581), the sliding mechanism (581) acts to clamp the pipe, the pipe and the accessory are coaxial, and then the accessory installation component (515) continues to move to the designated position;

s5, the torque gun (516) moves downwards, starts to rotate after reaching the designated position, and screws two nuts arranged diagonally on the fitting to fasten the fitting on the pipe fitting;

s6, loosening the positioning mechanisms and the sliding mechanisms (581) of all the accessory installation components (515), lifting the supporting mechanism (520) to support the pipe fitting, rotating the rotation degree of the components, clamping the pipe fitting and the accessory by the positioning mechanisms and the sliding mechanisms (581) of all the accessory installation components (515), descending the supporting mechanism (520), moving the torque gun (516) downwards, starting to rotate after reaching the designated position, and tightening two nuts arranged on the remaining opposite angles on the accessory to fasten the accessory on the pipe fitting;

s7, the pipe fitting grabbing mechanical arm (51) grabs the processed wrist arm, the clamping assembly is loosened, the positioning mechanisms and the sliding mechanisms (581) of all the accessory installation assemblies (515) are loosened, the accessory installation assemblies (515) return to the initial position, and the pipe fitting grabbing mechanical arm (51) extracts the wrist arm and places the wrist arm at the designated position.

Technical Field

The invention belongs to the field of production and processing, and particularly relates to wrist arm production and processing equipment.

Background

At present in the current cantilever production and processing process, at first need cut the tubular product raw materials according to the user demand, form the tubular product that length meets the requirements, then carry out the operation of punching to the relevant position of tubular product, then place tubular product and wait for the material loading robot to get the district of prepareeing material and go to prepare material and take away and carry subsequent equipment assembly line on to the tubular product, through assembling the proper position installation part on the tubular product of assembly line, above-mentioned operating procedure is loaded down with trivial details and the cooperation is inseparable, current existing processing equipment that can realize above-mentioned production that does not exist at present, therefore an urgent need for a cantilever production and processing equipment.

Disclosure of Invention

In view of this, the present invention provides a wrist arm production and processing apparatus, so as to solve the above disadvantages, improve the production efficiency, and reduce the operation cost.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a wrist arm production and processing device comprises a feeding device, a saw cutting and punching device, a buffer material preparation device and an assembling device;

conveying the pipe to be processed into a sawing and punching device through a feeding device, cutting the pipe to be processed through the sawing and punching device according to the length of the pipe actually required, and then punching the cut pipe;

the tube stock that the cutting was punched is placed through the robot of prepareeing material and is got ready in the buffer memory device, and on the demand according to assembly device sent the tube stock to assembly device through the material loading robot again, installed spare part on the tube stock through assembly device.

The feeding device comprises a lifting unit and a conveying unit, wherein the lifting unit is used for lifting the pipe to be processed to the conveying unit from the material preparation area, and the conveying unit is used for conveying the pipe to be processed to the next processing equipment;

the lifting unit comprises a conveying mechanism and a lifting mechanism, the conveying mechanism is connected with the lifting mechanism, and the conveying mechanism is used for conveying the pipe to be processed to the lifting mechanism from the material preparation area.

Furthermore, the conveying mechanism comprises a horizontal conveying belt and a horizontal driving wheel, the horizontal conveying belt is annularly arranged on the outer side of the driving wheel, the horizontal driving wheel comprises a horizontal driving wheel and a horizontal driven wheel which are arranged at two ends, and the conveying belt is driven to rotate through the rotation of the horizontal driving wheel and the horizontal driven wheel;

the horizontal driving wheel is meshed with the horizontal conveying belt, and the horizontal driven wheel is meshed with the horizontal conveying belt;

the transport mechanism is provided with a plurality of groups along the length direction of the feeding machine.

Furthermore, a plurality of connecting blocks are arranged on the outer surface of the horizontal conveying belt, supporting grooves are arranged on the connecting blocks, and the bottoms of the supporting grooves are detachably connected with the connecting blocks;

the upper surface of the bearing groove is provided with a V-shaped opening, and a pipe to be processed is placed in the V-shaped opening;

a gasket is arranged between the inner wall of the V-shaped opening and the pipe to be processed;

two adjacent connecting blocks are independent.

Furthermore, the same horizontal transmission rod penetrates through and is arranged between the horizontal driving wheels of the multiple groups of conveying mechanisms, and the horizontal transmission rod and the horizontal driving wheels are driven to rotate by the driving motor.

Further, the lifting mechanism comprises a vertical bracket and a vertical conveyor belt, and the vertical conveyor belt is arranged on the vertical bracket;

the outer surface of the vertical conveyor belt is provided with a plurality of connecting blocks, lifting components are mounted on the connecting blocks, and the lifting components are detachably connected with the connecting blocks;

the vertical conveying belt is also provided with a corresponding vertical driving wheel, and the vertical conveying belt is driven to move through the vertical driving wheel.

Furthermore, one side of the lifting assembly, which is close to the connecting block, is an installation part, and one side of the lifting assembly, which is far away from the connecting block, is a lifting part;

the lifting part is provided with an accommodating groove for accommodating a pipe to be processed;

and an anti-skid gasket is arranged between the holding tank and the contact part of the pipe to be processed.

Further, the vertical driving wheel comprises a vertical driving wheel and a vertical driven wheel;

the vertical driving wheel is meshed with the vertical conveying belt, and the vertical driven wheel is meshed with the vertical conveying belt;

a plurality of groups of lifting mechanisms are arranged along the length direction of the feeding machine;

the same vertical transmission rod penetrates through and is arranged between the vertical driving wheels of the multiple groups of lifting mechanisms, and the vertical transmission rod and the vertical driving wheels are driven to rotate through the driving motor.

Further, vertical support erects in horizontal conveyer belt top, and horizontal conveyer belt is close to vertical support position and is provided with the pause waiting area, and the pause waiting area sets up in lifting means below.

Furthermore, a first sensor is arranged on the side of the horizontal conveying belt, and a second sensor is arranged on the side of the vertical conveying belt.

Furthermore, one side of the lifting unit, which is far away from the conveying unit, is provided with a visual inspection mechanism, which comprises a visual inspection bracket and a visual inspection wheel, and the visual inspection wheel is arranged on the visual inspection bracket;

the visual inspection wheel is provided with two, and the pipe to be processed is placed on the visual inspection wheel and is in rotating fit with the visual inspection wheel.

Further, the conveying unit comprises conveying rollers and a transfer mechanism, the transfer mechanism is used for conveying the pipes to be processed to the conveying rollers, the conveying rollers are used for conveying the pipes to be processed to the processing equipment on the next step, and the conveying unit is provided with multiple groups along the length direction of the feeding machine.

Further, the transfer mechanism comprises a lifting mechanism and a transition plate;

the lifting mechanism comprises a lifting cylinder and a lifting plate, the lifting cylinder drives the lifting plate to move up and down, the upper surface of the lifting plate and the upper surface of the transition plate are in the same horizontal plane when the lifting cylinder is in an extension state, and the upper surface of the lifting plate and the contact surface of the conveying roller are in the same horizontal plane when the lifting cylinder is in a contraction state.

Furthermore, two parallel support rails are arranged at the bottom of the conveying roller, and the conveying roller is supposed to be arranged above the two support rails;

the lifting mechanism is arranged in a gap between the two support rails.

Furthermore, the height of the upper surface of the transition plate close to one side of the lifting plate is lower than that of the upper surface of the transition plate far away from one side of the lifting plate;

the height of the upper surface of the lifting plate close to one side of the transition plate is higher than that of the upper surface of the lifting plate far away from one side of the transition plate, so that the pipe to be processed is guaranteed to slide onto the lifting plate.

Furthermore, one side of the lifting plate, which is close to the transition plate, is a horizontal part, one side of the lifting plate, which is far away from the lifting plate, is provided with an arc-shaped limiting part, and the limiting part is used for preventing the pipe to be processed from falling off from the lifting plate.

Further, still include the third sensor, the third sensor is close to lift cylinder setting and sets up in the lifter plate below.

Further, still include limit baffle, limit baffle sets up and keeps away from cab apron one side at the lifter plate for prevent to wait to process tubular product and follow conveying unit and drop.

Further, the conveying roller includes initiative conveying roller and driven conveying roller, and initiative conveying roller passes through driving motor and drives the rotation.

Further, the cache material preparation device comprises a cache frame, a cache robot and a control system;

the cache robot is connected with a paw used for clamping the cantilever and is connected with the control system;

the cache frame is provided with a plurality of placing positions, and the cache robot takes down the processed cantilever from the sawing and punching production line and places the processed cantilever on the placing positions on the cache frame;

the placing position is provided with a sensor for detecting the placing state of the wrist arm.

The buffer storage frame comprises a first buffer storage frame and a second buffer storage frame, the first buffer storage frame is used for placing finished wristarms, and the second buffer storage frame is used for placing leftovers.

The first cache frame comprises a base and a supporting beam, wherein the upper surface of the base is provided with a mounting groove for placing the supporting beam, the bottom of the supporting beam is provided with a mounting block corresponding to the mounting groove, and the supporting beam is vertically arranged on the base through the mounting block;

a plurality of accommodating grooves for placing wrists are formed in the side of the supporting beam;

at least two supporting beams are arranged on the base in parallel.

The holding tank is provided with from the top down along the direction of height of supporting beam and is no less than one, and the holding tank of being no less than two supporting beam corresponds the setting, forms the position of placing that is used for placing the cantilever.

The holding tank has the ascending V type opening of opening, and V type opening inner wall is provided with the gasket.

A connecting rod is arranged between two adjacent supporting beams, and the two ends of the connecting rod are detachably connected with the supporting beams.

The second buffer storage frame comprises a plurality of horizontally arranged placing grooves, each placing groove is provided with a V-shaped opening with an upward opening, and a gasket is arranged on the inner wall of each V-shaped opening.

A sensor is arranged below the placing groove and used for detecting whether the wrist arm is placed on the placing groove or not.

Further, a cache method used in the processing process of the wrist arm comprises the following steps: labeling the accommodating groove and the placing groove to form a library position number, matching the library position number with the coordinate positions of the accommodating groove and the placing groove, and storing the information into a control system;

the control system controls the cache robot to move to a sawing and punching production line to take the cantilever and place the cantilever on the containing groove or the placing groove, meanwhile, the control system changes the state of the placing position into 'placed', the state of other placing positions where no cantilever is placed is 'not placed', and then the control system sequentially controls the cache robot to place the cantilever on the placing position where the state is 'not placed';

after the buffer robot places the cantilever on the placing position, the parameter information of the cantilever is associated with the placing position, so that the material can be conveniently taken according to different types of cantilever using requirements;

the material storage system further comprises a buffer robot for discharging, the buffer robot for discharging acquires material information of each placement position from the control system according to the use requirements of a subsequent assembly line, the appointed placement position is taken according to the requirements, and the state of the placement position in the control system is changed from 'placed' to 'not placed' after the placement position is taken;

and when all the placing positions are in the placed state, sending alarm information through the control system.

Further, the assembling device comprises an equipment support, a first clamping assembly and an accessory mounting assembly, wherein the first clamping assembly is installed in a matched mode with the equipment support, the accessory mounting assembly is connected with the equipment support in a sliding mode through a first guide rail, a positioning mechanism and a sliding mechanism are arranged on the accessory mounting assembly, the positioning mechanism is used for clamping and positioning accessories, rollers are arranged on the sliding mechanism, and the sliding mechanism is used for axially limiting the pipe fitting.

Further, accessory installation component includes subassembly main part and slide, accessory installation component main part and slide fixed connection, the slide passes through first guide rail and equipment support sliding connection, install on the slide and remove servo motor, be equipped with the removal gear on removing servo motor's the output shaft, be equipped with on the equipment support and remove servo motor and remove gear engagement's removal rack.

Furthermore, the accessory mounting assembly comprises a first messenger cable seat mounting assembly for mounting a messenger cable seat and a first sleeve mounting assembly for mounting a sleeve, the first messenger cable seat mounting assembly is mounted at one end of the guide rail close to the clamping assembly, the first sleeve mounting assembly is mounted at one end of the guide rail far away from the clamping assembly, and torque guns for screwing nuts are arranged on the first messenger cable seat mounting assembly and the first sleeve mounting assembly;

the torque gun is installed in a matched mode with the accessory installation assembly through a position adjusting mechanism, the position adjusting mechanism comprises a torque gun installation plate, a pressing cylinder and an adjusting cylinder, the pressing cylinder shell is fixedly connected with the vertical support, a main shaft of the pressing cylinder is fixedly connected with the torque gun installation plate, the torque gun installation plate is connected with the vertical support in a sliding mode through a Z-axis guide rail, the pressing cylinder is used for adjusting the vertical height of the torque gun installation plate, and the number of the torque guns is two;

the vertical support is provided with a soft limiting column and a hard limiting column which limit the torque gun mounting plate, the soft limiting column is a soft limiting cylinder, and the movable end of the limiting cylinder is arranged towards the operating platform;

the torque gun comprises a torque gun shell, an X-axis connecting plate, a Y-axis connecting plate, an X-axis guide rail, a Y-axis adjusting cylinder and an X-axis connecting plate, wherein the torque gun shell is fixedly connected with the X-axis connecting plate, the X-axis connecting plate is connected with the Y-axis connecting plate in a sliding mode through the X-axis guide rail, the Y-axis connecting plate is connected with a mounting plate in a sliding mode through the Y-axis guide rail, the Y-axis connecting plate is fixedly provided with the X-axis adjusting cylinder, and a main shaft of the X-axis adjusting cylinder is fixedly connected with the X-axis connecting plate;

an X-axis indicating needle is arranged on the side surface of the X-axis connecting plate, an X-axis graduated scale corresponding to the X-axis indicating needle is arranged at the corresponding position of the Y-axis connecting plate, a Y-axis indicating needle is arranged on the Y-axis connecting plate, and a Y-axis graduated scale corresponding to the Y-axis indicating needle is arranged at the corresponding position of the torque gun mounting plate;

the shell of the adjusting cylinder is fixedly connected with the sliding plate, the main shaft of the adjusting cylinder is fixedly connected with the vertical support, the vertical support is slidably connected with the sliding plate through a guide rail, and the adjusting cylinder adjusts the position of the vertical support in the horizontal direction.

Furthermore, the first messenger wire seat mounting assembly comprises a sliding plate, a messenger wire seat positioning mechanism, a sliding mechanism, a jacking mechanism and a supporting mechanism, wherein the messenger wire seat positioning mechanism comprises two first positioning blocks and two first positioning cylinders, the two first positioning blocks are fixedly provided with first positioning plates for limiting the edge parts of the messenger wire seat, the two first positioning plates are oppositely arranged to form clamping positions for the messenger wire seat, the first positioning blocks are in sliding connection with the sliding plate through guide rails, the shell of each first positioning cylinder is fixedly connected with one first positioning block, and the main shaft of each first positioning cylinder is fixedly connected with the other first positioning block;

the sliding plate is also fixedly provided with a second limiting part, the second limiting part is of an L-shaped structure, the second limiting part is provided with a second limiting screw rod for limiting the first locating block, and the second limiting screw rod is in threaded connection with the second limiting part;

the sliding plate is also provided with a jacking mechanism for jacking the side surface of the bearing cable seat, the jacking mechanism comprises a fixed block, a sliding block and a jacking piece, the fixed block is fixedly connected with the sliding plate, the number of the sliding blocks is two, the sliding plate is provided with a strip-shaped through hole, the sliding block is arranged on the inner side of the strip-shaped through hole and is in sliding connection with the sliding plate, the fixed block is provided with a buffer spring corresponding to the sliding block, the jacking piece comprises a sliding part, a hinged part and a limiting part for jacking the side surface of the bearing cable seat, the hinged part is hinged with the positioning block, the sliding part is of a cylindrical structure, the bottom end of the sliding block is of an inclined surface structure, the upper end of the jacking piece is provided with a return spring, and the two ends of the return spring are respectively and fixedly connected with the positioning block and the jacking piece;

the sliding plate is also provided with a sliding mechanism for clamping the pipe fitting, the sliding mechanism comprises two sliding blocks and a sliding cylinder, the two sliding blocks are oppositely arranged to form a clamping position for clamping the pipe fitting, one end of each sliding block, which is close to the pipe fitting, is provided with a roller, the sliding blocks are in sliding connection with the sliding plate through guide rails, a shell of the sliding cylinder is fixedly connected with one sliding block, and a main shaft of the sliding cylinder is fixedly connected with the other sliding block;

the sliding plate is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block, and the first limiting screw rod is in threaded connection with the first limiting part;

still be equipped with supporting mechanism on the slide, supporting mechanism including support cylinder, with support cylinder main shaft fixed connection's support piece, support cylinder's casing and slide fixed connection, support piece's top is equipped with the supporting wheel that is used for supporting the pipe fitting, the last guide bar that still is equipped with of support piece, guide bar quantity is two, the bracing piece passes through linear bearing and slide sliding connection.

Furthermore, the first sleeve mounting assembly comprises a sleeve positioning mechanism, a sliding plate, a sliding mechanism, a jacking mechanism and a supporting mechanism, the sleeve positioning mechanism comprises two second positioning blocks and two second positioning cylinders, the two second positioning blocks are fixedly provided with second positioning plates for limiting the edge parts of the sleeve, the two second positioning plates are oppositely arranged to form a clamping position for the sleeve, the second positioning blocks are slidably connected with the sliding plate through guide rails, a shell of each second positioning cylinder is fixedly connected with one second positioning block, and a main shaft of each second positioning cylinder is fixedly connected with the other second positioning block;

the clamping block is also provided with two jacking cylinders, and the output shaft ends of the two jacking cylinders correspond to the nuts of the fastening bolts on the sleeve;

the sliding plate is also fixedly provided with a second limiting part, the second limiting part is of an L-shaped structure, the second limiting part is provided with a second limiting screw rod for limiting a second positioning block, and the second limiting screw rod is in threaded connection with the second limiting part;

the sliding plate is also provided with a jacking mechanism for jacking the side surface of the sleeve, the jacking mechanism comprises a fixed block, a sliding block and a jacking piece, the fixed block is fixedly connected with the sliding plate, the number of the sliding blocks is two, the sliding plate is provided with a strip-shaped through hole, the sliding block is arranged on the inner side of the strip-shaped through hole and is in sliding connection with the sliding plate, the fixed block is provided with a buffer spring corresponding to the sliding block, the jacking piece comprises a sliding part, a hinged part and a limiting part for jacking the side surface of the sleeve, the hinged part is hinged with the positioning block, the sliding part is of a cylindrical structure, the bottom end of the sliding block is of an inclined plane structure, the upper end of the jacking piece is provided with a reset spring, and the two ends of the reset spring are respectively and fixedly connected with the positioning block and the jacking piece;

the sliding plate is also provided with a sliding mechanism for clamping the pipe fitting, the sliding mechanism comprises two sliding blocks and a sliding cylinder, the two sliding blocks are oppositely arranged to form a clamping position for clamping the pipe fitting, one end of each sliding block, which is close to the pipe fitting, is provided with a roller, the sliding blocks are in sliding connection with the sliding plates through guide rails, a shell of the sliding cylinder is fixedly connected with one sliding block, and a main shaft of the sliding cylinder is fixedly connected with the other sliding block;

the sliding plate is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block, and the first limiting screw rod is in threaded connection with the first limiting part;

still be equipped with supporting mechanism on the slide, supporting mechanism including support cylinder, with support cylinder main shaft fixed connection's support piece, support cylinder's casing and slide fixed connection, support piece's top is equipped with the supporting wheel that is used for supporting the pipe fitting, the last guide bar that still is equipped with of support piece, guide bar quantity is two, the bracing piece passes through linear bearing and slide sliding connection.

Furthermore, the clamping assembly comprises two clamping cylinders and two clamping blocks, one of the two clamping blocks is fixedly connected with a clamping cylinder shell, the other clamping block is fixedly connected with a clamping cylinder main shaft, the clamping blocks are slidably connected with the mounting plate through guide rails, the two clamping blocks form clamping positions of paired pipe fittings, a V-shaped groove is formed in the end face, close to each pipe fitting, of each clamping block, and a gasket made of polytetrafluoroethylene is fixedly arranged on the surface of each V-shaped groove;

be equipped with the limiting plate on the mounting panel, two all open threaded hole on the tight piece of clamp, spacing bolt, two are installed to the screw hole inboard the nut end of spacing bolt sets up in opposite directions, the both ends of limiting plate are spacing to spacing bolt, the limiting plate close on the one end of pressing from both sides tight piece spacing to the pipe fitting, mounting panel and equipment support cooperation installation.

Further, be equipped with the upset subassembly on the equipment support, the upset subassembly is including setting firmly the upset cylinder on the equipment support, the casing and the equipment support fixed connection of upset cylinder, be equipped with the upset rack on the output shaft of upset cylinder, be equipped with the connecting axle on the mounting panel, be equipped with on the connecting axle with the upset rack toothing's of upset cylinder output shaft upset gear, the connecting axle rotates with the upset connecting plate to be connected, upset connecting plate and equipment support fixed connection.

Further, still be equipped with second guide rail, second clamping component on the equipment support, be equipped with second messenger base installation component on the second guide rail, second messenger base installation component passes through second guide rail and equipment support sliding connection, second clamping component and equipment support fixed connection.

Further, still be equipped with third guide rail, third clamping component on the equipment support, be equipped with second sleeve installation component and third messenger wire seat installation component on the third guide rail, second sleeve installation component and third messenger wire seat installation component all pass through third guide rail and equipment support sliding connection, third clamping component and equipment support fixed connection, third messenger wire seat installation component installs in the one end that the third guide rail closes on third clamping component, second sleeve installation component installs in the one end that third clamping component was kept away from to the third guide rail.

Further, a wrist arm assembling method comprises the following steps:

s1, grabbing the accessory by using an accessory grabbing mechanical arm, wherein the accessory comprises a sleeve and a messenger wire seat, and the accessory is respectively placed in a positioning mechanism of a corresponding accessory installation component and the positioning mechanism acts to clamp and position the accessory;

s2, grabbing the pipe by using a pipe grabbing mechanical arm, placing the pipe in a sliding mechanism of the accessory installation assembly, and clamping the pipe by the action of the sliding mechanism to enable the pipe and the accessory to be coaxial;

s3, the movable pipe passes through the inside of the fitting, moves towards the clamping assembly, and moves to the designated position, and the clamping assembly acts to clamp the pipe;

s4, moving the other accessory installation components to the direction of the clamping component, enabling the pipe to enter the sliding mechanism, enabling the sliding mechanism to act to clamp the pipe, enabling the pipe and the accessory to be coaxial, and then continuously moving the accessory installation components to the designated position;

s5, the torque gun moves downwards, starts to rotate after reaching a designated position, and screws two nuts arranged diagonally on the accessory to fasten the accessory on the pipe fitting;

s6, loosening the positioning mechanisms and the sliding mechanisms of all the accessory mounting assemblies, lifting the supporting mechanism to support the pipe fitting, rotating the assembly to rotate, clamping the pipe fitting and the accessory by the action of the positioning mechanisms and the sliding mechanisms of all the accessory mounting assemblies, descending the supporting mechanism, moving the torque gun downwards, starting to rotate after reaching a specified position, and screwing two nuts arranged at the opposite angles on the accessory to fasten the accessory on the pipe fitting;

s7, the pipe fitting grabbing mechanical arm grabs the machined cantilever, the clamping assembly is loosened, the positioning mechanisms and the sliding mechanisms of all the accessory installation assemblies are loosened, the accessory installation assemblies return to the initial positions, and the pipe fitting grabbing mechanical arm draws out the cantilever and places the cantilever at the designated position.

Compared with the prior art, the wrist arm production and processing equipment has the following beneficial effects:

(1) the cantilever production and processing equipment integrates the feeding device, the saw cutting and punching device, the cache material preparation device and the assembling device, improves the production efficiency, reduces the operation cost, and is suitable for modern cantilever production and processing;

(2) the feeding device in the wrist arm production and processing equipment is provided with the lifting unit and the conveying unit, and a pipe to be processed is conveyed to the conveying unit from the material preparation area through the lifting unit and then conveyed to the next processing equipment through the conveying unit, so that the existing manual conveying step is replaced, time and labor are saved, and potential safety hazards in production are avoided;

(3) the lifting unit of the feeding device in the cantilever production and processing equipment is provided with the horizontal conveying belt, and the horizontal conveying belt is provided with the plurality of continuously arranged supporting grooves, so that continuous operation on a plurality of pipes to be processed can be realized, and the production efficiency is improved;

(4) the lifting unit of the feeding device in the cantilever production and processing equipment is driven by the same horizontal transmission rod, so that the synchronous motion of a plurality of groups of horizontal conveying belts is ensured;

(5) the lifting unit of the feeding device in the wrist arm production and processing equipment is provided with the visual inspection structure, in the actual use process, a pipe to be processed is placed on the visual inspection wheel firstly, the pipe to be processed is rotated, the pipe is inspected to have obvious defects, such as scratches, depressions and other unqualified quality conditions, and the pipe is sent to the lifting unit for processing after the visual inspection is qualified;

(6) the conveying unit of the feeding device in the cantilever production and processing equipment comprises a lifting mechanism and a transition plate, after the pipe fitting to be processed is conveyed to the transition plate, the lifting plate in the lifting mechanism is lifted to the same height as the transition plate, and after the pipe fitting to be processed moves to the lifting plate, the lifting plate falls down to place the pipe fitting on a conveying roller, so that automatic operation is realized;

(7) the transition plate and the lifting plate in the feeding device in the cantilever production and processing equipment have slopes, so that a pipe to be processed can slide conveniently;

(8) the buffer material preparing device in the cantilever production and processing equipment is arranged between the saw-cutting and punching assembly line and the assembling assembly line, the saw-cutting and punching cantilever is firstly placed on the buffer platform, the material preparing function is realized, the buffer material preparing device is used for directly taking the cantilever from the buffer platform for a robot taking a workpiece from the assembling assembly line, the subsequent assembly line is not limited by the production beat of the previous assembly line, and the production efficiency is improved;

(9) the cache material preparing device in the cantilever production and processing equipment marks the placing position on the cache platform through the control system, after the robot places the cantilever to the placing position, the state of the position is 'placed', meanwhile, the control system can bind the information of the cantilever with the placing position, and the subsequent robot for taking materials for the assembly line obtains the placing position of the cantilever with a certain type from the control system according to the requirement, directly goes to the position for taking, and realizes automatic control through the control system;

(10) according to the assembling device in the cantilever production and processing equipment, the pipe fitting is axially positioned through the sliding mechanism, the positioning mechanism positions the accessory, coaxial arrangement of the pipe fitting and the accessory can be realized, the working efficiency and the processing precision are improved, the accessory mounting assembly is in sliding connection with the equipment support through the guide rail, when the assembling device is used, the accessory can be mounted only by placing the pipe fitting above the guide rail and moving the accessory mounting assembly to slide in the sliding mechanism, the mounting space is reduced, and the occupied area of the device is reduced;

(11) according to the assembling device in the cantilever production and processing equipment, the equipment support is provided with the plurality of guide rails, and the guide rails are provided with the accessory mounting assemblies, so that the utilization rates of the pipe fitting grabbing mechanical arm and the accessory grabbing mechanical arm are improved, and the production efficiency is improved;

(12) according to the assembling device in the wrist arm production and processing equipment, the sliding plate is provided with the moving servo motor, the moving servo motor drives the moving gear to rotate, the moving gear is meshed with the moving rack, the servo motor is controlled to realize accurate adjustment of the position of the accessory mounting component, and the accuracy of the accessory mounting position is ensured.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic overall view of a wrist arm manufacturing apparatus according to an embodiment of the present invention;

fig. 2 is a schematic overall view of a feeder according to an embodiment of the present invention;

fig. 3 is a first partial schematic view of a feeding machine according to an embodiment of the present invention;

fig. 4 is a second partial schematic view of the feeding machine according to the embodiment of the invention;

fig. 5 is a third partial schematic view of a feeding machine according to an embodiment of the invention;

fig. 6 is a fourth partial schematic view of the feeding machine according to the embodiment of the invention;

fig. 7 is a fifth partial schematic view of a feeding machine according to an embodiment of the invention;

fig. 8 is a sixth partial schematic view of the feeding machine according to the embodiment of the invention;

FIG. 9 is a schematic diagram of a saw punching assembly line including a buffer stage according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a cache platform used in a wrist processing process according to an embodiment of the present invention;

FIG. 11 is a top view of a first cache frame according to an embodiment of the invention;

FIG. 12 is a bottom view of a first cache frame according to an embodiment of the invention;

FIG. 13 is a partial diagram of a second cache shelf according to an embodiment of the invention;

FIG. 14 is a partial schematic view of a gripper according to an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of an apparatus according to an embodiment of the present invention;

FIG. 16 is a schematic top view of an apparatus according to an embodiment of the present invention;

FIG. 17 is a schematic view of a clamping assembly according to an embodiment of the present invention;

FIG. 18 is a schematic structural diagram of a flip assembly according to an embodiment of the present invention;

FIG. 19 is a schematic view of a mounting structure of a mobile servo motor according to an embodiment of the present invention;

FIG. 20 is a schematic view of a fitting mounting assembly according to an embodiment of the present invention;

FIG. 21 is a schematic structural view of a position adjustment mechanism according to an embodiment of the present invention;

FIG. 22 is a schematic view of a vertical support mounting structure according to an embodiment of the present invention;

FIG. 23 is a schematic view of a portion of a position adjustment mechanism according to an embodiment of the present invention;

fig. 24 is a schematic structural view of a messenger wire seat positioning mechanism according to an embodiment of the present invention;

FIG. 25 is a partial schematic structural view of a first sleeve mounting assembly according to an embodiment of the present invention;

FIG. 26 is a schematic structural diagram of a cannula positioning mechanism according to an embodiment of the present invention;

FIG. 27 is a schematic structural diagram of a sliding mechanism according to an embodiment of the present invention;

FIG. 28 is a schematic structural diagram of a support mechanism according to an embodiment of the present invention;

fig. 29 is a schematic structural view of a tightening mechanism according to an embodiment of the present invention.

Description of reference numerals:

101-a feeding device; 102-a saw cutting and punching device; 103-caching a material preparation device; 104-assembling the device; 1-a pipe to be processed; 2-a lifting unit; 211-horizontal conveyor belt; 2111-supporting groove; 2112-V shaped opening; 2121-horizontal driving wheel; 2122-horizontal driven wheel; 213-horizontal transmission rod; 22-a lifting mechanism; 221-a vertical support; 222-a vertical conveyor belt; 2221-a lifting assembly; 2222-vertical drive link; 23-pause waiting zone; 24-a first sensor; 25-a second sensor; 26-visual inspection of the stent; 27-visual inspection wheel; 3-a conveying unit; 31-conveying rollers; 32-a lifting cylinder; 33-a lifter plate; 331-an arcuate limit portion; 34-a transition plate; 35-a support rail; 36-a third sensor; 37-a limit baffle; 4-the wrist arm; 401-paw; 402-a saw cutting and punching assembly line; 403-first cache shelf; 404-a base; 405-a support beam; 406-a mounting groove; 407-mounting block; 408-accommodating grooves; 409-a second cache shelf; 410-a connecting rod; 411-a placement groove; 412-a sensor; 5-equipment support; 51-a pipe fitting gripping robot; 52-part gripping robot arm; 53-a first messenger mount assembly; 54-a first sleeve mounting assembly; 55-a first clamping assembly; 56-a flip assembly; 57-a second clamping assembly; 58-a second messenger mount assembly; 59-a third messenger mount assembly; 510-a third clamping assembly; 511-a second sleeve mounting assembly; 512-moving the servo motor; 513-moving rack; 514-sliding plate; 515-an accessory mount assembly; 516-torque gun; 517-position adjusting mechanism; 581-a sliding mechanism; 519-a cannula positioning mechanism; 520-a support mechanism; 521-a sleeve; 522-a tightening assembly; 523-messenger wire seat positioning mechanism; 524-messenger wire seat; 525-a clamping cylinder; 526-clamping block; 527-shim; 528-mounting plate; 529-a limiting plate; 530-a limit bolt; 531-overturning the cylinder; 532-overturning the rack; 533-overturning gear; 534-turning the connecting plate; 535-connecting shaft; 601-a down-pressure cylinder; 602-torque gun mounting plate; 603-X axis adjusting cylinder; 604-vertical supports; 605-hard limit post; 606-a spacing cylinder; 607-X axis connection plate; 608-Y axis connection plate; 609-adjusting the air cylinder; 610-X axis pointer; 611-X axis scale; 612-Y axis pointer; 613-axis scale; 701-a slider; 702-a roller; 703-a sliding cylinder; 801-a second locating block; 802-a second positioning plate; 803-a second positioning cylinder; 804-a second limit piece; 805-a second limit screw; 806-jacking cylinder; 901-a support cylinder; 902-support wheels; 903-a support; 904-guide bar; 905-a buffer spring; 906-a slider; 907-fixed block; 908-a return spring; 909-top piece; 910-a first positioning block; 911-a first location plate; 912-first positioning cylinder.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

A wrist arm production and processing device comprises a feeding device, a saw cutting and punching device, a buffer material preparation device and an assembling device;

conveying the pipe 1 to be processed into a sawing and punching device through a feeding device, cutting the pipe 1 to be processed through the sawing and punching device according to the length of the pipe actually required, and then punching the cut pipe;

the tube stock that the cutting was punched is placed through the robot of prepareeing material and is got ready in the buffer memory device, and on the demand according to assembly device sent the tube stock to assembly device through the material loading robot again, installed spare part on the tube stock through assembly device.

The feeding device comprises a lifting unit 2 and a conveying unit 3, wherein the lifting unit 2 is used for lifting the pipe 1 to be processed to the conveying unit 3 from a material preparation area, and the conveying unit 3 is used for conveying the pipe 1 to be processed to the next processing equipment;

the lifting unit 2 comprises a transport mechanism and a lifting mechanism 22, the transport mechanism is connected with the lifting mechanism 22, and the transport mechanism is used for conveying the pipe 1 to be processed from the material preparation area to the lifting mechanism 22.

The conveying mechanism comprises a horizontal conveying belt 211 and a horizontal driving wheel, the horizontal conveying belt 211 is annularly arranged on the outer side of the driving wheel, the horizontal driving wheel comprises a horizontal driving wheel 2121 and a horizontal driven wheel 2122 which are arranged at two ends, and the conveying belt is driven to rotate through the rotation of the horizontal driving wheel 2121 and the horizontal driven wheel 2122;

the horizontal driving wheel 2121 is meshed with the horizontal conveying belt, and the horizontal driven wheel 2122 is meshed with the horizontal conveying belt;

the transport mechanism is provided with a plurality of groups along the length direction of the feeding machine.

The outer surface of the horizontal conveying belt 211 is provided with a plurality of connecting blocks, a bearing groove 2111 is arranged on each connecting block, and the bottom of each bearing groove 2111 is detachably connected with each connecting block;

the upper surface of the supporting groove 2111 is provided with a V-shaped opening 2112, and the pipe 1 to be processed is placed in the V-shaped opening 2112;

a gasket is arranged between the inner wall of the V-shaped opening 2112 and the pipe 1 to be processed;

two adjacent connecting blocks are independent.

The same horizontal transmission rod 213 is arranged between the horizontal driving wheels 2121 of the multiple groups of transportation mechanisms in a penetrating manner, and the horizontal transmission rod 213 and the horizontal driving wheels 2121 are driven to rotate by the driving motor.

The lifting mechanism 22 comprises a vertical bracket 221 and a vertical conveyor belt 222, wherein the vertical conveyor belt 222 is installed on the vertical bracket 221;

the outer surface of the vertical conveyor belt 222 is provided with a plurality of connecting blocks, lifting components 2221 are mounted on the connecting blocks, and the lifting components 2221 are detachably connected with the connecting blocks;

the vertical conveyor belt 222 is further provided with a corresponding vertical transmission wheel, and the vertical conveyor belt 222 is driven to move by the vertical transmission wheel.

One side of the lifting component 2221, which is close to the connecting block, is an installation part, and one side of the lifting component 2221, which is far away from the connecting block, is a lifting part;

the lifting part is provided with an accommodating groove for accommodating the pipe 1 to be processed;

and an anti-skid gasket is arranged between the holding tank and the contact part of the pipe 1 to be processed.

The vertical driving wheel comprises a vertical driving wheel and a vertical driven wheel;

the vertical driving wheel is meshed with the vertical transmission belt 222, and the vertical driven wheel is meshed with the vertical transmission belt 222;

a plurality of groups of lifting mechanisms 22 are arranged along the length direction of the feeding machine;

the same vertical transmission rod 2222 is provided between the vertical driving wheels of the plurality of sets of lifting mechanisms 22, and the vertical transmission rod 2222 and the vertical driving wheels are driven to rotate by the driving motor.

The vertical support 221 is erected above the horizontal conveyor belt 211, the horizontal conveyor belt is provided with a pause waiting area 23 near the vertical support 221, and the pause waiting area 23 is arranged below the lifting assembly 2221.

The first sensor 24 is arranged on the side of the horizontal conveyor belt, and the second sensor 25 is arranged on the side of the vertical conveyor belt 222.

A visual inspection mechanism is arranged on one side of the lifting unit 2, which is far away from the conveying unit 3, and comprises a visual inspection bracket 26 and a visual inspection wheel 27, and the visual inspection wheel 27 is arranged on the visual inspection bracket 26;

visual inspection wheel 27 is equipped with two, and waiting to process tubular product 1 and placing on visual inspection wheel 27, waiting to process tubular product 1 and visual inspection wheel 27 normal running fit.

Conveying unit 3 includes conveying roller 31 and transport mechanism, and transport mechanism is used for transporting to conveying roller 31 waiting to process tubular product 1, and conveying roller 31 is used for will waiting to process tubular product 1 and carries for processing equipment on next step, and conveying unit 3 is provided with the multiunit along the length direction of material loading machine.

The transfer mechanism comprises a lifting mechanism and a transition plate 34;

the lifting mechanism comprises a lifting cylinder 32 and a lifting plate 33, the lifting cylinder 32 drives the lifting plate 33 to move up and down, the upper surface of the lifting plate 33 and the upper surface of the transition plate 34 are in the same horizontal plane when the lifting cylinder 32 is in an extension state, and the contact surface of the upper surface of the lifting plate 33 and the conveying roller 31 is in the same horizontal plane when the lifting cylinder 32 is in a contraction state.

Two parallel support rails 35 are arranged at the bottom of the conveying roller 31, and the conveying roller 31 is supposed to be arranged above the two support rails 35;

the lifting mechanism is arranged in the gap between the two support rails 35.

The height of the upper surface of the transition plate 34 on the side close to the lifting plate 33 is lower than that on the side far away from the lifting plate 33;

the height of the upper surface of the lifting plate 33 on the side close to the transition plate 34 is higher than that of the upper surface on the side far from the transition plate 34, so as to ensure that the pipe 1 to be processed slides onto the lifting plate 33.

One side of the lifting plate 33 close to the transition plate 34 is a horizontal part, one side of the lifting plate 33 far away is provided with an arc-shaped limiting part 331, and the limiting part is used for preventing the pipe 1 to be processed from falling off from the lifting plate 33.

A third sensor 36 is also included, the third sensor 36 being disposed adjacent to the lift cylinder 32 and below the lift plate 33.

The pipe machining device further comprises a limiting baffle 37, wherein the limiting baffle 37 is arranged on one side, far away from the transition plate 34, of the lifting plate 33 and used for preventing the pipe 1 to be machined from falling off from the conveying unit 3.

The conveying roller 31 includes a driving conveying roller 31 and a driven conveying roller 31, and the driving conveying roller 31 is rotated by a driving motor.

In the using process, firstly, the pipe 1 to be processed is placed on the visual inspection wheel 27, the obvious quality defect of the pipe 1 to be processed is visually inspected through manpower, after the visual inspection is free of problems, the pipe 1 to be processed is placed on the V-shaped opening 2112 of the bearing groove 2111, the pipe 1 to be processed is driven to move to one side of the conveying unit 3 through the horizontal conveying belt 211, when the pipe moves to be close to the conveying unit 3, the first sensor 24 (the first sensor 24 comprises a proximity sensor, a limit switch, a photoelectric sensor and other sensors capable of realizing the object detection function) which is positioned near the pause waiting area 23 is triggered, at the moment, the pipe 1 to be processed is detected to reach the pause waiting area 23 through the first sensor 24, the pipe processing device also comprises a controller, the controller receives the signal of the first sensor 24 at the moment, the motor for driving the horizontal conveying belt 211 to rotate is controlled to stop moving, and the motor for driving the vertical conveying belt 222 is started to work through the controller at the same time, along with the rotation of the vertical conveyor belt 222, the lifting assembly 2221 gradually approaches to the pause waiting area 23, and finally the pipe 1 to be processed is lifted, in the gradually lifting process, the pipe 1 to be processed triggers the second sensor 25, the second sensor 25 is the same as the first sensor 24, at this time, the second sensor 25 sends a detection signal to the controller, the controller controls the lifting cylinder 32 of the conveying unit 3 to lift, the lifting cylinder 32 drives the lifting plate 33 to lift, at this time, the upper surface of the lifting plate 33 and the upper surface of the transition plate 34 are on the same horizontal plate, at this time, the lifting plate 33 is ready to receive the pipe to be processed to slide in, along with the lifting of the vertical conveyor belt 222, the pipe 1 to be processed falls off from the opening above the lifting assembly 2221 and slides onto the transition plate 34, because the transition plate 34 and the lifting plate 33 have slopes, the pipe 1 to be processed gradually slides into the lifting plate 33, at this time, the third sensor 36 detects that the pipe 1 to be processed is already positioned on the lifting plate 33, the third sensor 36 is the same as the first and second sensors 25, the controller receives a detection signal of the third sensor 36, controls the lifting cylinder 32 to descend, controls the conveying rollers 31 to start rotating, places the pipe 1 to be processed on the conveying rollers 31 along with the descending of the lifting cylinder 32, and conveys the pipe 1 to be processed to equipment required by the next processing procedure through the conveying rollers 31.

The cache material preparation device comprises a cache frame, a cache robot and a control system;

the cache robot is connected with a paw 401 used for clamping the cantilever 4 and is connected with the control system;

a plurality of placing positions are arranged on the cache frame, and the cache robot takes down the processed cantilever 4 from the sawing and punching assembly line 402 and places the processed cantilever on the placing positions on the cache frame;

the placing position is provided with a sensor 412 for detecting the placing state of the wrist arm 4.

The buffer storage frame comprises a first buffer storage frame 403 and a second buffer storage frame 409, wherein the first buffer storage frame 403 is used for placing the finished wrist arm 4, and the second buffer storage frame 409 is used for placing leftovers.

The first cache frame 403 comprises a base 404 and a support beam 405, wherein the upper surface of the base 404 is provided with a mounting groove 406 for placing the support beam 405, the bottom of the support beam 405 is provided with a mounting block 407 corresponding to the mounting groove 406, and the support beam 405 is vertically arranged on the base 404 through the mounting block 407;

a plurality of accommodating grooves 408 for placing the wrists 4 are arranged on the side of the supporting beam 405;

at least two support beams 405 are arranged in parallel on the base 404.

The holding tank 408 is provided with not less than one from top to bottom along the direction of height of the supporting beam 405, and the holding tank 408 of the supporting beam 405 which is not less than two is correspondingly arranged, forming a placing position for placing the wrist arm 4.

The accommodating groove 408 has a V-shaped opening with an upward opening, and a gasket is disposed on the inner wall of the V-shaped opening.

A connecting rod 410 is arranged between two adjacent supporting beams 405, and two ends of the connecting rod 410 are detachably connected with the supporting beams 405.

The second buffer frame 409 includes a plurality of horizontally disposed placing slots 411, the placing slots 411 have a V-shaped opening with an upward opening, and a gasket is disposed on the inner wall of the V-shaped opening.

A sensor 412 is further provided below the placement slot 411 for detecting whether the wrist arm 4 is placed on the placement slot 411.

A caching method used in the machining process of a wrist arm 4 comprises the following steps: labeling the accommodating groove 408 and the placing groove 411 to form a library position number, matching the library position number with the coordinate positions of the accommodating groove 408 and the placing groove 411, and storing the information into a control system;

the control system controls the cache robot to move to a sawing and punching assembly line 402 to take the cantilever 4 and place the cantilever 4 on the containing groove 408 or the placing groove 411, meanwhile, the control system changes the state of the placing position into 'placed', the placing positions of other un-placed cantilevers 4 are in 'un-placed' states, and then the control system controls the cache robot to place the cantilever 4 on the placing positions in the 'un-placed' states in sequence;

after the buffer robot places the cantilever 4 on the placing position, the parameter information of the cantilever 4 is associated with the placing position, so that the material taking can be conveniently carried out subsequently according to the use requirements of different types of wrists 4;

the material storage system further comprises a buffer robot for discharging, the buffer robot for discharging acquires material information of each placement position from the control system according to the use requirements of a subsequent assembly line, the appointed placement position is taken according to the requirements, and the state of the placement position in the control system is changed from 'placed' to 'not placed' after the placement position is taken;

and when all the placing positions are in the placed state, sending alarm information through the control system.

The first embodiment is as follows:

the embodiment provides a wrist and arm assembly device, as shown in fig. 1 and fig. 2, the wrist and arm assembly device includes an equipment support 5, a first clamping component 55, and an accessory installation component 515, the first clamping component 55 is installed in cooperation with the equipment support 5, the accessory installation component 515 is connected with the equipment support 5 in a sliding manner through a first guide rail, a positioning mechanism and a sliding mechanism 581 are arranged on the accessory installation component 515, the positioning mechanism is used for clamping and positioning an accessory, a roller 702 is arranged on the sliding mechanism 581, and the sliding mechanism 581 axially limits the accessory. During the in-service use, at first use the accessory to snatch machinery and place the accessory on positioning mechanism, positioning mechanism centre gripping and location accessory, then use pipe fitting to snatch arm 51 and place the pipe fitting in support top alignment sliding assembly, carry out axial positioning through sliding mechanism 581 pipe fitting, can realize the coaxial center setting of pipe fitting and accessory, work efficiency and machining precision have been improved, and accessory installation component 515 passes through guide rail and equipment support 5 sliding connection, only need place the pipe fitting in the guide rail top during the use, when removing accessory installation component 515, the pipe fitting slides in sliding mechanism 581, can carry out the installation operation of accessory, reduce installation space, the area of device has been reduced.

As shown in fig. 5, the accessory mounting assembly 515 includes an assembly body and a sliding plate 514, the accessory mounting assembly 515 body is fixedly connected to the sliding plate 514, the sliding plate 514 is slidably connected to the equipment support 5 through a first guide rail, the sliding plate 514 is provided with a moving servo motor 512, an output shaft of the moving servo motor 512 is provided with a moving gear, and the equipment support 5 is provided with a moving rack 513 engaged with the moving gear of the moving servo motor 512. The moving servo motor 512 drives the moving gear to rotate, the moving gear is meshed with the moving rack 513 to drive the sliding plate 514 to move linearly, and the moving servo motor 512 is electrically connected with the controller through a driver. The moving servo motor 512 is not limited to an existing servo motor, the moving distance of the sliding plate 514 can be accurately controlled by using the servo motor, the accuracy of the installation position of the accessory is further ensured, the servo motor is controlled by a controller to rotate, the prior art is adopted, and detailed description is omitted here for the specific technical scheme.

As shown in fig. 6-9, the accessory mounting assembly 515 includes a first messenger mount 524 mounting assembly 53 mounting an messenger mount 524 and a first sleeve 521 mounting assembly 54 mounting a sleeve 521, the first messenger mount 524 mounting assembly 53 being mounted to an end of the rail adjacent the clamp assembly, the first sleeve 521 mounting assembly 54 being mounted to an end of the rail remote from the clamp assembly, the first messenger mount 524 mounting assembly 53 and the first sleeve 521 mounting assembly 54 each having a torque gun 516 for tightening a nut. The number of the preferred torque guns 516 is two, when more than two bolts need to be screwed, two bolts arranged at opposite angles can be firstly screwed, so that the working efficiency is ensured, and the problem of unbalanced bolt stress caused by the fact that a single bolt is sequentially screwed is solved.

The torque gun 516 is installed with the accessory installation component 515 through the position adjusting mechanism 517 in a matched mode, the position adjusting mechanism 517 comprises a torque gun 516 installation plate 528, a pressing air cylinder 601 and an adjusting air cylinder 609, the shell of the pressing air cylinder 601 is fixedly connected with the vertical support 604, the main shaft of the pressing air cylinder 601 is fixedly connected with the torque gun 516 installation plate 528, the torque gun 516 installation plate 528 is connected with the vertical support 604 in a sliding mode through a Z-axis guide rail, and the pressing air cylinder 601 is used for adjusting the vertical height of the torque gun 516 installation plate 528.

The down-pressing cylinder 601 is not limited to an existing double-acting cylinder, the down-pressing cylinder 601 is electrically connected with a controller through a driver, and the controller controls the main shaft of the down-pressing cylinder 601 to stretch and retract so as to achieve up-down movement of the torque gun 516.

The vertical support 604 is provided with a soft limiting column 605 and a hard limiting column 605 for limiting the torque gun 516 mounting plate 528, the soft limiting column 605 is arranged below the torque gun 516 mounting plate 528, the soft limiting column is a soft limiting cylinder 606, and the movable end of the limiting cylinder 606 faces the operating platform. The hard limiting column 605 limits the torque gun 516 mounting plate 528, when the torque gun 516 mounting plate 528 is placed to move downwards, the torque gun 516 gouges the fittings, the soft limiting plays a role in buffering, and the safety of the action process is improved.

The shell of the torque gun 516 is fixedly connected with an X-axis connecting plate 607, the X-axis connecting plate 607 is slidably connected with a Y-axis connecting plate 608 through an X-axis guide rail, the Y-axis connecting plate 608 is slidably connected with a mounting plate 528 through a Y-axis guide rail, an X-axis adjusting cylinder 603 is fixedly arranged on the Y-axis connecting plate 608, and a main shaft of the X-axis adjusting cylinder 603 is fixedly connected with the X-axis connecting plate 607. The X-axis adjusting cylinder 603 adopts an existing double-acting cylinder, the X-axis adjusting cylinder 603 is electrically connected with a controller through a driver, the position of an X axis of the torque gun 516 can be adjusted by controlling the extension and contraction of a main shaft of the cylinder, a locking mechanism is arranged on a Y-axis connecting plate 608, the position of the X axis of the torque gun 516 can be adjusted by manually moving the Y-axis connecting plate 608, the locking mechanism fixes the Y-axis connecting plate 608, the torque gun 516 is further adjusted in a plane position, and the universality of the device is improved.

An X-axis pointer 610 is arranged on the side surface of the X-axis connecting plate 607, an X-axis graduated scale 611 corresponding to the X-axis pointer 610 is arranged at the corresponding position of the Y-axis connecting plate 608, a Y-axis pointer 612 is arranged on the Y-axis connecting plate 608, and a Y-axis graduated scale corresponding to the Y-axis pointer 612 is arranged at the corresponding position of the mounting plate 528 of the torque gun 516.

The shell of the adjusting cylinder 609 is fixedly connected with the sliding plate 514, the main shaft of the adjusting cylinder 609 is fixedly connected with the vertical support 604, the vertical support 604 is slidably connected with the sliding plate 514 through a guide rail, and the adjusting cylinder 609 adjusts the position of the vertical support 604 in the horizontal direction. The adjusting cylinder 609 adopts but is not limited to the existing double-acting cylinder, the adjusting cylinder 609 is electrically connected with a controller through a driver, and the controller controls the main shaft of the adjusting cylinder 609 to stretch and retract to drive the vertical support 604 to move, so that the position of the vertical support 604 is adjusted.

As shown in fig. 10, the first messenger 524 mounting assembly 53 includes a sliding plate 514, messenger 524 positioning mechanisms 523, a sliding mechanism 581, a tightening mechanism, and a supporting mechanism 520, wherein the messenger 524 positioning mechanisms 523 include first positioning blocks 910 and first positioning cylinders 912, the number of the first positioning blocks 910 is two, the two first positioning blocks 910 are fixedly provided with first positioning plates 911 for limiting the edge of the messenger 524, the two first positioning plates 911 are oppositely arranged to form a clamping position for the messenger 524, the first positioning blocks 910 are slidably connected with the sliding plate 514 through guide rails, a housing of the first positioning cylinders 912 is fixedly connected with one first positioning block 910, and a main shaft of the first positioning cylinder 912 is fixedly connected with the other first positioning block 910.

The first positioning cylinder 912 is a double-acting cylinder, but is not limited to the existing double-acting cylinder, the first positioning cylinder 912 is electrically connected with the controller through a driver, the controller controls the main shaft of the first positioning cylinder 912 to stretch, when the main shaft contracts, the two first positioning blocks 910 move oppositely, and the first positioning plate 911 clamps the messenger cable seat 524 for positioning. When the spindle is extended, the two first locating blocks 910 move in opposite directions, releasing the messenger wire seat 524.

The sliding plate 514 is further fixedly provided with a second limiting member 804, the second limiting member 804 is of an L-shaped structure, the second limiting member 804 is provided with a second limiting screw 805 for limiting the first positioning block 910, the second limiting screw 805 is in threaded connection with the second limiting member 804, and the limiting position of the first positioning block 910 can be adjusted by loosening and loosening the second limiting screw 805.

As shown in fig. 15, the sliding plate 514 is further provided with a tightening mechanism for tightening the lateral surface of the force-bearing cable seat 524, the tightening mechanism includes a fixed block 907, a sliding block 906, and a tightening member 909, the fixed block 907 is fixedly connected to the sliding plate 514, the number of the sliding blocks 906 is two, the sliding plate 514 is provided with a strip-shaped through hole, the sliding block 906 is mounted inside the strip-shaped through hole, the sliding block 906 is slidably connected to the sliding plate 514, the fixed block 907 is provided with a buffer spring 905 corresponding to the sliding block 906, the tightening member 909 includes a sliding portion, a hinge portion, and a limiting portion for tightening the lateral surface of the force-bearing cable seat 524, the hinge portion is hinged to the first positioning block 910, the sliding portion is of a cylindrical structure, the bottom end of the sliding block 906 is of an inclined surface structure, the upper end of the tightening member 909 is provided with a return spring 908, and both ends of the return spring are respectively fixedly connected to the positioning block 908 and the tightening member 909.

When the first positioning block 910 moves in opposite directions, the sliding portion of the hinge contacts the bottom end of the slider 906 in an inclined surface structure, the sliding portion moves outward under the action of the inclined surface, the limiting portion moves toward the messenger wire seat 524 to push against the messenger wire seat 524, and when the first positioning block 910 moves in opposite directions, the limiting portion resets under the action of the return spring 908. The buffer spring 905 plays a role of buffering and placing the top fastening piece 909 to damage the sliding block 906.

As shown in fig. 13, the sliding plate 514 is further provided with a sliding mechanism 581 for clamping the pipe, the sliding mechanism 581 includes two sliding blocks 701 and two sliding cylinders 703, the two sliding blocks 701 are oppositely arranged to form a clamping position for clamping the pipe, one end of the sliding block 701 adjacent to the pipe is provided with a roller 702, the sliding block 701 is slidably connected with the sliding plate 514 through a guide rail, a housing of the sliding cylinder 703 is fixedly connected with one sliding block 906, and a main shaft of the sliding cylinder 703 is fixedly connected with the other sliding block 906.

The sliding cylinder 703 is not limited to the existing double-acting cylinder, the sliding cylinder 703 is electrically connected with a controller through a driver, the controller controls the main shaft of the sliding cylinder 703 to extend and retract, when the main shaft retracts, the two sliding blocks 701 move oppositely, and the rollers 702 on the sliding blocks 701 clamp the pipe to be positioned. When the main shaft extends, the two sliding blocks 701 move reversely to release the pipe fitting, and under the action of the roller 702, only the pipe fitting is limited axially, and the pipe fitting can slide radially in the sliding mechanism 581.

The sliding plate 514 is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block 906, and the first limiting screw rod is in threaded connection with the first limiting part; the limiting position of the sliding block 906 can be adjusted by loosening and tightening the first limiting screw rod.

As shown in fig. 14, the sliding plate 514 is further provided with a support mechanism 520, the support mechanism 520 includes a support cylinder 901 and a support 903 fixedly connected to a main shaft of the support cylinder 901, a housing of the support cylinder 901 is fixedly connected to the sliding plate 514, a support wheel 902 for supporting a pipe is provided at a top end of the support 903, the support 903 is further provided with two guide rods 904, and the two guide rods 904 are slidably connected to the sliding plate 514 through linear bearings.

The supporting cylinder 901 is, but not limited to, an existing double-acting cylinder, the supporting cylinder 901 is electrically connected with a controller through a driver, the controller controls the main shaft of the supporting cylinder 901 to extend and retract, and when the main shaft retracts, the supporting wheel 902 descends. When the main shaft extends, the supporting wheel 902 rises to support the pipe fitting, and the supporting wheel 902 can rotate, so that the position of the pipe fitting can be conveniently adjusted. The guide rod 904 plays a role in guiding the up-and-down movement of the support plate, improves the stability of the movement, and can also play a role in placing the rotation of the main shaft.

As shown in fig. 11 and 12, the first sleeve 521 mounting assembly 54 includes a sleeve 521 positioning mechanism 519, a sliding plate 514, a sliding mechanism 581, a tightening mechanism, and a supporting mechanism 520, the sleeve 521 positioning mechanism 519 includes two second positioning blocks 801 and two second positioning cylinders 803, the two second positioning blocks 801 are fixedly provided with second positioning plates 802 for limiting the edge portions of the sleeve 521, the two second positioning plates 802 are oppositely disposed to form a clamping position for the sleeve 521, the second positioning blocks 801 are slidably connected with the sliding plate 514 through guide rails, a housing of the second positioning cylinder 803 is fixedly connected with one second positioning block 801, and a spindle of the second positioning cylinder 803 is fixedly connected with the other second positioning block 801. The second positioning cylinder 803 is not limited to an existing double-acting cylinder, the second positioning cylinder 803 is electrically connected with a controller through a driver, the controller controls the main shaft of the second positioning cylinder 803 to extend and retract, when the main shaft retracts, the two second positioning blocks 801 move oppositely, and the second positioning plate 802 clamps the sleeve 521 for positioning. When the main shaft is elongated, the two second positioning blocks 801 move reversely to release the sleeve 521.

The clamping block 526 is further provided with two jacking cylinders 806, the output shaft ends of the two jacking cylinders 806 correspond to the nuts of the fastening bolts on the sleeve 521, and the output shafts of the jacking cylinders 806 can ascend to lift the bolts, so that tightening operation is facilitated.

The sliding plate 514 is also fixedly provided with a second limiting piece 804, the second limiting piece 804 is of an L-shaped structure, the second limiting piece 804 is provided with a second limiting screw 805 for limiting the second positioning block 801, and the second limiting screw 805 is in threaded connection with the second limiting piece 804;

the sliding plate 514 is also provided with a jacking mechanism for jacking the side surface of the sleeve 521, the jacking mechanism comprises a fixed block 907, a sliding block 906 and a jacking piece 909, the fixed block 907 is fixedly connected with the sliding plate 514, the number of the sliding blocks 906 is two, the sliding plate 514 is provided with a strip-shaped through hole, the sliding block 906 is arranged inside the strip-shaped through hole, the sliding block 906 is slidably connected with the sliding plate 514, the fixed block 907 is provided with a buffer spring 905 corresponding to the sliding block 906, the jacking piece 909 comprises a sliding part, a hinged part and a limiting part for jacking the side surface of the sleeve 521, the hinged part is hinged with the second positioning block 801, the sliding part is of a cylindrical structure, the bottom end of the sliding block 906 is of an inclined plane structure, the upper end of the jacking piece 909 is provided with a return spring 908, and two ends of the return spring 908 are respectively and fixedly connected with the positioning block and the jacking piece 909;

the sliding plate 514 is also provided with a sliding mechanism 581 used for clamping the pipe fitting, the sliding mechanism 581 comprises two sliding blocks 701 and two sliding cylinders 703, the two sliding blocks 701 are oppositely arranged to form a clamping position for clamping the pipe fitting, one end of the sliding block 701 close to the pipe fitting is provided with a roller 702, the sliding block 701 is in sliding connection with the sliding plate 514 through a guide rail, the shell of the sliding cylinder 703 is fixedly connected with one sliding block 906, and the main shaft of the sliding cylinder 703 is fixedly connected with the other sliding block 701;

the sliding plate 514 is also fixedly provided with a first limiting part, the first limiting part is of an L-shaped structure, the first limiting part is provided with a first limiting screw rod for limiting the sliding block 906, and the first limiting screw rod is in threaded connection with the first limiting part;

the sliding plate 514 is further provided with a supporting mechanism 520, the supporting mechanism 520 comprises a supporting cylinder 901 and a supporting piece 903 fixedly connected with a main shaft of the supporting cylinder 901, a shell of the supporting cylinder 901 is fixedly connected with the sliding plate 514, the top end of the supporting piece 903 is provided with a supporting wheel 902 used for supporting a pipe fitting, the supporting piece 903 is further provided with two guide rods 904, and the two guide rods 904 are slidably connected with the sliding plate 514 through linear bearings.

As shown in fig. 3, the clamping assembly includes two clamping cylinders 525 and two clamping blocks 526, one of the two clamping blocks 526 is fixedly connected with the housing of the clamping cylinder 525, the other clamping block is fixedly connected with the main shaft of the clamping cylinder 525, the clamping block 526 is slidably connected with the mounting plate 528 through a guide rail, the two clamping blocks 526 form a clamping position for the pipe, a V-shaped groove is formed on the end surface of the clamping block 526 adjacent to the pipe, and a gasket 527 made of teflon is fixedly arranged on the surface of the V-shaped groove; the clamping cylinder 525 is a double-acting cylinder, but is not limited to the existing double-acting cylinder, the clamping cylinder 525 is electrically connected with a controller through a driver, the controller controls the main shaft of the clamping cylinder 525 to extend and retract, when the main shaft retracts, the two clamping blocks 526 move towards each other, and the V-shaped grooves in the clamping blocks 526 clamp the pipe fitting for positioning. When the spindle is extended, the two gripping blocks 526 move in opposite directions to release the pipe. The gasket 527 of tetrafluoroethylene material increases the frictional force between the clamp block 526 and the pipe fitting, and the texture is comparatively soft, can play the effect of preventing to harm the pipe fitting.

Be equipped with limiting plate 529 on the mounting panel 528, all open threaded hole on two tight pieces 526 of clamp, the spacing bolt 530 is installed to the threaded hole inboard, and the nut end of two spacing bolts 530 sets up in opposite directions, and the both ends of limiting plate 529 are spacing to spacing bolt 530, and the limiting plate 529 is close to the one end of pressing from both sides tight piece 526 and is spacing to the pipe fitting, mounting panel 528 and 5 cooperation installations of equipment support.

As shown in fig. 4, the equipment support 5 is provided with the turnover assembly 56, the turnover assembly 56 includes a turnover cylinder 531 fixedly arranged on the equipment support 5, a housing of the turnover cylinder 531 is fixedly connected with the equipment support 5, an output shaft of the turnover cylinder 531 is provided with a turnover rack 532, the mounting plate 528 is provided with a connecting shaft 535, the connecting shaft 535 is provided with a turnover gear 533 engaged with the turnover rack 532 of the output shaft of the turnover cylinder 531, the connecting shaft 535 is rotatably connected with a turnover connecting plate 534, and the turnover connecting plate 534 is fixedly connected with the equipment support 5.

The overturning cylinder 531 adopts, but is not limited to, an existing double-acting cylinder, the overturning cylinder 531 is electrically connected with a controller through a driver, the controller controls the main shaft of the overturning cylinder 531 to stretch, the main shaft drives the overturning rack 532 to move, the overturning rack 532 drives the overturning gear 533 to rotate, and then the clamping assembly connected with the gear is driven to rotate.

As shown in fig. 1 and 2, the equipment support 5 is further provided with a second guide rail and a second clamping assembly 57, the second guide rail is provided with a second messenger wire seat 524 installation assembly 58, the second messenger wire seat 524 installation assembly 58 is slidably connected with the equipment support 5 through the second guide rail, and the second clamping assembly 57 is fixedly connected with the equipment support 5. The equipment support 5 is further provided with a third guide rail and a third clamping assembly 510, the third guide rail is provided with a second sleeve 521 mounting assembly 511 and a third messenger wire seat 524 mounting assembly 59, the second sleeve 521 mounting assembly 511 and the third messenger wire seat 524 mounting assembly 59 are both connected with the equipment support 5 through the third guide rail in a sliding manner, the third clamping assembly 510 is fixedly connected with the equipment support 5, the third messenger wire seat 524 mounting assembly 59 is mounted at one end of the third guide rail close to the third clamping assembly 510, and the second sleeve 521 mounting assembly 511 is mounted at one end of the third guide rail far away from the third clamping assembly 510. Be equipped with a plurality of guide rails on the equipment support 5, all be equipped with accessory installation component 515 on the guide rail, improved the pipe fitting and picked the utilization ratio that arm 51 and accessory picked arm 52, improved production efficiency.

The controller adopts but not limited to the existing PLC controller, and the PLC controller is a specific structure in the prior art and a connection form thereof, which are not described again here.

Example two:

the embodiment provides a wrist arm assembling method, which comprises the following steps:

s1, grabbing the accessory by using the accessory grabbing mechanical arm 52, wherein the accessory comprises a sleeve 521 and a messenger wire seat 524, and placing the accessory in a positioning mechanism of the corresponding accessory installation component 515 respectively, and the positioning mechanism acts to clamp and position the accessory;

s2, grabbing the pipe by using the pipe grabbing mechanical arm 51, placing the pipe in the sliding mechanism 581 of the accessory installation component 515, and enabling the sliding mechanism 581 to act to clamp the pipe so that the pipe and the accessory are coaxial;

s3, the movable pipe passes through the inside of the fitting, moves towards the clamping assembly, and moves to the designated position, and the clamping assembly acts to clamp the pipe;

s4, the other accessory installation component 515 moves towards the direction of the clamping component, the pipe enters the sliding mechanism 581, the sliding mechanism 581 acts to clamp the pipe to enable the pipe and the accessory to be coaxial, and then the accessory installation component 515 continues to move to the designated position;

s5, the torque gun 516 moves downwards, starts to rotate after reaching the designated position, and screws two nuts arranged diagonally on the fitting to fasten the fitting on the pipe fitting;

s6, loosening the positioning mechanisms and the sliding mechanisms 581 of all the accessory installation components 515, lifting the supporting mechanism 520 to support the pipe fitting, rotating the rotation degree of the components, clamping the pipe fitting and the accessory by the action of the positioning mechanisms and the sliding mechanisms 581 of all the accessory installation components 515, descending the supporting mechanism 520, moving the torque gun 516 downwards, starting to rotate after reaching the designated position, and screwing two nuts arranged at the opposite angles on the accessory to fasten the accessory on the pipe fitting;

s7, the pipe gripping robot arm 51 grips the processed wrist arm, the gripping members are released, the positioning mechanisms and the sliding mechanisms 581 of all the accessory mounting members 515 are released, the accessory mounting members 515 return to the initial positions, and the pipe gripping robot arm 51 extracts the wrist arm and places the wrist arm at the designated position.

Those of ordinary skill in the art will appreciate that the elements and method steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of clearly illustrating the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided in the present application, it should be understood that the disclosed method and system may be implemented in other ways. For example, the above described division of elements is merely a logical division, and other divisions may be realized, for example, multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not executed. The units may or may not be physically separate, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.