CN111822780A - A flat oblique wrist arm processing device - Google Patents

Abstract

A flat and inclined cantilever machining device comprises a feeding mechanism, a transfer mechanism, a sawing mechanism and a transfer positioning mechanism which are sequentially arranged. The pipe fitting processing method comprises the steps that firstly, a pipe fitting used for processing a flat cantilever and an inclined cantilever is placed into a feeding mechanism, then the feeding mechanism adjusts the pipe fitting, then the pipe fitting is transferred into a sawing mechanism by a transferring mechanism to be processed, then the sawing mechanism saw cuts the pipe fitting to obtain the finished flat cantilever and the inclined cantilever, then the finished flat cantilever and the finished inclined cantilever are transferred onto a transfer positioning mechanism by the transferring mechanism, and finally the finished flat cantilever and the finished inclined cantilever are positioned by the transfer positioning mechanism so that the assembly efficiency and the assembly precision can be improved in the subsequent assembly process of the flat cantilever and the inclined cantilever. The invention provides a flat/inclined cantilever machining device which can machine a flat cantilever and an inclined cantilever with high efficiency and high precision.

Description

A flat oblique wrist arm processing device

technical field

The invention relates to the technical field of wrist arm assembly, in particular to a flat oblique wrist arm processing device.

Background technique

In the traction power supply system, the wrist arm is an important part of the catenary. The wrist arm is usually installed on the upper part of the column to support the contact suspension and transmit the load. The wrist arm is generally made of round steel pipes with a length of It is related to factors such as the height of the structure contacting the suspension, the side limits of the struts, and the location of the struts. With the development of technology, the structure of the wrist and arm is also constantly changing, and the simplified wrist arm has been gradually used. The simplified and unified wrist arm is mainly composed of a flat wrist arm, an inclined wrist arm, a combined load-bearing cable seat, an aluminum alloy support, a support connector, a combined positioning ring, a pipe cap and a positioner. Among them, the flat wrist arm and the inclined wrist arm are processed by using pipe fittings as raw materials. During processing, the pipe needs to be sawed to get the required size. In the existing wrist arm processing technology, the pipe fittings are mostly sawed manually, which is inefficient and cannot meet the needs of large-scale production. In addition, because multiple measurements are required to ensure the machining accuracy during the machining process, the machining efficiency is further reduced.

SUMMARY OF THE INVENTION

In order to solve the deficiencies in the prior art, the present invention provides a flat and inclined wrist arm processing device, which can process the flat wrist arm and the inclined wrist arm with high efficiency and high precision.

In order to achieve the above purpose, the specific scheme adopted in the present invention is: a flat oblique wrist arm processing device, comprising a feeding mechanism, a transfer mechanism, a sawing mechanism and a transfer positioning mechanism arranged in sequence; the feeding mechanism includes a material storage unit , the storage unit includes several material racks, two mutually parallel baffles are fixed on the material racks, two inclined support rods are arranged between the two baffles, and the support rods and the baffles are parallel to each other, one of which is The outer side of the baffle is fixedly connected with an end positioning cylinder, and the piston rod of the end positioning cylinder extends between the two baffles; the transfer mechanism includes an overhead rail, the overhead rail is driven and connected with a transfer robot, and the transfer robot is driven and connected There is a clamp, and the clamp has at least one air gripper; it includes a support assembly for supporting the wrist arm and a sawing assembly for sawing the wrist arm; the support assembly includes a plurality of sawing tongs distributed along a straight line, and the sawing tongs include a fixed a plate and a pressing block for pressing the wrist arm against the fixed plate; the sawing assembly includes a sawing machine and a first driving unit for driving the sawing machine to move in the radial direction of the wrist arm and a second drive unit for driving the sawing machine to move along the axial direction of the wrist arm; the transfer positioning mechanism includes a flat wrist arm transfer positioning unit and an oblique wrist arm transfer positioning unit, and the flat wrist arm transfer positioning unit and the inclined wrist arm A plurality of positioning seats for supporting the wrist arm are arranged between the transfer positioning units, and all positioning seats are distributed along a straight line.

As a further optimization of the above-mentioned flat and inclined wrist arm processing device: the flat wrist arm transfer positioning unit includes a flat wrist arm transfer positioning base plate, and at least one flat wrist arm transfer positioning pin is movably arranged on the flat wrist arm transfer positioning base plate.

As a further optimization of the above-mentioned flat-slanted wrist-arm processing device: the flat-wrist-arm transfer positioning pins are set to two, and the two flat-wrist-arm transfer positioning pins are arranged oppositely, and two flat-wrist-arm transfer positioning pins are fixedly arranged on the flat-wrist-arm transfer positioning base plate. A flat-wrist arm transfer positioning cylinder, two flat-wrist arm transfer positioning cylinders are respectively drivingly connected with the two flat-wrist-arm transfer positioning pins.

As a further optimization of the above-mentioned flat and inclined wrist arm processing device: the side of the flat wrist arm transfer positioning cylinder is provided with a flat wrist arm transfer positioning guide rail, and the flat wrist arm transfer positioning guide rail and the flat wrist arm transfer positioning cylinder are parallel to each other. A moving plate is slidably connected on the wrist arm transfer positioning guide rail, the flat wrist arm transfer positioning cylinder is drivingly connected with the moving plate, and the flat wrist arm transfer positioning pin is fixedly arranged on the moving plate.

As a further optimization of the above-mentioned flat and inclined wrist arm processing device: the inclined wrist arm transfer positioning unit includes an inclined wrist arm transfer positioning base plate, and an inclined wrist arm transfer positioning pin is vertically fixed on the inclined wrist arm transfer positioning base plate.

As a further optimization of the above-mentioned flat inclined wrist arm processing device: the inclined wrist arm intermediate rotation positioning base plate is provided with a pressure block vertical drive cylinder, the pressure block vertical drive cylinder is driven and connected with a pressure block, and the pressure block is provided with the inclined wrist arm. The arm pivot pin matches the socket.

As a further optimization of the above-mentioned flat inclined wrist arm processing device: a pressure block horizontal drive cylinder is fixedly arranged on the inclined wrist arm intermediate positioning base plate, and the pressure block horizontal drive cylinder is drivingly connected with the pressure block vertical drive cylinder.

As a further optimization of the above-mentioned flat inclined wrist arm processing device: a buffer and a fixing block are fixedly arranged on the intermediate positioning base plate of the inclined wrist arm, wherein the buffer drives the cylinder horizontally toward the pressing block, and the fixing block is provided with a limit bolt , the limit bolt drives the cylinder horizontally toward the pressure block.

As a further optimization of the above-mentioned flat oblique wrist arm processing device: a printer is arranged between the sawing mechanism and the relay positioning mechanism.

Beneficial effect: when the present invention is in use, the pipe fittings for processing the flat wrist arm and the inclined wrist arm are first put into the feeding mechanism, and then the feeding mechanism adjusts the pipe fittings, and then the transfer mechanism transfers the pipe fittings to the sawing mechanism Because the feeding mechanism has adjusted the pipe, the transfer mechanism can accurately grasp the pipe and transfer it, and then the sawing mechanism cuts the pipe to obtain the finished flat wrist arm and inclined wrist arm. The transfer mechanism transfers the finished flat wrist arm and inclined wrist arm to the transfer positioning mechanism, and finally the transfer positioning mechanism positions the finished flat wrist arm and inclined wrist arm, so that in the subsequent assembly process of the flat wrist arm and the inclined wrist arm It can improve assembly efficiency and accuracy. The invention can automatically complete the sawing processing and the transfer positioning of the flat wrist arm and the inclined wrist arm, has higher processing efficiency, and is convenient for subsequent assembly of the flat wrist arm and the inclined wrist arm.

Description of drawings

Fig. 1 is the overall structure schematic diagram A of the present invention;

Fig. 2 is the overall structure schematic diagram B of the present invention;

Figure 3 is a schematic diagram of the setting mode of the feeding mechanism and the transfer mechanism;

Figure 4 is a schematic structural diagram A of the feeding mechanism;

Fig. 5 is the structural representation B of the feeding mechanism;

6 is a schematic structural diagram of a visual inspection support unit;

Fig. 7 is an enlarged view of part A in Fig. 4;

Fig. 8 is the structural representation of the transfer mechanism;

Fig. 9 is the structural representation of the clamp;

Figure 10 is a schematic structural diagram of a sawing mechanism;

11 is a schematic structural diagram of a flat wrist arm positioning unit;

Fig. 12 is the structural representation of sawing pliers;

Figure 13 is a schematic structural diagram of a sawing mechanism;

14 is a schematic structural diagram of an oblique wrist arm positioning unit;

Figure 15 is a schematic structural diagram of a relay positioning mechanism;

Figure 16 is a schematic structural diagram of a flat wrist arm transfer positioning unit;

FIG. 17 is a schematic structural diagram of the oblique wrist arm intermediate rotation positioning unit.

Description of drawings: 1-Feeding mechanism,

101-Material storage unit, 103-Bracket, 104-Visual inspection support unit, 105-Support rod, 106-Baffle plate, 107-Backstop unit, 108-Limit rod, 109-Material rack, 1010-End positioning cylinder , 1011-isolated positioning cylinder, 1012-extension rod, 1013-support piece, 1014-support roller, 1015-torsion spring hinge, 1016-connecting plate, 1017-limit roller, 1018-first lift cylinder, 1019- Top Block, 1020-First Limit Slot,

2- Transfer agency,

201- overhead rail, 202- transfer robot, 203- clamp, 204- connecting plate, 205- connecting rod, 206- air gripper, 207- first pair of photoelectric sensor,

3- Sawing mechanism,

301-installation rod, 302-end support plate, 303-pressing motor, 304-swing arm, 305-pressing plate, 306-first servo drilling machine, 307-accommodating groove, 308-support block, 309-second On-beam photoelectric sensor, 3010-rack, 3011-waste chute, 3012-wrist arm, 3013-moving support plate, 3014-first servo drive, 3015-sawing pliers, 3016-sawing machine, 3017-sawing Support Plate, 3018-Second Servo Drive, 3019-Second Servo Drill, 3020-Flat Wrist Arm Push Plate, 3021-Press Cylinder, 3022-Press Rod, 3023-Vertical Plate, 3024-Horizontal Plate, 3025 -Fixing plate, 3026-Through groove, 3027-Support roller, 3028-Clamping block, 3029-Second limit groove, 3030-Clamping cylinder, 3031-Adjusting cylinder, 3032-Sliding rail, 3033-Sliding block, 3034 -Upright column, 3035-U-shaped slot, 3036-Idle roller, 3037-Long slot, 3038-Laser distance sensor, 3039-Side plate, 3040-Connecting shaft, 3041-Rotating plate, 3042-Oblique wrist arm positioning pin, 3043 -Second Lifting Cylinder, 3044-Push Cylinder, 3045-Mounting Plate,

4-Transit positioning mechanism,

401-Flat wrist arm transfer positioning unit, 402-Connecting bar, 403-Positioning seat, 404-Oblique wrist arm transfer positioning unit, 405-Flat wrist arm transfer positioning base plate, 406-Flat wrist arm transfer positioning pin, 407-Activity plate , 408- flat wrist arm transfer positioning guide rail, 409- flat wrist arm transfer positioning cylinder, 4010- oblique wrist arm transfer positioning base plate, 4011- oblique wrist arm transfer positioning pin, 4012-buffer, 4013-fixing block, 4014-limit Bit bolt, 4015-Press block, 4016-Press block vertical drive cylinder, 4017-Press block horizontal drive cylinder,

5- Inkjet printer.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Please refer to FIGS. 1 to 17 , a flat oblique wrist arm processing device includes a feeding mechanism 1 , a transfer mechanism 2 , a sawing mechanism 3 and a transfer positioning mechanism 4 , which are arranged in sequence.

The feeding mechanism 1 includes a material storage unit 101, and the material storage unit 101 includes a plurality of material racks 109. Two mutually parallel baffles 106 are fixedly arranged on the material racks 109, and two inclined baffles 106 are arranged between the two baffles 106. The support rod 105 is supported, and the support rod 105 and the baffle plate 106 are parallel to each other, and an end positioning cylinder 1010 is fixedly connected to the outer side of one baffle plate 106 , and the piston rod of the end head positioning cylinder 1010 extends between the two baffle plates 106 .

The transfer mechanism 2 includes an overhead rail 201 , the overhead rail 201 is drivingly connected with a transfer robot 202 , and the transfer robot 202 is drivingly connected with a clamp 203 , and the clamp 203 has at least one air gripper 206 .

A support assembly for supporting the wrist arm 3012 and a sawing assembly for sawing the wrist arm 3012 are included.

The support assembly includes a plurality of sawing tongs 3015 distributed along a straight line. The sawing tongs 3015 include a fixing plate 3025 and a pressing block 3028 for pressing the wrist arm 3012 on the fixing plate 3025 .

The sawing assembly includes a sawing machine 3016 , a first driving unit for driving the sawing machine 3016 to move in the radial direction of the wrist arm 3012 , and a second driving unit for driving the sawing machine 3016 to move in the axial direction of the wrist arm 3012 .

The transfer positioning mechanism 4 includes a flat wrist arm transfer positioning unit 401 and an oblique wrist arm transfer positioning unit 404. Between the flat wrist arm transfer positioning unit 401 and the oblique wrist arm transfer positioning unit 404, a plurality of positioning units for supporting the wrist arm 3012 are provided. seat 403, and all positioning seats 403 are distributed along a straight line.

When the present invention is in use, firstly, the pipe fittings for processing the flat wrist arm and the inclined wrist arm are put into the feeding mechanism 1, then the feeding mechanism 1 adjusts the pipe fittings, and then the transfer mechanism 2 transfers the pipe fittings to the sawing mechanism 3, because the feeding mechanism 1 has adjusted the pipe, so the transfer mechanism 2 can accurately grasp the pipe and transfer it, and then the sawing mechanism 3 cuts the pipe to obtain the flat wrist arm and oblique arm of the finished product. Wrist arm, after that, the transfer mechanism 2 transfers the flat wrist arm and the inclined wrist arm of the finished product to the transfer positioning mechanism 4, and finally the transfer positioning mechanism 4 positions the finished flat wrist arm and the inclined wrist arm, so that in the subsequent flat wrist arm It can improve the assembly efficiency and accuracy during the assembly process of the inclined wrist arm.

The specific working process of the feeding mechanism 1 is as follows: first, manually place the pipe for processing the wrist arm on the material rack 109, and the pipe is located on the support rod 105 and between the two baffles 106, because the support rod 105 It is inclined, so the pipe will roll down along the support rod 105. When the pipe rolls to the position corresponding to the end positioning cylinder 1010, the position of the pipe can be fixed, for example, by adding a limiter to prevent the pipe from continuing downward. Roll, and then use the end positioning cylinder 1010 to push the pipe until the pipe abuts another baffle 106. Under the action of the end positioning cylinder 1010, all the pipes entering the material rack 109 are in the same position.

The specific working process of the transfer mechanism 2 is as follows: when the storage unit 101 stores pipes, the transfer mechanism 2 can be activated, and the overhead rail 201 first drives the transfer robot 202 to move to the position corresponding to the material rack 109, and then the transfer robot 202 Moves the fixture 203 to be close to the pipe, during the process the air gripper 206 is opened, then the transfer robot 202 uses the air gripper 206 to pick up the pipe, and finally the transfer robot 202 and the overhead rail 201 can cooperate to transfer the pipe to the wrist arm processing equipment to be processed.

The specific working process of the sawing mechanism 3 is as follows: firstly, the wrist arm 3012 is supported by the support component, specifically, the wrist arm 3012 is pressed against the fixing plate 3025 by the pressing block 3028 to clamp the wrist arm 3012, and then the wrist arm 3012 is clamped by using The first driving unit drives the sawing machine 3016 to extend along the length direction of the wrist arm 3012, and after reaching the target position, the second driving unit drives the sawing machine 3016 to extend along the radial direction of the wrist arm 3012, so that the sawing machine 3016 can cut the wrist. The arm 3012 is cut off, and the sawing process of the wrist arm 3012 is completed.

The specific working process of the transfer positioning mechanism 4 is as follows: when the flat wrist arm needs to be positioned, the transfer mechanism 2 places the flat wrist arm on the positioning seat 403, uses the positioning seat 403 to support the flat wrist arm, and then transfers the flat wrist arm. The positioning unit 401 positions the flat wrist arm, and when the oblique wrist arm needs to be positioned, the transfer mechanism 2 places the inclined wrist arm on the positioning seat 403, uses the positioning seat 403 to support the inclined wrist arm, and then turns the inclined wrist arm The positioning unit 404 positions the oblique wrist arm.

The invention can automatically complete the sawing processing and the transfer positioning of the flat wrist arm and the inclined wrist arm, has higher processing efficiency, and is convenient for subsequent assembly of the flat wrist arm and the inclined wrist arm.

In order to ensure the matching of models during the subsequent assembly of the flat arm and the oblique arm, a printer 5 is provided between the sawing mechanism 3 and the transfer positioning mechanism 4 . The transfer mechanism 2 uses the inkjet printer 5 to print codes on the flat or oblique wrist arm in the process of transferring the flat or oblique wrist arm from the sawing mechanism 3 to the transfer positioning mechanism 4 to distinguish different types of Flat arm or sloping arm.

The material storage unit 101 includes a number of material racks 109. Two mutually parallel baffles 106 are fixedly arranged on the material racks 109. The plates 106 are parallel to each other, an end positioning cylinder 1010 is fixedly connected to the outer side of one baffle 106 , and the piston rod of the end positioning cylinder 1010 extends between the two baffles 106 .

In order to improve space utilization and simplify the complexity of the control program of the transfer robot 202 , the storage unit 101 includes a bracket 103 , and all the material racks 109 are fixedly arranged on the bracket 103 , and all the material racks 109 are arranged in sequence from top to bottom. No matter which rack 109 the transfer robot 202 needs to grab, the overhead rail 201 can move the transfer robot 202 to a fixed position, and there is no need to continuously adjust the position of the transfer robot 202 according to the position of the rack 109, thereby simplifying the The transfer robot 202 improves the overall feeding efficiency while controlling the program complexity.

In order to ensure that the quality of the pipe fittings can meet the use requirements of the wrist arm processing, the pipe fittings need to be inspected. In order to achieve this purpose, at least one visual inspection support unit 104 is provided on the side of the material rack 109, and the visual inspection support unit 104 includes two The extension rod 1012 is fixedly connected to the frame 109, and the height of the two extension rods 1012 is the same. Two rolling support assemblies are fixed on the extension rod 1012. The support rollers 1014 between the sheets 1013 leave a distance between the support rollers 1014 of the two rolling support assemblies. Before manually placing the pipe into the material rack 109, the pipe can be placed on the visual inspection support unit 104. Specifically, the end of the pipe is located between the two support rollers 1014 and supported by the support rollers 1014. The roller 1014 supports the pipe so that the pipe can rotate flexibly, thereby facilitating manual inspection.

The specific setting method of the limiter is as follows: the lower end of the support rod 105 is integrally connected with the limit rod 108, the limit rod 108 and the support rod 105 are perpendicular to each other, and the limit rod 108 and the support rod 105 smoothly transition, and the end of the cylinder is positioned. 1010 is close to the side of the limit rod 108 .

In order to ensure that the pipe can only move in one direction in the material rack 109 and avoid being taken out of the material rack 109 and the feeding is suspended because the transfer mechanism 2 loses its target, the material rack 109 is fixedly connected with a number of backstop units 107, and the backstop The unit 107 is located above the support rod 105, and the check unit 107 includes a torsion spring hinge 1015, one of the connecting plates 1016 of the torsion spring hinge 1015 is fixedly connected to the material rack 109, and the other connecting plate 1016 of the torsion spring hinge 1015 rotates A plurality of limit rollers 1017 are connected. The limit roller 1017 ensures that the pipe can still be rolled down normally, and the torsion spring hinge 1015 can only rotate in one direction, so it can block the pipe when the pipe is taken out from the rack 109 to prevent the pipe from being taken out.

Because a variety of pipe fittings need to be used in the processing of the wrist arm, the lengths of different pipe fittings are different, resulting in different weights of different pipe fittings, and the heavier pipe fittings may be unbalanced during the gripping process of the clamp 203, so one of the material racks 109 is fixedly provided with a plurality of jacking units, the jacking unit includes a first jacking cylinder 1018 fixedly connected with the material rack 109, the piston rod of the first jacking cylinder 1018 extends upward and is fixedly connected with a top block 1019, the top block The 1019 is provided with a first limiting groove 1020 for accommodating the pipe fittings. The side of the end positioning cylinder 1010 on the material rack 109 is fixedly provided with an isolation positioning cylinder 11, and the end positioning cylinder 1010 and the isolation positioning cylinder 11. leave a distance. Before the clamp 203 picks up the pipe, the first jacking cylinder 1018 first pushes the top block 1019 upward, uses the top block 1019 to lift the pipe, and locates the pipe in the first limiting groove 1020 to prevent the pipe from sliding down from the side, Considering that there will be multiple pipe fittings in the material rack 109, the heavier pipe fittings will hinder the normal movement of the top block 1019. In order to reserve an active space for the top block 1019, an isolation positioning cylinder 11, an end positioning cylinder 1010 and an isolation positioning cylinder are set up. 11 respectively push up the two lowermost pipe fittings on the material rack 109, so as to leave a gap between the two pipe fittings, and the clearance can be used as the movable space of the top block 1019.

The specific structure of the clamp 203 is as follows: the clamp 203 includes a connecting rod 205 , the connecting rod 205 is fixedly connected with the transfer robot 202 through the connecting plate 204 , and the air gripper 206 is fixedly connected with the connecting rod 205 . According to the size of the wrist arm to be processed, the sizes of various pipe fittings to be used can be determined, and then the distance between the two air grippers 206 can be determined according to the size of the pipe fittings, so that the two air grippers 206 can smoothly move the pipe fittings. On the premise of grabbing, the length of the connecting rod 205 and the distance between the two air grippers 206 can be reduced, thereby reducing the weight of the gripper 203 and thus reducing the load of the transfer robot 202 .

In order to avoid the situation of empty grasping, that is, the gripper 203 is removed without the air gripper 206 grasping the pipe transfer robot 202, the air gripper 206 is fixedly provided with a first pair of photoelectric sensors 207, and the first pair of photoelectric sensors The extension direction of the detection light of 207 is the same as the opening and closing direction of the air gripper 206 . When the air gripper 206 has grasped the pipe fitting, the detection light of the first pair of photoelectric sensors 207 is blocked by the pipe fitting, so as to realize the effect of judging whether the air gripper 206 has caught the pipe fitting.

The support assembly includes a plurality of sawing tongs 3015 distributed along a straight line. The sawing tongs 3015 include a fixing plate 3025 and a pressing block 3028 for pressing the wrist arm 3012 on the fixing plate 3025 .

The sawing assembly includes a sawing machine 3016 , a first driving unit for driving the sawing machine 3016 to move in the radial direction of the wrist arm 3012 , and a second driving unit for driving the sawing machine 3016 to move in the axial direction of the wrist arm 3012 .

In order to better support the wrist arm 3012 and ensure that the wrist arm 3012 remains stable during the sawing process, thereby improving the precision of sawing, the support assembly includes two parallel and fixedly connected mounting rods 301, the mounting rods 301 are horizontal Setting, the sawing pliers 3015 are connected with the two installation rods 301 movably, and the two installation rods 301 are also movably connected with a column 3034, a U-shaped groove 3035 is fixedly arranged on the column 3034, and a plurality of brackets are rotated in the U-shaped groove 3035. Roller 3036, wrist arm 3012 passes through U-shaped groove 3035 and rests on idler 3036. During the sawing process of the wrist arm 3012, the length will change, and the sawing pliers 3015 can move along the mounting rod 301 according to the current length of the wrist arm 3012, so as to support the wrist arm 3012 at a suitable position to avoid the appearance of the wrist arm 3012 The situation where the end is suspended, thus ensuring the stability of the wrist arm 3012, the column 3034 and the U-shaped groove 3035 cooperate to further enhance the stability of the wrist arm 3012, considering that the sawing machine 3016 will cut the wrist arm 3012 when it is cut. Vibration of the wrist arm 3012 is more likely to cause deflection of the wrist arm 3012 , so the post 3034 can be arranged on the side of the saw 3016 and move along the axial direction of the wrist arm 3012 synchronously with the saw 3016 . The idler 3036 is used to enable the wrist arm 3012 to still move in the axial direction after entering the U-shaped groove 3035, so as to facilitate the adjustment of the position of the wrist arm 3012 to determine the initial position of the wrist arm 3012, thereby further improving the machining accuracy.

The specific movement setting method of the sawing pliers 3015 is as follows: the sawing pliers 3015 are arranged on a moving support plate 3013, and the moving support plate 3013 is slidably connected with the mounting rod 301, and a first servo driver 3014 is vertically arranged on the moving support plate 3013, The first servo driver 3014 is drivingly connected with a gear, and the gear is located below the moving support plate 3013. The mounting rod 301 is also fixedly provided with a rack 3010 extending in the length direction. The rack 3010 is matched with the gear, and the first servo driver 3014 drives the gear to rotate, and the gear cooperates with the rack 3010 so that the gear can move along the rack 3010, which in turn drives the moving support plate 3013 and the sawing pliers 3015 to move. Two rails can be fixedly arranged on the upper surface, and the moving support plate 3013 is slidably connected with the two rails, so that the two rails are used to guide the moving support plate 3013 .

The second driving unit can adopt a similar structure, that is, the sawing machine 3016 is arranged on one sawing support plate 3017, the sawing support plate 3017 is moved and arranged on two installation rods 301, and the sawing support plate 3017 is connected with two rails Both are slidably connected. The second drive unit includes a second servo driver 3018 vertically arranged on the sawing support plate 3017. The second servo driver 3018 is also drivingly connected with a second servo driver 3018 located under the sawing support plate 3017 and matched with the rack 3010. Gear, the second servo driver 3018 drives the gear to rotate, and uses the cooperation of the gear and the rack 3010 to drive the sawing support plate 3017 to move on the mounting rod 301, thereby driving the sawing machine 3016 to move along the axial direction of the wrist arm 3012. In this embodiment, both the first servo driver 3014 and the second servo driver 3018 may be configured as motors.

On the basis of the sawing support plate 3017, the first drive unit includes two sliding rails 3032 fixed on the sawing support plate 3017, and the sliding rails 3032 and the mounting rod 301 are perpendicular to each other, and the sliding rails 3032 are slidably arranged on the There is a slider 3033, two sliders 3033 are fixedly connected with a movable block, the movable block is fixedly connected with the sawing machine 3016, and the movable block is fixedly connected with an adjusting cylinder 3031, the piston rod of the adjusting cylinder 3031 and the slide rail 3032 are parallel to each other. When the sawing machine 3016 needs to move along the radial direction of the wrist arm 3012 to saw the wrist arm 3012, the adjusting cylinder 3031 is activated, and pushes the movable block and the slider 3033 to move along the slide rail 3032, and the movable block drives the saw during the movement. The cutting machine 3016 moves to adjust the position of the sawing machine 3016 , and then the wrist arm 3012 is sawed by the sawing machine 3016 .

In order to improve the sawing precision, it is necessary to fine-tune the position of the wrist arm 3012 before using the sawing pliers 3015 to fix the wrist arm 3012. In order to ensure that the wrist arm 3012 can move in the sawing pliers 3015, the fixing plate 3025 has several A through groove 3026, a support roller 3027 is rotatably arranged in the through groove 3026, and the axis of the support roller 3027 and the axis of the wrist arm 3012 are perpendicular to each other. 3029 extends in the axial direction of the wrist arm 3012. While supporting the wrist arm 3012, the support roller 3027 can also use its own rotatable characteristics to avoid excessive resistance to the wrist arm 3012 during the movement of the wrist arm 3012, so as to ensure that the wrist arm 3012 can be moved by means of The position of the wrist arm 3012 is fine-tuned.

The specific structure of the sawing pliers 3015 further includes a vertical plate 3023 fixedly arranged on the mobile support plate 3013, and the two vertical plates 3023 are parallel to each other, a horizontal plate 3024 is fixedly connected between the tops of the two vertical plates 3023, and the fixed plate 3025 is vertical It is fixed on the horizontal plate 3024 , the jacking block 3028 is slidably arranged on the horizontal plate 3024 , and a clamping cylinder 3030 is also fixedly arranged on the horizontal plate 3024 , and the clamping cylinder 3030 is drivingly connected with the jacking block 3028 . When the top tightening block 3028 pushes the wrist arm 3012 to the fixing plate 3025, the top tightening block 3028 and the fixing plate 3025 can prevent the wrist arm 3012 from shaking horizontally. In order to further prevent the wrist arm 3012 from shaking vertically, the top tightening block 3028 is fixed A second limiting slot 3029 is also opened on one side of the plate 3025. The second limiting slot 3029 extends along the length direction of the wrist arm 3012 and penetrates two opposite side walls of the top tightening block 3028. When the wrist arm 3012 is pressed against the fixing plate 3025, the wrist arm 3012 is located in the second limiting groove 3029 so as not to shake in the vertical direction.

Usually, the wrist arm 3012 is set as a flat wrist arm or an inclined wrist arm. In order to further improve the processing efficiency of the device, the device can process both the flat wrist arm and the inclined wrist arm. A flat-wrist arm positioning unit for positioning the end of the flat-wrist arm and a diagonal-wrist-arm positioning unit for positioning the end of the oblique arm.

The specific structure of the flat-wrist arm positioning unit is as follows: the flat-wrist arm positioning unit includes a fixed support block 308, the support block 308 is provided with an accommodating groove 307 for accommodating the flat-wrist arm, and the side of the support block 308 is fixedly provided with a pressing The motor 303 and the pressing motor 303 are drivingly connected with at least one swing arm 304 , and all the swing arms 304 are jointly and fixedly connected with a pressing plate 305 for pressing the wrist arm 3012 in the accommodating slot 307 . The support block 308 cooperates with the support assembly to support the flat wrist arm and further ensure the stability of the flat wrist arm during the sawing process. After the flat wrist arm is placed in the accommodating groove 307, the pressing motor 30303 is activated , the swing arm 304 is driven by the pressing motor 303 to swing, and then the swing arm 304 drives the pressing plate 305 to press the flat wrist arm on the support block 308, thereby fixing the position of the flat wrist arm. The support block 308 is fixed on one end support plate 302 , and the end support plate 302 is fixed on one end of the mounting rod 301 .

Considering that it is difficult to precisely control the position of the flat-wrist arm during the process of placing the flat-wrist arm on the support assembly and the support block 308, it is necessary to further adjust the flat-wrist arm. Correspondingly, the flat-wrist arm positioning unit includes moving the A flat-wrist arm push plate 3020 at one end of the flat-wrist arm, and the flat-wrist arm push plate 3020 and the flat-wrist arm are perpendicular to each other, a long groove 3037 is opened on the flat-wrist arm A laser ranging sensor 3038 is provided on one side, and the detection light of the laser ranging sensor 3038 passes through the long groove 3037 . After the flat-wrist arm is placed on the support assembly and the support block 308, the flat-wrist arm is pushed to move in the axial direction by the flat-wrist arm push plate 3020, and the flat-wrist arm is measured by the laser ranging sensor 3038. The distance from the laser ranging sensor 3038 to precisely determine the position of the flat wrist arm.

The specific structure of the oblique wrist arm positioning unit is as follows: one end of the oblique wrist arm is provided with a positioning hole, the oblique wrist arm positioning unit includes a movably arranged oblique wrist arm positioning pin 3042, and the oblique wrist arm positioning pin 3042 is matched with the positioning hole. Using the structure of the oblique wrist arm to locate the oblique wrist arm is convenient, fast, and accurate. The positioning pin 3042 of the inclined wrist arm is also fixedly connected with a second lifting cylinder 3043, and the second lifting cylinder 3043 is used to push the positioning pin 3042 of the inclined wrist arm to move up and down. The lift cylinder 3043 pushes the positioning pin 3042 of the inclined wrist arm upward through the positioning hole.

In order to further ensure the stability of the oblique wrist arm, the oblique wrist arm positioning unit includes a fixed support block 308 and a pressing cylinder 3021. The support block 308 is provided with an accommodating groove 307 for accommodating the oblique wrist arm, and the pressing cylinder 3021 drives the connection There is at least one rotating plate 3041 , and all rotating plates 3041 are jointly and fixedly connected with a pressing rod 3022 for pressing the oblique wrist arm into the accommodating groove 307 . After the oblique wrist arm positioning pin 3042 passes through the positioning hole to position the oblique wrist arm, the pressing cylinder 3021 drives the rotating plate 3041 to rotate, and the rotating plate 3041 drives the pressing rod 3022 to rotate synchronously during the rotation process until the pressing rod 3022 rotates The oblique wrist arm is pressed against the support structure. In addition, the oblique wrist arm positioning unit also includes a support block 308 and a pressing motor 303. The support block 308 is used to support the oblique wrist arm in cooperation with the support assembly, and the pressing motor 303 is also driven and connected to press the oblique wrist arm. The pressure plate 305 is fastened to the support block 308 .

The structure of the inclined wrist arm positioning unit also includes a horizontally fixed mounting plate 3045, the second lifting cylinder 3043 is arranged below the mounting plate 3045, the pressing cylinder 3021 is fixedly connected with the mounting plate 3045, and the mounting plate 3045 is also fixedly provided with Two mutually parallel side plates 3039, each of the two side plates 3039 is rotatably connected with a rotating plate 3041, a connecting shaft 3040 is also fixedly connected between the two rotating plates 3041, and a shaft sleeve is sleeved on the connecting shaft 3040, and The inner diameter of the shaft sleeve is larger than the diameter of the connecting shaft 3040, and the piston rod of the pressing cylinder 3021 is fixedly connected with the shaft sleeve. When the pressing cylinder 3021 acts, the piston rod pushes the shaft sleeve to move, and then the shaft sleeve drives the connecting shaft 3040 to move, connecting The shaft 3040 drives the two rotating plates 3041 to rotate during the moving process, and the rotating plates 3041 drive the pressing rod 3022 to rotate during the rotating process until the pressing rod 3022 presses the oblique arm on the support block 308 .

In order to improve the versatility of the present invention, ensure that both the flat wrist arm and the oblique wrist arm can be processed, and reduce the complexity of the device, the flat wrist arm push plate 3020 and the laser distance measuring sensor 3038 in the flat wrist arm positioning unit are also provided On the mounting plate 3045 , correspondingly, a pushing cylinder 3044 is also fixedly arranged on the mounting plate 3045 , and the pushing cylinder 3044 is used to push the flat arm push plate 3020 .

In order to ensure that the flat wrist arm positioning unit and the oblique wrist arm positioning unit can function normally, a second pair of photoelectric sensors 309 are fixedly arranged on the support block 308 , and the detection light of the second pair of photoelectric sensors 309 and the accommodating groove 307 interact with each other. Vertically, the second pair of photoelectric sensors 309 can be used to detect whether the flat wrist arm and the oblique wrist arm enter the accommodating groove 307 smoothly, and then start other structures after entering the accommodating groove 307 smoothly.

In addition to sawing, in order to facilitate subsequent processing and assembling processes, the device includes a drilling mechanism for drilling holes on the wrist arm 3012 , and the drilling mechanism includes at least one servo drilling machine disposed on the side of the wrist arm 3012 . In this embodiment, there are two servo drilling machines, namely a fixed first servo drilling machine 6 and a mobile second servo drilling machine 3019 .

After the sawing is completed, the sawed part of the wrist arm 3012 becomes waste. In order to better collect the waste, the device further includes a waste chute 3011 which is obliquely arranged below the wrist arm 3012 . After falling, the waste falls into the waste chute 3011 and slides down along the waste chute 3011, and a special storage device can be provided below the waste chute 3011 to receive the waste.

The specific structure of the flat wrist arm transfer positioning unit 401 is as follows: the flat wrist arm transfer positioning unit 401 includes a flat wrist arm transfer positioning base plate 405 , and at least one flat wrist arm transfer positioning pin 406 is movably disposed on the flat wrist arm transfer positioning base plate 405 . The flat wrist arm and the oblique wrist arm are mainly connected by a connecting piece, and the connecting piece and the flat wrist arm are connected by a pin shaft, so at least one pin hole for passing the pin shaft is opened at the end of the flat wrist arm. In the present invention, the flat-wrist arm transfer positioning unit 401 mainly completes the positioning of the flat-wrist arm through the cooperation of the flat-wrist arm transfer positioning pin 406 and the pin hole.

In order to ensure the stability of the connection between the connector and the flat wrist arm, there are generally two pin holes. Therefore, two flat wrist arm transfer positioning pins 406 are provided, and the two flat wrist arm transfer positioning pins 406 are arranged opposite to each other. Two flat wrist arm transfer positioning cylinders 409 are fixedly arranged on the transfer positioning base plate 405 , and the two flat wrist arm transfer positioning cylinders 409 are respectively drivingly connected with the two flat wrist arm transfer positioning pins 406 . After placing the flat wrist arm on the positioning base 403, use the transfer robot 202 to fine-tune the position of the flat wrist arm until the pin hole is aligned with the flat wrist arm transfer positioning pin 406, and use the flat wrist arm transfer positioning cylinder 409 to drive the flat wrist The arm transfer positioning pin 406 moves, and the flat wrist arm transfer positioning cylinder 409 can be stopped after the flat wrist arm transfer positioning pin 406 is smoothly inserted into the pin hole.

In order to precisely control the direction of the flat wrist arm transfer positioning pin 406, a flat wrist arm transfer positioning guide rail 408 is provided on the side of the flat wrist arm transfer positioning cylinder 409, and the flat wrist arm transfer positioning guide rail 408 is connected to the flat wrist arm transfer positioning cylinder. 409 are parallel to each other, a movable plate 407 is slidably connected to the flat wrist arm transfer positioning guide rail 408, the flat wrist arm transfer positioning cylinder 409 is drivingly connected to the movable plate 407, and the flat wrist arm transfer positioning pin 406 is fixedly arranged on the movable plate 407. When the flat wrist arm relay positioning cylinder 409 is in operation, the movable plate 407 can be moved first by retreating. During the movement of the movable plate 407, it is limited by the flat wrist arm relay positioning guide rail 408 to ensure the stability of the moving direction of the movable plate 407. The movable plate 407 drives the flat wrist arm transfer positioning pin 406 to move, thereby ensuring that the flat wrist arm transfer positioning pin 406 can be accurately inserted into the pin hole.

The specific structure of the oblique wrist arm relay positioning unit 404 is as follows: the oblique wrist arm relay positioning unit 404 includes an oblique wrist arm relay positioning base plate 4010 , and the oblique wrist arm relay positioning base plate 4010 is vertically fixed with an oblique wrist arm relay positioning pin 4011 . The connection method of the oblique wrist arm and the connecting piece is that the connecting piece is fixedly connected with a double-ear connecting plate, and the inclined wrist arm is fixedly connected with a single-ear connecting plate, and the single-ear connecting plate is inserted between the double-ear connecting plates and is connected to the double-ear connecting plate through the pin shaft. The connecting plates are connected, so a pin hole is opened on the single-ear connecting plate. According to the structural characteristics of the oblique wrist arm, the present invention sets the oblique wrist arm intermediate rotation positioning pin 4011 in the oblique wrist arm intermediate rotation positioning unit 404, and uses the oblique wrist arm intermediate rotation positioning pin 4011. The pin 4011 cooperates with the pin hole of the single-ear connecting plate to complete the positioning of the oblique wrist arm, which is simple and quick.

In order to ensure the stability of the inclined wrist arm, a pressure block vertical drive cylinder 4016 is provided on the inclined wrist arm transfer positioning base plate 4010, and the pressure block vertical drive cylinder 4016 is driven and connected with a pressure block 4015, and the pressure block 4015 is provided with a rotating block with the inclined wrist arm. Locating pin 4011 matches the socket. After the positioning pin 4011 of the oblique wrist arm is inserted into the pin hole on the single-ear connecting plate, the pressure block 4016 is used to vertically drive the cylinder 4016 to move the pressure block 4015 downward. During the movement of the pressure block 4015 First enter into the jack, and then the pressing block 4015 continues to move downward to press the single-ear connecting plate to the inclined wrist arm intermediate positioning base plate 4010 to press the inclined wrist arm tightly, thereby ensuring the positioning accuracy.

If the pressing block 4015 is directly arranged above the pivoting positioning pin 4011 of the oblique wrist arm, the control process of the pressing block 4015 can be simplified, but it will interfere with the connection between the oblique wrist arm and the pivoting positioning pin 4011 of the oblique wrist arm. A pressing block horizontal driving cylinder 4017 is fixed on the wrist arm transfer positioning base plate 4010 , and the pressing block horizontal driving cylinder 4017 is drivingly connected with the pressing block vertical driving cylinder 4016 . In the initial state, the horizontal driving cylinder 4017 of the pressing block retracts the vertical driving cylinder 4016 of the pressing block, so as to expose the pivoting positioning pin 4011 of the oblique wrist arm, so as to ensure that the oblique wrist arm can be smoothly connected with the pivoting positioning pin 11 of the oblique wrist arm. After the wrist arm transfer positioning pin 4015 is inserted into the pin hole on the single-ear connecting plate, the pressure block horizontally drives the cylinder 4017 to drive the pressure block to vertically drive the cylinder 4016 to move, until the pressure block 4015 moves above the oblique wrist arm transfer positioning pin 4011. Finally, the pressing block 4015 is driven vertically by the pressing block to drive the cylinder 4016 to compress the oblique wrist arm.

In order to ensure that the pressing block 4015 can smoothly reach the top of the positioning pin 4011 of the oblique wrist arm and avoid misalignment, a buffer 4012 and a fixing block 4013 are fixedly arranged on the intermediate positioning base plate 4010 of the inclined wrist arm, wherein the buffer 4012 is driven horizontally toward the pressing block. In the cylinder 4017, the fixing block 4013 is provided with a limit bolt 4014, and the limit bolt 4014 drives the cylinder 4017 horizontally toward the pressing block. By rotating the limit bolt 4014, the position of the limit bolt 4014 can be changed, so that the pressure block 4015 will reach the upper part of the positioning pin 4011 when the pressure block is vertically driven by the cylinder 4016 and the limit bolt 4014. At the same time, in order to avoid the vertical pressure block The rigid collision between the driving cylinder 4016 and the limit bolt 4014 causes damage, and a buffer 4012 is provided to buffer the vertical driving cylinder 4016 of the pressing block. The buffer 4012 may include an outer sleeve fixedly arranged on the pivoting positioning base plate 4010 of the inclined wrist arm, one end of the outer sleeve is closed, a buffer rod is telescopically arranged in the outer sleeve, and the buffer rod is connected to the closed end of the outer sleeve. They are connected by a spring, and the buffer rod extends from the other end of the outer sleeve to contact the vertical driving cylinder 4016 of the pressing block.

In order to ensure the stable positions of all the positioning seats 403 and prevent the flat wrist arm or the inclined wrist arm from being unable to be smoothly placed on the positioning seats 403 due to the deviation of the positioning seats 403 , all the positioning seats 403 are fixedly connected with the connecting bars 402 . In order to improve the stability when the positioning seat 403 supports the flat wrist arm or the inclined wrist arm, the positioning seat 403 is provided with a V-shaped groove for accommodating the flat wrist arm or the inclined wrist arm.

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

Claims (9)

1. A flat oblique wrist arm processing device, characterized in that it comprises a feeding mechanism (1), a transfer mechanism (2), a sawing mechanism (3) and a transfer positioning mechanism (4) arranged in sequence; The feeding mechanism (1) includes a material storage unit (101), the material storage unit (101) includes a plurality of material racks (109), and two mutually parallel baffle plates (106) are fixedly arranged on the material rack (109). , two inclined support rods (105) are arranged between the two baffles (106), and the support rods (105) and the baffles (106) are parallel to each other, and the outer side of one baffle (106) is fixedly connected with an end the head positioning cylinder (1010), and the piston rod of the end positioning cylinder (1010) extends between the two baffle plates (106); The transfer mechanism (2) comprises an overhead rail (201), the overhead rail (201) is driven and connected with a transfer robot (202), the transfer robot (202) is driven with a clamp (203), and the clamp (203) has at least one air gripper (203). 206); comprising a support assembly for supporting the wrist arm (3012) and a sawing assembly for sawing the wrist arm (3012); The support assembly includes a plurality of sawing tongs (3015) distributed along a straight line, and the sawing tongs (3015) include a fixing plate (3025) and are used for pressing the wrist arm (3012) on the fixing plate (3025) The top tight block (3028); The sawing assembly includes a sawing machine (3016), a first drive unit for driving the sawing machine (3016) to move in a radial direction of the wrist arm (3012), and a first driving unit for driving the sawing machine (3016) along a radial direction of the wrist arm (3012) a second drive unit for axial movement of the wrist arm (3012); The transfer positioning mechanism (4) includes a flat wrist arm transfer positioning unit (401) and an oblique wrist arm transfer positioning unit (404), and a space between the flat wrist arm transfer positioning unit (401) and the oblique wrist arm transfer positioning unit (404) A plurality of positioning seats (403) for supporting the wrist arm (3012) are provided, and all positioning seats (403) are distributed along a straight line. 2. The flat-inclined wrist-arm processing device according to claim 1, wherein the flat-wrist-arm transfer positioning unit (401) comprises a flat-wrist-arm transfer positioning base plate (405), and the flat-wrist-arm transfer positioning base plate (405) ( 405 ) is movably provided with at least one flat wrist arm pivoting positioning pin ( 406 ). 3. The flat-inclined wrist-arm processing device according to claim 2, characterized in that: the flat-wrist-arm transfer positioning pins (406) are provided in two, and two flat-wrist-arm transfer positioning pins (406) are provided. Relatively arranged, the flat wrist arm intermediate positioning base plate (405) is fixedly provided with two flat wrist arm intermediate positioning cylinders (409), and the two flat wrist arm intermediate positioning cylinders (409) are respectively connected with the two flat wrist arm intermediate positioning cylinders (409). Pin (406) drives the connection. 4. The flat-inclined wrist arm processing device according to claim 3, characterized in that: a flat-wrist-arm intermediate-positioning guide rail (408) is provided on the side of the flat-wrist-arm intermediate positioning cylinder (409), The wrist arm transfer positioning guide rail (408) and the flat wrist arm transfer positioning cylinder (409) are parallel to each other, the flat wrist arm transfer positioning guide rail (408) is slidably connected with a movable plate (407), and the flat wrist arm transfer positioning cylinder (409) is connected with The movable plate (407) is drivingly connected, and the flat wrist arm pivoting positioning pin (406) is fixedly arranged on the movable plate (407). 5 . The flat-oblique wrist arm processing device according to claim 1 , wherein the oblique wrist arm intermediate positioning unit ( 404 ) comprises an oblique wrist arm intermediate positioning base plate ( 4010 ), and the oblique wrist arm intermediate positioning base plate ( 4010 ) (4010) is vertically fixed with an inclined wrist arm transfer positioning pin (4011). 6. The flat oblique wrist arm processing device according to claim 5, characterized in that: the oblique wrist arm intermediate rotation positioning bottom plate (4010) is provided with a pressure block vertical drive cylinder (4016), and the pressure block vertical drive cylinder (4016) A pressing block (4015) is drivingly connected, and a socket matching the pivoting positioning pin (4011) of the oblique wrist arm is provided on the pressing block (4015). 7. The flat oblique wrist arm processing device according to claim 6, characterized in that: a pressure block horizontal driving cylinder (4017) is fixedly arranged on the inclined wrist arm intermediate rotation positioning bottom plate (4010), and the pressure block is driven horizontally. The cylinder (4017) is drivingly connected with the vertical driving cylinder (4016) of the pressing block. 8 . The flat oblique wrist arm processing device according to claim 7 , wherein: a buffer ( 4012 ) and a fixing block ( 4013 ) are fixedly arranged on the inclined wrist arm intermediate positioning base plate ( 4010 ), wherein The buffer (4012) drives the cylinder (4017) horizontally toward the pressure block, and the fixing block (4013) is provided with a limit bolt (4014), and the limit bolt (4014) drives the cylinder (4017) horizontally toward the pressure block. 9 . The flat oblique wrist arm processing device according to claim 1 , wherein a printer ( 5 ) is arranged between the sawing mechanism ( 3 ) and the relay positioning mechanism ( 4 ). 10 .

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