CN217345531U - Mechanical gripper for assembling flywheel device and flywheel device sealing assembly system - Google Patents

Abstract

The utility model discloses a mechanical gripper for assembling a flywheel device and a flywheel device sealing assembly system, wherein the mechanical gripper for assembling the flywheel device comprises an installation component; a gasket gripping mechanism having an adsorption member for gripping the gasket; the screw screwing mechanism is provided with a lifting mechanism and a rotating mechanism, and the rotating mechanism is provided with a screwing piece for screwing a screw; and the screw clamping mechanism is positioned below the sealing gasket clamping mechanism and is provided with a pair of clamping pieces, and the two clamping pieces are in a clamping state after acquiring the screws and are in an opening state when screwing the screws. The utility model integrates the sealing gasket grabbing and the clamping and screwing of the screw, can take and place the sealing gasket and clamp and screw the screw, and has compact structure; during assembly, only two robots are needed to realize the sealing assembly operation of the flywheel device, so that the area is saved; and the whole assembly process does not need manual auxiliary operation, so that automatic assembly is realized, the assembly efficiency is improved, and the production cost of enterprises is further reduced.

Description

Mechanical gripper for assembling flywheel device and flywheel device sealing assembly system

Technical Field

The utility model belongs to the technical field of flywheel device's assembly and specifically relates to a mechanical tongs is used in flywheel device assembly and still relates to a flywheel device seal assembly system.

Background

In recent years, with the rapid development of the industries such as nuclear industry, aviation industry, power industry, ship industry, petrochemical industry and the like, the flywheel energy storage system is widely applied with the advantages of high power, high efficiency, high energy storage density, cleanness, no pollution and the like. During the operation of the flywheel energy storage system, the motor drives the flywheel device to rotate at a high speed so as to convert the electric energy into kinetic energy and store the kinetic energy. In order to protect the flywheel device from wind damage during operation, the flywheel device is usually assembled in a vacuum container in a sealing manner, so as to ensure long-term operation of the flywheel device.

At present, in the assembly process of the flywheel device, a robot (such as a six-axis robot or a truss robot) and a special clamp are used for clamping a cover plate and a sealing gasket, namely the sealing gasket is firstly placed on the upper surface of a container, then the cover plate is placed, and finally the cover plate and the container are fixed together by using screws so as to realize the sealing assembly of the flywheel device. However, most of the sealing operations of the existing flywheel devices are semi-automatic and semi-manual, that is, the sealing gasket and the cover plate are manually placed, and whether the sealing gasket, the cover plate and the mounting hole on the container of the flywheel device are centered is manually checked, so that the sealing operation is easy to be misplaced due to decentration, the centering efficiency is low, and the sealing efficiency is low; in addition, the electric wrenches are mostly used for fastening the screws one by one on site, and another worker is required to press the cover plate in the fastening process to balance the stress of the cover plate and measure the moment, so that the labor is wasted; moreover, the whole assembly operation needs more manpower, has the accidental injury condition when shifting to cover the board with sealed the pad, and the security is low, and still damages sealed pad or apron surface easily, influences the sealed effect after the assembly.

Disclosure of Invention

In view of this, the first object of the present invention is to provide a mechanical gripper for assembling a flywheel device.

A second object of the utility model is to provide a flywheel gear assembly system, including the assembly of flywheel gear with mechanical tongs, realized that the automation of flywheel gear apron, sealed pad and screw is got, is shifted and the installation, improved flywheel gear's sealed efficiency.

In order to achieve the above purpose, the utility model adopts the following technical proposal:

flywheel gear assembly use mechanical tongs, include

The mounting component is provided with a horizontally arranged mounting piece;

the sealing gasket grabbing mechanism is erected below the mounting piece and is provided with a plurality of adsorption pieces for grabbing the sealing gasket, and the adsorption pieces are arranged at intervals along the circumferential direction;

the screw screwing mechanism is provided with a lifting mechanism arranged on the sealing assembly and a rotating mechanism driven by the lifting mechanism, and the rotating mechanism is provided with a screwing piece for screwing a screw; and

the screw clamping mechanism is located below the sealing gasket grabbing mechanism and provided with a pair of clamping pieces located below the rotating mechanism, and the two clamping pieces are in a clamping state after acquiring the screws and are in an opening state when screwing the screws.

The beneficial effects are that: the utility model integrates the grabbing of the sealing gasket and the clamping and screwing of the screw together, can take the sealing gasket into and take the sealing gasket out and the clamping and screwing of the screw into consideration, has compact structure, reduces the number of robots and grippers in the assembly system of the flywheel device, reduces the production cost and saves the assembly space;

the utility model discloses a theory of operation is: the adsorption piece of the sealing gasket grabbing mechanism can be used for grabbing the sealing gasket and realizing automatic placement of the sealing gasket, hole alignment is not needed to be assisted manually, and the efficiency of taking and placing the sealing gasket is improved; the screw clamping mechanism can realize automatic clamping of screws, the screw clamping mechanism can realize grabbing of the screws, the screw screwing mechanism is provided with a screwing piece, the screwing piece can be inserted into an inner hexagonal hole of the screws, the screw screwing mechanism can realize descending and rotating of the screwing piece, and further automatic screwing of the screws is realized, automatic assembly of the flywheel device is realized, and assembly efficiency is improved.

Further, the mechanical gripper for assembling the flywheel device of the present invention further comprises a vertically disposed connecting member, and the sealing gasket gripping mechanism is fixedly connected to the mounting member through a plurality of connecting members (i.e., connecting rods); the sealing gasket grabbing mechanism comprises a horizontally arranged mounting disc, and the adsorption pieces are arranged at the edge of the mounting disc at intervals along the circumferential direction. Furthermore, the adsorption piece is a sucker which is arranged on the mounting plate through a pneumatic support rod (or a hydraulic support rod).

The beneficial effects are that: the sucker is in floating connection with the mounting plate, so that the sucker and the sealing gasket are ensured to be adsorbed in a floating way, and the sealing gasket is protected from being damaged; the horizontal projection of a plurality of sucking discs is located same circumference, effectively ensures the adsorption effect of sealed pad, improves and gets to put and shift stability.

Further, flywheel gear mechanical gripper for assembly, still include a plurality of intervals along the first vision subassembly that the mounting disc interval set up, the edge of mounting disc has a plurality of first breachs, every first breach department is provided with one first vision subassembly. Still further, first vision subassembly is in including setting up support, the interval that sets up in first breach department first vision camera and first vision light source on the support, the shooting camera lens of first vision camera and first vision light source coaxial arrangement from top to bottom, just first vision camera and first vision light source are located sealed top of filling up.

The beneficial effects are that: the utility model discloses install a plurality of first vision cameras and first vision light source on the mounting disc, circle diameter and confirm the central position in the container are shot to usable a plurality of first vision cameras, and the position of the screw hole is confirmed to get through the sealing pad of shooing and is put the mounting position that fills up, and follow-up installation is then installed through the invariable rotation graduation of robot, and every screw installation process carries out the moment of torsion in real time and detects, guarantees the installation quality.

Further, the mounting assembly is provided with a mounting frame arranged on the mounting piece, the lifting mechanism comprises a first air cylinder arranged on the mounting frame and a lifting piece driven by the first air cylinder, and a first elastic buffer assembly is arranged on the lifting piece and enables the lifting piece to float and lift.

The beneficial effects are that: the utility model discloses a first elastic buffer subassembly can make the lifter have certain floatability, and then ensures elevating system's floatability to in will revolving twist a cartridge downthehole at the screw top, avoid revolving

Further, the rotating mechanism comprises an installation frame fixedly connected with the lifting piece, a driving motor arranged on the installation frame and a transmission assembly driven by the driving motor, and the screwing piece (preferably a screw drill bit) is arranged at the lower part of the transmission assembly.

The beneficial effects are that: the lifting piece of the utility model is fixedly connected with the mounting frame, the lifting of the screwing piece can be realized, and the driving motor can realize the lifting and the rotation of the screwing piece through the transmission component so as to meet the automatic screwing requirement of screws; wherein, the transmission shaft of screwing spare and drive assembly clamps together, is convenient for change new screw drill bit.

Furthermore, be provided with vertical slide rail on the riser of mounting bracket, a side interval of installing frame is provided with along gliding slider about vertical slide rail, just seted up the messenger on the riser the through-hole that the lifting member passed. The beneficial effects are that: the installing frame reciprocates along vertical slide rail through the slider, effectively ensures to connect and operating stability, realizes the steady lift of installing frame.

Further, the screw clamping mechanism comprises a second air cylinder, the second air cylinder is provided with a pair of clamping heads, each clamping head is fixedly connected with one clamping piece, and a clamping groove for clamping a screw is formed in a clamping surface of each clamping piece;

the second cylinder passes through the second elastic buffer subassembly to be fixed on the riser of mounting bracket, the second spring buffer subassembly is including fixing second guide on the riser and wear to establish second buffering axle in the second guide, the cover is equipped with second buffer spring on the second buffering axle.

The beneficial effects are that: the second cylinder is a finger cylinder, and the second cylinder realizes the opening and closing of the clamping piece through two clamping heads of the second cylinder, so that the clamping and the loosening of the screw are realized, and the clamping requirement of the screw is met;

and a second buffer spring is arranged between the second cylinder and the mounting frame, so that the clamping piece on the second cylinder is in buffer contact with the cover plate, the cover plate is effectively protected from being damaged, and the sealing performance of the flywheel device is ensured.

Furthermore, the mechanical gripper for assembling the flywheel device of the present invention further comprises an adjusting mechanism for driving the mounting rack to horizontally reciprocate, wherein the adjusting mechanism has a third cylinder disposed on the mounting component, and a piston rod of the third cylinder is fixedly connected with the mounting rack; and a second notch enabling the screw clamping mechanism to horizontally move back and forth is formed in the mounting disc at the position corresponding to the screw screwing mechanism.

The beneficial effects are that: the utility model discloses an adjustment mechanism sets up in the below of installed part, and usable adjustment mechanism realizes that the screw revolves to twist the horizontal migration that the mechanism was got to mechanism and screw clamp, can satisfy the clamp of different position department screws and get and twist soon the demand, and the structure is ingenious.

Furthermore, the screw screwing mechanism, the screw clamping mechanism and the adjusting mechanism are arranged in a matched manner and are at least two. Furthermore, the two sets of screw screwing mechanisms are respectively arranged at two end parts of the mounting part, a screw clamping mechanism is arranged below each screw screwing mechanism, two sets of adjusting mechanisms are arranged on the mounting part, and the positions of the screw screwing mechanisms can be respectively adjusted by utilizing the two adjusting mechanisms so as to meet the screw screwing requirements.

Additionally, the utility model discloses a mechanism symmetry is got to the screw clamp and is laid, and its line corresponds to the hole of establishing along the diametric (al) on with the apron, ensures to revolve the moment balance of twisting in-process apron, further ensures sealed effect.

The utility model also provides a flywheel device assembly system, deposit station, screw including sealed pad, deposit station, assembly station, first robot, second robot, apron machinery tongs and above-mentioned flywheel device assembly and use mechanical tongs, flywheel device assembly is installed on first robot with mechanical tongs, and apron machinery tongs is installed on the second robot, and wherein, apron machinery tongs includes that the apron machinery tongs includes

The mounting structure is provided with a connecting unit and a pair of upper mounting pieces and lower mounting pieces which are vertically spaced, and the connecting unit is fixedly connected to the upper mounting pieces;

the buffer connecting structure is provided with a plurality of buffer connecting components arranged at intervals, and the upper mounting piece and the lower mounting piece are connected together through the plurality of buffer connecting components;

the cover plate information acquisition structure is provided with a plurality of second visual components arranged on the upper mounting part at intervals, each second visual component is provided with a connecting seat and a picture acquisition part arranged on the connecting seat, and the picture acquisition part is positioned on the outer side of the upper mounting part; and

the cover plate grabbing assembly is provided with a plurality of electromagnets which are arranged on the lower surface of the lower mounting part and used for adsorbing the cover plate.

The beneficial effects are that: the utility model discloses a second robot snatchs the sealed pad, can realize getting of sealed pad and put accurately, need not artifical supplementary alignment, has improved the assembly efficiency of sealed pad; the first robot and the flywheel device are assembled by using the mechanical gripper to automatically take and install the sealing gasket and the screw, so that the flywheel device is quickly packaged, and the sealing efficiency of the flywheel device is improved.

The flywheel device assembly system of the utility model can realize the sealing assembly operation of the flywheel device only by two robots, the number of the robots is small, the cost is reduced, the occupied space is small, and the workshop area is saved; the utility model discloses a whole assembly process need not artifical auxiliary operation, has realized automatic assembly, has improved assembly efficiency, and then has reduced the manufacturing cost of enterprise.

The second vision component of the utility model can acquire the central positions of the cover plate and the container, and determine the relative position of the screw hole on the container through the second vision component, thereby realizing the accurate grabbing and placing of the cover plate, enabling the hole on the cover plate to correspond to the sealing gasket and the hole on the container, and ensuring the accuracy;

the electro-magnet is installed under the installed part, and has buffer spring between installed part and the last installed part down, makes down the installed part have certain floatability, further ensures down that the absorption piece on the installed part floats with the apron and contacts, avoids the apron surface damage to appear, and then guarantees flywheel gear's assembly effect.

The cover plate is adsorbed when the electromagnet is powered off, and the cover plate falls off from the electromagnet after the electromagnet is powered on, so that the cover plate is convenient to grab and separate, and the cover plate is protected to the maximum extent; the electro-magnet can also effectively avoid apron transfer process to drop, snatchs firmly, reduces the damaged probability of apron, further reduce cost.

Furthermore, the connecting unit comprises a connecting cylinder which is vertically arranged and a base plate which is fixedly connected to the upper part of the connecting cylinder; the cover plate mechanical gripper further comprises a code scanning gun which is arranged in the connecting cylinder and used for reading the cover plate information. The beneficial effects are that: the base plate is provided with a mounting hole and a bolt hole, and the base plate can be mounted on the second robot, so that the mounting is simple and convenient; in addition, the connecting cylinder can protect the code scanning gun from collision.

Furthermore, the buffer connecting assembly comprises a third guide piece fixedly connected to the upper mounting piece and a third buffer shaft slidably arranged in the third guide piece in a penetrating manner, and the lower end part of the third buffer shaft extends downwards to form the third guide piece and is fixed on the lower mounting piece; and a third elastic buffer piece is sleeved on the third buffer shaft positioned between the third guide piece and the lower mounting piece. In the actual installation, the elastic buffer is preferably a buffer spring.

The beneficial effects are that: the upper mounting piece and the lower mounting piece are connected together through a plurality of groups of buffer connecting components with buffer springs, the lower mounting piece is guaranteed to have certain buffer performance, and the surface of the protective cover plate is effectively protected from being damaged.

Furthermore, the second visual assembly further comprises a light source fixing piece arranged on the lower surface of the connecting seat, and a second visual light source in an annular structure is arranged on the light source fixing piece. Furthermore, the picture acquiring component is a second vision camera, and a shooting lens of the second vision camera is coaxial with the second vision light source.

The beneficial effects are that: the utility model discloses utilize the second vision camera that a plurality of intervals set up to confirm the relative position of screw hole on the container, and then realize that the accurate of apron snatchs and places, make the hole on the apron correspond with the hole on sealed pad, the container, guarantee accurate nature.

Furthermore, the second vision assembly further comprises a pair of step plates arranged on the connecting seat, a fixing plate is horizontally arranged at the bottom of each step plate, the light source fixing piece is fixed on the fixing plate, and the step plates can effectively guarantee the distance between the second vision camera and the second vision light source, so that the picture quality is further guaranteed.

The utility model discloses a flywheel gear assembly is with mechanical tongs's advantage specifically as follows:

the utility model uses the adsorption piece to grab the sealing gasket and realizes the automatic placement of the sealing gasket, does not need manual assistance to hole, and improves the efficiency of taking and placing the sealing gasket; the screw clamping mechanism can realize automatic clamping of screws, the screw clamping mechanism can realize grabbing of the screws, the screw screwing mechanism is provided with a screwing piece, the screwing piece can be inserted into an inner hexagonal hole of the screws, the screw screwing mechanism can realize descending and rotating of the screwing piece, and further automatic screwing of the screws is realized, automatic assembly of the flywheel device is realized, and sealing efficiency is improved.

The utility model discloses to seal up the clamp that fills up snatching and screw and twist soon and twist integratedly together, can compromise sealed getting of filling up get with the clamp of screw get, twist soon, compact structure reduces robot and tongs quantity among the flywheel device assembly system, reduction in production cost practices thrift the assembly space.

The utility model discloses a flywheel gear seal assembly system has adopted the utility model discloses a flywheel gear assembly is with mechanical tongs and apron mechanical tongs, has realized the order assembly of sealed pad, apron and screw, has improved flywheel gear's sealed assembly efficiency. In addition, the system of the utility model only needs two robots to realize the sealing operation of the flywheel device, the number of the robots is small, the cost is reduced, the occupied space is small, and the workshop area is saved; the utility model discloses a whole sealed assembly process need not artifical auxiliary operation, has realized automatic assembly, has improved sealed assembly efficiency, and then has reduced the manufacturing cost of enterprise.

The utility model discloses a lower installed part of apron mechanical tongs among the assembly system is connected with last installed part through a plurality of buffering subassemblies for the installed part has certain floatability down, further ensures down the contact that adsorbs on the installed part and apron float, avoids the apron surface damage to appear, and then guarantees flywheel device's assembly effect.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the sealing gasket grabbing structure of the present invention.

Fig. 3 is a bottom view of fig. 1.

Fig. 4 is a schematic structural diagram of the screw screwing mechanism of the present invention.

Fig. 5 is a side view of fig. 4.

Fig. 6 is a schematic structural view of the lifting mechanism in fig. 4.

Fig. 7 is a schematic cross-sectional structure of fig. 6.

Fig. 8 is a connection diagram of the rotating mechanism and the screw clamping mechanism of the present invention.

Fig. 9 is a schematic view of the screw clamping mechanism of the present invention.

Fig. 10 is an isometric view of the present invention (omitting the gasket grasping mechanism).

Fig. 11 is a layout view of a flywheel gear assembly system according to the present invention.

Fig. 12 is a diagram illustrating a state of use of the first robot and the flywheel gear after the mechanical gripper is mounted.

Fig. 13 is a schematic structural view of the cover plate mechanical gripper of the present invention.

Fig. 14 is a cross-sectional view of the mechanical gripper of the present invention cover plate (omitting the connecting unit).

Fig. 15 is a bottom view of the cover plate mechanical gripper of the present invention.

Detailed Description

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the following embodiments.

Implementation mode one

As shown in FIG. 1 and FIG. 10, the mechanical gripper for assembling flywheel device of the present invention comprises

The mounting assembly is provided with a horizontally arranged mounting piece (namely, a horizontally arranged mounting plate 101) and a connecting disc 102 (which can be a flange plate) fixed on the mounting plate 101, and the utility model can be fixed on the robot through the connecting disc 102;

the sealing gasket grabbing mechanism is arranged below the mounting plate 101, is provided with a plurality of adsorption pieces (namely suckers 201) for grabbing the sealing gasket, and the suckers 201 are arranged at intervals along the circumferential direction, so that the grabbing of the sealing gasket can be realized through the suckers 201, and the sealing gasket is effectively prevented from falling off;

the two screw screwing mechanisms are respectively arranged at two end parts of the mounting plate 101, each screw screwing mechanism is provided with a lifting mechanism and a rotating mechanism driven by the lifting mechanism, the rotating mechanism is provided with a screwing piece (namely a screw drill bit 301) for screwing a screw, and the lifting mechanism and the rotating mechanism can drive the screw drill bit 301 to rotate while descending so as to realize automatic screwing of the screw; and

two screw clamping mechanisms, wherein a screw clamping mechanism is arranged below each rotating mechanism, each screw clamping mechanism is provided with a pair of clamping pieces (namely screw clamping jaws 401) positioned below the rotating mechanism, the two screw clamping jaws 401 have a clamping state and an opening state, and the screw clamping jaws 401 are in the clamping state after clamping screws so as to prevent the screws from falling; after the screw is in place, the screw jaws 401 are opened, leaving the screw free for screwing.

During operation, the utility model can be driven by a robot (such as a six-axis robot) to a sealing gasket storage station, the sealing gasket is adsorbed by a plurality of adsorption pieces, and after the sealing gasket reaches a designated position, the six-axis robot drives the utility model to move to the screw storage station to clamp a screw by the screw clamping jaw 401; after the robot drives the screw to the designated position, the screw clamping jaw 401 loosens the screw, the rotating mechanism and the lifting mechanism work to realize the rotation while the side of the screwing piece descends, so that the automatic screwing of the screw is realized, and the mounting efficiency of the screw is improved. Additionally, the utility model discloses snatch with sealed the pad and press from both sides with the screw clamp and revolve wrong integration together, compact structure reduces the quantity of mechanical tongs, practices thrift the space.

As shown in fig. 1-3, the bottom surface of the mounting plate 101 is provided with a plurality of vertical connectors (i.e., connecting rods 103) at intervals; the sealing gasket grabbing mechanism comprises a mounting plate 202 and a plurality of suction cups 201 (preferably vacuum suction cups) which are horizontally erected below the mounting plate 101 through a connecting rod 103, each suction cup 201 is connected with the mounting plate 202 through a pneumatic support rod 203 (of course, a nitrogen spring support rod or a hydraulic support rod), a certain floating space is ensured to be reserved for each suction cup 201, and the surface of a sealing gasket is further prevented from being damaged. During operation, the bottom surfaces of the suckers 201 at the edge of the mounting plate 202 are in full contact with the sealing gasket, so that the sealing gasket is tightly grasped, the falling probability is avoided, and the safety is improved.

As shown in fig. 2, the gasket gripping mechanism further includes a plurality of first visual components disposed on the mounting plate 202 at intervals, and the first visual components are used for confirming the contour size and the position information of the gasket, so as to achieve accurate gripping and placement of the gasket without manual assistance for finding holes and aligning. Specifically, the method comprises the following steps:

as shown in fig. 2, four first notches are arranged at the edge of the mounting plate 202 at intervals along the circumferential direction thereof, a first visual component is arranged at each first notch, the first visual component includes a first visual camera 205 and a first visual light source 206 which are arranged on the bracket 204, and the first visual camera 205 and the first visual light source 206 are arranged in a vertically corresponding manner and are coaxial, so that a sealing gasket below the bracket 204 can be conveniently photographed, and the picture quality can be ensured. During operation, utilize four first vision cameras to shoot circle diameter in the container and confirm the central point and put, fix the mounting position of sealed pad through the screw hole position on the sealed pad of shooing, follow-up installation is then installed through the invariable rotation graduation of robot, and every screw installation process carries out the moment of torsion in real time and detects, guarantees the installation quality, further realizes sealed accurate placing of pad, effectively avoids.

As shown in fig. 1 and 4-5, the lower surface of the mounting plate 101 is provided with a vertically arranged mounting frame, the mounting frame comprises a vertical plate 104 and reinforcing plates 105 fixedly connected to two long sides of the vertical plate 104, and the reinforcing plates 105 are in a triangular structure, so that the structural strength and the structural stability of the mounting frame are effectively ensured; the lifting mechanism comprises a first cylinder 302 vertically arranged on the vertical plate 104, a piston rod of the first cylinder 302 is vertically upward, a first elastic buffer component and a lifting piece (namely a lifting block 303) are arranged on the piston rod of the first cylinder 302, a connecting part 304 is integrally formed on one side of the lifting block 303, the connecting part 304 penetrates through a through hole of the vertical plate 104 and is fixed with the rotating mechanism, and then the first cylinder 302 drives the rotating mechanism to ascend and descend so as to realize the lifting of the screwing piece.

As shown in fig. 6-7, the first elastic buffer assembly includes a connection head 305 fixed on the piston rod of the first cylinder 302 and a first buffer shaft 306 fixed on the connection head 305, a first guide (i.e., a first linear bearing 307) is clamped at the lower portion of the installation hole of the lifting block 303, the first buffer shaft 306 extends upward through the first linear bearing 307 and the lifting block 303, and a first buffer spring 308 is sleeved on the first buffer shaft 306 above the lifting block 303. When the piston rod of the first cylinder 302 extends or retracts, the first buffer spring 308 effectively enables the rotating mechanism to have certain floatability, interference of external force to the rotating mechanism is reduced, and therefore the screwing piece at the bottom is ensured to be smoothly inserted into the hexagon socket hole at the top of the screw.

As shown in fig. 4-5, the rotating mechanism includes a mounting frame 309 (vertically disposed) fixed with the lifting block 303, the connecting portion 304 of the lifting block 303 passes through the through hole and is fixed with the mounting frame 309, so as to realize connection between the lifting mechanism and the rotating mechanism, and the vertical height of the through hole limits the up-down stroke of the lifting block 303;

the rotating mechanism further comprises a driving motor (preferably a servo motor 310) arranged on the mounting frame 309 and a transmission assembly (specifically, a transmission shaft connected through a coupler) driven by the servo motor 310, and the transmission shaft is rotatably mounted in the mounting frame 309 through a bearing, so that the operation stability of the transmission shaft is effectively ensured; the screw drill bit 301 and the transmission shaft are clamped together, so that the drill bit is convenient to replace.

As shown in fig. 4-5, a vertical slide rail 311 is disposed on the vertical plate 104 of the mounting frame, a sliding member (i.e., a first sliding block 312) engaged with the vertical slide rail 311 is disposed on one side surface of the mounting frame 309 at an interval from top to bottom, and the first sliding block 312 is clamped on the vertical slide rail 311, so that not only the movement track of the rotating mechanism can be ensured, but also the connection stability and the operation stability can be ensured, and the stable operation of the rotating mechanism can be ensured.

As shown in fig. 8-9, the screw clamping mechanism is located below the mounting plate 202, and includes a second cylinder 402 (finger cylinder is selected), and the second cylinder 402 is disposed on the vertical plate 104 via a second elastic buffer component. Specifically, a connecting block 403 is fixed to the lower portion of the riser 104, the second elastic buffer assembly includes a pair of second guides (i.e., second linear bearings) fixedly connected in the connecting block 403 and a second buffer shaft 404 penetrating through the inside of each second linear bearing, a connecting plate 406 is horizontally arranged at the bottom of the second buffer shaft 404, and the second cylinder 402 is fixed on the connecting plate 406; and each second buffer shaft 404 is sleeved with a second buffer spring 405, so that the interference of the outside on the screw clamping mechanism can be resisted.

As shown in fig. 4-5 and 8-9, the second cylinder 402 is a finger cylinder, and has a pair of clamping heads 402.1, each clamping head 402.1 is provided with a screw clamping jaw 401, the clamping head 402.1 is a rectangular structure, the screw clamping jaw 401 is an L-shaped structure, the vertical section of the screw clamping jaw is provided with a limiting groove matched with the clamping head 402.1, when the screw clamping jaw is installed, the clamping head 402.1 can be clamped in the limiting groove, and then the clamping head 402.1 and the screw clamping jaw 401 are fixed together by using a bolt, so as to ensure the connection reliability; the horizontal sections of the two screw jaws 401 are arranged opposite to each other, and their clamping faces enclose a clamping groove 401.1 for clamping the screw when closed, and clamp the screw when the screw jaws 401 are closed, and release the screw when the screw jaws 401 are open, in order to facilitate screwing.

In a preferred embodiment of the present invention, the present invention further comprises a pair of adjusting mechanisms for driving the horizontal movement of the mounting rack, so as to realize the horizontal movement of the screw tightening mechanism and the screw clamping mechanism, so as to meet the requirements of clamping and tightening screws at different positions. Specifically, the method comprises the following steps:

as shown in fig. 10, the adjusting mechanism includes a third cylinder 501 horizontally disposed on the mounting plate 101, a sliding plate 502 horizontally disposed is disposed on the top of the mounting plate, and a piston rod of the third cylinder 501 is fixedly connected to the sliding plate 502; a second notch for enabling the screw clamping mechanism to horizontally move back and forth is formed in the mounting disc 202 corresponding to the screw screwing mechanism, so that a space is provided for the horizontal movement of the screw screwing mechanism. During operation, the third cylinder 501 drives the screw screwing mechanism to move left and right integrally by pushing the sliding plate 502, so as to meet the requirements of clamping and screwing screws.

As shown in fig. 10, the adjusting mechanism further includes a guiding connection assembly, the guiding connection assembly includes a pair of first slide rails 503 fixed on the bottom surface of the mounting plate 101, a second slide block 504 is disposed on the top of the sliding plate 502, and the second slide block 504 is clamped on the first slide rails 503, so as to effectively ensure the motion track and the operation stability of the mounting frame.

When the screw clamping device works, when piston rods of the two third air cylinders 501 extend outwards at the same time, the third air cylinders 501 drive the screw screwing mechanism and the screw clamping mechanism to move outwards at the same time through the mounting rack; when the piston rod of the third cylinder 501 retracts, the third cylinder 501 drives the two screw screwing mechanisms to move relatively through the mounting rack.

As shown in fig. 10, a strong connection assembly is further disposed between the two rotation mechanisms, the strong connection assembly includes a pair of second slide rails 601 horizontally disposed and third slide blocks 602 disposed on the reinforcing plate 105 of each rotation mechanism, each pair of third slide blocks 602 is respectively clamped on the corresponding second slide rail 601, so as to further strengthen the connection between the two mounting frames, limit the motion trajectory of the mounting frame, and effectively ensure the structural stability and the operational stability.

The utility model discloses a working process and principle brief follow as follows:

will the utility model discloses install on six robots, utilize six robots to realize among this embodiment that flywheel device assembles with mechanical tongs (be referred to for short mechanical tongs) nimble skew and the rotation in space range. Moving the mechanical gripper above a sealing gasket storage station, shooting the image information of the sealing gasket by the first vision assembly, integrating the images shot by the first vision cameras 205 by the workshop control system to determine the central position of the container, and determining the mounting position for taking and placing the sealing gasket according to the shot positions of screw holes on the sealing gasket;

during installation, the robot is used for installation through constant rotation indexing, torque detection is carried out in real time in each screw installation process, the up-and-down correspondence between the holes in the sealing gasket and the holes in the opening edge is ensured, and the installation quality is ensured; in addition, in the grabbing process, the sucker 201 has certain floatability, and the sucker 201 is in flexible contact with the sealing gasket, so that the interference of external force on the sealing gasket is reduced, and the sealing gasket is protected;

after the sealing gasket and the cover plate are in place, the six-axis robot drives the mechanical gripper to move to a screw storage station, the two screw clamping mechanisms work simultaneously, namely the second air cylinder 402 drives the screw clamping jaws 401 to open firstly to enable the screw clamping jaws to be located on two sides of the screw, and the second air cylinder 402 drives the screw clamping jaws 401 to close to clamp the screw;

the six-axis robot drives the mechanical gripper to move to an assembly station, the position of a screw is adjusted by an adjusting mechanism to enable the distance between the screw and each pair of through holes in the cover plate to be consistent (the connecting line of each pair of through holes is the diameter coincidence of the cover plate), the screw is enabled to vertically correspond to one pair of through holes by rotating the mechanical gripper by the six-axis robot, the screw penetrates through the cover plate and the sealing gasket from top to bottom, the second air cylinder 402 drives the screw clamping jaw 401 to open and loosen the screw, the screw drill bit 301 moves downwards and is clamped at the top of the screw, and the screw drill bit 301 rotates while descending, so that the automatic screwing of the screw is realized. In the screwing process, because the connecting line of the screw screwing mechanism is superposed with the diameter of the cover plate, the cover plate can be ensured to be stressed uniformly without manually pressing the cover plate, and the problem of poor sealing property caused by uneven stress of the cover plate is avoided.

Second embodiment

As shown in fig. 11, the flywheel device assembly system of the present invention includes a sealing pad storage station (having a sealing pad M), a screw storage station, a cover plate station (having a plurality of cover plates H), an assembly station (having a container N), a first robot E, and a second robot F, and further includes a mechanical gripper (hereinafter referred to as a mechanical gripper) for assembling the flywheel device and a cover plate mechanical gripper according to the first embodiment, wherein a stack of sealing pads are stored in the sealing pad storage station, the assembly station has a flywheel device to be sealed, and the screw storage station has a plurality of screws placed in order;

as shown in fig. 12, the mechanical gripper is fixedly mounted on the first robot E, and the first robot E is utilized to flexibly move and rotate within a space range of mechanical gripping, so that the gripping and assembling requirements of the sealing gasket and the screw are met, and the assembling efficiency is improved; the cover plate mechanical gripper is fixedly arranged on the second robot F, the second robot F is used for automatically grabbing and accurately placing the cover plate, and a foundation is laid for quick sealing of the flywheel device.

First robot E and second robot F in this embodiment are six robots to satisfy the nimble clamp of apron, sealed pad and screw and get and assemble, improved assembly efficiency.

As shown in fig. 13 to 15, the mechanical gripper for a cover plate in this embodiment includes a connection unit and a pair of upper mounting pieces (i.e., an upper mounting plate 701) and a lower mounting piece (i.e., a lower mounting plate 702) that are spaced from each other up and down, the connection unit includes a vertically arranged connection cylinder 703 and a base plate 704 fixedly connected to an upper portion of the connection cylinder 703, the base plate 704 has a central mounting hole and a plurality of threaded holes, and the connection unit can be mounted on a second robot F through the base plate 704, and the second robot F drives the mechanical gripper for a cover plate to move horizontally, vertically and rotate, so as to meet the requirements of transferring the cover plate between different processes and assembling the cover plate.

As shown in fig. 13-14, the mechanical gripper of the cover plate includes a buffer coupling structure having a plurality of buffer coupling assemblies spaced apart from each other, and the upper mounting plate 701 and the lower mounting plate 702 are coupled together by the plurality of buffer coupling assemblies, which have a buffer function to allow the lower mounting plate 702 to float down and protect the surface of the cover plate from damage.

As shown in fig. 13-14, each buffer connection assembly includes a third guide (i.e., a third linear bearing 709) fixed on the upper mounting plate 701 and a third buffer shaft 710 slidably disposed in the third linear bearing 709, a bottom of the third buffer shaft 710 is fixedly connected to the lower mounting plate 702, and an elastic buffer (i.e., a third buffer spring 711) is sleeved on the third buffer shaft 710. When the cover plate is grabbed, the third buffer spring 711 has certain elasticity, so that the lower mounting plate 702 has certain floating performance to ensure that the electromagnet 707 is completely contacted with the cover plate; the floating performance of the lower mounting plate 702 can also protect the interference caused by the outside on the cover plate transfer, and further ensure the transfer stability.

As shown in fig. 13-15, the mechanical gripper for cover plate further includes a cover plate information acquiring structure having four second visual components disposed on the upper mounting plate 701 at intervals, each second visual component has a horizontally disposed connecting seat 705 and a picture acquiring member (i.e., a second visual camera 706) disposed on the connecting seat 705, the second visual camera 706 is disposed outside the upper mounting plate 701 and the lower mounting plate 702 so as to photograph the cover plate, the plurality of second visual cameras 706 are disposed at intervals, the four second visual cameras disposed at intervals accurately determine the relative positions of the screw holes on the container, so as to realize accurate grasping and placing of the cover plate, and the holes on the cover plate correspond to the holes on the sealing gasket and the container, thereby ensuring accuracy; the second visual light source and the second visual camera are vertically spaced and coaxial, and the picture quality is effectively guaranteed.

As shown in fig. 13-15, the second visual component further includes a pair of step plates 712 disposed on the connecting seat 705, bottoms of the two step plates 712 are connected together by a fixing plate disposed horizontally, a light source fixing member (i.e., a light source fixing block 713) is disposed on the fixing plate, a mounting hole coaxial with a photographing lens of the second visual camera 706 is disposed on the light source fixing block 713, a second visual light source 714 having a circular structure is mounted in the mounting hole, and the second visual camera 706 and the second visual light source 714 are disposed at an interval through the step plates 712, so as to ensure picture quality.

As shown in fig. 13-15, the mechanical gripper for cover plate further includes a cover plate gripping assembly having three electromagnets 707 uniformly spaced apart from each other on the lower surface of the lower mounting plate 702 for attracting the cover plate, wherein the cover plate is attracted by the electromagnets 707 when the electromagnets 707 are powered off, and the cover plate is separated from the electromagnets 707 when the electromagnets 707 are powered on, thereby preventing the cover plate from falling off.

As shown in fig. 1, the upper mounting plate 701 has a central hole at the center, a code scanning gun 708 is installed at the central hole, and the lower mounting plate 702 is of a ring structure, so that the code scanning gun 708 can read two-dimensional code information or bar code information on the cover plate to confirm the cover plate information; the code scanning gun 708 is positioned inside the connecting cylinder 703, and the code scanning gun 708 is protected from being hit by foreign objects.

The specific assembling process of the flywheel gear assembling system comprises the following contents:

the control system controls the mechanical gripper to move above a sealing gasket storage station, the first vision assembly shoots image information of the sealing gasket, the control system integrates and processes images shot by the first vision cameras 205 and confirms outline size and position information of the sealing gasket, and offset of the six-axis robot in the horizontal and height directions is determined according to processed data so as to achieve accurate grabbing of the sealing gasket; in the grabbing process, the sucker 201 has certain floatability, and the sucker 201 is in flexible contact with the sealing gasket, so that the interference of external force on the sealing gasket is reduced;

after grabbing the sealing gasket, the second robot F places the sealing gasket at the opening edge of the flywheel device, and ensures that the hole on the sealing gasket corresponds to the hole at the opening edge up and down according to the picture information shot by the first vision camera 205;

the second robot F drives the cover plate mechanical gripper to move to the position above the cover plate station, the four second vision cameras 706 simultaneously acquire information of a cover plate at the cover plate station and send the shot picture information to the control system, the control system processes the received pictures to determine the central position of the container and the positions of the screw holes, the control system confirms the gripping position of the cover plate and the offset of the cover plate mechanical gripper according to the position of the container and the positions of the screws, and the control system controls the second robot F to drive the cover plate mechanical gripper to offset according to the calculated offset;

when the mechanical gripper of the cover plate reaches the surface of the cover plate, the electromagnet 707 is in floating contact with the cover plate through the third buffer spring 711, so that the electromagnet 707 is completely attached to the cover plate, and the cover plate is adsorbed by the electromagnet 707 when the electromagnet 707 is powered off; after the materials are successfully taken, the second robot F drives the cover plate mechanical gripper and the cover plate to move to an assembly station, so that the mounting hole in the cover plate corresponds to the mounting hole in the sealing gasket up and down, and the cover plate is automatically taken, placed and assembled;

after the cover plate is clamped, the first robot E drives the mechanical gripper to move to a screw storage station, the two screw clamping mechanisms work simultaneously, namely the second air cylinder 402 drives the screw clamping jaw 401 to open to be located on two sides of the screw, and the second air cylinder 402 drives the screw clamping jaw 401 to close to clamp the screw;

after the cover plate is placed, the first robot E drives the mechanical hand grab and the pair of screws to move to an assembly station, the positions of the screws are adjusted by the adjusting mechanism to enable the distances between the screws and each pair of through holes in the cover plate to be consistent, the mechanical hand grab is rotated by a certain preset angle by the first robot E, the screws vertically correspond to the pair of through holes in the mechanical hand grab, the screws penetrate through the cover plate and the sealing gasket from top to bottom, the second air cylinder 402 drives the screw clamping jaw 401 to open and loosen the screws, the screw drill bit 301 moves downwards and is clamped at the top of the screws, the screw drill bit 301 rotates while descending, and automatic screwing of the screws is achieved.

And repeating the operation, grabbing the screws by using the first robot E and the mechanical gripper, and screwing and installing each pair of screws according to a certain sequence, so as to seal the flywheel device.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from the specific situation.

Finally, it should be emphasized that the above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and equivalents can be made without inventive faculty to the embodiments described in the foregoing description, or some of the technical features thereof may be substituted. Therefore, any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a flywheel gear is mechanical tongs for assembly which characterized in that: comprises that

The mounting assembly is provided with a horizontally arranged mounting piece;

the sealing gasket grabbing mechanism is erected below the mounting piece and is provided with a plurality of adsorption pieces for grabbing the sealing gasket, and the adsorption pieces are arranged at intervals along the circumferential direction;

the screw screwing mechanism is provided with a lifting mechanism arranged on the mounting assembly and a rotating mechanism driven by the lifting mechanism, and the rotating mechanism is provided with a screwing piece for screwing a screw; and

the screw clamping mechanism is located below the sealing gasket grabbing mechanism and provided with a pair of clamping pieces located below the rotating mechanism, and the two clamping pieces are in a clamping state after acquiring the screws and are in an opening state when screwing the screws.

2. The mechanical hand grip for assembling a flywheel gear according to claim 1, wherein: the sealing gasket grabbing mechanism is fixedly connected with the mounting piece through a plurality of connecting pieces; the sealing gasket grabbing mechanism comprises a horizontally arranged mounting disc, and the adsorption pieces are arranged at the edge of the mounting disc at intervals along the circumferential direction.

3. The mechanical hand grip for assembling a flywheel gear according to claim 2, wherein: the mounting plate is provided with a plurality of first visual components at intervals, the edges of the mounting plate are provided with a plurality of first notches, and each first notch is provided with one first visual component;

first vision subassembly sets up including setting up support, the interval in first breach department first vision camera and the first vision light source on the support, the shooting camera lens and the first vision light source of first vision camera coaxial setting from top to bottom, just first vision camera and first vision light source are located sealed top of filling up.

4. The mechanical hand grip for assembling a flywheel gear according to claim 2, wherein: the mounting assembly is provided with a mounting frame arranged on the mounting piece, the lifting mechanism comprises a first air cylinder arranged on the mounting frame and a lifting piece driven by the first air cylinder, a first elastic buffer assembly is arranged on the lifting piece, and the first elastic buffer assembly enables the lifting piece to float and lift.

5. The flywheel unit assembly mechanical gripper of claim 4, wherein: the rotating mechanism comprises an installation frame fixedly connected with the lifting piece, a driving motor arranged on the installation frame and a transmission assembly driven by the driving motor, and the screwing piece is arranged on the lower portion of the transmission assembly.

6. The mechanical hand grip for assembling a flywheel gear according to claim 5, wherein: the vertical sliding rail is arranged on the vertical plate of the mounting frame, a sliding part which slides up and down along the vertical sliding rail is arranged on one side surface of the mounting frame at intervals, and a through hole which is used for the lifting part to pass through is formed in the vertical plate.

7. The mechanical hand grip for assembling a flywheel device of claim 5, wherein: the screw clamping mechanism comprises a second air cylinder, the second air cylinder is provided with a pair of clamping heads, each clamping head is fixedly connected with one clamping piece, and a clamping groove for clamping a screw is formed in the clamping surface of each clamping piece;

the second cylinder passes through the second elastic buffer subassembly to be fixed on the riser of mounting bracket, the second elastic buffer subassembly is including fixing second guide on the riser and wear to establish second buffering axle in the second guide, the cover is equipped with second buffer spring on the second buffering axle.

8. The mechanical hand grip for assembling a flywheel gear according to claim 5, wherein: the adjusting mechanism is provided with a third air cylinder arranged on the mounting piece, and a piston rod of the third air cylinder is fixedly connected with the mounting frame; and a second notch enabling the screw clamping mechanism to horizontally move back and forth is formed in the mounting disc at the position corresponding to the screw screwing mechanism.

9. The mechanical hand grip for assembling a flywheel gear of claim 8, wherein: the screw screwing mechanism, the screw clamping mechanism and the adjusting mechanism are arranged in a matched manner and are at least two.

10. The utility model provides a flywheel gear seals assembly system, deposits station and assembly station, its characterized in that including sealed pad, screw: further comprising a first robot, a second robot, a coverplate mechanical gripper, and a flywheel device assembly mechanical gripper as claimed in any one of claims 1 to 9;

the cover plate mechanical gripper is arranged on the second robot and comprises

The mounting structure is provided with a connecting unit and a pair of upper mounting pieces and lower mounting pieces which are vertically spaced, and the connecting unit is fixedly connected to the upper mounting pieces;

the buffer connecting structure is provided with a plurality of buffer connecting components arranged at intervals, and the upper mounting piece and the lower mounting piece are connected together through the plurality of buffer connecting components;

the cover plate information acquisition structure is provided with a plurality of second visual components arranged on the upper mounting part at intervals, each second visual component is provided with a connecting seat and a picture acquisition part arranged on the connecting seat, and the picture acquisition part is positioned on the outer side of the upper mounting part; and

the cover plate grabbing assembly is provided with a plurality of electromagnets which are arranged on the lower surface of the lower mounting part and used for adsorbing the cover plate.

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