Automatic assembling device for electric control cabinet

Abstract

The utility model provides an automatic assembly device for an electric control cabinet, a target transfer mechanism comprises a first fixed base, a first displacement device and a clamping device, the first displacement device is movably assembled on the first fixed base, and the clamping device is arranged on the first displacement device; the first displacement device moves the clamping device relative to the first fixed base according to the spatial positioning data, the clamping device clamps the electric control cabinet, the cooperative assembly mechanism comprises a second fixed base, a second displacement device and a nail screwing device, the second displacement device is movably assembled on the second fixed base, the nail screwing device is arranged on the second displacement device, and the second displacement device is movably assembled on the second fixed base. And the second displacement device moves the screw tightening device relative to the second fixed base according to the spatial positioning data, and the screw tightening device tightens the mounting screw at the tightening position of the electric control cabinet. Therefore, through cooperation of the visual positioning mechanism, the target transfer mechanism and the cooperative assembly mechanism, automatic assembly and automatic tightening of the electric control cabinet can be realized, so that the operation efficiency is improved, the number of operators is reduced, and the man-machine engineering is improved.

Description

Technical Field

[0001] This application relates to the field of energy storage technology, and in particular to an automatic assembly device for electrical control cabinets. Background Technology

[0002] An electrical control cabinet is a control cabinet (box) that assembles switching equipment, measuring instruments, protective electrical devices, and auxiliary equipment in a closed or semi-closed metal cabinet or panel according to electrical wiring requirements. Its layout should meet the requirements of normal operation of the power system, facilitate maintenance, and not endanger personnel or surrounding equipment. During normal operation, circuits can be connected or disconnected manually or automatically. In case of faults or abnormal operation, protective electrical devices will disconnect the circuit or trigger an alarm. Measuring instruments can display various operating parameters, and certain electrical parameters can be adjusted. Deviations from normal operating conditions will be indicated or signaled. They are commonly used in power generation, distribution, and substations.

[0003] Regarding the assembly of electrical control cabinets, the current main method is to use manual operation of overhead cranes for hoisting operations. The overhead cranes are shared with the chassis for hoisting upper parts and the power module assembly for hoisting off the production line. The utilization rate of the overhead cranes reaches 110%. Different workstations need to wait for use, which affects the smoothness of assembly line operations, resulting in low work efficiency and low automation rate.

[0004] Moreover, manual operation of overhead cranes for hoisting operations requires a large number of personnel, the hoisting process involves significant shaking, alignment and installation are difficult, and tightening operations require personnel to squat down multiple times, resulting in poor ergonomics and low assembly efficiency. Utility Model Content

[0005] Therefore, it is necessary to provide an automatic assembly device for electrical control cabinets to address the aforementioned technical problem of low assembly efficiency.

[0006] This application provides an automatic assembly device for electrical control cabinets, the automatic assembly device for electrical control cabinets comprising:

[0007] A visual positioning mechanism, configured to acquire spatial positioning data of the electrical control cabinet;

[0008] A target transfer mechanism is electrically connected to the visual positioning mechanism. The target transfer mechanism includes a first fixed base, a first displacement device, and a clamping device. The first displacement device is movably mounted on the first fixed base, and the clamping device is disposed on the first displacement device. The first displacement device is configured to move the clamping device relative to the first fixed base according to the spatial positioning data, and the clamping device is configured to clamp the electrical control cabinet.

[0009] A collaborative assembly mechanism is electrically connected to the visual positioning mechanism. The collaborative assembly mechanism includes a second fixed base, a second displacement device, and a screwing device. The second displacement device is movably mounted on the second fixed base, and the screwing device is disposed on the second displacement device. The second displacement device is configured to move the screwing device relative to the second fixed base according to the spatial positioning data. The screwing device is configured to tighten the mounting screw at the tightening position of the electrical control cabinet.

[0010] In one embodiment, the gripping device is configured as a gripping robot.

[0011] In one embodiment, the target transfer mechanism includes a rotating device disposed on the first displacement device, and a clamping device disposed on the rotating device, thereby indirectly and movably mounted to the first displacement device via the rotating device.

[0012] In one embodiment, the rotating device has a rotation axis, the rotating device rotates along the rotation axis relative to the first displacement device at a fixed axis, and the clamping device rotates via the rotating device relative to the first displacement device at a fixed axis.

[0013] In one embodiment, the first displacement device includes a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably mounted to the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably mounted to the first X-axis truss along the X-axis direction, and the rotation device is movably mounted to the first Z-axis truss along the Z-axis direction.

[0014] In one embodiment, the second displacement device includes a second X-axis truss and a second Y-axis truss, the second X-axis truss being movably mounted to the second Y-axis truss along the Y-axis direction, and the screwing device being movably mounted to the second X-axis truss along the X-axis direction.

[0015] In one embodiment, the screwing device is configured as an inverted robot, which is suspended upside down on the second X-axis truss.

[0016] In one embodiment, the automatic assembly device for the electrical control cabinet includes:

[0017] A nail feeding mechanism is electrically connected to the visual positioning mechanism. The nail feeding mechanism includes a third fixed base, a third displacement device, and a nail feeding device. The third displacement device is movably mounted on the third fixed base, and the nail feeding device is disposed on the third displacement device. The third displacement device is configured to move the nail feeding device relative to the third fixed base according to the spatial positioning data. The nail feeding device is configured to supply mounting nails to the tightening position of the electrical control cabinet.

[0018] In one embodiment, the automatic assembly device for the electrical control cabinet includes:

[0019] Line-side assembly area, which is configured to aggregate several electrical control cabinets to be processed;

[0020] A processing collection area, configured for locating electrical control cabinets;

[0021] The first displacement device is configured to reciprocate the clamping device between the line edge collection area and the processing collection area.

[0022] In one embodiment, the spatial positioning data of the electrical control cabinet includes first spatial data and second spatial data. The first spatial data is configured as the spatial position data of the electrical control cabinet in three-dimensional space, and the second spatial data is configured as the spatial position data of the tightening position of the electrical control cabinet on the electrical control cabinet.

[0023] The first displacement device is configured to move the clamping device relative to the first fixed base according to the first spatial data;

[0024] The second displacement device is configured to move the screwing device relative to the second fixed base according to the second spatial data.

[0025] In the aforementioned automatic assembly device for electrical control cabinets, a first displacement device can move a clamping device relative to a first fixed base based on spatial positioning data. Under the displacement control of the first displacement device, the clamping device can be used to clamp and drive the electrical control cabinet to move back and forth in the expected position. A second displacement device can move a screw-on device relative to a second fixed base based on spatial positioning data. Under the displacement control of the second displacement device, the screw-on device can be used to move to various tightening positions on the electrical control cabinet and perform the tightening operation of the mounting nails at each tightening position. Therefore, through the coordinated cooperation of the vision positioning mechanism, the target transfer mechanism, and the collaborative assembly mechanism, automatic assembly and automatic tightening of the electrical control cabinet can be achieved, thereby improving work efficiency, reducing the number of operators, and improving ergonomics. Attached Figure Description

[0026] Figure 1This is a schematic diagram of an automatic assembly device for an electrical control cabinet provided in one embodiment of this application.

[0027] Icon labels:

[0028] 1000, Visual positioning mechanism; 2000, Target transfer mechanism; 3000, Collaborative assembly mechanism; 4000, Nail supply mechanism. Detailed Implementation

[0029] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0030] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0031] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0035] See Figure 1 As shown, this application provides an automatic assembly device for electrical control cabinets, which includes a visual positioning mechanism 1000, a target transfer mechanism 2000, and a cooperative assembly mechanism 3000. The visual positioning mechanism 1000 is configured to acquire spatial positioning data of the electrical control cabinet. The visual positioning mechanism 1000 can acquire images of the real-time scene of the transfer target, perform image processing calculations to determine the positioning point of the transfer target, and feed it back to the target transfer mechanism 2000.

[0036] Depending on the assembly requirements, the spatial positioning data acquired by the visual positioning mechanism 1000 can include various types and locations of relevant data related to the electrical control cabinet. For example, in one embodiment, the spatial positioning data of the electrical control cabinet may include at least two types of data: first spatial data and second spatial data.

[0037] Regarding the first spatial data, it can be configured as the spatial position data of the electrical control cabinet in three-dimensional space, that is, the actual position of the electrical control cabinet can be determined through the first spatial data. Regarding the first spatial data, the second spatial data can be configured as the spatial position data of the tightening positions of the electrical control cabinet on the electrical control cabinet. During assembly, the electrical control cabinet needs to have mounting nails tightened at multiple locations on the cabinet. Therefore, the electrical control cabinet will have multiple tightening positions for mounting nails. Based on the second spatial data, these multiple tightening positions for mounting nails on the electrical control cabinet can be determined.

[0038] The target transfer mechanism 2000 is electrically connected to the visual positioning mechanism 1000. The target transfer mechanism 2000 includes a first fixed base, a first displacement device, and a clamping device. The clamping device can be a non-standard, custom-designed device, such as using a cylinder-driven telescopic clamping method. The first fixed base serves as the assembly base for the first displacement device and the clamping device in the target transfer mechanism 2000. The first fixed base can have various shapes, structures, or sizes, and is not limited here. The first displacement device is movably assembled on the first fixed base, and the clamping device is disposed on the first displacement device.

[0039] Therefore, the first displacement device can be configured to move the clamping device relative to the first fixed base according to spatial positioning data. For example, the first displacement device is configured to move the clamping device relative to the first fixed base according to first spatial data. The clamping device is configured to clamp the electrical control cabinet, so under the displacement control of the first displacement device, the clamping device can be used to clamp and drive the electrical control cabinet to move back and forth in a predetermined position.

[0040] The collaborative assembly mechanism 3000 is electrically connected to the vision positioning mechanism 1000. The collaborative assembly mechanism 3000 includes a second fixed base, a second displacement device, and a tightening device (i.e., a tightening shaft). The second fixed base serves as the assembly foundation for the second displacement device and the tightening device in the collaborative assembly mechanism 3000. The second fixed base can have various shapes, structures, or sizes, and is not limited here. The second displacement device is movably assembled on the second fixed base, and the tightening device is disposed on the second displacement device.

[0041] Therefore, the second displacement device can be configured to move the screw-in device relative to the second fixed base according to spatial positioning data. For example, the second displacement device is configured to move the screw-in device relative to the second fixed base according to second spatial data. The screw-in device is configured to tighten the mounting nail at the tightening position of the electrical control cabinet. Therefore, under the displacement control of the second displacement device, the screw-in device can be moved to various tightening positions on the electrical control cabinet to perform the tightening operation of the mounting nail at each tightening position.

[0042] In one embodiment, the gripping device is configured as a gripping robot. Furthermore, the target transfer mechanism 2000 includes a rotating device disposed on a first displacement device, and a gripping device disposed on the rotating device, thereby indirectly and movably equipping the gripping device to the first displacement device via the rotating device. The rotating device can employ various rotation methods, such as fixed-axis rotation, omnidirectional rotation, etc., and is not limited herein; those skilled in the art can design it according to actual needs.

[0043] Therefore, the rotation of the rotating device can drive the clamping device to rotate synchronously with the electrical control cabinet, thereby adjusting the position and angle of the electrical control cabinet. In one embodiment, the rotating device may have a rotation axis, and the rotating device rotates along the rotation axis relative to the first displacement device at a fixed axis, and the clamping device rotates relative to the first displacement device at a fixed axis via the rotation of the rotating device.

[0044] In one embodiment, the first displacement device includes a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably assembled to the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably assembled to the first X-axis truss along the X-axis direction, and the rotating device is movably assembled to the first Z-axis truss along the Z-axis direction. Therefore, through the movable assembly of the first X-axis truss, the first Y-axis truss, and the first Z-axis truss, movement in three directions (X-axis, Y-axis, and Z-axis) in three-dimensional space can be realized. The spatial positions of the rotating device and the clamping device can be adjusted according to actual needs to meet the spatial movement requirements of the electrical control cabinet.

[0045] In one embodiment, the second displacement device includes a second X-axis truss and a second Y-axis truss. The second X-axis truss is movably mounted to the second Y-axis truss along the Y-axis direction, and the screwing device is movably mounted to the second X-axis truss along the X-axis direction. Therefore, through the movable assembly of the second X-axis truss and the second Y-axis truss, movement in both the X and Y axes in three-dimensional space can be achieved, and the spatial position of the screwing device can be adjusted according to actual needs. In one embodiment, the screwing device is configured as an inverted robot, which is inverted and suspended from the second X-axis truss.

[0046] The truss structure enhances stability during movement. Furthermore, other spatial displacement methods can be selected for the first and second displacement devices, which are not limited here. Those skilled in the art can design the spatial movement range and method of the first and second displacement devices according to actual needs.

[0047] In one embodiment, the automatic assembly device for the electrical control cabinet includes a nail feeding mechanism 4000, which is electrically connected to the visual positioning mechanism 1000. The nail feeding mechanism 4000 includes a third fixed base, a third displacement device, and a nail feeding device. The third fixed base serves as the assembly foundation for the third displacement device and the nail feeding device within the nail feeding mechanism 4000. The third fixed base can have various shapes, structures, or sizes, and is not limited herein. The third displacement device is movably assembled on the third fixed base, and the nail feeding device is disposed on the third displacement device.

[0048] Therefore, the third displacement device can be configured to move the pin-feeding device relative to the third fixed base according to spatial positioning data. For example, the third displacement device is configured to move the clamping device relative to the third fixed base according to second spatial data. The pin-feeding device is configured to supply mounting pins to the tightening positions of the electrical control cabinet. Therefore, under the displacement control of the third displacement device, the pin-feeding device can be moved to various tightening positions on the electrical control cabinet to provide mounting pins at each tightening position. Once the mounting pins are provided to each tightening position, the pin-tightening device can perform the tightening operation of the mounting pins at each tightening position of the electrical control cabinet.

[0049] In one embodiment, the automatic assembly device for electrical control cabinets includes a line-side assembly area and a processing assembly area. The line-side assembly area is configured to gather several electrical control cabinets to be processed. Therefore, several electrical control cabinets can be pre-assembled and placed in the line-side assembly area. As the assembly progress and assembly requirements change, they are moved sequentially to the processing assembly area. The processing assembly area can be configured to position the electrical control cabinets, for example, by moving the electrical control cabinets onto the steel structure chassis in the processing assembly area. A first displacement device is configured to reciprocate between the line-side assembly area and the processing assembly area, thereby achieving spatial transfer of the electrical control cabinets.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An automatic assembly device for an electrical control cabinet, characterized in that, The automatic assembly device for the electrical control cabinet includes: A visual positioning mechanism, configured to acquire spatial positioning data of the electrical control cabinet; A target transfer mechanism is electrically connected to the visual positioning mechanism. The target transfer mechanism includes a first fixed base, a first displacement device, and a clamping device. The first displacement device is movably mounted on the first fixed base, and the clamping device is disposed on the first displacement device. The first displacement device is configured to move the clamping device relative to the first fixed base according to the spatial positioning data, and the clamping device is configured to clamp the electrical control cabinet. A collaborative assembly mechanism is electrically connected to the visual positioning mechanism. The collaborative assembly mechanism includes a second fixed base, a second displacement device, and a screwing device. The second displacement device is movably mounted on the second fixed base, and the screwing device is disposed on the second displacement device. The second displacement device is configured to move the screwing device relative to the second fixed base according to the spatial positioning data. The screwing device is configured to tighten the mounting screw at the tightening position of the electrical control cabinet.

2. The automatic assembly device for electrical control cabinets according to claim 1, characterized in that, The clamping device is configured as a clamping robot.

3. The automatic assembly device for electrical control cabinets according to claim 2, characterized in that, The target transfer mechanism includes a rotating device disposed on the first displacement device, and a clamping device disposed on the rotating device, thereby indirectly and movably equipping the clamping device to the first displacement device through the rotating device.

4. The automatic assembly device for electrical control cabinets according to claim 3, characterized in that, The rotating device has a rotation axis, and the rotating device rotates along the rotation axis relative to the first displacement device at a fixed axis. The clamping device rotates relative to the first displacement device at a fixed axis via the rotating device.

5. The automatic assembly device for electrical control cabinets according to claim 3, characterized in that, The first displacement device includes a first X-axis truss, a first Y-axis truss, and a first Z-axis truss. The first X-axis truss is movably mounted to the first Y-axis truss along the Y-axis direction, the first Z-axis truss is movably mounted to the first X-axis truss along the X-axis direction, and the rotation device is movably mounted to the first Z-axis truss along the Z-axis direction.

6. The automatic assembly device for electrical control cabinets according to claim 1, characterized in that, The second displacement device includes a second X-axis truss and a second Y-axis truss. The second X-axis truss is movably assembled to the second Y-axis truss along the Y-axis direction, and the screwing device is movably assembled to the second X-axis truss along the X-axis direction.

7. The automatic assembly device for electrical control cabinets according to claim 6, characterized in that, The screwing device is configured as an inverted robot, which is suspended upside down on the second X-axis truss.

8. The automatic assembly device for electrical control cabinets according to claim 1, characterized in that, The automatic assembly device for the electrical control cabinet includes: A nail feeding mechanism is electrically connected to the visual positioning mechanism. The nail feeding mechanism includes a third fixed base, a third displacement device, and a nail feeding device. The third displacement device is movably mounted on the third fixed base, and the nail feeding device is disposed on the third displacement device. The third displacement device is configured to move the nail feeding device relative to the third fixed base according to the spatial positioning data. The nail feeding device is configured to supply mounting nails to the tightening position of the electrical control cabinet.

9. The automatic assembly device for electrical control cabinets according to claim 1, characterized in that, The automatic assembly device for the electrical control cabinet includes: Line-side assembly area, which is configured to aggregate several electrical control cabinets to be processed; A processing collection area, configured for locating electrical control cabinets; The first displacement device is configured to reciprocate the clamping device between the line edge collection area and the processing collection area.

10. The automatic assembly device for electrical control cabinets according to claim 1, characterized in that, The spatial positioning data of the electrical control cabinet includes first spatial data and second spatial data. The first spatial data is configured as the spatial position data of the electrical control cabinet in three-dimensional space, and the second spatial data is configured as the spatial position data of the tightening position of the electrical control cabinet on the electrical control cabinet. The first displacement device is configured to move the clamping device relative to the first fixed base according to the first spatial data; The second displacement device is configured to move the screwing device relative to the second fixed base according to the second spatial data.

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