A metal gasket bidirectional winding mechanism, integrated device and method

Abstract

A metal gasket bidirectional winding mechanism, an integrated device and a method belong to the technical field of manufacturing parts of aeroengines. The metal gasket bidirectional winding mechanism includes: an upper moving pair, an upper rotating pair and an upper gripper that are sequentially connected above the mold; a lower moving pair, a lower rotating pair and a lower gripper that are sequentially connected below the mold; a left moving pair, a left rotating pair and a left gripper that are sequentially connected on the left side of the mold; and a right moving pair, a right rotating pair and a right gripper that are sequentially connected on the right side of the mold. The metal gasket bidirectional winding integrated device includes a frame and a feeding conveying mechanism, a moving feeding mechanism, a discharging mechanism and a metal gasket bidirectional winding mechanism arranged on the frame. The metal gasket bidirectional winding mechanism, the integrated device and the method can realize the automatic bidirectional winding function and feeding, material moving and discharging during the processing of the metal gasket, and ensure the consistency and performance stability of the metal gasket processing.

Description

Technical Field

[0001] The present invention relates to the technical field of manufacturing parts of aero-engines, and particularly relates to a bidirectional winding mechanism, an integrated device and a method for a metal gasket. Background Art

[0002] The clamping and fixing of the external pipelines of an aero-engine are all completed by clamp fasteners. The metal gasket is an important part of the fastener. The characteristics of metal gasket parts are various types, different sizes, and a large number of parts are required every year.

[0003] An important process in the processing of metal gaskets is the winding of spiral springs. The spiral springs are required to be wound 4 layers on a plate-shaped tire fixture, and the winding directions of adjacent two layers should cross and conform to the directions indicated by the arrows of X and Y in the drawing. For example, the first layer is wound in the Y direction. After the Y direction is wound for one layer, the direction is changed to wind in the X direction. After the X direction is wound for one layer, the direction is changed to wind in the X direction again, and so on until all the spring wires are wound. Moreover, when winding, the interval between each turn of the spiral spring is ensured to be 0.8 - 1.5 mm. The traditional processing method is to manually wind the spring on the mold. Not only the processing speed cannot meet the production requirements, but also the interval of 0.8 - 1.5 mm between each turn of the spiral spring varies from person to person and cannot meet the consistency of parts, and the stability is poor. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a bidirectional winding mechanism, an integrated device and a method for a metal gasket, which can realize the automatic bidirectional winding function, feeding, material transfer and blanking in the processing of metal gaskets, and ensure the consistency and performance stability of metal gasket processing.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows:

[0006] A bidirectional winding mechanism for a metal gasket, comprising:

[0007] An upper moving pair, an upper rotating pair and an upper gripper which are located above the mold and are connected in sequence;

[0008] A lower moving pair, a lower rotating pair and a lower gripper which are located below the mold and are connected in sequence;

[0009] A left moving pair, a left rotating pair and a left gripper which are located on the left side of the mold and are connected in sequence; and

[0010] A right moving pair, a right rotating pair and a right gripper which are located on the right side of the mold and are connected in sequence.

[0011] Further, the upper moving pair, lower moving pair, left moving pair, and right moving pair all adopt nut-screw structures respectively. The nut-screw structure includes a screw rod, a nut sleeved outside the screw rod, and a slider fixedly connected to the nut. The slider slides along the slide rail. The upper rotating pair, lower rotating pair, left rotating pair, and right rotating pair all include a motor and a turntable connected to the output shaft of the motor. The turntable is fixedly connected to the corresponding gripper.

[0012] Further, two upper grippers, two lower grippers, two left grippers, and two right grippers are respectively provided.

[0013] A metal gasket two-way winding integrated device includes a frame and a feeding conveying mechanism, a moving feeding mechanism, a discharging mechanism, and the above-mentioned metal gasket two-way winding mechanism arranged on the frame.

[0014] The feeding conveying mechanism includes two parallel synchronous belts sleeved outside the driving shaft and the driven shaft. A number of spring fixing plates parallel to the driving shaft are arranged between the two synchronous belts. Spring fixing grooves are provided on the spring fixing plates for placing spiral springs.

[0015] The moving feeding mechanism includes two X-direction slideways fixedly arranged on both sides of the frame. A Z-direction slideway is slidably connected to the two X-direction slideways, and the Z-direction slideway can move along the X-direction slideway. At least two Y-direction slideways are slidably connected to the Z-direction slideway, and the Y-direction slideway can move along the Z-direction slideway. A Cartesian coordinate robot is slidably connected to the Y-direction slideway, and the Cartesian coordinate robot can move along the Y-direction slideway.

[0016] Further, the discharging mechanism includes a slide plate groove and a receiving box located below the slide plate groove. The slide plate groove is fixed to the frame.

[0017] Further, there is one driving shaft, and two driving wheels are sleeved outside the driving shaft. The position of each driving wheel corresponds to each synchronous belt to drive the synchronous belt to rotate. There are three driven shafts, and two driven wheels are sleeved outside each driven shaft. The position of each driven wheel on the same driven shaft corresponds to each synchronous belt to drive the synchronous belt to rotate.

[0018] Further, the spring fixing groove is a strip-shaped structure, and grasping grooves are provided at both ends thereof. When manually placing, the two ends of the spiral spring are placed in the grasping grooves at both ends of the spring fixing groove. When the Cartesian coordinate robot grasps the spiral spring, it directly grasps the two ends of the spiral spring in the grasping grooves, improving work efficiency and stability.

[0019] A metal gasket two-way winding method uses the above-mentioned metal gasket two-way winding integrated device and includes the following steps:

[0020] S1. The operator places the helical springs one by one into the spring fixing grooves of the feeding conveyor mechanism outside the frame, and the feeding conveyor mechanism transports the helical springs into the frame.

[0021] S2. The Z-direction slide moves along the X-direction slide towards the feeding conveyor mechanism. Two Cartesian coordinate manipulators grasp both ends of a helical spring from the feeding conveyor mechanism. The two Y-direction slides move away from each other along the Z-direction slide, so that the two Cartesian coordinate manipulators on the two Y-direction slides stretch the helical spring to the set pitch. The Z-direction slide moves along the X-direction slide towards the metal gasket double winding mechanism. Then the two Cartesian coordinate manipulators move downward along the two Y-direction slides respectively, and send the helical spring to the center position of the mold. The helical spring is arranged along the Z direction.

[0022] S3. The metal gasket double winding mechanism controls the mold to rotate along the X and Y directions respectively to realize the cross winding of the helical spring. Specifically, it includes:

[0023] S3.1. Clamp the mold with the upper gripper, lower gripper, left gripper and right gripper.

[0024] S3.2. The left gripper and the right gripper release the mold, and the left moving pair drives the left gripper to move left, and the right moving pair drives the right gripper to move right. Then the upper rotating pair and the lower rotating pair drive the upper gripper, lower gripper and the mold to rotate around the Y axis at the same time until the helical spring is wound with one layer, and then stop rotating, that is, the first layer is wound.

[0025] S3.3. The left moving pair drives the left gripper to move right, the right moving pair drives the right gripper to move left, and the left gripper and the right gripper clamp the mold. Then, the upper gripper and the lower gripper release the mold, and the upper moving pair drives the upper gripper to move up, and the lower moving pair drives the lower gripper to move down. Next, the left rotating pair and the right rotating pair drive the left gripper, right gripper and the mold to rotate around the X axis at the same time until the helical spring is wound with one layer, and then stop rotating, that is, the second layer is wound.

[0026] S3.4. The upper moving pair drives the upper gripper to move down, the lower moving pair drives the lower gripper to move up, and the upper gripper and the lower gripper clamp the mold. Then, the left gripper and the right gripper release the mold, and the left moving pair drives the left gripper to move left, and the right moving pair drives the right gripper to move right. Next, the upper rotating pair and the upper rotating pair drive the upper gripper, upper gripper and the mold to rotate around the Y axis at the same time until the helical spring is wound with one layer, and then stop rotating, that is, the third layer is wound.

[0027] S3.5. Repeat the above steps S3.3 and S3.4 until the set number of layers is wound to complete the helical spring winding process of the metal gasket.

[0028] S4. After the helical spring is wound, two Cartesian coordinate manipulators grip the metal gasket and send the metal gasket to the blanking mechanism;

[0029] S5. Repeat the above S2 - S4 to perform the helical spring winding process for the next metal gasket. Cycle in this way until all metal gaskets are processed.

[0030] Further, in the step S2, the set pitch of the helical spring is 0.8 - 1.5 mm.

[0031] Further, the diameter of the wire of the helical spring is 0.09 mm.

[0032] Advantages of the present invention:

[0033] 1) The structure of the present invention is ingenious, the operation is fast, simple and convenient, and the practicability is strong;

[0034] 2) The two - way winding mechanism of the metal gasket of the present invention plays a crucial role in the processing of the metal gasket, ensuring the diversity and performance stability of the processed products;

[0035] 3) The present invention enables the mold to achieve cross - winding of the helical spring in the X and Y directions without changing the position through 4 moving pairs, 4 rotating pairs and 8 grippers, ensuring the winding layers in the X and Y directions and the interval of 0.8 - 1.5 mm between each turn of the helical spring, and ensuring the consistency and stability of the parts.

[0036] Other features and advantages of the present invention will be partially described in detail in the following specific embodiments. Description of the Drawings

[0037] Figure 1 is a schematic structural diagram of the two - way winding mechanism of the metal gasket provided by the embodiment of the present invention;

[0038] Figure 2 is a schematic diagram of four parts of the two - way winding mechanism of the metal gasket provided by the embodiment of the present invention gripping the mold;

[0039] Figure 3 is a schematic diagram of the two - way winding mechanism of the metal gasket provided by the embodiment of the present invention combining four parts of the mold into an integral mold;

[0040] Figure 4 is a schematic diagram of the upper gripper and the lower gripper gripping the mold provided by the embodiment of the present invention;

[0041] Figure 5 is a schematic diagram of the left gripper and the right gripper gripping the mold provided by the embodiment of the present invention;

[0042] Figure 6 is a schematic structural diagram of the mold provided by the embodiment of the present invention;

[0043] Figure 7 is the structural schematic diagram of the metal gasket two-way winding integration device provided by the embodiment of the present invention Figure 1 ;

[0044] Figure 8 is the structural schematic diagram of the metal gasket two-way winding integration device provided by the embodiment of the present invention Figure 2 ;

[0045] Figure 9 is the top view schematic diagram of the metal gasket two-way winding integration device provided by the embodiment of the present invention;

[0046] Figure 10 is the installation schematic diagram of the mobile feeding mechanism and the metal gasket two-way winding mechanism provided by the embodiment of the present invention;

[0047] Figure 11 is the structural schematic diagram of the feeding conveying mechanism provided by the embodiment of the present invention;

[0048] Figure 12 is the structural schematic diagram of the spring fixing plate provided by the embodiment of the present invention.

[0049] The reference numerals in the accompanying drawings of the specification include:

[0050] 1 - metal gasket two-way winding mechanism, 2 - mold, 3 - upper moving pair, 4 - upper rotating pair, 5 - upper gripper, 6 - lower moving pair, 7 - lower rotating pair, 8 - lower gripper, 9 - left moving pair, 10 - left rotating pair, 11 - left gripper, 12 - right moving pair, 13 - right rotating pair, 14 - right gripper, 15 - lead screw, 16 - slider, 17 - slide rail, 18 - turntable, 19 - mounting plate, 20 - servo motor, 21 - frame, 22 - feeding conveying mechanism, 23 - driving shaft, 24 - driven shaft, 25 - synchronous belt, 26 - spring fixing plate, 27 - spring fixing groove, 28 - helical spring, 29 - X-direction slideway, 30 - Z-direction slideway, 31 - Y-direction slideway, 32 - Cartesian coordinate manipulator, 33 - slide plate groove, 34 - material receiving box, 35 - grasping groove. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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, rather than all of the embodiments.

[0052] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0053] In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the communication inside two elements. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0054] To solve the problems existing in the prior art, such as Figures 1 to 6 As shown, the present invention provides a metal gasket bidirectional winding mechanism 1, including:

[0055] An upper moving pair 3, an upper rotating pair 4, and an upper gripper 5 that are located above the mold 2 and connected in sequence;

[0056] A lower moving pair 6, a lower rotating pair 7, and a lower gripper 8 that are located below the mold 2 and connected in sequence;

[0057] A left moving pair 9, a left rotating pair 10, and a left gripper 11 that are located on the left side of the mold 2 and connected in sequence; and

[0058] A right moving pair 12, a right rotating pair 13, and a right gripper 14 that are located on the right side of the mold 2 and connected in sequence.

[0059] The upper moving pair 3, the lower moving pair 6, the left moving pair 9 and the right moving pair 12 all adopt nut-screw structures respectively. The nut-screw structure includes a screw rod 15, a nut sleeved outside the screw rod 15, and a slider 16 fixedly connected to the nut. The slider 16 slides along a slide rail 17. The upper rotating pair 4, the lower rotating pair 7, the left rotating pair 10 and the right rotating pair 13 all include a motor and a turntable 18 connected to the output shaft of the motor. The turntable 18 is fixedly connected to the corresponding gripper. Specifically, the slider 16 of the upper moving pair 3 is fixedly connected to the motor of the upper rotating pair 4. The rotation of the screw rod 15 of the upper moving pair 3 causes the slider 16 to move up and down along the slide rail 17, driving the upper rotating pair 4 to move up and down. The turntable 18 of the upper rotating pair 4 is fixedly connected to two upper grippers 5. The motor of the upper rotating pair 4 drives the turntable 18 to rotate, thereby driving the upper grippers 5 to rotate. The rotation of the screw rod 15 of the lower moving pair 6 causes the slider 16 to be fixedly connected to the motor of the lower rotating pair 7. The slider 16 of the lower moving pair 6 moves up and down along the slide rail 17, driving the lower rotating pair 7 to move up and down. The turntable 18 of the lower rotating pair 7 is fixedly connected to two lower grippers 8. The motor of the lower rotating pair 7 drives the turntable 18 to rotate, thereby driving the lower grippers 8 to rotate. The slider 16 of the left moving pair 9 is fixedly connected to the motor of the left rotating pair 10. The rotation of the screw rod 15 of the left moving pair 9 causes the slider 16 to move left and right along the slide rail 17, driving the left rotating pair 10 to move left and right. The turntable 18 of the left rotating pair 10 is fixedly connected to two left grippers 11. The motor of the left rotating pair 10 drives the turntable 18 to rotate, thereby driving the left grippers 11 to rotate. The rotation of the screw rod 15 of the right moving pair 12 causes the slider 16 to be fixedly connected to the motor of the right rotating pair 13. The slider 16 of the right moving pair 12 moves left and right along the slide rail 17, driving the right rotating pair 13 to move left and right. The turntable 18 of the right rotating pair 13 is fixedly connected to two right grippers 14. The motor of the right rotating pair 13 drives the turntable 18 to rotate, thereby driving the right grippers 14 to rotate. In this embodiment, the screw rod 15 and the slide rail 17 of the nut-screw structure are both fixedly arranged on a mounting plate 19, and the mounting plate 19 is fixed on a frame 21. The rotation of the screw rod 15 in each nut-screw structure is respectively driven by a servo motor 20 fixed on the mounting plate 19.

[0060] There are two upper grippers 5, two lower grippers 8, two left grippers 11 and two right grippers 14 respectively. The grippers adopt existing technologies to realize grasping and releasing of the mold 2.

[0061] In the present invention, the mold 2 is composed of four parts, which are respectively grasped by the upper grippers 5, the lower grippers 8, the left grippers 11 and the right grippers 14, facilitating the combination and separation of the mold 2. Initially, each of the upper grippers 5, the lower grippers 8, the left grippers 11 and the right grippers 14 grasps a part of the mold 2, and then they are sent together to the middle of the metal gasket bidirectional winding mechanism 1 to form the overall mold 2. Then, through the grasping of the upper grippers 5 and the lower grippers 8, rotation winding is realized with the Y-axis as the axis, and through the grasping of the left grippers 11 and the right grippers 14, rotation winding is realized with the X-axis as the axis.

[0062] Such asFigures 7 to 12 As shown in the figure, the present invention also provides a metal gasket two-way winding integrated device, which includes a frame 21 and a feeding conveyor mechanism 22, a moving feeding mechanism, a discharging mechanism and the above-mentioned metal gasket two-way winding mechanism 1 arranged on the frame 21;

[0063] The feeding conveyor mechanism 22 includes two parallel synchronous belts 25 sleeved outside the driving shaft 23 and the driven shaft 24. A number of spring fixing plates 26 parallel to the driving shaft 23 are arranged between the two synchronous belts 25. Spring fixing grooves 27 are arranged on the spring fixing plates 26 for placing spiral springs 28;

[0064] The moving feeding mechanism includes two X-direction sliding ways 29 fixed on both sides of the frame 21. A Z-direction sliding way 30 is slidably connected to the two X-direction sliding ways 29, and the Z-direction sliding way 30 can move along the X-direction sliding way 29; At least two Y-direction sliding ways 31 are slidably connected to the Z-direction sliding way 30, and the Y-direction sliding ways 31 can move along the Z-direction sliding way 30. A Cartesian coordinate manipulator 32 is slidably connected to the Y-direction sliding ways 31, and the Cartesian coordinate manipulator 32 can move along the Y-direction sliding ways 31. The Cartesian coordinate manipulator 32 is used to take out the spiral spring 28 in the spring fixing groove 27 of the feeding conveyor mechanism 22, stretch it and transport it to the middle of the mold 2, and finally send the metal gasket after the spiral spring 28 is wound to the discharging structure.

[0065] The discharging mechanism includes a slide plate groove 33 and a receiving box 34 located below the slide plate groove 33. The slide plate groove 33 is fixed to the frame 21. The Cartesian coordinate manipulator 32 sends the metal gasket after the spiral spring 28 is wound to the slide plate groove 33, and the metal gasket slides into the receiving box 34 along the slide plate groove 33.

[0066] There is one driving shaft 23. Two driving wheels are sleeved on the driving shaft 23. The position of each driving wheel corresponds to each synchronous belt 25 to drive the synchronous belt 25 to rotate; There are three driven shafts 24. Each driven shaft 24 is provided with two driven wheels. The position of each driven wheel on the same driven shaft 24 corresponds to each synchronous belt 25 to drive the synchronous belt 25 to rotate. In this embodiment, the feeding conveyor mechanism 22 is fixed to the frame 21. The driving shaft 23 is connected to the motor. The driving shaft 23 is driven by the motor to rotate, so that the synchronous belt 25 and the spring fixing plate 26 move to transport the spiral spring 28 into the frame 21. The operator places the spiral spring 28 on the feeding conveyor mechanism 22 outside the frame 21, and the feeding conveyor mechanism 22 sends the spiral spring 28 into the frame 21, ensuring the safety of the operator. Moreover, the feeding conveyor mechanism 22 can transport the spiral spring 28 in batches, improving the work efficiency, reducing the manpower, and avoiding feeding one by one.

[0067] The spring fixing groove 27 is in a strip shape, and grasping grooves 35 are arranged at both ends thereof. When manually placing, both ends of the helical spring 28 are placed in the grasping grooves 35 at both ends of the spring fixing groove 27. When the Cartesian robot 32 grasps the helical spring 28, it directly grasps both ends of the helical spring 28 in the grasping grooves 35, improving work efficiency and stability.

[0068] A method for bidirectional winding of a metal gasket, using the above-mentioned integrated device for bidirectional winding of a metal gasket, includes the following steps:

[0069] S1. An operator places the helical springs 28 one by one into the spring fixing grooves 27 of the feeding conveyor 22 outside the frame 21, and the feeding conveyor 22 transports the helical springs 28 into the frame 21.

[0070] S2. The Z-direction slideway 30 moves along the X-direction slideway 29 towards the feeding conveyor 22, and the two Cartesian robots 32 grasp both ends of a helical spring 28 from the feeding conveyor 22; the two Y-direction slideways 31 move away from each other along the Z-direction slideway 30, so that the two Cartesian robots 32 on the two Y-direction slideways 31 stretch the helical spring 28 to a set pitch; the Z-direction slideway 30 moves along the X-direction slideway 29 towards the metal gasket bidirectional winding mechanism 1, and then the two Cartesian robots 32 respectively move downward along the two Y-direction slideways 31, send the helical spring 28 to the central position of the mold 2, and arrange it along the Z direction.

[0071] S3. The metal gasket bidirectional winding mechanism 1 controls the mold 2 to rotate along the X and Y directions respectively to realize the cross winding of the helical spring 28, specifically including:

[0072] S3.1. Make the upper gripper 5, the lower gripper 8, the left gripper 11 and the right gripper 14 all clamp the mold 2.

[0073] S3.2. The left gripper 11 and the right gripper 14 both release the mold 2, and the left moving pair 9 drives the left gripper 11 to move leftward, and the right moving pair 12 drives the right gripper 14 to move rightward; then the upper rotating pair 4 and the lower rotating pair 7 simultaneously drive the upper gripper 5, the lower gripper 8 and the mold 2 to rotate about the Y axis until the helical spring 28 is wound with one layer, and then stop rotating, that is, the first layer is wound.

[0074] S3.3. The left moving pair 9 drives the left gripper 11 to move rightward, and the right moving pair 12 drives the right gripper 14 to move leftward, and both the left gripper 11 and the right gripper 14 clamp the mold 2. Then, both the upper gripper 5 and the lower gripper 8 release the mold 2, and the upper moving pair 3 drives the upper gripper 5 to move upward, and the lower moving pair 6 drives the lower gripper 8 to move downward. Next, the left rotating pair 10 and the right rotating pair 13 simultaneously drive the left gripper 11, the right gripper 14, and the mold 2 to rotate about the X-axis until the spiral spring 28 winds a complete layer, and then stop rotating, that is, the second layer is wound.

[0075] S3.4. The upper moving pair 3 drives the upper gripper 5 to move downward, and the lower moving pair 6 drives the lower gripper 8 to move upward, and both the upper gripper 5 and the lower gripper 8 clamp the mold 2. Then, both the left gripper 11 and the right gripper 14 release the mold 2, and the left moving pair 9 drives the left gripper 11 to move leftward, and the right moving pair 12 drives the right gripper 14 to move rightward. Next, the upper rotating pair 4 and the upper rotating pair 4 simultaneously drive the upper gripper 5, the upper gripper 5, and the mold 2 to rotate about the Y-axis until the spiral spring 28 winds a complete layer, and then stop rotating, that is, the third layer is wound.

[0076] S3.5. Repeat the above steps S3.3 and S3.4 until the set number of layers is wound to complete the winding process of the spiral spring 28 of the metal gasket.

[0077] S4. After the spiral spring 28 is wound, two Cartesian coordinate manipulators 32 grip the metal gasket and send the metal gasket to the blanking mechanism.

[0078] S5. Repeat the above S2 - S4 to perform the winding process of the spiral spring 28 of the next metal gasket, and cycle in this way until all the metal gaskets are processed.

[0079] In step S2, the set pitch of the spiral spring 28 is 0.8 - 1.5 mm.

[0080] The wire diameter of the spiral spring 28 is 0.09 mm.

[0081] In the present invention, the spiral springs 28 can be placed batch by batch into the spring fixing grooves 27 of the feeding conveyor 22. After an operator places a batch, the metal gasket two-way winding integrated device can work for a period of time without continuously placing the spiral springs 28, saving manpower. By controlling the rotation speed of the rotating pairs, the number of winding turns of each layer in both the X and Y directions is ensured, guaranteeing the consistency and stability of the parts. Two Cartesian coordinate manipulators 32 grip the metal gasket after the spiral spring 28 is wound and move along the Y-direction slideway 31, the Z-direction slideway 30, and the X-direction slideway 29 to send the metal gasket into the slide plate groove 33 of the blanking mechanism.

[0082] In actual use of the present invention, when winding the first layer of the helical spring 28, rotation is stopped after winding half of it, and one end of the helical spring 28 is sent into the already wound helical spring 28 by the Cartesian manipulator 32 for wire collection; after winding the last layer of the helical spring 28, the other end of the helical spring 28 is sent into the already wound helical spring 28 by the Cartesian manipulator 32 for wire collection.

[0083] In actual use of the present invention, a control system in the prior art can be added to control the working process of the entire integrated device for bidirectional winding of the metal gasket, replacing manual operation to achieve automation.

[0084] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A method for double winding of a metal gasket, characterized in that It includes the following steps: S1. An operator places the helical springs one by one into the spring fixing grooves of the loading and conveying mechanism outside the frame, and the loading and conveying mechanism transports the helical springs into the frame; S2. The Z-direction slide moves along the X-direction slide towards the loading and conveying mechanism. Two Cartesian coordinate manipulators grasp both ends of a helical spring from the loading and conveying mechanism; two Y-direction slides move away from each other along the Z-direction slide, so that the two Cartesian coordinate manipulators on the two Y-direction slides stretch the helical spring to a set pitch; the Z-direction slide moves along the X-direction slide towards the metal gasket double winding mechanism, and then the two Cartesian coordinate manipulators move downward along the two Y-direction slides respectively, and send the helical spring to the center position of the mold. The helical spring is arranged along the Z direction; S3. The metal gasket double winding mechanism controls the mold to rotate along the X-axis and Y-axis directions respectively to realize the cross winding of the helical spring. Specifically, it includes: S3.

1. Clamp the mold with the upper gripper, lower gripper, left gripper and right gripper; S3.

2. The left gripper and the right gripper both release the mold, and the left moving pair drives the left gripper to move left, and the right moving pair drives the right gripper to move right; then the upper rotating pair and the lower rotating pair drive the upper gripper, the lower gripper and the mold to rotate around the Y-axis until the helical spring is wound with a full layer, and then stop rotating; S3.

3. The left moving pair drives the left gripper to move right, the right moving pair drives the right gripper to move left, and the left gripper and the right gripper both clamp the mold; then, the upper gripper and the lower gripper both release the mold, and the upper moving pair drives the upper gripper to move up, and the lower moving pair drives the lower gripper to move down; next, the left rotating pair and the right rotating pair drive the left gripper, the right gripper and the mold to rotate around the X-axis until the helical spring is wound with a full layer, and then stop rotating; S3.

4. The upper moving pair drives the upper gripper to move down, the lower moving pair drives the lower gripper to move up, and the upper gripper and the lower gripper both clamp the mold; then, the left gripper and the right gripper both release the mold, and the left moving pair drives the left gripper to move left, and the right moving pair drives the right gripper to move right; next, the upper rotating pair and the upper rotating pair drive the upper gripper, the upper gripper and the mold to rotate around the Y-axis until the helical spring is wound with a full layer, and then stop rotating; S3.

5. Repeat the above steps S3.3 and S3.4 until the set number of layers is wound to complete the helical spring winding process of the metal gasket; S4. After the helical spring winding is completed, two Cartesian coordinate manipulators clamp the metal gasket and send the metal gasket to the unloading mechanism; S5. Repeat the above S2 - S4 to perform the helical spring winding process of the next metal gasket. According to this cycle, until all metal gaskets are processed.

2. The method for bidirectional winding of a metal gasket according to claim 1, characterized in that, In the step S2, the set pitch of the helical spring is 0.8 - 1.5 mm.

3. The metal gasket bidirectional winding method according to claim 1, characterized in that The diameter of the wire of the helical spring is 0.09 mm.

4. A metal gasket bidirectional winding integrated device using the metal gasket bidirectional winding method described in claim 1, characterized in that, It includes a frame and a loading and conveying mechanism, a moving and feeding mechanism, an unloading mechanism and a metal gasket double winding mechanism arranged on the frame; The feeding and conveying mechanism includes two parallel synchronous belts sleeved outside the driving shaft and the driven shaft, and a number of spring fixing plates parallel to the driving shaft are arranged between the two synchronous belts. Spring fixing grooves are arranged on the spring fixing plates for placing spiral springs; The moving feeding mechanism includes two X-direction sliding ways fixed on both sides of the frame. A Z-direction sliding way is slidably connected on the two X-direction sliding ways. At least two Y-direction sliding ways are slidably connected on the Z-direction sliding way. A Cartesian robot is slidably connected on the Y-direction sliding way; The metal gasket bidirectional winding mechanism includes: An upper moving pair, an upper rotating pair and an upper gripper which are located above the mold and connected in sequence; A lower moving pair, a lower rotating pair and a lower gripper which are located below the mold and connected in sequence; A left moving pair, a left rotating pair and a left gripper which are located on the left side of the mold and connected in sequence; and A right moving pair, a right rotating pair and a right gripper which are located on the right side of the mold and connected in sequence; The upper moving pair, the lower moving pair, the left moving pair and the right moving pair all adopt nut-screw structures. The nut-screw structure includes a screw rod, a nut sleeved outside the screw rod and a slider fixedly connected with the nut. The slider slides along the slide rail; The upper rotating pair, the lower rotating pair, the left rotating pair and the right rotating pair all respectively include a motor and a turntable connected to the output shaft of the motor. The turntable is fixedly connected with the corresponding gripper; Two of each of the upper gripper, the lower gripper, the left gripper and the right gripper are provided; 5. The metal gasket bidirectional winding integrated device according to claim 4, characterized in that, The blanking mechanism includes a slide plate groove and a material receiving box located below the slide plate groove. The slide plate groove is fixed to the frame; 6. The metal gasket bidirectional winding integrated device according to claim 4, characterized in that, One driving shaft is provided, and two driving wheels are sleeved outside the driving shaft. The position of each driving wheel corresponds to each synchronous belt; Three driven shafts are provided, and two driven wheels are sleeved outside each driven shaft. The position of each driven wheel on the same driven shaft corresponds to each synchronous belt; 7. The metal gasket bidirectional winding integrated device according to claim 4, characterized in that, The spring fixing groove is a strip-shaped structure, and grasping grooves are arranged at both ends thereof.

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