Rotating body assembly device, rotating body assembly equipment and assembly method

Abstract

The present invention relates to rotary body assembly technology, and discloses a rotary body assembly device, rotary body assembly equipment, and assembly method. The rotary body assembly device is used in conjunction with a control device, and includes a clamping mechanism and a tightening mechanism for tightening the fasteners of the rotary body. The clamping mechanism and the tightening mechanism are both connected to the control device. The clamping mechanism can clamp and rotate the rotating part of the rotary body under the control of the control device, so that the external parts on the rotary body are moved outside the operating space when the tightening mechanism tightens the fasteners. The device can realize automatic installation of the rotary body, with high installation accuracy, good operational stability, and a wide range of applications.

Description

Technical Field

[0001] The present invention relates to a rotating body assembly technology, in particular to a rotating body assembly device. The present invention also relates to a rotating body assembly equipment and an assembly method. Background Art

[0002] A center swivel is a multi-channel rotary joint frequently used in construction machinery. It enables the transmission of high-pressure water, pressure oil, fuel, and electrical signals between two components that rotate relative to each other. For example, in cranes, pump trucks, and excavators, the center swivel is a key component, serving as an essential hydraulic hub connecting the excavator's lower vehicle and the slewing platform. The center swivel typically consists of two parts: an internal fixed body and a sleeve that connects the fixed body. During operation, the fixed body is fixed to the lower vehicle, while the sleeve rotates with the slewing platform of the upper vehicle, ensuring proper transmission of hydraulic pressure during relative rotation between the upper and lower vehicles.

[0003] Since the central rotating body is a casting, the workpiece consistency is poor, and there are many oil pipe joints on the central rotating body, which hinder the tightening and installation of the central rotating body. Therefore, the current assembly of the central rotating body mostly adopts manual installation and tightening, which is not only time-consuming and labor-intensive, but also has high labor intensity. The installation process effect has a greater risk of human error, the process cannot be guaranteed, and it is difficult to record and count the installation process. In other words, it cannot meet the current production needs of industrial informatization and is not conducive to statistical optimization of the process. Summary of the Invention

[0004] The first technical problem to be solved by the present invention is to provide a rotating body assembly device, which can realize automatic installation of the rotating body, has high installation accuracy, good operational stability, and a wide range of applications.

[0005] The second technical problem to be solved by the present invention is to provide a rotating body assembly device, which can realize automatic installation of the rotating body, has high installation accuracy, good operating stability, and a wide range of applications.

[0006] The final technical problem to be solved by the present invention is to provide a method for assembling a rotating body, which has a high degree of automation, high installation accuracy and good operational stability.

[0007] In order to solve the above technical problems, the first aspect of the present invention provides a rotating body assembly device for use in conjunction with a control device, including a clamping mechanism and a tightening mechanism for tightening the fasteners of the rotating body. The clamping mechanism and the tightening mechanism are both connected to the control device. The clamping mechanism can clamp and rotate the rotating part of the rotating body under the control of the control device so that the external parts on the rotating body are moved outside the operating space when the tightening mechanism tightens the fasteners.

[0008] Preferably, the clamping mechanism includes a transporting clamping finger assembly connected to the operating device and a rotating clamping finger assembly connected to the operating device, the transporting clamping finger assembly is a molded part made of a material that can form a friction force with the rotating body that is greater than the weight of the rotating body, and the rotating clamping finger assembly is a molded part made of a material that can form a rotational torque with the rotating body that is greater than the rotational torque of the rotating part of the rotating body.

[0009] More preferably, the transporting clamping finger assembly is a nylon molded part or a polyurethane molded part, and the rotating clamping finger assembly is a rubber molded part.

[0010] Further preferably, the transporting clamping finger assembly and the rotating clamping finger assembly are both connected to the control device via a clamping arm assembly, and the clamping arm assembly can be opened and closed to control the transporting clamping finger assembly or the rotating clamping finger assembly to clamp the rotating body.

[0011] Specifically, the clamp arm assembly includes a first clamp arm, a second clamp arm and a clamp arm driving component connected to the control device. The first clamp arm and the second clamp arm are both connected to the clamp arm driving component so that the clamp arm driving component can drive the first clamp arm and the second clamp arm to open and close.

[0012] More specifically, the carrying gripping finger assembly includes a first carrying gripping finger located on the first gripping arm and a second carrying gripping finger located on the second gripping arm, and the rotating gripping finger assembly includes a first rotating gripping finger located on the first gripping arm and a second rotating gripping finger located on the second gripping arm; the first carrying gripping finger and the first rotating gripping finger both have an end away from the first gripping arm that is shaped to match the outer shape of the rotating body, and the second carrying gripping finger and the second rotating gripping finger both have an end away from the second gripping arm that is shaped to match the outer shape of the rotating body.

[0013] As a preferred embodiment, the tightening mechanism includes a tightening shaft, a tightening head assembly connected to the tightening shaft, and a tightening shaft screw capable of driving the tightening shaft to rotate. The tightening head of the tightening head assembly is eccentric to the tightening shaft.

[0014] Preferably, the tightening mechanism also includes a tightening force controller for monitoring the tightening torque of the tightening shaft and a tightening shaft floating assembly capable of driving the tightening shaft to move axially; the tightening shaft floating assembly includes a fixing member connected to the control device, a slide rail located on the fixing member and a floating drive member for driving the tightening shaft to slide in the slide rail.

[0015] A second aspect of the present invention provides a rotating body assembly device, comprising the rotating body assembly device and the control device as described above.

[0016] A third aspect of the present invention provides a method for assembling a rotating body, using the rotating body assembly device described above, the method comprising the following steps:

[0017] S1. placing the rotating body onto the assembly body of the rotating body, and driving the tightening mechanism to move by the control device, so as to tighten a portion of the fasteners of the rotating body by using the tightening mechanism;

[0018] S2. After tightening a portion of the fasteners on the rotating body, the control device drives the clamping mechanism to move, so that the clamping mechanism clamps and rotates the rotating portion of the rotating body, so that the external connection member on the rotating body moves out of the operating space of the tightening mechanism for tightening the remaining fasteners, and the rotating body is loosened;

[0019] S3. The tightening mechanism is driven to move by the control device, so as to tighten the fasteners on the remaining part of the rotating body by using the tightening mechanism.

[0020] Through the above technical solution, the rotary body assembly device provided by the present invention can utilize the clamping mechanism to clamp the rotating part of the rotary body under the control of the operating device during the process of the tightening mechanism installing the fasteners of the rotary body, and drive the rotating part of the rotary body to rotate a certain angle, so that the external parts such as the oil pipe joint on the rotary body are rotated a certain angle and moved outside the operating space when the tightening mechanism tightens the fasteners, so as to avoid the interference of the external parts on the rotary body with the tightening operation of the fasteners, thereby facilitating the tightening mechanism to perform the installation operation of the fasteners of the rotary body. This assembly process can realize the automatic installation of various types of rotary bodies. Compared with traditional manual installation, the installation accuracy is high and the operation stability is good.

[0021] In a preferred embodiment of the present invention, the tightening head and the tightening shaft are in an eccentric structure, so that the tightening head can more easily avoid the oil pipe joint on the rotating body when performing the tightening operation, thereby reducing the interference of the oil pipe joint on the fastener of the rotating body when tightening; when the fasteners are docked, the tightening shaft floating assembly can drive the tightening shaft to move axially, so as to drive the tightening head assembly to float, which can improve the success rate of fastener docking, prevent rigid collision, and effectively protect the tightening mechanism and the rotating workpiece.

[0022] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a schematic front view of a specific embodiment of the rotary body assembly device of the present invention;

[0025] Figure 2 yes Figure 1 The schematic top view of the rotating body assembly device shown.

[0026] Description of Reference Numerals

[0027] 1Installation mechanism 2Clamping mechanism

[0028] 21 Clamping arm assembly 21a First clamping arm

[0029] 21b Second clamping arm 22 carries the clamping finger assembly

[0030] 22a first transport clamping finger 22b second transport clamping finger

[0031] 23 Rotating clamping finger assembly 23a First rotating clamping finger

[0032] 23b second rotating clamp finger 24 clamp arm driving member

[0033] 3 tightening mechanism 31 tightening shaft

[0034] 32 tightening head assembly 321 tightening head

[0035] 322 tightening head connector 33 tightening shaft floating assembly DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and the scope of protection of the present invention is not limited to the specific embodiments described below.

[0037] First of all, it should be noted that some directional words involved in the following description to clearly illustrate the technical solution of the present invention, such as "up, down, left, and right", indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set", "connect", "install", "provided with", etc. should be understood in a broad sense. For example, the connection can be a direct connection, or an indirect connection through an intermediate medium, a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate connector, or it can be the internal connection of the two components or the interaction relationship between the two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features.

[0039] The first aspect of the present invention provides a rotating body assembly device for use in conjunction with a control device, see Figure 1 and Figure 2 , including a clamping mechanism 2 and a tightening mechanism 3 for tightening the fasteners of the rotating body. The clamping mechanism 2 and the tightening mechanism 3 are both connected to the control device. The clamping mechanism 2 can clamp and rotate the rotating part of the rotating body under the control of the control device so that the external parts on the rotating body are moved outside the operating space when the tightening mechanism 3 tightens the fasteners.

[0040] In the present invention, the control device can adopt various types of automatic control parts such as a manipulator to control the clamping mechanism 2 and the tightening mechanism 3 to perform automatic operation, thereby realizing automatic assembly of the rotating body and saving manpower; as a preferred method, the clamping mechanism 2 and the tightening mechanism 3 can be connected as a whole through the installation mechanism 1, and then the installation mechanism 1 is set to a structure suitable for connection with the control device (such as a connecting flange), so that the clamping mechanism 2 and the tightening mechanism 3 can be more conveniently installed on the control device.

[0041] The rotating body can be various types of rotating joints used in engineering machinery, for example, it can be the central rotating body of an excavator. The rotating body includes a fixed part for fixed connection with the engineering machinery and a rotatable rotating part; the rotating body is usually provided with external parts such as oil pipe joints.

[0042] It should be noted that the operating space of the tightening mechanism 3 when tightening the fasteners specifically refers to the space required by the tightening mechanism 3 when tightening some or all of the fasteners of the rotating body; during the installation and fixation of the rotating body, based on the position of the oil pipe joint on the rotating body and the operating space of the tightening mechanism 3 on the fasteners, the clamping mechanism 2 can be used to rotate the rotating part of the rotating body once or multiple times to avoid interference caused by external parts such as the oil pipe joint when installing and fixing the fasteners. The fasteners of the rotating body are generally threaded connectors, such as fasteners that match bolts and nuts, or fasteners that match screws and screw holes. The process of fastener installation or docking refers to the process of connecting the parts of the fasteners, such as the process of bolts matching nuts or screw holes matching threads.

[0043] In order to better illustrate the working process of the rotary body assembly device provided by the present invention, the following is a detailed introduction and description of the rotary body assembly device when used in conjunction with the control device. At this time, the process of assembling the rotary body to the engineering machinery using the rotary body assembly device is as follows: the rotary body is placed on the assembly body of the rotary body (such as engineering machinery), and the tightening mechanism 3 is driven to move by the control device so as to tighten a part of the fasteners of the rotary body by the tightening mechanism 3; after tightening a part of the fasteners of the rotary body, the clamping mechanism 2 is driven to move by the control device so as to clamp and rotate the rotating part of the rotary body by the clamping mechanism 2, and the external parts such as the oil pipe joints on the rotary body that interfere with the installation of the fasteners are rotated to a certain angle, so that the external parts on the rotary body avoid the operating space for tightening the remaining fasteners by the tightening mechanism 3, and the rotary body is loosened, so as to facilitate the tightening mechanism 3 to install the remaining fasteners of the rotary body; the tightening mechanism 3 is driven to move by the control device so as to tighten the remaining fasteners of the rotary body by the tightening mechanism 3.

[0044] In the present invention, when the rotating part of the rotating body is rotated by the clamping mechanism 2, the rotation angle of the rotating body can be determined by a conventional calibration method. For example, it can be used in conjunction with an image system and determined by image recognition and calibration. Specifically, when used for the first time, the image system can be used to capture an image of the rotating part of the rotating body when the external part is rotated outside the operating space when the tightening mechanism 3 tightens part or all of the fasteners, and the image is stored in the operating system as a calibration image. When the clamping mechanism 2 is used to rotate the rotating body in the subsequent assembly process, the image system is used to capture the image of the rotating body in real time and compare it with the calibration image. The rotation operation of the rotating body can be stopped when it is consistent with the calibration image.

[0045] In the present invention, the clamping mechanism 2 can be used only to rotate the rotating part of the rotating body, and it can be used in conjunction with an independently set mechanism for clamping and transporting the rotating body; the clamping mechanism 2 can also integrate the two functions of rotating the rotating part of the rotating body and transporting the rotating body, and these two functions can be achieved by the same clamping finger or by setting different clamping fingers. As a preferred embodiment of the clamping mechanism 2 in the present invention, the clamping mechanism 2 includes a transport clamping finger assembly 22 connected to the control device and a rotating clamping finger assembly 23 connected to the control device. The transport clamping finger assembly 22 is a molded part made of a material that can generate a friction force greater than the weight of the rotating body with the rotating body, and the rotating clamping finger assembly 23 is a molded part made of a material that can generate a rotational torque greater than the rotational part of the rotating body with the rotating body. The transport clamping finger assembly 22 and the rotating clamping finger assembly 23 are independently set and made of different materials. This can improve the repeatability of the transport clamping finger assembly 22 in clamping the rotating body and installing and positioning its fixed part, and also make the rotating clamping finger assembly 23 more stable and accurate in rotating the rotating part of the rotating body.

[0046] In the present invention, the handling clamping finger assembly 22 is preferably a nylon molded part or a polyurethane molded part. The handling clamping finger assembly 22 is made of nylon or polyurethane material, and its performance can meet the grasping requirements of the rotating body, its rigidity meets the assembly accuracy requirements, and its plastic deformation can meet the requirements of not clamping the paint on the surface of the rotating body, thereby avoiding clamping damage to the rotating body; the rotating clamping finger assembly 23 is preferably a rubber molded part. The rotating clamping finger assembly 23 is made of rubber material, which has high plasticity and a large friction coefficient, and can ensure that the rotating part of the rotating body can be stably rotated after clamping the rotating body (the rotational torque requirement is large). At the same time, the rubber has high plastic deformation, which can make up for the position error of the rotation center of the rotating part of the rotating body when the manipulator grasps it. By utilizing the elastic characteristics of the rubber material, it can ensure that the rotating body rotates around its axis during the rotation process, thereby avoiding damage to the workpiece when the rotating body is rigidly connected.

[0047] In the present invention, the transporting clamping finger assembly 22 and the rotating clamping finger assembly 23 can cooperate with independently provided driving members to carry out the operation of transporting and / or rotating the rotating body, or can be used in conjunction with driving members connected to the control device; they can be connected to the control device through different connecting members, or can be connected to the control device through the same connecting member. As a preferred embodiment of the clamping mechanism 2, the transporting clamping finger assembly 22 and the rotating clamping finger assembly 23 are both connected to the control device through the clamping arm assembly 21, and the clamping arm assembly 21 can be opened and closed to control the transporting clamping finger assembly 22 or the rotating clamping finger assembly 23 to clamp the rotating body, so that the structure of the clamping mechanism 2 is simpler and has a high degree of integration. Among them, the driving member for opening and closing the clamping arm assembly 21 can be integrated with it, or can be set independently of the clamping mechanism 2 or independently of the rotating body assembly device.

[0048] In the present invention, the clamping arm assembly 21 can adopt a two-claw clamping member, a three-claw clamping member or a clamping member of other structures. As a preferred embodiment of the clamping arm assembly 21 in the present invention, the clamping arm assembly 21 includes a first clamping arm 21a, a second clamping arm 21b and a clamping arm driving member 24 connected to the control device, and the first clamping arm 21a and the second clamping arm 21b are both connected to the clamping arm driving member 24, so that the clamping arm driving member 24 can drive the first clamping arm 21a and the second clamping arm 21b to open and close. The setting of the first clamping arm 21a and the second clamping arm 21b makes the clamping of the rotating body more convenient and quick, and is also more convenient for the operation of the manipulator; connecting the clamping arm driving member 24 with the two clamping arms as a whole can improve the integration of the rotating body assembly device. In the present invention, the clamping arm driving member 24 can adopt a driving cylinder or a servo motor.

[0049] In the present invention, the setting of the carrying clamping finger assembly 22 and the rotating clamping finger assembly 23 can adopt a structure that is compatible with the external structure of the rotating body, so as to facilitate the grasping of the rotating body; the positions of the two on the clamping arm assembly 21 can be designed according to needs, and the carrying clamping finger assembly 22 can be located on the side of the clamping arm assembly 21 close to the clamping arm drive 24, or the rotating clamping finger assembly 23 can be located on the side of the clamping arm assembly 21 close to the clamping arm drive 24.

[0050] As a preferred embodiment of the handling gripper finger assembly 22 of the present invention, the handling gripper finger assembly 22 includes a first handling gripper finger 22a located on a first gripper arm 21a and a second handling gripper finger 22b located on a second gripper arm 21b. The end of the first handling gripper finger 22a distal from the first gripper arm 21a and the end of the second handling gripper finger 22b distal from the second gripper arm 21b are each shaped to match the outer shape of the rotating object (e.g., a V-shaped, circular arc-shaped, etc.). The first handling gripper finger 22a and the second handling gripper finger 22b are disposed opposite each other on the two gripper arms, so that when the first gripper arm 21a and the second gripper arm 21b are closed, they drive the two handling gripper fingers to grasp the rotating object. The shapes of the first handling gripper finger 22a and the second handling gripper finger 22b match the outer shape of the rotating object, adapting to the grasping and positioning of the central rotating object of different models of excavators, ensuring gripping stability and positioning accuracy.

[0051] As a preferred embodiment of the rotating gripper finger assembly 23 of the present invention, the rotating gripper finger assembly 23 includes a first rotating gripper finger 23a located on a first gripper arm 21a and a second rotating gripper finger 23b located on a second gripper arm 21b. The end of the first rotating gripper finger 23a away from the first gripper arm 21a and the end of the second rotating gripper finger 23b away from the second gripper arm 21b are respectively shaped to match the outer shape of the rotating object (e.g., V-shaped, circular arc-shaped, etc.). The first rotating gripper finger 23a and the second rotating gripper finger 23b are arranged opposite each other on the two gripper arms so that when the first gripper arm 21a and the second gripper arm 21b are closed, they drive the two rotating gripper fingers to clamp the rotating object. The shapes of the first rotating gripper finger 23a and the second rotating gripper finger 23b match the outer shape of the rotating object, which can adapt to the grasping and positioning of the central rotating object of different models of excavators, ensuring the stability of the clamping and rotating operations.

[0052] In the present invention, the tightening mechanism 3 includes a tightening shaft 31, a tightening head assembly 32 connected to the tightening shaft 31, and a tightening shaft screw capable of driving the tightening shaft 31 to rotate. The tightening head 321 of the tightening head assembly 32 is eccentric with the tightening shaft 31. The tightening mechanism 3 can be directly or indirectly connected to a control device, such that the tightening mechanism 3 is mounted on the control device. The tightening shaft screw provides power for the rotation of the tightening shaft 31 and can be a rotary motor. The tightening shaft 31 rotates under the power of the tightening shaft screw, driving the tightening head assembly 32 to tighten the fastener. The tightening head 321 and the tightening shaft 31 have an eccentric structure, which makes it easier for the tightening head 321 to avoid the oil pipe joint on the rotating body during the tightening operation, further reducing the interference of the oil pipe joint on the fastener of the rotating body when tightening; the eccentric size between the tightening head 321 and the tightening shaft 31 can be designed according to factors such as the size of the rotating body, the position and number of external parts such as the oil pipe joint, etc., and can cooperate with the rotating part of the rotating body to achieve the tightening mechanism 3 avoiding the interference of the oil pipe joint.

[0053] In the present invention, the tightening head assembly 32 can be selected according to the fastener type of the rotating body. The tightening head 321 on the tightening head assembly 32 can be connected to the tightening shaft 31 through the tightening head connector 322. The tightening head 321 can be provided with an inner hole structure so that the inner hole can be sleeved on the fastener (such as a bolt). The tightening head 321 tightens the fastener under the rotation of the tightening shaft 31; the tightening head 321 can also be set as a torque output head to tighten the fastener as the tightening shaft 31 is tightened.

[0054] As a preferred embodiment of the tightening mechanism 3, the tightening mechanism 3 also includes a tightening force controller for monitoring the tightening torque of the tightening shaft 31. The tightening force controller can be used to detect and control the tightening torque of the tightening shaft 31 in real time, thereby achieving stable control of the tightening effect and ensuring the tightening process. At the same time, the tightening torque data can be automatically uploaded to the upper system in real time, thereby automatically realizing the statistical work of the information flow, providing data support and product traceability guarantee for intelligent manufacturing. In the present invention, the tightening force controller and the tightening shaft screw can be integrated into the interior of the tightening mechanism 3 to improve the structural integration of the tightening mechanism 3.

[0055] As another preferred embodiment of the tightening mechanism 3, the tightening mechanism 3 also includes a tightening shaft floating assembly 33 that can drive the tightening shaft 31 to move axially. When the fasteners are docked, the tightening shaft floating assembly 33 can drive the tightening shaft 31 to move axially, so as to drive the tightening head assembly 32 to float through the axial movement of the tightening shaft 31, thereby improving the success rate of docking of the fastener parts operated by the tightening head assembly 32, preventing rigid collisions, and thereby ensuring that the tightening process does not damage the rotating workpiece and fasteners such as bolts, thereby ensuring the tightening effect.

[0056] As a preferred embodiment, the tightening shaft floating assembly 33 includes a fixed member connected to the control device, a slide rail located on the fixed member, and a floating drive member for driving the tightening shaft 31 to slide within the slide rail. The floating drive member can be a cylinder drive member or a spring member. When the floating drive member is a cylinder drive member, the driving force is adjusted by adjusting the air pressure of the floating drive member to cause the tightening shaft 31 to move axially along the slide rail, thereby driving the tightening head assembly 32 and the fastener (such as a bolt) operated by the tightening head assembly 32 to float axially, avoiding rigid collision when tightening the bolt and protecting the tightening equipment and the rotating workpiece. When the floating drive member is a spring member, the restoring force of the spring is used to drive the tightening shaft 31 to move along the slide rail.

[0057] Based on the above-mentioned rotating body assembly device, the second aspect of the present invention provides a rotating body assembly device, which includes the above-mentioned rotating body assembly device and a control device. Therefore, it has at least all the beneficial effects brought about by the technical solution of the above-mentioned rotating body assembly device embodiment. The third aspect of the present invention provides a rotating body assembly method, which uses the above-mentioned rotating body assembly device, and the method includes the following steps:

[0058] S1. Place the rotating body on the rotating body assembly body, and drive the tightening mechanism 3 to move by the control device to tighten a portion of the fasteners of the rotating body by using the tightening mechanism 3;

[0059] S2. After tightening a portion of the fasteners on the rotating body, the control device drives the clamping mechanism 2 to move, so that the clamping mechanism 2 clamps and rotates the rotating portion of the rotating body, so that the external parts on the rotating body are moved out of the operating space for the tightening mechanism 3 to tighten the remaining fasteners, and the rotating body is loosened;

[0060] S3. The tightening mechanism 3 is driven to move by the control device, so as to tighten the remaining fasteners of the rotating body by using the tightening mechanism 3.

[0061] The assembly method provided by the present invention has a high degree of automation and can meet the installation requirements of the rotating bodies of various types of engineering machinery.

[0062] As a relatively preferred embodiment of the rotary assembly equipment in the present invention, it includes a rotary assembly device and a control device, the control device adopts a manipulator, the rotary assembly device includes an installation mechanism 1 connected to the control device, a clamping mechanism 2 and a tightening mechanism 3, the clamping mechanism 2 includes a clamping arm assembly 21, a carrying clamping finger assembly 22, a rotating clamping finger assembly 23 and a clamping arm driving member 24 connected to the installation mechanism 1, the clamping arm assembly 21 includes a first clamping arm 21a and a second clamping arm 21b connected to the clamping arm driving member 24, so that the clamping arm driving member 24 can The first clamping arm 21a and the second clamping arm 21b can be driven to open and close. The transporting clamping finger assembly 22 is located on the side of the clamping arm assembly 21 close to the clamping arm driving member 24. The transporting clamping finger assembly 22 includes a first transporting clamping finger 22a located on the first clamping arm 21a and a second transporting clamping finger 22b located on the second clamping arm 21b. The rotating clamping finger assembly 23 includes a first rotating clamping finger 23a located on the first clamping arm 21a and a second rotating clamping finger 23b located on the second clamping arm 21b. The first transporting clamping finger 22a and the first rotating clamping finger 23a are both away from the first clamping arm One end of the second gripping arm 21a is V-shaped, and the second carrying gripping finger 22b and the second rotating gripping finger 23b are both V-shaped at one end away from the second gripping arm 21b. The first carrying gripping finger 22a and the second carrying gripping finger 22b are nylon molded parts or polyurethane molded parts, and the first rotating gripping finger 23a and the second rotating gripping finger 23b are rubber molded parts. The tightening mechanism 3 includes a tightening shaft 31, a tightening head assembly 32 connected to the tightening shaft 31, a tightening shaft screw capable of driving the tightening shaft 31 to rotate, a tightening shaft floating assembly 33 capable of driving the tightening shaft 31 to move axially, and a A tightening force controller for monitoring the tightening torque of the tightening shaft 31, the tightening head assembly 32 includes a tightening head 321 and a tightening head connector 322 for tightening a fastener of a rotating body, one end of the tightening head connector 322 is connected to the tightening shaft 31, and the other end is connected to the tightening head 321, the tightening head 321 and the tightening shaft 31 are in an eccentric structure, the tightening shaft floating assembly 33 includes a fixing part connected to the mounting mechanism 1, a slide rail located on the fixing part and a floating drive part for driving the tightening shaft 31 to slide in the slide rail, the floating drive part is a cylinder drive part or a spring part.

[0063] The process of assembling the rotating body by the above-mentioned rotating body assembly equipment is as follows (the fasteners of the rotating body adopt bolts and nuts as fasteners):

[0064] S1. The manipulator drives the clamping mechanism 2 to move, and the clamping arm assembly 21 opens and closes under the driving action of the clamping arm driving member 24, controlling the first handling clamping finger 22a and the second handling clamping finger 22b to close to clamp the required rotating object, and places the fixed part of the rotating object to the corresponding installation position on the assembly body of the rotating object (i.e., the engineering machinery) as the manipulator moves, and opens the first handling clamping finger 22a and the second handling clamping finger 22b to release the rotating object;

[0065] S2. The tightening mechanism 3 is driven to move by the manipulator, and the tightening shaft screwing member is used to drive the tightening shaft 31 to rotate, thereby driving the tightening head 321 to connect the fastener nut to the corresponding bolt and tighten it. When the nut is connected to the bolt, the floating driving member of the tightening shaft floating assembly 33 can drive the tightening shaft 31 to move axially along the slide rail, so that the tightening head 321 floats, thereby avoiding rigid collision when tightening the bolt;

[0066] S3. After tightening a part of the fasteners, the clamping mechanism 2 is driven by the manipulator to move, and the clamping arm assembly 21 is opened and closed under the driving action of the clamping arm driving member 24, and the first rotating clamping finger 23a and the second rotating clamping finger 23b are controlled to close to clamp the rotating part of the rotating body to the required angle (that is, the external parts such as the oil pipe joint on the rotating body are rotated to a certain angle so that the external parts on the rotating body are moved out of the operating space when the tightening mechanism 3 tightens the remaining fasteners). After that, the first rotating clamping finger 23a and the second rotating clamping finger 23b are opened to loosen the rotating body, so that the tightening mechanism 3 can install the remaining fasteners of the rotating body;

[0067] S4. The tightening mechanism 3 is driven to move by the manipulator, and the tightening shaft screwing member is used to drive the tightening shaft 31 to rotate to drive the tightening head 321 to connect the remaining fastener nuts to the corresponding bolts and tighten them. When the nut is connected to the bolt, the floating driving member of the tightening shaft floating assembly 33 can drive the tightening shaft 31 to move axially along the slide rail, so that the tightening head 321 floats, avoiding rigid collision when tightening the bolt.

[0068] From the above description, it can be seen that the rotating body assembly device provided by the present invention can utilize the clamping mechanism 2 to clamp the rotating part of the rotating body under the control of the operating device during the process of the tightening mechanism 3 installing the fasteners of the rotating body, and drive the rotating part of the rotating body to rotate a certain angle, so that the external parts such as the oil pipe joint of the rotating body avoid the operating space when the tightening mechanism 3 tightens the fasteners, thereby facilitating the tightening mechanism 3 to perform the installation operation on the fasteners of the rotating body. This assembly process can realize the automatic installation of various types of rotating bodies. Compared with traditional manual installation, the installation accuracy is high and the operation stability is good; the tightening head 321 and the tightening shaft 31 are in an eccentric structure, so that it is easier to avoid the oil pipe joint on the rotating body when the tightening head 321 performs the tightening operation, further reducing the interference of external parts such as the oil pipe joint when tightening the fasteners of the rotating body.

[0069] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention may be subjected to various simple modifications, including combining the specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as disclosed in the present invention and fall within the scope of protection of the present invention.

Claims

1. A method for assembling a rotating body, characterized in that: The invention is realized by using a rotating body assembly device, the rotating body assembly device is used in conjunction with a control device, the rotating body assembly device comprises a clamping mechanism (2) and a tightening mechanism (3) for tightening the fasteners of the rotating body, the clamping mechanism (2) and the tightening mechanism (3) are both connected to the control device, the clamping mechanism (2) can clamp and rotate the rotating part of the rotating body under the control of the control device, so that the external parts on the rotating body are moved outside the operating space when the tightening mechanism (3) tightens part or all of the fasteners; The clamping mechanism (2) comprises a transporting clamping finger assembly (22) connected to the control device and a rotating clamping finger assembly (23) connected to the control device, wherein the transporting clamping finger assembly (22) is a molded part made of a material capable of generating a friction force with the rotating body that is greater than the weight of the rotating body, and the rotating clamping finger assembly (23) is a molded part made of a material capable of generating a rotational torque with the rotating body that is greater than the rotational torque of the rotating part of the rotating body; The rotary body assembly method comprises the following steps: S1, placing the rotating body onto the assembly body of the rotating body, and driving the tightening mechanism (3) to move by the control device, so as to tighten a part of the fasteners of the rotating body by using the tightening mechanism (3); S2, after tightening a portion of the fasteners on the rotating body, the clamping mechanism (2) is driven to move by the operating device, so as to clamp and rotate the rotating portion of the rotating body by the clamping mechanism (2), so that the external parts on the rotating body are moved out of the operating space when the tightening mechanism (3) tightens the remaining portion of the fasteners, and the rotating body is loosened; S3, driving the tightening mechanism (3) to move by the control device, so as to tighten the fasteners of the remaining part of the rotating body by using the tightening mechanism (3).

2. The method for assembling a rotating body according to claim 1, wherein: The transporting clamping finger assembly (22) is a nylon molded part or a polyurethane molded part, and the rotating clamping finger assembly (23) is a rubber molded part.

3. The method for assembling a rotating body according to claim 1, wherein: The transporting clamping finger assembly (22) and the rotating clamping finger assembly (23) are both connected to the control device via a clamping arm assembly (21), and the clamping arm assembly (21) can be opened and closed to control the transporting clamping finger assembly (22) or the rotating clamping finger assembly (23) to clamp the rotating body.

4. The method for assembling a rotating body according to claim 3, wherein: The clamping arm assembly (21) comprises a first clamping arm (21a), a second clamping arm (21b) and a clamping arm driving member (24) connected to the control device, wherein the first clamping arm (21a) and the second clamping arm (21b) are both connected to the clamping arm driving member (24) so ​​that the clamping arm driving member (24) can drive the first clamping arm (21a) and the second clamping arm (21b) to open and close.

5. The method for assembling a rotating body according to claim 4, wherein: The transporting clamping finger assembly (22) includes a first transporting clamping finger (22a) located on the first clamping arm (21a) and a second transporting clamping finger (22b) located on the second clamping arm (21b); the rotating clamping finger assembly (23) includes a first rotating clamping finger (23a) located on the first clamping arm (21a) and a second rotating clamping finger (23b) located on the second clamping arm (21b); The ends of the first transporting clamping finger (22a) and the first rotating clamping finger (23a) away from the first clamping arm (21a) are respectively shaped to match the outer shape of the rotating body, and the ends of the second transporting clamping finger (22b) and the second rotating clamping finger (23b) away from the second clamping arm (21b) are respectively shaped to match the outer shape of the rotating body.

6. The method for assembling a rotating body according to any one of claims 1 to 5, characterized in that: The tightening mechanism (3) comprises a tightening shaft (31), a tightening head assembly (32) connected to the tightening shaft (31), and a tightening shaft screw capable of driving the tightening shaft (31) to rotate. The tightening head (321) of the tightening head assembly (32) is eccentric to the tightening shaft (31).

7. The method for assembling a rotating body according to claim 6, wherein: The tightening mechanism (3) further comprises a tightening force controller for monitoring the tightening torque of the tightening shaft (31) and a tightening shaft floating assembly (33) capable of driving the tightening shaft (31) to move axially; The tightening shaft floating assembly (33) comprises a fixing member connected to the control device, a slide rail located on the fixing member, and a floating driving member for driving the tightening shaft (31) to slide in the slide rail.

8. A rotating body assembly device, characterized in that: It comprises the rotating body assembly device and the control device according to any one of claims 1 to 7.

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