Flexible clamp device

Abstract

The present application belongs to the technical field of automatic engine assembling equipment, and discloses a flexible clamp device, which comprises a bearing structure, a material taking module and a mounting module; the material taking module comprises a first distance adjusting assembly and a material taking assembly, the first distance adjusting assembly drives the material taking assembly in the horizontal direction, and the material taking assembly is used for picking up a flywheel housing; the mounting module comprises a rotating assembly, a second distance adjusting assembly and a mounting assembly, the rotating assembly is installed on the bearing structure, the second distance adjusting assembly is connected to the output end of the rotating assembly, the mounting assembly is connected to the output end of the second distance adjusting assembly, the rotating assembly drives the second distance adjusting assembly and the mounting assembly to rotate around a vertical line, the second distance adjusting assembly drives the mounting assembly in the horizontal direction, and the mounting assembly is used for mounting the flywheel housing on a machine body. The flexible clamp device can clamp flywheel housings of different sizes, expands the application range, and meets the use requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engine automatic assembly equipment, in particular to a flexible clamp device. BACKGROUND

[0002] The flywheel shell is a shell for protecting the flywheel of an engine, which is installed between the engine and the gearbox, and has the flywheel assembly arranged inside and the body of the gearbox connected outside. In the existing flywheel shell assembly process, the flywheel shell needs to be carried to the body by a special clamp, and then the flywheel shell and the body are fixedly connected by bolts. However, for a mixed production line with multiple platforms, the existing special clamp cannot meet the use requirements.

[0003] Therefore, there is an urgent need for a flexible clamp device that can clamp flywheel shells of different sizes, expand the application range, and meet the use requirements. SUMMARY

[0004] An object of the present application is to provide a flexible clamp device that can clamp flywheel shells of different sizes, expand the application range, and meet the use requirements.

[0005] To achieve this object, the present application adopts the following technical solutions:

[0006] The flexible clamp device comprises:

[0007] A bearing structure installed at the execution end of a manipulator;

[0008] A material taking module comprising a first distance adjusting assembly and a material taking assembly, the first distance adjusting assembly being installed on the bearing structure, the material taking assembly being connected to the output end of the first distance adjusting assembly, the first distance adjusting assembly driving the material taking assembly in the horizontal direction, and the material taking assembly being used for picking up the flywheel shell;

[0009] An installation module comprising a rotating assembly, a second distance adjusting assembly, and an installation assembly, the rotating assembly being installed on the bearing structure, the second distance adjusting assembly being connected to the output end of the rotating assembly, the installation assembly being connected to the output end of the second distance adjusting assembly, the rotating assembly driving the second distance adjusting assembly and the installation assembly to rotate around a vertical line, the second distance adjusting assembly driving the installation assembly in the horizontal direction, and the installation assembly being used for installing the flywheel shell on the body.

[0010] As an optional technical solution, the material taking assembly is provided in two groups, and the first distance adjusting assembly comprises:

[0011] A first servo motor installed on the bearing structure;

[0012] A first bidirectional screw rod is installed at the output end of the first servo motor, one group of the material taking assemblies is installed at one end of the first bidirectional screw rod, another group of the material taking assemblies is installed at the other end of the first bidirectional screw rod, and the first bidirectional screw rod is used to drive the two groups of the material taking assemblies to move away from each other or move close to each other.

[0013] As an optional technical solution, the material taking assembly comprises:

[0014] A first support is connected to the first bidirectional screw rod.

[0015] A first tightening gun is installed on the first support, and the first tightening gun is used to screw bolts into bolt holes on the end face of the flywheel shell.

[0016] As an optional technical solution, the material taking assembly further comprises:

[0017] A copper block is installed at the execution end of the first tightening gun, and the copper block is used to abut against the flywheel shell.

[0018] A position sensor is installed on the first tightening gun, and the position sensor is used to detect a position signal of the copper block.

[0019] As an optional technical solution, the bearing structure comprises:

[0020] A bearing base is used to be installed at the execution end of the manipulator.

[0021] A first sliding rail sliding block is installed on the bearing base and extends in the horizontal direction.

[0022] A bearing mounting seat is installed on the first sliding rail sliding block, and the material taking assembly is installed on the bearing mounting seat.

[0023] A first screw rod nut is sleeved on the periphery of the first bidirectional screw rod and fixedly connected with the bearing mounting seat.

[0024] As an optional technical solution, the mounting assembly comprises:

[0025] A mounting cylinder.

[0026] A second tightening gun is installed at the output end of the mounting cylinder, and the mounting cylinder drives the second tightening gun to move close to or away from the flywheel shell.

[0027] A sleeve is installed at the output end of the second tightening gun, the sleeve is used to be sleeved on the periphery of a pre-tightening bolt of the flywheel shell, and the second tightening gun is used to drive the sleeve to rotate, so that the pre-tightening bolt locks the flywheel shell and the engine body.

[0028] As an optional technical scheme, the mounting assembly is provided in two groups, and the second distance adjusting assembly comprises:

[0029] A second servo motor;

[0030] A second bidirectional screw rod is installed at the output end of the second servo motor, one group of the mounting assemblies is installed at one end of the second bidirectional screw rod, and the other group of the mounting assemblies is installed at the other end of the second bidirectional screw rod, and the second bidirectional screw rod is used to drive the two groups of mounting assemblies to move away from each other or move close to each other.

[0031] As an optional technical scheme, the mounting module further comprises:

[0032] A second moving assembly comprises a second power member and a second mounting plate, the second power member is installed at the output end of the rotating assembly, the second mounting plate is installed at the output end of the second power member, and the second power member drives the second mounting plate to move in a second horizontal direction;

[0033] A first moving assembly comprises a first power member and a first mounting plate, the first power member is installed at the second mounting plate, the first mounting plate is installed at the output end of the first power member, the first power member drives the first mounting plate to move in a first horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, the second distance adjusting assembly is fixedly installed at the first mounting plate, and the mounting assembly is slidingly installed at the first mounting plate.

[0034] As an optional technical scheme, the first power member is a servo motor, the first mounting plate is a screw rod nut, the first moving assembly further comprises a first synchronous belt and a first screw rod, the first synchronous belt is transmissionally wound between the output end of the first power member and the first screw rod, the first mounting plate is sleeved on the peripheral portion of the first screw rod, and the first power member drives the first screw rod to rotate so as to drive the first mounting plate to move in the first horizontal direction;

[0035] The second power member is a servo motor, the second mounting plate is a screw rod nut, the second moving assembly further comprises a support seat and a second screw rod, one end of the second screw rod is connected to the output end of the second power member, the other end of the second screw rod is rotationally borne on the support seat, and the second mounting plate is sleeved on the second screw rod.

[0036] As an optional technical scheme, the bearing structure is installed with a vision module, the vision module comprises an industrial camera and a light source, the light source is used to irradiate the flywheel shell, and the industrial camera is used to take a photo of the end face of the flywheel shell.

[0037] The present application has the advantages of:

[0038] The present application provides a flexible clamp device, which comprises a bearing structure, a material taking module and a mounting module. When the flexible clamp device is used, the bearing structure is mounted on the execution end of a manipulator, the manipulator drives the flexible clamp device to approach a flywheel shell, the flywheel shell is first picked up by the material taking module, in the process of picking up the flywheel shell, the position of the material taking assembly is adjusted by the first distance adjusting assembly in the horizontal direction, so that the material taking assembly can be aligned with the flywheel shell, to ensure accurate picking up of the flywheel shell, then the manipulator drives the flexible clamp device and the flywheel shell to approach a machine body, the mounting assembly is driven to rotate around a vertical line by the rotating assembly, the mounting assembly is adjusted by the second distance adjusting assembly in the horizontal direction, so that the mounting assembly is aligned with the flywheel shell, to ensure that the mounting assembly can accurately mount the flywheel shell located in the material taking assembly on the machine body. In the present application, the position of the material taking process of the material taking module and the mounting process of the mounting module can be adjusted for flywheels of different sizes, so that flywheels of different sizes can be picked up and mounted, the application range is expanded, and the use requirements are met. BRIEF DESCRIPTION OF DRAWINGS

[0039] The present application will be further described in detail below according to the drawings and embodiments;

[0040] Figure 1 The structure schematic view of the first perspective of the flexible clamp device described in the embodiments;

[0041] Figure 2 The structure schematic view of the second perspective of the flexible clamp device described in the embodiments;

[0042] Figure 3 The structure schematic view of the mounting assembly described in the embodiments;

[0043] Figure 4 The structure schematic view of the first moving assembly described in the embodiments;

[0044] Figure 5 The structure schematic view of the second moving assembly described in the embodiments.

[0045] In the drawings:

[0046] 1, bearing structure; 11, bearing base; 12, first slide block; 13, first screw nut; 14, bearing mounting seat;

[0047] 2, material taking module; 21, first distance adjusting assembly; 211, first servo motor; 212, first bidirectional screw rod; 22, material taking assembly; 221, first support; 222, first tightening gun; 223, copper block; 224, in-place sensor;

[0048] 3, mounting module; 31, rotating assembly; 32, second distance adjusting assembly; 33, mounting assembly; 331, mounting cylinder; 332, second tightening gun; 333, sleeve; 34, first moving assembly; 341, first power member; 342, first mounting plate; 343, first synchronous belt; 344, first screw rod; 35, second moving assembly; 351, second power member; 352, second mounting plate; 353, support seat; 354, second screw rod;

[0049] 4, vision module; 41, industrial camera; 42, light source. DETAILED DESCRIPTION

[0050] In order to make the technical problems solved by the present application, the technical solutions adopted and the technical effects reached more clear, the technical solutions of the embodiments of the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0053] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation, 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 the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0054] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0055] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0056] like Figures 1 to 5 As shown, this embodiment provides a flexible clamping device, which includes a support structure 1, a material picking module 2, and an installation module 3. The support structure 1 is installed on the execution end of the robot arm. The material picking module 2 includes a first adjusting component 21 and a material picking component 22. The first adjusting component 21 is installed on the support structure 1, and the material picking component 22 is connected to the output end of the first adjusting component 21. The first adjusting component 21 drives the material picking component 22 in the horizontal direction, and the material picking component 22 is used to pick up the flywheel housing. The installation module 3 includes a rotating component 31, a second adjusting component 32, and an installation component 33. The rotating component 31 is installed on the support structure 1, the second adjusting component 32 is connected to the output end of the rotating component 31, and the installation component 33 is connected to the output end of the second adjusting component 32. The rotating component 31 drives both the second adjusting component 32 and the installation component 33 to rotate around a vertical line. The second adjusting component 32 drives the installation component 33 in the horizontal direction, and the installation component 33 is used to install the flywheel housing onto the machine body.

[0057] In this embodiment, the horizontal line is the X-axis and the vertical line is the Z-axis.

[0058] Specifically, when the flexible clamp device is used, the bearing structure 1 is installed on the execution end of the manipulator, the manipulator drives the flexible clamp device to approach the flywheel shell, the flywheel shell is first picked up by the material taking module 2, in the process of picking up the flywheel shell, the first distance adjusting assembly 21 adjusts the position of the material taking assembly 22 in the horizontal direction, so that the material taking assembly 22 can be aligned with the flywheel shell, to ensure accurate picking up of the flywheel shell, then the manipulator drives the flexible clamp device and the flywheel shell to approach the machine body, the rotating assembly 31 drives the installation assembly 33 to rotate around the vertical line, the second distance adjusting assembly 32 adjusts the installation assembly 33 in the horizontal direction, so that the installation assembly 33 is aligned with the flywheel shell, to ensure that the installation assembly 33 can accurately install the flywheel shell located in the material taking assembly 22 on the machine body. In this embodiment, since the material taking process of the material taking module 2 and the installation process of the installation module 3 can both adjust the position for flywheels of different sizes, flywheels of different sizes can be picked up and installed, the application range is expanded, and the use requirements are met.

[0059] Optionally, the rotating assembly 31 comprises a rotating motor and a rotating frame, the rotating frame is connected with the output end of the rotating motor, the rotating motor drives the rotating frame to rotate around the vertical line, and the second distance adjusting assembly 32 and the installation assembly 33 are both connected with the rotating frame.

[0060] Optionally, the material taking assembly 22 is provided in two groups, the first distance adjusting assembly 21 comprises a first servo motor 211 and a first bidirectional screw rod 212, the first servo motor 211 is installed on the bearing structure 1, one group of the material taking assembly 22 is installed on one end of the first bidirectional screw rod 212, and the other group of the material taking assembly 22 is installed on the other end of the first bidirectional screw rod 212, and the first bidirectional screw rod 212 is used to drive the two groups of the material taking assembly 22 to move away from or close to each other.

[0061] The two groups of the material taking assembly 22 are used to pick up the same flywheel, which can ensure stability during the transfer of the flywheel to the machine body, and the two groups of the material taking assembly 22 are connected with the same first bidirectional screw rod 212, so that the two groups of the material taking assembly 22 can be driven by one first servo motor 211 to move away from or close to each other, to adapt to flywheels of different sizes.

[0062] Optionally, the material taking assembly 22 comprises a first support 221 and a first tightening gun 222, the first support 221 is connected with the first bidirectional screw rod 212, and the first tightening gun 222 is installed on the first support 221 and is used to screw bolts into bolt holes in the end face of the flywheel shell.

[0063] The end face of the flywheel shell is an installation surface in contact with the machine body. In the embodiment, the bolt holes on the end face of the flywheel shell are used as the picking points, and the first tightening gun 222 is used to screw or unscrew the bolts into or out of the bolt holes of the flywheel shell to realize the picking or loosening of the flywheel shell. Thus, the problem that the existing clamping type picking mechanism cannot adapt to flywheel shells of different shapes, such as circular structure, square structure or irregular shape, is effectively avoided. The bolt holes on the end face of the flywheel shell are provided in plurality, and the distances between the corresponding screw holes are different for flywheel shells of different sizes. In the embodiment, the first servo motor 211 and the first bidirectional screw rod 212 are used to adjust the distance between the two first tightening guns 222, so that the two first tightening guns 222 can one-to-one correspond to the two bolt holes on the end face of the flywheel shell.

[0064] Optionally, the picking assembly 22 further comprises a copper block 223 and a position sensor 224. The copper block 223 is installed at the execution end of the first tightening gun 222, and is used to abut against the flywheel shell. The position sensor 224 is installed on the first tightening gun 222, and is used to detect the position signal of the copper block 223.

[0065] The copper block 223 has a certain hardness, and the flywheel shell is made of steel material. The hardness of the flywheel shell is higher than that of the copper block 223. When the copper block 223 contacts the flywheel shell, the flywheel shell can be prevented from being damaged. After the flywheel shell is tightly attached to the copper block 223 by the first tightening gun 222, the elastic deformation amount of the copper block 223 is small, the position sensor 224 can receive an accurate position signal, and the first tightening gun 222 can be stopped in time.

[0066] Optionally, the bearing structure 1 comprises a bearing base 11, a first sliding rail slider 12, a bearing mounting seat 14 and a first screw nut 13. The bearing base 11 is used to be installed at the execution end of the manipulator. The first sliding rail slider 12 is installed on the bearing base 11 and extends in the horizontal direction. The bearing mounting seat 14 is installed on the first sliding rail slider 12, and the picking assembly 22 is installed on the bearing mounting seat 14. The first screw nut 13 is sleeved on the peripheral part of the first bidirectional screw rod 212 and is fixedly connected with the bearing mounting seat 14.

[0067] The first sliding rail slider 12, the bearing mounting seat 14 and the first screw nut 13 are provided in two respectively. Two groups of picking assemblies 22 correspond to the bearing mounting seat 14 one-to-one. The first support 221 in the picking assembly 22 is fixedly connected with the bearing mounting seat 14, and the bearing mounting seat 14 is guided by the first sliding rail slider 12 to improve the spacing adjustment accuracy of the two groups of picking assemblies 22.

[0068] Optionally, the mounting assembly 33 comprises a mounting cylinder 331, a second tightening gun 332 and a sleeve 333; the second tightening gun 332 is mounted on the output end of the mounting cylinder 331, the mounting cylinder 331 drives the second tightening gun 332 to approach or move away from the flywheel housing; the sleeve 333 is mounted on the output end of the second tightening gun 332, the sleeve 333 is used for sleeving the periphery of the pre-tightening bolt of the flywheel housing, and the second tightening gun 332 is used for driving the sleeve 333 to rotate, so that the pre-tightening bolt locks the flywheel housing and the engine body.

[0069] The mounting assembly 33 is located between the two groups of material taking assemblies 22, the mounting cylinder 331 drives the second tightening gun 332 and the sleeve 333 to approach the flywheel housing, the sleeve 333 sleeves the periphery of the pre-tightening bolt, the second tightening gun 332 drives the sleeve 333 to rotate, the sleeve 333 tightens the pre-tightening bolt, the pre-tightening bolt fixedly connects the flywheel housing and the engine body, the mounting cylinder 331 drives the second tightening gun 332 and the sleeve 333 to move away from the flywheel housing, at this time, the first tightening gun 222 is reversed to loosen, so that the material taking assembly 22 is separated from the flywheel housing.

[0070] Optionally, the mounting assembly 33 is provided in two groups, the second distance adjusting assembly 32 comprises a second servo motor and a second bidirectional screw rod; the second bidirectional screw rod is mounted on the output end of the second servo motor, one group of mounting assemblies 33 is mounted on one end of the second bidirectional screw rod, and the other group of mounting assemblies 33 is mounted on the other end of the second bidirectional screw rod, and the second bidirectional screw rod is used for driving the two groups of mounting assemblies 33 to move away from or approach each other.

[0071] The second distance adjusting assembly 32 can refer to the first distance adjusting assembly 21 of the embodiment, and the embodiment will not be described one by one.

[0072] Optionally, the mounting module 3 further comprises a first moving assembly 34 and a second moving assembly 35, the second moving assembly 35 comprises a second power member 351 and a second mounting plate 352, the second power member 351 is mounted on the output end of the rotating assembly 31, the second mounting plate 352 is mounted on the output end of the second power member 351, and the second power member 351 drives the second mounting plate 352 in the second horizontal direction; the first moving assembly 34 comprises a first power member 341 and a first mounting plate 342, the first power member 341 is mounted on the second mounting plate 352, the first mounting plate 342 is mounted on the output end of the first power member 341, the first power member 341 drives the first mounting plate 342 in the first horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, the second distance adjusting assembly 32 is fixedly mounted on the first mounting plate 342, and the mounting assembly 33 is slidingly mounted on the first mounting plate 342.

[0073] In the embodiment, the first horizontal line and the second horizontal line are located in the XY plane.

[0074] Before the mounting assembly 33 is used to fix the pre-tightening bolt to connect the flywheel shell and the engine body, the flywheel shell has been picked up and fixed by the two groups of picking assembly 22, so that only the position of the mounting assembly 33 can be adjusted, and in addition to rotating the mounting assembly 33 relative to the flywheel shell around the vertical line, the mounting assembly 33 is also moved relative to the flywheel shell in the first horizontal direction and the second horizontal direction in the embodiment, so as to ensure that the mounting assembly 33 can be aligned with the flywheel shell.

[0075] In the embodiment, the first power member 341 is a servo motor, the first mounting plate 342 is a screw nut, and the first moving assembly 34 further includes a first synchronous belt 343 and a first screw rod 344. The first synchronous belt 343 is transmissionally wound between the output end of the first power member 341 and the first screw rod 344, and the first mounting plate 342 is sleeved on the peripheral portion of the first screw rod 344. The first power member 341 drives the first screw rod 344 to rotate to drive the first mounting plate 342 to move along the first horizontal direction.

[0076] In other embodiments, the first power member 341 is a gas cylinder, which is used to drive the first mounting plate 342 along the first horizontal direction.

[0077] In some embodiments, the second power member 351 is a servo motor, the second mounting plate 352 is a screw nut, and the second moving assembly 35 further includes a support seat 353 and a second screw rod 354. The support seat 353 is fixedly installed on the output end of the rotating assembly 31, one end of the second screw rod 354 is connected to the output end of the second power member 351, and the other end of the second screw rod 354 is rotationally borne on the support seat 353. The second mounting plate 352 is sleeved on the second screw rod 354.

[0078] Optionally, the mounting module 3 further includes a second sliding rail sliding block and a third sliding rail sliding block. The second sliding rail sliding block is arranged between the rotating assembly 31 and the first mounting plate 342, and the first mounting plate 342 is guided by the second sliding rail sliding block. The third sliding rail sliding block is arranged between the first mounting plate 342 and the second mounting plate 352, and the second mounting plate 352 is guided by the third sliding rail sliding block.

[0079] Optionally, the bearing structure 1 is installed with a vision module 4, which includes an industrial camera 41 and a light source 42. The light source 42 is used to irradiate the flywheel shell, and the industrial camera 41 is used to take a photo of the end face of the flywheel shell. The industrial camera 41 performs feature recognition and positioning on the bolt hole of the end face of the flywheel shell, and through the coordinates of the bolt hole, the mechanical hand drives the flexible clamp device of the embodiment to move to the predetermined position.

[0080] In addition, the above merely describes the preferred embodiments of the present application and the principles of the technology applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, reconfigurations and substitutions can be made by those skilled in the art without departing from the scope of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A flexible clamping device, characterized in that, include: A support structure (1) is installed at the execution end of the robot arm; The material picking module (2) includes a first adjusting component (21) and a material picking component (22). The first adjusting component (21) is installed on the bearing structure (1), and the material picking component (22) is connected to the output end of the first adjusting component (21). The first adjusting component (21) drives the material picking component (22) in the horizontal direction. The material picking component (22) is used to pick up the flywheel housing. The mounting module (3) includes a rotating component (31), a second adjusting component (32), and a mounting component (33). The rotating component (31) is mounted on the bearing structure (1). The second adjusting component (32) is connected to the output end of the rotating component (31). The mounting component (33) is connected to the output end of the second adjusting component (32). The rotating component (31) drives the second adjusting component (32) and the mounting component (33) to rotate around a vertical line. The second adjusting component (32) drives the mounting component (33) in the horizontal direction. The mounting component (33) is used to mount the flywheel housing to the machine body. The installation module (3) also includes: The second moving component (35) includes a second power member (351) and a second mounting plate (352). The second power member (351) is mounted on the output end of the rotating component (31), and the second mounting plate (352) is mounted on the output end of the second power member (351). The second power member (351) drives the second mounting plate (352) along a second horizontal direction. The first moving component (34) includes a first power member (341) and a first mounting plate (342). The first power member (341) is mounted on the second mounting plate (352). The first mounting plate (342) is mounted on the output end of the first power member (341). The first power member (341) drives the first mounting plate (342) along a first horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The second adjusting component (32) is fixedly mounted on the first mounting plate (342). The mounting component (33) is slidably mounted on the first mounting plate (342). The material handling components (22) are configured in two sets, and the first adjustment component (21) includes: The first servo motor (211) is mounted on the supporting structure (1). The first bidirectional lead screw (212) is installed at the output end of the first servo motor (211). One set of the material picking components (22) is installed at one end of the first bidirectional lead screw (212), and the other set of the material picking components (22) is installed at the other end of the first bidirectional lead screw (212). The first bidirectional lead screw (212) is used to drive the two sets of material picking components (22) to move away from each other or closer to each other. The mounting components (33) are configured in two sets, and the second adjustment component (32) includes: Second servo motor; The second bidirectional lead screw is installed at the output end of the second servo motor. One set of the mounting components (33) is installed at one end of the second bidirectional lead screw, and the other set of the mounting components (33) is installed at the other end of the second bidirectional lead screw. The second bidirectional lead screw is used to drive the two sets of mounting components (33) to move away from each other or closer to each other.

2. The flexible clamping device according to claim 1, characterized in that, The material handling component (22) includes: The first bracket (221) is connected to the first bidirectional lead screw (212); The first tightening gun (222) is mounted on the first bracket (221) and is used to screw the bolt into the bolt hole on the end face of the flywheel housing stop.

3. The flexible clamping device according to claim 2, characterized in that, The material handling assembly (22) further includes: A copper block (223) is installed on the actuating end of the first tightening gun (222), and the copper block (223) is used to abut against the flywheel housing; A positioning sensor (224) is installed on the first tightening gun (222), and the positioning sensor (224) is used to detect the positioning signal of the copper block (223).

4. The flexible clamping device according to claim 1, characterized in that, The load-bearing structure (1) includes: A support base (11) is used to be installed on the actuator end of the robot arm; The first slide rail slider (12) is installed on the bearing base (11) and the first slide rail slider (12) extends in the horizontal direction; The support mounting base (14) is installed on the first slide rail slider (12), and the material taking component (22) is installed on the support mounting base (14). The first lead screw nut (13) is sleeved on the periphery of the first bidirectional lead screw (212) and fixedly connected to the bearing mounting seat (14).

5. The flexible clamping device according to claim 1, characterized in that, The installation component (33) includes: Install cylinder (331); The second tightening gun (332) is installed at the output end of the mounting cylinder (331), and the mounting cylinder (331) drives the second tightening gun (332) to move closer to or away from the flywheel housing; A sleeve (333) is installed at the output end of the second tightening gun (332). The sleeve (333) is used to fit around the pre-tightening bolt of the flywheel housing. The second tightening gun (332) is used to drive the sleeve (333) to rotate so that the pre-tightening bolt locks the flywheel housing and the machine body.

6. The flexible clamping device according to claim 1, characterized in that, The first power component (341) is a servo motor, the first mounting plate (342) is a lead screw nut, and the first moving component (34) further includes a first synchronous belt (343) and a first lead screw (344). The first synchronous belt (343) is wound around the output end of the first power component (341) and the first lead screw (344). The first mounting plate (342) is sleeved on the periphery of the first lead screw (344). The first power component (341) drives the first lead screw (344) to rotate so as to drive the first mounting plate (342) to move along the first horizontal direction. The second power component (351) is a servo motor, the second mounting plate (352) is a lead screw nut, and the second moving component (35) also includes a support base (353) and a second lead screw (354). The support base (353) is fixedly connected to the output end of the rotating component (31), one end of the second lead screw (354) is connected to the output end of the second power component (351), and the other end of the second lead screw (354) is rotatably supported by the support base (353). The second mounting plate (352) is sleeved on the second lead screw (354).

7. The flexible clamping device according to claim 1, characterized in that, The supporting structure (1) is equipped with a vision module (4), which includes an industrial camera (41) and a light source (42). The light source (42) is used to illuminate the flywheel housing, and the industrial camera (41) is used to take pictures of the stop end face of the flywheel housing.

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