GIS sub-packaging line transfer mechanism

Abstract

The application belongs to the field of intelligent manufacturing, and discloses a GIS sub-packaging line transfer mechanism, which realizes semi-automatic assembly of a dynamic side assembly and a GIS shell, is easy to combine with a predetermined assembly line, thereby obviously reducing labor cost and greatly improving efficiency, and comprises a temporary conveying line, a manual transfer conveying line, two transfer assemblies and an assembly robot, the temporary conveying line and the manual transfer conveying line are driven along a straight line based on a predetermined assembly line beat, the temporary conveying line has a temporary starting end and a temporary terminal end, the manual transfer conveying line has a manual transfer starting end and a manual transfer terminal end, and a dynamic side sealing plate and a dynamic side connecting conductor are assembled by manual work on the manual transfer conveying line, thereby forming a dynamic side assembly, the two transfer assemblies are respectively used for transferring the dynamic side end sealing plate from the temporary terminal end to the manual transfer starting end and transferring the dynamic side assembly from the manual transfer terminal end to the temporary starting end, and the assembly robot is used for assembling the dynamic side assembly to a predetermined GIS shell.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of intelligent manufacturing, and particularly relates to a GIS subassembly line transfer mechanism. BACKGROUND

[0002] The GIS product is a kind of product commonly used in electrical system construction.

[0003] At present, since the assembly of the GIS product has many components, many assembly processes, and high requirements for corresponding assembly sealing, insulation, and synchronization of moving parts, the assembly of the GIS product is mainly completed by manual assembly supplemented by general tool fixtures, so that the labor cost is high and the efficiency is low. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a GIS subassembly line transfer mechanism which can realize semi-automatic assembly of the moving side assembly and the GIS shell, is easy to combine with the predetermined assembly line, and thus significantly reduces the labor cost and greatly improves the efficiency.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] A GIS subassembly line transfer mechanism is arranged near a predetermined GIS shell and is used for realizing semi-automatic assembly of the predetermined GIS shell, a moving side end sealing plate, and a moving side connecting conductor, and characterized in that it comprises a temporary residence conveying line, a manual circulation conveying line, a dust collector, two transfer assemblies, and an assembly robot, the temporary residence conveying line and the manual circulation conveying line are both straightly transmitted along the horizontal direction based on a predetermined assembly line rhythm, the temporary residence conveying line forms a temporary residence starting end and a temporary residence terminal end along the transmission direction, the manual circulation conveying line forms a manual circulation starting end and a manual circulation terminal end along the transmission direction, and the moving side sealing plate and the moving side connecting conductor are assembled by manual operation on the manual circulation conveying line to form a moving side assembly, the dust suction port of the dust collector is located near the manual circulation conveying line and faces the manual circulation conveying line, the two transfer assemblies are respectively used for transferring the moving side end sealing plate from the temporary residence terminal end to the manual circulation starting end and transferring the moving side assembly from the manual circulation terminal end to the temporary residence starting end, and the assembly robot is used for grabbing the moving side assembly to the predetermined GIS shell and assembling it on the predetermined GIS shell.

[0007] Preferably, the present application further comprises a dispensing gun with a muzzle downward, and an assembly robot having a chassis, a base, a mechanical arm, a wrist support and a gripper, the gripper is located near the dispensing gun, the base is horizontally rotatably arranged on the chassis, the mechanical arm is vertically rotatably arranged on the base, the wrist support is vertically rotatably arranged on the free end of the mechanical arm, the gripper is rotatably arranged on the wrist support, and the rotation axis of the gripper is perpendicular to the rotation axis of the wrist support, the gripper clamps the opposite peripheral surface of the dynamic side end sealing plate to clamp the dynamic side assembly, the dynamic side assembly at this time is taken as a dynamic side assembly to be glued, the assembly robot turns over the dynamic side assembly to be glued through the combined rotation of the wrist support and the gripper, and the assembly robot makes the turned over dynamic side assembly to be glued located directly below the muzzle of the dispensing gun through the rotation of the mechanical arm.

[0008] Further, the assembly robot is based on a predetermined flow tempo action, when the turned over dynamic side assembly to be glued is located directly below the dispensing gun, the muzzle corresponds to the edge near the plate surface of the dynamic side end sealing plate, the dispensing gun starts to glue, at this time, the assembly robot is based on a predetermined delay program, so that the combined rotation of the base and the mechanical arm, so that the dynamic side end sealing plate rotates around the glue falling axis of the dispensing gun as the rotation axis, and then the assembly robot presses the turned over dynamic side assembly to be glued on the surface of the predetermined GIS shell to realize the adhesive bonding, and the delay program takes the start of the dispensing gun as the delay reference time point.

[0009] Further, the gripper has a gripper base plate, a pair of end clamping plates and a clamping cylinder, the pair of end clamping plates are parallel to each other, the pair of end clamping plates are movably arranged on the gripper base plate, and the pair of end clamping plates are respectively fixed on the cylinder side and the piston side of the clamping cylinder, and the clamping cylinder is used to drive the pair of end clamping plates to move towards or away from each other, so that the gripper clamps the opposite peripheral surface of the dynamic side end sealing plate through the pair of end clamping plates.

[0010] Still further, the end clamping plate and the gripper base plate are matched through a guide shoe guide rail, the peripheral surface of the dynamic side end sealing plate has a pair of coaxial positioning blind holes, and the end clamping plate has a positioning protruding rod part matched with the positioning blind hole.

[0011] Still further, the gripper has a vision module, which detects the uniformity of the glue on the dynamic side end sealing plate after the dynamic side end sealing plate rotates around the glue falling axis of the dispensing gun.

[0012] Preferably, the transfer assembly comprises a transfer linear motor, a lifting cylinder and a transfer support bracket, the two ends of the transfer linear motor are respectively coupled with the temporary conveying line and the manual flow conveying line, the transfer linear motor has a movable base plate which can move linearly, the lifting cylinder is fixed on the movable base plate, and the transfer support bracket is arranged on the output shaft of the lifting cylinder, and the transfer support bracket is used to carry the dynamic side end sealing plate or the dynamic side assembly to move up and down.

[0013] Preferably, the application further comprises a flow supporting plate for supporting the dynamic side end cover or the dynamic side assembly, the flow supporting plate realizes closed loop flow through the temporary conveying line, the manual flow conveying line and the transfer assembly, the temporary conveying line has an initial station for setting the dynamic side end cover, the manual flow conveying line has a manual assembly station and a centering detection station, the dynamic side end cover and the dynamic side connecting conductor are assembled at the manual assembly station, and the dynamic side connecting conductor has a dynamic contact coaxially and telescopically arranged, and the dynamic side connecting conductor and the dynamic contact are detected for coaxiality at the centering detection station.

[0014] Further, the application further comprises a storage platform, the manual assembly station is closer to the manual flow terminal than the centering detection station, the temporary conveying line has a warehousing station, the warehousing station is closer to the temporary initial end than the initial station, the dynamic side assembly flows from the centering detection station to the warehousing station, and the assembly robot grasps the dynamic side assembly at the warehousing station and moves the storage platform.

[0015] Still further, the application further comprises a storage platform for storing the dynamic side assembly to be glued, the predetermined GIS shell is located at the dynamic side assembly station of the predetermined assembly line, the assembly robot grasps the dynamic side assembly to be glued from the storage platform, turns over the dynamic side assembly to be glued and moves to the position directly below the nozzle of the glue gun, and moves the dynamic side assembly after gluing to the predetermined GIS shell and assembles the dynamic side assembly to the predetermined GIS shell through pressure bonding.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] 1. Because the GIS subassembly line transfer mechanism of the application comprises the temporary conveying line, the manual flow conveying line, two transfer assemblies and the assembly robot, the temporary conveying line and the manual flow conveying line are both linearly driven based on the predetermined assembly line rhythm, the temporary conveying line has a temporary initial end and a temporary terminal end, the manual flow conveying line has a manual flow initial end and a manual flow terminal end, and the dynamic side end cover and the dynamic side connecting conductor are assembled by manual operation at the manual flow conveying line, thereby forming the dynamic side assembly, the two transfer assemblies are respectively used for transferring the dynamic side end cover from the temporary terminal end to the manual flow initial end and transferring the dynamic side assembly from the manual flow terminal end to the temporary initial end, and the assembly robot is used for grasping the dynamic side assembly to the predetermined GIS shell and assembling the dynamic side assembly to the predetermined GIS shell, the dynamic side end cover or the dynamic side assembly is transferred based on the predetermined assembly line rhythm of the predetermined assembly line, and the assembly robot is driven to act based on the predetermined assembly line rhythm, which facilitates cooperation with the manual process, and the assembly process is ensured to be clean through the dust collector, therefore, the assembly process of the dynamic side assembly and the GIS shell can be realized to be semi-automatic, and it is easy to be combined with the predetermined assembly line, thereby the labor cost is significantly reduced and the efficiency is greatly improved.

[0018] 2. Because the GIS sub-packaging line transfer mechanism of the application further comprises a dispensing gun, the assembly robot has a chassis, a base, a mechanical arm, a wrist support and a gripper, the base is horizontally rotatably arranged on the chassis, the mechanical arm is vertically rotatably arranged on the base, the wrist support is vertically rotatably arranged at the free end of the mechanical arm, and the gripper is rotatably arranged on the wrist support. The gripper clamps the opposite outer circumferential surfaces of the dynamic side end plate to form a dynamic side assembly to be glued. The assembly robot turns over the dynamic side assembly to be glued through the combined rotation of the wrist support and the gripper. The assembly robot rotates the mechanical arm so that the turned over dynamic side assembly to be glued is located directly below the muzzle of the dispensing gun. Therefore, the assembly robot can realize 180° turning of the dynamic side assembly to be glued through the mutual rotatable arrangement of the mechanical arm, the wrist support and the gripper, thereby completing the preparation for gluing the dynamic side end plate through simple structure and action instructions.

[0019] 3. Because when the turned over dynamic side assembly to be glued is located directly below the dispensing gun, the muzzle corresponds to the edge of the dynamic side end plate, the dispensing gun starts to glue, at this time, the assembly robot rotates the base and the mechanical arm based on a predetermined delay program, so that the dynamic side end plate rotates around the glue falling axis of the dispensing gun as the rotation axis, and then the assembly robot presses the turned over dynamic side assembly to be glued against the surface of the predetermined GIS shell to realize glue bonding. Therefore, the application completes the circle-shaped gluing of the dynamic side end plate through simple action instructions.

[0020] 4. Because the gripper has a vision module, when the dynamic side end plate rotates around the glue falling axis of the dispensing gun as the rotation axis, the vision module detects the uniformity of the glue on the dynamic side end plate. If the vision module detects that the glue forms a closed circular track on the dynamic side end plate, it means that the glue falling state is normal, and the subsequent process is continued. If the vision module detects that the circumference of the circular track formed by the glue on the dynamic side end plate is missing, i.e. not closed, the assembly robot moves the dynamic side end plate to a predetermined position, stops and alarms. Therefore, the application can judge the glue falling quality through the vision module, and ensure the bonding strength of the dynamic side end plate bonded to the GIS shell.

[0021] 5. Because when the transfer assembly of the present application includes a transfer linear motor, a lifting cylinder and a transfer support bracket, the two ends of the transfer linear motor are coupled with the temporary conveying line and the artificial flow conveying line respectively, the transfer linear motor has a linearly movable moving base plate, the lifting cylinder is fixed on the moving base plate, the transfer support bracket is arranged on the output shaft of the lifting cylinder, and the transfer support bracket is used for carrying the dynamic side end plate or lifting and moving the dynamic side assembly, so that the dynamic side plate or the dynamic side assembly is separated from the temporary conveying line and the artificial flow conveying line through lifting of the transfer assembly, so as to realize switching transfer of the two conveying lines. Therefore, the present application can simply realize closed-loop flow operation, so that multiple processes of GIS subassembly can be fitted into a predetermined flow rhythm.

[0022] 6. Because the present application further includes a storage platform, the artificial assembly station is closer to the artificial flow terminal part than the centering detection station, the temporary conveying line has a warehousing station, the warehousing station is closer to the temporary starting end part than the initial station, the dynamic side assembly is transferred from the centering detection station to the warehousing station, the assembly robot grabs the dynamic side assembly located in the warehousing station and moves the storage platform, and after the dynamic side assembly is assembled, when it is not necessary to be immediately assembled on the predetermined GIS shell, the warehousing temporary storage operation can be performed. Therefore, the present application realizes online temporary storage of the GIS assembly line, so that production activities can be flexibly installed according to orders.

[0023] 7. Because the present application further includes a storage platform for storing the dynamic side assembly to be glued, the predetermined GIS shell is located at the dynamic side assembly station of the predetermined assembly line, the assembly robot grabs the dynamic side assembly to be glued from the storage platform, turns over the dynamic side assembly to be glued and moves the dynamic side assembly to be glued directly below the nozzle of the glue gun, and moves the dynamic side assembly after gluing to the predetermined GIS shell, and assembles the dynamic side assembly to the predetermined GIS shell through pressure bonding. Therefore, the present application can flexibly install production activities according to orders. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic view of the dynamic side assembly of the embodiment of the present application;

[0025] Figure 2 It is a layout schematic view of the GIS subassembly line transfer mechanism of the embodiment of the present application (the storage platform is omitted);

[0026] Figure 3 It is a schematic view of the temporary conveying line, the artificial flow conveying line, the dust collector and the transfer assembly of the embodiment of the present application;

[0027] Figure 4 It is a schematic view of the assembly robot and the predetermined GIS shell of the embodiment of the present application;

[0028] Figure 5 It is a schematic view of the clamping jaw of the assembly robot of the embodiment of the present application;

[0029] Figure 6 The schematic diagram of the glue dropping gun of the embodiment of the present application is used for dropping glue on the dynamic side end sealing plate.

[0030] In the figure: 100, GIS partial assembly line transfer mechanism, P, predetermined assembly line, G, predetermined GIS shell, G1, dynamic side flange opening, G2, dynamic side assembly, G21, dynamic side end sealing plate, G211, sealing surface, G22, dynamic side connecting conductor, 10, temporary conveying line, 11, temporary initial end, 12, warehouse entry station, 13, initial station, 14, temporary terminal end, 20, manual transfer conveying line, 21, manual transfer initial end, 22, manual assembly station, 23, centering detection station, 24, manual transfer terminal end, 30, dust collector, 40, transfer assembly, 41, transfer linear motor, 42, transfer support bracket, 50, assembly robot, 51, chassis, 52, base, 53, mechanical arm, 54, wrist support, 55, clamping jaw, 551, clamping jaw base plate, 5511, clamping plate guide rail part, 552, end clamping plate, 5521, clamping plate guide shoe, 5522, positioning protruding rod part, 553, clamping cylinder, 60, glue dropping gun, X, glue dropping axis, S, glue track, 70, storage platform. DETAILED DESCRIPTION

[0031] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the following embodiments combine the drawings to specifically describe the GIS partial assembly line transfer mechanism of the present application. It should be noted that the description of the embodiments is used to help understand the present application, but does not constitute a limitation on the present application.

[0032] As shown in Figure 1 and Figure 2 , the GIS partial assembly line transfer mechanism 100 in the embodiment is arranged near the predetermined GIS shell G, and is used for realizing semi-automatic assembly of the predetermined GIS shell G, the dynamic side end sealing plate G21 and the dynamic side connecting conductor G22. The dynamic side end sealing plate G21 is disc-shaped, and has a pair of coaxial positioning blind holes (not shown in the figure) on opposite sides of the circumference. The predetermined GIS shell G is located at the dynamic side assembly station of the predetermined assembly line P. Specifically, the predetermined assembly line P executes corresponding instruction actions in the timing unit of the predetermined assembly rhythm.

[0033] The GIS partial assembly line transfer mechanism 100 includes the temporary conveying line 10, the manual transfer conveying line 20, the dust collector 30, the transfer assembly 40, the transfer support plate (not shown in the figure), the assembly robot 50, the glue dropping gun 60 and the storage platform 70.

[0034] The temporary conveying line 10, the manual conveying line 20, the transfer assembly 40, the assembling robot 50 and the dispensing gun 60 all operate based on predetermined flow takt. The dust collector 30 is in an open state during the operation of the predetermined flow line P. Specifically, the predetermined flow line P, the temporary conveying line 10, the dispensing gun 60 and the storage platform are located close to the assembling robot 50, and the dispensing gun 60 is located close to the dynamic side assembling station.

[0035] The temporary conveying line 10 and the manual conveying line 20 are straightly transmitted in the horizontal direction. Specifically, the two are straightly transmitted in the opposite directions.

[0036] As shown in FIG. 1, Figure 3 The temporary conveying line 10 sequentially forms the temporary starting end 11, the storage station 12, the initial station 13 and the temporary terminal end 14 along the transmission direction.

[0037] The manual conveying line 20 sequentially forms the manual conveying starting end 21, the manual assembling station 22, the centering detection station 23 and the manual conveying terminal end 24 along the transmission direction.

[0038] The transfer assembly 40 includes two transfer linear motors 41, a lifting cylinder (not shown in the drawings) and a transfer support bracket 42.

[0039] The two ends of one transfer linear motor 41 are respectively arranged directly below the temporary terminal end 14 and the manual conveying starting end 21, and the two ends of the other transfer linear motor 41 are respectively arranged directly below the manual conveying terminal end 24 and the temporary starting end 11. Specifically, the temporary conveying line 10, the manual conveying line 20 and the two transfer assemblies 40 are arranged in the shape of “mouth” in the top view.

[0040] The transfer linear motor 41 has a movable base plate (not shown in the drawings) which can move straightly. The lifting cylinder is fixed on the movable base plate, and the transfer support bracket 42 is arranged on the output shaft of the lifting cylinder. The transfer support bracket 42 is used to lift and move the dynamic side end sealing plate G21 or the dynamic side assembly G2. Specifically, the transfer support bracket 42 has a horizontal transfer support surface (not shown in the drawings), and the transmission surfaces of the temporary conveying line 10 and the manual conveying line 20 are at the same height. When the transfer support bracket 42 is not lifted, the transmission surfaces of the temporary conveying line 10, the manual conveying line 20 and the transfer support surface are at the same height. When the transfer support bracket 42 is lifted, the transmission surfaces of the temporary conveying line 10 and the manual conveying line 20 are lower than the transfer support surface.

[0041] The suction port of the dust collector 30 is located close to the manual conveying line 10 and faces the manual conveying line 10. In this embodiment, the dust collector 30 is located between the temporary terminal end 14 and the manual conveying starting end 21.

[0042] The transfer support plate is used to support the moving side sealing plate G21 or the moving side assembly G2. The transfer support plate realizes closed-loop circulation through the temporary conveyor line 10, the manual transfer conveyor line 20 and the transfer assembly 40. The transfer support plate located at the initial station 14 is used to set the moving side sealing plate G21. The moving side sealing plate G21 and the moving side connecting conductor G22 are assembled manually at the manual assembly station 22 to form the moving side assembly G2. The two transfer assemblies 40 are used to transfer the moving side sealing plate G21 from the temporary terminal 14 to the manual transfer start 21 and the moving side assembly G2 from the manual transfer terminal 24 to the temporary terminal 11, respectively.

[0043] Specifically, the transfer support plate starts from the initial station 13, passes through the temporary terminal 14, the transfer support surface, the manual transfer start point 21, the manual assembly station 22, the alignment and inspection station 23, the manual transfer terminal 24, the transfer support surface, and the temporary terminal 11 in sequence, and finally stops at the warehousing station 12. Driven by external instructions, it stops at the manual assembly station 22, the alignment and inspection station 23, and the warehousing station 12 respectively based on the flow rhythm.

[0044] Specifically, the above-mentioned work process is as follows: the moving end cap plate G21 is placed at the initial station 13 through the transfer support plate. When the transfer support plate moves to the manual assembly station 22 and stays for a predetermined number of flow cycles, the operator assembles the moving side connecting conductor on the moving end cap plate G21 during this time period. In this embodiment, if the operator has not completed the assembly when the time is about to end, by triggering a preset switch, the flow cycle can be extended for several more cycles to continue the assembly.

[0045] Assembly robot 50 is used to pick up moving side component G2 located at warehouse station 12 and place it on warehouse platform 70, or pick up from warehouse platform 70 and place it on a predetermined GIS shell.

[0046] like Figure 4 As shown, 50 has a chassis 51, a base 52, a robotic arm 53, a wrist support 54, and a gripper 55, which is located near the glue gun 60.

[0047] The base 32 is rotatably mounted on the chassis 51, the robotic arm 53 is rotatably mounted on the base 32, the wrist support 54 is rotatably mounted on the free end of the robotic arm 53, and the gripper 55 is rotatably mounted on the wrist support 54, with the rotation axis of the gripper 55 relative to the wrist support 54 perpendicular to the rotation axis of the wrist support 54 relative to the robotic arm 53.

[0048] The clamping jaw 55 clamps the movable side assembly G2 by clamping the opposite peripheral surfaces of the movable side end sealing plate G21, and the movable side assembly G2 at this time is taken as the movable side assembly to be glued, and the wrist support 54 and the clamping jaw 55 are rotated in combination to overturn the movable side assembly to be glued. Specifically, the combined rotation is that the wrist support 54 first overturns the movable side assembly G2 by 90° relative to the mechanical arm 53 in the vertical plane, then the clamping jaw 55 rotates the movable side assembly G2 by 180° relative to the wrist support 54, and finally the wrist support 54 restores the movable side assembly G2 by 90° relative to the mechanical arm 53 in the vertical plane. At this time, the movable side assembly G2 is overturned by 180° relative to the combined rotation before.

[0049] As shown in Figure 5 The clamping jaw 55 has a clamping jaw base plate 551, a pair of end clamping plates 552, and a clamping cylinder 553.

[0050] The pair of end clamping plates 552 are parallel to each other and movably arranged on the clamping jaw base plate 551, and the pair of end clamping plates 552 are respectively fixed on the cylinder side and the piston side of the clamping cylinder 553. The clamping cylinder 553 is used to drive the pair of end clamping plates 552 to move towards or away from each other, so that the clamping jaw 55 clamps the opposite peripheral surfaces of the movable side end sealing plate G21 through the pair of end clamping plates 552, thereby forming the clamping of the movable side assembly G2. Specifically, the output shaft of the clamping cylinder 553 is parallel to the extension direction of the clamping jaw base plate 551.

[0051] The end clamping plate 552 cooperates with the guide shoe guide rail of the clamping jaw base plate 551, and the end clamping plate 552 further has a positioning protruding rod part 5522 cooperating with the positioning blind hole. Specifically, the surface of the clamping jaw base plate 551 has a clamping plate guide rail part 5511, and the surface of the end clamping plate 552 further has a clamping plate guide shoe 5521 cooperating with the clamping plate guide rail part 5511.

[0052] The glue gun 60 is used to apply sealant on the movable side end sealing plate G21, and the muzzle of the glue gun 60 faces downward. After the assembling robot 50 picks up the movable side assembly to be glued from the storage platform and overturns it, the rotation of the mechanical arm 53 relative to the base 52 makes the overturned movable side assembly to be glued located directly below the muzzle of the glue gun 60.

[0053] As shown in Figure 6As shown, when the turned over dynamic side assembly to be coated is located directly below the glue gun 60, the gun mouth corresponds to the edge of the dynamic side end sealing plate G21 plate surface, the glue gun 60 starts to glue, at this time, the assembly robot 50 rotates the base 52 relative to the chassis 51 and the mechanical arm 53 based on the predetermined delay program, so that the dynamic side end sealing plate G21 rotates around the glue dropping axis X of the glue gun 60 as the rotation axis, and then the assembly robot 50 presses the turned over dynamic side assembly to be coated on the surface of the predetermined GIS shell G to realize the adhesive bonding. The delay program takes the start of the glue gun 60 as the delay reference time point, and in this embodiment, the end face of the dynamic side end sealing plate G21 sealed and glued with the GIS shell G is taken as the sealing surface G211. When the glue gun 60 drops glue on the sealing surface G211, the sealing surface G211 is vertically upward, so the dynamic side end sealing plate G21 coated with sealing glue needs to be turned over to cooperate with the surface of the GIS shell G.

[0054] The jaw substrate 551 has a vision module (not shown in the figure), which detects the uniformity of the glue on the dynamic side end sealing plate G21 after the dynamic side end sealing plate G21 rotates around the glue dropping axis X of the glue gun 60. Specifically, if the vision module detects that the glue forms a closed circular track on the dynamic side end sealing plate G21, it means that the glue dropping state is normal, and the subsequent process is continued; if the vision module detects that the circumference of the circular track formed by the glue on the dynamic side end sealing plate G21 is missing, i.e., not closed, the assembly robot moves the dynamic side end sealing plate G21 to a predetermined position, stops and alarms.

[0055] The inventory platform is used to store the dynamic side assembly to be coated.

[0056] The dynamic side assembly G2 flows from the self-centering detection station 23 to the storage station 12, the assembly robot 50 grabs the dynamic side assembly G2 located at the storage station 12 and moves to the inventory platform, and the assembly robot 50 grabs the dynamic side assembly G2 from the inventory platform and moves to the glue gun 60 to perform the above-mentioned coating of sealing glue, and finally installs on the surface of the GIS shell G after turning over.

[0057] The above-mentioned embodiments are preferred cases of the present application and do not limit the protection scope of the present application. Various modifications or changes made by those skilled in the art within the scope of the appended claims without creative labor are still within the protection scope of the present patent.

Claims

1. A GIS assembly line transfer mechanism, disposed near a predetermined GIS housing, for semi-automatic assembly of the predetermined GIS housing, a moving-side end cap, and a moving-side connecting conductor, characterized in that, Comprise: a temporary conveying line, a manual conveying line, a dust collector, two transfer assemblies and an assembling robot, both the temporary conveying line and the manual conveying line are straightly transmitted along a horizontal direction based on a predetermined flow rhythm, the temporary conveying line forms a temporary starting end and a temporary ending end along a transmission direction, the manual conveying line forms a manual conveying starting end and a manual conveying ending end along the transmission direction, and the movable side end sealing plate and the movable side connecting conductor are assembled by manual operation on the manual conveying line, thereby forming a movable side assembly, a suction port of the dust collector is located near and faces the manual conveying line, the two transfer assemblies are respectively used for transferring the movable side end sealing plate from the temporary ending end to the manual conveying starting end and transferring the movable side assembly from the manual conveying ending end to the temporary starting end, the assembling robot is used for grabbing the movable side assembly to the predetermined GIS shell and assembling it on the predetermined GIS shell, wherein the GIS sub-assembly line transfer mechanism further comprises a dispensing gun, and a muzzle of the dispensing gun faces downward, the assembling robot has a chassis, a base, a mechanical arm, a wrist support and a gripper, and the gripper is located near the dispensing gun, the base is horizontally rotatably arranged on the chassis, the mechanical arm is vertically rotatably arranged on the base, the wrist support is vertically rotatably arranged on a free end of the mechanical arm, the gripper is rotatably arranged on the wrist support, and a rotation axis of the gripper is perpendicular to a rotation axis of the wrist support, the gripper clamps the movable side assembly by clamping the opposite two side peripheral surfaces of the movable side end sealing plate, and the movable side assembly at this time is taken as a to-be-glued movable side assembly, the assembling robot flips the to-be-glued movable side assembly through the combined rotation of the wrist support and the gripper, and the assembling robot makes the flipped to-be-glued movable side assembly located directly below the muzzle of the dispensing gun through the rotation of the mechanical arm.

2. The GIS sub-assembly line transfer mechanism according to claim 1, wherein: wherein the assembling robot acts based on the predetermined flow rhythm, when the flipped to-be-glued movable side assembly is located directly below the dispensing gun, the muzzle corresponds to the edge near the surface of the movable side end sealing plate, the dispensing gun starts to glue, at this time, the assembling robot makes the combined rotation of the base and the mechanical arm based on a predetermined delay program, so that the movable side end sealing plate rotates around the glue dropping axis of the dispensing gun as the rotation axis, and then the assembling robot glues the flipped to-be-glued movable side assembly on the surface of the predetermined GIS shell, and the delay program takes the start of the dispensing gun as the delay reference time point.

3. The GIS sub-assembly line transfer mechanism according to claim 1, wherein: wherein the gripper has a gripper base plate, a pair of end clamping plates and a clamping cylinder, and the pair of end clamping plates are parallel to each other, The pair of end clamping plates are movably arranged on the clamping jaw substrate, and are respectively fixed on the cylinder side and the piston side of the clamping cylinder for driving the pair of end clamping plates to move towards or away from each other, so that the clamping jaw clamps the relative circumferential surface of the movable side end sealing plate through the pair of end clamping plates.

4. The GIS sub-packaging line transfer mechanism according to claim 3, characterized in that: wherein the end clamping plate and the clamping jaw substrate are matched through a guide shoe guide rail, the circumferential surface of the movable side end sealing plate has a pair of coaxial positioning blind holes, and the end clamping plate has a positioning protruding rod part matched with the positioning blind holes.

5. The GIS sub-packaging line transfer mechanism according to claim 2, characterized in that: wherein, the clamping jaw has a visual module, which detects the uniformity of glue falling on the movable side end sealing plate after the movable side end sealing plate is fully rotated around the glue falling axis of the glue gun.

6. The GIS sub-packaging line transfer mechanism according to claim 1, characterized in that: wherein the transfer assembly comprises a transfer linear motor, a lifting cylinder and a transfer support bracket, two ends of the transfer linear motor are respectively coupled with the temporary conveying line and the manual flow conveying line, the transfer linear motor has a linearly movable moving substrate, the lifting cylinder is fixed on the moving substrate, and the transfer support bracket is arranged on the output shaft of the lifting cylinder and is used for carrying the movable side end sealing plate or the movable side assembly for lifting movement.

7. The GIS depackaging line transfer mechanism of claim 1, wherein, Further comprising: a flow transfer support plate for supporting the movable side end sealing plate or the movable side assembly, the flow transfer support plate realizes closed-loop flow transfer through the temporary conveying line, the manual flow conveying line and the transfer assembly, the temporary conveying line has an initial station for arranging the movable side end sealing plate, the manual flow conveying line has a manual assembly station and a centering detection station, the movable side end sealing plate and the movable side connecting conductor are assembled at the manual assembly station, the movable side connecting conductor has a movable contact coaxially and telescopically arranged, and the movable side connecting conductor and the movable contact are detected for coaxiality at the centering detection station.

8. The GIS depackaging line transfer mechanism of claim 7, wherein, Further comprising: a storage platform, the manual assembly station is closer to the manual flow terminal part than the centering detection station, the temporary conveying line has a warehousing station, which is closer to the temporary initial end part than the initial station, the movable side assembly flows from the centering detection station to the warehousing station, and the assembly robot grasps the movable side assembly at the warehousing station and moves the storage platform.

9. The GIS depackaging line transfer mechanism of claim 2, wherein, Further comprising: a storage platform for storing the to-be-glued movable side assembly, the predetermined GIS shell is located at a movable side assembly station of a predetermined assembly line, the assembly robot grasps the to-be-glued movable side assembly from the storage platform, turns over the to-be-glued movable side assembly and moves it directly below the nozzle of the glue gun, and moves the glued movable side assembly to the predetermined GIS shell and assembles the movable side assembly to the predetermined GIS shell through pressure bonding.

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