Automatic bending device and method for locking gasket

Abstract

The invention discloses an automatic locking gasket bending device which comprises a workbench, a motor, a journal sticking locking mechanism arranged at the transmission end of the motor, a speed measuring fluted disc arranged at the non-transmission end of the motor, a locking gasket arranged on the speed measuring fluted disc, a visual system and a clamping unit, wherein the visual system and the clamping unit are arranged above the speed measuring fluted disc. The locking gasket is installed on the speed measuring fluted disc through a bolt. A centering sleeve is arranged at the transmission end of the motor; the invention further provides an automatic bending method for the locking gasket. According to the invention, the bending problem of the movable gasket in the automatic fastening operation of the bolt can be solved, so that the automatic operation in the assembly process is realized.

Description

Technical Field

[0001] The invention relates to the technical field of fastening and anti-loosening, and in particular to an automatic bending device and method for a stop gasket. Background Art

[0002] Stop washers are widely used in fastening and preventing high-speed rotating parts from loosening, such as the anti-loosening of the assembly bolts of the speed measuring gear at the end of the motor shaft. Stop washers are often made of 0.8-1.0mm thick steel plates. After the bolts are tightened, the stop washers are bent and knocked with the help of tools to make them fit to the bolt head, thereby preventing them from loosening. The existing method of bending stop washers needs to be done manually, and the operation is labor-intensive, and the bending consistency of the stop washers is poor.

[0003] How to realize the automation of the bending process, reduce the labor intensity of personnel and improve the consistency of bending quality is a technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a device and method for automatically bending a stop washer, which can solve the bending problem of the stop washer during the automatic tightening operation of the bolt, so as to realize the automation of the assembly process.

[0005] The technical solution provided by the present invention is as follows: A device for automatically bending a stop gasket comprises a workbench, a motor, a shaft-holding stop mechanism arranged at the transmission end of the motor, a speed measuring gear plate arranged at the non-transmission end of the motor, a stop gasket arranged on the speed measuring gear plate, and a visual system and a clamping unit arranged above the speed measuring gear plate, wherein the stop gasket is mounted on the speed measuring gear plate by bolts; a centering sleeve is arranged at the transmission end of the motor, and the shaft-holding stop mechanism is a cylinder shaft-holding stop mechanism, and when the cylinder shaft-holding stop mechanism is in operation, the cylinder moves to hold the outer circle of the motor shaft tightly to prevent the motor shaft from rotating.

[0006] Preferably, the centering sleeve cooperates with the labyrinth groove of the outer cover of the transmission end bearing of the motor to accurately locate the center of the motor shaft.

[0007] Preferably, the centering sleeve comprises a sleeve, a positioning stop, a mounting seat and a stop step, the positioning stop cooperates with the labyrinth groove of the outer cover of the motor transmission end bearing, and the mounting seat is connected to the workbench.

[0008] Preferably, the motor is placed vertically with the non-driving end of the motor facing upwards.

[0009] Preferably, the clamping unit comprises a three-jaw chuck and a manipulator, the three-jaw chuck is installed below the manipulator, and the vision system is also installed below the manipulator and located on one side of the three-jaw chuck.

[0010] A method for automatically bending a stop washer, using the automatic bending device for a stop washer described above, comprises the following steps: S1. Identify the positions of the three screw holes on the assembled speed measuring gear disc through the visual system; identify the position of the stop washer on the speed measuring gear disc and the position of its bolt mounting hole through the visual system, and calculate the position where the stop washer should be assembled based on the positions of the three screw holes on the assembled speed measuring gear disc and the positions of the bolt mounting holes of the stop washer (specifically: the robot in the visual system will first take a photo of the motor shaft when taking pictures, and use the position of the middle shaft hole to determine the X and Y offsets, and use the position of the three threaded holes to determine the offset of angle A. The visual system calculates the compensation values ​​of X, Y, and A and sends them to the PLC, which then sends them to the robot, and the robot uses this compensation to achieve position offset); S2. Use the clamping unit to clamp the stop washer and correctly install the stop washer on the speed measuring sprocket with bolts; S3, recognizing and calculating the positions of the three sides of the stop gasket to be bent by the visual system, and making the relative positions of the clamping unit and the part of the stop gasket to be bent consistent; S4. Use the clamping unit to clamp the pre-bent part of the stop gasket, and clamp the stop gasket inward until it fits against the head of the bolt so that the stop gasket is automatically bent.

[0011] Preferably, before step S1, the incoming stop gasket is pre-bent so that the front end of the stop gasket is pre-bent by 20-35 degrees to facilitate reliable clamping by the clamping unit.

[0012] Preferably, in step S4, if the bent stop washer is parallel to the side edges of the hexagonal head of the bolt, the clamping unit is used to clamp the stop washer again and bend it again.

[0013] Preferably, the specific process of correctly installing the stop gasket on the speed measuring sprocket in step S2 is as follows: use a clamping unit to clamp the stop gasket, rotate the angular position of the stop gasket so that the three bolt mounting holes on the stop gasket correspond to the screw hole positions on the speed measuring sprocket, and then place the stop gasket on the speed measuring sprocket; use a visual system to take a photo to detect whether the three holes on the stop gasket are aligned with the screw holes on the speed measuring sprocket and whether the screw hole positions are unobstructed to confirm whether the installation position of the stop gasket is correct.

[0014] Preferably, in steps S2 to S4, the clamping unit is driven to open and close by a cylinder.

[0015] The present invention has the following advantages over the prior art: The automatic bending device for stop washers of the present invention can realize the automation of the automatic positioning, grasping, installation and bending process of stop washers through the arrangement of a workbench, a motor, a shaft-holding stop mechanism, a speed measuring gear plate and a stop washers as well as a visual system and a clamping unit; the automatic bending method for stop washers of the present invention can solve the bending problem of stop washers in the automatic tightening operation of bolts to realize the automation of the assembly process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic structural diagram of the automatic bending device of the stop gasket in an embodiment of the present invention; Figure 2 It is a schematic diagram of the assembly of the stop washer and the speed measuring gear disc in an embodiment of the present invention; Figure 3 Schematic diagram of the bending shape of the three-jaw chuck to the stop gasket in the embodiment of the present invention; Figure 4 Schematic diagram of the structure of the centering sleeve in the embodiment of the present invention.

[0018] Reference numerals: 1. Workbench; 2. Motor; 3. Shaft-holding stop mechanism; 4. Speed ​​measuring gear disc; 5. Stop gasket; 6. Visual system; 7. Clamping unit; 71. Three-jaw chuck; 72. Manipulator; 8. Bolt; 9. Centering sleeve; 91. Sleeve; 92. Positioning stop; 93. Mounting seat; 94. Stop step; 10. Cylinder. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0020] like Figure 1-3As shown, an embodiment of the present invention provides an automatic bending device for a stop gasket, comprising a workbench 1, a motor 2, a shaft-holding and stopping mechanism 3 arranged at the transmission end of the motor 2, a speed measuring toothed disc 4 arranged at the non-transmission end of the motor 2, a stop gasket 5 arranged on the speed measuring toothed disc 4, and a visual system 6 and a clamping unit 7 arranged above the speed measuring toothed disc 4, wherein the stop gasket 5 is mounted on the speed measuring toothed disc 4 by means of a bolt 8; a centering sleeve 9 is provided at the transmission end of the motor 2, the motor 2 is placed vertically, with the non-transmission end (the speed measuring toothed disc and the stop gasket installation end) of the motor 2 facing upward, and the transmission end (rotating shaft) of the motor 2 is fixed by the shaft-holding and stopping mechanism 3 to ensure that the rotor of the motor 2 does not rotate, and preferably, a cylinder is used to drive the shaft-holding and stopping mechanism 3 according to a workstation signal to clamp and fix and loosen the rotating shaft of the motor 2.

[0021] In this embodiment, the centering sleeve 9 cooperates with the labyrinth groove of the outer cover of the transmission end bearing of the motor 2 to accurately locate the center of the rotating shaft of the motor 2. The centering sleeve 9 includes a sleeve 91, a positioning stop 92, a mounting seat 93 and a stop step 94. The positioning stop 92 cooperates with the labyrinth groove of the outer cover of the transmission end bearing of the motor 2, the mounting seat 93 is connected to the workbench 1, and the stop step 94 is used for axial positioning of the positioning sleeve 9.

[0022] In this embodiment, the clamping unit 7 includes a three-jaw chuck 71 and a manipulator 72 . The three-jaw chuck 71 is installed below the manipulator 72 . The vision system 6 is also installed below the manipulator 72 and located on one side of the three-jaw chuck 71 .

[0023] A method for automatically bending a stop washer, using the above-mentioned automatic bending device for a stop washer, comprises the following steps: S1. Identify the positions of the three screw holes on the assembled speed measuring sprocket 4 through the visual system 6; identify the position of the stop gasket 5 on the speed measuring sprocket 4 and the position of the bolt mounting hole through the visual system 6, and calculate the position where the stop gasket 5 should be assembled through the positions of the three screw holes on the assembled speed measuring sprocket 4 and the positions of the bolt mounting holes of the stop gasket 5. The visual system 6 takes a photo of the stop gasket to be assembled on the speed measuring sprocket 4, identifies the position of the stop gasket 5 and the position of the bolt mounting hole, and calculates the rotation angle that should be compensated when the stop gasket 5 is finally assembled in combination with the moving point of the manipulator 72, so as to realize the flexible assembly of workpieces at random positions without precise auxiliary positioning tooling; S2. Use the three-jaw chuck 71 to clamp the stop washer 5, and correctly install the stop washer 5 on the speed measuring gear disc through the bolt 8; S3, the positions of the three edges to be bent of the stop gasket 5 are identified and calculated by the visual system 6, and the relative positions of the three-jaw chuck 71 and the part to be bent of the stop gasket 5 are made consistent, the visual system 6 takes a picture of the assembled stop gasket 5, identifies the positions of the three edges to be bent, and guides the manipulator 72 to rotate the end effector to make the relative positions of the three-jaw chuck 71 and the part to be bent of the stop gasket 5 consistent, thereby realizing the identification and guidance of the bending operation position of the stop gasket 5; S4. Use the three-jaw chuck 71 to take the pre-bent portion of the stop gasket 5, and clamp the stop gasket 5 inward until it fits with the head of the bolt 8 so that the stop gasket 8 is automatically bent.

[0024] In this embodiment, before step S1 , the incoming stopper gasket 8 is pre-bent so that the front end of the stopper gasket 8 is pre-bent by 20 to 35 degrees to facilitate reliable clamping by the three-jaw chuck 71 .

[0025] In this embodiment, if the bent stop washer 5 is parallel to the side edge of the hexagonal head of the bolt 8 in step S4, the three-jaw chuck 71 is used to re-clamp the stop washer 5 and bend it again.

[0026] In this embodiment, the specific process of correctly installing the stop gasket 5 on the speed measuring sprocket in step S2 is as follows: use the three-jaw chuck 71 to clamp the stop gasket 5, rotate the angular position of the stop gasket 5 so that the three bolt mounting holes on the stop gasket 5 correspond to the screw hole positions on the speed measuring sprocket 4, and then place the stop gasket 5 on the speed measuring sprocket 4; use the visual system 6 to take pictures to detect whether the three holes on the stop gasket 5 are aligned with the screw holes on the speed measuring sprocket 4 and whether the screw hole positions are unobstructed to confirm whether the installation position of the stop gasket 5 is correct.

[0027] In this embodiment, in steps S2 to S4, the three-jaw chuck 71 is driven to open and close by the cylinder 10, and the reliability is high.

[0028] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A stop washer automatic bending device, characterized in that: The invention comprises a workbench (1), a motor (2), a shaft-holding stop mechanism (3) arranged at the transmission end of the motor (1), a speed measuring toothed disc (4) arranged at the non-transmission end of the motor (2), a stop washer (5) arranged on the speed measuring toothed disc (4), and a visual system (6) and a clamping unit (7) arranged above the speed measuring toothed disc (4), wherein the stop washer (5) is mounted on the speed measuring toothed disc (4) by means of bolts (8); and a centering sleeve (9) is provided at the transmission end of the motor (2).

2. The automatic bending device for stop washer according to claim 1, characterized in that: The centering sleeve (9) cooperates with the labyrinth groove of the outer cover of the transmission end bearing of the motor (2) to accurately locate the center of the rotating shaft of the motor (2).

3. The automatic bending device for stop washers according to claim 2, characterized in that: The centering sleeve (9) comprises a sleeve (91), a positioning stopper (92), a mounting seat (93) and a stop step (94); the positioning stopper (92) cooperates with a labyrinth groove of a bearing outer cover at a transmission end of the motor (2); and the mounting seat (93) is connected to the workbench (1).

4. The automatic bending device for stop washers according to claim 1, characterized in that: The motor (2) is placed vertically, with the non-driving end of the motor (2) facing upwards.

5. The automatic bending device for stop washers according to any one of claims 1 to 4, characterized in that: The gripping unit (7) comprises a three-jaw chuck (71) and a manipulator (72); the three-jaw chuck (71) is installed below the manipulator (72); and the visual system (6) is also installed below the manipulator (72) and located on one side of the three-jaw chuck (71).

6. A method for automatically bending a stop washer, characterized in that: The automatic bending device for a stop gasket according to any one of claims 1 to 5 comprises the following operating steps: S1. Identify the positions of three screw holes on the assembled speed measuring sprocket (4) through the visual system (6); identify the position of the stop washer (5) on the speed measuring sprocket (4) and the position of its bolt mounting hole through the visual system (6); and calculate the position where the stop washer (5) should be assembled based on the positions of the three screw holes on the assembled speed measuring sprocket (4) and the position of the bolt mounting hole of the stop washer (5); S2. Use the clamping unit (7) to clamp the stop washer, and correctly install the stop washer (5) onto the speed measuring sprocket (4) using the bolt (8); S3, recognizing and calculating the positions of the three sides of the stop gasket to be bent by the visual system, and making the relative positions of the clamping unit and the part of the stop gasket to be bent consistent; S4. Use the clamping unit (7) to clamp the pre-bent portion of the stop washer (5), and clamp the stop washer (5) inward until it fits against the head of the bolt (8) so that the stop washer (5) is automatically bent.

7. The method for automatically bending a stop washer according to claim 6, characterized in that: Prior to step S1, the incoming stop gasket (5) is pre-bent so that the front end of the stop gasket (5) is pre-bent by 20 to 35 degrees, so as to facilitate reliable clamping by the clamping unit (7).

8. The method for automatically bending a stop washer according to claim 6, characterized in that: In the step S4, if the bent stop washer (5) is parallel to the side edge of the hexagonal head of the bolt (8), the clamping unit (7) is used to clamp the stop washer (5) again and bend it again.

9. The method for automatically bending a stop washer according to claim 6, characterized in that: The specific process of correctly installing the stop gasket (5) on the speed measuring sprocket (4) in step S2 is as follows: using the clamping unit (7) to clamp the stop gasket (5), rotating the stop gasket (5) angularly so that the three bolt mounting holes on the stop gasket (5) correspond to the screw holes on the speed measuring sprocket (4), and then placing the stop gasket (5) on the speed measuring sprocket (4); using the visual system (6) to take a photo to detect whether the three holes on the stop gasket (5) are aligned with the screw holes on the speed measuring sprocket (4) and whether the screw holes are not blocked to confirm whether the installation position of the stop gasket (5) is correct.

10. The method for automatically bending a stop washer according to claim 6, characterized in that: In steps S2 to S4, the gripping unit (7) is driven to open and close by the cylinder (10).

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