Automatic screw locking equipment for transformer panel

Abstract

The invention discloses automatic screw locking equipment for a transformer panel. The automatic screw locking equipment comprises a screw feeding device, a nut assembly feeding device and a screw locking device. The screw feeding device is used for feeding screws; the nut assembly feeding device is used for feeding nut assemblies; the screw locking device is used for taking the screws at the screw feeding device and taking the nut assemblies at the nut assembly feeding device and then moving the screws and the nut assemblies to the transformer placing area to conduct locking installation of the screws and the nut assemblies on the transformer so as to complete fixed connection of the panel and the shell. According to the automatic screw locking equipment for the transformer panel, automatic locking of the screw and the nut assembly can be achieved, so that the problems of low assembly efficiency, high labor intensity, poor quality consistency and the like caused by manual locking are solved, the assembly efficiency is improved, the labor cost is reduced, and the stability and reliability of the connection quality are ensured.

Description

Technical Field

[0001] The invention belongs to the field of power transformer assembly, and in particular relates to an automatic screw locking device for a transformer panel. Background Art

[0002] A power transformer is an electrical device that uses electromagnetic mutual induction to achieve AC voltage conversion. It is mainly used for the transmission, distribution and use of electrical energy in power systems. Its main function is to convert high voltage in the power grid into low voltage, or vice versa, to meet the needs of different electrical equipment and users. In order to ensure the stable operation of the power transformer, the connection between its panel and the shell must have a high degree of reliability and sealing. In actual design, the periphery of the panel is usually fixedly connected to the periphery of the transformer shell by a large number of screw fasteners (such as Figure 1 These screw fasteners usually include a screw and a nut assembly consisting of a nut, a flat washer and a spring washer. The panel and the housing are tightly connected by tightening the screw and the nut assembly.

[0003] However, the traditional screw locking method mainly relies on manual operation, including installing screws, flat washers, spring washers and nuts one by one and tightening them with manual or electric tools. Due to the large number of screws around the transformer panel, manual operation not only requires high labor intensity, but also easily leads to problems such as inconsistent assembly, omissions or inadequate tightening. In addition, manual locking is inefficient and cannot meet the large-scale and high-efficiency manufacturing needs in modern production, especially in the assembly process of large equipment such as power transformers. This problem is particularly prominent. Summary of the invention

[0004] In this regard, the purpose of the present invention is to provide a transformer panel screw automatic locking device, which can realize automatic screw locking, which is beneficial to improve assembly efficiency, reduce labor costs, and ensure the stability and reliability of connection quality.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] The present invention provides an automatic screw locking device for a transformer panel, comprising a screw feeding device, a nut assembly feeding device and a screw locking device; the screw feeding device is used for feeding screws; the nut assembly feeding device is used for feeding nut assemblies; the screw locking device is used for taking screws at the screw feeding device and taking nut assemblies at the nut assembly feeding device, and then moving to a transformer placement area to perform locking installation of screws and nut assemblies on the transformer, so as to complete the fixed connection between the panel and the shell.

[0007] Preferably, the nut assembly feeding device is detachably provided with a positioning carrier for positioning the nut assembly;

[0008] The screw locking device comprises an industrial robot and a material picking and loading mechanism installed at the end of the mechanical arm of the industrial robot; the material picking and loading mechanism comprises a positioning plate lifting mechanism, a screw clamping mechanism and a screw screwing mechanism which are aligned and arranged in order from bottom to top.

[0009] Preferably, the nut assembly feeding device includes a nut feeding area, a spring pad feeding area, a flat pad feeding area, a nut assembly moving mechanism and a nut assembly waiting area, the nut feeding area is used to supply nuts, the spring pad feeding area is used to supply spring pads, the flat pad feeding area is used to supply flat pads, and the nut assembly moving mechanism is used to stack the nuts in the nut feeding area, the spring pads in the spring pad feeding area and the flat pads in the flat pad feeding area in sequence on a positioning carrier in the nut assembly waiting area, and the positioning carrier is provided with a positioning groove for accommodating the nut assembly.

[0010] Preferably, the screw feeding device includes a screw vibration plate, a screw feeding track, a screw material clamping and transferring mechanism and a screw blocking mechanism. The screw feeding track is connected to the screw vibration plate, and its end extends to one side of the screw material clamping and transferring mechanism. Screws are transported to the screw feeding track through the screw vibration plate. The screw material clamping and transferring mechanism is used to take a screw from the end of the screw feeding track to be clamped by the screw clamping mechanism. The screw blocking mechanism is used to control the opening and closing of the end opening of the screw feeding track.

[0011] Preferably, a mounting frame is installed at the end of the mechanical arm of the industrial robot, and the material picking and loading mechanism is installed on the mounting frame; the mounting frame is also equipped with a locking position identification unit connected to the control system for identifying the installation position of the screw on the panel.

[0012] Preferably, the mounting frame is provided with a movable frame that can slide up and down, the screw-tightening mechanism is installed on the movable frame, and a linear drive mechanism is fixed on the mounting frame, the linear drive mechanism is connected to the movable frame by an elastic connecting member, and the linear drive mechanism drives the movable frame to move up and down; the screw-tightening mechanism includes a screw rotating member and a driving motor that drives the screw rotating member to rotate, and the lower end of the screw rotating member has a connecting head that is arranged to be connected to the upper end of the screw.

[0013] Preferably, the elastic connecting component includes a driving shaft driven by a linear driving mechanism to move up and down, a connecting piece fixedly connected to a movable frame, and a spring providing a downward elastic force to the connecting piece. The connecting piece is provided with a connecting through hole, and the driving shaft passes through the connecting through hole so that the connecting piece can slide up and down on the driving shaft. A stop portion is provided at the lower end of the driving shaft to form a stop limit for the connecting piece. In normal state, the connecting piece is abutted against the stop portion.

[0014] Preferably, the positioning carrier lifting mechanism comprises a lifting plate fixed on a mounting frame, an upper portion of the lifting plate is provided with a positioning column protruding upward, and the positioning carrier is provided with a positioning hole plugged into and matched with the positioning column.

[0015] Preferably, the nut feeding area, spring washer feeding area, and flat washer feeding area are installed side by side on the machine platform;

[0016] The flat pad feeding area includes a flat pad vibrating plate and a flat pad feeding track connected to the flat pad vibrating plate, and a feeding port 1 is provided at the end of the flat pad feeding track; the nut feeding area includes a nut vibrating plate and a nut feeding track connected to the nut vibrating plate, and a feeding port 2 is provided at the end of the nut feeding track; the spring pad feeding area includes a spring pad vibrating plate and a spring pad feeding track connected to the spring pad vibrating plate, and a feeding port 2 is provided at the end of the spring pad feeding track;

[0017] The nut assembly waiting area includes a support platform for supporting the positioning carrier, a circulation track arranged on the support platform, and a circulation drive mechanism for driving the positioning carrier to move along the circulation slideway;

[0018] The nut assembly material moving mechanism includes a material moving rack fixed on the machine platform, a material moving execution rack that can slide laterally on the material moving rack, a material moving execution mechanism that drives the material moving execution frame to move laterally, a material clamping driving mechanism installed on the material moving execution frame, and a material clamping mechanism installed on the material clamping driving mechanism; the material clamping driving mechanism drives the material clamping mechanism to move up and down, and the material clamping mechanism is suitable for clamping flat washers, nuts and spring washers.

[0019] Preferably, the screw clamping and transferring mechanism includes a clamping and feeding mechanism support seat, a rotating driving member installed on the clamping and feeding mechanism support seat and performing a rotating motion, and a pneumatic clamp driven by the rotating driving member to perform a rotating motion, the pneumatic clamp is used to clamp the screws, and the rotating driving member is used to drive the pneumatic clamp to approach and leave the end opening of the screw feeding track.

[0020] The positive effects of the present invention are as follows: the transformer panel screw automatic locking device integrates a screw feeding device, a nut assembly feeding device and a screw locking device, and realizes the full-process automated operation of screw locking between the transformer panel and the shell through automated control, and has many significant beneficial effects; firstly, the equipment significantly improves the assembly efficiency through the automated feeding and locking mechanism, especially in mass production scenarios, it can significantly shorten the screw locking time between the transformer panel and the shell, thereby improving the overall production efficiency and meeting large-scale manufacturing needs; secondly, automated assembly ensures the consistency and reliability of the screw and nut assembly locking process, effectively avoids errors that may occur in manual operation, significantly improves the stability and consistency of product quality, and reduces the rework rate; in addition, the application of the equipment significantly reduces labor costs and labor intensity, and reduces the risk of fatigue and errors caused by manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the following briefly introduces the drawings required for the specific implementation or the prior art description. In the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0022] Figure 1 It is a structural schematic diagram of an existing transformer;

[0023] Figure 2 It is a three-dimensional schematic diagram of the automatic screw locking device for transformer panel in the present invention;

[0024] Figure 3 It is a structural schematic diagram of the material taking and loading mechanism in the present invention;

[0025] Figure 4 Another structural schematic diagram of the material taking and loading mechanism in the present invention;

[0026] Figure 5 It is a structural schematic diagram of the positioning carrier and nut assembly (flat washer, spring washer and nut) in the present invention;

[0027] Figure 6 It is a three-dimensional schematic diagram of the nut assembly feeding device of the present invention;

[0028] Figure 7 for Figure 6 A magnified schematic diagram of part A;

[0029] Figure 8 for Figure 6 A magnified schematic diagram of part B;

[0030] Fig. 9 It is a three-dimensional schematic diagram of the screw feeding device in the present invention;

[0031] Fig.10 for Fig. 9 An enlarged schematic diagram of

[0032] Fig.11 It is a structural schematic diagram of the clamping mechanism in the present invention.

[0033] The reference numerals shown in the figures are:

[0034] 1. Screw feeding device; 11. Screw vibrating plate; 12. Screw feeding track; 13. Screw clamping and transferring mechanism; 131. Support seat of clamping and feeding mechanism; 132. Rotating driving member; 133. Pneumatic clamping jaw; 14. Screw blocking mechanism; 141. Blocking member driving mechanism; 142. Blocking member;

[0035] 2. Nut assembly feeding device; 21. Nut feeding area; 211. Nut vibrating plate; 212. Nut feeding track; 22. Spring pad feeding area; 221. Spring pad vibrating plate; 222. Spring pad feeding track; 23. Flat pad feeding area; 231. Flat pad vibrating plate; 232. Flat pad feeding track; 24. Nut assembly material moving mechanism; 241. Material moving rack; 242. Material moving execution rack; 243. Material clamping drive mechanism; 244. Material moving execution mechanism; 245. Material clamping mechanism; 2451. Clamping arm; 25. Nut assembly waiting area; 252. Positioning carrier; 2521. Positioning slot; 2522. Positioning hole; 253. Support platform; 254. Circulation drive mechanism; 26. Machine table;

[0036] 3. Screw locking device; 31. Industrial robot; 32. Material picking and loading mechanism; 33. Positioning carrier lifting mechanism; 331. Lifting plate; 332. Positioning column; 34. Screw clamping mechanism; 35. Screw screwing mechanism; 351. Screw rotating member; 352. Driving motor; 353. Connector; 36. Mounting frame; 360. Locking position identification unit; 37. Moving frame; 38. Linear driving mechanism; 381. Driving shaft; 382. Connecting member; 383. Stopper; 384. Spring;

[0037] 4. Transformer placement area;

[0038] 10. Transformer; 101. Panel; 102. Housing; 20. Screw; 30. Nut assembly; 301. Spring washer; 302. Nut; 303. Flat washer. DETAILED DESCRIPTION

[0039] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples and cannot be used to limit the protection scope of the present invention.

[0040] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the invention belongs.

[0041] like Figure 2-11 As shown, the transformer panel screw automatic locking device of the embodiment of the present invention comprises a screw feeding device 1, a nut assembly feeding device 2 and a screw locking device 3; the screw feeding device 1 is used for feeding the screw 20; the nut assembly feeding device 2 is used for feeding the nut assembly 30; the screw locking device 3 is used for taking the screw 20 at the screw feeding device 1 and taking the nut assembly 30 at the nut assembly feeding device 2, and then moving to the transformer placement area 4 to lock and install the screw 20 and the nut assembly 30 on the transformer 10, so as to complete the fixed connection between the panel 101 and the shell 102; the transformer panel screw automatic locking device integrates the screw feeding device 1, the nut assembly feeding device 2 and the screw locking device 3, and passes The automatic control realizes the full process automation operation of screw locking between the transformer panel and the shell, which has many significant beneficial effects; first, the equipment significantly improves the assembly efficiency through the automatic feeding and locking mechanism, especially in the mass production scenario, it can greatly shorten the screw locking time between the transformer panel and the shell, thereby improving the overall production efficiency and meeting the needs of large-scale manufacturing; secondly, the automated assembly ensures the consistency and reliability of the screw and nut assembly locking process, effectively avoids the errors that may occur in manual operation, significantly improves the stability and consistency of product quality, and reduces the rework rate; in addition, the application of the equipment greatly reduces labor costs and labor intensity, and reduces the risk of fatigue and errors caused by manual operation. The screw 20 in this embodiment can be a single screw or a screw with a washer.

[0042] See also Figure 3As shown, the nut assembly feeding device 2 is detachably provided with a positioning carrier 252 for positioning the nut assembly 30; the screw locking device 3 includes an industrial robot 31, and a material picking and loading mechanism 32 installed at the end of the mechanical arm of the industrial robot 31, and the industrial robot 31 is responsible for controlling the movement and positioning of the material picking and loading mechanism 32. The industrial robot 31 adopts a multi-axis robot with more than four axes, preferably a six-axis robot, which enables the material picking and loading mechanism 32 to realize complex motion trajectories in three-dimensional space, so as to better adapt to the screw locking needs at different positions around the panel; the material picking and loading mechanism 32 includes a positioning carrier lifting mechanism 33, a screw clamping mechanism 34 and a screw screwing mechanism 35 which are aligned in order from bottom to top; by installing the various parts (flat washers 303, spring washers 301 and nuts 302) constituting the nut assembly 30 in the positioning carrier lifting mechanism 33 on the nut assembly feeding device 2 in sequence On the carrier 252, the positioning carrier lifting mechanism 33 takes the positioning carrier 252 equipped with the nut assembly 30 from the nut assembly feeding device 2, the screw clamping mechanism 34 takes the screw 20, and the industrial robot 31 drives the material picking and loading mechanism 32 to move to the transformer 10, and the screw screwing mechanism 35 screws the screw 20, so that the screw passes through the screw holes on the panel 101 and the shell 102 and is locked and connected with the nut assembly 30 on the positioning carrier 252, thereby realizing the locking installation of the panel 101 on the shell 102; when the material picking and loading mechanism 32 moves to the nut assembly feeding device 2 again, the empty positioning carrier 252 is first returned to the nut assembly feeding device 2, and then the positioning carrier 252 equipped with the nut assembly 30 is picked up; through the coordinated work of the industrial robot 31 and the material picking and loading mechanism 32, the nut assembly 30 and the screw 20 are quickly and accurately picked up and locked, which can be better suitable for transformer panel assembly.

[0043] Further, if Figures 6 to 8As shown, the nut assembly feeding device 2 includes a nut feeding area 21, a spring pad feeding area 22, a flat pad feeding area 23, a nut assembly moving mechanism 24 and a nut assembly waiting area 25, wherein the nut feeding area 21 is used to supply nuts 302, the spring pad feeding area 22 is used to supply spring pads 301, and the flat pad feeding area 23 is used to supply flat pads 303. The nut assembly moving mechanism 24 is used to stack the nuts 302 in the nut feeding area 21, the spring pads 301 in the spring pad feeding area 22 and the flat pads 303 in the flat pad feeding area 23 in sequence on the positioning carrier 252 of the nut assembly waiting area 25, and the positioning carrier 252 is provided with a positioning groove 2521 for accommodating the nut assembly 30, and the positioning groove 252 1 can be provided with a positioning area matching the shape of the nut 302, so that when the nut 302 is embedded in the positioning area in the positioning groove 2521, it plays a circumferential positioning role on the nut 302, thereby preventing the nut from rotating during the locking process of the nut 302 and the screw 20 and affecting the normal locking; in this embodiment, the nut feeding area 21, the spring pad feeding area 22 and the flat pad feeding area 23 respectively provide nuts 302, spring pads 301 and flat pads 303, and the nut assembly moving mechanism 24 stacks these parts in the order of nuts 302, spring pads 301 and flat pads 303 in the positioning groove 2521 of the positioning carrier 252 of the nut assembly waiting area 25 to form a complete nut assembly 30 for subsequent material taking and loading mechanism 32 to take and use.

[0044] like Fig. 9 and Fig.10 As shown, the screw feeding device 1 includes a screw vibration plate 11, a screw feeding track 12, a screw clamping and transferring mechanism 13 and a screw blocking mechanism 14. The screw feeding track 12 is connected to the screw vibration plate 11, and its end extends to one side of the screw clamping and transferring mechanism 13. The screw vibration plate 11 transports the screws 20 to the screw feeding track 12 in an orderly manner, and the screws 20 move to the end along the screw feeding track 12. The screw clamping and transferring mechanism 13 is used to take a screw 20 from the end of the screw feeding track 12 and transfer it away from the end of the screw feeding track 12 to be clamped by the screw clamping mechanism 34. The screw blocking mechanism 14 is used to control the opening and closing of the end of the screw feeding track 12. When the end of the screw feeding track 12 is opened, the screw clamping and transferring mechanism 13 can take the screw. When the screw feeding track 12 is closed, a blocking limit is formed on the screws 20 in the screw feeding track 12. This structure can achieve orderly feeding of screws, ensuring the stability and reliability of the automated locking operation.

[0045] Exemplarily, the screw blocking mechanism 14 includes a blocking member 142 for blocking the end opening of the screw feed track 12 and a blocking member driving mechanism 141 for driving the blocking member 142 to move. The blocking member driving mechanism 141 preferably adopts a cylinder, and the blocking member 142 is fixed at the output end of the cylinder. The movement of the blocking member 142 is driven by the blocking member driving mechanism 141. When the blocking member 142 moves to the end opening of the closed screw feed track 12, the screw 20 is blocked; when the blocking member 142 moves up and away from the end opening, the screw 20 can be clamped by the screw clamping and transferring mechanism 13, and the structure is simple and reliable.

[0046] A mounting frame 36 is installed at the end of the robotic arm of the industrial robot 31, and the mounting frame 36 can be driven by a servo drive device to perform rotational motion to change the angle of the material picking and loading mechanism 32, so as to adapt to screw locking operations at different angles; the material picking and loading mechanism 32 is installed on the mounting frame 36; the mounting frame 36 is further provided with a locking position identification unit 360, and the locking position identification unit 360 is connected to the control system, and the mounting frame 36 is also provided with a locking position identification unit 360 for identifying the installation position of the screw on the panel 101; exemplarily, the locking position identification unit 360 includes an industrial camera, and through image acquisition by the industrial camera, combined with processing by the control system, the installation position of the screw can be quickly and accurately located during the screw locking process, thereby ensuring the accuracy and efficiency of the locking operation; this design makes full use of the advantages of visual technology and improves the intelligence level and operation accuracy of automation equipment.

[0047] See also Figure 4As shown, the mounting frame 36 is provided with a movable frame 37 which can slide up and down, the screw-tightening mechanism 35 is installed on the movable frame 37, and a linear drive mechanism 38 is fixed on the mounting frame 36, the linear drive mechanism 38 is connected to the movable frame 37 through an elastic connecting member, the linear drive mechanism 38 drives the movable frame 37 to move up and down, when the screw is locked, the screw clamping mechanism 34 clamps the screw 20 and is located below the screw-tightening mechanism 35, as the linear drive mechanism 38 drives the movable frame 37 to move downward, the screw-tightening mechanism 35 is connected to the upper end of the screw 20, at this time the elastic connecting member is elastically compressed and keeps the screw-tightening mechanism 35 connected to the upper end of the screw 20, and then The screwing mechanism 35 controls the screw 20 to rotate and lock the screw 20 with the nut assembly 30. The screw 20 moves axially downward, and the elastic connecting member gradually releases the elastic force to drive the screwing mechanism 35 to move downward with the screw 20, thereby ensuring that the screwing mechanism 35 is always connected to the screw 20 during the screw locking process, and can effectively screw and lock the screw 20; the screwing mechanism 35 includes a screw rotating member 351 and a driving motor 352 for driving the screw rotating member 351 to rotate. The lower end of the screw rotating member 351 has a connecting head 353 connected to the upper end of the screw 20. When the driving motor 352 rotates, the screw rotating member 351 is driven to rotate, thereby driving the screw 20 to rotate. Exemplarily, the connecting head 353 is an external hexagonal or internal hexagonal structure to effectively cooperate with an internal hexagonal screw or an external hexagonal screw.

[0048] Furthermore, a specific structure of an elastic connecting component is provided: the elastic connecting component includes a driving shaft 381 driven by a linear driving mechanism 38 to move up and down, a connecting member 382 fixedly connected to a movable frame 37, and a spring 384 providing a downward elastic force to the connecting member 382, ​​the connecting member 382 is provided with a connecting through hole, the driving shaft 381 passes through the connecting through hole so that the connecting member 382 can slide up and down on the driving shaft 381, and a stop portion 383 for forming a stop limit for the connecting member 382 is provided at the lower end of the driving shaft 381, and the connecting member 382 is normally abutted against the stop portion 383, and the stop portion 383 can play a stop limit role for the connecting member 382 to prevent the connecting member 382 from detaching from the driving shaft 381; the structure of this elastic connecting component is simple and feasible, and the performance is stable; preferably, the spring 384 can be sleeved on the driving shaft 381.

[0049] Combination Figure 3 and Figure 4As shown, the positioning carrier lifting mechanism 33 includes a lifting plate 331 fixed on the mounting frame 36, and an upwardly protruding positioning column 332 is provided on the upper part of the lifting plate 331, and a positioning hole 2522 is provided on the positioning carrier 252 to be plugged into and cooperate with the positioning column 332; when the nut assembly 30 is taken out, the positioning carrier lifting mechanism 33 lifts the positioning carrier 252 upward through the lifting plate 331, and inserts the positioning column 332 into the positioning hole 2522 to ensure that the positioning carrier 252 is reliably positioned on the positioning carrier lifting mechanism 33, thereby ensuring the position accuracy of the nut assembly 30 when the screw is locked, and preventing the positioning carrier 252 from slipping off the positioning carrier lifting mechanism 33 during the transfer process.

[0050] See also Figures 6 to 8 As shown, the nut feeding area 21, the spring pad feeding area 22, and the flat pad feeding area 23 are installed side by side on the machine table 26, and are used to supply nuts 302, spring pads 301 and flat pads 303 respectively; in order to optimize the spatial layout and adapt to the same nut assembly moving mechanism 24, the nut feeding area 21, the spring pad feeding area 22, and the flat pad feeding area 23 are installed side by side on the machine table 26; the flat pad feeding area 23 includes a flat pad vibration plate 231 and a flat pad feeding track 232 connected to the flat pad vibration plate 231, and a feeding port 1 is provided at the end of the flat pad feeding track 232, and the nut assembly moving mechanism 24 takes the flat pad from the feeding port and inserts it into the positioning groove 2521 of the positioning carrier 252; the nut feeding area 21 includes a nut vibration plate 211 and a flat pad feeding track 232 connected to the nut vibration plate 231. 11 is connected to a nut feeding track 212, and a feeding port two is provided at the end of the nut feeding track 212. The nut assembly moving mechanism 24 takes the nut 302 from the second feeding port and inserts it into the positioning groove 2521 of the positioning carrier 252; the spring pad feeding area 22 includes a spring pad vibration disk 221 and a spring pad feeding track 222 connected to the spring pad vibration disk 221. A feeding port two is provided at the end of the spring pad feeding track 222. The nut assembly moving mechanism 24 takes the spring pad from the third feeding port and inserts it into the positioning groove 2521 of the positioning carrier 252. After the above-mentioned parts (flat pad 303, spring pad 301 and nut 302) constituting the nut assembly are installed on the positioning carrier 252, they wait in the nut assembly waiting area 25 for being taken by the positioning carrier lifting mechanism 33.

[0051] See also Figure 8The nut assembly waiting area 25 includes a support platform 253 for supporting the positioning carrier 252, a circulation track arranged on the support platform 253, and a circulation drive mechanism 254 for driving the positioning carrier 252 to move along the circulation slide; the circulation drive mechanism 254 is preferably driven by a cylinder. When in use, the positioning carrier lifting mechanism 33 places the empty positioning carrier 252 at the entrance of the circulation slide, and takes the positioning carrier 252 equipped with the nut assembly 30 at the exit of the circulation slide. The circulation slide can be set to a straight line shape, a U shape, etc.

[0052] Combination Figure 6 and Figure 7 The nut assembly material moving mechanism 24 is extended along the arrangement direction of the nut feeding area 21, the spring pad feeding area 22, and the flat pad feeding area 23, so that the material moving of the nut 302 to the positioning carrier 252, the material moving of the flat pad to the positioning carrier 252, and the loading of the spring pad 301 to the positioning carrier 252 can all share the same nut assembly material moving mechanism 24, which is conducive to optimizing the structure and reducing the production cost; Specifically, the nut assembly material moving mechanism 24 includes a fixed on the machine table 26 A material moving frame 241, a material moving execution frame 242 which can slide laterally on the material moving frame 241, a material moving execution mechanism 244 which drives the material moving execution frame 242 to move laterally, a material clamping driving mechanism 243 installed on the material moving execution frame 242, and a material clamping mechanism 245 installed on the material clamping driving mechanism 243; the material clamping driving mechanism 243 drives the material clamping mechanism 245 to move up and down, and the material clamping mechanism 245 is suitable for clamping the flat washer 303, the nut 302 and the spring washer 301; specifically, as Fig.11 As shown, the clamping mechanism 245 can specifically adopt pneumatic clamping fingers, which have two clamping arms 2451 arranged opposite to each other. When the two clamping arms 2451 are retracted, they can be inserted into the inner holes of the flat washer 303, the spring washer 301 and the nut 302, and the clamping can be achieved by controlling the separation of the two clamping arms 2451 so that the outer side of the clamping arms 2451 is in close contact with the edge of the inner hole. The material moving action is reliable and stable; the clamping drive mechanism 243 can adopt a cylinder or an electric cylinder; the material moving actuator 244 can adopt an electric screw mechanism horizontally arranged on the material moving frame 241.

[0053] like Fig.10As shown, the screw clamping and transferring mechanism 13 comprises a clamping and feeding mechanism support seat 131, a rotating driving member 132 mounted on the clamping and feeding mechanism support seat 131 and rotating, and a pneumatic clamping jaw 133 driven by the rotating driving member 132 to rotate. The pneumatic clamping jaw 133 is used to clamp the screw 20. The rotating driving member 132 is used to drive the pneumatic clamping jaw 133 to approach and leave the end of the screw feeding track 12. The position of the pneumatic clamping jaw 133 is changed by the rotating driving of the rotating driving member 132, so that the screw is in a position away from the end of the screw feeding track for smooth clamping by the screw clamping mechanism 34. The rotating driving member 132 can use a rotating cylinder.

[0054] For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. However, these obvious changes or modifications derived from the essential spirit of the invention still fall within the scope of protection of the present invention.

Claims

1. A transformer panel screw automatic locking device, characterized by: The invention comprises a screw feeding device (1), a nut assembly feeding device (2) and a screw locking device (3); the screw feeding device (1) is used for feeding screws (20); the nut assembly feeding device (2) is used for feeding nut assemblies (30); the screw locking device (3) is used for taking screws (20) from the screw feeding device (1) and taking nut assemblies (30) from the nut assembly feeding device (2), and then moving to the transformer placement area (4) to lock and install the screws (20) and the nut assemblies (30) on the transformer (10), so as to complete the fixed connection between the panel (101) and the housing (102).

2. The transformer panel screw automatic locking device according to claim 1 is characterized by: The nut assembly feeding device (2) is detachably provided with a positioning carrier (252) for positioning the nut assembly (30); The screw locking device (3) comprises an industrial robot (31) and a material picking and loading mechanism (32) installed at the end of a mechanical arm of the industrial robot (31); the material picking and loading mechanism (32) comprises a positioning plate lifting mechanism (33), a screw clamping mechanism (34) and a screw tightening mechanism (35) arranged in an aligned order from bottom to top.

3. The transformer panel screw automatic locking device according to claim 2 is characterized in that: The nut assembly feeding device (2) comprises a nut feeding area (21), a spring pad feeding area (22), a flat pad feeding area (23), a nut assembly moving mechanism (24) and a nut assembly waiting area (25); the nut feeding area (21) is used to supply nuts (302); the spring pad feeding area (22) is used to supply spring pads (301); the flat pad feeding area (23) is used to supply flat pads (303); the nut assembly moving mechanism (24) is used to stack nuts (302) in the nut feeding area (21), spring pads (301) in the spring pad feeding area (22) and flat pads (303) in the flat pad feeding area (23) in sequence on a positioning carrier (252) of the nut assembly waiting area (25); the positioning carrier (252) is provided with a positioning groove (2521) for accommodating the nut assembly (30).

4. The transformer panel screw automatic locking device according to claim 2 is characterized in that: The screw feeding device (1) comprises a screw vibrating plate (11), a screw feeding track (12), a screw material clamping and transferring mechanism (13) and a screw blocking mechanism (14). The screw feeding track (12) is connected to the screw vibrating plate (11), and its end extends to one side of the screw material clamping and transferring mechanism (13). Screws are transported to the screw feeding track (12) via the screw vibrating plate (11). The screw material clamping and transferring mechanism (13) is used to take a screw (20) from the end of the screw feeding track (12) to be clamped by the screw clamping mechanism (34). The screw blocking mechanism (14) is used to control the opening and closing of the end opening of the screw feeding track (12).

5. The transformer panel screw automatic locking device according to claim 2 is characterized in that: A mounting frame (36) is mounted at the end of the mechanical arm of the industrial robot (31), and the material picking and loading mechanism (32) is mounted on the mounting frame (36); the mounting frame (36) is also equipped with a locking position identification unit (360) connected to the control system and used to identify the installation position of the screw on the panel (101).

6. The transformer panel screw automatic locking device according to claim 5 is characterized in that: The mounting frame (36) is provided with a movable frame (37) which can slide up and down. The screw-tightening mechanism (35) is installed on the movable frame (37). A linear drive mechanism (38) is fixed on the mounting frame (36). The linear drive mechanism (38) is connected to the movable frame (37) via an elastic connecting member. The linear drive mechanism (38) drives the movable frame (37) to move up and down. The screw-tightening mechanism (35) comprises a screw rotating member (351) and a driving motor (352) for driving the screw rotating member (351) to rotate. The lower end of the screw rotating member (351) has a connecting head (353) which is arranged to be connected to the upper end of the screw (20).

7. The transformer panel screw automatic locking device according to claim 6 is characterized by: The elastic connecting member comprises a driving shaft (381) driven by a linear driving mechanism (38) to move up and down, a connecting member (382) fixedly connected to a movable frame (37), and a spring (384) providing a downward elastic force to the connecting member (382); the connecting member (382) is provided with a connecting through hole, the driving shaft (381) passes through the connecting through hole so that the connecting member (382) can slide up and down on the driving shaft (381); a stop portion (383) is provided at the lower end of the driving shaft (381) to stop and limit the connecting member (382); in a normal state, the connecting member (382) is abutted against the stop portion (383).

8. The transformer panel screw automatic locking device according to claim 5 is characterized by: The positioning carrier plate lifting mechanism (33) comprises a lifting plate (331) fixed on a mounting frame (36), an upwardly protruding positioning column (332) being provided on the upper portion of the lifting plate (331), and a positioning hole (2522) being plugged into and matched with the positioning column (332) being provided on the positioning carrier plate (252).

9. The transformer panel screw automatic locking device according to claim 3 is characterized by: The nut feeding area (21), the spring washer feeding area (22), and the flat washer feeding area (23) are installed side by side on the machine table (26); The flat pad feeding area (23) comprises a flat pad vibrating disk (231) and a flat pad feeding track (232) connected to the flat pad vibrating disk (231), and a first feeding port is provided at the end of the flat pad feeding track (232); the nut feeding area (21) comprises a nut vibrating disk (211) and a nut feeding track (212) connected to the nut vibrating disk (211), and a second feeding port is provided at the end of the nut feeding track (212); the spring pad feeding area (22) comprises a spring pad vibrating disk (221) and a spring pad feeding track (222) connected to the spring pad vibrating disk (221), and a second feeding port is provided at the end of the spring pad feeding track (222); The nut assembly waiting area (25) comprises a support platform (253) for supporting the positioning carrier (252), a circulation track arranged on the support platform (253), and a circulation drive mechanism (254) for driving the positioning carrier (252) to move along the circulation slideway; The nut assembly material moving mechanism (24) comprises a material moving frame (241) fixed on the machine table (26), a material moving execution frame (242) slidably disposed on the material moving frame (241), a material moving execution mechanism (244) driving the material moving execution frame (242) to move horizontally, a material clamping driving mechanism (243) mounted on the material moving execution frame (242), and a material clamping mechanism (245) mounted on the material clamping driving mechanism (243); the material clamping driving mechanism (243) drives the material clamping mechanism (245) to move up and down, and the material clamping mechanism (245) is suitable for clamping the flat washer (303), the nut (302) and the spring washer (301).

10. The transformer panel screw automatic locking device according to claim 4, characterized in that: The screw clamping and transferring mechanism (13) comprises a clamping and feeding mechanism support seat (131), a rotating driving member (132) mounted on the clamping and feeding mechanism support seat (131) and rotating, and a pneumatic clamping jaw (133) driven by the rotating driving member (132) to rotate, wherein the pneumatic clamping jaw (133) is used to clamp the screw (20), and the rotating driving member (132) is used to drive the pneumatic clamping jaw (133) to approach and leave the end opening of the screw feeding track (12).

Images