An automatic screwing device for transformer panel screws

Abstract

The present invention discloses an automatic screw locking device for a transformer panel, which includes 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 to pick up screws at the screw feeding device and pick up nut assemblies at the nut assembly feeding device, and then move to the transformer placement area to lock and install the screws and nut assemblies on the transformer, so as to complete the fixed connection between the panel and the housing. The automatic screw locking device for the transformer panel in the present invention can realize the automatic locking of screws and nut assemblies, so as to solve the problems of low assembly efficiency, high labor intensity, poor quality consistency, etc. caused by manual locking, thereby improving the assembly efficiency, reducing the labor cost, and ensuring the stability and reliability of the connection quality.

Description

Technical Field

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

[0002] A power transformer is an electrical device that uses the electromagnetic mutual induction effect to achieve AC voltage conversion, and is mainly used for the transmission, distribution, and use of electrical energy in a power system. Its main function is to convert the high voltage in the power grid into low voltage, or vice versa, to meet the needs of different electrical devices and users. To ensure the stable operation of the power transformer, the connection between its panel and the housing must have high reliability and sealing performance. In actual design, the periphery of the panel is usually fixedly connected to the periphery of the transformer housing through a large number of screw fasteners (as shown in Figure 1 ). These screw fasteners usually include screws and a nut assembly composed of nuts, flat washers, and spring washers. The tight connection between the panel and the housing is achieved by tightening the screw and the fastening fit of 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 using manual or electric tools for tightening. Due to the large number of screws on the periphery of the transformer panel, manual operation not only requires high labor intensity but also is prone to problems such as inconsistent assembly, omission, or insufficient tightening. In addition, the manual locking efficiency is low, and it is difficult to meet the manufacturing requirements of large batches and high efficiency 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 view of this, the purpose of the present invention is to provide an automatic screw locking device for a transformer panel, which can realize automatic screw locking, is beneficial to improving the assembly efficiency, reducing the labor cost, and ensuring the stability and reliability of the connection quality.

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

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

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

[0008] The screw locking device includes an industrial robot and a material taking and loading mechanism installed at the end of the robotic arm of the industrial robot; the material taking and loading mechanism includes a positioning carrier lifting mechanism, a screw clamping mechanism, and a screw screwing mechanism that are arranged in alignment in the order from bottom to top.

[0009] Preferably, the nut assembly feeding device includes a nut feeding area, a spring washer feeding area, a flat washer feeding area, a nut assembly transfer mechanism, and a nut assembly waiting-to-be-taken area. The nut feeding area is used to supply nuts, the spring washer feeding area is used to supply spring washers, the flat washer feeding area is used to supply flat washers. The nut assembly transfer mechanism is used to stack the nuts from the nut feeding area, the spring washers from the spring washer feeding area, and the flat washers from the flat washer feeding area in sequence on the positioning carrier in the nut assembly waiting-to-be-taken area. The positioning carrier is provided with positioning grooves for accommodating the nut assemblies.

[0010] Preferably, the screw feeding device includes a screw vibrating bowl, a screw feeding track, a screw clamping and transferring mechanism, and a screw blocking mechanism. The screw feeding track is connected to the screw vibrating bowl, and its end extends to one side of the screw clamping and transferring mechanism. Screws are conveyed to the screw feeding track by the screw vibrating bowl. The screw clamping and transferring mechanism is used to pick up a screw from the end of the screw feeding track for the screw clamping mechanism to clamp. The screw blocking mechanism is used to control the opening and closing of the end port of the screw feeding track.

[0011] Preferably, an installation frame is installed at the end of the robotic arm of the industrial robot, and the material taking and loading mechanism is installed on the installation frame; a locking position recognition unit connected to the control system is also installed on the installation frame for recognizing the position where the screw is installed on the panel.

[0012] Preferably, a movable frame that can slide up and down is installed on the installation frame. The screw screwing mechanism is installed on the movable frame, and a linear driving mechanism is fixed on the installation frame. The linear driving mechanism is connected to the movable frame through an elastic connecting member. The linear driving mechanism drives the movable frame to move up and down; the screw screwing mechanism includes a screw rotating member and a driving motor for driving the screw rotating member to rotate. The lower end of the screw rotating member is provided with a connecting head for connecting with the upper end of the screw.

[0013] Preferably, the elastic connecting member includes a driving shaft driven by the linear driving mechanism to move up and down, a connecting member fixedly connected to the movable frame, and a spring that provides a downward elastic force for the connecting member. The connecting member is provided with a connecting through hole, and the driving shaft passes through the connecting through hole so that the connecting member can slide up and down on the driving shaft. A stop portion for forming a stop limit for the connecting member is provided at the lower end of the driving shaft. Normally, the connecting member abuts against the stop portion.

[0014] Preferably, the positioning carrier lifting mechanism includes a lifting plate fixed on the mounting frame. An upwardly protruding positioning post is provided on the upper part of the lifting plate, and a positioning hole adapted to be inserted and mated with the positioning post is provided on the positioning carrier.

[0015] Preferably, the nut feeding area, the spring washer feeding area, and the plain washer feeding area are arranged side by side on the machine table;

[0016] The plain washer feeding area includes a plain washer vibrating bowl and a plain washer feeding track connected to the plain washer vibrating bowl. A feeding port one is provided at the end of the plain washer feeding track; the nut feeding area includes a nut vibrating bowl and a nut feeding track connected to the nut vibrating bowl. A material taking port two is provided at the end of the nut feeding track; the spring washer feeding area includes a spring washer vibrating bowl and a spring washer feeding track connected to the spring washer vibrating bowl. A material taking port two is provided at the end of the spring washer feeding track;

[0017] The area where the nut assembly is to be taken includes a support platform for supporting the positioning carrier, a transfer track provided on the support platform, and a transfer driving mechanism for driving the positioning carrier to move along the transfer track;

[0018] The nut assembly material transfer mechanism includes a material transfer frame fixed on the machine table, a material transfer execution frame slidably disposed horizontally on the material transfer frame, a material transfer execution mechanism for driving the material transfer execution frame to move horizontally, a clamping driving mechanism mounted on the material transfer execution frame, and a clamping mechanism mounted on the clamping driving mechanism; the clamping driving mechanism drives the clamping mechanism to move up and down, and the clamping mechanism is adapted to clamp the plain washer, the nut, and the spring washer.

[0019] Preferably, the screw clamping and transferring mechanism includes a support seat for the clamping and feeding mechanism, a rotary driving member mounted on the support seat for the clamping and feeding mechanism and performing a rotary motion, and a pneumatic clamping jaw driven by the rotary driving member to perform a rotary motion. The pneumatic clamping jaw is used for clamping the screw, and the rotary driving member is used for driving the pneumatic clamping jaw to approach and leave the end port of the screw feeding track.

[0020] The positive effects of the present invention are as follows: By integrating a screw feeding device, a nut assembly feeding device, and a screw locking device, the automatic screw locking device for the transformer panel realizes the full-process automatic operation of screw locking between the transformer panel and the housing through automatic control, and has significant beneficial effects in many aspects. First of all, through the automatic feeding and locking mechanism, the equipment significantly improves the assembly efficiency. Especially in the batch production scenario, it can greatly shorten the screw locking time between the transformer panel and the housing, thus overall improving the production efficiency and meeting the needs of large-scale manufacturing. Secondly, the automatic assembly ensures the consistency and reliability of the screw and nut assembly locking process, effectively avoiding errors that may occur in manual operations, significantly improving the stability and consistency of product quality, and reducing the rework rate. In addition, the application of this equipment greatly reduces the labor cost and labor intensity, and reduces the risks of fatigue and mistakes caused by manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

[0026] Figure 5 It is a schematic structural diagram of the positioning carrier and the 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 in the present invention;

[0028] Figure 7 For Figure 6 The enlarged schematic diagram of part A;

[0029] Figure 8 For Figure 6 The enlarged schematic diagram of part B;

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

[0031] Figure 10 is Figure 9 an enlarged schematic view;

[0032] Figure 11 is a schematic structural view of the clamping mechanism in the present invention.

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

[0034] 1. Screw feeding device; 11. Screw vibrating bowl; 12. Screw feeding track; 13. Screw clamping and transfer mechanism; 131. Support seat of the clamping and feeding mechanism; 132. Rotation driving member; 133. Pneumatic clamping jaw; 14. Screw blocking mechanism; 141. Driving mechanism of the material blocking member; 142. Material blocking member;

[0035] 2. Nut assembly feeding device; 21. Nut feeding area; 211. Nut vibrating bowl; 212. Nut feeding track; 22. Spring washer feeding area; 221. Spring washer vibrating bowl; 222. Spring washer feeding track; 23. Flat washer feeding area; 231. Flat washer vibrating bowl; 232. Flat washer feeding track; 24. Nut assembly transfer mechanism; 241. Transfer frame; 242. Transfer execution frame; 243. Clamping driving mechanism; 244. Transfer execution mechanism; 245. Clamping mechanism; 2451. Clamping arm; 25. Nut assembly waiting-to-be-taken area; 252. Positioning carrier plate; 2521. Positioning groove; 2522. Positioning hole; 253. Support platform; 254. Circulation driving mechanism; 26. Machine table;

[0036] 3. Screw locking device; 31. Industrial robot; 32. Material taking and loading mechanism; 33. Positioning carrier plate 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 recognition unit; 37. Moving frame; 38. Linear driving mechanism; 381. Driving shaft; 382. Connector; 383. Stopping portion; 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. Specific embodiments

[0039] The embodiments of the technical solution of the present invention will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, so they are only 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 ordinary meanings understood by those skilled in the art to which the present invention pertains.

[0041] As Figure 2-11 shown, the automatic screw locking device for the transformer panel in the embodiment of the present invention includes 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 to pick up a screw 20 at the screw feeding device 1 and pick up a nut assembly 30 at the nut assembly feeding device 2 and then move to the transformer placement area 4 to perform the locking and installation of 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 housing 102; this automatic screw locking device for the transformer panel realizes the full-process automation operation of screw locking between the transformer panel and the housing by integrating the screw feeding device 1, the nut assembly feeding device 2, and the screw locking device 3, and has significant beneficial effects in many aspects; First of all, through the automatic feeding and locking mechanism, the equipment significantly improves the assembly efficiency. Especially in the batch production scenario, it can greatly shorten the screw locking time between the transformer panel and the housing, thereby overall improving the production efficiency and meeting the large-scale manufacturing requirements; Secondly, the automatic assembly ensures the consistency and reliability of the screw and nut assembly locking process, effectively avoiding the errors that may occur in manual operations, significantly improving the stability and consistency of product quality, and reducing the rework rate; In addition, the application of this equipment greatly reduces the labor cost and labor intensity, and reduces the risks of fatigue and mistakes caused by manual operations. The screw 20 in this embodiment can be a single screw or a screw with a gasket.

[0042] See Figure 3As shown, a positioning carrier 252 for positioning the nut assembly 30 is detachably arranged on the nut assembly feeding device 2; the screw locking device 3 includes an industrial robot 31 and a material taking and loading mechanism 32 installed at the end of the robotic arm of the industrial robot 31. The industrial robot 31 is responsible for controlling the movement and positioning of the material taking and loading mechanism 32. The industrial robot 31 is a multi-axis robot with four or more axes, preferably a six-axis robot, which enables the material taking and loading mechanism 32 to achieve complex movement trajectories in three-dimensional space to better adapt to the need for locking screws at different positions around the panel; the material taking and loading mechanism 32 includes a positioning carrier lifting mechanism 33, a screw clamping mechanism 34, and a screw screwing mechanism 35 arranged in alignment from bottom to top; by loading the parts (flat washer 303, spring washer 301, and nut 302) constituting the nut assembly 30 onto the positioning carrier 252 in sequence on the nut assembly feeding device 2, the positioning carrier lifting mechanism 33 takes the positioning carrier 252 loaded with the nut assembly 30 from the nut assembly feeding device 2, the screw clamping mechanism 34 takes the screw 20, the industrial robot 31 drives the material taking 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 housing 102 and is tightly connected to the nut assembly 30 on the positioning carrier 252, thereby realizing the tight installation of the panel 101 on the housing 102; when the material taking 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 loaded with the nut assembly 30 is taken; through the collaborative work of the industrial robot 31 and the material taking and loading mechanism 32, the rapid and accurate taking and locking of the nut assembly 30 and the screw 20 are realized, which can better be applied to the assembly of the transformer panel.

[0043] Furthermore, as Figures 6 to 8As shown, the nut assembly feeding device 2 includes a nut feeding area 21, a spring washer feeding area 22, a flat washer feeding area 23, a nut assembly transferring mechanism 24, and a nut assembly waiting-to-be-taken area 25. The nut feeding area 21 is used to supply nuts 302, the spring washer feeding area 22 is used to supply spring washers 301, the flat washer feeding area 23 is used to supply flat washers 303. The nut assembly transferring mechanism 24 is used to stack the nuts 302 from the nut feeding area 21, the spring washers 301 from the spring washer feeding area 22, and the flat washers 303 from the flat washer feeding area 23 in sequence on the positioning carrier 252 in the nut assembly waiting-to-be-taken area 25. A positioning groove 2521 for accommodating the nut assembly 30 is provided on the positioning carrier 252, and a positioning area matching the outer shape of the nut 302 can be set in the positioning groove 2521. In this way, when the nut 302 is embedded in the positioning area in the positioning groove 2521, it plays a circumferential positioning role for the nut 302, preventing the nut from rotating during the locking process between the nut 302 and the screw 20 and affecting the normal locking. In this implementation, the nut feeding area 21, the spring washer feeding area 22, and the flat washer feeding area 23 respectively provide the nut 302, the spring washer 301, and the flat washer 303. The nut assembly transferring mechanism 24 stacks these parts in the positioning groove 2521 of the positioning carrier 252 in the nut assembly waiting-to-be-taken area 25 in the order of the nut 302, the spring washer 301, and the flat washer 303 to form a complete nut assembly 30 for subsequent picking and loading mechanisms 32 to pick up and use.

[0044] As Figure 9 and Figure 10 shown, the screw feeding device 1 includes a screw vibrating bowl 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 vibrating bowl 11, and its end extends to one side of the screw clamping and transferring mechanism 13. The screw vibrating bowl 11 orderly conveys the screws 20 to the screw feeding track 12, and the screws 20 move along the screw feeding track 12 to the end. The screw clamping and transferring mechanism 13 is used to pick up a screw 20 from the end of the screw feeding track 12 and transfer it away from the end port of the screw feeding track 12 for the screw clamping mechanism 34 to pick up. The screw blocking mechanism 14 is used to control the opening and closing of the end port of the screw feeding track 12. When the end port of the screw feeding track 12 is open, the screw clamping and transferring mechanism 13 can pick up the screw. When the screw feeding track 12 is closed, it forms a blocking limit for the screws 20 in the screw feeding track 12. With this structure, the orderly feeding of screws can be realized, ensuring the stability and reliability of the automatic locking operation.

[0045] Exemplarily, the screw blocking mechanism 14 includes a material blocking member 142 for blocking the end port of the screw feeding track 12 and a material blocking member driving mechanism 141 for driving the movement of the material blocking member 142. The material blocking member driving mechanism 141 preferably adopts a cylinder, and the material blocking member 142 is fixed to the output end of the cylinder. By driving the movement of the material blocking member 142 through the material blocking member driving mechanism 141, when the material blocking member 142 moves to block the end port of the screw feeding track 12, the screw 20 is blocked; when the material blocking member 142 moves upward and leaves the end port, the screw 20 can be clamped and transferred by the screw clamping and transferring mechanism 13, and the structure is simple and reliable.

[0046] An installation frame 36 is installed at the end of the robotic arm of the industrial robot 31. The installation frame 36 can be driven by a servo drive device to perform a rotational movement to change the angle of the material taking and loading mechanism 32, so as to adapt to screw locking operations at different angles; the material taking and loading mechanism 32 is installed on the installation frame 36; a locking position recognition unit 360 is further installed on the installation frame 36. The locking position recognition unit 360 is connected to the control system. A locking position recognition unit 360 is also installed on the installation frame 36 for recognizing the position where the screw is installed on the panel 101; Exemplarily, the locking position recognition unit 360 includes an industrial camera. Through the image acquisition of the industrial camera and the processing of 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 vision technology and improves the intelligent level and operation accuracy of the automated equipment.

[0047] See Figure 4As shown, a movable frame 37 that can slide up and down is installed on the mounting frame 36. The screw-twisting mechanism 35 is installed on the movable frame 37, and a linear driving mechanism 38 is fixed on the mounting frame 36. The linear driving mechanism 38 is connected to the movable frame 37 through an elastic connecting member. The linear driving mechanism 38 drives the movable frame 37 to move up and down. When screwing a screw, the screw clamping mechanism 34 clamps the screw 20 and is located below the screw-twisting mechanism 35. As the linear driving mechanism 38 drives the movable frame 37 to move downward, the screw-twisting mechanism 35 is connected to the upper end of the screw 20. At this time, the elastic connecting member is elastically compressed and the screw-twisting mechanism 35 is kept connected to the upper end of the screw 20. Then, during the process of the screw-twisting mechanism 35 controlling the rotation of the screw 20 to 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 screw-twisting mechanism 35 to move downward together with the screw 20, so as to ensure that during the screw-locking process, the screw-twisting mechanism 35 is always connected to the screw 20, and can effectively twist and lock the screw 20; the screw-twisting mechanism 35 includes a screw rotating member 351 and a driving motor 352 that drives the screw rotating member 351 to rotate. The lower end of the screw rotating member 351 has a connecting head 353 that is connected to the upper end of the screw 20. When the driving motor 352 rotates, it drives the screw rotating member 351 to rotate, and then drives the screw 20 to rotate. Exemplarily, the connecting head 353 is an external hexagon or internal hexagon structure to effectively cooperate with an internal hexagon screw or an external hexagon screw.

[0048] Furthermore, a specific structure of the elastic connecting member is provided: the elastic connecting member includes a driving shaft 381 that is driven by the linear driving mechanism 38 to move up and down, a connecting member 382 fixedly connected to the movable frame 37, and a spring 384 that provides a downward elastic force to the connecting member 382. A connecting through hole is provided on the connecting member 382, and 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 that forms a stop limit for the connecting member 382 is provided at the lower end of the driving shaft 381. In the normal state, the connecting member 382 abuts against the stop portion 383. The stop portion 383 can play a role of stopping and limiting the connecting member 382 to prevent the connecting member 382 from detaching from the driving shaft 381; the structure of this elastic connecting member is simple and feasible, and the use performance is stable; preferably, the spring 384 can be sleeved on the driving shaft 381.

[0049] Combined with Figure 3 and Figure 4As shown, the positioning carrier lifting mechanism 33 includes a lifting plate 331 fixed to the mounting frame 36. An upwardly protruding positioning post 332 is provided on the upper part of the lifting plate 331. A positioning hole 2522 for inserting and mating with the positioning post 332 is provided on the positioning carrier 252. When taking the nut assembly 30, the positioning carrier lifting mechanism 33 forms an upward lift on the positioning carrier 252 through the lifting plate 331, and ensures the reliable positioning of the positioning carrier 252 on the positioning carrier lifting mechanism 33 by inserting the positioning post 332 into the positioning hole 2522, guaranteeing the position accuracy of the nut assembly 30 during screw locking and preventing the positioning carrier 252 from slipping off the positioning carrier lifting mechanism 33 during the transfer process.

[0050] See Figures 6 to 8 As shown, the nut feeding area 21, the spring washer feeding area 22, and the plain washer feeding area 23 are arranged side by side on the machine table 26 for supplying nuts 302, spring washers 301, and plain washers 303 respectively. To optimize the space layout and adapt to the same nut assembly transfer mechanism 24, the nut feeding area 21, the spring washer feeding area 22, and the plain washer feeding area 23 are arranged side by side on the machine table 26. The plain washer feeding area 23 includes a plain washer vibrating bowl 231 and a plain washer feeding track 232 connected to the plain washer vibrating bowl 231. A feeding port 1 is provided at the end of the plain washer feeding track 232. The nut assembly transfer mechanism 24 takes a plain washer from the feeding port 1 and places it into the positioning groove 2521 of the positioning carrier 252. The nut feeding area 21 includes a nut vibrating bowl 211 and a nut feeding track 212 connected to the nut vibrating bowl 211. A taking port 2 is provided at the end of the nut feeding track 212. The nut assembly transfer mechanism 24 takes a nut 302 from the feeding port 2 and places it into the positioning groove 2521 of the positioning carrier 252. The spring washer feeding area 22 includes a spring washer vibrating bowl 221 and a spring washer feeding track 222 connected to the spring washer vibrating bowl 221. A taking port 2 is provided at the end of the spring washer feeding track 222. The nut assembly transfer mechanism 24 takes a spring washer from the feeding port 3 and places it into the positioning groove 2521 of the positioning carrier 252. After the various parts (plain washer 303, spring washer 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 the positioning carrier lifting mechanism 33 to take them.

[0051] See Figure 8, the nut assembly to-be-taken area 25 includes a support platform 253 for supporting the positioning carrier 252, a transfer track provided on the support platform 253, and a transfer driving mechanism 254 for driving the positioning carrier 252 to move along the transfer slideway; the transfer driving mechanism 254 preferably uses a cylinder for driving. During use, the positioning carrier lifting mechanism 33 places the empty positioning carrier 252 at the entrance of the transfer slideway and picks up the positioning carrier 252 loaded with the nut assembly 30 at the exit of the transfer slideway. The transfer slideway can be set in a straight shape, a U shape, etc.

[0052] Combined with Figure 6 and Figure 7 , the nut assembly material transfer mechanism 24 extends along the arrangement direction of the nut feeding area 21, the spring washer feeding area 22, and the flat washer feeding area 23. Thus, the transfer of the nut 302 onto the positioning carrier 252, the transfer of the flat washer onto the positioning carrier 252, and the loading of the spring washer 301 onto the positioning carrier 252 can all share the same nut assembly material transfer mechanism 24, which is beneficial to optimizing the structure and reducing production costs. Specifically, the nut assembly material transfer mechanism 24 includes a transfer frame 241 fixed on the machine table 26, a transfer execution frame 242 slidably disposed laterally on the transfer frame 241, a transfer execution mechanism 244 for driving the transfer execution frame 242 to move laterally, a clamping driving mechanism 243 installed on the transfer execution frame 242, and a clamping mechanism 245 mounted on the clamping driving mechanism 243; the clamping driving mechanism 243 drives the clamping mechanism 245 to move up and down, and the clamping mechanism 245 is suitable for clamping the flat washer 303, the nut 302, and the spring washer 301; specifically, as Figure 11 shown, the clamping mechanism 245 can specifically adopt pneumatic clamping fingers. The pneumatic clamping fingers have two relatively arranged clamping arms 2451. When the two clamping arms 2451 are closed, they can be inserted into the inner holes of the flat washer 303, the spring washer 301, and the nut 302, and by controlling the separation of the two clamping arms 2451, the outer sides of the clamping arms 2451 can be tightly abutted against the inner hole edges to achieve clamping. The transfer action is reliable and stable; the clamping driving mechanism 243 can adopt a cylinder or an electric cylinder; the transfer execution mechanism 244 can adopt an electric screw mechanism laterally arranged on the transfer frame 241.

[0053] Such as Figure 10As shown, the screw clamping and transferring mechanism 13 includes a supporting base 131 for the clamping and feeding mechanism, a rotary driving member 132 mounted on the supporting base 131 of the clamping and feeding mechanism and performing a rotary motion, and a pneumatic gripper 133 driven by the rotary driving member 132 to perform a rotary motion. The pneumatic gripper 133 is used for clamping screws 20, and the rotary driving member 132 is used to drive the pneumatic gripper 133 to approach and leave the end port of the screw feeding track 12; by the rotary driving of the rotary driving member 132, the position of the pneumatic gripper 133 is changed, so that the screws are located at a position deviating from the end port of the screw conveying track for the screw clamping mechanism 34 to successfully clamp. The rotary driving member 132 can use a rotary cylinder.

[0054] For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. And these obvious changes or variations derived from the essential spirit of the present invention still fall within the protection scope of the present invention.

Claims

1. An automatic screwing device for transformer panel screws, characterized in that: It includes 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 picking up a screw (20) at the screw feeding device (1) and a 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) to complete the fixed connection between the panel (101) and the housing (102). A positioning carrier plate (252) for positioning the nut assembly (30) is detachably arranged on the nut assembly feeding device (2); the screw locking device (3) includes an industrial robot (31) and a material picking and loading mechanism (32) installed at the end of the robotic arm of the industrial robot (31); the material picking and loading mechanism (32) includes a positioning carrier plate lifting mechanism (33), a screw clamping mechanism (34) and a screw screwing mechanism (35) arranged in alignment from bottom to top. An installation frame (36) is installed at the end of the robotic arm of the industrial robot (31), and the material picking and loading mechanism (32) is installed on the installation frame (36); a movable frame (37) that can slide up and down is installed on the installation frame (36), the screw screwing mechanism (35) is installed on the movable frame (37), and a linear driving mechanism (38) is fixed on the installation frame (36), the linear driving mechanism (38) is connected to the movable frame (37) through an elastic connecting member, and the linear driving mechanism (38) drives the movable frame (37) to move up and down. The elastic connecting member includes a driving shaft (381) driven by the linear driving mechanism (38) to move up and down, a connecting member (382) fixedly connected to the movable frame (37), and a spring (384) that provides a downward elastic force for the connecting member (382). A connecting through hole is provided on the connecting member (382), and 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) for forming a stop limit for the connecting member (382) is arranged at the lower end of the driving shaft (381). Normally, the connecting member (382) abuts against the stop portion (383).

2. The automatic screwing device for the transformer panel screw according to claim 1, wherein: The nut assembly feeding device (2) includes a nut feeding area (21), a spring washer feeding area (22), a plain washer feeding area (23), a nut assembly transferring mechanism (24), and a nut assembly waiting-to-be-taken area (25). The nut feeding area (21) is used to supply nuts (302), the spring washer feeding area (22) is used to supply spring washers (301), the plain washer feeding area (23) is used to supply plain washers (303), and the nut assembly transferring mechanism (24) is used to stack the nuts (302) in the nut feeding area (21), the spring washers (301) in the spring washer feeding area (22), and the plain washers (303) in the plain washer feeding area (23) in sequence on the positioning carrier (252) in the nut assembly waiting-to-be-taken area (25). A positioning groove (2521) for accommodating the nut assembly (30) is provided on the positioning carrier (252).

3. The automatic screwing device for the transformer panel screws according to claim 1, characterized in that: The screw feeding device (1) includes a screw vibrating bowl (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 vibrating bowl (11), and its end extends to one side of the screw clamping and transferring mechanism (13). Screws are conveyed from the screw vibrating bowl (11) to the screw feeding track (12). The screw clamping and transferring mechanism (13) is used to pick up a screw (20) from the end of the screw feeding track (12) for the screw clamping mechanism (34) to clamp, and the screw blocking mechanism (14) is used to control the opening and closing of the end port of the screw feeding track (12).

4. The automatic screwing device for the transformer panel screws according to claim 1, characterized in that: A locking position recognition unit (360) connected to the control system is also installed on the mounting frame (36) for recognizing the position where the screw is installed on the panel (101).

5. The automatic screwing device for the transformer panel screws according to claim 4, characterized in that: The screw screwing mechanism (35) includes a screw rotating member (351) and a driving motor (352) for driving the screw rotating member (351) to rotate. A connecting head (353) for connecting to the upper end of the screw (20) is provided at the lower end of the screw rotating member (351).

6. The automatic screwing device for the transformer panel screws according to claim 4, characterized in that: The positioning carrier lifting mechanism (33) includes a lifting plate (331) fixed to the mounting frame (36). An upward protruding positioning post (332) is provided on the upper part of the lifting plate (331), and a positioning hole (2522) for plugging and matching with the positioning post (332) is provided on the positioning carrier (252).

7. The automatic screwing device for transformer panel screws according to claim 2, characterized in that: The nut feeding area (21), the spring washer feeding area (22), and the plain washer feeding area (23) are arranged side by side on the machine table (26); The flat washer feeding area (23) includes a flat washer vibrating bowl (231) and a flat washer feeding track (232) connected to the flat washer vibrating bowl (231). A first feeding port is provided at the end of the flat washer feeding track (232); the nut feeding area (21) includes a nut vibrating bowl (211) and a nut feeding track (212) connected to the nut vibrating bowl (211). A second picking port is provided at the end of the nut feeding track (212); the spring washer feeding area (22) includes a spring washer vibrating bowl (221) and a spring washer feeding track (222) connected to the spring washer vibrating bowl (221). A second picking port is provided at the end of the spring washer feeding track (222). The nut assembly area to be picked (25) includes a support platform (253) for supporting the positioning carrier (252), a transfer track provided on the support platform (253), and a transfer driving mechanism (254) for driving the positioning carrier (252) to move along the transfer track. The nut assembly transfer mechanism (24) includes a transfer frame (241) fixed to the machine table (26), a transfer execution frame (242) slidably disposed laterally on the transfer frame (241), a transfer execution mechanism (244) for driving the transfer execution frame (242) to move laterally, a clamping driving mechanism (243) mounted on the transfer execution frame (242), and a clamping mechanism (245) mounted on the clamping driving mechanism (243); the clamping driving mechanism (243) drives the clamping mechanism (245) to move up and down, and the clamping mechanism (245) is adapted to pick up flat washers (303), nuts (302), and spring washers (301).

8. The automatic screwing device for the transformer panel screws according to claim 3, wherein: The screw clamping and transfer mechanism (13) includes a support seat (131) for the clamping and feeding mechanism, a rotary driving member (132) mounted on the support seat (131) for the clamping and feeding mechanism and performing a rotary motion, and a pneumatic clamping jaw (133) driven by the rotary driving member (132) to perform a rotary motion. The pneumatic clamping jaw (133) is used to pick up screws (20), and the rotary driving member (132) is used to drive the pneumatic clamping jaw (133) to approach and leave the end port of the screw feeding track (12).

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