Workpiece tightening device and workpiece tightening method

Abstract

The invention provides a workpiece tightening device and a workpiece tightening method. The workpiece tightening device comprises a fixing mechanism, a first mounting mechanism, a second mounting mechanism, a guide mechanism, a tightening gun, a screwing mechanism and a feeding mechanism. The bottom of the fixing mechanism is connected with the first mounting mechanism, the second mounting mechanism is located below the first mounting mechanism, the guide mechanism is fixed to the first mounting mechanism, the guide mechanism is further connected with the second mounting mechanism, and the guide mechanism is used for adjusting the distance between the first mounting mechanism and the second mounting mechanism; the tightening gun is fixed to the fixing mechanism, and the bottom end of the tightening gun sequentially penetrates through the fixing mechanism and the first mounting mechanism and is detachably connected with the top end of the screwing mechanism. The bottom end of the screwing mechanism penetrates through the second mounting mechanism, and the bottom end of the screwing mechanism is used for screwing a workpiece; the feeding mechanism is fixed to the fixing mechanism and used for grabbing workpieces. According to the device, the cost is reduced, the situation that multiple tightening guns are debugged is avoided, and the assembling efficiency of the electrolytic cell is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a workpiece tightening device and a workpiece tightening method. Background Art

[0002] With the progress of society, the competition in the general industrial automation industry is becoming increasingly fierce. In order to improve the level of automated assembly of electrolytic cell production lines and reduce labor costs, on the premise of meeting the requirements of process and automation, the workpiece is often tightened by adding a tightening gun to the end of an industrial robot.

[0003] Among the workpieces that need to be assembled in the electrolytic cell shell, due to the large number of assembly points and the variety of workpieces, it is necessary to use a variety of tightening guns to tighten a variety of screws on a variety of workpieces in order to install the various workpieces.

[0004] However, the inventors have found that the method of using a variety of tightening guns is not only costly, but also requires a robot to frequently install different tightening guns and re-adjust the tightening guns after installation, resulting in low assembly efficiency of the electrolytic cell. Summary of the invention

[0005] The present application provides a workpiece tightening device and a workpiece tightening method, which are used to solve the problem that the current method of using multiple tightening guns is not only costly, but also requires a robot to frequently install different tightening guns and re-debug the installed tightening guns, resulting in low assembly efficiency of the electrolytic cell.

[0006] In a first aspect, the present application provides a workpiece tightening device, comprising: a fixing mechanism, a first mounting mechanism, a second mounting mechanism, a guiding mechanism, a tightening gun, a screwing mechanism and a feeding mechanism;

[0007] The bottom of the fixing mechanism is connected to the first mounting mechanism, the second mounting mechanism is located below the first mounting mechanism, the guiding mechanism is fixed on the first mounting mechanism, the guiding mechanism is also connected to the second mounting mechanism, and the guiding mechanism is used to adjust the distance between the first mounting mechanism and the second mounting mechanism;

[0008] The tightening gun is fixed on the fixing mechanism, and the bottom end of the tightening gun passes through the fixing mechanism and the first mounting mechanism in sequence, and is detachably connected to the top end of the screwing mechanism;

[0009] The bottom end of the screwing mechanism passes through the second mounting mechanism, and the bottom end of the screwing mechanism is used for screwing the workpiece;

[0010] The feeding mechanism is fixed on the fixing mechanism, and the feeding mechanism is used for grabbing the workpiece.

[0011] In the above scheme, the fixing mechanism includes: a tightening mounting plate, a flange mounting plate, a reinforcing plate and a flange;

[0012] The bottom end of the tightening gun passes through the tightening mounting plate and the first adjustment mechanism, and is connected to the top end of the adjustment sleeve;

[0013] The bottom side of the flange mounting plate is connected to the upper surface of the tightening mounting plate, and the flange is connected to a side surface of the flange mounting plate away from the tightening gun;

[0014] The bottom side edge of the reinforcing plate is connected to the upper surface of the tightening mounting plate, and the side edge of the reinforcing plate facing the flange mounting plate is connected to the flange mounting plate.

[0015] In the above scheme, the fixing mechanism further comprises: a washer and a latch guide sleeve;

[0016] The washer is fixed to the lower surface of the tightening mounting plate of the fixing mechanism;

[0017] The latch guide sleeve passes through the washer and is connected to the tightening mounting plate;

[0018] The washer is used for connecting with the manipulator, and the latch guide sleeve is used for inserting into the positioning component in the manipulator.

[0019] In the above solution, the first mounting mechanism includes: a support column, a first mounting plate, a mounting flange plate and a buffer;

[0020] The top end of the support column is connected to the lower surface of the tightening mounting plate of the fixing mechanism;

[0021] The bottom end of the support column is connected to the upper surface of the first mounting plate;

[0022] The mounting flange plate is fixed on the upper surface of the first mounting plate, and the mounting flange plate is connected to the guide mechanism;

[0023] The buffer is fixed on the first mounting plate.

[0024] In the above solution, the second mounting mechanism comprises: a second mounting plate, a floating joint, a limit block and a guide sleeve;

[0025] The upper surface of the second mounting plate is connected to the floating joint;

[0026] The piston rod of the guide cylinder passes through the first mounting plate of the first mounting mechanism and is connected to the floating joint;

[0027] The limit block is fixed on the upper surface of the second mounting plate, and the limit block is used to limit the distance between the second mounting plate and the first mounting plate of the first mounting mechanism;

[0028] The guide sleeve passes through the second mounting plate and is fixed to the second mounting plate;

[0029] The bottom end of the screwing mechanism passes through the guide sleeve.

[0030] In the above scheme, the guide mechanism includes: a guide cylinder, a piston rod, a linear bearing and a guide rod;

[0031] The guide cylinder is located in the fixing mechanism, and the bottom end of the guide cylinder passes through the tightening mounting plate of the fixing mechanism and is connected to the mounting flange plate of the first mounting mechanism;

[0032] One end of the piston rod is connected to the guide cylinder, and the other end of the piston rod passes through the mounting flange plate and the first mounting plate of the first mounting mechanism, and is connected to the second mounting plate of the second mounting mechanism;

[0033] The linear bearing is fixed on the first mounting plate, the bottom end of the guide rod is connected to the second mounting plate of the second mounting mechanism, and the top end of the guide rod passes through the linear bearing.

[0034] In the above scheme, the screwing mechanism comprises: a connecting sleeve, a connecting rod and a screwing sleeve;

[0035] The top end of the connecting sleeve is detachably connected to the bottom end of the tightening gun;

[0036] The bottom end of the connecting sleeve is detachably connected to the top end of the connecting rod;

[0037] The bottom end of the connecting rod is detachably connected to the top end of the screw sleeve;

[0038] The bottom end of the screwing sleeve passes through the guide sleeve of the second mounting mechanism, and the bottom end of the screwing sleeve is used for screwing the workpiece.

[0039] In the above solution, the side of the screw sleeve has an annular protrusion

[0040] The annular protrusion divides the screw sleeve into an upper sleeve and a lower sleeve. The upper sleeve is clearance-matched with the guide sleeve, and the bottom of the lower sleeve is used for tightening a workpiece.

[0041] In the above scheme, the feeding mechanism includes: a suction cup mounting plate, a suction cup mounting cylinder, a suction cup, a suction cup nozzle, a vacuum generator and a solenoid valve;

[0042] The bottom side edge of the suction cup mounting plate is connected to the upper surface of the tightening mounting plate;

[0043] The suction cup mounting tube is connected to a surface of a side of the suction cup mounting plate away from the tightening gun;

[0044] The suction cup is connected to the suction cup mounting tube, and the suction cup nozzle is fixed on the suction cup mounting tube and connected to the suction cup;

[0045] The vacuum generator is connected to the suction cup nozzle, and the vacuum generator is used to vacuum the suction cup through the suction cup nozzle so that the suction cup grabs the workpiece;

[0046] The solenoid valve is connected to the gas source, and is also connected to the vacuum generator. The solenoid valve is used to output pressurized gas to the vacuum generator, and the vacuum generator is used to perform vacuum suction on the suction cup through the pressurized gas.

[0047] In a second aspect, the present application provides a workpiece tightening method, comprising:

[0048] Control the manipulator to grasp the fixing mechanism;

[0049] Controlling the feeding mechanism to grab the workpiece and move the workpiece to an installation position; wherein the installation position is a portion of the electrolytic cell for installing the workpiece;

[0050] Connect the screwing mechanism to the tightening gun;

[0051] Controlling the guide mechanism to adjust the distance between the first mounting mechanism and the second mounting mechanism;

[0052] Controlling the manipulator to sleeve the screwing mechanism onto the workpiece at the installation position;

[0053] The tightening gun is controlled to drive the screwing mechanism to rotate, and the manipulator applies pressure to the fixing mechanism so that the screwing mechanism screws the workpiece into the installation position, so that the workpiece is assembled on the electrolytic cell.

[0054] The present application provides a workpiece tightening device and a workpiece tightening method, which only requires the use of one debugged tightening gun, and can tighten a variety of screws on a variety of workpieces by replacing the screwing mechanism. This not only reduces costs, but also avoids the need to debug multiple tightening guns in the prior art, thereby improving the assembly efficiency of the electrolytic cell. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0056] Figure 1 A schematic diagram of the three-dimensional structure of a workpiece tightening device provided in the present application when the screwing mechanism is not connected;

[0057] Figure 2 A schematic diagram of a side perspective structure of a workpiece tightening device provided by the present application when the screwing mechanism is not connected;

[0058] Figure 3 A side perspective structural schematic diagram of a workpiece tightening device provided in the present application when connected to a screwing mechanism.

[0059] Reference numerals:

[0060] 1: Fixed mechanism;

[0061] 2: The first mounting mechanism;

[0062] 3: Second mounting mechanism;

[0063] 4: Guiding mechanism;

[0064] 5: Tighten the gun;

[0065] 6: Screwing mechanism;

[0066] 7: Feeding mechanism;

[0067] 11: Tighten the mounting plate;

[0068] 12: flange mounting plate; 13: reinforcement plate;

[0069] 14: Flange;

[0070] 15: Washer;

[0071] 16: pin guide sleeve; 21: support column; 22: first mounting plate; 23: mounting flange plate; 24: buffer; 31: second mounting plate; 32: floating joint;

[0072] 33: limit block; 34: guide sleeve;

[0073] 341: Guide channel;

[0074] 41: guide cylinder;

[0075] 42: piston rod;

[0076] 43: Linear bearing;

[0077] 44: guide rod;

[0078] 61: connecting sleeve;

[0079] 62: connecting rod;

[0080] 63: screw the sleeve;

[0081] 631: annular protrusion 632: upper sleeve;

[0082] 633: Lower sleeve;

[0083] 71: suction cup mounting plate; 72: suction cup mounting cylinder; 73: suction cup; 74: suction cup nozzle; 75: vacuum generator;

[0084] 76: Solenoid valve.

[0085] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0086] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the appended claims.

[0087] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0088] See also Figure 1-Figure 3 , the embodiment of the present application provides a workpiece tightening device, including: a fixing mechanism 1, a first mounting mechanism 2, a second mounting mechanism 3, a guiding mechanism 4, a tightening gun 5, a screwing mechanism 6 and a feeding mechanism 7;

[0089] The bottom of the fixing mechanism 1 is connected to the first mounting mechanism 2, the second mounting mechanism 3 is located below the first mounting mechanism 2, the guide mechanism 4 is fixed on the first mounting mechanism 2, and the guide mechanism 4 is also connected to the second mounting mechanism 3, and the guide mechanism 4 is used to adjust the distance between the first mounting mechanism 2 and the second mounting mechanism 3;

[0090] The tightening gun 5 is fixed on the fixing mechanism 1, and the bottom end of the tightening gun 5 passes through the fixing mechanism 1 and the first mounting mechanism 2 in sequence, and is detachably connected to the top end of the screwing mechanism 6;

[0091] The bottom end of the screwing mechanism 6 passes through the second mounting mechanism 3, and the bottom end of the screwing mechanism 6 is used for screwing the workpiece;

[0092] The feeding mechanism 7 is fixed on the fixing mechanism 1 , and the feeding mechanism 7 is used to grab the workpiece.

[0093] In this example, the workpiece tightening device is controlled by a manipulator, specifically, the manipulator is controlled to grab the fixing mechanism 1, the feeding mechanism 7 is controlled to grab the workpiece, and the workpiece is moved to the installation position, the screwing mechanism 6 is connected to the screwing gun 5, and the guide mechanism 4 is controlled to adjust the distance between the first installation mechanism 2 and the second installation mechanism 3; the manipulator is controlled to put the screwing mechanism 6 on the workpiece at the installation position, the screwing gun 5 is controlled to drive the screwing mechanism 6 to rotate, and the manipulator applies pressure to the fixing mechanism 1 so that the screwing mechanism 6 screws the workpiece into the installation position. Among them, the internal contour of the bottom end of the screwing mechanism 6 matches the outer contour of the screw on the workpiece. Therefore, for different types of workpieces, different screwing mechanisms 6 can be used for screwing. Therefore, the present application only needs to use one screwing gun 5 that has been debugged, and can screw multiple screws on multiple workpieces by replacing the screwing mechanism 6, which not only reduces the cost, but also avoids the situation that multiple screwing guns 5 need to be debugged in the prior art, thereby improving the assembly efficiency of the electrolytic cell.

[0094] In a preferred embodiment, the fixing mechanism 1 comprises: a tightening mounting plate 11, a flange mounting plate 12, a reinforcing plate 13 and a flange 14;

[0095] The bottom end of the tightening gun 5 passes through the tightening mounting plate 11 and the first adjustment mechanism, and is connected to the top end of the adjustment sleeve;

[0096] The bottom side of the flange mounting plate 12 is connected to the upper surface of the tightening mounting plate 11, and the flange 14 is connected to the side surface of the flange mounting plate 12 away from the tightening gun 5;

[0097] The bottom side edge of the reinforcing plate 13 is connected to the upper surface of the tightening mounting plate 11 , and the side edge of the reinforcing plate 13 facing the flange mounting plate 12 is connected to the flange mounting plate 12 .

[0098] In this example, the manipulator is connected to the flange 14 to move the workpiece tightening device and to sleeve the screwing mechanism 6 on the workpiece; and the reinforcing plate 13 is provided to improve the overall strength of the fixing mechanism 1 .

[0099] In a preferred embodiment, the fixing mechanism 1 further comprises: a washer 15 and a latch guide sleeve 16;

[0100] The washer 15 is fixed to the lower surface of the tightening mounting plate 11 of the fixing mechanism 1;

[0101] The bolt guide sleeve 16 passes through the washer 15 and is connected to the tightening mounting plate 11;

[0102] The washer 15 is used for connecting with the manipulator, and the latch guide sleeve 16 is used for inserting the positioning component in the manipulator.

[0103] In this example, the washer 15 is the fulcrum for the manipulator to grasp the workpiece tightening device, and the pin guide sleeve 16 is used to insert the positioning component of the manipulator to position the manipulator when the manipulator grasps the workpiece tightening device, so as to ensure that the manipulator can firmly grasp the workpiece tightening device. In this embodiment, the manipulator grasps the washer 15 to control the loading device to move toward the loading position and the installation position.

[0104] In a preferred embodiment, the first mounting mechanism 2 includes: a support column 21, a first mounting plate 22, a mounting flange plate 23 and a buffer 24;

[0105] The top end of the support column 21 is connected to the lower surface of the tightening mounting plate 11 of the fixing mechanism 1;

[0106] The bottom end of the support column 21 is connected to the upper surface of the first mounting plate 22;

[0107] The mounting flange plate 23 is fixed on the upper surface of the first mounting plate 22, and the mounting flange plate 23 is connected to the guide mechanism 4;

[0108] The buffer 24 is fixed on the first mounting plate 22 .

[0109] In this example, a first mounting plate 22 is provided to support the guide cylinder 41 of the guide mechanism 4; a mounting flange plate 23 is provided to realize the connection between the guide cylinder 41 in the guide mechanism 4 and the first mounting mechanism 2; and a buffer 24 is provided to eliminate the impact caused by the second mounting mechanism 3 moving toward the first mounting mechanism 2.

[0110] In a preferred embodiment, the second mounting mechanism 3 includes: a second mounting plate 31, a floating joint 32, a limit block 33 and a guide sleeve 34;

[0111] The upper surface of the second mounting plate 31 is connected to the floating joint 32;

[0112] The piston rod 42 of the guide cylinder 41 passes through the first mounting plate 22 of the first mounting mechanism 2 and is connected to the floating joint 32;

[0113] The limit block 33 is fixed on the upper surface of the second mounting plate 31, and the limit block 33 is used to limit the distance between the second mounting plate 31 and the first mounting plate 22 of the first mounting mechanism 2;

[0114] The guide sleeve 34 passes through the second mounting plate 31 and is fixed to the second mounting plate 31;

[0115] The bottom end of the screwing mechanism 6 passes through the guide sleeve 34 .

[0116] In this example, the floating joint 32 connects the piston rod 42 and the second mounting plate 31, and absorbs the "eccentric" lack of parallelism (angle) between the second mounting plate 31 and the piston rod 42. Even if the coaxiality is low, the thrust will not be reduced. This prevents damage to the cylinder seal ring and extends the life of the cylinder.

[0117] The limiting block 33 is used to contact the buffer 24 to reduce the force range of the collision between the second mounting mechanism 3 and the buffer 24 to the greatest extent, thereby protecting the second mounting mechanism 3.

[0118] The guide sleeve 34 is used to define the axis of the screwing sleeve 63 of the screwing mechanism 6 to ensure the stability of the screwing sleeve 63 when screwing the workpiece.

[0119] In a preferred embodiment, the guide mechanism 4 includes: a guide cylinder 41, a piston rod 42, a linear bearing 43 and a guide rod 44;

[0120] The guide cylinder 41 is located in the fixing mechanism 1, and the bottom end of the guide cylinder 41 passes through the tightening mounting plate 11 of the fixing mechanism 1 and is connected to the mounting flange plate 23 of the first mounting mechanism 2;

[0121] One end of the piston rod 42 is connected to the guide cylinder 41, and the other end of the piston rod 42 passes through the mounting flange plate 23 and the first mounting plate 22 of the first mounting mechanism 2, and is connected to the second mounting plate 31 of the second mounting mechanism 3;

[0122] The linear bearing 43 is fixed on the first mounting plate 22 , the bottom end of the guide rod 44 is connected to the second mounting plate 31 of the second mounting mechanism 3 , and the top end of the guide rod 44 passes through the linear bearing 43 .

[0123] In this example, a guide cylinder 41 and a piston rod 42 are provided to control the distance between the first mounting plate 22 of the first mounting mechanism 2 and the second mounting plate 31 of the second mounting mechanism 3 .

[0124] By providing the linear bearing 43 and the guide rod 44 , it is ensured that the axes of the first mounting plate 22 and the second mounting plate 31 are consistent, thereby ensuring the stability of the axis of the guide sleeve 34 .

[0125] In a preferred embodiment, the screwing mechanism 6 comprises: a connecting sleeve 61, a connecting rod 62 and a screwing sleeve 63;

[0126] The top end of the connecting sleeve 61 is detachably connected to the bottom end of the tightening gun 5;

[0127] The bottom end of the connecting sleeve 61 is detachably connected to the top end of the connecting rod 62;

[0128] The bottom end of the connecting rod 62 is detachably connected to the top end of the screw sleeve 63;

[0129] The bottom end of the screwing sleeve 63 passes through the guide sleeve 34 of the second mounting mechanism 3 , and the bottom end of the screwing sleeve 63 is used for screwing the workpiece.

[0130] In this example, the top end of the connecting sleeve 61 is connected to the bottom end of the tightening gun 5 by a latch to ensure the connection strength between the connecting sleeve 61 and the tightening gun 5; specifically, an O-ring is put on the connecting sleeve 61, and a first latch is passed through the O-ring, the connecting sleeve 61 and the tightening gun 5 in sequence, so that the connecting sleeve 61 and the tightening gun 5 are detachably connected; the bottom end of the connecting rod 62 is connected to the top end of the screwing sleeve 63 by a latch to ensure the connection strength between the screwing sleeve 63 and the connecting rod 62; the bottom end of the connecting sleeve 61 and the top end of the connecting rod 62 are plug-in connected to improve the replacement efficiency of the connecting rod 62 and the screwing sleeve 63 on the connecting rod 62; wherein, the bottom end of the connecting sleeve 61 is a quick-plug connector (for example: a steel ball locking quick-change connector), and the connecting rod 62 is plug-in connected to the connecting sleeve 61 by inserting the quick-plug connector;

[0131] The technical effect of screwing screws of various types of workpieces can be achieved by removing the connecting rod 62 and the screwing sleeve 63 from the connecting sleeve 61 or replacing the screwing sleeve 63 by removing the screwing sleeve 63 from the connecting rod 62 .

[0132] In a preferred embodiment, the side of the screw sleeve 63 has an annular protrusion 631

[0133] The annular protrusion 631 divides the screw sleeve 63 into an upper sleeve 632 and a lower sleeve 633 . The upper sleeve 632 is clearance-matched with the guide sleeve 34 , and the bottom of the lower sleeve 633 is used to tighten the workpiece.

[0134] In this example, an annular protrusion 631 is provided to prevent the screwing sleeve 63 from moving out from the top end of the guide sleeve 34; and the upper sleeve 632 is loosely matched with the guide sleeve 34 to ensure the stability of the screwing sleeve 63 when screwing the workpiece.

[0135] In this embodiment, the upper sleeve 632 is clearance-matched with the guide channel 341 of the guide sleeve 34 , and the guide channel 341 communicates with the top and the bottom of the guide sleeve 34 .

[0136] In a preferred embodiment, the feeding mechanism 7 includes: a suction cup mounting plate 71, a suction cup mounting cylinder 72, a suction cup 73, a suction cup nozzle 74, a vacuum generator 75 and a solenoid valve 76;

[0137] The bottom side of the suction cup mounting plate 71 is connected to the upper surface of the tightening mounting plate 11;

[0138] The suction cup mounting tube 72 is connected to a surface of the suction cup mounting plate 71 on a side away from the tightening gun 5;

[0139] The suction cup 73 is connected to the suction cup mounting tube 72, and the suction cup nozzle 74 is fixed on the suction cup mounting tube 72 and connected to the suction cup 73;

[0140] The vacuum generator 75 is connected to the suction cup nozzle 74, and the vacuum generator 75 is used to vacuum the suction cup 73 through the suction cup nozzle 74, so that the suction cup 73 grabs the workpiece;

[0141] The solenoid valve 76 is connected to the gas source, and is also connected to the vacuum generator 75. The solenoid valve 76 is used to output pressurized gas to the vacuum generator 75, and the vacuum generator 75 is used to perform vacuum suction on the suction cup 73 through the pressurized gas.

[0142] In this example, the vacuum generator 75 is a device that uses a positive pressure air source to generate negative pressure. The working principle of the vacuum generator 75 is to use a nozzle to spray compressed air at high speed to form a jet at the nozzle outlet to generate a suction flow. Under the suction effect, the air around the nozzle outlet is continuously sucked away, so that the pressure in the adsorption chamber drops below the atmospheric pressure, forming a certain vacuum degree.

[0143] The suction cup 73 is vacuumed by the vacuum generator 75 to generate negative pressure on the suction cup 73, thereby adsorbing the workpiece on the suction cup 73 to achieve grasping of the workpiece.

[0144] In this embodiment, there are several suction cup mounting cylinders 72, and several suction cup mounting cylinders 72 grasp the workpiece through the suction cup 73, thereby improving the grasping firmness of the workpiece. There are several suction cups 73 on one suction cup mounting cylinder 72, so as to further improve the grasping firmness of the workpiece.

[0145] See also Figure 1-Figure 3 , the present application provides a workpiece tightening method, comprising:

[0146] S1: Control the manipulator to grab the fixing mechanism 1.

[0147] Specifically, controlling the manipulator to grasp the fixing mechanism 1 includes:

[0148] S11: Control the manipulator to insert the pin guide sleeve 16 on the fixing mechanism 1, so that the manipulator is positioned on the fixing mechanism 1;

[0149] S12: Control the manipulator to insert the washer 15 so that the manipulator is connected to the washer 15, so that the manipulator can grasp the fixing mechanism 1.

[0150] S2: Control the feeding mechanism 7 to grab the workpiece and move the workpiece to the installation position; wherein the installation position is the part on the electrolytic cell for installing the workpiece.

[0151] Specifically, controlling the manipulator to grab the workpiece through the feeding mechanism 7 and move the workpiece to the installation position includes:

[0152] S21: Control the manipulator to move the loading mechanism 7 to the loading position, and align the suction cup 73 of the loading mechanism 7 with the workpiece on the loading position;

[0153] S22: Control the vacuum generator 75 of the feeding mechanism 7 to work, so that the vacuum generator 75 performs vacuum suction on the suction cup 73, and adsorbs the workpiece on the suction cup 73, thereby achieving the technical effect of the feeding mechanism 7 grabbing the workpiece;

[0154] S23: Control the manipulator to move the feeding mechanism 7 to the vicinity of the installation position, and align the workpiece adsorbed on the suction cup 73 to the installation position;

[0155] S24: Control the vacuum generator 75 to stop working, so that the workpiece is separated from the suction cup 73 and falls into the installation position.

[0156] S3: Connect the screwing mechanism 6 to the tightening gun 5.

[0157] Specifically, the screwing mechanism 6 is connected to the tightening gun 5, including:

[0158] S31: inserting the bottom of the tightening gun 5 into the top of the connecting sleeve 61 of the screwing mechanism 6, and making the tightening gun 5 and the connecting sleeve 61 detachably connected.

[0159] S32: inserting the top end of the connecting rod 62 connected with the screw sleeve 63 into the bottom end of the connecting sleeve 61 to connect the connecting sleeve 61 to the connecting rod 62.

[0160] S4: Control the guiding mechanism 4 to adjust the distance between the first mounting mechanism 2 and the second mounting mechanism 3 .

[0161] Specifically, controlling the guide mechanism 4 to adjust the distance between the first mounting mechanism 2 and the second mounting mechanism 3 includes:

[0162] S41: receiving model information of the workpiece, and obtaining distance information from a preset mapping table according to the model information; wherein the mapping table records a mapping relationship between the model information and the distance information, and the distance information represents the distance between the first mounting plate 22 of the first mounting mechanism 2 and the second mounting plate 31 of the second mounting mechanism 3;

[0163] S42: Start the guide cylinder 41 of the guide mechanism 4 to make the piston rod 42 move the second mounting plate 31 until the distance between the first mounting plate 22 and the second mounting plate 31 reaches the distance information. At this time, the distance between the annular protrusion of the screwing sleeve 63 and the lower surface of the second mounting plate 31 is greater than the safety length, and the length of the upper sleeve 632 of the screwing sleeve 63 inserted into the guide sleeve 34 is greater than the preset guide length.

[0164] S5: Control the manipulator to put the screwing mechanism 6 onto the workpiece at the installation position.

[0165] Specifically, controlling the manipulator to sleeve the screwing mechanism 6 onto the workpiece at the installation position includes:

[0166] S51: Connect the manipulator to the flange 14 of the fixing mechanism 1;

[0167] S52: Control the manipulator to sleeve the bottom of the screwing sleeve 63 in the screwing mechanism 6 onto the workpiece at the installation position; wherein the inner contour of the screwing sleeve 63 matches the outer contour of the screw on the workpiece.

[0168] S6: Control the tightening gun 5 to drive the screwing mechanism 6 to rotate, and apply pressure to the fixing mechanism 1 through the manipulator, so that the screwing mechanism 6 screws the workpiece into the installation position, so that the workpiece is assembled on the electrolytic cell.

[0169] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0170] Those skilled in the art will readily come to other embodiments of the present application embodiments after considering the specification and practicing the invention disclosed herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not disclosed in the present application embodiments. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0171] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A workpiece tightening device, characterized in that: include: A fixing mechanism, a first mounting mechanism, a second mounting mechanism, a guiding mechanism, a tightening gun, a screwing mechanism and a feeding mechanism; The bottom of the fixing mechanism is connected to the first mounting mechanism, the second mounting mechanism is located below the first mounting mechanism, the guiding mechanism is fixed on the first mounting mechanism, the guiding mechanism is also connected to the second mounting mechanism, and the guiding mechanism is used to adjust the distance between the first mounting mechanism and the second mounting mechanism; The tightening gun is fixed on the fixing mechanism, and the bottom end of the tightening gun passes through the fixing mechanism and the first mounting mechanism in sequence, and is detachably connected to the top end of the screwing mechanism; The bottom end of the screwing mechanism passes through the second mounting mechanism, and the bottom end of the screwing mechanism is used for screwing the workpiece; The feeding mechanism is fixed on the fixing mechanism, and the feeding mechanism is used for grabbing the workpiece.

2. The workpiece tightening device according to claim 1, characterized in that: The fixing mechanism comprises: a tightening mounting plate, a flange mounting plate, a reinforcing plate and a flange; The bottom end of the tightening gun passes through the tightening mounting plate and the first adjustment mechanism, and is connected to the top end of the adjustment sleeve; The bottom side of the flange mounting plate is connected to the upper surface of the tightening mounting plate, and the flange is connected to a side surface of the flange mounting plate away from the tightening gun; The bottom side edge of the reinforcing plate is connected to the upper surface of the tightening mounting plate, and the side edge of the reinforcing plate facing the flange mounting plate is connected to the flange mounting plate.

3. The workpiece tightening device according to claim 1, characterized in that: The fixing mechanism also includes: a washer and a latch guide sleeve; The washer is fixed to the lower surface of the tightening mounting plate of the fixing mechanism; The latch guide sleeve passes through the washer and is connected to the tightening mounting plate; The washer is used for connecting with the manipulator, and the latch guide sleeve is used for inserting into the positioning component in the manipulator.

4. The workpiece tightening device according to claim 1, characterized in that: The first mounting mechanism comprises: a support column, a first mounting plate, a mounting flange plate and a buffer; The top end of the support column is connected to the lower surface of the tightening mounting plate of the fixing mechanism; The bottom end of the support column is connected to the upper surface of the first mounting plate; The mounting flange plate is fixed on the upper surface of the first mounting plate, and the mounting flange plate is connected to the guide mechanism; The buffer is fixed on the first mounting plate.

5. The workpiece tightening device according to claim 1, characterized in that: The second mounting mechanism comprises: a second mounting plate, a floating joint, a limit block and a guide sleeve; The upper surface of the second mounting plate is connected to the floating joint; The piston rod of the guide cylinder passes through the first mounting plate of the first mounting mechanism and is connected to the floating joint; The limit block is fixed on the upper surface of the second mounting plate, and the limit block is used to limit the distance between the second mounting plate and the first mounting plate of the first mounting mechanism; The guide sleeve passes through the second mounting plate and is fixed to the second mounting plate; The bottom end of the screwing mechanism passes through the guide sleeve.

6. The workpiece tightening device according to claim 1, characterized in that: The guide mechanism comprises: a guide cylinder, a piston rod, a linear bearing and a guide rod; The guide cylinder is located in the fixing mechanism, and the bottom end of the guide cylinder passes through the tightening mounting plate of the fixing mechanism and is connected to the mounting flange plate of the first mounting mechanism; One end of the piston rod is connected to the guide cylinder, and the other end of the piston rod passes through the mounting flange plate and the first mounting plate of the first mounting mechanism, and is connected to the second mounting plate of the second mounting mechanism; The linear bearing is fixed on the first mounting plate, the bottom end of the guide rod is connected to the second mounting plate of the second mounting mechanism, and the top end of the guide rod passes through the linear bearing.

7. The workpiece tightening device according to claim 1, characterized in that: The screwing mechanism comprises: a connecting sleeve, a connecting rod and a screwing sleeve; The top end of the connecting sleeve is detachably connected to the bottom end of the tightening gun; The bottom end of the connecting sleeve is detachably connected to the top end of the connecting rod; The bottom end of the connecting rod is detachably connected to the top end of the screw sleeve; The bottom end of the screwing sleeve passes through the guide sleeve of the second mounting mechanism, and the bottom end of the screwing sleeve is used for screwing the workpiece.

8. The workpiece tightening device according to claim 1, characterized in that: The side of the screw sleeve has an annular protrusion The annular protrusion divides the screw sleeve into an upper sleeve and a lower sleeve. The upper sleeve is clearance-matched with the guide sleeve, and the bottom of the lower sleeve is used for tightening a workpiece.

9. The workpiece tightening device according to claim 1, characterized in that: The feeding mechanism comprises: a suction cup mounting plate, a suction cup mounting cylinder, a suction cup, a suction cup nozzle, a vacuum generator and a solenoid valve; The bottom side edge of the suction cup mounting plate is connected to the upper surface of the tightening mounting plate; The suction cup mounting tube is connected to a surface of a side of the suction cup mounting plate away from the tightening gun; The suction cup is connected to the suction cup mounting tube, and the suction cup nozzle is fixed on the suction cup mounting tube and connected to the suction cup; The vacuum generator is connected to the suction cup nozzle, and the vacuum generator is used to vacuum the suction cup through the suction cup nozzle so that the suction cup grabs the workpiece; The solenoid valve is connected to the gas source, and is also connected to the vacuum generator. The solenoid valve is used to output pressurized gas to the vacuum generator, and the vacuum generator is used to perform vacuum suction on the suction cup through the pressurized gas.

10. A workpiece tightening method, characterized in that: include: Control the manipulator to grasp the fixing mechanism; Controlling the feeding mechanism to grab the workpiece and move the workpiece to an installation position; wherein the installation position is a portion of the electrolytic cell for installing the workpiece; Connect the screwing mechanism to the tightening gun; Controlling the guide mechanism to adjust the distance between the first mounting mechanism and the second mounting mechanism; Controlling the manipulator to sleeve the screwing mechanism onto the workpiece at the installation position; The tightening gun is controlled to drive the screwing mechanism to rotate, and the manipulator applies pressure to the fixing mechanism so that the screwing mechanism screws the workpiece into the installation position, so that the workpiece is assembled on the electrolytic cell.

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