An automated assembly apparatus and method

Abstract

The application discloses an automatic assembly device and an automatic assembly method, which are used for assembling a circuit breaker moving side and a crank arm box through a transmission frame. The automatic assembly device comprises a rack, a support seat for placing the circuit breaker moving side, a positioning shaft for cooperating with an assembly hole on a pressure reducing valve seat in the circuit breaker moving side, a turnover mechanism connected with the support seat and used for driving the support seat to turn over, a jacking mechanism arranged below the support seat and configured to be capable of jacking and moving a positioning pin for connecting the circuit breaker moving side and the transmission frame, and a first clamping mechanism arranged on the support seat and used for clamping and positioning the circuit breaker moving side placed on the support seat. The automatic assembly device and the automatic assembly method can realize automatic assembly of the circuit breaker moving side and the crank arm box, and improve assembly efficiency and assembly precision.

Description

Technical Field

[0001] This application relates to the field of disconnector manufacturing equipment technology, specifically to an automated assembly equipment and an automated assembly method. Background Technology

[0002] The assembly of a disconnector circuit breaker requires the assembly of its moving side, stationary side, and crank arm box. Specifically, when assembling the moving side of the circuit breaker and the crank arm box, a transmission frame is needed to connect the transmission structures of both. Specifically, the transmission frame connects the insulating tie rod on the moving side of the circuit breaker to the gear in the crank arm box. After assembly, the moving contact can be moved by rotating the drive gear. Due to the large size and weight of the moving side of the circuit breaker and the crank arm box, current technology generally uses a combination of hoisting and robotic arms for assembly. This requires multiple operators to operate the crane and slings, as well as at least one supervisor. Therefore, existing assembly methods are costly and inefficient.

[0003] In addition, after the circuit breaker moving side and crank arm box are assembled, the existing technology generally uses manual verification to turn the gears on the crank arm box to drive the moving contact in the moving side of the circuit breaker to move, relying on the feel to judge whether there is a jamming problem, which has low verification accuracy and efficiency. Summary of the Invention

[0004] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides an automated assembly device and an automated assembly method.

[0005] To achieve the above objectives, this application adopts the following technical solution: an automated assembly equipment for assembling the moving side of a circuit breaker and a crank arm box together via a transmission frame, the automated assembly equipment comprising:

[0006] The frame is provided with a support for placing the moving side of the circuit breaker, and the support is provided with a positioning shaft for engaging with the mounting hole on the pressure reducing valve seat in the moving side of the circuit breaker.

[0007] A flipping mechanism, which is connected to the support base and is used to drive the support base to flip;

[0008] A lifting mechanism, disposed below the support base, is configured to lift and move a locating pin used to connect the moving side of the circuit breaker to the transmission frame; and...

[0009] The first clamping mechanism is disposed on the support base and is used to clamp and position the moving side of the circuit breaker placed on the support base.

[0010] The application of this application has the following beneficial effects: By setting a flipping mechanism, the orientation of the support base and the positioning shaft set on the support base can be changed. When it is necessary to place the moving side of the circuit breaker and the crank arm box by a robotic arm, the side where the positioning shaft is located can be controlled to face upward by the flipping mechanism. This allows large-sized moving sides of circuit breakers and crank arm boxes to be placed from top to bottom, facilitating operation. When it is necessary to move the positioning pin by a lifting mechanism to connect the moving side of the circuit breaker and the transmission frame, the side where the positioning shaft is located can be controlled to face downward by the flipping mechanism, facilitating the insertion operation of the positioning pin. The first clamping mechanism can clamp and position the moving side of the circuit breaker to the support base, ensuring that the moving side of the circuit breaker remains stable relative to the support base during the flipping process. Through the above structural design, automated assembly of the moving side of the circuit breaker and the crank arm box can be realized, improving assembly efficiency and assembly accuracy.

[0011] Optionally, the flipping mechanism includes a flipping drive unit disposed on the frame, a drive gear that is driven by the flipping drive unit and can rotate, and a transmission gear disk that meshes with the drive gear, and the support base is fixedly disposed on the transmission gear disk.

[0012] Optionally, the lifting mechanism includes a lifting drive unit and a support plate that is driven by the lifting drive unit to move up and down, the support plate being provided with a socket for inserting a positioning pin.

[0013] Optionally, the lifting mechanism further includes a first horizontal drive unit disposed on the frame, the first horizontal drive unit being connected to the lifting drive unit and used to drive the support plate to switch between a first working position and a first clearance position; the insertion hole can be aligned with the connection hole of the transmission frame when the support plate is in the first working position, and the lifting mechanism can maintain a horizontal distance from the moving side of the circuit breaker and the transmission frame when the support plate is in the first clearance position.

[0014] Optionally, the automated assembly equipment further includes a second clamping mechanism disposed on the support base, the second clamping mechanism being used to clamp and position the moving side of the circuit breaker with the crank arm box.

[0015] Optionally, the automated assembly equipment further includes a third clamping mechanism disposed on the support base, the third clamping mechanism being used to clamp and position the transmission frame and the moving side of the circuit breaker.

[0016] Optionally, the support base includes a bearing plate, the positioning shaft is disposed on the bearing plate, and the bearing plate is provided with a clearance hole for the moving conductor in the moving side of the circuit breaker to pass through; the automated assembly equipment further includes a second horizontal drive unit disposed on the support base, the second horizontal drive unit is connected to the third clamping mechanism and is used to drive the third clamping mechanism to switch between a second working position and a second clearance position, the third clamping mechanism can clamp and position the transmission frame with the moving side of the circuit breaker when it is in the second working position, and the third clamping mechanism can maintain a horizontal distance from the clearance hole when it is in the second clearance position.

[0017] Optionally, the automated assembly equipment further includes a calibration device mounted on the frame, the calibration device comprising:

[0018] The joint is provided with an internal gear structure for engaging with the gears on the crank arm box;

[0019] A rotary drive unit includes a power source and a transmission mechanism driven by the power source, the coupling joint being disposed on the transmission mechanism, and the rotary drive unit being used to drive the coupling joint to rotate; and,

[0020] The third horizontal drive unit is mounted on the frame. The third horizontal drive unit is connected to the rotary drive unit and is used to drive the rotary drive unit and the connector to translate horizontally relative to the crank arm box.

[0021] Optionally, the calibration device further includes a mounting frame, the rotary drive unit is disposed on the mounting frame, and the output end of the third horizontal drive unit is connected to the mounting frame; the transmission mechanism includes:

[0022] A sleeve, which is disposed on the mounting bracket;

[0023] A drive shaft, which is rotatably disposed within the sleeve and is capable of rotating under the drive of the power source;

[0024] A drive shaft that extends into the sleeve and is splinedly engaged with the drive shaft; and...

[0025] An elastic element is disposed between the drive shaft and the transmission shaft and applies pressure to the transmission shaft such that the transmission shaft tends to move away from the power source.

[0026] The connector is located on the end of the drive shaft away from the drive shaft, and a limiting structure is provided between the sleeve and the drive shaft to prevent the drive shaft from disengaging from the sleeve.

[0027] Furthermore, this application also provides an automated assembly method, implemented using the automated assembly equipment described in any of the above technical solutions, the automated assembly method comprising the following steps:

[0028] S100: The moving side of the circuit breaker is grasped by the robotic arm and placed on the support seat from top to bottom in an orientation that allows the mounting hole on the pressure reducing valve seat to be aligned with the positioning shaft for insertion.

[0029] S200: The moving side of the circuit breaker placed on the support base is clamped and positioned on the support base by the first clamping mechanism;

[0030] S300: The support base is rotated 180° via a flipping mechanism;

[0031] S400: The robotic arm grasps the transmission frame and moves it so that the mounting hole of the transmission frame is aligned with the insulating tie rod in the moving side of the circuit breaker for insertion;

[0032] S500: The jacking mechanism lifts the positioning pin vertically and pushes it into the mounting hole of the transmission frame and the axial pin hole of the insulating tie rod.

[0033] S600: The robotic arm grasps the first connector and uses the first connector to lock and fix the transmission frame to the insulating tie rod;

[0034] S700: The support base is rotated 180° via a flipping mechanism;

[0035] S800: The robotic arm grabs the crank arm box and snaps it onto the pressure reducing valve seat from top to bottom;

[0036] S900: The robotic arm grasps the second connector and uses the second connector to connect the gear in the crank arm box to the transmission frame. The robotic arm grasps the third connector and uses the third connector to lock and fix the crank arm box to the pressure reducing valve seat.

[0037] The automated assembly method provided in this application has a similar reasoning process to the aforementioned automated assembly equipment, and will not be repeated here.

[0038] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. The best embodiments or means of this application will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this application. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0039] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0040] Figure 1 This is a schematic diagram of the structure of an automated assembly equipment provided in an embodiment of this application;

[0041] Figure 2 An exploded view of an automated assembly line;

[0042] Figure 3 Application status of automated assembly equipment Figure 1 ;

[0043] Figure 4 Application status of automated assembly equipment Figure 2 ;

[0044] Figure 5 Application status of automated assembly equipment Figure 3 ;

[0045] Figure 6 Application status of automated assembly equipment Figure 4 ;

[0046] Figure 7 This is a schematic diagram of the calibration device.

[0047] Figure 8 Exploded view of the transmission mechanism and connector in the calibration device;

[0048] Figure 9 This is a sectional view of the transmission mechanism;

[0049] Figure 10 A schematic diagram showing the assembly completed by the automated assembly equipment.

[0050] The components include: 1. Frame; 2. Support base; 20. Bearing plate; 200. Clearance hole; 21. Positioning shaft; 22. First clamping mechanism; 23. Second clamping mechanism; 24. Third clamping mechanism; 25. Second horizontal drive unit; 3. Tilting mechanism; 30. Tilting drive unit; 31. Drive gear; 32. Transmission gear plate; 4. Lifting mechanism; 40. Lifting drive unit; 41. Support plate; 42. First horizontal drive unit; 5. Calibration device; 50. Connecting joint; 500. Internal gear structure. 51. Rotary drive unit; 510. Power source; 511. Sleeve; 5110. Annular protrusion; 512. Drive shaft; 513. Transmission shaft; 5130. Limiting edge; 514. Elastic element; 515. Reducer; 516. Torque sensor; 52. Third horizontal drive unit; 53. Mounting bracket; 54. Laser sensor; 6. Circuit breaker moving side; 60. Moving contact; 61. Insulating tie rod; 62. Pressure reducing valve seat; 7. Transmission frame; 8. Crank arm box; 80. Gear; 9. Positioning pin. Detailed Implementation

[0051] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0052] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0053] In the description of this application, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In the description of this application, "a plurality of" means two or more, unless otherwise precisely specified.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected," "linked," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a connection through an intermediary, or a connection within two elements or an interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0055] This embodiment provides an automated assembly device for assembling the moving side of a circuit breaker and a crank arm box together via a transmission frame. For example... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the automated assembly equipment includes a frame 1, a support base 2, a tilting mechanism 3, a lifting mechanism 4, and a first clamping mechanism 22. The support base 2 is mounted on the frame 1 and is used to house the moving side 6 of the circuit breaker. The support base 2 is equipped with a positioning shaft 21 that engages with the mounting hole on the pressure reducing valve seat 62 in the moving side 6 of the circuit breaker. The tilting mechanism 3 is connected to the support base 2 and is used to drive the support base 2 to tilt. The lifting mechanism 4 is located below the support base 2 and is configured to lift and move the positioning pin 9 that connects the moving side 6 of the circuit breaker to the transmission frame 7. The first clamping mechanism 22 is located on the support base 2 and is used to clamp and position the moving side 6 of the circuit breaker placed on the support base 2.

[0056] The orientation of the support base 2 and the positioning shaft 21 located on the support base 2 can be changed by setting the flipping mechanism 3. When it is necessary to place the moving side 6 of the circuit breaker and the crank arm box 8 by the robotic arm, the side where the positioning shaft 21 is located can be controlled to face upward by the flipping mechanism 3. This allows the large-sized moving side 6 of the circuit breaker and the crank arm box 8 to be placed from top to bottom, which is convenient for operation. When it is necessary to move the positioning pin 9 by the lifting mechanism 4 to connect the moving side 6 of the circuit breaker and the transmission frame 7, the side where the positioning shaft 21 is located can be controlled to face downward by the flipping mechanism 3, which is convenient for the insertion operation of the positioning pin 9. When it is necessary to place the crank arm box 8 on the moving side 6 of the circuit breaker and perform the installation operation, the side where the positioning shaft 21 is located can be controlled to face upward by the flipping mechanism 3 again, which is convenient for the placement and installation operation of the crank arm box 8. The first clamping mechanism 22 can clamp and position the moving side 6 of the circuit breaker and the support base 2, ensuring that the moving side 6 of the circuit breaker remains stable relative to the support base 2 during the flipping process of the support base 2. The above structural design enables automated assembly of the moving side 6 of the circuit breaker and the crank arm box 8, improving assembly efficiency and accuracy.

[0057] Combination Figures 1 to 6 As shown, the automated assembly method implemented using this automated assembly equipment is described, and the automated assembly method includes the following steps:

[0058] Step S100: The robotic arm grasps the moving side 6 of the circuit breaker and places it on the support base 2 from top to bottom in an orientation that allows the mounting hole on the pressure reducing valve seat 62 to align with the positioning shaft 21 for insertion, resulting in the following... Figure 4 As shown in the diagram; it is easy to understand that before proceeding to step S100, it is necessary to ensure that the orientation of the support 2 meets the assembly requirements, that is, to ensure that the positioning shaft 21 on the support 2 faces upwards. Figure 3 (As shown in the figure) If the positioning shaft 21 is facing down at the start of assembly, the support base 2 is first rotated 180° by the flipping mechanism 3 so that the positioning shaft 21 faces up.

[0059] Step S200: The moving side 6 of the circuit breaker placed on the support base 2 is clamped and positioned on the support base 2 by the first clamping mechanism 22;

[0060] Step S300: The support base 2 is rotated 180° by the flipping mechanism 3 to obtain... Figure 5 The state shown;

[0061] Step S400: The robotic arm grabs the transmission frame 7 and moves the transmission frame 7 so that the mounting hole of the transmission frame 7 is aligned with the insulating pull rod 61 in the moving side 6 of the circuit breaker and inserted.

[0062] Step S500: The jacking mechanism 4 lifts the positioning pin 9 vertically and pushes it into the mounting hole of the transmission frame 7 and the axial pin hole of the insulating tie rod 61; Figure 5 The image shows the alignment of the positioning pin 9 on the lifting mechanism 4 with the mounting hole of the transmission frame 7 and the axial pin hole of the insulating tie rod 61.

[0063] Step S600: The robotic arm grabs the first connector and uses the first connector to lock and fix the transmission frame 7 to the insulating pull rod 61;

[0064] Step S700: The support base 2 is rotated 180° by the flipping mechanism 3;

[0065] Step S800: The robotic arm grasps the crank arm box 8 and places it onto the pressure reducing valve seat 62 from top to bottom, thus obtaining... Figure 6 The state shown;

[0066] Step S900: The robotic arm grabs the second connector and uses the second connector to connect the gear 80 in the crank arm box 8 to the transmission frame 7. The robotic arm grabs the third connector and uses the third connector to lock and fix the crank arm box 8 to the pressure reducing valve seat 62.

[0067] The robotic arm can be a four-axis, five-axis, or six-axis robotic arm. Its movements are controlled by programming. The specific structure and programming control principle of the robotic arm are existing technologies and will not be elaborated here. Furthermore, in this embodiment, the first, second, and third connecting members are all connecting plates with screws and pins. Two connected components are connected by pins, and the connecting plate is locked and fixed to one of the connected components by screws. The connecting plate ensures the stability of the pins. The aforementioned connecting plates with screws and pins are also existing technologies and are not shown in the figure; they will not be elaborated here. Of course, the first, second, and third connecting members can also be common connecting components such as pins and screws.

[0068] like Figure 2As shown, the flipping mechanism 3 in this embodiment includes a flipping drive unit 30 mounted on the frame 1, a drive gear 3131 that is driven by the flipping drive unit 30 and can rotate, and a transmission gear disk 32 that meshes with the drive gear 3131. A support base 2 is fixedly mounted on the transmission gear disk 32. Through this structural design, the flipping drive unit 30 can drive the drive gear 3131 to rotate, and the drive gear 3131 can then drive the transmission gear disk 32 that meshes with it to rotate, thereby driving the support base 2 fixedly mounted on the transmission gear disk 32 to rotate. In this embodiment, the outer circumference of the drive gear 3131 is smaller than the outer circumference of the transmission gear disk 32, which allows for more precise control of the rotation angle of the transmission gear disk 32 and the support base 2. It is easy to understand that sensors or other detection elements can also be used to detect the rotation angle of the transmission gear disk 32, and the start and stop of the flipping drive unit 30 can be controlled based on the detected transmission angle information. In this embodiment, the flipping drive unit 30 is a motor, and the output shaft of the motor can be connected to the drive gear 3131.

[0069] like Figure 4 As shown, the lifting mechanism 4 in this embodiment includes a lifting drive unit 40 and a support plate 41 that is driven by the lifting drive unit 40 to move up and down. The support plate 41 is provided with a hole for inserting a positioning pin 9. Specifically, in this embodiment, a linear actuator is used as the lifting drive unit 40, and the linear actuator can be an electric push rod. In other optional embodiments, a motor and transmission assembly can also be used as the lifting drive unit 40. The transmission assembly refers to a transmission assembly commonly used in the art that can convert the rotational motion of the motor's output shaft into linear motion, so as to drive the support plate 41 to move up and down through linear motion.

[0070] Furthermore, to ensure alignment between the positioning pin 9 and the mounting holes of the transmission frame 7 and the axial pin holes of the insulating tie rod 61, the lifting drive unit 40 and the support plate 41 must be positioned directly below the transmission frame 7. During assembly, the flipping mechanism 3 also needs to rotate the support base 2 and the circuit breaker moving side 6 fixed to the support base 2, requiring sufficient height space to be reserved directly below the support base 2 to avoid interference with the circuit breaker moving side 6. In an optional embodiment, the lifting drive unit 40 and the support plate 41 can be fixedly positioned directly below the circuit breaker moving side 6 and the transmission frame 7, with sufficient space reserved between the support plate 41 and the circuit breaker moving side 6. In this embodiment, the lifting mechanism 4 also includes a first horizontal drive unit 42 disposed on the frame 1. The first horizontal drive unit 42 is connected to the lifting drive unit 40 and is used to drive the support plate 41 to switch between a first working position and a first clearance position. When the support plate 41 is in the first working position, the socket can be aligned with the connection hole of the transmission frame 7. When the support plate 41 is in the first clearance position, the lifting mechanism 4 can maintain a horizontal distance from the moving side 6 of the circuit breaker and the transmission frame 7.

[0071] Through the above structural design, the lifting drive unit 40 and the support plate 41 can be switched between the first working position and the first clearance position by the first horizontal drive unit 42. When the support plate 41 is in the first working position, it can meet the functional requirements of the lifting mechanism 4 and realize the pushing of the positioning pin 9. When the support plate 41 is in the first clearance position, it can avoid the moving side 6 of the circuit breaker and the transmission frame 7 in the horizontal direction, thereby reducing the reserved gap between the flipping mechanism 3 and the support seat 2 relative to the lifting mechanism 4 in the height direction and reducing the size of the entire automated assembly equipment.

[0072] Combination Figure 3 and Figure 6 As shown, the automated assembly equipment provided in this embodiment also includes a second clamping mechanism 23 disposed on the support base 2. The second clamping mechanism 23 is used to clamp and position the moving side 6 of the circuit breaker and the crank arm box 8. Additionally, as... Figure 3 and Figure 5 As shown, the automated assembly equipment also includes a third clamping mechanism 24 disposed on the support base 2. The third clamping mechanism 24 is used to clamp and position the transmission frame 7 and the moving side 6 of the circuit breaker. In this embodiment, the first clamping mechanism 22, the second clamping mechanism 23, and the third clamping mechanism 24 are all electric grippers. The first clamping mechanism 22 can clamp and position the moving side 6 of the circuit breaker on the support base 2 to prevent the moving side 6 of the circuit breaker from detaching from the support base 2 during the flipping process. The second clamping mechanism 23 can clamp and fix the crank arm box 8 to the moving side 6 of the circuit breaker to prevent the crank arm box 8 from shaking relative to the moving side 6 of the circuit breaker during the screw tightening assembly process. The third clamping mechanism 24 can clamp and fix the transmission frame 7 to the moving side 6 of the circuit breaker to prevent the transmission frame 7 from shaking relative to the moving side 6 of the circuit breaker during the assembly process with the moving side 6 of the circuit breaker.

[0073] Furthermore, in this embodiment, the support base 2 includes a bearing plate 20, a positioning shaft 21 disposed on the bearing plate 20, and the bearing plate 20 is provided with a clearance hole 200 for the moving conductor in the moving side 6 of the circuit breaker to pass through. The automated assembly equipment also includes a second horizontal drive unit 25 disposed on the support base 2. The second horizontal drive unit 25 is connected to the third clamping mechanism 24 and is used to drive the third clamping mechanism 24 to switch between a second working position and a second clearance position. When the third clamping mechanism 24 is in the second working position, it can clamp and position the transmission frame 7 and the moving side 6 of the circuit breaker. When the third clamping mechanism 24 is in the second clearance position, it can maintain a horizontal distance from the clearance hole 200.

[0074] Through the above structural design, the third clamping mechanism 24 can be switched between the second working position and the second clearance position by the second horizontal drive unit 25. When the third clamping mechanism 24 is in the second working position, it can meet the functional requirements of the third clamping mechanism 24 and realize the clamping and fixing of the transmission frame 7 and the moving side 6 of the circuit breaker. When the third clamping mechanism 24 is in the second clearance position, it can maintain a distance from the clearance hole 200 in the horizontal direction, thereby allowing the moving side 6 of the circuit breaker to be placed smoothly.

[0075] Combination Figure 1 , Figure 6 and Figure 7 As shown, the automated assembly equipment also includes a calibration device 5 mounted on the frame 1. The calibration device 5 includes a connector 50, a rotary drive unit 51, and a third horizontal drive unit 52. The connector 50 has an internal gear structure 500 for engaging with a gear 80 on the crank arm box 8. The rotary drive unit 51 includes a power source 510 and a transmission mechanism driven by the power source 510. The connector 50 is mounted on the transmission mechanism, and the rotary drive unit 51 drives the connector 50 to rotate. The third horizontal drive unit 52 is mounted on the frame 1, connected to the rotary drive unit 51, and drives the rotary drive unit 51 and the connector 50 to translate horizontally relative to the crank arm box 8.

[0076] By setting up the verification device 5, the assembly effect can be verified after the circuit breaker moving side 6 is assembled with the crank arm box 8 and the transmission frame 7. Specifically, after the assembly operation is completed, the third horizontal drive unit 52 drives the rotary drive unit 51 and the mating joint 50 to translate until the mating joint 50 abuts against the gear 80 in the crank arm box 8. Then, the rotary drive unit 51 drives the mating joint 50 to rotate. When the mating joint 50 rotates to the point that the teeth in its internal gear structure are misaligned with the teeth in the gear 80, the mating joint 50 can automatically move forward under the pushing force of the third horizontal drive unit 52 to complete the meshing with the gear 80. Then, the rotary drive unit 51 can drive the mating joint 50 and the gear 80 in the crank arm box 8 to rotate, and the assembly effect can be verified. By rotating the drive gear 3131, it can be determined whether, after assembly, the moving contact 60 in the moving side 6 of the circuit breaker can be moved relative to the outer casing of the moving side 6 via the gear 80. By measuring the difference between the torque value of the connector 50 in the idling state and the torque value when the connector 50 drives the gear 80 to rotate, it can be determined whether there are any problems such as jamming in the transmission between the gear 80 and the moving contact 60. Figure 7 As shown, in this embodiment, the power source 510 is a drive motor, and a reducer 515 is also provided at the output end of the drive motor to precisely control the speed and torque. A torque sensor 516 is also provided between the reducer 515 and the transmission mechanism, through which the aforementioned torque value can be measured. Figure 10As shown, a laser sensor 54 can be installed on the frame 1 to detect the movement stroke of the moving contact 60, thereby determining whether the moving contact 60 can extend and retract under the drive of the gear 80.

[0077] Furthermore, in combination Figure 8 , Figure 9 and Figure 10 As shown, the calibration device 5 in this embodiment also includes a mounting frame 53, a rotary drive unit 51 disposed on the mounting frame 53, and the output end of the third horizontal drive unit 52 connected to the mounting frame 53. Thus, the mounting frame 53 can be driven to translate via the third horizontal drive unit 52, and the rotary drive unit 51 and the connector 50 can be driven to translate via the mounting frame 53. In this embodiment, both the first horizontal drive unit 42 and the third horizontal drive unit 52 are electric slides, and the second horizontal drive unit 25 is a linear actuator.

[0078] As mentioned earlier, when the coupling 50 rotates to the point where the teeth in its internal gear structure are misaligned with the teeth in the gear 80, the coupling 50 can automatically move forward and engage with the gear 80 by applying a thrust to the coupling 50 through the third horizontal drive unit 52. However, the magnitude of this thrust is difficult to control and may cause impact damage between the coupling 50 and the gear 80. Therefore, in this embodiment, a transmission mechanism is also designed so that the transmission mechanism can not only transmit the rotational torque of the rotary drive unit 51 to the coupling 50, but also prevent impact damage between the coupling 50 and the gear 80 through its internal elastic element 514.

[0079] Specifically, the transmission mechanism in this embodiment includes a sleeve 511, a drive shaft 512, a transmission shaft 513, and an elastic element 514. The sleeve 511 is mounted on the mounting bracket 53. The drive shaft 512 is rotatably mounted within the sleeve 511 and can rotate under the drive of the power source 510. The transmission shaft 513 extends into the sleeve 511 and is splinedly engaged with the drive shaft 512. Because of this splined engagement, the transmission shaft 513 can not only rotate under the drive of the drive shaft 512 but also move axially relative to it. The elastic element 514 is positioned between the drive shaft 512 and the transmission shaft 513, applying pressure to the transmission shaft 513 to tend to move it away from the power source 510. A connector 50 is positioned on the end of the transmission shaft 513 away from the drive shaft 512. A limiting structure is provided between the sleeve 511 and the transmission shaft 513 to prevent the transmission shaft 513 from disengaging from the sleeve 511. The limiting structure includes an annular protrusion 5110 on the inner wall of the sleeve 511 and a limiting edge 5130 on the transmission shaft 513. Before the coupling 50 abuts against the gear 80, the annular protrusion 5110 and the limiting edge 5130 abut against each other.

[0080] Through the above structural design, when the third horizontal drive unit 52 drives the connector 50 to move to abut against the gear 80, the contraction of the elastic element 514 can prevent a strong impact between the connector 50 and the gear 80. Simultaneously, the contraction of the elastic element 514 applies pressure to the connector 50, causing the connector 50 to tend to engage with the gear 80. Thus, when the connector 50 rotates to the point where the teeth in its internal gear structure are misaligned with the teeth in the gear 80, the elastic element 514 can drive the connector 50 to automatically move forward and engage with the gear 80.

[0081] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. An automated assembly equipment for assembling the moving side of a circuit breaker and a crank arm box together via a transmission frame, characterized in that, The automated assembly equipment includes: The frame is provided with a support for placing the moving side of the circuit breaker, and the support is provided with a positioning shaft for engaging with the mounting hole on the pressure reducing valve seat in the moving side of the circuit breaker. A flipping mechanism, which is connected to the support base and is used to drive the support base to flip; A lifting mechanism, disposed below the support base, is configured to lift and move a locating pin used to connect the moving side of the circuit breaker to the transmission frame; and... The first clamping mechanism is disposed on the support base and is used to clamp and position the moving side of the circuit breaker placed on the support base. The flipping mechanism includes a flipping drive unit disposed on the frame, a drive gear that is driven by the flipping drive unit and can rotate, and a transmission gear disk that meshes with the drive gear. The support base is fixedly disposed on the transmission gear disk. The lifting mechanism includes a lifting drive unit and a support plate that is driven by the lifting drive unit to move up and down. The support plate is provided with a hole for inserting a positioning pin. The lifting mechanism further includes a first horizontal drive unit disposed on the frame. The first horizontal drive unit is connected to the lifting drive unit and is used to drive the support plate to switch between a first working position and a first clearance position. When the support plate is in the first working position, the insertion hole can be aligned with the connection hole of the transmission frame, and when the support plate is in the first clearance position, the lifting mechanism can maintain a horizontal distance from the moving side of the circuit breaker and the transmission frame. The automated assembly equipment also includes a second clamping mechanism disposed on the support base, the second clamping mechanism being used to clamp and position the moving side of the circuit breaker with the crank arm box; The automated assembly equipment also includes a third clamping mechanism disposed on the support base, which is used to clamp and position the transmission frame and the moving side of the circuit breaker.

2. The automated assembly equipment as described in claim 1, characterized in that, The support base includes a bearing plate, the positioning shaft is disposed on the bearing plate, and the bearing plate is provided with a clearance hole for the moving conductor in the moving side of the circuit breaker to pass through; The automated assembly equipment further includes a second horizontal drive unit disposed on the support base. The second horizontal drive unit is connected to the third clamping mechanism and is used to drive the third clamping mechanism to switch between a second working position and a second clearance position. When the third clamping mechanism is in the second working position, it can clamp and position the transmission frame and the moving side of the circuit breaker. When the third clamping mechanism is in the second clearance position, it can maintain a distance from the clearance hole in the horizontal direction.

3. The automated assembly equipment as described in claim 1, characterized in that, The automated assembly equipment also includes a calibration device mounted on the frame, the calibration device comprising: The joint is provided with an internal gear structure for engaging with the gears on the crank arm box; A rotary drive unit includes a power source and a transmission mechanism driven by the power source, the coupling joint being disposed on the transmission mechanism, and the rotary drive unit being used to drive the coupling joint to rotate; and, The third horizontal drive unit is mounted on the frame. The third horizontal drive unit is connected to the rotary drive unit and is used to drive the rotary drive unit and the connector to translate horizontally relative to the crank arm box.

4. The automated assembly equipment as described in claim 3, characterized in that, The calibration device also includes a mounting frame, the rotary drive unit is disposed on the mounting frame, and the output end of the third horizontal drive unit is connected to the mounting frame; The transmission mechanism includes: A sleeve, which is disposed on the mounting bracket; A drive shaft, which is rotatably disposed within the sleeve and is capable of rotating under the drive of the power source; A drive shaft that extends into the sleeve and is splinedly engaged with the drive shaft; and... An elastic element is disposed between the drive shaft and the transmission shaft and applies pressure to the transmission shaft such that the transmission shaft tends to move away from the power source. The connector is located on the end of the drive shaft away from the drive shaft, and a limiting structure is provided between the sleeve and the drive shaft to prevent the drive shaft from disengaging from the sleeve.

5. An automated assembly method, implemented using the automated assembly equipment as described in any one of claims 1 to 4, characterized in that, The automated assembly method includes the following steps: S100: The moving side of the circuit breaker is grasped by the robotic arm and placed on the support seat from top to bottom in an orientation that allows the mounting hole on the pressure reducing valve seat to be aligned with the positioning shaft for insertion. S200: The moving side of the circuit breaker placed on the support base is clamped and positioned on the support base by the first clamping mechanism; S300: The support base is rotated 180° via a flipping mechanism; S400: The robotic arm grasps the transmission frame and moves it so that the mounting hole of the transmission frame is aligned with the insulating tie rod in the moving side of the circuit breaker for insertion; S500: The jacking mechanism lifts the positioning pin vertically and pushes it into the mounting hole of the transmission frame and the axial pin hole of the insulating tie rod. S600: The robotic arm grasps the first connector and uses the first connector to lock and fix the transmission frame to the insulating tie rod; S700: The support base is rotated 180° via a flipping mechanism; S800: The robotic arm grabs the crank arm box and snaps it onto the pressure reducing valve seat from top to bottom; S900: The robotic arm grasps the second connector and uses the second connector to connect the gear in the crank arm box to the transmission frame. The robotic arm grasps the third connector and uses the third connector to lock and fix the crank arm box to the pressure reducing valve seat.

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