Automatic oil conservator assembling equipment

Abstract

The invention discloses automatic oil conservator assembling equipment, belongs to the technical field of oil conservator assembling, and comprises a feeding assembly, a first deviation rectifying camera is arranged on one side of the feeding assembly, a large robot assembly is arranged on one side of the feeding assembly, and the large robot assembly is used for transferring part shells and butterfly-shaped spring washers and grabbing and fastening screws; a rotating assembly is arranged on one side of the outer portion of the large robot assembly and used for conducting grabbing, clamping and fixing work of part shells, and the first feeding assembly is used for conducting feeding work of metal pressing rings. The oil conservator assembling device has the beneficial effects that window position assembling and internal assembling of an oil conservator are both set to be automatic assembling, in the whole process, only one operator needs to conduct material supplementing work on all parts, dependence on personnel skills is reduced, the whole assembling device is controlled to execute assembling according to a fixed program, and the assembling efficiency is improved. Therefore, errors in order and component postures do not occur.

Description

Technical Field

[0001] This application relates to the field of transformer oil tank assembly technology, and in particular to an automated oil tank assembly device. Background Technology

[0002] The transformer oil conservator is a cylindrical container on top of the transformer tank, connected to the main oil tank via pipes. It typically consists of a viewing window, internal components, and a transformer bladder. During the production of the transformer oil conservator, multiple layers of seals and pressure plates are installed at the viewing window, and tooling components are assembled inside the shell before the bladder is assembled. Currently, the assembly of the oil conservator's viewing window and internal components relies entirely on manual handling of parts with electric screwdrivers. This process usually requires multiple operators in an assembly line manner, involving manual screwing and alignment of parts. The assembly method is crude, and due to the large number of components and steps, errors in installation sequence and orientation are frequent, making traceability impossible. This assembly process not only results in inconsistent assembly quality and low production efficiency but also increases the workload of operators. Summary of the Invention

[0003] One of the objectives of this application is to provide an automated oil conservator assembly device that addresses the problem that current transformer oil conservator assembly relies entirely on manual handling of parts and electric screwdrivers, resulting in inconsistent quality and very low efficiency among the oil conservators during the assembly process.

[0004] To achieve the above objectives, the technical solution adopted in this application is as follows: an automated oil tank assembly device, including a feeding assembly with a first correction camera on one side; a large robot assembly on one side of the feeding assembly for transferring part housings and butterfly spring pads, and for gripping and tightening screws; a rotating assembly on one side of the large robot assembly for gripping and fixing part housings; and a small robot assembly on the other side of the rotating assembly for gripping and installing spring plates, O-rings, springs, metal pressure rings, glass, rectangular rings, and back plates; and window feeding assemblies and a first correction camera on the three outer sides of the small robot assembly. The system includes a material feeding assembly and a second feeding assembly. The window feeding assembly is used for continuous feeding of O-rings, rectangular rings, back plates, and glass. The first feeding assembly is used for feeding metal pressure rings. The second feeding assembly is used for feeding springs and spring pressure plates. A flipping assembly is provided inside the second feeding assembly for flipping the metal pressure rings during assembly. Storage assemblies are provided at equal intervals outside the flipping assembly for storing screws, butterfly spring washers, and centering nuts. Unloading assemblies are provided at the tail of the storage assemblies and on the back of the large robot assembly for unloading and feeding the assembled oil tank. A control unit is provided outside the feeding assembly. The AGV (Automated Guided Vehicle) transports the part housing to be assembled to the top of the feeding assembly. The large robot assembly grips and transfers the part housing, bringing it above the rotating assembly. The rotating assembly rotates the part housing laterally and vertically, aligning the part window with the top. A small robot assembly then grips the part, working in conjunction with the large robot assembly to secure it, completing the assembly of the top of the part window. The rotating assembly then controls the part housing to rotate vertically again, bringing the opening upwards. A small robot assembly grips the spring plate, bringing it to the flipping assembly for assembly with the centering nut. After flipping, the part housing is gripped again by the small robot assembly, finally reaching the interior for assembly. Finally, the large robot assembly grips and transfers the part housing to the top of the unloading assembly for the AGV to transfer.

[0005] Preferably, the structure of the feeding component is the same as that of the unloading component, including a material rack and a transport pallet, wherein the top of the material rack is provided with a transport pallet, and the transport pallet is set on the top of the AGV trolley on the outside.

[0006] Preferably, the large robot assembly includes a large robot and a connecting frame at its top. A mounting frame is provided at the top of one side of the connecting frame, and a second correction camera is provided in the middle of the mounting frame. A first moving mechanism is provided in the middle of the connecting frame, and a first housing gripper is symmetrically provided at the top of the first moving mechanism for gripping the housing of the part. A butterfly-shaped spring pad gripping mechanism and a screw-driving assembly are respectively provided at both ends of the other side of the connecting frame. The screw-driving assembly includes a tightening gun and a screw clamping mechanism. A screw clamping mechanism is provided on the outer side of the top of the tightening gun for clamping screws and bolts.

[0007] Preferably, the rotating assembly includes a fixed frame and a third correction camera. The fixed frame is arranged in an "L" shape, and a second turntable is provided on one side of its top end. A first turntable is provided on the top end of the second turntable. A second housing gripper connected to the top end of the first turntable is provided through a second moving mechanism. The structure of the first moving mechanism is the same as that of the second moving mechanism. The third correction camera is provided on the outside of one side of the fixed frame.

[0008] Preferably, the small robot assembly includes a small robot and a profile frame. The profile frame is externally equipped with a spring pressure plate gripping mechanism, an O-ring adsorption mechanism, a spring gripping mechanism, a metal pressure ring adsorption mechanism, a glass back plate adsorption mechanism, and a rectangular ring adsorption mechanism, which are used to perform adsorption or gripping operations on the spring pressure plate, O-ring, spring, metal pressure ring, glass, back plate, and rectangular ring, respectively.

[0009] Preferably, the window feeding assembly includes a bottom support and a lifting module. Four lifting modules are equally spaced at the top of the bottom support, and the four lifting modules correspond to the O-ring placement assembly, the rectangular ring placement assembly, the back plate placement assembly, and the glass placement assembly, respectively, for continuous feeding of O-rings, rectangular rings, back plates, and glass.

[0010] Preferably, metal pressure rings are evenly distributed above the first feeding component, and the second feeding component includes a support box, a spring placement area, and a spring pressure plate placement area. The top of the support box is symmetrically provided with the spring placement area and the spring pressure plate placement area. Columns are evenly distributed above the spring placement area for placing the springs, and symmetrical limiting columns are evenly distributed at the top of the spring pressure plate placement area for placing the spring pressure plates.

[0011] Preferably, the flipping assembly includes a support frame, a first clamping cylinder, a clamping plate, a second clamping cylinder, a tooling clamp, a flipping mechanism, a moving module, and a lifting cylinder. The top of the support frame is provided with a symmetrical first clamping cylinder on one side, and a clamping plate is provided at the top of the first clamping cylinder. A lifting cylinder is installed in the middle of the support frame, and a moving module is installed at the top of the lifting cylinder. The top of the moving module is provided with a second clamping cylinder connected to the flipping mechanism, and a tooling clamp is installed at the top of the second clamping cylinder.

[0012] Preferably, the storage assembly includes a support frame and a storage cylinder, with the storage cylinder disposed at the top of the support frame.

[0013] Compared with the prior art, the beneficial effects of this application are as follows: the assembly of the window position and the internal assembly of the oil conservator are set to be automated. In the whole process, only one operator is needed to replenish the parts, which reduces the dependence on human skills. When the entire assembly equipment is controlled to perform assembly according to a fixed program, there will be no errors in sequence or part posture. While reducing manpower, it can also greatly improve the assembly efficiency. Equipped with an intelligent tightening gun, it can control torque, detect screw driving depth, and, with the addition of a host computer, also save screw torque displacement information for easy traceability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention.

[0015] Figure 2 This is a schematic diagram of the feeding assembly structure of the present invention.

[0016] Figure 3 This is a schematic diagram of the main structure of the large robot component of the present invention.

[0017] Figure 4 This is a partially enlarged structural diagram of the butterfly-shaped spring pad gripping mechanism and screw-driving assembly of the present invention.

[0018] Figure 5 This is a magnified schematic diagram of the top structure of the large robot of the present invention.

[0019] Figure 6 This is an enlarged schematic diagram of the top structure of the screw-driving assembly of the present invention.

[0020] Figure 7 This is a schematic diagram of the main structure of the rotating component of the present invention.

[0021] Figure 8 This is a top view of the rotating component of the present invention.

[0022] Figure 9This is a bottom view of the rotating component structure of the present invention.

[0023] Figure 10 This is a schematic diagram of the small robot component structure of the present invention.

[0024] Figure 11 This is a magnified schematic diagram of the top structure of the small robot of the present invention.

[0025] Figure 12 This is a schematic diagram of the main structure of the window feeding component of the present invention.

[0026] Figure 13 This is a side view of the window feeding assembly of the present invention.

[0027] Figure 14 This is a partially enlarged structural diagram of the top of the window feeding assembly of the present invention.

[0028] Figure 15 This is a top view of the first feeding assembly of the present invention.

[0029] Figure 16 This is a top view of the second feeding assembly of the present invention.

[0030] Figure 17 This is a schematic diagram of the main structure of the flipping component of the present invention.

[0031] Figure 18 This is a top view of the flipping component of the present invention.

[0032] Figure 19 This is a partially enlarged schematic diagram of the top part of the flipping component of the present invention.

[0033] Figure 20 This is a schematic diagram of the main structure of the material storage component of the present invention.

[0034] In the diagram: 1. Feeding assembly; 101. Material rack; 102. Transport pallet; 2. Large robot assembly; 201. Large robot; 202. Mounting frame; 203. Second alignment camera; 204. First housing gripper; 205. First moving mechanism; 206. Butterfly-shaped spring pad gripping mechanism; 207. Screw-driving assembly; 2071. Tightening gun; 2072. Screw clamping mechanism; 3. Rotating assembly; 31. Fixed frame; 32. First turntable; 33. Second housing gripper; 34. Second turntable; 35. Third alignment camera; 4. Small robot assembly; 41. Small robot; 42. Profile frame; 43. Spring pressure plate gripping mechanism; 44. O-ring adsorption mechanism; 45. Spring gripping mechanism; 46. Metal pressure ring adsorption mechanism; 47. Glass back plate adsorption mechanism; 8. Rectangular ring adsorption mechanism; 5. Window feeding assembly; 51. Bottom support; 52. Lifting module; 53. O-ring placement assembly; 54. Rectangular ring placement assembly; 55. Back plate placement assembly; 56. Glass placement assembly; 6. First feeding assembly; 7. Second feeding assembly; 71. Support box; 72. Spring placement area; 73. Spring pressure plate placement area; 8. Flipping assembly; 81. Support frame; 82. First clamping cylinder; 83. Clamping pressure plate; 84. Second clamping cylinder; 85. Tooling clamp; 86. Flipping mechanism; 87. Moving module; 88. Lifting cylinder; 9. Storage assembly; 91. Support frame; 92. Storage cylinder; 10. Unloading assembly; 11. First correction camera; 12. Control unit; 13. Part housing; 131. Part window. Detailed Implementation

[0035] The present application will be further described below with reference to specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0036] In the description of this application, it should be noted that the terms "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., which indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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 should not be construed as limiting the specific protection scope of this application.

[0037] It should be noted that the terms "first," "second," etc., in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0038] One preferred embodiment of this application, such as Figures 1 to 20 As shown, an automated oil pillow assembly device includes a feeding assembly 1, on one side of which a first correction camera 11 is installed. A large robot assembly 2 is installed on one side of the feeding assembly 1 for transferring part housings 13 and butterfly spring pads, as well as gripping and tightening screws. A rotating assembly 3 is installed on one side of the large robot assembly 2 for gripping and fixing the part housing 13. A small robot assembly 4 is installed on the other side of the rotating assembly 3 for gripping and installing spring pressure plates, O-rings, springs, metal pressure rings, glass, rectangular rings, and back plates. A window feeding assembly 5, a first feeding assembly 6, and a second feeding assembly 7 are respectively installed on three sides of the small robot assembly 4. The feeding assembly 7 and the window feeding assembly 5 are used for continuous feeding of O-rings, rectangular rings, back plates and glass. The first feeding assembly 6 is used for feeding metal pressure rings. The second feeding assembly 7 is used for feeding springs and spring pressure plates. The inner side of the second feeding assembly 7 is provided with a flipping assembly 8 for assembling and flipping metal pressure rings. The outer side of the flipping assembly 8 is provided with storage assemblies 9 at equal intervals for storing screws, butterfly spring washers and centering nuts. The tail of the storage assembly 9 and the back of the large robot assembly 2 are provided with a feeding assembly 10 for feeding out the assembled oil pillow. The outside of the feeding assembly 1 is provided with a control unit 12. An external AGV transports the part housing 13 to be assembled to the top of the feeding assembly 1. The large robot assembly 2 grips and transfers the part housing 13, bringing it above the rotating assembly 3. The rotating assembly 3 rotates the part housing 13 laterally and vertically, aligning the part window 131 facing upwards. The small robot assembly 4 then grips and secures the part with the large robot assembly 2, completing the assembly of the top of the part window 131. The rotating assembly 3 then controls the part housing 13 to rotate vertically again, bringing it to an opening-up position. The small robot assembly 4 grips the spring plate again, bringing it to the flipping assembly 8 for assembly with the centering nut. After flipping, the spring plate is gripped by the small robot assembly 4, finally reaching the interior of the part housing 13 for assembly. Finally, the large robot assembly 2 grips and transfers the part housing 13 above the unloading assembly 10 for the AGV to transfer.

[0039] Among them, according to Figure 2 As shown, the structure of the feeding component 1 is the same as that of the unloading component 10, including a material rack 101 and a transport pallet 102. The top of the material rack 101 is provided with the transport pallet 102, and the transport pallet 102 is set on the top of the AGV trolley outside.

[0040] During the assembly process, the external AGV trolley moves the transport pallet 102, which in turn moves the shell 13 of the part to be assembled on its top until the transport pallet 102 reaches the top of the material rack 101, where it is ready for the subsequent gripping work of the large robot component 2.

[0041] As a further preferred embodiment, according to Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the large robot assembly 2 includes a large robot 201 and a connecting frame at its top. A mounting frame 202 is provided at the top of one side of the connecting frame, and a second correction camera 203 is provided in the middle of the mounting frame 202. A first moving mechanism 205 is provided in the middle of the connecting frame, and a first housing gripper 204 is symmetrically provided at the top of the first moving mechanism 205 for gripping the housing 13 of the part. A butterfly spring pad gripping mechanism 206 and a screw-driving assembly 207 are respectively provided at both ends of the other side of the connecting frame. The screw-driving assembly 207 includes a tightening gun 2071 and a screw clamping mechanism 2072. The screw clamping mechanism 2072 is provided on the outer side of the top of the tightening gun 2071 for clamping screws and bolts.

[0042] The second correction camera 203 is configured to perform correction work on the position of the part housing 13 placed on the rotating assembly 3.

[0043] The clamping operation of the first housing gripper 204 is based on the operation of the first moving mechanism 205. The moving principle of the first moving mechanism 205 can be controlled by a two-way lead screw nut rotation, gear rack movement, or electric control, etc. The present invention does not impose any restrictions on this.

[0044] In the screw-driving assembly 207, the tightening gun 2071 operates on the principle that an external controller commands a motor to rotate at high speed, driving the screw or centering bolt to screw in. While the controller drives the motor to rotate, it can also read and provide feedback on the torque sensor readings in real time. When the feedback value reaches the target torque, the controller immediately cuts off the motor power and brakes, stopping the tightening and completing the torque control operation. Furthermore, an angle sensor or magnetic encoder can detect the rotation angle of the motor / output shaft in real time. Then, the control system inputs the number of rotations and the angle, and, combined with the screw pitch parameter, calculates the screw-in depth: Depth = Number of rotations × The screw pitch is controlled by stopping the drive motor once the bolt or screw reaches the preset depth. The specific process can be achieved by setting the target torque and screwing depth through a digital interface. The motor drives the screw, and the torque is amplified by the gearbox and then transmitted to the screwdriver bit. The torque sensor and angle sensor continuously feed back data to the electronic control unit. The electronic control unit analyzes the torque-angle curve and identifies whether the tightening status is normal, stripped, or misaligned. When the set torque or depth is reached, the motor brakes or the clutch slips to prevent over-tightening. The tightening data can be uploaded to the MES system on the host computer for quality traceability. The screw clamping mechanism 2072 can be driven by a cylinder or motor, and the two grippers can be opened and closed synchronously through a gear rack or parallelogram structure to complete the clamping work. This invention does not impose any limitations on this.

[0045] The principle of the butterfly-shaped spring pad gripping mechanism 206 is that the suction nozzle is driven to move up and down by the linear module. The inner diameter of the suction nozzle is slightly larger than the outer diameter of the butterfly-shaped spring pad. It grips the outer circumference of the butterfly-shaped spring pad by adsorbing it. When the suction nozzle detects the butterfly-shaped spring pad, the PLC sends a command to start the vacuum generator and then confirms that the adsorption work is completed.

[0046] As a further preferred embodiment, according to Figure 7 , Figure 8 and Figure 9 As shown, the rotating assembly 3 includes a fixed frame 31 and a third correction camera 35. The fixed frame 31 is arranged in an "L" shape, and a second turntable 34 is provided on one side of its top. A first turntable 32 is provided on the top of the second turntable 34. A second housing gripper 33 connected to the top of the first turntable 32 via a second moving mechanism is provided. The structure of the first moving mechanism 205 is the same as that of the second moving mechanism. The third correction camera 35 is provided on the outside of one side of the fixed frame 31.

[0047] Specifically, the part housing 13, after being gripped by the large robot component 2, reaches the middle of the second housing gripper 33 for gripping. After gripping, the first turntable 32 rotates, causing the part housing 13 to rotate horizontally. After the second correction camera 203 performs position correction, the second turntable 34 controls the part housing 13 to rotate vertically by 90°, so that the part window 131 on the part housing 13 is in an upward position.

[0048] The first turntable 32 and the second turntable 34 are connected by a right-angle bracket; the specific connection structure can be seen in [the diagram]. Figure 9 .

[0049] As a further preferred embodiment, according to Figure 10 and Figure 11 As shown, the small robot component 4 includes a small robot 41 and a profile frame 42. The profile frame 42 is equipped with a spring pressure plate gripping mechanism 43, an O-ring adsorption mechanism 44, a spring gripping mechanism 45, a metal pressure ring adsorption mechanism 46, a glass back plate adsorption mechanism 47, and a rectangular ring adsorption mechanism 48, which are used to perform adsorption or gripping work on the spring pressure plate, O-ring, spring, metal pressure ring, glass, back plate, and rectangular ring, respectively.

[0050] The clamping principle of the spring pressure plate gripping mechanism 43 can be a combination of a linear module and a three-jaw chuck or clamping plate, with the chuck completing the gripping of the spring pressure plate. However, the present invention does not impose any restrictions on this.

[0051] The clamping principle of the spring gripping mechanism 45 can be a combination of a linear module and a multi-jaw internal support mechanism. After the multi-jaw internal support mechanism inserts the spring, it opens and supports the spring from the inside, completing the gripping work of the spring. The gripping principle of the O-ring adsorption mechanism 44, the metal pressure ring adsorption mechanism 46, the glass back plate adsorption mechanism 47, and the rectangular ring adsorption mechanism 48 can be the combination of a linear module and a vacuum adsorption device. The size of the suction nozzle of the vacuum adsorption device can be matched with the part.

[0052] As a further preferred embodiment, according to Figure 12 , Figure 13 and Figure 14 As shown, the window feeding assembly 5 includes a bottom support 51 and a lifting module 52. Four lifting modules 52 are equally spaced at the top of the bottom support 51, and the four lifting modules 52 correspond to the O-ring placement assembly 53, the rectangular ring placement assembly 54, the back plate placement assembly 55 and the glass placement assembly 56, respectively, for continuous feeding of O-rings, rectangular rings, back plates and glass.

[0053] The lifting module 52 can be a linear module. Its specific principle is that aluminum profiles or steel components provide overall rigidity and installation reference. The motor drives the lead screw to rotate, and the ball rolls in a cycle between the lead screw and the nut, converting the rotational motion into the linear motion of the nut. The nut is fixed to the slider. Thus, by moving the slider, the O-rings, rectangular rings, back plate and glass on the slider can be moved. The O-rings and rectangular rings are sleeved on the outside of the cylinder, and the slider is set at the bottom of the stacked O-rings and rectangular rings to complete the pushing work. The back plate and glass are engaged inside the cylinder, and the slider is set at the bottom of the cylinder to complete the pushing work by moving. In addition, the top of the profile of the linear module is equipped with a sensor to check the O-rings, rectangular rings, back plate and glass. Then, the controller controls the slider to move automatically to complete the continuous feeding work.

[0054] Metal pressure rings are evenly distributed above the first feeding component 6. The second feeding component 7 includes a support box 71, a spring placement area 72, and a spring pressure plate placement area 73. The top of the support box 71 is symmetrically provided with the spring placement area 72 and the spring pressure plate placement area 73. Columns are evenly distributed above the spring placement area 72 for placing the springs. Symmetrical limiting columns are evenly distributed at the top of the spring pressure plate placement area 73 for placing the spring pressure plates.

[0055] As a further preferred embodiment, according to Figure 17 , Figure 18 and Figure 19 As shown, the flipping assembly 8 includes a support frame 81, a first clamping cylinder 82, a clamping plate 83, a second clamping cylinder 84, a tooling clamping plate 85, a flipping mechanism 86, a moving module 87, and a lifting cylinder 88. The first clamping cylinder 82 is symmetrically arranged on one side of the top of the support frame 81. The clamping plate 83 is arranged at the top of the first clamping cylinder 82. The lifting cylinder 88 is installed in the middle of the support frame 81. The moving module 87 is installed at the top of the lifting cylinder 88. The second clamping cylinder 84 is connected to the flipping mechanism 86 at the top of the moving module 87. The tooling clamping plate 85 is installed at the top of the second clamping cylinder 84.

[0056] The clamping plate 83 initially clamps the spring plate. After tightening the centering nut, a tooling is formed. The tooling is held by the tooling clamping plate 85. The moving module 87 moves the tooling away from the clamping plate 83. After being lifted by the lifting cylinder 88, and then rotated 180° by the flipping mechanism 86, the tooling is made to be in a horizontal state, which is convenient for the gripping mechanism to grip.

[0057] The storage assembly 9 includes a support frame 91 and a storage cylinder 92, with the storage cylinder 92 located at the top of the support frame 91.

[0058] Workflow: Step 1: External operators place the butterfly spring washers, screws, centering nuts, spring pressure plates, O-rings, springs, metal pressure rings, glass, and back plates used in the assembly process into the storage assembly 9, spring pressure plate placement area 73, O-ring placement assembly 53, spring placement area 72, first feeding assembly 6, glass placement assembly 56, and back plate placement assembly 55 in sequence to complete the material preparation work; Step 2: Then, the manual staff places the parts housing 13 to be assembled onto the transport pallet 102 in sequence. Then, the AGV trolley is controlled to move the transport pallet 102 so that the transport pallet 102 reaches the top of the material rack 101, completing the automatic feeding of the parts housing 13. Step 3: The large robot 201 controls the first housing gripper 204 at its top to grip the part housing 13 on the transport pallet 102. During the gripping process, the robot controls the part housing 13 to reach the position of the first correction camera 11. The first correction camera 11 corrects the position of the part window 131 on the part housing 13, so that the top of the large robot 201 drives the part housing 13 to reach the top of the rotating component 3 at a fixed angle. Step 4: After the part housing 13 on the rotating assembly 3 is clamped by the second housing gripper 33, it is photographed by the third correction camera 35, and then horizontally rotated and corrected by the first turntable 32. Then, it is vertically rotated under the action of the second turntable 34, so that the part window 131 on the part housing 13 is in the upward position. After that, the assembly work can be carried out at the position of the part window 131. Step 5: The small robot 41 moves the glass back plate adsorption mechanism 47, rectangular ring adsorption mechanism 48, O-ring adsorption mechanism 44, and metal pressure ring adsorption mechanism 46 sequentially via the profile frame 42. These mechanisms grip the back plate on the back plate placement assembly 55, the rectangular ring on the rectangular ring placement assembly 54, the O-ring on the O-ring placement assembly 53, the glass on the glass placement assembly 56, and the metal pressure ring on the first feeding assembly 6, placing them sequentially into the part window 131. Finally, the large robot 201 controls the screw clamping mechanism 2072 on the screw fastening assembly 207 to grip the screws on the storage assembly 9. Finally, the screws are tightened using the tightening gun 2071, thus completing the automatic assembly work on the part window 131. Step Six: After the part window 131 is assembled, the second housing gripper 33 is rotated 90 degrees in the opposite direction by the second turntable 34, and the part housing 13 is brought to the position with the opening facing upward. Then, the large robot 201 uses the butterfly spring pad gripping mechanism 206 to grip the butterfly spring pad inside the storage component 9 and put it into the part housing 13. Then, the small robot 41 controls the spring gripping mechanism 45 to move to the position of the spring placement area 72 and grip the spring. Then, the spring is placed on top of the butterfly spring pad. Finally, the large robot 201 controls the screw gripping mechanism 2072 on the screw fastening component 207 to perform the gripping work of the centering nut on the storage component 9. Finally, the tightening work is performed by the tightening gun 2071. Step 7: The small robot 41 controls the spring plate gripping mechanism 43 to grip the spring plate in the spring plate placement area 73, and then places the spring plate in the middle of the clamping plate 83. The first clamping cylinder 82 clamps the spring plate between the two clamping plates 83. Next, the large robot 201 controls the screw gripping mechanism 2072 on the screw-driving assembly 207 to grip the centering nut on the storage assembly 9. Finally, the tightening gun 2071 tightens the four corners of the spring plate, obtaining the tooling. Then, the moving module 87 drives the second clamping cylinder 84 and the tooling. The clamping plate 85 moves forward until the tooling is in the middle of the two clamping plates 85. Then, the second clamping cylinder 84 controls the two clamping plates 85 to clamp the tooling. Then, the clamping pressure plate 83 releases its clamping on the spring pressure plate. The moving module 87 moves the clamping plate 85 and the tooling in the middle away from the clamping pressure plate 83. Then, the lifting cylinder 88 raises the entire moving module 87. With the flipping operation of the flipping mechanism 86, the tooling will be flipped 180°. Finally, the spring pressure plate gripping mechanism 43 on the small robot 41 grips the tooling and installs it into the inside of the part housing 13 at the position of the rotating component 3, thus completing the assembly work. Step 8: After assembly, the part housing 13 is gripped again by the first housing gripper 204 on the large robot component 2 and transferred to the transport pallet 102 on the unloading component 10. When the transport pallet 102 is full of part housings 13, the AGV at the bottom moves the transport pallet 102 out again for subsequent operations.

[0059] The basic principles, main features, and advantages of this application have been described above. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely the principles of this application. Various changes and modifications can be made to this application without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection claimed by this application is defined by the appended claims and their equivalents.

Claims

1. An automated oil pad assembly apparatus, characterized by, The utility model provides a feeding assembly (1) is provided with first rectification camera (11) on one side, one side of feeding assembly (1) is provided with big robot assembly (2) for carrying out the transfer work of part shell (13) and butterfly elastic pad and carries out the fastening work of screw, the outside one side of big robot assembly (2) is provided with rotating assembly (3) for carrying out the clamping and fixing work of part shell (13), the other side of rotating assembly (3) is also provided with small robot assembly (4) for carrying out the clamping and installing work of spring pressure plate, O ring, spring, metal pressure ring, glass, rectangular ring and back plate, the three sides of small robot assembly (4) outside are provided with window feeding assembly (5), first feeding assembly (6) and second feeding assembly (7) respectively, window feeding assembly (5) is used for carrying out the continuous feeding work of O ring, rectangular ring, back plate and glass, first feeding assembly (6) is used for carrying out the feeding work of metal pressure ring, and second feeding assembly (7) is used for the feeding work of spring and spring pressure plate, the inner side of second feeding assembly (7) is provided with turnover assembly (8) and is used for carrying out the assembly turnover work of metal pressure ring, the outer side of turnover assembly (8) is provided with storage assembly (9) at equal intervals and is used for carrying out the storage work of screw, butterfly elastic pad and centering nut, and the tail of storage assembly (9) and the back of big robot assembly (2) are provided with discharging assembly (10) and are used for the discharging and sending work of oil pillow after assembly, and the outside of feeding assembly (1) is provided with control unit (12). The utility model provides a feeding assembly (1) is provided with first rectification camera (11) on one side, one side of feeding assembly (1) is provided with big robot assembly (2) for carrying out the transfer work of part shell (13) and butterfly elastic pad and carries out the fastening work of screw, the outside one side of big robot assembly (2) is provided with rotating assembly (3) for carrying out the clamping and fixing work of part shell (13), the other side of rotating assembly (3) is also provided with small robot assembly (4) for carrying out the clamping and installing work of spring pressure plate, O ring, spring, metal pressure ring, glass, rectangular ring and back plate, the three sides of small robot assembly (4) outside are provided with window feeding assembly (5), first feeding assembly (6) and second feeding assembly (7) respectively, window feeding assembly (5) is used for carrying out the continuous feeding work of O ring, rectangular ring, back plate and glass, first feeding assembly (6) is used for carrying out the feeding work of metal pressure ring, and second feeding assembly (7) is used for the feeding work of spring and spring pressure plate, the inner side of second feeding assembly (7) is provided with turnover assembly (8) and is used for carrying out the assembly turnover work of metal pressure ring, the outer side of turnover assembly (8) is provided with storage assembly (9) at equal intervals and is used for carrying out the storage work of screw, butterfly elastic pad and centering nut, and the tail of storage assembly (9) and the back of big robot assembly (2) are provided with discharging assembly (10) and are used for the discharging and sending work of oil pillow after assembly, and the outside of feeding assembly (1) is provided with control unit (12).

2. An automated oil pad assembly apparatus as claimed in claim 1, wherein: The utility model provides a feeding assembly (1) is provided with first rectification camera (11) on one side, one side of feeding assembly (1) is provided with big robot assembly (2) for carrying out the transfer work of part shell (13) and butterfly elastic pad and carries out the fastening work of screw, the outside one side of big robot assembly (2) is provided with rotating assembly (3) for carrying out the clamping and fixing work of part shell (13), the other side of rotating assembly (3) is also provided with small robot assembly (4) for carrying out the clamping and installing work of spring pressure plate, O ring, spring, metal pressure ring, glass, rectangular ring and back plate, the three sides of small robot assembly (4) outside are provided with window feeding assembly (5), first feeding assembly (6) and second feeding assembly (7) respectively, window feeding assembly (5) is used for carrying out the continuous feeding work of O ring, rectangular ring, back plate and glass, first feeding assembly (6) is used for carrying out the feeding work of metal pressure ring, and second feeding assembly (7) is used for the feeding work of spring and spring pressure plate, the inner side of second feeding assembly (7) is provided with turnover assembly (8) and is used for carrying out the assembly turnover work of metal pressure ring, the outer side of turnover assembly (8) is provided with storage assembly (9) at equal intervals and is used for carrying out the storage work of screw, butterfly elastic pad and centering nut, and the tail of storage assembly (9) and the back of big robot assembly (2) are provided with discharging assembly (10) and are used for the discharging and sending work of oil pillow after assembly, and the outside of feeding assembly (1) is provided with control unit (12).

3. An automated oil pad assembly apparatus as claimed in claim 2, wherein: The large robot assembly (2) comprises a large robot (201) and a connecting frame at the top end of the large robot (201), a mounting frame (202) is arranged at one side of the top end of the connecting frame, a second deviation correction camera (203) is arranged in the middle of the mounting frame (202), a first moving mechanism (205) is arranged in the middle of the connecting frame, and first shell clamping jaws (204) are symmetrically arranged at the top end of the first moving mechanism (205) for clamping work of the part shell (13), butterfly-shaped elastic pad grabbing mechanisms (206) and screw driving assemblies (207) are arranged at both ends of the other side of the connecting frame, the screw driving assembly (207) comprises a tightening gun (2071) and a screw clamping mechanism (2072), and the screw clamping mechanism (2072) is arranged at the top end of the outside of the tightening gun (2071) for clamping work of the screw bolt.

4. An automated oil pad assembly apparatus as claimed in claim 3, wherein: The rotating assembly (3) comprises a fixed frame (31) and a third deviation correction camera (35), the fixed frame (31) is arranged in an "L" type structure, one side of the top end of the fixed frame (31) is provided with a second rotating table (34), the top end of the second rotating table (34) is provided with a first rotating table (32), the top end of the first rotating table (32) is provided with a second shell clamping jaw (33) connected by a second moving mechanism, the structure of the first moving mechanism (205) is the same as that of the second moving mechanism, and the outside of one side of the fixed frame (31) is provided with the third deviation correction camera (35).

5. An automated oil pad assembly apparatus as claimed in claim 4, wherein: The small robot assembly (4) comprises a small robot (41) and a profile frame (42), the outside of the profile frame (42) is respectively provided with a spring pressure plate grabbing mechanism (43), an O-ring suction mechanism (44), a spring grabbing mechanism (45), a metal pressure ring suction mechanism (46), a glass back plate suction mechanism (47) and a rectangular ring suction mechanism (48), which are respectively used for suction or clamping work of spring pressure plate, O-ring, spring, metal pressure ring, glass, back plate and rectangular ring.

6. An automated oil pad assembly apparatus as claimed in claim 5, wherein: The window feeding assembly (5) comprises a bottom support (51) and a lifting module (52), four lifting modules (52) are arranged at the top end of the bottom support (51) at equal intervals, and the four lifting modules (52) correspond to an O-ring placing assembly (53), a rectangular ring placing assembly (54), a back plate placing assembly (55) and a glass placing assembly (56) respectively, which are used for continuous feeding work of O-ring, rectangular ring, back plate and glass.

7. An automated oil pad assembly apparatus as claimed in claim 6, wherein: The first feeding assembly (6) is uniformly distributed with metal pressure rings, the second feeding assembly (7) comprises a supporting box body (71), a spring placing area (72) and a spring pressure plate placing area (73), the supporting box body (71) is symmetrically provided with the spring placing area (72) and the spring pressure plate placing area (73) at the top end, the top end of the spring pressure plate placing area (73) is uniformly distributed with symmetric limiting columns, and the top end of the spring pressure plate placing area (73) is uniformly distributed with symmetric limiting columns.

8. An automated oil pad assembly apparatus as claimed in claim 7, wherein: Said turnover assembly (8) includes a support frame (81), a first clamping cylinder (82), a clamping pressing plate (83), a second clamping cylinder (84), a tool clamping plate (85), a turnover mechanism (86), a moving module (87) and a jacking cylinder (88), the top end of the support frame (81) is provided with symmetrical first clamping cylinders (82), the top end of the first clamping cylinder (82) is provided with a clamping pressing plate (83), the support frame (81) is provided with a jacking cylinder (88) in the middle, the top end of the jacking cylinder (88) is provided with a moving module (87), the top end of the moving module (87) is provided with a second clamping cylinder (84) connected through a turnover mechanism (86), and the top end of the second clamping cylinder (84) is provided with a tool clamping plate (85).

9. An automated oil pad assembly apparatus as claimed in claim 8, wherein: Said storage assembly (9) includes a support frame (91) and a storage cylinder (92), and the top end of the support frame (91) is provided with a storage cylinder (92).

Images