Stack bolt assembly apparatus and method of assembly

Abstract

The present application belongs to the technical field of machine tool, and particularly relates to a bolt tightening machine, and more particularly relates to an assembly device for electric pile bolt and an assembly method thereof. When the driving sleeve rotates forward, the assembly device for electric pile bolt drives a pair of clamping jaws to move away, and a manipulator drives a screwing device to move, so that a first groove is aligned with the top of a bolt, the top of the bolt enters the first groove, the driving sleeve reversely rotates, the clamping jaws move close to each other to clamp the bolt, the bolt is stably gripped, and the stable gripping of the bolt is realized, the bolt is prevented from being inclined, and the bolt can be accurately aligned when being screwed into a threaded hole.

Description

Technical Field

[0001] This invention belongs to the field of machine tool technology, specifically relating to machinery for tightening bolts, and more particularly to an assembly device and assembly method for fuel cell stack bolts. Background Technology

[0002] Multiple bolts need to be installed on the fuel cell stack. In related technologies, a robotic arm is used to grab the bolts and screw them into the fuel cell stack. However, when the robotic arm grabs the bolts, if the bolts are too long or if they are not positioned properly, the grabbed bolts may tilt, causing them to not be aligned with the threaded holes when screwed into the fuel cell stack, resulting in failure when screwing them into the threaded holes.

[0003] Therefore, due to the technical problem that the bolt cannot be aligned with the threaded hole and cannot be screwed into the threaded hole when the bolt is picked up, it is necessary to design an assembly device and assembly method for the fuel cell stack bolt.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0005] This disclosure provides at least one assembly device and assembly method for fuel cell stack bolts.

[0006] In a first aspect, embodiments of this disclosure provide an assembly apparatus for fuel cell stack bolts, comprising:

[0007] A robotic arm, and a screwing device connected to the robotic arm, the robotic arm being configured to move the screwing device to a bolt placement position, the screwing device being configured to stably grip a bolt from the bolt placement position;

[0008] The screwing device includes: a fixing sleeve;

[0009] The bottom of the fixed sleeve is rotatably provided with an inner sleeve;

[0010] The inner bottom surface of the inner sleeve is rotatably connected to a driving sleeve, which extends from the top surface of the fixed sleeve.

[0011] The bottom of the inner sleeve is provided with a pair of grippers;

[0012] The bottom surface of the inner sleeve is provided with a first groove that matches the shape of the top of the bolt;

[0013] When the drive sleeve rotates forward, it moves a pair of grippers away, and the robot moves the screwing device so that the first groove is aligned with the top of the bolt. The top of the bolt enters the first groove, and the drive sleeve rotates in the reverse direction. The grippers move closer to each other to clamp the bolt and stably hold it.

[0014] In one optional embodiment, the bottom surface of the inner sleeve is provided with a strip-shaped hole corresponding to the gripper, the gripper is adapted to move along the strip-shaped hole, and the top end of the gripper passes through the strip-shaped hole and is located inside the inner sleeve.

[0015] The bottom end of the gripper extends out of the bottom surface of the inner sleeve;

[0016] The top of the gripper is provided with a protrusion, and the bottom surface of the protrusion contacts the inner bottom surface of the inner sleeve.

[0017] A column is provided on the side wall of the gripper, and a through hole communicating with the strip hole is opened on the side wall of the inner sleeve, and the column extends into the corresponding through hole;

[0018] The inner wall of the fixed sleeve is provided with a slot corresponding to the column. When the column is inserted into the slot, the inner sleeve is fixed.

[0019] A second spring is connected between the side wall of the gripper and the inner wall of the strip hole, and the second spring is adapted to drive the gripper to reset.

[0020] In one optional embodiment, the side wall of the drive sleeve is provided with an arc-shaped block corresponding to the protrusion, the side wall of the arc-shaped block is an arc surface, and the other side wall is provided with a groove.

[0021] When the drive sleeve rotates in the forward direction, the arc surface of the arc block contacts the protrusion, causing the gripper to move away from the drive sleeve.

[0022] When the drive sleeve rotates in the reverse direction, the protrusion enters the groove and locks the gripper.

[0023] In one alternative embodiment, a second groove is provided on the top surface of the column;

[0024] The gripper has a flow channel, one end of which is located in the second groove and the other end is located at the contact surface between the gripper and the bolt.

[0025] The inner sleeve has a receiving cavity, which stores glue, and the liquid outlet of the receiving cavity is connected to the through hole.

[0026] In one alternative embodiment, when gripping the bolt, the drive sleeve rotates forward, and the column extends from the through hole into the slot to fix the inner sleeve. At this time, the first groove is aligned with the top of the bolt, and the second groove is aligned with the liquid outlet of the receiving cavity to allow the glue to enter the flow channel. Then, the drive sleeve rotates in the reverse direction, and the arc surface of the arc block disengages from the protrusion. The second spring drives the gripper to reset, and the gripper moves closer to each other to clamp the bolt, stably gripping the bolt. The protrusion enters the groove and locks the gripper in place.

[0027] In one alternative embodiment, a first spring is provided between the top surface of the inner sleeve and the inner top surface of the fixed sleeve.

[0028] In one alternative embodiment, the screwing device further includes a drive motor;

[0029] The drive motor is mounted on the bracket;

[0030] The fixing sleeve is connected to the bracket;

[0031] The inner wall of the drive sleeve is vertically provided with a strip groove;

[0032] The output shaft of the drive motor extends into the drive sleeve, and the locking block on the outer wall of the drive shaft is located in the strip groove.

[0033] In one alternative implementation, the support frame is connected to the robotic arm via a lifting mechanism;

[0034] The lifting mechanism is adapted to drive the support frame to rise and fall;

[0035] The robotic arm is configured to move the bolt to the fuel cell stack after the screwing device stably grasps the bolt, and then the lifting mechanism drives the support to descend, the inner sleeve rises along the fixed sleeve, and the drive motor drives the inner sleeve to rotate in the opposite direction, thus completing the pre-screwing of the bolt onto the fuel cell stack.

[0036] In one alternative implementation, after the bolt is pre-screwed into the fuel cell stack, the drive sleeve is rotated in the forward direction, causing the grippers to loosen the bolt.

[0037] Secondly, this disclosure also provides an assembly method using the above-described assembly equipment for fuel cell stack bolts, comprising:

[0038] When the drive sleeve rotates forward, it moves a pair of grippers away, and the robot moves the screwing device so that the first groove is aligned with the top of the bolt. The top of the bolt enters the first groove, and the drive sleeve rotates in the reverse direction. The grippers move closer to each other to clamp the bolt and stably hold it.

[0039] The beneficial effect of this invention is that when the drive sleeve rotates in the forward direction, it drives a pair of grippers away, and the robot arm drives the screwing device to move so that the first groove is aligned with the top of the bolt. The top of the bolt enters the first groove, and the drive sleeve rotates in the reverse direction, causing the grippers to move closer to each other to clamp the bolt and stably grasp the bolt. This achieves stable grasping of the bolt, avoids bolt tilting, and ensures that the bolt can be accurately aligned when screwed into the threaded hole.

[0040] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0041] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the structure of an assembly device for fuel cell stack bolts provided in an embodiment of the present disclosure;

[0044] Figure 2 This is a schematic diagram of the structure of a screw-in device provided in an embodiment of the present disclosure;

[0045] Figure 3 A cross-sectional view of a fixing sleeve provided in an embodiment of this disclosure;

[0046] Figure 4 A schematic diagram of a drive sleeve provided in an embodiment of this disclosure;

[0047] Figure 5 This is a schematic diagram of a drive sleeve rotating in the forward direction, provided by an embodiment of the present disclosure;

[0048] Figure 6 This is a schematic diagram of a drive sleeve rotating in the reverse direction, provided as an embodiment of the present disclosure.

[0049] In the picture:

[0050] Robotic arm 1;

[0051] Screwing device 2, fixing sleeve 21, slot 211, first spring 212, inner sleeve 22, strip hole 221, through hole 222, first groove 223, driving sleeve 23, arc block 231, groove 232, strip groove 233, gripper 24, protrusion 241, column 242, second groove 243, flow channel 244, driving motor 25, bracket 26, lifting mechanism 27;

[0052] Bolt placement position 3. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0055] Multiple bolts need to be installed on the fuel cell stack. In related technologies, a robotic arm is used to grab the bolts and screw them into the fuel cell stack. However, when the robotic arm grabs the bolts, if the bolts are too long or if they are not positioned properly, the grabbed bolts may tilt, causing them to not be aligned with the threaded holes when screwed into the fuel cell stack, resulting in failure when screwing them into the threaded holes.

[0056] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0057] like Figure 1 and Figure 2As shown, at least one disclosed embodiment provides an assembly device for fuel cell stack bolts, including: a robotic arm 1, and a screwing device 2 connected to the robotic arm 1. The robotic arm 1 is configured to move the screwing device 2 to a bolt placement position 3, and the screwing device 2 is configured to stably grip a bolt from the bolt placement position 3. The screwing device 2 includes: a fixed sleeve 21; an inner sleeve 22 is rotatably disposed at the bottom of the fixed sleeve 21; a driving sleeve 23 is rotatably connected to the inner bottom surface of the inner sleeve 22, and the driving sleeve 23 extends from the top surface of the fixed sleeve 21. The bottom of the inner sleeve 22 is provided with a pair of grippers 24; the bottom surface of the inner sleeve 22 is provided with a first groove 223 that matches the shape of the top of the bolt; when the drive sleeve 23 rotates in the forward direction, it drives the pair of grippers 24 away, and the robot arm 1 drives the screwing device 2 to move so that the first groove 223 is aligned with the top of the bolt, the top of the bolt enters the first groove 223, the drive sleeve 23 rotates in the reverse direction, the grippers 24 move closer to each other to clamp the bolt, and stably grasp the bolt, thereby achieving stable grasping of the bolt, avoiding bolt tilting, and ensuring that the bolt can be accurately aligned when screwed into the threaded hole.

[0058] In this embodiment, the screwing device 2 can pre-screw the bolt into the corresponding threaded hole, and then tighten the bolt through subsequent processes.

[0059] In this embodiment, when gripping the bolt, the first groove 223 can limit and hold the top of the bolt, and then the two jaws 24 simultaneously contact the bolt to grip it stably and prevent the bolt from tilting.

[0060] In this embodiment, the drive sleeve 23 extends into the interior of the inner sleeve 22, and the bottom of the drive sleeve 23 and the inner sleeve 22 can be connected by a structure such as a bearing, so that the drive sleeve 23 and the inner sleeve 22 can rotate.

[0061] like Figure 2As shown, in one optional embodiment, the bottom surface of the inner sleeve 22 has a strip-shaped hole 221 corresponding to the gripper 24. The gripper 24 is adapted to move along the strip-shaped hole 221, and the top end of the gripper 24 passes through the strip-shaped hole 221 and is located inside the inner sleeve 22. The strip-shaped hole 221 communicates with the interior of the inner sleeve 22. The bottom end of the gripper 24 extends out of the bottom surface of the inner sleeve 22. A protrusion 241 is provided at the top end of the gripper 24, and the bottom surface of the protrusion 241 contacts the inner bottom surface of the inner sleeve 22. A column 242 is provided on the side wall of the gripper 24, and a through hole 222 communicating with the strip hole 221 is provided on the side wall of the inner sleeve 22. The column 242 extends into the corresponding through hole 222. A slot 211 corresponding to the column 242 is provided on the inner wall of the fixing sleeve 21. When the column 242 extends into the slot 211, the inner sleeve 22 is fixed. A second spring (not shown in the figure) is connected between the side wall of the gripper 24 and the inner wall of the strip hole 221. The second spring is adapted to drive the gripper 24 to reset.

[0062] In this embodiment, the strip hole 221 can limit the movement of the gripper 24.

[0063] In this embodiment, the protrusion 241 can prevent the gripper 24 from falling off, and the column 242 and the through hole 222 can prevent the gripper 24 from moving up and down.

[0064] like Figure 2 and Figure 3 As shown, in one optional embodiment, the side wall of the drive sleeve 23 is provided with an arc-shaped block 231 corresponding to the protrusion 241. The side wall of the arc-shaped block 231 is an arc surface, and the other side wall is provided with a groove 232. When the drive sleeve 23 rotates in the forward direction, the arc surface of the arc-shaped block 231 contacts the protrusion 241, causing the gripper 24 to move away from the drive sleeve 23. When the drive sleeve 23 rotates in the reverse direction, the protrusion 241 enters the groove 232 and locks the gripper 24.

[0065] In this embodiment, the groove 232 can be a through groove with openings on the top and bottom surfaces, which facilitates the entry of the protrusion 241 into the groove 232.

[0066] In this embodiment, initially, the gripper 24 is located at the end of the strip hole 221 near the drive sleeve 23. At this time, the arc-shaped block 231 and the protrusion 241 are not in contact. When it is necessary to clamp the bolt, the drive sleeve 23 is first rotated in the forward direction, as shown in the figure. Figure 5As shown in Figure F, the arc surface of the arc-shaped block 231 contacts the protrusion 241 as the drive sleeve 23 rotates, causing the two grippers 24 to move away from each other. The distance between the grippers 24 is greater than the diameter of the bolt top, allowing the bolt to pass between the two grippers 24. The top of the bolt can be aligned with the first groove 223. Then, the robot arm 1 or the lifting mechanism 27 drives the screwing device 2 to descend, and the top of the bolt enters the first groove 223. Then, the drive sleeve 23 rotates in the opposite direction, as shown in Figure F. Figure 6 As shown in Figure f, the arc surface of the arc block 231 disengages from the protrusion 241. The second spring recovers its deformation, causing the two grippers 24 to come closer together, stably clamping the bolt and preventing it from tilting. After the grippers 24 clamp the bolt, the drive sleeve 23 continues to rotate, causing the protrusion 241 to enter the groove 232, locking the grippers 24 and preventing the grippers 24 from loosening and causing the bolt to fall off when grabbing the bolt.

[0067] like Figure 2 and Figure 3 As shown, in one optional embodiment, the top surface of the column 242 is provided with a second groove 243; the gripper 24 is provided with a flow channel 244, one end of the flow channel 244 is located in the second groove 243, and the other end is located at the contact surface between the gripper 24 and the bolt; the inner sleeve 22 is provided with a receiving cavity (not shown in the figure), the receiving cavity stores glue, and the liquid outlet of the receiving cavity is connected to the through hole 222.

[0068] In this embodiment, an inlet can be provided at the top of the receiving cavity to facilitate the replenishment of adhesive.

[0069] In this embodiment, when the drive sleeve 23 rotates in the forward direction, the second groove 243 moves into the through hole 222 and aligns with the liquid outlet of the receiving cavity, so that the glue in the receiving cavity can flow into the flow channel 244. When the clamp 24 contacts the bolt, the glue can be applied to the outer wall of the bolt. When the bolt is subsequently screwed into the corresponding threaded hole, the glue can help to make the connection between the bolt and the threaded hole more secure.

[0070] In this embodiment, when it is necessary to grab the bolt, the drive sleeve 23 is rotated in the forward direction, so that the column 242 extends out of the through hole 222 and enters the slot 211. At this time, the inner sleeve 22 cannot rotate. When the screwing device 2 descends and the top of the bolt enters the first groove 223, the inner sleeve 22 is prevented from rotating, ensuring that the top of the bolt can accurately enter the first groove 223 and preventing the bolt from tilting.

[0071] In one alternative embodiment, when gripping the bolt, the drive sleeve 23 rotates forward, and the column 242 extends from the through hole 222 and enters the slot 211 to fix the inner sleeve 22. At this time, the first groove 223 is aligned with the top of the bolt, and the second groove 243 is aligned with the liquid outlet of the receiving cavity to allow the glue to enter the flow channel 244. Then, the drive sleeve 23 rotates in the reverse direction, and the arc surface of the arc block 231 disengages from the protrusion 241. The second spring drives the gripper 24 to reset, and the grippers 24 move closer to each other to clamp the bolt, stably gripping the bolt. The protrusion 241 enters the groove 232 and locks the gripper 24.

[0072] In one optional embodiment, a first spring 212 is provided between the top surface of the inner sleeve 22 and the inner top surface of the fixed sleeve 21.

[0073] In this embodiment, the first spring 212 can drive the gripper 24 to reset after the gripper 24 moves. In the initial state, the column 242 is completely located inside the through hole 222, so as to avoid affecting the rotation of the inner sleeve 22.

[0074] like Figure 1 As shown, in an optional embodiment, the screwing device 2 further includes: a drive motor 25; the drive motor 25 is mounted on a bracket 26; the fixing sleeve 21 is connected to the bracket 26; a vertically formed groove 233 is formed on the inner wall of the drive sleeve 23; the output shaft of the drive motor 25 extends into the drive sleeve 23, and the locking block on the outer wall of the drive shaft is located in the groove 233.

[0075] In this embodiment, by providing a vertical strip groove 233 inside the drive sleeve 23, the drive sleeve 23 can both rotate and move up and down.

[0076] like Figure 1 As shown, in one optional embodiment, the support 26 is connected to the robot 1 via a lifting mechanism 27; the lifting mechanism 27 is adapted to drive the support 26 to rise and fall; the robot 1 is configured to move the bolt to the fuel cell stack after the screwing device 2 stably grips the bolt, and then the lifting mechanism 27 drives the support 26 to fall, the inner sleeve 22 rises along the fixed sleeve 21, and the drive motor 25 drives the inner sleeve 22 to rotate in the opposite direction, thus completing the pre-screwing of the bolt onto the fuel cell stack.

[0077] In one alternative embodiment, after the bolt is pre-tightened onto the fuel cell stack, the drive sleeve 23 is rotated in the forward direction, causing the gripper 24 to loosen the bolt.

[0078] In this embodiment, when it is necessary to screw the bolt into the corresponding threaded hole, the drive motor 25 drives the drive sleeve 23 to rotate in the opposite direction. At this time, the protrusion 241 enters the groove 232 so that the drive sleeve 23 drives the inner sleeve 22 to rotate synchronously, thereby driving the bolt to rotate.

[0079] In this embodiment, before the bolt is screwed into the corresponding threaded hole, the lifting mechanism 27 can drive the bracket 26 to move downward. After the bolt contacts the threaded hole, as the bracket 26 continues to descend, the bolt drives the inner sleeve 22 and the drive sleeve 23 to move upward, compressing the first spring 212. After descending a preset height, the drive motor 25 drives the drive sleeve 23 to rotate in the opposite direction, and the bolt rotates and is screwed into the threaded hole. At this time, the first spring 212 gradually recovers its deformation, allowing the bolt to be screwed downward into the threaded hole. After the bolt is screwed in, the drive motor 25 drives the drive sleeve 23 to rotate in the forward direction, causing the gripper 24 to loosen the bolt. Then, the robot arm 1 can drive the screwing device 2 to move to the bolt placement position 3 to grab the next bolt. During the process of the robot arm 1 driving the bolt placement position 3 to move, the drive motor 25 can drive the drive sleeve 23 to rotate to the initial position, so that the gripper 24 is in the initial position, preventing the glue in the receiving cavity from flowing into the flow channel 244 and then flowing out from the gripper 24.

[0080] In this embodiment, the lifting mechanism 27 may be composed of a servo motor and related components, so that the bracket 26 can be raised and lowered to a preset height.

[0081] Secondly, this disclosure also provides an assembly method using the above-mentioned assembly equipment for fuel cell stack bolts, including: when the drive sleeve 23 rotates in the forward direction, it drives a pair of grippers 24 away from each other, and the robot arm 1 drives the screwing device 2 to move so that the first groove 223 is aligned with the top of the bolt, the top of the bolt enters the first groove 223, the drive sleeve 23 rotates in the reverse direction, and the grippers 24 move closer to each other to clamp the bolt and stably grasp the bolt.

[0082] In summary, this assembly equipment for fuel cell stack bolts works by rotating the drive sleeve 23 in the forward direction, causing a pair of grippers 24 to move away. The robotic arm 1 then moves the screwing device 2, aligning the first groove 223 with the top of the bolt. The top of the bolt enters the first groove 223. When the drive sleeve 23 rotates in the reverse direction, the grippers 24 move closer together to clamp the bolt, ensuring stable bolt gripping. This prevents bolt tilting and ensures accurate alignment when screwing the bolt into the threaded hole. In the description of this embodiment, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0083] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention 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 of the invention. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as a second element, component, region, layer, or segment.

[0084] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0085] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An assembly device for fuel cell stack bolts, characterized in that, include: A robotic arm (1) and a screwing device (2) connected to the robotic arm (1), the robotic arm (1) being configured to move the screwing device (2) to a bolt placement position (3), the screwing device (2) being configured to stably grip a bolt from the bolt placement position (3); The screwing device (2) includes: a fixing sleeve (21); The bottom of the fixed sleeve (21) is rotatably provided with an inner sleeve (22); The inner bottom surface of the inner sleeve (22) is rotatably connected to a drive sleeve (23), which extends from the top surface of the fixed sleeve (21). The bottom of the inner sleeve (22) is provided with a pair of grippers (24); The bottom surface of the inner sleeve (22) is provided with a first groove (223) that matches the shape of the top of the bolt. When the drive sleeve (23) rotates in the forward direction, it drives a pair of grippers (24) away from each other. The robot (1) drives the screwing device (2) to move so that the first groove (223) is aligned with the top of the bolt. The top of the bolt enters the first groove (223). The drive sleeve (23) rotates in the reverse direction, and the grippers (24) move closer to each other to clamp the bolt and stably grasp the bolt. The bottom surface of the inner sleeve (22) is provided with a strip hole (221) corresponding to the gripper (24). The gripper (24) is adapted to move along the strip hole (221). The top end of the gripper (24) passes through the strip hole (221) and is located inside the inner sleeve (22). The bottom end of the gripper (24) extends out of the bottom surface of the inner sleeve (22); The top of the gripper (24) is provided with a protrusion (241), and the bottom surface of the protrusion (241) is in contact with the inner bottom surface of the inner sleeve (22); A column (242) is provided on the side wall of the gripper (24), and a through hole (222) communicating with the strip hole (221) is provided on the side wall of the inner sleeve (22), and the column (242) extends into the corresponding through hole (222); The inner wall of the fixed sleeve (21) is provided with a slot (211) corresponding to the column (242). When the column (242) extends into the slot (211), the inner sleeve (22) is fixed. A second spring is connected between the side wall of the gripper (24) and the inner wall of the strip hole (221), and the second spring is adapted to drive the gripper (24) to reset. The top surface of the column (242) is provided with a second groove (243); The gripper (24) has a flow channel (244) inside, one end of the flow channel (244) is located in the second groove (243), and the other end is located at the contact surface between the gripper (24) and the bolt; The inner sleeve (22) has a receiving cavity, which stores glue, and the liquid outlet of the receiving cavity is connected to the through hole (222).

2. The assembly equipment for fuel cell stack bolts as described in claim 1, characterized in that, The drive sleeve (23) has an arc-shaped block (231) corresponding to the protrusion (241) on its side wall. The side wall of the arc-shaped block (231) is an arc surface, and the other side wall has a groove (232). When the drive sleeve (23) rotates in the forward direction, the arc surface of the arc block (231) contacts the protrusion (241), causing the gripper (24) to move away from the drive sleeve (23); When the drive sleeve (23) rotates in the opposite direction, the protrusion (241) enters the groove (232) and locks the gripper (24).

3. The assembly equipment for fuel cell stack bolts as described in claim 1, characterized in that, When gripping the bolt, drive the sleeve (23) to rotate in the forward direction, and the column (242) extends out from the through hole (222) and enters the slot (211) to fix the inner sleeve (22). At this time, the first groove (223) is aligned with the top of the bolt, and the second groove (243) is aligned with the liquid outlet of the receiving cavity so that the glue enters the flow channel (244). Then drive the sleeve (23) to rotate in the reverse direction, and the arc surface of the arc block (231) disengages from the protrusion (241). The second spring drives the gripper (24) to reset, and the gripper (24) moves closer to each other to clamp the bolt and stably grip the bolt. The protrusion (241) enters the groove (232) and clamps the gripper (24).

4. The assembly equipment for fuel cell stack bolts as described in claim 1, characterized in that, A first spring (212) is provided between the top surface of the inner sleeve (22) and the inner top surface of the fixed sleeve (21).

5. The assembly equipment for fuel cell stack bolts as described in claim 1, characterized in that, The screwing device (2) further includes: a drive motor (25); The drive motor (25) is mounted on the bracket (26); The fixed sleeve (21) is connected to the bracket (26); The inner wall of the drive sleeve (23) is vertically provided with a strip groove (233); The output shaft of the drive motor (25) extends into the drive sleeve (23), and the locking block on the outer wall of the drive shaft is located in the strip groove (233).

6. The assembly equipment for fuel cell stack bolts as described in claim 5, characterized in that, The support (26) is connected to the robotic arm (1) via a lifting mechanism (27); The lifting mechanism (27) is adapted to drive the support (26) to rise and fall; The robotic arm (1) is configured to move the bolt to the fuel cell stack after the screwing device (2) stably grips the bolt, and then the lifting mechanism (27) drives the support (26) to descend, the inner sleeve (22) rises along the fixed sleeve (21), and the drive motor (25) drives the inner sleeve (22) to rotate in the opposite direction, thus completing the pre-screwing of the bolt onto the fuel cell stack.

7. The assembly equipment for fuel cell stack bolts as described in claim 6, characterized in that, After the bolt is pre-tightened onto the fuel cell stack, the drive sleeve (23) rotates in the forward direction, causing the jaws (24) to loosen the bolt.

8. An assembly method using the assembly equipment for fuel cell stack bolts as described in any one of claims 1-7, characterized in that, include: When the drive sleeve (23) rotates in the forward direction, it drives a pair of grippers (24) away from each other. The robot (1) drives the screwing device (2) to move so that the first groove (223) is aligned with the top of the bolt. The top of the bolt enters the first groove (223). The drive sleeve (23) rotates in the reverse direction, and the grippers (24) move closer to each other to clamp the bolt and stably grasp the bolt.

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