Flywheel assembly system

Abstract

The utility model belongs to the technical field of engine assembly, and discloses a flywheel assembly system, which comprises a flywheel storage rack, a flywheel assembly assembling structure, a detecting and clamping device and a robot, the detecting and clamping device comprises a first clamp and a detecting unit, the first clamp is used for grabbing flywheels, and the detecting unit is used for detecting the poses of the flywheels positioned at a flywheel storage station; the robot can drive the first clamp to move to the flywheel storage station so that the first clamp can grab the flywheel located on the flywheel storage station, and drive the first clamp to move to the flywheel assembly assembling station from the flywheel storage station so that the first clamp can place the flywheel clamped by the first clamp on the flywheel assembly assembling station. According to the flywheel assembling system, the robot is used for driving the first clamp to rotate so as to achieve position and posture adjustment of the flywheel, a flywheel angle adjusting unit is omitted, the flywheel assembling technology is simplified, the flywheel assembling efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of engine assembly technology, and in particular to a flywheel assembly system. Background Technology

[0002] In the fields of modern automobile manufacturing and industrial power equipment production, the flywheel, as a key transmission component, directly impacts engine production costs due to its assembly efficiency. Traditional component assembly typically employs manual methods, involving multiple steps such as flywheel handling, positioning, and bolt tightening. This approach suffers from low production efficiency, high labor costs, and low assembly precision, increasing product quality uncertainty.

[0003] With the increasing automation of production lines and the demand for labor-saving solutions, more and more parts are adopting automated assembly methods. In existing technologies, a robot gripper unit typically picks up the flywheel and delivers it to a flywheel angle adjustment unit. The flywheel angle adjustment unit adjusts the flywheel to the required angle, and then the flywheel is transported to a bolt loading unit for assembly into a flywheel assembly. Finally, a robot gripper unit picks up the flywheel assembly and pre-installs it onto the engine. However, the flywheel assembly process is relatively cumbersome, inefficient, and costly. Utility Model Content

[0004] The purpose of this invention is to provide an automatic flywheel assembly gripper system that simplifies the flywheel assembly process, improves flywheel assembly efficiency, and reduces production costs.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The flywheel assembly system includes:

[0007] The flywheel storage rack has multiple flywheel storage stations for storing flywheels;

[0008] The flywheel assembly assembly structure is used to assemble flywheel bolts onto the flywheel at the flywheel assembly assembly station to form a flywheel assembly.

[0009] The detection gripping device includes a first gripper for gripping a flywheel located at the flywheel storage station, and a detection unit for detecting the position and orientation of the flywheel located at the flywheel storage station.

[0010] The robot is capable of driving the first gripper to move to the flywheel storage station so that the first gripper can grasp the flywheel located at the flywheel storage station, and driving the first gripper from the flywheel storage station to the flywheel assembly station so that the first gripper can place the flywheel it has grasped at the flywheel assembly station.

[0011] Optionally, the detection gripping device further includes a second gripper for gripping the flywheel assembly located at the flywheel assembly assembly station, and the detection unit can also be used to detect the position of the flywheel assembly located at the flywheel assembly assembly station and the position of the workpiece to be assembled at the assembly station.

[0012] The robot can also drive the second gripper to move to the flywheel assembly assembly station so that the second gripper can grasp the flywheel assembly located at the flywheel assembly assembly station, and drive the second gripper from the flywheel storage station to the assembly station so that the second gripper can place the flywheel assembly it has grasped at the assembly station, and so that the flywheel bolt of the flywheel assembly can be accurately inserted into the threaded hole on the workpiece to be assembled.

[0013] Optionally, the flywheel storage rack includes:

[0014] The support frame is provided with a plurality of limiting baffles arranged at intervals along a first horizontal direction, and a limiting support groove is formed between two adjacent limiting baffles; the axial sides of the flywheel can be clamped between the opposite side walls of the limiting support groove along the first horizontal direction.

[0015] A support base plate, wherein the support frame is located above and fixed to the support base plate, and the support base plate has a support bottom surface for supporting the flywheel.

[0016] Optionally, the support frame includes two frame bodies that are spaced apart and fixed along a second horizontal direction, and each frame body is provided with a plurality of limiting baffles that are spaced apart along a first horizontal direction; the limiting support grooves on the two frame bodies are arranged one-to-one along the second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular.

[0017] The flywheel can be confined in a limiting support groove on one of the frames along the first horizontal direction on one side of the second horizontal direction, and can be confined in a corresponding limiting support groove on the other frame along the first horizontal direction on the other side.

[0018] Optionally, each of the frames has a support surface facing the other frame along a second horizontal direction, and the distance between the two support surfaces along the second horizontal direction is L, which gradually increases from bottom to top; the flywheel can be clamped between the two support surfaces along the second horizontal direction.

[0019] Optionally, the detection gripping device further includes a mounting bracket detachably connected to the robot, wherein the first gripper, the second gripper, and the detection unit are all mounted on the mounting bracket.

[0020] Optionally, the robot is connected to a second adapter plate, and the mounting bracket is detachably connected to the second adapter plate.

[0021] Optionally, the flywheel assembly structure further includes a support platform and a flywheel positioning support unit installed on the support platform. The flywheel positioning support unit includes multiple support members fixed to the support platform. The upper surface of the support members is used to support the flywheel. The multiple support members are arranged at intervals to form a clearance space to avoid the flywheel bolts passing through the flywheel.

[0022] Optionally, the flywheel positioning support unit further includes a positioning disk, which is fixed on the support platform, and the upper end of the positioning disk can be inserted into the flywheel in a vertical direction.

[0023] Optionally, the flywheel assembly structure further includes a support base, the support platform is rotatably connected to the support base, and multiple flywheel positioning support units are provided, with the multiple flywheel positioning support units arranged at circumferential intervals along the support platform.

[0024] The beneficial effects of this utility model are:

[0025] The flywheel assembly system provided by this utility model involves a robot-driven first fixture gripping a flywheel located at the flywheel storage station. The robot then controls the first fixture to rotate based on the detection results from the detection unit, adjusting the flywheel's position. Next, the robot drives the first fixture to place the adjusted flywheel at the flywheel assembly station, facilitating the assembly of the flywheel and flywheel bolts to form a flywheel assembly. By using a robot to drive the first fixture to adjust the flywheel's position, the flywheel angle adjustment unit is eliminated. This eliminates the need for the robot to deliver the gripped flywheel to the angle adjustment unit for adjustment and then transport the angle-adjusted flywheel to the flywheel assembly station, simplifying the flywheel assembly process, improving assembly efficiency, and reducing production costs. Attached Figure Description

[0026] Figure 1 This is a structural schematic diagram of the flywheel assembly system provided in this embodiment of the utility model;

[0027] Figure 2 This is a schematic diagram of the detection and gripping device provided in this embodiment of the utility model;

[0028] Figure 3 This is a schematic diagram of the flywheel storage rack provided in this embodiment of the utility model;

[0029] Figure 4 This is a schematic diagram of the flywheel assembly structure provided in this embodiment of the utility model.

[0030] In the diagram: 1. Robot; 2. Detection and gripping device; 21. First gripper; 22. Second gripper; 23. Detection unit; 24. First adapter plate; 3. Flywheel storage rack; 31. Frame; 311. Limiting baffle; 32. Flywheel; 33. Support base plate; 4. Flywheel assembly assembly structure; 41. Support seat; 42. Support platform; 421. Support component; 43. Flywheel assembly; 44. Flywheel bolt. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] like Figure 1-4As shown, an embodiment of this utility model provides a flywheel assembly system, including a flywheel storage rack 3, a flywheel assembly structure 4, a detection and gripping device 2, and a robot 1. The flywheel storage rack 3 has multiple flywheel storage stations for storing flywheels 32. The flywheel assembly structure 4 is used to assemble flywheel bolts 44 onto the flywheel 32 at the flywheel assembly station to form a flywheel assembly 43.

[0036] The detection gripping device includes a first gripper 21 for gripping the flywheel 32 located at the flywheel storage station and a detection unit 23 for detecting the position and orientation of the flywheel 32 located at the flywheel storage station.

[0037] Robot 1 can drive the first gripper 21 to move to the flywheel storage station so that the first gripper 21 can grasp the flywheel 32 located at the flywheel storage station, and drive the first gripper 21 from the flywheel storage station to the flywheel assembly assembly station so that the first gripper 21 can place the flywheel 32 it has grasped at the flywheel assembly assembly station.

[0038] After the robot 1 drives the first clamp 21 to grab the flywheel 32 located at the flywheel storage station, the robot 1 controls the first clamp 21 to rotate according to the detection result of the detection unit 23 to adjust the position of the flywheel 32 held by the first clamp 21. Then, the robot 1 controls the first clamp 21 to place the flywheel 32 with the adjusted position on the flywheel assembly station so that the flywheel 32 and the flywheel bolt 44 can be assembled to form the flywheel assembly 43.

[0039] The first fixture 21 is rotated by robot 1 to achieve the position and posture adjustment of the flywheel. The flywheel angle adjustment unit is eliminated, that is, the process of robot 1 sending the gripped flywheel 32 to the flywheel angle adjustment unit for angle adjustment and then transporting the angle-adjusted flywheel 32 to the flywheel assembly station is eliminated. This simplifies the flywheel 32 assembly process, improves the flywheel 32 assembly efficiency, and reduces production costs.

[0040] Furthermore, the detection and gripping device 2 also includes a second gripper 22 for gripping the flywheel assembly 43 located at the flywheel assembly assembly station. The detection unit 23 can also be used to detect the position of the flywheel assembly 43 located at the flywheel assembly assembly station and the position of the workpiece to be assembled at the assembly station. The robot 1 can also drive the second gripper 22 to move to the flywheel assembly assembly station so that the second gripper 22 can grip the flywheel assembly 43 located at the flywheel assembly assembly station, and drive the second gripper 22 from the flywheel storage station to the assembly station so that the second gripper 22 can place the flywheel assembly 43 it grips at the assembly station, and so that the flywheel bolt 44 of the flywheel assembly 43 can be accurately inserted into the threaded hole on the workpiece to be assembled.

[0041] After assembling the flywheel 32 and flywheel bolt 44 to form the flywheel assembly 43, the robot 1 is controlled to drive the second clamp 22 to clamp the flywheel assembly 43 located at the flywheel assembly assembly station. The robot 1 is also controlled to drive the second clamp 22 to rotate according to the detection result of the detection unit 23 to adjust the position of the flywheel assembly 43 clamped by the second clamp 22. Then, the robot 1 is controlled to drive the second clamp 22 to send the flywheel assembly 43 with the adjusted position to the assembly station, so that the flywheel bolt 44 of the flywheel assembly 43 can be accurately inserted into the threaded hole on the workpiece to be assembled, so as to assemble the flywheel assembly 43 onto the workpiece to be assembled.

[0042] It should be noted that after assembling the flywheel assembly 43 with the workpiece to be assembled, robot 1 can return from the assembly station to the flywheel storage station to facilitate the assembly of the next flywheel 32, and so on.

[0043] Specifically, the detection unit 23 includes a vision camera, which can transmit images of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled to the robot 1. The vision camera performs preprocessing such as image correction, image segmentation, grayscale transformation, median filtering, and edge detection. Then, it performs stereo matching on the preprocessed image to obtain the three-dimensional coordinates of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled in the vision camera coordinate system. Then, it converts the three-dimensional coordinates of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled in the vision camera coordinate system into the three-dimensional coordinates of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled in the robot coordinate system. It can calculate the azimuth angle of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled relative to the robot 1 based on the three-dimensional coordinates in the robot coordinate system. It uses Cartesian position control mode for trajectory planning. The robot 1 moves to the vicinity of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled according to the planned trajectory to facilitate efficient grasping.

[0044] By estimating the attitude of flywheel 32, flywheel assembly 43, and the workpiece to be assembled, the attitude information of flywheel 32, flywheel assembly 43, and the workpiece to be assembled can be obtained. The attitude information includes Euler angles θx, θy, and θz of the coordinate system of flywheel 32, flywheel assembly 43, and the workpiece to be assembled around the x, y, and z axes of the robot coordinate system. Thus, the rotation angles of the robot 1 end effector around the x-axis, y-axis, and z-axis of the robot coordinate system can be obtained. In the robot coordinate system, the robot 1 can control the rotational movement of its end effector based on the rotation angles of its end effector around the x-axis, y-axis, and z-axis, thereby adjusting the angles of flywheel 32, flywheel assembly 43, and the workpiece to be assembled.

[0045] A vision camera can be used to visually locate the flywheel 32, flywheel assembly 43, and the workpiece to be assembled, and transmit the detection signals to robot 1 to provide visual guidance for robot 1 to assemble the flywheel 32 and flywheel assembly 43. It should be noted that converting the three-dimensional coordinates of the flywheel 32, flywheel assembly 43, and the workpiece to be assembled from the vision camera coordinate system to the robot coordinate system is existing technology. The methods for trajectory planning and attitude estimation using Cartesian position control are also existing technologies and will not be discussed further here.

[0046] Furthermore, the detection unit 23 is equipped with a light source, which is used to illuminate the flywheel 32 in the flywheel storage station, the flywheel assembly 43 in the flywheel assembly station, and the workpiece to be assembled in the assembly station, thereby improving the accuracy of the vision camera positioning.

[0047] Furthermore, the detection gripping device 2 also includes a mounting bracket that is detachably connected to the robot 1, and the first gripper 21, the second gripper 22 and the detection unit 23 are all mounted on the mounting bracket.

[0048] When a change in the type of workpiece to be assembled is required according to production needs, the mounting bracket is removed from robot 1, and the first fixture 21, the second fixture 22, and the detection unit 23 are replaced as a whole. The mounting bracket of the first fixture 21, the second fixture 22, and the detection unit 23 to be changed is then installed on robot 1. After that, the above operations are performed to complete the assembly of workpieces of different models. By changing different detection and gripping devices 2, the assembly requirements of modified parts can be met.

[0049] Furthermore, robot 1 is connected to a second adapter plate, and the mounting bracket is detachably connected to the second adapter plate. When a change of type is required, the mounting bracket is removed from the second adapter plate, and then the mounting bracket of the type to be changed is installed on the second adapter plate.

[0050] For example, such as Figure 2 As shown, the mounting bracket is connected to a first adapter plate 24, and the second adapter plate is provided with a first pneumatic interface. The first adapter plate 24 is provided with a second pneumatic interface corresponding to the first pneumatic interface of the second adapter plate. The first pneumatic interface of the second adapter plate can be selectively connected to or disconnected from the second pneumatic interface of the first adapter plate 24. By disconnecting the first adapter plate 24 from the detection clamping device 2, a new detection clamping device 2 can be replaced to meet the assembly and use of new parts. It should be noted that the specific connection between the first adapter plate 24 and the second adapter plate is prior art and will not be described in detail here.

[0051] Furthermore, the flywheel storage rack 3 includes a support frame and a support base plate 33. The support frame is provided with a plurality of limiting baffles 311 arranged at intervals along the first horizontal direction, and a limiting support groove is formed between two adjacent limiting baffles 311. The axial sides of the flywheel 32 can be clamped between the opposite side walls of the limiting support groove along the first horizontal direction. The support frame is located above the support base plate 33 and fixed to the support base plate 33. The support base plate 33 has a supporting bottom surface for supporting the flywheel 32.

[0052] The flywheel 32 is placed in the limiting support groove. The two sides of the flywheel 32 are sandwiched between two adjacent limiting baffles 311. The supporting base plate 33 can support the flywheel 32 and ensure that the adjacent flywheels 32 will not interfere with each other and cause damage such as collision and wear.

[0053] Furthermore, such as Figure 3 As shown, the support frame includes two frame bodies 31 that are spaced apart and fixed along the second horizontal direction. Each frame body 31 is provided with a plurality of limiting baffles 311 that are spaced apart along the first horizontal direction. The limiting support grooves on the two frame bodies 31 are arranged one-to-one along the second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular. The flywheel 32 can be limited in a limiting support groove of one frame body 31 along the first horizontal direction on one radial side of the second horizontal direction, and can be limited in a corresponding limiting support groove on the other frame body 31 along the first horizontal direction on the other side.

[0054] The flywheel 32 is clamped in the limiting support groove of each frame 31 on both radial sides in the second horizontal direction, which can improve the stability of the flywheel 32. Multiple flywheels 32 maintain the same posture and do not interfere with each other, which is neat and beautiful and is conducive to the visual positioning of the detection unit 23.

[0055] Furthermore, each frame 31 has a support surface facing another frame 31 along the second horizontal direction, and the distance between the two support surfaces along the second horizontal direction is L, which gradually increases from bottom to top; the flywheel 32 can be clamped between the two support surfaces along the second horizontal direction.

[0056] The flywheel 32, located in the flywheel storage station, is situated in the space between two frames 21. The outer peripheral wall of the flywheel 32 can abut against the support surfaces of the two frames 31, and the frames 31 provide effective support for the flywheel 32, thereby improving the stability of the flywheel 32.

[0057] like Figure 3 As shown, the limiting baffle 311 can limit the flywheel 32 in the first horizontal direction, the supporting surfaces of the two frames 31 can limit the flywheel 32 in the second horizontal direction, and the supporting ground of the supporting base plate 33 can support the flywheel 32, so that the flywheel 32 located in the flywheel storage station has the freedom to move upward in the vertical direction, further improving the storage stability of the flywheel 32.

[0058] Furthermore, multiple flywheel storage racks 3 are provided, and these multiple flywheel storage racks 3 are distributed sequentially along the first horizontal direction. Providing multiple flywheel storage racks 3 can provide more flywheel storage positions for the flywheel 32, ensuring an adequate supply of flywheels 32.

[0059] In other embodiments, the multiple flywheel storage racks 3 may also be distributed sequentially along the second horizontal direction, or sequentially along the first horizontal direction and the second horizontal direction, to provide sufficient flywheel storage stations.

[0060] For example, such as Figure 3 As shown, two flywheel storage racks 3 are provided, and the two flywheel storage racks 3 are distributed sequentially along the second horizontal direction. The two support base plates 33 are connected, and each support base plate 33 has a support leg at its bottom. The support leg can not only provide support for the support base plate 33, but also raise the height of the flywheel 32, making it easier for the first clamp 21 to grab the flywheel 32 located at the flywheel storage station.

[0061] Furthermore, such as Figure 4 As shown, the flywheel assembly structure 4 also includes a support platform 42 and a flywheel positioning support unit installed on the support platform 42. The flywheel positioning support unit includes multiple support members 421 fixed to the support platform 42. The upper surface of the support member 421 is used to support the flywheel 32. The multiple support members 421 are arranged at intervals to form a clearance space to avoid the flywheel bolts 44 passing through the flywheel 32.

[0062] Multiple support members 421 can provide support for the flywheel 32 located at the flywheel assembly station and raise the flywheel 32 to a certain height. The multiple support members 421 form a clearance space. When the flywheel 32 is placed on the flywheel assembly station, the flywheel assembly assembly structure 4 passes one end of the flywheel bolt 44 through the through hole on the flywheel 32 to form a flywheel assembly 43. One end of the flywheel bolt 44 enters the clearance space, which can prevent the flywheel bolt 44 from interfering with the support platform 42 or support member 421 during the process of passing through the flywheel 32.

[0063] Furthermore, the flywheel positioning support unit also includes a positioning plate, which is fixed on the support platform 42, and the upper end of the positioning plate can be inserted into the flywheel 32 in the vertical direction.

[0064] By setting a positioning plate on the support platform 42, the first clamp 21 places the gripped flywheel 32 on the positioning plate, which can accurately position the flywheel 32 so that the flywheel bolt 44 can be assembled onto the flywheel 32.

[0065] Furthermore, the flywheel assembly structure 4 also includes a support base 41, a support platform 42 rotatably connected to the support base 41, and multiple flywheel positioning support units are provided, with the multiple flywheel positioning support units arranged at intervals along the circumference of the support platform 42.

[0066] Multiple flywheel positioning support units can provide more flywheel assembly stations and can hold multiple flywheels 32. While an assembled flywheel assembly 43 is gripped to be assembled onto the workpiece to be assembled, the support platform 42 rotates to the next flywheel assembly station. The flywheel assembly structure 4 can assemble the flywheel bolts 44 onto other flywheels 32 at the flywheel assembly station, ensuring the assembly continuity of the flywheel assembly 43. That is, it can realize the simultaneous assembly of the flywheel assembly 43 and the workpiece to be assembled, as well as the assembly of the flywheels 32 and the flywheel bolts 44, thereby improving assembly efficiency.

[0067] The flywheel assembly process provided in this embodiment is as follows:

[0068] Multiple flywheel storage stations on the flywheel storage rack 3 are used to store flywheels 32 to ensure a sufficient supply of flywheels 32. The robot 1 is controlled to drive the mounting bracket to move to the vicinity of the flywheel storage rack 3. The detection unit 23 detects the position of the flywheels 32 located at the flywheel storage station and transmits the detection result of the detection unit 23 to the robot 1. The robot 1 is controlled to drive the mounting bracket to move according to the detection result so that the first clamp 21 can grab the flywheels 32 on the flywheel storage station and drive the first clamp 21 to rotate to adjust the position of the flywheels 32 grabbed by the first clamp 21 so that the flywheels 32 can be accurately placed at the flywheel assembly station later.

[0069] Then, the robot 1 is controlled to place the flywheel 32 with the adjusted angle at the flywheel assembly station, so that it is supported by the support 421, and the upper end of the positioning plate is inserted into the flywheel 32 to position the flywheel 32. The flywheel bolt 44 is assembled onto the flywheel 32 through the flywheel assembly assembly structure 4 to form the flywheel assembly 43.

[0070] Then, the detection unit 23 detects the position of the flywheel assembly 43 located at the flywheel assembly assembly station, and transmits the detection result of the detection unit 23 to the robot 1. The robot 1 controls the robot to drive the mounting bracket to move according to the detection result so that the second clamp 22 can grasp the flywheel assembly 43 on the flywheel assembly assembly station, and drives the second clamp 22 to rotate to adjust the position of the flywheel assembly 43 grasped by the second clamp 22 so that the flywheel assembly 43 can be aligned with the workpiece to be assembled later.

[0071] Then, the robot 1 is controlled to move the flywheel assembly 43, with the angle adjusted, to the assembly station so that the flywheel assembly 43 can be installed on the workpiece to be assembled. After the workpiece to be assembled is completed, the robot 1 returns from the assembly station to the flywheel storage station, and the robot 1 continues to repeat the above actions to assemble the next flywheel 32.

[0072] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A flywheel assembly system, characterized by, The application relates to a flywheel storage rack (3) having a plurality of flywheel storage stations for storing flywheels (32), a flywheel assembly assembly structure (4) for assembling flywheel bolts (44) on the flywheels (32) to form flywheel assemblies (43) at flywheel assembly assembly stations, a detection and clamping device (2) comprising a first clamp (21) for clamping the flywheels (32) at the flywheel storage stations and a detection unit (23) for detecting the positions of the flywheels (32) at the flywheel storage stations, and a robot (1) capable of driving the first clamp (21) to move to the flywheel storage stations so that the first clamp (21) can clamp the flywheels (32) at the flywheel storage stations and drive the first clamp (21) to move from the flywheel storage stations to the flywheel assembly assembly stations so that the first clamp (21) can place the clamped flywheels (32) at the flywheel assembly assembly stations. The detection and clamping device (2) further comprises a second clamp (22) for clamping the flywheel assemblies (43) at the flywheel assembly assembly stations, and the detection unit (23) can further be used for detecting the positions of the flywheel assemblies (43) at the flywheel assembly assembly stations and the positions of workpieces to be assembled at the assembly stations. The robot (1) can further drive the second clamp (22) to move to the flywheel assembly assembly stations so that the second clamp (22) can clamp the flywheel assemblies (43) at the flywheel assembly assembly stations and drive the second clamp (22) to move from the flywheel storage stations to the assembly stations so that the second clamp (22) can place the clamped flywheel assemblies (43) at the assembly stations, and the flywheel bolts (44) of the flywheel assemblies (43) can accurately pass through threaded holes in the workpieces to be assembled. The flywheel storage rack (3) comprises a support frame provided with a plurality of limiting baffles (311) arranged at intervals along a first horizontal direction, and a limiting support groove is formed between two adjacent limiting baffles (311); the axial sides of the flywheel (32) can be clamped between opposite side walls of the limiting support groove along the first horizontal direction. A support bottom plate (33) is arranged above and fixed to the support frame, and the support bottom plate (33) has a support bottom surface for supporting the flywheel (32).

2. The flywheel assembly system of claim 1, wherein, The support frame comprises two frame bodies (31) arranged at intervals along a second horizontal direction and fixed, and each frame body (31) is provided with a plurality of limiting baffles (311) arranged at intervals along the first horizontal direction; the limiting support grooves on the two frame bodies (31) are arranged one by one along the second horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular. ​ 3. The flywheel assembly system of claim 1, wherein, ​ ​ ​ 4. The flywheel assembly system of claim 3, wherein, ​ The flywheel (32) can be positioned in one of the frame bodies (31) in a first horizontal direction on one side in a radial direction of a second horizontal direction, and positioned in the corresponding limiting support groove on the other side in the first horizontal direction on the other frame body (31).

5. The flywheel assembly system of claim 4, wherein, Each of the frame bodies (31) has a support surface facing the other frame body (31) in the second horizontal direction, and the spacing between the two support surfaces in the second horizontal direction is L, which gradually increases in the direction from bottom to top; the flywheel (32) can be clamped between the two support surfaces in the second horizontal direction.

6. The flywheel assembly system of claim 2, wherein, The detection clamping device (2) further comprises a mounting bracket detachably connected to the robot (1), and the first clamp (21), the second clamp (22) and the detection unit (23) are mounted on the mounting bracket.

7. The flywheel assembly system of claim 6, wherein, The robot (1) is connected with a second adapter disc, and the mounting bracket is detachably connected to the second adapter disc.

8. The flywheel assembly system of any one of claims 1 to 7, wherein, The flywheel assembly assembly structure (4) further comprises a support table (42) and a flywheel positioning support unit mounted on the support table (42), the flywheel positioning support unit comprises a plurality of support pieces (421) fixed on the support table (42), the upper surface of the support piece (421) is used for supporting the flywheel (32), and a plurality of the support pieces (421) are arranged at intervals to form an avoiding space for avoiding the flywheel bolt (44) penetrating the flywheel (32).

9. The flywheel assembly system of claim 8, wherein, The flywheel positioning support unit further comprises a positioning disc fixed on the support table (42), and the upper end of the positioning disc can be inserted into the flywheel (32) in the vertical direction.

10. The flywheel assembly system of claim 8, wherein, The flywheel assembly assembly structure (4) further comprises a support seat (41), and the support table (42) is rotationally connected to the support seat (41), and the flywheel positioning support unit is provided in plurality, and the flywheel positioning support units are arranged at intervals along the circumference of the support table (42).

Images