CN111674979B - Flexible automatic winding robot for composite bushing capacitive screen - Google Patents
Flexible automatic winding robot for composite bushing capacitive screen Download PDFInfo
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- CN111674979B CN111674979B CN202010507582.8A CN202010507582A CN111674979B CN 111674979 B CN111674979 B CN 111674979B CN 202010507582 A CN202010507582 A CN 202010507582A CN 111674979 B CN111674979 B CN 111674979B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H18/00—Winding webs
- B65H18/08—Web-winding mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H19/00—Changing the web roll
- B65H19/22—Changing the web roll in winding mechanisms or in connection with winding operations
- B65H19/26—Cutting-off the web running to the wound web roll
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
- B65H23/032—Controlling transverse register of web
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/10—Handled articles or webs
- B65H2701/19—Specific article or web
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- Fixed Capacitors And Capacitor Manufacturing Machines (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible automatic winding robot for a composite sleeve capacitive screen, which comprises a feeding mechanical arm, a connecting plate, a transverse conveying mechanical arm, guide rails, support plates, a material tray and support plate fixing rods, wherein the number of the guide rails is two, the two guide rails are respectively fixed on the inner sides of the two support plates, the two support plates are connected through the plurality of support plate fixing rods, and the material tray is connected with the support plates through the support plate fixing rods. The flexible automatic winding robot for the composite bushing capacitive screen has the advantages that the process quality is high, the winding work of the composite bushing core rod is influenced by the traditional manual winding mode, the process quality is uneven due to different technical levels of different personnel, the flexible automatic winding robot for the composite bushing capacitive screen acquires bushing data in real time in the winding process, the winding execution data is subjected to closed-loop control of mapping and post-processing, and the process quality and the winding stability of the semi-conductive belt winding are greatly improved. The winding device is suitable for winding the composite sleeve capacitive screen.
Description
Technical Field
The invention relates to the technical field of composite bushing capacitive screens, in particular to a flexible automatic winding robot for a composite bushing capacitive screen.
Background
At present, when a composite bushing capacitor core is produced in a winding mode, winding equipment mainly achieves winding procedures of composite bushings of different specifications. The winding object is a composite sleeve core rod, and the winding material is gum-dipped composite glass fiber and a semi-conductive belt. The winding of the impregnated composite glass fiber is machine winding at present, and the winding of the semi-conducting belt of the capacitive screen is finished by design and manual operation of a craftsman according to different specifications of a winding sleeve.
In the mass production of the composite bushing capacitor core, the existing manual winding process often has some problems: for the casing pipe with larger specification, the winding time can last for several days, the labor intensity of manual operation is higher, fatigue is easy to cause, the problems of low accuracy and low consistency exist in the manual winding operation, meanwhile, the movement space of the winding equipment and the manual operation space are crossed, larger potential safety hazard exists, and substances harmful to human, such as dust, fiber powder and the like are easy to generate. Therefore, it is desirable to develop a new winding method for a composite bushing capacitor core to solve the above problems. Therefore, the invention provides a flexible automatic winding robot for the composite bushing capacitive screen to replace manual winding work for the composite bushing capacitive core, and effectively solves the problems in the existing manual winding process.
Disclosure of Invention
The invention aims to provide a flexible automatic winding robot for a composite bushing capacitive screen, which achieves the purposes of realizing the automation of a winding process, improving the working environment of operators and further improving the reliability and the productivity of products.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a flexible automatic winding robot of compound sleeve pipe electric capacity screen, includes pay-off arm, connecting plate, horizontal transport arm, guide rail, mounting panel, charging tray, mounting panel dead lever, guide rail quantity is two, two the guide rail is fixed respectively in two mounting panels inboardly, two connect through a plurality of mounting panel dead lever between the mounting panel, the charging tray passes through the mounting panel dead lever and is connected with the mounting panel.
Preferably, the feeding mechanical arm comprises a feeding arm probe rod, a feeding arm band hoop, a cutting cover, a connecting lever, a cylinder II, an octagonal blade, a cutting motor, a cylinder I and a cylinder fixing block I, the feeding arm probe rod is connected with the feeding arm band hoop and the cutting cover, the cylinder I is connected with the feeding arm probe rod through the cylinder fixing block I, the octagonal blade is arranged on the cutting motor, one end of the cutting motor is connected with one end of the cylinder, one end of the cylinder II is connected with the connecting lever, and the connecting lever is connected with the cutting cover through a connecting plate fixing rod.
Preferably, the connecting plate comprises a connecting plate fixing rod and a cylinder fixing plate.
Preferably, the connecting plate is connected with the feeding mechanical arm through a crank arm and a cylinder II.
Preferably, the transverse conveying mechanical arm comprises an upper tensioning wheel, an upper tensioning wheel connecting frame, a slider connecting plate, a transverse guide rail, a guide wheel, a pulley fixing rod, a third cylinder, a lower tensioning wheel, a longitudinal slider, a transverse conveying mechanical arm band hoop, a guide wheel connecting frame and a transverse slider, the upper tensioning wheel is connected with the connecting plate through the upper tensioning wheel connecting frame, the lower tensioning wheel is connected with the third cylinder through the pulley fixing rod, the transverse conveying mechanical arm band hoop is installed on the transverse guide rail, the guide wheel is fixed with the guide wheel connecting frame through the pulley fixing rod, the guide wheel connecting frame is fixed with the transverse guide rail, and the slider connecting plate is connected with the transverse guide rail through the transverse slider.
Preferably, the other end of the cylinder III is connected with a connecting plate, the longitudinal sliding block is fixedly connected with the connecting plate through a sliding block connecting plate, and the transverse guide rail is connected with the connecting plate through a transverse sliding block.
Preferably, the charging tray includes charging tray main part, semi-conductive area and one-way bearing, the semi-conductive area twines in the charging tray main part, one-way bearing is connected with the charging tray main part, one-way bearing passes through mounting panel dead lever and the mounting panel fixed connection of both sides.
Preferably, the one-way bearing is fixedly connected with the support plates on two sides through support plate fixing rods.
The invention provides a flexible automatic winding robot for a composite bushing capacitive screen. The method has the following beneficial effects:
(1) the safety is high: the flexible automatic winding robot for the composite bushing capacitive screen can completely replace the existing manual winding work for the composite bushing mandril, improves the working environment of operators, and avoids the potential safety hazard caused by the cross of winding equipment and manual operation space in the manual winding work;
(2) the process quality is high: the winding work of the composite bushing mandrel is influenced by the traditional manual winding mode, the process quality of the composite bushing mandrel is uneven due to different technical levels of different personnel, the flexible automatic winding robot of the composite bushing capacitive screen carries out real-time data acquisition of the bushing in the winding process, closed-loop control of surveying and mapping and post-processing is carried out on winding execution data, and the winding process quality and the winding stability of the semi-conductive belt are greatly improved;
(3) the production efficiency is high: compared with the traditional manual winding, the flexible automatic winding robot for the composite bushing capacitive screen has the advantages that the winding speed and the production efficiency are greatly improved.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a diagram of the transfer robot in an extended position in accordance with the present invention;
FIG. 4 is a state diagram of the initial position of each robot arm according to the present invention;
FIG. 5 is a view showing a state of the feeding robot arm in close contact with the workpiece;
FIG. 6 is an enlarged view of A in FIG. 5;
FIG. 7 is a lower view of FIG. 6;
FIG. 8 is an enlarged view of B of FIG. 5;
FIG. 9 is a side view of FIG. 8;
FIG. 10 is a top view of FIG. 8;
FIG. 11 is a schematic view of the tray structure of the present invention.
In the figure: 1 feeding mechanical arm, 11 feeding arm probe rod, 12 feeding arm band hoop, 13 cutting cover, 14 crank arm, 15 cylinder II, 16 octagonal blade, 17 cutting motor, 18 cylinder I, 19 cylinder fixing block I, 2 connecting plate, 21 connecting plate fixing rod, 22 cylinder II fixing plate, 3 transverse conveying mechanical arm, 31 upper tensioning wheel, 32 upper tensioning wheel connecting frame, 33 sliding block connecting plate, 34 transverse guide rail, 35 guide wheel, 36 pulley fixing rod, 37 cylinder III, 38 lower tensioning wheel, 39 longitudinal sliding block, 310 transverse conveying mechanical arm band hoop, 311 guide wheel connecting frame, 312 transverse sliding block, 4 guide rail, 5 support plate, 6 material disc, 61 material disc main body, 62 semi-conductive band, 63 one-way bearing and 7 support plate fixing rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1 to 11, the present invention provides a technical solution: the utility model provides a flexible automatic winding robot of compound sleeve pipe electric capacity screen, includes feeding arm 1, connecting plate 2, transverse transport arm 3, guide rail 4, mounting panel 5, charging tray 6, mounting panel dead lever 7, and guide rail 4 quantity is two, and two guide rail 4 are fixed respectively in two mounting panel 5 inboards, connects through a plurality of mounting panel dead lever 7 between two mounting panels 5, and charging tray 6 is connected with mounting panel 5 through mounting panel dead lever 7.
Feeding mechanical arm 1 includes feeding arm probe 11, feeding arm area hoop 12, cutting cover 13, connecting lever 14, two cylinders 15, eight corner blade 16, cutting motor 17, one cylinder 18 and one cylinder fixed block 19, feeding arm probe 11 is connected with feeding arm area hoop 12 and cutting cover 13, one cylinder 18 is connected with feeding arm probe 11 through one cylinder fixed block 19, eight corner blade 16 sets up on cutting motor 17, cutting motor 17 one end is connected with one 18 of cylinder one, two 15 one ends of cylinder are connected with connecting lever 14, connecting lever 14 is connected with cutting cover 13 through connecting plate dead lever 21.
The connecting plate 2 comprises a connecting plate fixing rod 21 and a second cylinder fixing plate 22, and the connecting plate 2 is connected with the feeding mechanical arm 1 through the crank arm 14 and the second cylinder 15.
The transverse conveying mechanical arm 3 comprises an upper tension wheel 31, an upper tension wheel connecting frame 32, a sliding block connecting plate 33, a transverse guide rail 34, a guide wheel 35, a pulley fixing rod 36, a cylinder III 37, a lower tension wheel 38, a longitudinal sliding block 39, a transverse conveying mechanical arm belt hoop 310, a guide wheel connecting frame 311 and a transverse sliding block 312, the upper tensioning wheel 31 is connected with the connecting plate 2 through an upper tensioning wheel connecting frame 32, the lower tensioning wheel 38 is connected with a third cylinder 37 through a pulley fixing rod 36, the other end of the third cylinder 37 is connected with the connecting plate 2, a longitudinal sliding block 39 is fixedly connected with the connecting plate 2 through a sliding block connecting plate 33, a transverse guide rail 34 is connected with the connecting plate 2 through a transverse sliding block 312, a transverse conveying mechanical arm belt hoop 310 is installed on the transverse guide rail 34, a guide wheel 35 is fixed with a guide wheel connecting frame 311 through the pulley fixing rod 36, the guide wheel connecting frame 311 is fixed with the transverse guide rail 34, and the sliding block connecting plate 33 is connected with the transverse guide rail 34 through the transverse sliding block 312.
The charging tray 6 comprises a charging tray main body 61, a semi-conductive belt 62 and one-way bearings 63, the semi-conductive belt 62 is wound on the charging tray main body 61, the one-way bearings 63 are connected with the charging tray main body 61, and the one-way bearings 63 are fixedly connected with the bracket plates 5 on two sides through the bracket plate fixing rods 7.
The single winding working process of the flexible automatic winding robot for the sleeve capacitor screen comprises six steps of feeding, lapping, winding, belt cutting, stripping, returning to zero and the like, when the flexible automatic winding robot is used, the robot reaches the position near a winding starting position in advance, at the moment, a conveying mechanical arm is in an extension state, an upper tension wheel and a lower tension wheel tighten a semi-conductive belt and convey the semi-conductive belt to the conveying mechanical arm through a transverse conveying mechanical arm, the conveying mechanical arm is in contact with a winding core rod through the driving of a motor, at the moment, the semi-conductive belt is in a tight state in a lap joint and wound for two circles, the conveying mechanical arm leaves the winding core rod, meanwhile, the whole robot starts to run towards the axial direction of the winding core rod according to a preset speed, the semi-conductive belt is in a half covering mode, after the single winding of the core rod is completed, a cutting motor cuts the semi-conductive belt through a blade under the driving of an air cylinder, the transverse conveying mechanical arm moves to the initial position, at the moment, all the mechanisms finish automatic zero returning, the robot runs to the initial winding point, and the single winding action is finished.
In conclusion, the invention has high safety: the flexible automatic winding robot for the composite bushing capacitive screen can completely replace the existing manual winding work for the composite bushing mandril, improves the working environment of operators, and avoids the potential safety hazard caused by the cross of winding equipment and manual operation space in the manual winding work;
the invention has high process quality: the winding work of the composite bushing mandrel is influenced by the traditional manual winding mode, the process quality of the composite bushing mandrel is uneven due to different technical levels of different personnel, the flexible automatic winding robot of the composite bushing capacitive screen carries out real-time data acquisition of the bushing in the winding process, closed-loop control of surveying and mapping and post-processing is carried out on winding execution data, and the winding process quality and the winding stability of the semi-conductive belt are greatly improved;
the invention has high production efficiency: compared with the traditional manual winding, the flexible automatic winding robot for the composite bushing capacitive screen has the advantages that the winding speed and the production efficiency are greatly improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. The utility model provides a flexible automatic winding robot of compound sleeve pipe electric capacity screen, includes pay-off arm (1), connecting plate (2), cross feed arm (3), guide rail (4), mounting panel (5), charging tray (6), mounting panel dead lever (7), its characterized in that: the material tray is characterized in that the number of the guide rails (4) is two, the two guide rails (4) are respectively fixed on the inner sides of two support plates (5), the two support plates (5) are connected through a plurality of support plate fixing rods (7), and the material tray (6) is connected with the support plates (5) through the support plate fixing rods (7);
the feeding mechanical arm (1) comprises a feeding arm probe rod (11), a feeding arm belt hoop (12), a cutting cover (13), a crank arm (14), a cylinder II (15), an octagonal blade (16), a cutting motor (17), a cylinder I (18) and a cylinder fixing block I (19), the feeding arm probe rod (11) is connected with the feeding arm belt hoop (12) and the cutting cover (13), the cylinder I (18) is connected with the feeding arm probe rod (11) through the cylinder fixing block I (19), the octagonal blade (16) is arranged on the cutting motor (17), one end of the cutting motor (17) is connected with one end of the cylinder I (18), one end of the cylinder II (15) is connected with the crank arm (14), and the crank arm (14) is connected with the cutting cover (13) through a connecting plate fixing rod (21);
the connecting plate (2) comprises a connecting plate fixing rod (21) and a second cylinder fixing plate (22);
the connecting plate (2) is connected with the feeding mechanical arm (1) through a crank arm (14) and a second cylinder (15);
the transverse conveying mechanical arm (3) comprises an upper tensioning wheel (31), an upper tensioning wheel connecting frame (32), a sliding block connecting plate (33), a transverse guide rail (34), a guide wheel (35), a pulley fixing rod (36), a cylinder III (37), a lower tensioning wheel (38), a longitudinal sliding block (39), a transverse conveying mechanical arm belt hoop (310), a guide wheel connecting frame (311) and a transverse sliding block (312), wherein the upper tensioning wheel (31) is connected with the connecting plate (2) through the upper tensioning wheel connecting frame (32), the lower tensioning wheel (38) is connected with the cylinder III (37) through the pulley fixing rod (36), the transverse conveying mechanical arm belt hoop (310) is installed on the transverse guide rail (34), the guide wheel (35) is fixed with the guide wheel connecting frame (311) through the pulley fixing rod (36), and the guide wheel connecting frame (311) is fixed with the transverse guide rail (34), the slider connecting plate (33) is connected with the transverse guide rail (34) through a transverse slider (312).
2. The flexible automatic winding robot for the composite bushing capacitive screen according to claim 1, characterized in that: the other end of the cylinder III (37) is connected with the connecting plate (2), the longitudinal sliding block (39) is fixedly connected with the connecting plate (2) through a sliding block connecting plate (33), and the transverse guide rail (34) is connected with the connecting plate (2) through a transverse sliding block (312).
3. The flexible automatic winding robot for the composite bushing capacitive screen according to claim 1, characterized in that: charging tray (6) are including charging tray main part (61), semi-conductive area (62) and one-way bearing (63), semi-conductive area (62) winding is on charging tray main part (61), one-way bearing (63) are connected with charging tray main part (61), one-way bearing (63) pass through mounting panel dead lever (7) and mounting panel (5) fixed connection of both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507582.8A CN111674979B (en) | 2020-06-05 | 2020-06-05 | Flexible automatic winding robot for composite bushing capacitive screen |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010507582.8A CN111674979B (en) | 2020-06-05 | 2020-06-05 | Flexible automatic winding robot for composite bushing capacitive screen |
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| Publication Number | Publication Date |
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| CN111674979A CN111674979A (en) | 2020-09-18 |
| CN111674979B true CN111674979B (en) | 2022-04-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010507582.8A Active CN111674979B (en) | 2020-06-05 | 2020-06-05 | Flexible automatic winding robot for composite bushing capacitive screen |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114436016B (en) * | 2020-11-02 | 2024-04-19 | 国网电力科学研究院武汉南瑞有限责任公司 | Soft shielding layer belt conveyer for automatic winding |
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|---|---|---|---|---|
| US6027066A (en) * | 1997-02-06 | 2000-02-22 | Street; Gayle B. | Carpet strip rolling machine |
| CN102328447A (en) * | 2011-09-21 | 2012-01-25 | 天津赛象科技股份有限公司 | Zero-degree belt winding device |
| CN205020678U (en) * | 2015-08-21 | 2016-02-10 | 湖南大捷智能装备有限公司 | Adaptation punching press line moves cantilever type robot that carries material |
| CN109440441A (en) * | 2018-10-31 | 2019-03-08 | 马鞍山市永运家纺有限公司 | One kind is for chemical fiber plus material production auxiliary wind |
| KR20190036908A (en) * | 2017-09-28 | 2019-04-05 | 장철수 | Carrier handle machine |
| CN210619783U (en) * | 2019-09-29 | 2020-05-26 | 东莞市维运电子五金科技有限公司 | Feeding platform |
-
2020
- 2020-06-05 CN CN202010507582.8A patent/CN111674979B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6027066A (en) * | 1997-02-06 | 2000-02-22 | Street; Gayle B. | Carpet strip rolling machine |
| CN102328447A (en) * | 2011-09-21 | 2012-01-25 | 天津赛象科技股份有限公司 | Zero-degree belt winding device |
| CN205020678U (en) * | 2015-08-21 | 2016-02-10 | 湖南大捷智能装备有限公司 | Adaptation punching press line moves cantilever type robot that carries material |
| KR20190036908A (en) * | 2017-09-28 | 2019-04-05 | 장철수 | Carrier handle machine |
| CN109440441A (en) * | 2018-10-31 | 2019-03-08 | 马鞍山市永运家纺有限公司 | One kind is for chemical fiber plus material production auxiliary wind |
| CN210619783U (en) * | 2019-09-29 | 2020-05-26 | 东莞市维运电子五金科技有限公司 | Feeding platform |
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| CN111674979A (en) | 2020-09-18 |
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Effective date of registration: 20211026 Address after: No. 143, Lo Yu Road, Hongshan District, Wuhan, Hubei Applicant after: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute Applicant after: STATE GRID ELECTRIC POWER RESEARCH INSTITUTE Co.,Ltd. Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 143 Applicant before: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute |
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