CN113674986A - Annular sectional production line for wind power coil - Google Patents
Annular sectional production line for wind power coil Download PDFInfo
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- CN113674986A CN113674986A CN202110759505.6A CN202110759505A CN113674986A CN 113674986 A CN113674986 A CN 113674986A CN 202110759505 A CN202110759505 A CN 202110759505A CN 113674986 A CN113674986 A CN 113674986A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/06—Coil winding
- H01F41/09—Winding machines having two or more work holders or formers
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- Manufacture Of Motors, Generators (AREA)
Abstract
The invention discloses an annular sectional production line for a wind power coil, which comprises a plurality of working sections, wherein each working section is provided with a plurality of annularly arranged stations, mechanical arms are arranged in the working sections, the mechanical arms clamp the wind power coil to be transferred between the adjacent working sections, the mechanical arms clamp the wind power coil to be transferred between the stations in the same working section, each station is a processing station in the production flow of the wind power coil, and corresponding processing equipment is arranged on the processing station.
Description
Technical Field
The invention relates to the technical field of wind driven generator component production, in particular to an annular sectional production line for a wind power coil.
Background
The wind power coil is a wind driven generator coil, which is one of the core components of a wind driven generator. The raw material of the wind power coil is an electromagnetic wire, and the production flow of the wind power coil is as follows: electromagnetic wire winding forming, expanding, lead head shaping, insulating wrapping, straight edge shaping, finished product inspection and boxing.
The electromagnetic wire is composed of a copper wire and an insulating material wrapped outside the copper wire. In order to prevent the damage of the expansion process to the electromagnetic wire insulating material, a manual operation position is required to be provided for protecting the coil wrapping white cloth belt before the expansion process. After the expansion and the lead head shaping are completed, the white cloth belt is out of action, and a manual operation position is required to be provided for detaching the white cloth belt. When the insulating material and the white cloth tape are bound, a straight line part and a bent part of the coil are involved, the straight line part is generally directly processed by a tape wrapping machine, and the bent part needs to be processed by workers at an operation table. Meanwhile, manual operation of workers is required for removing the white cloth tapes.
In the prior art, a wind power coil production line is in a linear layout, most of the wind power coil production line is transported by a manual cart from a previous process to a next process, and a small part of the wind power coil production line is transported by a transmission line. And the number of the same stations in the same process is large, so that the occupied area of the whole production line is large.
Disclosure of Invention
The invention aims to provide an annular sectional production line for a wind power coil, which utilizes the existing equipment to perform system integration on the existing production equipment according to the process flow, improves the automation degree of coil production, improves the efficiency and reduces the occupied area.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the utility model provides a wind power coil annular sectional type production line, includes a plurality of workshop sections, and every workshop section all is equipped with the station that a plurality of rings were arranged, is equipped with the arm in the workshop section, and arm centre gripping wind power coil transports between adjacent workshop section, and arm centre gripping wind power coil transports between the station of same workshop section, each station is the processing station in the wind power coil production flow, is equipped with corresponding processing equipment on the processing station.
As a preferred technical scheme, the workshop section is provided with two layers of stations which are annularly arranged, one layer is arranged on the ground, the other layer is arranged on the ground through a supporting frame, and stairs or elevators are arranged on the ground to reach the other layer.
As a preferred technical scheme, a mechanical arm is arranged in the circulator ring of each section; a buffer platform or a conveying belt is arranged between adjacent working sections; the mechanical arm of the previous working section places the wind power coil on a cache table or a conveying belt; and the mechanical arm of the next working section grabs the wind power coil from the buffer table or the conveying belt to enter the next working section.
As a preferred technical scheme, the stations comprise a feeding station, a white cloth belt wrapping station, an expansion station, a thread end shaping station, a white cloth belt detaching station, a manual wrapping insulating station, a machine wrapping station, a straight edge shaping station, a comprehensive detection station and a discharging station; the wind power coil winding station is not arranged on an annular working section, and the wind power coil is transferred between the wind power coil winding station and the feeding station through manual operation.
As a preferred technical scheme, safety guardrails are arranged among a feeding station, a thread end shaping station, a white cloth belt wrapping station, a white cloth belt detaching station, a manual wrapping insulating station, a straight edge shaping station, a comprehensive detection station, a discharging station and corresponding mechanical arm working areas and used for protecting equipment and workers, and openings are formed in the safety guardrails; the feeding station, end of a thread plastic station, wrap up white strap station, tear white strap station open, insulating station is wrapped in the manual work, straight flange plastic station, the comprehensive detection station, ejection of compact station all is equipped with automatically controlled displacement device, be equipped with wind-powered electricity generation coil carrier on automatically controlled displacement device's the moving member, be used for bearing wind-powered electricity generation coil, under the effect of automatically controlled displacement device, wind-powered electricity generation coil carrier can bear the weight of the opening that wind-powered electricity generation coil passed on the safety barrier at the feeding station, end of a thread plastic station, wrap white strap station, tear white strap station open, insulating station is wrapped in the manual work, straight flange plastic station, the comprehensive detection station, displacement between ejection of compact station and the arm workspace.
As a preferred technical scheme, a manual operation table is arranged in any one or more of a line head shaping station, a white cloth belt wrapping station, a white cloth belt detaching station and a manual wrapping and insulating station, and comprises an operation table top, a guide rail, a rotating mechanism and a positioning and clamping mechanism; the operating table is provided with a guide rail, a slide block on the guide rail is provided with a positioning and clamping mechanism through a rotating mechanism, and the positioning and clamping mechanism is used for clamping the wind power coil; the guide rail and the rotating mechanism are electrically controlled; the guide rail controls the positioning and clamping mechanism to move between the working area of the mechanical arm and the station; the positioning and clamping mechanism comprises a support and a clamping block, the support is arranged on the rotating mechanism, the clamping block is detachably arranged on the support, and the clamping block is used for clamping a coil.
As a preferred technical scheme, the lower part of the clamping block is provided with a lifting rod, and the clamping block is detachably arranged on the bracket through the lifting rod.
As a preferred technical scheme, be equipped with the lift anchor clamps of a plurality of on the operation mesa, lift anchor clamps include electric lift pole and set up the U type anchor clamps at electric lift pole top.
As a preferred technical scheme, the mechanical arm comprises a base, a stand column, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the stand column is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate 360 degrees around the driving arm, and a driving mechanism is arranged in the driving arm and connected with the rotating arm to drive the rotating arm to rotate; a claw arm is arranged at the bottom of the rotating arm, a claw is arranged on the claw arm, and the claw is arranged on the rotating arm through the claw arm; the rotating arm is connected with a rotating paw arm through a driving mechanism, so that the rotating paw arm can rotate; the rotating paw arm is provided with a rotating paw; when the rotating paw arm rotates, the rotating paw moves on a circle, and the rotating paw and the paw form a group of grabbing components.
As a preferred technical scheme, the gripper comprises a gripper seat, two gripper plates and a gripper plate driving mechanism for controlling the gripping of the two main plates; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;
the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a claw plate; (ii) a The bottom of the sliding groove is provided with a strip-shaped hole matched with the bottom of the sliding groove in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block;
the rotary paw comprises a paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp tightly; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;
the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a motor, and an output shaft of the motor is connected with a claw plate; the groove bottom of the sliding groove is provided with a strip-shaped hole matched with the groove bottom in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block. .
Drawings
FIG. 1 is a schematic diagram of a layer layout of a production line.
Fig. 2 is a schematic diagram of a two-layer layout structure of the production line.
Fig. 3 is a schematic diagram of the tact of the station I.
FIG. 4 is a schematic timing diagram of a stage II.
FIG. 5 is a schematic timing diagram of a stage III.
Fig. 6 is a schematic diagram of the stage IV timing.
Fig. 7 is a schematic structural view of the safety barrier.
Fig. 8 is a schematic diagram of the relative position of the safety barrier and the manual work station.
Fig. 9 is a schematic structural view of a wind power coil elbow device. Fig. 10 is a schematic diagram of bending effect of the wire head in the wind power coil.
Fig. 11 is a schematic view of bending effect of the outer wire head of the wind power coil.
Fig. 12 is a schematic structural view of the manual operation table in embodiment 2.
Fig. 13 is a schematic structural view of the manual operation table in embodiment 1.
FIG. 14 is a schematic diagram of a cache table.
FIG. 15 is a top view of a wind power coil parameter detection table.
Fig. 16 is a schematic structural view of the robot arm in embodiment 1.
Fig. 17 is a schematic structural view of a robot arm in embodiment 4.
Figure 18 is a schematic view of the gripper.
Figure 19 is a schematic view of the rotating gripper.
Wherein the reference numerals are as follows: 1-wrapping white cloth belt station, 2-expanding station, 3-thread end shaping station, 4-removing white cloth belt station, 5-manual wrapping insulating station, 6-machine wrapping station, 7-air cylinder, 8-straight edge shaping station, 9-comprehensive detection station, 10-feeding station, 11-discharging station, 12-mechanical arm, 13-buffer station, 14-worker, 15-safety guardrail, 1501-opening, 16-warning lamp, 17-support, 18-motor, 19-clamping plate, 20-wind power coil, 21-operation table, 22-longitudinal guide rail, 23-rotating disc, 24-clamping block, 25-lifting rod, 26-U-shaped clamp, 27-laser sensor, 28-operation table, 29-plane clamp, 30-clamping plate, 31-grating sensor, 32-detection table surface, 33-placing rack, 34-coordinate manipulator, 35-positioning cylinder, 36-positioning plate, 37-front stop block, 38-side stop block, 39-laser ranging sensor, 40-electrical property detection clamp, 41-upright column, 42-driving arm, 43-rotating arm, 44-paw, 45-paw arm, 46-rotating paw arm, 47-rotating paw, 48-paw plate, 49-oblique rod, 50-rotating shaft and 51-cylinder.
Detailed Description
The invention aims to overcome the defects of the prior art and provides an annular sectional production line for wind power coils, and the invention is further described in detail with reference to the embodiment.
Example 1
As shown in fig. 1, an annular sectional production line for a wind power coil 20 includes a coil winding device and a working section I, a working section II, a working section III, and a working section IV, which are sequentially arranged. After the coil winding device winds the electromagnetic wire into a coil, the coil is arranged in a workpiece frame and is conveyed to a material receiving position of a working section I.
Wherein, the working section I, the working section II and the working section III all comprise an upper layer and a lower layer (namely one layer and two layers). The two layers of the working section I, the working section II and the working section III are communicated, namely the working section I can be directly conveyed to the working section III from the second layer. Section IV is provided with only one layer.
One layer of the working section I, the working section II and the working section III is arranged on the ground, and the two layers of the working section I, the working section II and the working section III are arranged on a two-layer frame which is established by taking the ground as a support. The ground is provided with stairs or an elevator which can be directly communicated with the two-layer frame.
A first layer and a second layer of the working section I, the working section II and the working section III are all annularly provided with a plurality of working stations. A plurality of stations are annularly arranged on one layer of the working section IV; a transfer robot arm 12 is arranged in the middle of the annular ring.
In the working section I, the working section II, the working section III and the working section IV, a buffer platform 13 is arranged between the adjacent working sections. Specifically, the robotic arm 12 of each station transfers the workpieces between stations of each station. When the workpiece is to enter the next working section, the mechanical arm 12 places the workpiece on the buffer storage table 13 for the mechanical arm 12 of the next working section to grab, so that the workpiece is circulated among the stations of the next working section under the transfer of the mechanical arm 12 of the next working section.
Of course, since the robot arm 12 itself has a lifting feature, the robot arm 12 can hold the workpiece in a station between one layer and two layers for transferring in the same station. Through such a two-layer and annular structure, workpiece transportation is performed through the mechanical arm 12, and the occupied area is greatly reduced.
Further, one layer of the working section I comprises a feeding station 10, an expansion station 2, a white cloth belt wrapping station 1 and a thread end shaping station 3, and the other two layers of the working section I comprise a white cloth belt detaching station 4.
One layer of the working section II comprises a plurality of manual binding and insulating working positions 5, and the two layers of the working section II comprise a plurality of manual binding and insulating working positions 5.
One layer of the section III comprises a plurality of machine wrapping stations 6 and manual wrapping insulation stations 5, and the two layers of the section III comprise a plurality of manual wrapping insulation stations 5.
The working section IV comprises a straight edge shaping station 8, a comprehensive detection station 9 and a discharging station 11 which are linearly arranged on one layer.
In the present embodiment, for convenience of description, the position to which the robot arm 12 is movable is defined as a working area of the robot arm 12.
Specifically, safety guardrails 15 are arranged among the feeding station 10, the thread end shaping station 3, the white cloth tape wrapping station 1, the white cloth tape removing station 4, the manual wrapping insulating station 5, the straight edge shaping station 8, the comprehensive detection station 9, the discharging station 11 and the corresponding working areas of the mechanical arm 12 and are used for protecting equipment and workers 14.
The feeding station 10, the thread end shaping station 3, the white cloth tape wrapping station 1, the white cloth tape detaching station 4, the manual wrapping insulating station 5 and the discharging station 11 are all stations requiring the operation of a worker 14, and therefore, for convenience of subsequent description, they are collectively referred to as manual stations.
(1) Be equipped with manual operation platform on the artifical station, manual operation platform's structure is as follows:
1. the manual operation table of the feeding station and the discharging station 11 comprises an operation table surface 21, a longitudinal guide rail 22 and a workpiece frame.
An electrically controlled longitudinal guide rail 22 is arranged on the operation table surface 21, and a workpiece frame is arranged on a slide block of the longitudinal guide rail 22. The safety fence 15 is provided with an opening 1501, so that the slide block of the longitudinal guide rail 22 drives the workpiece frame to move back and forth between the feeding station and the working area of the mechanical arm 12 through the opening 1501. A plurality of regularly arranged wind power coils 20 are arranged in the workpiece frame. The longitudinal guide rail 22 sends the workpiece frame into the working area of the mechanical arm 12 to finish feeding, and the mechanical arm 12 can grab the wind power coil 20 to be processed from the workpiece frame and then send the workpiece frame to the white cloth belt wrapping station 1. The manual operating platform is provided with a feeding button and a return button; after the worker 14 loads the wind power coil 20 into the workpiece frame, a feeding button is pressed to send a signal to a production line control system, the longitudinal guide rail 22 sends the workpiece frame into a working area of the mechanical arm 12, after the wind power coil 20 in the workpiece frame is completely grabbed, a return button is pressed, the longitudinal guide rail 22 drives the workpiece frame to return, and the worker 14 loads the wind power coil 20 into the workpiece frame.
2. A manual operation table for other manual stations except a feeding station 10 in a production line of a wind power coil 20 comprises an operation table top 21, an electric control longitudinal guide rail 22, an electric control rotary disc 23 and a positioning and clamping mechanism.
The operation table surface 21 is provided with a longitudinal guide rail 22, a sliding block of the longitudinal guide rail 22 is provided with a rotating disc 23, and the rotating disc 23 is provided with a positioning and clamping mechanism. The safety barrier 15 is provided with an opening 1501, so that the sliding block of the longitudinal guide rail 22 drives the positioning and clamping mechanism to move back and forth between the manual work station and the work area of the mechanical arm 12 through the opening 1501, the wind power coil 20 is taken from the work area of the mechanical arm 12, the wind power coil 20 is sent to the manual work station, and after operation is carried out, the sliding block drives the positioning and clamping mechanism to send the wind power coil 20 to the work area of the mechanical arm 12 again. The rotating disc 23 enables the positioning and clamping mechanism to rotate for the worker 14 to work. The positioning and clamping mechanism is used for clamping the wind power coil 20.
The positioning and clamping mechanism comprises two sets of clamping blocks 24 arranged on the bracket through bolts. Each group of clamping blocks 24 comprises two clamping blocks 24, and the tops of the two clamping blocks 24 are provided with placing steps or are in a U-shaped groove structure. Two grip blocks 24 pass through bolted connection with vertical steelframe respectively to the distance between two grip blocks 24 is adjusted, thereby carries out the centre gripping to the wind power coil 20 of different specifications.
The safety guard 15 and the longitudinal guide rail 22 are matched to separate a certain distance between the manual work station and the working area of the mechanical arm 12, and therefore safety is improved.
The manual operating platform is provided with a feeding button and a return button; when the wind power coil 20 to be processed is taken out or the processed wind power coil 20 is sent back, a feeding button is pressed; after the wind power coil 20 is placed on the positioning and clamping mechanism of the manual operation table by the mechanical arm 12, the longitudinal guide rail 22 drives the positioning and clamping mechanism to return to provide manual operation when a return button is pressed.
This manual operation bench still is equipped with laser sensor 27, and laser sensor 27 position corresponds with location fixture position, and its purpose is used for responding to whether there is wind-powered electricity generation coil 20 on this manual operation bench.
In this embodiment, for example, the white cloth tape wrapping station 1, the thread end shaping station 3, and the white cloth tape removing station 4 are not only one, and the laser sensor 27 can determine which station is empty, so as to send the wind power coil 20 to be processed to the corresponding station.
Furthermore, a warning light 16 is arranged on the safety barrier 15, the warning light 16 is controlled by the production line control system, and when the longitudinal guide rail 22 works, the warning light 16 continuously flickers to remind.
(2) The expanding station 2 is provided with an expanding machine which is of a conventional structure, the work of the expanding machine is controlled by a production line control system, the mechanical arm 12 sends the wind power coil 20 wrapped with the white cloth tape from the white cloth tape wrapping station 1 to the expanding station 2 and is placed on an expanding clamp of the expanding machine, the production line control system controls the expanding machine to work, and after the expanding is completed, the mechanical arm 12 sends the wind power coil 20 after the expanding to a wire end shaping station 3.
And a wind power coil 20 elbow device is further arranged at the expansion station 2 and comprises a base, a bending clamp, a support 17 and a motor 18. The base is provided with a motor 18 and a support 17; the bending clamp comprises two parallel arranged clamping plates 19. The two clamping plates 19 are fixed with a rotating shaft 50 together on the same side long edge. The two clamp plates 19 are fixed to the rotation shaft 50 so as to support the clamp plates 19 and maintain the parallelism between the two clamp plates 19. The support 17 is provided with a through hole, and the rotating shaft 50 is sleeved on and penetrates through the through hole and can rotate relative to the support 17. The output shaft of the motor 18 is connected to the rotating shaft 50, so that the bending fixture can be driven to rotate 360 degrees by the operation of the motor 18.
In this embodiment, the bending fixture is designed as two parallel clamping plates 19 to simultaneously satisfy the bending of the inner wire of the wind power coil 20 and the bending of the outer wire of the wind power coil 20.
When the inner wire end of the wind power coil 20 is bent, the inner wire end is placed between the two clamping plates 19, then the motor 18 is started and rotates reversely for 90 degrees, and the inner wire end is driven to be bent.
When the outer wire end of the wind power coil 20 is bent, the outer wire end is placed on the two clamping plates 19, the outer wire end is equivalent to be positioned between the clamping plates 19 and the wind power coil 20 body at the moment, and then the motor 18 rotates forwards for 90 degrees to drive the outer wire end to be bent.
During the specific work flow of the expanding station 2, after the coil is grabbed by the mechanical arm 12, the wire heads in the wind power coil 20 are respectively placed at the corresponding positions of the bending fixture, and then the motor 18 of the elbow device is started to bend the wire heads. Then the outer wire end of the wind power coil 20 is placed at the corresponding position of the bending fixture, and the motor 18 of the elbow device is started to bend the outer wire end. After bending, the robot arm 12 sends the wind coil 20 to the expanding machine.
(3) In this embodiment, the cache table 13 has the following structure: the buffer platform 13 comprises a working table 28, and an adjustable positioning tool for clamping the wind power coil 20 is arranged on the working table 28. A laser sensor 27 is provided on the work surface 28 for sensing the presence of the wind electrical coil 20 on the work surface 28.
The work table 28 is provided with grating sensors 31, and the arrangement positions and the number of the grating sensors 31 enable a primary safety grating to be formed on one side of the cache table 13 facing the first working section and a secondary safety grating to be formed on one side of the cache table 13 facing the next working section.
When the previous station robot 12 places the wind coil 20 on the adjustable positioning tool, if the previous station robot 12 exceeds the secondary safety grating, the grating sensor 312 sends a signal to the production line control system to control the previous station robot 12 to return to the allowed working range (i.e. the working range of the previous station).
If the next section of the mechanical arm 12 exceeds the first-stage safety grating, the grating sensor 312 sends a signal to the production line control system, and controls the next section of the mechanical arm 12 to return to the allowed working range (i.e. the working range of the next section).
The safety grating prevents the mechanical arms 12 of the two working sections from exceeding the working positions, and the problem of equipment collision damage after the mechanical arms exceed the working positions is avoided.
Further, the adjustable positioning tool comprises a plane clamp 29 and a clamping clamp. The top of the flat clamp 29 is flat. The clamping fixture comprises a base and two clamping plates 30 arranged on the base by bolts. The aperture between the two clamping plates 30 is used for placing a straight edge of the wind power coil 20. The other straight side of the wind coil 20 is placed on a flat clamp 29. The clamping plates 30 arranged on the base can be disassembled through bolts, so that the gap between the two clamping plates 30 can be adjusted. The distance between the whole two clamping plates 30 and the plane clamp 29 is adjustable so as to adapt to wind power coils 20 with different specifications.
Through holes are formed in the two clamping plates 30, and the through holes correspond to the through holes. The base is also connected with a laser sensor 27 transmitting end and a laser sensor 27 receiving end through a bracket. The emitting end and the receiving end of the laser sensor 27 are respectively arranged at two sides of the two clamping blocks 24 and correspond to the through holes on the clamping blocks 24. The laser emitted by the laser sensor 27 is blocked when the wind coil 20 is placed, so that the wind coil 20 is signaled to the production line control system. When the production line control system receives a signal to know that the wind power coil 20 is arranged on the cache table 13, the production line control system controls the mechanical arm 12 of the next working section to the cache table 13 to take the part. And when the production control system receives a signal and knows that no wind power coil 20 is arranged on the cache table 13, the production control system controls the machine of the previous working section to send the piece to the cache table 13.
(4) In this embodiment, machine wrapping station 6 is provided with a machine wrapping device, the machine wrapping device includes a wrapping table and a wrapping machine disposed on the wrapping table, grating sensors 31 are disposed on the wrapping table, and the arrangement positions and number of grating sensors 31 enable one side of the wrapping table (close to a person) far away from section III and one side of the wrapping table toward section III to form a first-level safety grating and a second-level safety grating respectively.
The bundling machine needs manual operation, and the machine bundling station 6 cannot completely and physically isolate the mechanical arm 12 from an operator due to the fact that the manual operation is complex, and a man-machine exchange area exists. In order to ensure the safety of personnel and equipment, two layers of grating protection are designed. The maximum reach of the robotic arm 12 does not exceed the first level of safety barrier and the operator is not allowed to cross the second level of safety barrier.
The station safety strategy is as follows: when the machine tool station works, an operator is allowed to cross the first layer of safety grating, and the mechanical arm 12 is not allowed to cross the second layer of safety grating; when the material is supplemented to a machine tool position, the mechanical arm 12 is allowed to pass through the second layer of safety grating, and the operator is not allowed to pass through the first layer of safety grating; in any case, the operator is not allowed to override the second level security barrier.
A warning lamp 16 is arranged on the wrapping table-board, if the operation of the worker 14 and the mechanical arm 12 does not accord with the safety strategy, potential safety hazards exist, and the production line control system controls the warning lamp 16 to flicker.
And (3) alarm mode: when the machine wraps the station 6 and supplies materials, the warning light 16 flashes in yellow, and flashes in red when a fault and a potential safety hazard occur.
The binding table is also provided with a feeding button and a material taking button which are used for sending signals to the production line control system so as to control the mechanical arm 12 to feed and take materials.
(5) In this embodiment, the comprehensive detection station 9 is provided with a feeding and discharging table, and the feeding and discharging table comprises a feeding and discharging table surface and a wind-electricity coil 20 parameter detection table. An electrically controlled longitudinal guide rail 22 is arranged on the feeding and discharging platform, a transportation platform is arranged on a slide block of the guide rail, and a coil placing clamp is arranged on the transportation platform. The safety barrier 15 corresponding to the comprehensive detection station 9 is also provided with an opening 1501 for the longitudinal guide rail 22 to drive the transportation platform to move between the working area of the mechanical arm 12 and the station.
The parameter detection platform for the wind power coil 20 comprises a detection platform surface 32, a clamping and positioning mechanism, a laser ranging sensor 39, an electrical property detection clamp and a coordinate manipulator 34. The detection table 32 is arranged on the cabinet body. And a clamping and positioning mechanism is arranged on the detection table top 32 and used for clamping the wind power coil 20 to be detected.
The clamping and positioning mechanism comprises a front stop block, a side baffle 38, a placing frame 33 and a positioning cylinder 5135. Specifically, the detection table 32 is provided with two placing racks 33 with different heights, which are matched with the wind power coil 20 in shape. The irregularly shaped coil is placed on the placement frame 33.
The detection table 32 is provided with a front stop 37 for positioning, and is used for abutting against one end of the wind power coil 20. The detection table top 32 is further provided with a side baffle 38 for blocking one side of the wind power coil 20, and the side baffle 38 is lower than the outer side of the placing frame 33. On the detection table surface 32, a positioning cylinder 5135 is oppositely arranged on the side baffle 38. The flexible end of location cylinder 5135 is equipped with locating plate 36, and locating plate 36 height is less than high rack 33. The positioning cylinder 5135 works to drive the positioning plate 36 to move towards the side baffle 38 (this direction is defined as the Y-axis direction in this application), so as to clamp the wind power coil 20.
Further, a coordinate manipulator 34 is arranged on the detection table top 32, and the coordinate manipulator 34 is arranged on the detection table top 32 through a support frame. The coordinate robot 34 includes a lateral motorized rail in the X-axis direction and a vertical motorized rail in the Z-axis direction. And a vertical electric guide rail is arranged on the slide block of the transverse electric guide rail. And a laser ranging sensor 39 is arranged on the slide block of the vertical electric guide rail.
Of course, the whole detection table further comprises a controller and a touch display screen, and the controller is connected with the touch display screen. The controller is internally written with a detection quasi program, the touch screen starts the detection program, the wind power coil 20 is placed on the placing frame 33, the front stop block is used for positioning, and the touch screen is operated to start the automatic detection program.
The controller controls the positioning cylinder 5135 to advance through the air valve, so that the wind power coil 20 is clamped and positioned, and detection preparation is completed.
The controller controls the coordinate manipulator 34 to move and drives the laser ranging sensor 39 at the front end of the coordinate manipulator to move along the X axis and the Z axis, and the laser sensor 27 completes the reflection type detection of the Y axis. The built-in algorithm of the system automatically completes the analysis of the wind power coil 20 and the calculation of the spatial position of the wind power coil 202, and displays the detected length, the wide-side span, the narrow-side span, the included angle and the length information of the straight line segment of the wind power coil 20 on the touch screen.
Further, an electrical property detection clamp 40 is further arranged on the detection table top 32, and the positive electrode and the negative electrode of the wind power coil 20 can be respectively connected with the wiring terminals of the electrical property detection clamp by using leads to detect the electrical property of the wind power coil 20. The electrical property inspection fixture 40 is well known in the art and will not be described in detail in this embodiment.
(6) The straight edge shaping station 8 is provided with a feeding and discharging platform and a straight edge shaping machine. The rotation of the wind power coil 20 between the feeding and discharging table and the straight edge shaping machine is carried by people. Of course, the safety fence 15 between the straight edge shaping station 8 and the working area of the mechanical arm 12 is also provided with an opening 1501 for feeding and taking materials by the feeding and discharging table.
(7) In this embodiment, the structure of the robot arm 12 is as follows: comprises a base, a vertical column 41, a driving arm 42, a rotating arm 43 and a paw 44.
The upright 41 is rotatably arranged on the base, and the upright 41 rotates relative to the base under the action of the driving mechanism. The upright 41 is an electric lifting upright 41. This structure is a common structure of the robot arm 12, and the present embodiment is not specifically described.
A driving arm 42 is provided transversely to the column 41, and a rotary driving mechanism is provided in a housing of the driving arm 42.
A rotating shaft 50 is provided at one end of the rotating arm 43, and the rotating shaft 50 extends into the housing of the driving arm 42 and is connected to a rotation driving mechanism in the housing of the driving arm 42. A bearing is provided between the rotary shaft 50 and the housing of the drive arm 42.
There are many configurations of the rotary drive mechanism that can be implemented and the present embodiment provides a preferred approach. The rotary driving mechanism comprises a motor 18, an output shaft of the motor 18 is connected with a driving gear, a rotating shaft 50 on the rotating arm 43 is rotatably arranged in a driving arm 42 shell, a driven gear is arranged on the rotating shaft 50, and the driven gear is meshed with the driving gear, so that the motor 18 works to drive the rotating shaft 50 to rotate, and the rotating arm 43 is driven to rotate.
Two claws 44 are provided on the pivot arm 43 for gripping the wind coil 20. The gripper 44 includes a gripper 44 seat, two gripper plates 48 and a gripper plate drive mechanism that controls the grip of the two main plates. The rotating arm 43 is provided with a paw 44 seat, and a paw plate 48 driving mechanism is arranged in the paw 44 seat. The claw plate 48 drive mechanism includes a cylinder 51 and a linkage assembly. The connecting rod assembly comprises two inclined rods 49, one ends of the two inclined rods 49 are sleeved on the rotating shaft 50 together, and one ends of the two inclined rods 49 are connected through a shaft. The other ends of the two diagonal rods 49 are respectively coupled to the two claw plates 48. A vertical slot is provided in the seat of the paw 44. One end of a rotating shaft 50 sleeved by the two inclined rods 49 is arranged in the vertical groove and can vertically slide in the vertical groove. The cylinder 51 is arranged in the seat of the paw 44, and the telescopic end of the cylinder is connected to the rotating shaft 50 to drive the rotating shaft 50 to move up and down in the vertical groove.
The bottom of the paw 44 seat is provided with a C-shaped transverse sliding groove with a downward opening 1501, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove. The bottom of the slide is connected to a claw plate 48. The bottom of the sliding groove is provided with a strip-shaped hole matched with the bottom of the sliding groove in size, and the other end of the inclined rod 49 penetrates through the strip-shaped hole to be in shaft connection with the sliding block.
The telescopic driving of the cylinder 51 drives the rotating shaft 50 to move up and down, and the other end of the inclined rod 49 is connected to the sliding block through the shaft, and the sliding block can only move transversely, so that the telescopic driving of the cylinder 51 drives the rotating up and down to move, the included angle between the two inclined rods 49 is increased or decreased, the displacement between the two claw plates 48 is driven, and the two claw plates are controlled to be grasped tightly or loosened.
In this embodiment, when transferring the non-expanded workpiece, one gripper 44 is used to directly grip one straight edge of the wind coil 20. When the expanded wind power coil 20 is transferred, the two straight edges of the wind power coil 20 are grasped by the two claws 44.
In this embodiment, the working cycle of the working section I is as shown in fig. 3, wherein the wrapping white cloth tape station 1 is 1 station, the expanding station 2 is 2 stations, the thread end shaping station 3 is 3 stations, and the white cloth tape detaching station 4 is 4 stations.
In this embodiment, the working cycle of the section II is shown in fig. 4, wherein the manual wrapping and insulating station 5 is 5 stations.
In this embodiment, the working cycle of the section III is shown in fig. 5, in which the machine wrapping station 6 is 6 stations, and the manual wrapping and insulating station 5 is 7 stations.
In this embodiment, the working cycle of the working section IV is as shown in fig. 6, where the straight edge shaping station 8 is 8 stations, and the comprehensive detection station 9 is 9 stations.
The production line control system collects sensor signals, grating signals, button signals and the like of the workbench at each station, then judges whether the workbench is finished and is ready to replace workpieces, and then sends a supplement instruction to the mechanical arm 12 at each station, so that the mechanical arm 12 can grab the machined workpieces at a specified position and supplement the carried workpieces to the workbench.
And then, the production line control system collects the workbench signal of the next station of the work station, and performs the supplement operation of the workbench of the next station until the last station of the work station, and then returns to the first station of the work station, so as to perform the circular operation.
The controller of each mechanical arm 12 can accurately control the action of the mechanical arm 12, and according to the service workshop section, a supplementing action subprogram aiming at the workbench of each workshop section is pre-programmed in the controller of the mechanical arm 12, so that the corresponding action can be completed by calling the corresponding subprogram according to the instruction sent by the production line control system.
And the production line control system detects and judges whether the corresponding workbench is ready according to the operation sequence requirements of each working section, and then sends a calling instruction of a corresponding subprogram to the controller of the corresponding mechanical arm 12 according to a predetermined operation position.
Example 2
The difference between this embodiment and embodiment 1 lies in, owing to wrap insulating and wrap white strap, when tearing white strap at the manual work, owing to clamping structure has centre gripping wind-powered electricity generation coil 20, does not operate well to the centre gripping position. In order to meet the requirement of facilitating the operation of the worker 14, further, the manual operating tables corresponding to the three manual stations further comprise a lifting fixture.
Four independent lifting clamps are arranged on the operation table board 21, and two groups of the four independent lifting clamps are respectively positioned on two sides of the positioning and clamping mechanism. The lifting clamp comprises an electric lifting rod 25 and a U-shaped clamp 26 arranged at the top of the electric lifting rod 25.
The effect of this example is as follows:
when the wind power coil 20 to be processed is acquired from the transfer area of the mechanical arm 12 or transferred to the mechanical arm 12 to be sent into the processed wind power coil 20, the wind power coil 20 is moved by using a positioning and clamping mechanism arranged on a longitudinal slide rail, and meanwhile, when two straight edges of the wind power coil 20 need to be processed respectively, the rotating disc 23 is rotated to change positions.
When the wind power coil 20 is not easily operated by the clamped position during processing, the lifting clamp is started, the lifting clamp lifts the part, exceeding the clamping block 24, of the wind power coil 20, so that the wind power coil 20 is lifted away from the clamping block 24. At this time, the portion held by the holding block 24 is separated from the holding block 24, and the operation can be performed. After the operation is completed, the lifting fixture returns to the original position, and the wind power coil 20 is placed on the clamping block 24.
Example 3
The difference between this embodiment and embodiment 1 lies in, owing to wrap insulating and wrap white strap, when tearing white strap at the manual work, owing to clamping structure has centre gripping wind-powered electricity generation coil 20, does not operate well to the centre gripping position. In order to meet the requirement of facilitating the operation of the worker 14, further, in the manual operation tables corresponding to the three manual stations, the positioning and clamping mechanism further comprises an electric control lifting rod 25, and a clamping block 24 is arranged at the position, with the telescopic end of the electric control lifting rod 25 facing upwards; the base of the electric lifting rod 25 is detachably arranged on the longitudinal steel frame through a bolt.
In this embodiment, the clamping block 24 can directly realize the lifting function.
When any clamping part is not easy to operate, the clamping block 24 of the clamping part is controlled to descend under the driving of the lifting rod 25 to be separated from the wind power coil 20. At this time, the other three grip blocks 24 still maintain the grip state. At this time, the separated clamping part can be manually operated, and after the operation is finished, the lifting rod 25 drives the clamping block 24 to return to continue to keep the clamping state.
Example 4
In order to meet the requirements of the wind power coils 20 suitable for different specifications, the differences between the embodiment and the embodiment 1 are as follows:
a paw arm 45 is fixed on the top of one end of the rotating arm 43 far away from the driving arm 42, and two paws 44 are respectively arranged at two ends of the paw arm 45. A rotary gripper arm 4646 is provided at the bottom of the gripper arm 45. Swivel gripper arm 4646 is located in the middle of gripper arm 45.
The rotary gripper arm 4646 includes an arm housing, a rotary gripper 4744, a motor 18 is provided on the rotary arm 43, and an output shaft of the motor 18 is connected to the arm housing of the rotary gripper arm 4646, so that the motor 18 can drive the rotary gripper arm 4646 to rotate.
Two rotary claws 4744 are provided on both sides of the bottom of the rotary claw arm 4646. The structure of the rotary gripper 4744 is substantially the same as the gripper 44 described above, except that in the rotary gripper 4744, a motor 18 is provided at the bottom of the slider, and a gripper plate is connected to an output shaft of the motor 18 so that the gripper plate can be rotated.
The structure of this embodiment can achieve the effect that one of the claws 44 of the claw arm 45 and the rotating claw 4744 of the rotating claw arm 4646 closest to the one of the claws 45 form a grasping assembly for grasping two straight edges of the wind power coil 20 passing through the expanding type respectively. The rotating gripper 4744 is lower in height than the gripper 44, so that the rotating gripper 4744 grips the lower straight side of the wind power coil 20 and the gripper 44 grips the upper straight side of the wind power coil 20.
When the specification of the wind power coil 20 is increased, under the action of the motor 18, the shell of the rotating gripper arm 4646 rotates to drive the rotating gripper arm 4646 to rotate, at the moment, the two rotating grippers 4744 rotate around a circle center on a circle, so that the distance between the rotating gripper 4744 and the gripper 44 forming a grabbing assembly is variable, and the grabbing of the wind power coils 20 with different sizes is realized.
However, since the claw plate 48 of the rotating claw 4744 is inclined to the claw plate 48 of the claw 44 after the rotating claw 4744 moves in a circle, the deformation of the wind power coil 20 is easily caused, and therefore, in this embodiment, the claw plate of the rotating claw 4744 is disposed at the bottom of the slider by the motor 18. After changing the circumferential position of the rotary gripper 4744, the motor 18 is operated to rotate the gripper plates 48 so that the two gripper plates 48 of the rotary gripper 4744 are parallel to the two gripper plates 48 of the gripper 44.
The invention is well implemented in accordance with the above-described embodiments. It should be noted that, based on the above structural design, in order to solve the same technical problems, even if some insubstantial modifications or colorings are made on the present invention, the adopted technical solution is still the same as the present invention, and therefore, the technical solution should be within the protection scope of the present invention.
Claims (10)
1. The utility model provides a wind power coil annular sectional type production line, its characterized in that includes a plurality of workshop sections, and every workshop section all is equipped with the station that a plurality of rings were arranged, is equipped with the arm in the workshop section, and arm centre gripping wind power coil transports between adjacent workshop section, and arm centre gripping wind power coil transports between the station of same workshop section, each station is the processing station in the wind power coil production flow, is equipped with corresponding processing equipment on the processing station.
2. The annular segmented production line for the wind power coils as claimed in claim 1, wherein the working sections are provided with two layers of stations which are annularly arranged, one layer is arranged on the ground, the other layer is arranged on the ground through the supporting frames, and stairs or elevators are arranged on the ground to reach the other layer.
3. The sectional production line of wind power coil rings according to claim 2, wherein a mechanical arm is arranged in the circulator ring of each section; a buffer platform or a conveying belt is arranged between adjacent working sections; the mechanical arm of the previous working section places the wind power coil on a cache table or a conveying belt; and the mechanical arm of the next working section grabs the wind power coil from the buffer table or the conveying belt to enter the next working section.
4. The annular sectional production line of the wind power coil according to claim 1, wherein the stations comprise a feeding station, a white cloth tape wrapping station, an expanding station, a thread end shaping station, a white cloth tape removing station, a manual wrapping insulating station, a machine wrapping station, a straight edge shaping station, a comprehensive detection station and a discharging station; the wind power coil winding station is not arranged on an annular working section, and the wind power coil is transferred between the wind power coil winding station and the feeding station through manual operation.
5. The annular sectional production line of the wind power coil according to claim 4, wherein safety guardrails are arranged among the feeding station, the thread end shaping station, the white cloth tape wrapping station, the white cloth tape detaching station, the manual wrapping and insulating station, the straight edge shaping station, the comprehensive detection station, the discharging station and the corresponding mechanical arm working areas and used for protecting equipment and workers, and openings are formed in the safety guardrails; the feeding station, end of a thread plastic station, wrap up white strap station, tear white strap station open, insulating station is wrapped in the manual work, straight flange plastic station, the comprehensive detection station, ejection of compact station all is equipped with automatically controlled displacement device, be equipped with wind-powered electricity generation coil carrier on automatically controlled displacement device's the moving member, be used for bearing wind-powered electricity generation coil, under the effect of automatically controlled displacement device, wind-powered electricity generation coil carrier can bear the weight of the opening that wind-powered electricity generation coil passed on the safety barrier at the feeding station, end of a thread plastic station, wrap white strap station, tear white strap station open, insulating station is wrapped in the manual work, straight flange plastic station, the comprehensive detection station, displacement between ejection of compact station and the arm workspace.
6. The annular sectional production line for the wind power coil according to claim 4, wherein a manual operation table is arranged in any one or more of the wire head shaping station, the white cloth tape wrapping station, the white cloth tape detaching station and the manual wrapping and insulating station, and comprises an operation table top, a guide rail, a rotating mechanism and a positioning and clamping mechanism; the operating table is provided with a guide rail, a slide block on the guide rail is provided with a positioning and clamping mechanism through a rotating mechanism, and the positioning and clamping mechanism is used for clamping the wind power coil; the guide rail and the rotating mechanism are electrically controlled; the guide rail controls the positioning and clamping mechanism to move between the working area of the mechanical arm and the station; the positioning and clamping mechanism comprises a support and a clamping block, the support is arranged on the rotating mechanism, the clamping block is detachably arranged on the support, and the clamping block is used for clamping a coil.
7. The annular segmented production line of wind power coils as claimed in claim 6, wherein the lower part of the clamping block is provided with a lifting rod, and the clamping block is detachably arranged on the support through the lifting rod.
8. The annular segmented production line of wind power coils as claimed in claim 6, wherein the operation table is provided with a plurality of lifting clamps, and the lifting clamps comprise electric lifting rods and U-shaped clamps arranged on the tops of the electric lifting rods.
9. The annular sectional production line of the wind power coil as claimed in claim 1, wherein the mechanical arm comprises a base, a column, a driving arm, a rotating arm and a gripper; the upright post is rotatably arranged on the base, rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the stand column is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate 360 degrees around the driving arm, and a driving mechanism is arranged in the driving arm and connected with the rotating arm to drive the rotating arm to rotate; a claw arm is arranged at the bottom of the rotating arm, a claw is arranged on the claw arm, and the claw is arranged on the rotating arm through the claw arm; the rotating arm is connected with a rotating paw arm through a driving mechanism, so that the rotating paw arm can rotate; the rotating paw arm is provided with a rotating paw; when the rotating paw arm rotates, the rotating paw moves on a circle, and the rotating paw and the paw form a group of grabbing components.
10. The annular segmented production line of the wind power coils as claimed in claim 1, wherein the gripper comprises a gripper seat, two gripper plates and a gripper plate driving mechanism for controlling the gripping of the two main plates; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;
the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a claw plate; (ii) a The bottom of the sliding groove is provided with a strip-shaped hole matched with the bottom of the sliding groove in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block;
the rotary paw comprises a paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp tightly; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;
the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a motor, and an output shaft of the motor is connected with a claw plate; the groove bottom of the sliding groove is provided with a strip-shaped hole matched with the groove bottom in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block.
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| CN202110759505.6A CN113674986B (en) | 2021-10-20 | 2021-10-20 | Annular sectional type production line for wind power coils |
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| CN202110759505.6A CN113674986B (en) | 2021-10-20 | 2021-10-20 | Annular sectional type production line for wind power coils |
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| CN113674986B CN113674986B (en) | 2023-09-15 |
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Cited By (3)
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| CN114078633A (en) * | 2022-01-07 | 2022-02-22 | 苏州市全力自动化科技有限公司 | Full-automatic small-size solenoid valve coil assembly line |
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