CN113674986B - Annular sectional type production line for wind power coils - Google Patents
Annular sectional type production line for wind power coils Download PDFInfo
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- CN113674986B CN113674986B CN202110759505.6A CN202110759505A CN113674986B CN 113674986 B CN113674986 B CN 113674986B CN 202110759505 A CN202110759505 A CN 202110759505A CN 113674986 B CN113674986 B CN 113674986B
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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
Abstract
The application discloses a wind power coil annular sectional type production line which comprises a plurality of working sections, wherein each working section is provided with a plurality of working stations which are annularly arranged, a mechanical arm is arranged in each working section, the mechanical arm clamps wind power coils to transfer between adjacent working sections, the mechanical arm clamps the wind power coils to transfer between the working stations of the same working section, each working station is a processing working station in the production flow of the wind power coils, and corresponding processing equipment is arranged on each processing working station.
Description
Technical Field
The application relates to the technical field of wind power generator component production, in particular to a wind power coil annular sectional production line.
Background
Wind power coils are wind power generator coils, which are one of the core components of wind power generators. The raw material of the wind power coil is 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, and finished product checking and packing.
The electromagnetic wire is composed of copper wires and insulating materials wrapped outside the copper wires. In order to prevent the electromagnetic wire insulating material from being damaged in the expanding process, a manual operation position is required to be provided for protecting the coil-coated white cloth belt before expanding. After the expansion and the shaping of the lead head are completed, the white cloth belt is disabled, and a manual operation position is needed to be provided for dismantling the white cloth belt. When the insulating material and the white cloth belt are wrapped, the linear part and the bending part of the coil are involved, the linear part is generally directly treated by a taping machine, and the bending part is required to be treated by a worker on an operating platform. Meanwhile, the white cloth belt is removed by manual operation of workers.
In the prior art, the wind power coil production line is in a linear layout, and most of the wind power coil production line is transported by adopting a manual cart from the previous working procedure to the next working procedure, and the other wind power coil production line is transported by using a transmission line. 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 application aims to provide a wind power coil annular sectional production line, which utilizes the existing equipment to integrate 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 above purpose, the technical scheme adopted by the application is as follows:
the utility model provides a wind-powered electricity generation coil annular sectional type production line, includes a plurality of workshop sections, and every workshop section all is equipped with a plurality of annular arrangement's station, is equipped with the arm in the workshop section, and arm centre gripping wind-powered electricity generation coil is transported between adjacent workshop section, and arm centre gripping wind-powered electricity generation coil is transported between the station of same workshop section, each station is the processing station in the wind-powered electricity generation coil production flow, is equipped with corresponding processing equipment on the processing station.
As a preferable technical scheme, the working 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 preferable technical scheme, a mechanical arm is arranged in the circulator ring of each working section; a buffer table or a conveyer belt is arranged between adjacent working sections; the mechanical arm of the previous working section places the wind power coil on a buffer table or a conveyer belt; and the mechanical arm of the next working section grabs the wind power coil from the buffer table or the conveyer belt to enter the next working section.
As a preferable technical scheme, the stations comprise a feeding station, a white cloth belt binding station, an expanding station, a thread end shaping station, a white cloth belt dismantling station, a manual binding insulation station, a machine binding station, a straight edge shaping station, a comprehensive detection station and a discharging station; the wind power coil winding station is not arranged on the 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 preferable technical scheme, a safety barrier is arranged between a feeding station, a thread end shaping station, a white cloth belt wrapping station, a white cloth belt dismantling station, a manual wrapping insulation station, a straight edge shaping station, a comprehensive detection station, a discharging station and a corresponding mechanical arm working area and is used for protecting equipment and workers, and an opening is formed in the safety barrier; the feeding station, the thread end shaping station, the binding white cloth belt station, the white cloth belt dismantling station, the manual binding insulation station, the straight edge shaping station, the comprehensive detection station and the discharging station are all provided with electric control displacement devices, wind power coil carriers are arranged on moving parts of the electric control displacement devices and used for bearing wind power coils, and under the action of the electric control displacement devices, the wind power coil carriers can bear the displacement between the wind power coils penetrating through openings on the safety guardrails and at the feeding station, the thread end shaping station, the white cloth belt binding station, the white cloth belt dismantling station, the manual binding insulation station, the straight edge shaping station, the comprehensive detection station, the discharging station and a mechanical arm working area.
As a preferable technical scheme, a manual operation table is arranged in any one station or a plurality of stations of the coil shaping station, the white cloth belt binding station, the white cloth belt dismantling station and the manual binding insulation station, and comprises an operation table surface, a guide rail, a rotating mechanism and a positioning and clamping mechanism; the operation table top 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 all electrically controlled; the guide rail controls the positioning clamping mechanism to displace between the working area and the working position of the mechanical arm; the positioning and clamping mechanism comprises a bracket and a clamping block, the bracket is arranged on the rotating mechanism, the clamping block is detachably arranged on the bracket, and the clamping block is used for clamping the coil.
As a preferable 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 preferable technical scheme, the operation table top is provided with a plurality of lifting clamps, and each lifting clamp comprises an electric lifting rod and a U-shaped clamp arranged at the top of the electric lifting rod.
As a preferable technical scheme, the mechanical arm comprises a base, an upright post, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, and rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the upright post is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate around the driving arm by 360 degrees, and a driving mechanism is arranged in the driving arm and is connected with the rotating arm to drive the rotating arm to rotate; the bottom of the rotating arm is provided with a paw arm, the paw arm is provided with a paw, and the paw is arranged on the rotating arm through the paw arm; the rotating arm is connected with the 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 rotary paw arm rotates, the rotary paw moves on a circle, and the rotary paw and the paw form a group of grabbing components.
As a preferable technical scheme, the paw comprises a first paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp; a claw plate driving mechanism is arranged in the first claw seat; the claw plate driving mechanism comprises an air cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, and one ends of the two inclined rods are sleeved on the rotating shaft together, so that one ends of the two inclined rods are connected in a shaft way; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft way; a vertical groove is formed in the first paw seat; one end of a rotating shaft sleeved with 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 first paw 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 first paw seat is provided with a C-shaped transverse chute with a downward opening, and a sliding block is arranged in the C-shaped transverse chute, so that the sliding block can only transversely displace in the chute; the bottom of the sliding block is connected with a claw plate; the bottom of the chute is provided with a bar-shaped hole matched with the size of the chute bottom, and the other end of the inclined rod passes through the bar-shaped hole to be connected with the sliding block in a shaft way;
the rotary paw comprises a second paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp; a claw plate driving mechanism is arranged in the second claw seat; the claw plate driving mechanism comprises an air cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, and one ends of the two inclined rods are sleeved on the rotating shaft together, so that one ends of the two inclined rods are connected in a shaft way; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft way; a vertical groove is formed in the second paw seat; one end of a rotating shaft sleeved with 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 second paw 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 second paw seat is provided with a C-shaped transverse chute with a downward opening, and a sliding block is arranged in the C-shaped transverse chute, so that the sliding block can only transversely displace in the chute; 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 bottom of the chute is provided with a bar-shaped hole matched with the size of the chute bottom, and the other end of the diagonal rod penetrates through the bar-shaped hole to be connected with the sliding block in a shaft way.
Drawings
FIG. 1 is a schematic diagram of a layout structure of a layer of a production line.
FIG. 2 is a schematic diagram of a two-layer layout structure of a production line.
Fig. 3 is a section I beat schematic.
Fig. 4 is a section II beat schematic.
Fig. 5 is a section III beat schematic.
Fig. 6 is a section IV beat schematic.
Fig. 7 is a schematic structural view of the safety barrier.
Fig. 8 is a schematic diagram of the relative positional relationship of the safety barrier and the manual work station.
FIG. 9 is a schematic diagram of a wind power coil elbow device. Fig. 10 is a schematic diagram of bending effect of an inner wire end of a wind power coil.
FIG. 11 is a schematic diagram showing the bending effect of the outer wire ends of the wind power coil.
Fig. 12 is a schematic structural diagram of the manual operation table in embodiment 2.
Fig. 13 is a schematic structural diagram of the manual operation table in embodiment 1.
Fig. 14 is a schematic structural diagram of a cache table.
Fig. 15 is a plan view of the wind power coil parameter detection table.
Fig. 16 is a schematic structural diagram of the mechanical arm in embodiment 1.
Fig. 17 is a schematic structural diagram of a mechanical arm in embodiment 4.
Fig. 18 is a schematic diagram of the principle of the gripper.
Fig. 19 is a schematic diagram of the principle of rotating the gripper.
Wherein reference numerals are as follows: 1-wrapping white cloth belt station, 2-expanding station, 3-wire end shaping station, 4-tearing white cloth belt station, 5-manual wrapping insulation station, 6-machine wrapping station, 7-cylinder, 8-straight edge shaping station, 9-comprehensive detection station, 10-feeding station, 11-discharging station, 12-mechanical arm, 13-buffer table, 14-worker, 15-safety fence, 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-working table, 29-plane clamp, 30-clamping plate, 31-grating sensor, 32-detection table, 33-placing rack, 34-coordinate manipulator, 35-positioning cylinder, 36-positioning plate, 37-front baffle, 38-side baffle, 39-laser ranging sensor, 40-electrical performance detection clamp, 41-upright post, 42-rotating arm, 43-44-lifting rod, 26-U-shaped clamp, 27-laser sensor, 28-working table, 29-plane clamp, 30-clamping plate, 31-grating sensor, 32-detection table, 33-placing rack, 34-coordinate manipulator, 35-positioning cylinder, 36-positioning plate, 37-front baffle, 38-side baffle, 39-laser ranging sensor, 40-electrical performance detection clamp, 41-upright, 41-rotating arm, 42-rotating arm, 43-rotating arm, 45-rotating claw, 48-rotating arm, 48-rotating claw and 48-rotating arm, claw and claw-rotating arm, 47-rotating claw.
Detailed Description
The application aims to overcome the defects of the prior art and provides a wind power coil annular segmented production line, and the application is further described in detail below with reference to the embodiment.
Example 1
As shown in FIG. 1, the annular segmented production line of the wind power coil 20 comprises a coil winding device and a section I, a section II, a section III and a section IV which are sequentially arranged. The coil winding device winds the electromagnetic wire into a coil, and then the coil is arranged in a workpiece frame and is sent to the material entering position of the 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 a first layer and a second layer). And the two layers of the working section I, the working section II and the working section III are communicated, and the working section I and the working section II can be directly moved to the working section III from the two layers of the working section I. 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 second layer of the working section I, the working section II and the working section III is arranged on a second 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 connected with the two-layer frame.
The two layers of the working section I, the working section II and the working section III are all annular and provided with a plurality of working stations. A layer of the working section IV is provided with a plurality of stations in a ring shape; a transfer robot arm 12 is provided intermediate the annular rings.
In the working section I, the working section II, the working section III and the working section IV, a buffer table 13 is arranged between adjacent working sections. Specifically, the robotic arm 12 of each station transfers work pieces 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 table 13 for the mechanical arm 12 of the next working section to grasp, so that the workpiece flows among stations of the next working section again under the transfer of the mechanical arm 12 of the next working section.
Of course, since the robot arm 12 itself has a liftable property, the robot arm 12 can clamp the workpiece for transfer between the first and second stations in the same section. Through such a two-layer and annular structure, workpiece transport is performed by the robotic arm 12, greatly reducing the footprint.
Further, a first layer of the working section I comprises a feeding working station 10, a swelling working station 2, a wrapping white cloth belt working station 1 and a thread end shaping working station 3, and a second layer of the working section I comprises a white cloth belt dismantling working station 4.
One layer of the working section II comprises a plurality of manual binding insulation stations 5, and the second layer of the working section II comprises a plurality of manual binding insulation stations 5.
One layer of the section III comprises a plurality of machine wrapping stations 6 and a manual wrapping insulation station 5, and the second layer of the section III comprises a plurality of manual wrapping insulation stations 5.
The section IV comprises a straight edge shaping station 8, a comprehensive detection station 9 and a discharging station 11 which are arranged on one layer in a straight line.
In the present embodiment, for convenience of description, the position to which the robot arm 12 can move is defined as the working area of the robot arm 12.
Specifically, safety guardrails 15 are arranged between the feeding station 10, the thread end shaping station 3, the white cloth belt wrapping station 1, the white cloth belt tearing-down station 4, the manual wrapping insulation 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 band wrapping station 1, the white cloth band dismantling station 4, the manual wrapping insulation station 5 and the discharging station 11 are all stations which need to be operated and treated by workers 14, so that they are collectively called as manual stations for convenience of subsequent description.
(1) Be equipped with manual operation platform on the manual work station, manual operation platform's structure is as follows:
1. the manual operation platform of the material feeding station and the material discharging station 11 comprises an operation platform surface 21, a longitudinal guide rail 22 and a workpiece frame.
An electric control longitudinal guide rail 22 is arranged on the operation table surface 21, and a workpiece frame is arranged on a sliding block of the longitudinal guide rail 22. The safety barrier 15 is provided with an opening 1501 for the sliding blocks of the longitudinal guide rail 22 to drive 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 wind power coils 20 are arranged in order 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 grasp the wind power coil 20 to be processed from the workpiece frame and then send the wind power coil to the wrapping white cloth belt station 1. The manual operation table is provided with a feeding button and a return button; when the worker 14 loads the wind power coil 20 into the workpiece frame, the feeding button is pressed to send a signal to the production line control system, the longitudinal guide rail 22 sends the workpiece frame into the working area of the mechanical arm 12, and when the wind power coil 20 in the workpiece frame is completely grabbed, the 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. The manual operation table of other manual stations except the feeding station 10 comprises an operation table surface 21, an electric control longitudinal guide rail 22, an electric control rotary disk 23 and a positioning and clamping mechanism.
The operation table 21 is provided with a longitudinal guide rail 22, a sliding block of the longitudinal guide rail 22 is provided with a rotary disk 23, and the rotary disk 23 is provided with a positioning and clamping mechanism. The safety barrier 15 is provided with an opening 1501 for the sliding block of the longitudinal guide rail 22 to drive the positioning and clamping mechanism to move back and forth between the manual work station and the working area of the mechanical arm 12 through the opening 1501, so that the wind power coil 20 is taken in from the working area of the mechanical arm 12 and sent to the manual work station, and after operation, the sliding block drives the positioning and clamping mechanism to send the wind power coil 20 to the working area of the mechanical arm 12 again. The rotating disc 23 enables the positioning and clamping mechanism to rotate, facilitating the work of the worker 14. The positioning and clamping mechanism is used for clamping the wind power coil 20.
The positioning and clamping mechanism comprises two groups 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 a placement step or a U-shaped groove structure. The two clamping blocks 24 are respectively connected with the longitudinal steel frame through bolts, so that the distance between the two clamping blocks 24 is adjusted, and the wind power coils 20 with different specifications are clamped.
The safety barrier 15 cooperates with the longitudinal rail 22 to space the manual work station from the working area of the mechanical arm 12 for a certain distance, thereby being safer.
When the worker 14 wraps and disassembles the white cloth belt, wraps and disassembles insulating materials and shapes the white cloth belt, the manual operation table helps to send and take the wind power coil 20, and meanwhile, the manual operation table provides a rotating function, so that the wind power coil 20 can rotate 360 degrees on a horizontal plane, the worker 14 is assisted to operate and process all positions of the wind power coil 20, and therefore the working efficiency of the worker 14 is improved.
The manual operation table is provided with a feeding button and a return button; when the wind power coil 20 to be processed is picked up or the wind power coil 20 processed is returned, 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 return button is pressed, and the longitudinal guide rail 22 returns to the position with the positioning and clamping mechanism for manual operation.
The manual operation table is also provided with a laser sensor 27, and the position of the laser sensor 27 corresponds to the position of the positioning and clamping mechanism, so that the purpose of the manual operation table is to sense whether the wind power coil 20 exists on the manual operation table.
In this embodiment, for example, there is more than one of the binding white cloth tape station 1, the thread end shaping station 3 and the white cloth tape detaching station 4, 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.
Further, the safety barrier 15 is provided with a warning lamp 16, the warning lamp 16 is controlled by a production line control system, and when the longitudinal guide rail 22 works, the warning lamp 16 continuously flashes to remind.
(2) The expanding machine is arranged at the expanding station 2, the expanding machine is of an existing 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 which finishes wrapping the white cloth belt from the wrapping and white cloth belt 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 expanding is finished, the mechanical arm 12 sends the wind power coil 20 after expanding to the thread end shaping station 3.
The expansion station 2 is also provided with a wind power coil 20 elbow device which 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 clamping plates 19 arranged in parallel. The rotation shaft 50 is fixed to the same side of the two clamping plates 19. The two clamping plates 19 are fixed on the rotation shaft 50 so as to support the clamping plates 19, keeping the two clamping plates 19 parallel. 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 with the rotating shaft 50, so that the bending clamp can be driven to rotate 360 degrees by the operation of the motor 18.
In this embodiment, the bending fixture is designed as two clamping plates 19 arranged in parallel to simultaneously satisfy the bending of the inner wire head of the wind power coil 20 and the bending of the outer wire head 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 the inner wire end is reversely rotated by 90 degrees to drive the bending of the inner wire end.
When the outer wire head of the wind power coil 20 is bent, the outer wire head is placed on the two clamping plates 19, the outer wire head is positioned between the clamping plates 19 and the wind power coil 20 body, and then the motor 18 rotates for 90 degrees positively to drive the outer wire head to be bent.
When the specific work flow of the expansion station 2 is carried out, after the coil is grabbed by the mechanical arm 12, the inner wire heads of the wind power coil 20 are respectively placed at the corresponding positions of the bending clamps, and then the motor 18 of the elbow device is started to bend the inner wire heads. And then the outer wire head of the wind power coil 20 is placed at the corresponding position of the bending clamp, the motor 18 of the elbow device is started, and the outer wire head is bent. After bending, the robot arm 12 sends the wind power coil 20 to the expanding machine.
The periphery of the expansion work position is provided with a safety fence 15 so that the expansion work cannot enter people. This safety barrier 15 is integral with the safety barrier 15 of the manual work station of section I.
(3) In this embodiment, the structure of the buffer table 13 is as follows: the buffer table 13 comprises a workbench surface 28, and an adjustable positioning tool is arranged on the workbench surface 28 and used for clamping the wind power coil 20. A laser sensor 27 is provided on the table top 28 for sensing the presence of the wind power coil 20 on the table top 28.
The table top 28 is provided with grating sensors 31, and the grating sensors 31 are arranged in positions and the number of the grating sensors are that a first-level safety grating is formed on the side, facing the first working section, of the buffer table 13 and a second-level safety grating is formed on the side, facing the next working section.
When the previous section mechanical arm 12 places the wind power coil 20 on the adjustable positioning tool, if the previous section mechanical arm 12 exceeds the secondary safety grating, the grating sensor 312 sends a signal to the production line control system to control the previous section mechanical arm 12 to return to the allowed working range (i.e. the working range of the previous section).
If the next-stage mechanical arm 12 exceeds the first-stage safety grating, the grating sensor 312 sends a signal to the production line control system to control the next-stage mechanical arm 12 to return to the allowed working range (i.e. the working range of the next stage).
The safety grating prevents the mechanical arms 12 of the two working sections from exceeding the working positions, and the problem of collision damage of equipment after exceeding the working positions is avoided.
The laser sensor 27 is arranged opposite to the adjustable positioning tool, namely when the mechanical arm 12 of the previous working section places the photoelectric coil on the adjustable positioning tool, the laser sensor 27 can sense the existence of the wind power coil 20 and send a signal to a production line control system, and the production line control system can control the mechanical arm 12 of the next section to take a piece on the cache table 13.
Further, the adjustable positioning fixture comprises a planar clamp 29 and a clamping clamp. The top of the planar clamp 29 is planar. 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 to place a straight edge of the wind power coil 20. The other straight edge of the wind power coil 20 is placed on the planar fixture 29. The clamping plates 30 arranged on the base can be detached 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 both clamping plates 30, and the through holes correspond to each other. 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 disposed on both sides of the two clamping blocks 24, and correspond to the through holes on the clamping blocks 24. When the wind power coil 20 is placed, the laser emitted by the laser sensor 27 is blocked, so that a signal with the wind power coil 20 is obtained, and the signal is sent to a production line control system. When the production line control system receives the signal and knows that the wind power coil 20 is arranged on the cache table 13, the mechanical arm 12 of the next working section is controlled to take the part from the cache table 13. When the production control system receives the signal and knows that the wind power coil 20 is not arranged on the buffer table 13, the machine of the previous working section is controlled to send the parts to the buffer table 13.
(4) In this embodiment, the machine binding station 6 is provided with a machine binding device, the machine binding device comprises a binding table top and a binding machine arranged on the binding table top, the binding table top is provided with grating sensors 31, and the arrangement positions and the number of the grating sensors 31 enable one side (one side close to a person) of the binding table top far away from the section III and one side facing the section III to form a primary security grating and a secondary security grating respectively.
The bundling machine needs manual operation, and the bundling station 6 of the machine is complex in manual operation, so that the mechanical arm 12 and an operator cannot be completely and physically isolated, 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 arm spread of the robot arm 12 does not exceed the first layer of safety grating and the operator is not allowed to pass over the second layer of safety grating.
The station safety strategy is as follows: when the mechanical package work station works, an operator is allowed to pass through the first layer of safety grating, and the mechanical arm 12 is not allowed to pass through the second layer of safety grating; when the machine ladle station is fed, the mechanical arm 12 is allowed to pass through the second layer of safety grating, and an operator is not allowed to pass through the first layer of safety grating; in any case, the operator is not allowed to pass over the second layer of security grating.
The wrapping table is provided with a warning lamp 16, and if the operation of the worker 14 and the mechanical arm 12 does not accord with the safety strategy, the hidden danger is avoided, and the production line control system controls the warning lamp 16 to flash.
Alarm mode: the warning lamp 16 is yellow flashing when the machine wrapping station 6 supplements materials, and red flashing when faults and potential safety hazards occur.
The wrapping table top is also provided with a feeding button and a material taking button which are used for sending signals to a 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 top and a wind power coil 20 parameter detection table. An electric control longitudinal guide rail 22 is arranged on the feeding and discharging table, a conveying platform is arranged on a sliding block of the guide rail, and a coil placing clamp is arranged on the conveying 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 transport platform to move between the working area of the mechanical arm 12 and the station.
The wind power coil 20 transfer between the feeding and discharging table and the wind power coil 20 parameter detection table depends on manual transportation. The feeding and discharging table is provided with a feeding button and a material taking button.
The wind power coil 20 parameter detection platform comprises a detection table 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 provided on the cabinet. A clamping and positioning mechanism is arranged on the detection table surface 32 and is used for clamping the wind power coil 20 to be detected.
The clamping and positioning mechanism comprises a front stop block, side baffles 38, a placing frame 33 and a positioning cylinder 5135. Specifically, two holders 33 with different heights, which are matched with the shape of the wind power coil 20, are arranged on the detection table surface 32. Irregularly shaped coils are placed on the placement frame 33.
The detection table 32 is provided with a front stop 37 for positioning, and is used for propping against one end of the wind power coil 20. The detection table 32 is also 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 inspection bench 32, a positioning cylinder 5135 is disposed opposite to the side shutter 38. The telescopic end of the positioning cylinder 5135 is provided with a positioning plate 36, and the height of the positioning plate 36 is lower than that of the higher placing frame 33. The positioning cylinder 5135 works to drive the positioning plate 36 to move towards the side baffle 38 (the direction is defined as the Y-axis direction by the application), so that the wind power coil 20 is clamped.
Further, the detecting table 32 is provided with a coordinate manipulator 34, and the coordinate manipulator 34 is arranged on the detecting table 32 through a supporting frame. The coordinate robot 34 includes a transverse electric rail in the X-axis direction and a vertical electric rail in the Z-axis direction. The sliding block of the transverse electric guide rail is provided with a vertical electric guide rail. A laser ranging sensor 39 is arranged on the sliding block of the vertical electric guide rail.
Of course, the whole detection platform also 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 detection program is started from the touch screen, the wind power coil 20 is placed on the placement frame 33 and positioned according to the front stop block, and the touch screen is operated to start an automatic detection program.
The controller controls the positioning cylinder 5135 to push through the air valve, so that the wind power coil 20 is clamped and positioned, and detection preparation is finished.
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 reflective detection of the Y axis. The built-in algorithm of the system automatically completes analysis and calculation of the space position of the wind power coil 202 by the wind power coil 20, and displays the detected wind power coil 20 length, broadside span, narrow side span, included angle and straight line segment length information on a touch screen.
Further, an electrical performance detecting fixture 40 is further provided on the detecting table 32, and the positive and negative poles of the wind power coil 20 can be connected with the connecting terminals of the electrical performance detecting fixture respectively by using wires to detect the electrical performance of the wind power coil 20. The electrical performance test 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 table and a straight edge shaper. The rotation of the wind power coil 20 between the feeding and discharging table and the straight edge shaper is carried by people. Of course, the safety barrier 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 from the feeding and discharging table.
(7) In the present embodiment, the structure of the mechanical arm 12 is as follows: comprises a base, a 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 mechanical arm 12, and this embodiment is not described in detail.
A drive arm 42 is transversely provided on the column 41, and a rotary drive mechanism is provided in the housing of the drive arm 42.
A rotary shaft 50 is arranged on one end of the rotary arm 43, and the rotary shaft 50 extends into the driving arm 42 shell and is connected with a rotary driving mechanism in the driving arm 42 shell. Bearings are provided between the rotary shaft 50 and the housing of the drive arm 42.
There are many structures of the rotary drive mechanism that can be implemented, and this embodiment gives a preferred manner. The rotary driving mechanism comprises a motor 18, an output shaft of the motor 18 is connected with a driving gear, a rotary shaft 50 on a rotary arm 43 is rotatably arranged in a driving arm 42 shell, and a driven gear is arranged on the rotary shaft 50 and meshed with the driving gear, so that the motor 18 works to drive the rotary shaft 50 to rotate, and the rotary arm 43 is driven to rotate.
Two claws 44 are provided on the rotating arm 43 for grasping the wind power coil 20, respectively. The gripper 44 includes a gripper 44 seat, two gripper plates 48, and a gripper plate drive mechanism that controls the gripping 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 pawl plate 48 drive mechanism includes a cylinder 51 and a linkage assembly. The connecting rod assembly comprises two inclined rods 49, and one ends of the two inclined rods 49 are sleeved on the rotating shaft 50 together, so that one ends of the two inclined rods 49 are connected in a shaft mode. The other ends of the two diagonal rods 49 are respectively connected with two claw plates 48 in a shaft way. The paw 44 is provided with a vertical slot in its seat. One end of a rotating shaft 50 sleeved with the two inclined rods 49 is arranged in the vertical groove, and can vertically slide in the vertical groove. The cylinder 51 is provided in the seat of the claw 44 and its telescopic end is connected to the shaft 50, driving the shaft 50 to move up and down in the vertical slot.
The bottom of the gripper 44 seat is provided with a C-shaped transverse chute with a downward opening 1501, and a slide block is arranged in the C-shaped transverse chute, so that the slide block can only transversely displace in the chute. The bottom of the slider is connected with a claw plate 48. The bottom of the chute is provided with a bar-shaped hole matched with the size of the chute bottom, and the other end of the inclined rod 49 penetrates through the bar-shaped hole to be connected with the sliding block in a shaft way.
The cylinder 51 stretches to drive the rotating shaft 50 to move up and down, and the other end of the inclined rod 49 is connected to the sliding block in a shaft mode, and the sliding block can only move transversely, so that the telescopic cylinder 51 stretches to drive the rotating up and down to move, the clamping angle between the two inclined rods 49 is increased or decreased, the displacement between the two claw plates 48 is driven, and the grasping or loosening between the two claw plates is controlled.
In this embodiment, when transferring the work piece without expansion, the wind power coil 20 is directly held at one side edge by one gripper 44. When the expanded wind power coil 20 is transported, two straight edges of the wind power coil 20 can be respectively grasped by two claws 44.
In this embodiment, the working cycle of the working section I is shown in fig. 3, wherein the binding and white cloth belt working position 1 is 1 working position, the expanding working position 2 is 2 working positions, the thread end shaping working position 3 is 3 working positions, and the white cloth belt dismantling working position 4 is 4 working positions.
In this embodiment, the working cycle of the working section II is shown in fig. 4, wherein the manual wrapping insulation station 5 is 5 stations.
In this embodiment, the working cycle of the working section III is shown in fig. 5, where the machine wrapping station 6 is 6 stations, and the manual wrapping insulation station 5 is 7 stations.
In this embodiment, the working cycle of the working section IV is shown in fig. 6, wherein the straight edge shaping working station 8 is 8 working stations, and the comprehensive detection working station 9 is 9 working stations.
The production line control system collects sensor signals, grating signals, button signals and the like of each station workbench, then judges whether the workbench is finished processing, and prepares to replace a workpiece, and then sends a compensation command to each station mechanical arm 12, so that the mechanical arm 12 can grasp the processed workpiece to a designated position, and the carried workpiece is compensated to the workbench.
Then, the production line control system collects the working table signal of the next working station of the working section, and performs the repair operation of the working table of the next working station until the last working station of the working section, and then returns to the first working station of the working section, so that the cyclic operation is performed.
The controller of each mechanical arm 12 can accurately control the action of the mechanical arm 12, and according to the working section to be serviced, a sub-program of the taking and supplementing action for the working table of each working section is pre-programmed in the controller of the mechanical arm 12, and then the corresponding sub-program is called according to the instruction sent by the control system of the production line, so that the corresponding action can be completed.
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 the corresponding subprogram to the corresponding mechanical arm 12 controller according to the predetermined operation position.
Example 2
The present embodiment differs from embodiment 1 in that the clamping portion is not operated well because the wind power coil 20 is clamped by the clamping structure when the insulation is manually bound and the white tape is bound and removed. To meet the requirement of being convenient for the worker 14 to operate, further, the manual operation platform corresponding to the three manual stations further comprises a lifting clamp.
Four independent lifting clamps are arranged on the operating table top 21, and two independent lifting clamps are respectively positioned at two sides of the positioning 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 function of this embodiment is as follows:
when the wind power coil 20 to be processed is obtained from the transfer area of the mechanical arm 12 or transferred to the mechanical arm 12 to send the processed wind power coil 20, the wind power coil 20 is moved by using the positioning and clamping mechanism arranged on the longitudinal sliding rail, and meanwhile, when two straight sides of the wind power coil 20 are required to be processed respectively, the position is changed by rotating the rotating disc 23.
When the clamped position of the wind power coil 20 is not easy to operate during processing, the lifting clamp is started, and the lifting clamp lifts the part of the wind power coil 20 beyond the clamping block 24, so that the wind power coil 20 is lifted away from the clamping block 24. At this time, the portion clamped by the clamp block 24 is separated from the clamp block 24, and the operation can be performed. After the operation is completed, the lifting clamp returns to place the wind power coil 20 back on the clamping block 24.
Example 3
The present embodiment differs from embodiment 1 in that the clamping portion is not operated well because the wind power coil 20 is clamped by the clamping structure when the insulation is manually bound and the white tape is bound and removed. In order to meet the requirement of being convenient for the operation of the worker 14, further, in the manual operation table corresponding to the three manual stations, the positioning and clamping mechanism further comprises an electric control lifting rod 25, the telescopic end of the electric control lifting rod 25 faces upwards, and a clamping block 24 is arranged; the base of the electric lifting rod 25 is detachably arranged on the longitudinal steel frame through bolts.
In this embodiment, the clamping block 24 can directly realize the lifting function.
In the case of clamping, a total of four clamping blocks 24 are used for jointly clamping the wind power coil 20, and when any clamping part is not operated well, the clamping block 24 controlling the clamping part descends under the driving of the lifting rod 25 and is separated from the wind power coil 20. At this time, the other three clamping blocks 24 still maintain the clamped 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 the original position, so that the clamping state is kept continuously.
Example 4
In order to satisfy the use of the wind power coil 20 applicable to different specifications, the difference between the present embodiment and embodiment 1 is as follows:
a gripper arm 45 is fixed at the top of one end of the rotating arm 43 far away from the driving arm 42, and two grippers 44 are respectively arranged at two ends of the gripper arm 45. A rotary gripper arm 46 is provided at the bottom of the gripper arm 45. The rotating gripper arm 46 is located in the middle of the gripper arm 45.
The rotating gripper arm 46 comprises an arm shell and a rotating gripper 47, the rotating arm 43 is provided with a motor 18, and an output shaft of the motor 18 is connected with the arm shell of the rotating gripper arm 46, so that the motor 18 can drive the rotating gripper arm 46 to rotate.
Two rotating claws 47 are provided on both sides of the bottom of the rotating claw arm 46, respectively. The structure of the rotating gripper 47 is basically the same as the structure of the gripper 44 described above, the only difference being that in the rotating gripper 47, the bottom of the slide is provided with a motor 18, and the output shaft of the motor 18 is connected with a gripping plate, so that the gripping plate can rotate.
The effect achieved by the structure of this embodiment is that one of the claws 44 of the claw arm 45 and the rotating claw 47 on the rotating claw arm 46 closest thereto form a gripping assembly for gripping the two straight sides of the wind power coil 20 passing through the expansion. The height of the turning claws 47 is lower than the height of the claws 44, so that the turning claws 47 grasp the lower straight sides of the wind power coil 20 and the claws 44 grasp the upper straight sides of the wind power coil 20.
When the specification of the wind power coil 20 becomes larger, under the action of the motor 18, the shell of the rotating gripper arm 46 rotates to drive the rotating gripper arm 46 to rotate, and at the moment, the two rotating grippers 47 rotate around a circle center around a circle, so that the distance between the rotating grippers 47 and the grippers 44 forming a grabbing assembly is variable, and the wind power coils 20 with different sizes are grabbed.
In this embodiment, the grabbing plate of the rotating gripper 47 is disposed at the bottom of the slider by the motor 18, because the wind power coil 20 is easily deformed when the rotating gripper 47 tilts between the gripper plate 48 of the rotating gripper 47 and the gripper plate 48 of the gripper 44 after the rotating gripper 47 moves circumferentially. After changing the circumferential position of the rotary gripper 47, the gripper plates 48 can be rotated by means of the motor 18 such that the two gripper plates 48 of the rotary gripper 47 remain parallel to the two gripper plates 48 of the gripper 44.
The present application can be well implemented according to the above-described embodiments. It should be noted that, based on the above structural design, even if some insubstantial modifications or color-rendering are made on the present application, the essence of the adopted technical solution is still the same as the present application, so it should be within the protection scope of the present application.
Claims (9)
1. The annular segmented production line for the wind power coils is characterized by comprising a plurality of working sections, wherein each working section is provided with a plurality of work stations which are annularly arranged, a mechanical arm is arranged in each working section, the mechanical arm clamps the wind power coils to transfer between adjacent working sections, the mechanical arm clamps the wind power coils to transfer between the work stations of the same working section, each work station is a processing work station in the production flow of the wind power coils, and corresponding processing equipment is arranged on each processing work station;
the mechanical arm comprises a base, an upright post, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, and rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the upright post is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate around the driving arm by 360 degrees, and a driving mechanism is arranged in the driving arm and is connected with the rotating arm to drive the rotating arm to rotate; the bottom of the rotating arm is provided with a paw arm, the paw arm is provided with a paw, and the paw is arranged on the rotating arm through the paw arm;
the rotating arm is connected with the 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 rotary paw arm rotates, the rotary paw moves on a circle, and the rotary paw and the paw form a group of grabbing components.
2. A wind power coil annular segmented production line according to claim 1, wherein the working section is provided with two layers of annular arranged stations, one layer is arranged on the ground, the other layer is arranged on the ground through a support frame, and stairs or elevators are arranged on the ground to reach the two layers.
3. A wind power coil annular segmented production line according to claim 2, wherein a mechanical arm is arranged in the circulator ring of each working section; a buffer table or a conveyer belt is arranged between adjacent working sections; the mechanical arm of the previous working section places the wind power coil on a buffer table or a conveyer belt; and the mechanical arm of the next working section grabs the wind power coil from the buffer table or the conveyer belt to enter the next working section.
4. The wind power coil annular segmented production line according to claim 1, wherein the stations comprise a feeding station, a white cloth belt wrapping station, an expanding station, a thread end shaping station, a white cloth belt dismantling station, a manual wrapping insulation 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 the 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 wind power coil annular segmented production line according to claim 4, wherein safety guardrails are arranged between the feeding station, the thread end shaping station, the white cloth belt binding station, the white cloth belt dismantling station, the manual binding insulation 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, the thread end shaping station, the binding white cloth belt station, the white cloth belt dismantling station, the manual binding insulation station, the straight edge shaping station, the comprehensive detection station and the discharging station are all provided with electric control displacement devices, wind power coil carriers are arranged on moving parts of the electric control displacement devices and used for bearing wind power coils, and under the action of the electric control displacement devices, the wind power coil carriers can bear the displacement between the wind power coils penetrating through openings on the safety guardrails and at the feeding station, the thread end shaping station, the white cloth belt binding station, the white cloth belt dismantling station, the manual binding insulation station, the straight edge shaping station, the comprehensive detection station, the discharging station and a mechanical arm working area.
6. The wind power coil annular segmented production line according to claim 4, wherein a manual operation table is arranged in any one or more of a line head shaping station, a white cloth belt binding station, a white cloth belt dismantling station and a manual binding insulation station, and comprises an operation table surface, a guide rail, a rotating mechanism and a positioning and clamping mechanism; the operation table top 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 all electrically controlled; the guide rail controls the positioning clamping mechanism to displace between the working area and the working position of the mechanical arm; the positioning and clamping mechanism comprises a bracket and a clamping block, the bracket is arranged on the rotating mechanism, the clamping block is detachably arranged on the bracket, and the clamping block is used for clamping the coil.
7. The segmented production line for wind power coils according to claim 6, wherein the lower portion 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 wind power coil annular segmented production line according to claim 6, wherein a plurality of lifting clamps are arranged on the operating table surface, and each lifting clamp comprises an electric lifting rod and a U-shaped clamp arranged at the top of the electric lifting rod.
9. The wind power coil annular segmented production line according to claim 1, wherein the gripper comprises a first gripper seat, two gripper plates and a gripper plate driving mechanism for controlling gripping of the two main plates; a claw plate driving mechanism is arranged in the first claw seat; the claw plate driving mechanism comprises an air cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, and one ends of the two inclined rods are sleeved on the rotating shaft together, so that one ends of the two inclined rods are connected in a shaft way; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft way; a vertical groove is formed in the first paw seat; one end of a rotating shaft sleeved with 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 first paw 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 first paw seat is provided with a C-shaped transverse chute with a downward opening, and a sliding block is arranged in the C-shaped transverse chute, so that the sliding block can only transversely displace in the chute; the bottom of the sliding block is connected with a claw plate; the bottom of the chute is provided with a bar-shaped hole matched with the size of the chute bottom, and the other end of the inclined rod passes through the bar-shaped hole to be connected with the sliding block in a shaft way;
the rotary paw comprises a second paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp;
a claw plate driving mechanism is arranged in the second claw seat; the claw plate driving mechanism comprises an air cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, and one ends of the two inclined rods are sleeved on the rotating shaft together, so that one ends of the two inclined rods are connected in a shaft way; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft way; a vertical groove is formed in the second paw seat; one end of a rotating shaft sleeved with 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 second paw 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 second paw seat is provided with a C-shaped transverse chute with a downward opening, and a sliding block is arranged in the C-shaped transverse chute, so that the sliding block can only transversely displace in the chute; 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 bottom of the chute is provided with a bar-shaped hole matched with the size of the chute bottom, and the other end of the diagonal rod penetrates through the bar-shaped hole to be connected with the sliding block in a shaft way.
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| CN114309212A (en) * | 2021-12-30 | 2022-04-12 | 南京艾程自动化科技有限公司 | Full-automatic stamping production line |
| CN114078633B (en) * | 2022-01-07 | 2022-04-05 | 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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