CN114559229A - Power transformer assembling equipment based on industrial manipulator and machining method thereof - Google Patents
Power transformer assembling equipment based on industrial manipulator and machining method thereof Download PDFInfo
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- CN114559229A CN114559229A CN202210263356.9A CN202210263356A CN114559229A CN 114559229 A CN114559229 A CN 114559229A CN 202210263356 A CN202210263356 A CN 202210263356A CN 114559229 A CN114559229 A CN 114559229A
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- 238000000034 method Methods 0.000 title claims description 11
- 238000003754 machining Methods 0.000 title claims description 3
- 238000003032 molecular docking Methods 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 description 26
- 230000000694 effects Effects 0.000 description 10
- 238000009434 installation Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses power transformer assembling equipment based on an industrial manipulator, which comprises a fixed base and a rotating base, wherein the rotating base is movably arranged in the middle of the upper end of the fixed base, the rotating base is movably connected with the fixed base through a rotating rod, a first mechanical arm is arranged on one side of the rotating base, a second mechanical arm is arranged on the other side of the rotating base, the first mechanical arm, the second mechanical arm and the rotating base are fixedly butted through splicing rods, and mechanical grippers for clamping parts are movably arranged at one ends of the first mechanical arm and the second mechanical arm; the mechanical arms with the corresponding number are installed in the splicing grooves matched with the rotary base, so that a three-arm structure and a four-arm structure are formed, the flexibility of the power transformer assembling equipment is improved when the power transformer assembling equipment is used, the rotary base is matched with the first mechanical arm and the second mechanical arm to form a rotary type double-arm assembling structure, and the working efficiency of the power transformer assembling equipment based on the industrial mechanical arm is effectively improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to power transformer assembling equipment based on an industrial manipulator and a processing method thereof.
Background
The power transformer assembling equipment based on the industrial manipulator is an industrial manipulator used for assembling and operating parts of a power transformer in the assembling and processing process of the power transformer, and the industrial manipulator can replace manual operation to improve the efficiency of the power transformer during assembling and operating.
The invention patent of patent No. CN105643605B discloses a transformer core lamination manipulator, which comprises a Y-direction motion assembly, a slider, a connecting plate, an X-direction motion assembly, a retractable sucker-type manipulator, a rotary motion assembly, a visual camera support and a visual camera, wherein the Y-direction motion assembly is connected with the X-direction motion assembly, the rotary motion assembly is mounted at the lower end of the Y-direction motion assembly, the retractable sucker-type manipulator is fixedly mounted below the rotary motion assembly, the visual camera support is mounted at the bottom of the Y-direction motion assembly, the visual camera is fixedly mounted on the visual camera support, the connecting plate is fixedly connected with the bottom of the X-direction motion assembly, and the connecting plate is connected with a guide rail on a gantry through a slider, so that the transformer core lamination manipulator can move in the Z direction.
The traditional industrial manipulator adopts a single-arm structure design, needs advanced grabbing and fixing of parts when the industrial manipulator carries out power transformer assembling operation, and increases repeated operation steps of the industrial manipulator when more parts of the power transformer need to be assembled, thereby reducing the working efficiency of the industrial manipulator; secondly, the traditional power transformer assembling equipment based on the industrial manipulator does not have a grabbing adjusting structure, so that the size of an object which can be grabbed by the industrial manipulator is limited, but the power transformer is more in parts during assembling operation and large in size and span, so that the traditional industrial manipulator cannot be suitable for grabbing and fixing operations of parts with different sizes; meanwhile, the traditional industrial manipulator does not have a grabbing protection structure, and when the industrial manipulator carries out assembly operation of the parts of the power transformer, the parts are easy to fall off and deform in the grabbing and transferring process, so that the using effect of the power transformer assembling equipment based on the industrial manipulator is reduced, and certain adverse effects are brought to a user.
Disclosure of Invention
The invention aims to provide power transformer assembling equipment based on an industrial manipulator and a processing method thereof, which can solve the existing problems.
The invention solves the problems that:
1. the traditional industrial manipulator adopts a single-arm structural design, needs advanced grabbing and fixing of parts when the industrial manipulator carries out power transformer assembling operation, and increases repeated operation steps of the industrial manipulator when more parts of the power transformer need to be assembled, thereby reducing the working efficiency of the industrial manipulator;
2. the traditional power transformer assembling equipment based on the industrial manipulator does not have a grabbing adjusting structure, so that the size of an object which can be grabbed by the industrial manipulator is limited, but the power transformer is more in parts during assembling operation and larger in size span, so that the traditional industrial manipulator cannot be suitable for grabbing and fixing the parts with different sizes;
3. traditional industrial robot does not have and snatchs protection architecture, when industrial robot carries out power transformer spare part equipment operation for spare part appears droing easily and warp the phenomenon snatching the transfer in-process, thereby has reduced this power transformer equipment based on industrial robot's result of use.
The purpose of the invention can be realized by the following technical scheme:
power transformer equipment based on industrial robot, including fixed baseplate and rotating base, rotating base movable mounting is in fixed baseplate's upper end middle part position, through dwang swing joint between rotating base and the fixed baseplate, first arm is installed to one side of rotating base, and the second arm is installed to rotating base ground opposite side, all dock fixedly through the concatenation pole between first arm, second arm and the rotating base, the equal movable mounting in one end of first arm and second arm has the mechanical tongs that is used for pressing from both sides to get the part.
As a further technical solution of the present invention, the first mechanical arm and the second mechanical arm each include a first rotary joint and a second rotary joint, the first rotary joint and the second rotary joint are movably connected through a hydraulic telescopic rod, and two sets of motors are installed in the first rotary joint and the second rotary joint, so that the first rotary joint and the second rotary joint can be rotationally adjusted, the two ends of the first mechanical arm and the second mechanical arm can be rotationally adjusted by using the first rotary joint and the second rotary joint, and the use positions of the first mechanical arm and the second mechanical arm can be adjusted according to the position of a part in the power transformer assembling process.
According to the further technical scheme, the middle of one end of the second rotary joint is provided with the splicing clamping sleeve matched with the splicing rod for use, the first rotary joint is connected with the mechanical gripper through four groups of buffer arms, the inner side of the rotary base is provided with the splicing groove matched with the splicing rod for use, an elastic buffer structure is formed between the first rotary joint and the mechanical gripper through the arrangement of the buffer arms, a certain protection effect can be achieved when the power transformer is assembled, and meanwhile, the splicing clamping sleeve can be arranged to enable one end of the splicing rod to be in butt joint and fixed effect when the splicing rod is installed.
According to a further technical scheme, the mechanical gripper comprises two groups of telescopic fixtures and a fixed sleeve shell, the two groups of telescopic fixtures are movably arranged on the inner sides of two ends of the fixed sleeve shell, the telescopic fixtures are movably connected with the fixed sleeve shell through hydraulic rods, and the two groups of telescopic fixtures can be driven to move by the arrangement of the hydraulic rods, so that the telescopic fixtures complete gripping and fixing operations.
As a further technical scheme, the telescopic fixture comprises a fixing clamp and a butt joint seat, the fixing clamp is movably installed at one end of the butt joint seat, a round hole matched with the hydraulic rod is formed in the other end of the butt joint seat, and the butt joint seat is matched with the round hole to play a role in butt joint and fixing the hydraulic rod.
As a further technical scheme of the invention, the fixing clamp and the butt joint seat are movably connected through a telescopic sleeve, a fastening bolt for locking the telescopic sleeve is sleeved on the side edge of the butt joint seat, the use position of the fixing clamp can be adjusted by utilizing the arrangement of the telescopic sleeve, and the telescopic clamp can be fixed and adjusted.
As a further technical scheme of the invention, one end of the fixing clamp is movably provided with a rotary buckle, the fixing clamp and the rotary buckle are movably connected through a rotating shaft, and the rotary buckle is driven by a motor, so that the rotary buckle can perform inclination adjustment operation.
As a further technical scheme, the buffer arm comprises a first loop bar, a butt joint sleeve and a second loop bar, the first loop bar is movably mounted at one end of the butt joint sleeve, the second loop bar is movably mounted in the other interior of the butt joint sleeve, a spring is arranged between the first loop bar and the second loop bar, the first loop bar and the second loop bar are provided with elastic shock absorption structures through the spring, meanwhile, the butt joint sleeve is used for assisting and fixing the first loop bar and the second loop bar, and the first loop bar and the second loop bar are prevented from falling off.
According to the further technical scheme, threaded sleeves are movably sleeved on the outer surfaces of the two ends of the splicing rod, rectangular clamping blocks are fixedly mounted in the middle positions of the two ends of the splicing rod, reinforcing sleeve rods are fixedly mounted inside the splicing rod, the threaded sleeves play a role in fixing the splicing of the splicing rod, and when a user rotates the threaded sleeves, the rectangular clamping blocks play a role in limiting and fixing the splicing rod and prevent the splicing rod from synchronously rotating.
The specific operation steps are as follows:
the method comprises the following steps that firstly, a steering motor drives a rotating rod, so that the rotating rod drives a rotating base, and the rotating base drives a first mechanical arm and a second mechanical arm to rotate simultaneously;
driving the two groups of telescopic fixtures to move through the hydraulic rod, so that the mechanical gripper finishes the grabbing operation of the parts of the power transformer;
and step three, adjusting the angle of the mechanical gripper through the first rotary joint and the second rotary joint, and adjusting the height of the mechanical gripper by using a hydraulic telescopic rod between the first rotary joint and the second rotary joint, so that the mechanical gripper completes the assembly operation of the parts of the power transformer.
The invention has the beneficial effects that:
1. when the industrial manipulator based power transformer assembly operation is carried out, a user can install mechanical arms with corresponding quantity by utilizing the splicing grooves of the rotary base according to the quantity of parts required to be assembled of the power transformer by arranging the rotary base, the user fixes the first mechanical arm and the second mechanical arm on two sides of the rotary base respectively by utilizing the splicing rods, so that the industrial manipulator based power transformer assembly equipment forms a double-arm assembly structure, when the industrial manipulator based power transformer assembly equipment is used, the rotating rod is driven by the steering motor to drive the rotary base, the rotary base drives the first mechanical arm and the second mechanical arm to rotate simultaneously, when a mechanical gripper of the first mechanical arm finishes part grabbing operation, the user drives the rotating rod by steering the motor to drive the rotary base to drive the first mechanical arm to rotate, and the positions of the first mechanical arm and the second mechanical arm are changed, the first mechanical arm is arranged at the assembly position of the power transformer, and the second mechanical arm is arranged at the part position of the power transformer, when the first mechanical arm is matched with the mechanical gripper to carry out the assembly operation of the power transformer, the second mechanical arm can simultaneously carry out the gripping and fixing operation of parts required by the next step through the mechanical gripper, after the first mechanical arm finishes the assembly operation, the second mechanical arm is driven to rotate by the rotating base, so that the second mechanical arm drives the mechanical gripper to directly carry out the next part installation operation, meanwhile, according to the number of the transformer parts, the corresponding number of mechanical arms can be arranged by matching with the splicing grooves of the rotating base, so that the three-arm and four-arm structure is formed, the flexibility of the device is improved when the device is used, a rotary base is matched with a first mechanical arm and a second mechanical arm to form a rotary double-arm assembly structure, therefore, the working efficiency of the power transformer assembling equipment based on the industrial manipulator is effectively improved.
2. By installing the telescopic clamps, when the industrial manipulator based assembling operation of the power transformer is carried out, a user can rotate the fastening bolts of the butt joint seat according to the sizes of the parts of the power transformer to loosen the butt joint seat and the telescopic sleeve, the user can adjust the distance between the two groups of telescopic clamps by pulling the two groups of telescopic clamps, simultaneously rotate the fastening bolts to lock and fix the drawn butt joint seat and the telescopic sleeve, the mechanical grippers of the first mechanical arm and the second mechanical arm play a role in fixing and adjusting by adjusting the distance between the two groups of telescopic clamps, so that the mechanical grippers can finish the grabbing and fixing operation of the parts of the power transformer with different sizes, the two groups of telescopic clamps are driven to move by the hydraulic rods, the mechanical grippers finish the grabbing operation of the parts of the power transformer, and the arrangement of the telescopic clamps is utilized, the power transformer assembling equipment based on the industrial manipulator is provided with a grabbing adjusting structure, and the grabbing range of the industrial manipulator is improved.
3. Through the installation of the rotary buckle and the splicing rod, when the assembly operation of the power transformer is carried out based on the industrial manipulator, the fixed clamp and the rotary buckle are movably connected through the rotating shaft, the rotary buckle is driven by the motor, so that the rotary buckle can carry out the inclination adjustment operation, when the mechanical gripper carries out the grabbing and fixing operation of transformer parts, the bent rotary buckle is utilized to play an auxiliary fixing role for the transformer parts grabbed by the mechanical gripper, the falling-off phenomenon of the parts in the grabbing process is avoided, meanwhile, the elastic buffer structure is formed between the first rotary joint and the mechanical gripper by utilizing the first sleeve rod and the second sleeve rod of the buffer arm to be matched with the spring, when the mechanical gripper carries out the part installation operation, the extrusion deformation phenomenon of the parts can be avoided, the use effect of the assembly equipment is improved, and meanwhile, the arrangement of the splicing rod is utilized, can cooperate thread bush and rectangle fixture block, accomplish the fixed operation of piecing together extension rod and first arm and second arm to adjust the use length of first arm and second arm, promote this power transformer equipment's application scope.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of an industrial robot-based power transformer assembly apparatus according to the present invention;
fig. 2 is an overall structural view of a first robot arm in the industrial robot-based power transformer assembling apparatus according to the present invention;
FIG. 3 is a plan view of a mechanical gripper of the industrial robot-based power transformer assembling apparatus of the present invention;
FIG. 4 is a plan view of a buffer arm in the industrial robot-based power transformer assembling apparatus according to the present invention;
FIG. 5 is a plan view of a telescopic jig in the industrial robot-based power transformer assembling apparatus according to the present invention;
fig. 6 is a plan view of a splicing rod in the industrial robot-based power transformer assembling apparatus of the present invention.
In the figure: 1. a steering motor; 2. a fixed base; 3. a first robot arm; 4. rotating the base; 5. a second mechanical arm; 6. splicing rods; 7. a first rotary joint; 8. a mechanical gripper; 9. a second rotary joint; 10. splicing the clamp sleeves; 11. a hydraulic lever; 12. a telescopic clamp; 13. fixing the casing; 14. a buffer arm; 15. a first loop bar; 16. a spring; 17. butting sleeves; 18. a second loop bar; 19. rotating the buckle; 20. a fixing clip; 21. a docking station; 22. a telescopic sleeve; 23. a threaded sleeve; 24. reinforcing the loop bar; 25. a rectangular fixture block; 26. rotating the rod; 27. and (6) splicing the grooves.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1-6, the power transformer assembling equipment based on the industrial manipulator comprises a fixed base 2 and a rotating base 4, wherein the rotating base 4 is movably installed at the middle position of the upper end of the fixed base 2, the rotating base 4 is movably connected with the fixed base 2 through a rotating rod 26, a first mechanical arm 3 is installed on one side of the rotating base 4, a second mechanical arm 5 is installed on the other side of the rotating base 4, the first mechanical arm 3, the second mechanical arm 5 and the rotating base 4 are fixedly connected in a butt joint mode through a splicing rod 6, and a mechanical hand 8 used for clamping a part is movably installed at one end of each of the first mechanical arm 3 and the second mechanical arm 5.
The first mechanical arm 3 and the second mechanical arm 5 respectively comprise a first rotary joint 7 and a second rotary joint 9, the first rotary joint 7 is movably connected with the second rotary joint 9 through a hydraulic telescopic rod, two groups of motors are respectively arranged in the first rotary joint 7 and the second rotary joint 9, so that the first rotary joint 7 and the second rotary joint 9 can be rotatably adjusted, the two ends of the first mechanical arm 3 and the two ends of the second mechanical arm 5 can be rotatably adjusted by the aid of the first rotary joint 7 and the second rotary joint 9, and in the assembling process of the power transformer, the use positions of the first mechanical arm 3 and the second mechanical arm 5 can be adjusted according to the positions of parts.
The one end mid-mounting of second rotary joint 9 has the concatenation cutting ferrule 10 that cooperation concatenation pole 6 used, connect through four group's buffer arm 14 between first rotary joint 7 and the mechanical tongs 8, the splice groove 27 that cooperation concatenation pole 6 used has been seted up to the inboard of rotating basis 4, utilize the setting of buffer arm 14, make and form elastic buffer structure between first rotary joint 7 and the mechanical tongs 8, when it carries out power transformer equipment operation, can play certain guard action, utilize the setting of concatenation cutting ferrule 10 simultaneously, can be when the installation of concatenation pole 6, play butt joint fixed action to its one end.
The telescopic fixture 12 comprises a fixing clamp 20 and a butt-joint seat 21, the fixing clamp 20 is movably installed at one end of the butt-joint seat 21, a round hole matched with the hydraulic rod 11 is formed in the other end of the butt-joint seat 21, and the butt-joint seat 21 is matched with the round hole to achieve a butt-joint fixing effect on the installation of the hydraulic rod 11.
The fixing clamp 20 is movably connected with the butt joint seat 21 through the telescopic sleeve 22, the side edge of the butt joint seat 21 is sleeved with the fastening bolt used for locking the telescopic sleeve 22, the using position of the fixing clamp 20 can be adjusted by setting the telescopic sleeve 22, and the telescopic clamp 12 is fixed and adjusted.
One end of the fixing clip 20 is movably provided with a rotating buckle 19, the fixing clip 20 and the rotating buckle 19 are movably connected through a rotating shaft, and the rotating buckle 19 is driven by a motor, so that the rotating buckle 19 can perform inclination adjustment operation.
Threaded sleeve 23 has been cup jointed in the equal activity of both ends surface of splice bar 6, and the equal fixed mounting in both ends middle part position of splice bar 6 has rectangle fixture block 25, and the inside fixed mounting of splice bar 6 has reinforcement loop bar 24, and threaded sleeve 23 plays the fixed action to splice of splice bar 6, and rectangle fixture block 25 is when the user rotates threaded sleeve 23, plays spacing fixed action to splice bar 6, avoids splice bar 6 to rotate in step.
The specific operation steps are as follows:
step one, a steering motor 1 drives a rotating rod 26, so that the rotating rod 26 drives a rotating base 4, and the rotating base 4 drives a first mechanical arm 3 and a second mechanical arm 5 to rotate simultaneously;
driving the two groups of telescopic fixtures 12 to move through the hydraulic rod 11, so that the mechanical gripper 8 finishes the gripping operation of the parts of the power transformer;
and step three, adjusting the angle of the mechanical hand grip 8 through the first rotary joint 7 and the second rotary joint 9, and adjusting the height of the mechanical hand grip 8 by using a hydraulic telescopic rod between the first rotary joint 7 and the second rotary joint 9, so that the mechanical hand grip 8 completes the assembly operation of the parts of the power transformer.
The power transformer assembling equipment based on the industrial manipulator is characterized in that by arranging the rotary base 4, when the assembling operation of the power transformer is carried out based on the industrial manipulator, a user can utilize the splicing grooves 27 of the rotary base 4 to install mechanical arms with corresponding quantity according to the quantity of parts required to be assembled by the power transformer, the user can respectively fix the first mechanical arm 3 and the second mechanical arm 5 on two sides of the rotary base 4 by utilizing the arrangement of the splicing rods 6, so that the power transformer assembling equipment based on the industrial manipulator forms a double-arm assembling structure, when in use, the rotating rod 26 is driven by the steering motor 1, the rotating rod 26 drives the rotary base 4, the rotary base 4 simultaneously drives the first mechanical arm 3 and the second mechanical arm 5 to rotate, when the mechanical gripper 8 of the first mechanical arm 3 finishes the part grabbing operation, the user drives the rotating rod 26 by the steering motor 1, the rotary base 4 drives the first mechanical arm 3 to rotate, so that the positions of the first mechanical arm 3 and the second mechanical arm 5 are exchanged, the first mechanical arm 3 is arranged at the assembling position of the power transformer, the second mechanical arm 5 is arranged at the part position of the power transformer, when the first mechanical arm 3 is matched with the mechanical gripper 8 to carry out the assembling operation of the power transformer, the second mechanical arm 5 can simultaneously carry out the grabbing and fixing operation of parts required by the next step through the mechanical gripper 8, after the assembling operation of the first mechanical arm 3 is finished, the rotary base 4 drives the second mechanical arm 5 to rotate, so that the second mechanical arm 5 drives the mechanical gripper 8 to directly carry out the part installing operation of the next step, and simultaneously, according to the number of the parts of the transformer, the corresponding number of mechanical arms are installed in the matching with the splicing grooves 27 of the rotary base 4, so that the three-arm structure and the four-arm structure are formed, the flexibility of the power transformer assembling equipment is improved, and a rotary double-arm assembling structure is formed by matching the rotary base 4 with the first mechanical arm 3 and the second mechanical arm 5, so that the working efficiency of the power transformer assembling equipment based on the industrial mechanical arm is effectively improved;
by installing the telescopic clamps 12, when the industrial manipulator is used for assembling the power transformer, a user can rotate the fastening bolts of the butt joint seat 21 according to the size of the components of the power transformer to loosen the butt joint seat 21 and the telescopic sleeve 22, pull the two groups of telescopic clamps 12 to adjust the distance between the two groups of telescopic clamps 12, simultaneously rotate the fastening bolts to lock and fix the drawn butt joint seat 21 and the telescopic sleeve 22, and adjust the distance between the two groups of telescopic clamps 12 to ensure that the mechanical hand grips 8 of the first mechanical arm 3 and the second mechanical arm 5 play a role in fixing and adjusting, so that the mechanical hand grips 8 can complete the gripping and fixing operations on the components of the transformers with different sizes, and drive the two groups of telescopic clamps 12 to move through the hydraulic rod 11 to ensure that the mechanical hand grips 8 complete the gripping operations on the components of the power transformer, by means of the arrangement of the telescopic clamp 12, the industrial manipulator-based power transformer assembling equipment is provided with a grabbing adjusting structure, and the grabbing range of the industrial manipulator is enlarged;
through the installation of the rotary buckle 19 and the splicing rod 6, when the assembly operation of the power transformer is carried out based on the industrial manipulator, the fixing clamp 20 is movably connected with the rotary buckle 19 through the rotating shaft, the rotary buckle 19 is driven by the motor, so that the rotary buckle 19 can be subjected to the inclination adjustment operation, when the mechanical gripper 8 is used for grabbing and fixing transformer parts, the bent rotary buckle 19 can be used for assisting and fixing the transformer parts grabbed by the mechanical gripper 8, so that the falling-off phenomenon of the parts in the grabbing process can be avoided, meanwhile, the first loop bar 15 and the second loop bar 18 of the buffer arm 14 are matched with the spring 16, so that an elastic buffer structure is formed between the first rotary joint 7 and the mechanical gripper 8, when the mechanical gripper 8 is used for installing the parts, the extrusion deformation phenomenon of the parts can be avoided, and the use effect of the assembly equipment can be improved, meanwhile, the splicing rod 6 is arranged, the threaded sleeve 23 and the rectangular clamping block 25 can be matched, and the fixing operation of the splicing rod 6, the first mechanical arm 3 and the second mechanical arm 5 is completed, so that the use lengths of the first mechanical arm 3 and the second mechanical arm 5 are adjusted, and the application range of the power transformer assembling equipment is widened.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. Power transformer equipment based on industrial robot, including unable adjustment base (2) and rotating base (4), rotating base (4) movable mounting is in the upper end middle part position of unable adjustment base (2), through dwang (26) swing joint between rotating base (4) and unable adjustment base (2), its characterized in that, first arm (3) is installed to one side of rotating base (4), and the opposite side of rotating base (4) installs second arm (5), all dock fixedly through concatenation pole (6) between first arm (3), second arm (5) and the rotating base (4), the equal movable mounting in one end of first arm (3) and second arm (5) has mechanical tongs (8) that are used for pressing from both sides and get the part.
2. The industrial robot-based power transformer assembling equipment according to claim 1, wherein the first robot arm (3) and the second robot arm (5) each comprise a first rotary joint (7) and a second rotary joint (9), and the first rotary joint (7) and the second rotary joint (9) are movably connected through a hydraulic telescopic rod.
3. The power transformer assembling equipment based on the industrial manipulator as claimed in claim 2, wherein a splicing clamping sleeve (10) matched with the splicing rod (6) for use is installed in the middle of one end of the second rotary joint (9), the first rotary joint (7) and the mechanical gripper (8) are connected through four groups of buffer arms (14), and a splicing groove (27) matched with the splicing rod (6) for use is formed in the inner side of the rotary base (4).
4. The industrial robot-based power transformer assembling equipment according to claim 1, wherein the mechanical gripper (8) comprises two groups of telescopic clamps (12) and a fixed casing (13), and the telescopic clamps (12) are movably connected with the fixed casing (13) through hydraulic rods (11).
5. The industrial robot-based power transformer assembly apparatus according to claim 4, wherein the telescopic clamp (12) comprises a fixing clip (20) and a docking station (21), the fixing clip (20) being movably mounted at one end of the docking station (21).
6. The industrial robot-based power transformer assembling equipment according to claim 5, characterized in that the fixing clip (20) and the docking seat (21) are movably connected through a telescopic tube (22), and a fastening bolt for locking the telescopic tube (22) is sleeved on the side edge of the docking seat (21).
7. The industrial robot-based power transformer assembling equipment according to claim 6, wherein one end of the fixing clip (20) is movably installed with a rotary buckle (19), and the fixing clip (20) and the rotary buckle (19) are movably connected through a rotating shaft.
8. The industrial robot-based power transformer assembly device according to claim 3, characterized in that the buffer arm (14) comprises a first loop bar (15), a docking sleeve (17) and a second loop bar (18), the first loop bar (15) is movably mounted inside the docking sleeve (17), and a spring (16) is arranged between the first loop bar (15) and the second loop bar (18).
9. The power transformer assembling equipment based on the industrial manipulator as claimed in claim 1, wherein threaded sleeves (23) are movably sleeved on outer surfaces of two ends of the splicing rod (6), rectangular clamping blocks (25) are fixedly installed in middle positions of two ends of the splicing rod (6), and reinforcing sleeve rods (24) are fixedly installed inside the splicing rod (6).
10. The machining method of the power transformer assembling equipment based on the industrial manipulator is characterized by comprising the following specific operation steps:
step one, a steering motor (1) is used for driving a rotating rod (26), so that the rotating rod (26) drives a rotating base (4), and the rotating base (4) drives a first mechanical arm (3) and a second mechanical arm (5) to rotate at the same time;
driving the two groups of telescopic fixtures (12) to move through the hydraulic rod (11), so that the mechanical gripper (8) finishes the grabbing operation of the parts of the power transformer;
and thirdly, adjusting the angle of the mechanical gripper (8) through the first rotary joint (7) and the second rotary joint (9), and adjusting the height of the mechanical gripper (8) by using a hydraulic telescopic rod between the first rotary joint (7) and the second rotary joint (9) so that the mechanical gripper (8) completes the assembly operation of the parts of the power transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263356.9A CN114559229A (en) | 2022-03-17 | 2022-03-17 | Power transformer assembling equipment based on industrial manipulator and machining method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210263356.9A CN114559229A (en) | 2022-03-17 | 2022-03-17 | Power transformer assembling equipment based on industrial manipulator and machining method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114559229A true CN114559229A (en) | 2022-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210263356.9A Pending CN114559229A (en) | 2022-03-17 | 2022-03-17 | Power transformer assembling equipment based on industrial manipulator and machining method thereof |
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| CN (1) | CN114559229A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116197644A (en) * | 2022-12-31 | 2023-06-02 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Case assembly mechanical arm |
| CN116619179A (en) * | 2023-07-24 | 2023-08-22 | 泰州水冶新材料科技有限公司 | Ceramic repair equipment |
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| JPH06246656A (en) * | 1993-02-26 | 1994-09-06 | Motoda Electron Co Ltd | Farming work robot |
| CN104959974A (en) * | 2015-07-13 | 2015-10-07 | 资阳市精工机械有限公司 | Hydraulic double cantilever type mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116197644A (en) * | 2022-12-31 | 2023-06-02 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Case assembly mechanical arm |
| CN116197644B (en) * | 2022-12-31 | 2023-08-11 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Case assembly mechanical arm |
| CN116619179A (en) * | 2023-07-24 | 2023-08-22 | 泰州水冶新材料科技有限公司 | Ceramic repair equipment |
| CN116619179B (en) * | 2023-07-24 | 2023-10-10 | 泰州水冶新材料科技有限公司 | Ceramic repair equipment |
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