CN210161186U - Universal manipulator for high-voltage mutual inductor - Google Patents

Abstract

The utility model discloses a high-voltage transformer universal manipulator, include: the two gripper plates are used for clamping the bottom plate of the mutual inductor, the bottom of each gripper plate is provided with a clamping jaw used for supporting the bottom surface of the bottom plate of the mutual inductor, the two gripper plates are controlled to be opened and closed through a power device, and the power device is arranged below the connecting plate. The universal manipulator for the high-voltage mutual inductor is installed on the mechanical arm, the connecting plate is used for connecting the mechanical arm, the gripper plate is used for clamping the side face of the mutual inductor bottom plate and is arranged oppositely, the mechanical arm drives the gripper plate to move to two parallel vertical side faces of the mutual inductor bottom plate, then the gripper plate moves to the side face of the mutual inductor bottom plate in an opposite direction, the gripper plate drives the gripper to move upwards until the gripper holds up the bottom face of the mutual inductor bottom plate, the mutual inductor moves upwards under the jacking force of the gripper and is taken out of the turnover box, the friction force between the mechanical arm and the mutual inductor is converted into the force for the gripper to lift up the mutual inductor bottom plate, and the.

Description

Universal manipulator for high-voltage mutual inductor

Technical Field

The utility model relates to the technical field of machinery, more specifically say, relate to a high-voltage transformer universal manipulator.

Background

The national power grid and the southern power grid are popularized and used with a 10Kv high-voltage mutual inductor for full-automatic storage and automatic verification. At a feeding station of the automatic verification assembly line, a robot is required to grab the high-voltage transformer out of the turnover box and place the high-voltage transformer on a tray, and a robot at a discharging station does opposite actions.

The 10KV high-voltage transformer comprises a current transformer and a voltage transformer, wherein the overall dimension of the current transformer is 380x160x 221; the external dimension of the voltage transformer is 388x180x 285. The weight of the mutual inductors in different models is different, and the maximum weight is 40Kg each.

The turnover box is universal, one box contains three high-voltage transformers or high-voltage current transformers, and the gross weight of a single box reaches 160 Kg. The structural design of the turnover box considers the supporting strength when stacking 4 boxes, the positioning precision of the mutual inductor in the turnover box and the convenience for carrying of a forklift.

The existing manipulator generally adopts a design that a standard pneumatic claw is matched with a special palm, and an object is grabbed by using the friction force between the palm and the object. Is only suitable for the occasions with lighter weight and smaller size. The design of the vacuum chuck requires that the top of the object to be grasped has a large enough and flat surface, and the surfaces of some mutual inductors are non-planar, so that the design has certain limitation.

The high-voltage transformer has large volume and weight, the injection-molded outer surface is smooth, a traditional grabbing mode is adopted, a large-size gas claw needs to be selected, enough friction force can be provided for balancing the weight of the transformer, but a suitable standard gas claw is not available, in addition, the two sides of the transformer in a turnover box are provided with partition walls, and no space for a manipulator to stretch into is provided. The front end face and the rear end face of the mutual inductor are small in area and asymmetric relative to the gravity center, so that the mutual inductor is not suitable for being grabbed by a manipulator.

In summary, how to effectively grab the mutual inductor is a problem to be solved urgently by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a high-voltage transformer universal manipulator, this manipulator can effectively snatch the mutual-inductor.

In order to achieve the above object, the present invention provides the following technical solutions:

a high voltage transformer universal manipulator comprising: the bottom of the gripper plate is provided with a clamping jaw for supporting the bottom surface of the mutual inductor, the gripper plate is controlled to open and close through a power device, and the power device is arranged below the connecting plate.

Preferably, the power device is an air cylinder, one of the gripper plates is connected to a cylinder barrel of the air cylinder, and the other gripper plate is connected to a cylinder rod of the air cylinder.

Preferably, the upper portions of the two gripper plates are provided with sliding blocks, the lower portion of the connecting plate is provided with a bottom plate, and the lower portion of the bottom plate is provided with a guide rail which is matched with the sliding blocks to slide.

Preferably, the lower part of the bottom plate is provided with a gear, and the upper parts of the two gripper plates are provided with racks meshed with the gear.

Preferably, the lower part of one gripper plate is provided with a U-shaped slot, and when the two gripper plates clamp the two longitudinal end faces of the bottom plate of the transformer, the two side plates of the U-shaped slot are used for limiting the bottom plate of the transformer to move transversely.

Preferably, the jack catch is L shape jack catch, the riser of L shape jack catch is used for two fore-and-aft terminal surfaces of centre gripping mutual-inductor bottom plate, the diaphragm of L shape jack catch is used for holding up the bottom surface of mutual-inductor bottom plate.

Preferably, the joint surface of the vertical plate of the L-shaped clamping jaw and the bottom plate of the mutual inductor is an inclined surface.

Preferably, the handle plate is an L-shaped handle plate, and a reinforcing plate is arranged at the joint of the vertical plate and the horizontal plate of the L-shaped handle plate.

The utility model provides a pair of high-voltage transformer universal manipulator, include: the two gripper plates are used for clamping the bottom plate of the mutual inductor, the bottom of each gripper plate is provided with a clamping jaw used for supporting the bottom surface of the bottom plate of the mutual inductor, the two gripper plates are controlled to be opened and closed through a power device, and the power device is arranged below the connecting plate.

The universal manipulator for the high-voltage mutual inductor is installed on the mechanical arm, the connecting plate is used for connecting the mechanical arm, the gripper plate is used for clamping the side face of the mutual inductor bottom plate and is arranged oppositely, the mechanical arm drives the gripper plate to move to two parallel vertical side faces of the mutual inductor bottom plate, then the gripper plate moves to the side face of the mutual inductor bottom plate in an opposite direction, the gripper plate drives the gripper to move upwards until the gripper holds up the bottom face of the mutual inductor bottom plate, the mutual inductor moves upwards under the jacking force of the gripper and is taken out of the turnover box, the friction force between the mechanical arm and the mutual inductor is converted into the force for the gripper to lift up the mutual inductor bottom plate, and the.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic front view of a universal manipulator for a high-voltage transformer provided by the present invention;

fig. 2 is a schematic side view of the universal manipulator for high-voltage transformers according to the present invention;

fig. 3 is a top view of the universal manipulator for high-voltage transformers provided by the present invention;

fig. 4 is a top cross-sectional view of the universal manipulator for high-voltage transformers provided by the present invention.

In FIGS. 1-4:

1-connecting plate, 2-bottom plate, 3-guide rail, 4-slide block, 5-gripper plate, 6-U-shaped clamping groove, 7-jaw, 8-cylinder, 9-rack and 10-gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The core of the utility model is to provide a high-voltage transformer universal manipulator, this manipulator can effectively snatch the mutual-inductor.

Referring to fig. 1 to 4, fig. 1 is a schematic front view of a universal manipulator for a high-voltage transformer according to the present invention; fig. 2 is a schematic side view of the universal manipulator for high-voltage transformers according to the present invention; fig. 3 is a top view of the universal manipulator for high-voltage transformers provided by the present invention; fig. 4 is a top cross-sectional view of the universal manipulator for high-voltage transformers provided by the present invention.

A high voltage transformer universal manipulator comprising: the two gripper plates 5 are used for clamping the bottom plate of the mutual inductor, the bottom of each gripper plate 5 is provided with a clamping jaw 7 used for supporting the bottom surface of the bottom plate of the mutual inductor, the two gripper plates 5 are controlled to be opened and closed through a power device, and the power device is arranged below the connecting plate 1.

It should be noted that, the inside of turnover case has the wall, cuts off the curb plate of and the box and is very little to the distance between the side of mutual-inductor, uses the utility model provides a when high voltage transformer universal manipulator snatchs the mutual-inductor, the side of the mutual-inductor bottom plate of 5 laminating of tongs board does not have the side of cutting off or box curb plate for the side of mutual-inductor usually, makes things convenient for tongs board 5 to remove the side to the mutual-inductor bottom plate like this.

The gripper plate 5 can be flat-plate-shaped, the space when the mutual inductor that specific size can be grabbed as required is placed in the turnover case is set, the undersize that the gripper plate 5 should not set up is insufficient if the undersize that sets up may lead to the area of centre gripping when the gripper plate 5 centre gripping the side of mutual inductor bottom plate to the mutual inductor takes place the slope.

The jack catch 7 can be platelike, sets up in the bottom of two tongs plates 5, because jack catch 7 need lift the bottom surface of the bottom plate 2 of mutual-inductor, so set up jack catch 7 in the bottom of the relative side of two tongs plates 5 to the extending direction of jack catch 7 is for extending in opposite directions along the bottom of the relative side of two tongs plates 5, in order to lift the subaerial symmetric position at the mutual-inductor bottom plate when lifting the bottom surface of mutual-inductor bottom plate. Of course, other positions can be adopted, and the stress on the bottom plate of the mutual inductor at the symmetrical position can be more uniform, so that the lifting of the mutual inductor is more stable.

The universal mechanical arm for the high-voltage transformer is installed on the mechanical arm, the connecting plate 1 is used for connecting the mechanical arm, the gripper plate 5 is used for clamping the side face of the transformer bottom plate, the gripper plate 5 is arranged relatively, the mechanical arm drives the gripper plate 5 to move to two parallel vertical side faces of the transformer bottom plate, then the gripper plate 5 moves to the side face of the transformer bottom plate in a facing mode, the gripper plate 5 drives the gripper 7 to move upwards until the gripper 7 holds up the bottom face of the transformer bottom plate, the transformer is made to move upwards under the jacking force of the gripper 7 and is taken out of the turnover box, the friction force between the mechanical arm and the transformer is converted into the force for the gripper 7 to jack the transformer bottom plate, and the transformer can.

On the basis of the above embodiment, the power device is the cylinder 8, one gripper plate 5 is connected to the cylinder barrel of the cylinder 8, and the other gripper plate 5 is connected to the cylinder rod of the cylinder 8.

It should be noted that, need to pay attention to when setting up cylinder 8 again, because the driving force of cylinder 8 is the axial, is in the power on the collinear, so, when pushing or pulling two tongs plates 5, the power direction of effect that two tongs plates 5 received is in collinear, can guarantee like this that the direction of motion of two tongs plates 5 when the motion is on same straight line.

The point that cylinder 8 acts on two tongs plates 5 can be in on the central line of two tongs plates 5, also can act on central line one side of two tongs plates 5, and on the point that cylinder 8 acts on two tongs plates 5 can be in the central line of two tongs plates 5, the face of two tongs plates 5 can not take place the side askew, can guarantee the motion stability of two tongs plates 5.

When the point that cylinder 8 acts on two tongs plates 5 is in central line one side of two tongs plates 5, it is great to cause one side atress of tongs plates 5, make tongs plates 5 take place to incline askew, preferably, the upper portion of two tongs plates 5 all is equipped with slider 4, the lower part of connecting plate 1 is equipped with bottom plate 2, the lower part of bottom plate 2 is equipped with and matches gliding guide rail 3 with slider 4, when two tongs plates 5 when moving in opposite directions or back of the body mutually, slider 4 that sets up on tongs plates 5 can slide along the guide rail 3 that bottom plate 2 lower part set up, with the direction of motion of two tongs plates 5 of restriction, can guarantee balance nature and the accuracy of two tongs plates 5 when the motion.

In order to further ensure the stability and synchronism of the movement of the two gripper plates 5, it is preferable that the lower part of the base plate 2 is provided with a gear 10 and the upper parts of the two gripper plates 5 are each provided with a rack 9 that meshes with the gear 10.

It should be noted that a gear 10 shaft is inserted into a central hole of the gear 10, the gear 10 shaft is fixedly arranged on the bottom surface of the bottom plate 2 and is arranged downward perpendicular to the bottom surface of the bottom plate 2, the gear 10 is rotatably arranged on the gear 10 shaft, and the gear 10 shaft only plays a limiting role on the gear 10 to limit the gear 10 from falling, but does not limit the gear 10 from rotating.

The racks 9 arranged on the upper portions of the two gripper plates 5 can be of the same type and can be meshed with the gear 10, the racks 9 are arranged in central symmetry relative to the axis of the gear 10, so that the strokes of the two racks 9 can be guaranteed to be consistent, the movement strokes of the two gripper plates 5 can be kept consistent, the two racks 9 are meshed with the same gear 10 when the two gripper plates 5 move, the movement strokes of the two racks 9 are limited to be consistent, and the two gripper plates 5 can stably and synchronously move in opposite directions or in opposite directions.

On the basis of the above embodiment, the lower part of one gripper plate 5 is provided with a U-shaped slot 6, and when two gripper plates 5 clamp two longitudinal end faces of the bottom plate of the transformer, two side plates of the U-shaped slot 6 are used for limiting the transverse movement of the bottom plate of the transformer.

It should be noted that, because the two gripper plates 5 are two parallel vertical sides for clamping the bottom plate of the transformer, that is, two longitudinal end faces of the bottom plate of the transformer, in order to ensure that the transformer does not move along the arrangement direction of the two transverse end faces of the bottom plate of the transformer when the transformer is gripped, so as to fall off, the U-shaped slot 6 is arranged at the lower part of one of the gripper plates 5.

U-shaped draw-in groove 6 includes the curb plate of two relative settings and connects in the connecting plate 1 of two curb plates, and connecting plate 1 generally connects the tip in two curb plates and forms the U-shaped structure, and when two tongs 5 moved to laminating two fore-and-aft terminal surfaces of mutual-inductor bottom plate, two curb plates of U-shaped draw-in groove 6 are in the outside of two horizontal terminal surfaces of mutual-inductor bottom plate to restriction mutual-inductor bottom plate lateral shifting, thereby prevented that the mutual-inductor from dropping by tongs 5 and jack catch 7.

On the basis of the above embodiment, in the specific implementation manner of the clamping jaw 7, preferably, the clamping jaw 7 is an L-shaped clamping jaw 7, vertical plates of the L-shaped clamping jaw 7 are used for clamping two longitudinal end surfaces of the bottom plate of the transformer, a horizontal plate of the L-shaped clamping jaw 7 is used for supporting a bottom surface of the bottom plate of the transformer, two vertical plates of the L-shaped clamping jaw 7 are respectively installed on opposite side surfaces of the two gripper plates 5, and it is ensured that the L-shaped clamping jaw 7 is opposite after installation, the number of the L-shaped clamping jaws 7 can be four, four corner portions are respectively used for supporting the bottom plate of the transformer, and other numbers can be set, of course, the type of the clamping jaw 7 is not limited to the L-shaped clamping jaw 7, and the specific.

When the hand grip plate 5 moves to the side faces of the two longitudinal end faces of the bottom plate of the mutual inductor, a certain gap is reserved between the transverse plate of the L-shaped clamping jaw 7 and the bottom plate of the mutual inductor, so that the transverse plate of the L-shaped clamping jaw 7 is prevented from colliding with the bottom plate of the mutual inductor in consideration of positioning errors of a turnover box or a tray on the mutual inductor, positioning errors of a robot and the like.

When the universal manipulator of the high-voltage transformer lifts the transformer, the transformer can fall relative to the L-shaped clamping jaw 7, and the gap is eliminated, so that the transverse plate of the L-shaped clamping jaw 7 supports the bottom plate of the transformer.

Preferably, the joint surface of the vertical plate of the L-shaped clamping jaw 7 and the bottom plate of the transformer is an inclined surface.

It should be noted that the inclination angle of the inclined plane of the vertical plate of the L-shaped clamping jaw 7 is adapted to the pulling force of the cylinder 8, so that the weight of the mutual inductor is greater than the friction force between the bottom plate of the mutual inductor and the inclined plane of the vertical plate of the L-shaped clamping jaw 7, the mutual inductor is ensured to fall on the transverse plate of the clamping jaw 7 when the high-voltage mutual inductor universal machine is lifted, and the inclined plane has downward component force on the bottom plate of the mutual inductor, so that the plane of the clamping jaw 7 is reliably contacted with the bottom plate of the.

It should be noted that when the inclination angle of the inclined plane of the vertical plate of the L-shaped jaw 7 is set too large, the downward component force of the jaw 7 on the bottom plate of the transformer is greater than the friction force, so that when the manipulator grasps the bottom plate of the transformer but is not lifted, the transformer may be moved down, and even the robot alarms.

On the basis of the above embodiment, the gripper plate 5 is an L-shaped gripper plate 5, and a reinforcing plate is arranged at the joint of the vertical plate and the horizontal plate of the L-shaped gripper plate 5. The vertical plate of the L-shaped gripper plate 5 is used for clamping the bottom plate 2 of the mutual inductor, the two horizontal plates of the L-shaped gripper plate 5 are in the same plane, the moving directions are in the same straight line, a reinforcing plate is arranged at the joint of the horizontal plate of the L-shaped gripper plate 5 and the vertical plate of the L-shaped gripper plate 5, the stability of connection between the vertical plate and the horizontal plate of the L-shaped gripper plate 5 can be guaranteed, and the stability of the high-voltage mutual inductor universal manipulator for grabbing the mutual inductor is further improved.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

It is right above the utility model provides a high-voltage transformer universal manipulator has carried out detailed introduction. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (8)

1. The utility model provides a high-voltage transformer universal manipulator which characterized in that includes: the clamping device comprises two gripper plates (5) used for clamping a bottom plate of the mutual inductor, wherein the bottom of each gripper plate (5) is provided with a clamping jaw (7) used for supporting the bottom surface of the bottom plate of the mutual inductor, the two gripper plates (5) are controlled to open and close through a power device, and the power device is arranged below a connecting plate (1).

2. The universal manipulator for high-voltage transformers according to claim 1, characterized in that the power device is a cylinder (8), one gripper plate (5) is connected to the cylinder barrel of the cylinder (8), and the other gripper plate (5) is connected to the cylinder rod of the cylinder (8).

3. The universal manipulator for the high-voltage mutual inductor as claimed in claim 2, wherein the upper parts of the two gripper plates (5) are provided with sliding blocks (4), the lower part of the connecting plate (1) is provided with a bottom plate (2), and the lower part of the bottom plate (2) is provided with a guide rail (3) which is matched with the sliding blocks (4) to slide.

4. The universal manipulator for high-voltage transformers according to claim 3, characterized in that a gear (10) is arranged at the lower part of the bottom plate (2), and a rack (9) meshed with the gear (10) is arranged at the upper part of each of the two gripper plates (5).

5. The universal manipulator for the high-voltage transformers according to claim 4, characterized in that the lower part of one gripper plate (5) is provided with a U-shaped clamping groove (6), and when two gripper plates (5) clamp the two longitudinal end surfaces of the bottom plate of the transformer, the two side plates of the U-shaped clamping groove (6) are used for limiting the transverse movement of the bottom plate of the transformer.

6. The universal manipulator for the high-voltage transformers according to claim 5 is characterized in that the clamping jaws (7) are L-shaped clamping jaws (7), the vertical plates of the L-shaped clamping jaws (7) are used for clamping two longitudinal end surfaces of a transformer bottom plate, and the horizontal plates of the L-shaped clamping jaws (7) are used for supporting the bottom surface of the transformer bottom plate.

7. The universal manipulator for high-voltage transformers according to claim 6, characterized in that the joint surface of the vertical plate of the L-shaped jaw (7) and the bottom plate of the transformer is an inclined surface.

8. The universal manipulator for high-voltage transformers according to any one of claims 1 to 7, characterized in that the gripper plate (5) is an L-shaped gripper plate (5), and a reinforcing plate is arranged at the joint of a vertical plate and a horizontal plate of the L-shaped gripper plate (5).

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