CN213560941U - Manipulator for automatically inserting iron into transformer iron core - Google Patents
Manipulator for automatically inserting iron into transformer iron core Download PDFInfo
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- CN213560941U CN213560941U CN202022192173.1U CN202022192173U CN213560941U CN 213560941 U CN213560941 U CN 213560941U CN 202022192173 U CN202022192173 U CN 202022192173U CN 213560941 U CN213560941 U CN 213560941U
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Abstract
The utility model discloses a manipulator for automatic iron insertion of a transformer core, which belongs to the technical field of iron insertion manipulators of transformer cores and comprises a frame and a control terminal, wherein a walking mechanism is arranged on the frame and is connected with a lifting mechanism, the lifting mechanism is connected with a rotating mechanism, the rotating mechanism is connected with the manipulator, a feedback mechanism is arranged on the manipulator, and the feedback mechanism is connected with the control terminal; silicon steel sheets are adsorbed on the mechanical arm. The utility model discloses abandon the artifical iron that inserts of tradition, utilize machinery to accomplish the upper yoke and insert back the iron core process, it is efficient, economize the manual work, promote the quick production of transformer.
Description
Technical Field
The utility model relates to a transformer core inserts indisputable manipulator technical field, concretely relates to a manipulator that is used for automatic iron of inserting of transformer core.
Background
Distribution transformers are an important component of the power grid and are the largest in number. Distribution transformer generally is batch production, and how to improve the production efficiency of product is the direction of each producer's efforts always, and in the ware body assembling process, the upper iron yoke inserted sheet of iron core is one main process that occupies transformer manufacturing time, and distribution transformer generally is single-phase or three-phase and folds iron core structure, and this kind of iron core structure is fixed, and is single-phase two-column type or three-phase three-column type.
When the transformer body is assembled, the upper iron yoke is firstly detached, the coil is sleeved, and then the upper iron yoke is inserted into the iron core to complete the magnetic circuit closing.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects in the prior art, the utility model provides a manipulator for automatically inserting iron into a transformer iron core and a use method; this a manipulator for automatic iron of inserting of transformer core abandons traditional artifical iron of inserting, utilizes machinery to accomplish the indisputable yoke and inserts back the iron core process, and is efficient, economizes the manual work, promotes the quick production of transformer.
In order to solve the technical problem, the utility model provides a manipulator for automatic iron insertion of a transformer iron core, which comprises a frame and a control terminal, wherein a walking mechanism is arranged on the frame, the walking mechanism is connected with a lifting mechanism, the lifting mechanism is connected with a rotating mechanism, the rotating mechanism is connected with the manipulator, a feedback mechanism is arranged on the manipulator, and the feedback mechanism is connected with the control terminal; silicon steel sheets are adsorbed on the mechanical arm.
In the further improvement of the utility model, the walking mechanism comprises a track arranged on the inner top of the frame, the end of the track is provided with a frame cylinder, the extending end of the frame cylinder is connected with a sliding plate, and the middle part of the sliding plate is embedded with the lifting mechanism; the sliding plate is connected with the track in a sliding mode.
Through the design, this scheme can be more convenient for running gear's walking, during the use, through the flexible of frame cylinder, takes the slide to make a round trip to slide, the top of slide is provided with "T word" slider, orbital bottom be provided with "T word" slider sliding connection's "T word" spout.
The utility model discloses in the further improvement, above-mentioned elevating system is including the slide cylinder of scarf joint at the slide middle part, and the decurrent end that stretches out of slide cylinder is connected with slewing mechanism.
Through the design, the lifting mechanism can be more convenient to lift, and when the lifting mechanism is used, the sliding plate cylinder stretches out and draws back to realize the lifting of the rotating mechanism.
The utility model discloses in the further improvement, above-mentioned slewing mechanism includes the servo motor who stretches out the end with the slide cylinder and be connected, and servo motor's output and manipulator are connected.
Through the above design, this scheme can be more convenient for slewing mechanism's rotation, during the use, through the rotation of servo motor output, takes the manipulator to rotate, and the manipulator rotates and the return, utilizes servo motor's corotation and reversal to realize.
The utility model discloses in the further improvement, above-mentioned manipulator includes the arm of being connected with the servo motor output, and arm threaded connection has vacuum chuck, and vacuum chuck is connected with vacuum generator.
Through the design, this scheme can be more be convenient for remove the silicon steel sheet, and arm threaded connection vacuum chuck's effect lies in being more convenient for change not unidimensional vacuum chuck for be suitable for not the silicon steel sheet of unidimensional length, enlarge the application scope of this application.
Generally, the vacuum chuck is the cheapest method for grabbing products, and the chuck material is made of nitrile rubber and has a large breaking force, so that the vacuum chuck is widely applied to various vacuum holding devices, such as buildings, paper making industry, printing industry, glass industry and the like, and realizes the task of holding and conveying thin and light articles such as glass, paper and the like.
The vacuum chuck in the existing design is directly adopted in the scheme, so that the research and development cost can be better reduced, the commercialization can be realized as soon as possible, and the economic benefit is generated.
In the further improvement of the utility model, the middle part of the vacuum chuck is provided with a laser range finder; and the frame cylinder, the sliding plate cylinder, the servo motor, the vacuum generator and the laser range finder are respectively connected with the control terminal.
Through the design, the scheme can better finish the iron inserting operation.
In the further improvement of the utility model, a distance detection module, an information processing module, a walking control module, a lifting control module, a rotation control module and a sucker control module are arranged on the chip of the control terminal;
the distance detection module is responsible for sending information fed back by the laser range finder to the information processing module; the information processing module is responsible for issuing command information to the walking control module, the lifting control module, the rotation control module and the sucker control module according to preset data; the device is responsible for processing the information sent by the distance detection module, obtaining command information and sending the information to the walking control module, the lifting control module, the rotation control module and the sucker control module;
the walking control module controls the frame cylinder to start or stop according to the information sent by the information processing module; the lifting control module controls the sliding plate cylinder to start or stop according to the information sent by the information processing module; the rotation control module controls the servo motor to start or stop according to the information sent by the information processing module; and the sucker control module controls the vacuum generator to start or stop according to the information sent by the information processing module.
Through the design, the scheme can be more convenient for realizing automatic iron inserting operation.
The utility model discloses in the further improvement, above-mentioned control terminal adopts computer, workstation or PLC controller.
Through the design, the scheme can more conveniently control the iron inserting operation.
In the further improvement of the utility model, the walking mechanism comprises a walking mechanism I and a walking mechanism II which are arranged symmetrically left and right; the lifting mechanism comprises a lifting mechanism I and a lifting mechanism II which are arranged in bilateral symmetry; the rotating mechanism comprises a rotating mechanism I and a rotating mechanism II which are arranged in a bilateral symmetry manner; the manipulator comprises a manipulator I and a manipulator II which are arranged in bilateral symmetry; the feedback mechanism comprises a feedback mechanism I and a feedback mechanism II which are arranged in a bilateral symmetry mode.
Through the design, the iron inserting efficiency can be improved conveniently, synchronous or asynchronous iron inserting is carried out on two sides of the folded iron yoke plane respectively, and the iron inserting efficiency can be improved by one time.
A use method of an automatic iron inserting manipulator for a transformer iron core comprises the following steps:
(1) the control terminal controls a frame cylinder in the travelling mechanism to start, and the manipulator moves to the position above the silicon steel sheet placing position; the control terminal controls a sliding plate cylinder in the lifting mechanism to start, and the manipulator descends by a certain height to contact the silicon steel sheet; the control terminal controls the manipulator to suck the silicon steel sheet;
(2) the control terminal controls a sliding plate cylinder in the lifting mechanism to start, and the manipulator rises to a certain height; the control terminal controls a servo motor in the rotating mechanism to start, and the manipulator rotates 90 degrees to enable the silicon steel sheet to be parallel to the plane of the folded iron yoke;
(3) the laser range finder detects the distance between the silicon steel sheet and the plane of the folded iron yoke and sends the distance information to the control terminal, the control terminal controls a frame cylinder in the travelling mechanism to start according to the sent distance information, the manipulator moves towards the plane of the folded iron yoke until the silicon steel sheet is contacted with the plane of the folded iron yoke, and the control terminal controls the frame cylinder to stop; the control terminal controls the sliding plate cylinder to start, the mechanical arm descends by a certain height, and the silicon steel sheet is driven by the mechanical arm to be inserted into the iron core, attached to the plane of the folded iron yoke and become a new plane of the folded iron yoke; the control terminal controls the mechanical arm to release the silicon steel sheet;
(4) the control terminal controls the sliding plate cylinder to start, and the manipulator rises to a certain height; the control terminal controls the frame cylinder to start, and the manipulator returns to the initial position; the control terminal controls a servo motor in the rotating mechanism to start, and the mechanical arm rotates by-90 degrees to ensure that the silicon steel sheet is vertical to the plane of the folded iron yoke;
(5) and (5) repeating the steps 1-4 until the iron inserting task is completed.
Through the design, the scheme can be more convenient for realizing iron insertion operation.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses abandon the artifical iron that inserts of tradition, utilize machinery such as frame, running gear, elevating system, slewing mechanism, manipulator, feedback mechanism and control terminal to accomplish to go up the indisputable yoke and insert back the iron core process, it is efficient, economize the manual work, promote the quick production of transformer.
Drawings
To more clearly illustrate the background art or the technical solution of the present invention, the drawings used in conjunction with the prior art or the detailed description are briefly described below; obviously, the structure, proportion, size, etc. shown in the drawings are only used for matching with the content disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any modification of the structure, change of the proportion relation or adjustment of the size should still fall within the scope covered by the technical content disclosed in the present invention without affecting the function and the achievable purpose of the present invention.
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic view of the feedback mechanism of the present invention.
Fig. 3 is a schematic view of the working principle of the feedback mechanism of the present invention.
Fig. 4 is a block diagram of the control system of the present invention.
Fig. 5 is a schematic view of the suction cup module of the present invention.
Shown in the figure: 1-a frame; 2-a frame cylinder; 3, a sliding plate; 4-a slide plate cylinder; 5-a servo motor; 6, a mechanical arm; 7-vacuum chuck; 71-a sucker head; 8-laser rangefinder; 81-laser; 9-the plane of the folded iron yoke; 10-silicon steel sheets; 11-connecting plate.
Detailed Description
In order to make the technical solution in the present invention better understand, the following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solution in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, based on the embodiments in the present invention, all other embodiments obtained by the person skilled in the art without creative work should belong to the protection scope of the present invention.
Meanwhile, the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, referred to in the present specification, refer to the orientation or positional relationship indicated on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, it is not understood as a limitation of the present invention, and a change or adjustment of the relative relationship thereof, without substantial technical change, should be considered as a practicable scope of the present invention.
Meanwhile, in the description of the present specification, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected", and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other, so that the specific meaning of the terms in the invention can be understood through specific situations for a person skilled in the art.
As shown in fig. 1-3, a manipulator for automatically inserting iron into a transformer iron core comprises a frame 1 and a control terminal, wherein a traveling mechanism is arranged on the frame 1, the traveling mechanism is connected with a lifting mechanism, the lifting mechanism is connected with a rotating mechanism, the rotating mechanism is connected with the manipulator, a feedback mechanism is arranged on the manipulator, and the feedback mechanism is connected with the control terminal; the manipulator is adsorbed with silicon steel sheet 10.
The travelling mechanism comprises a track arranged on the inner top of the rack 1, a rack cylinder 2 is arranged at the end of the track, a sliding plate 3 is connected to the extending end of the rack cylinder 2, and the middle part of the sliding plate 3 is embedded with the lifting mechanism; the sliding plate 3 is connected with the track in a sliding way.
The lifting mechanism comprises a sliding plate cylinder 4 embedded in the middle of the sliding plate, and the downward extending end of the sliding plate cylinder 4 is connected with the rotating mechanism.
The rotating mechanism comprises a servo motor 5 connected with the extending end of the sliding plate cylinder 4, and the output end of the servo motor 5 is connected with the manipulator.
The manipulator includes the arm 6 of being connected with 5 output of servo motor, and 6 threaded connection (can dismantle the connection) of arm have vacuum chuck 7, and vacuum chuck 7 is connected with vacuum generator.
The middle part of the vacuum chuck is provided with a laser range finder 8; and the frame cylinder 2, the sliding plate cylinder 3, the servo motor 5, the vacuum generator and the laser range finder 8 are respectively connected with the control terminal.
As shown in fig. 2 and 3, the working principle of the feedback mechanism of the present solution is as follows: the middle of the silicon steel sheet is provided with a notch, when the suction cup head 71 of the vacuum suction cup adsorbs the silicon steel sheet, the laser range finder is just positioned at the notch, the emitting head of the laser range finder is parallel to the surface of the silicon steel sheet (the left surface or the right surface is parallel), after the mechanical arm rotates for 90 degrees, the laser 81 of the laser range finder irradiates the folded iron yoke plane (after the mechanical arm rotates for 90 degrees, the position of the silicon steel sheet is slightly higher than the folded iron yoke plane, the notch of the silicon steel sheet and the notch of the folded iron yoke plane are staggered mutually, the laser of the laser range finder irradiates the folded iron yoke plane), then the distance between the silicon steel sheet and the folded iron yoke plane is obtained, the control terminal can control the running mechanism to start according to the obtained distance data, the mechanical arm moves, and then the silicon steel sheet is inserted into the iron core under the control of the.
As shown in fig. 4, a chip of the control terminal is provided with a distance detection module, an information processing module, a walking control module, a lifting control module, a rotation control module and a sucker control module;
the distance detection module is responsible for sending information fed back by the laser range finder to the information processing module;
the information processing module is responsible for issuing command information to the walking control module, the lifting control module, the rotation control module and the sucker control module according to preset data; the device is responsible for processing the information sent by the distance detection module, obtaining command information and sending the information to the walking control module, the lifting control module, the rotation control module and the sucker control module;
the walking control module controls the frame cylinder to start or stop according to the information sent by the information processing module; the lifting control module controls the sliding plate cylinder to start or stop according to the information sent by the information processing module; the rotation control module controls the servo motor to start or stop according to the information sent by the information processing module; and the sucker control module controls the vacuum generator to start or stop according to the information sent by the information processing module.
The control terminal adopts a computer, a workstation or a PLC controller.
The travelling mechanism comprises a travelling mechanism I and a travelling mechanism II which are arranged in bilateral symmetry; the lifting mechanism comprises a lifting mechanism I and a lifting mechanism II which are arranged in bilateral symmetry; the rotating mechanism comprises a rotating mechanism I and a rotating mechanism II which are arranged in a bilateral symmetry manner; the manipulator comprises a manipulator I and a manipulator II which are arranged in bilateral symmetry; the feedback mechanism comprises a feedback mechanism I and a feedback mechanism II which are arranged in a bilateral symmetry mode.
A use method of an automatic iron inserting manipulator for a transformer iron core comprises the following steps:
(1) the control terminal controls a frame cylinder in the travelling mechanism to start, and the manipulator moves to the position above the silicon steel sheet placing position; the control terminal controls a sliding plate cylinder in the lifting mechanism to start, and the manipulator descends by a certain height to contact the silicon steel sheet; the control terminal controls the manipulator to suck the silicon steel sheet;
(2) the control terminal controls a sliding plate cylinder in the lifting mechanism to start, and the manipulator rises to a certain height; the control terminal controls a servo motor in the rotating mechanism to start, and the manipulator rotates 90 degrees to enable the silicon steel sheet to be parallel to the plane of the folded iron yoke;
(3) the laser range finder detects the distance between the silicon steel sheet and the plane of the folded iron yoke and sends the distance information to the control terminal, the control terminal controls a frame cylinder in the travelling mechanism to start according to the sent distance information, the manipulator moves towards the plane of the folded iron yoke until the silicon steel sheet is contacted with the plane of the folded iron yoke, and the control terminal controls the frame cylinder to stop; the control terminal controls the sliding plate cylinder to start, the mechanical arm descends by a certain height, and the silicon steel sheet is driven by the mechanical arm to be inserted into the iron core, attached to the plane of the folded iron yoke and become a new plane of the folded iron yoke; the control terminal controls the mechanical arm to release the silicon steel sheet;
(4) the control terminal controls the sliding plate cylinder to start, and the manipulator rises to a certain height; the control terminal controls the frame cylinder to start, and the manipulator returns to the initial position; the control terminal controls a servo motor in the rotating mechanism to start, and the mechanical arm rotates by-90 degrees to ensure that the silicon steel sheet is vertical to the plane of the folded iron yoke;
(5) and (5) repeating the steps 1-4 until the iron inserting task is completed.
The movement speed of the manipulator can be implemented in a segmented mode, the speed between the sheet taking station and the iron inserting station is the fastest, and the speed is gradually reduced from the descending of the manipulator to the insertion of the silicon steel sheet into the iron core under the driving of the manipulator.
When the transformer body is assembled, the upper iron yoke is firstly dismantled, the coil is sleeved, and then the upper iron yoke is inserted into the iron core to complete the magnetic circuit closing.
The manipulators are arranged on two sides of the instrument body placing table (the manipulator I and the manipulator II are symmetrically arranged on the left side and the right side), so that iron core inserting operation is realized on two sides in the iron core stacking direction; the vacuum chuck mechanism can suck and release the silicon steel sheet; the mechanical arm is detachably connected with the vacuum chuck, and the silicon steel sheets with different lengths can be suitable by replacing the vacuum chucks with different sizes; the sucking disc head of vacuum chuck is on the coplanar (sucking disc head quantity set up 2 ~ 5 can), guarantee to level firm silicon steel sheet of holding.
During the use, because the length of silicon steel sheet is longer, therefore the vacuum chuck can design several more, forms the sucking disc module, is used for removing the silicon steel sheet, as shown in fig. 5, the connection of several vacuum chucks utilize connecting plate 11 to add connecting bolt (module connecting piece) again carry out threaded connection can, threaded connection can be convenient for the later stage increase or reduce single vacuum chuck for be suitable for not unidimensional silicon steel sheet.
Although the present invention has been described in detail with reference to the drawings and preferred embodiments, the present invention is not limited thereto, and those skilled in the art can make various equivalent modifications or substitutions to the embodiments of the present invention without departing from the spirit and essential characteristics of the present invention, and these modifications or substitutions should be within the scope of the present invention/any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and therefore, the scope of the present invention should be defined by the appended claims.
Claims (10)
1. The utility model provides a manipulator that is used for automatic iron of inserting of transformer core which characterized in that: the manipulator comprises a rack and a control terminal, wherein a travelling mechanism is arranged on the rack and connected with a lifting mechanism, the lifting mechanism is connected with a rotating mechanism, the rotating mechanism is connected with a manipulator, a feedback mechanism is arranged on the manipulator, and the feedback mechanism is connected with the control terminal; silicon steel sheets are adsorbed on the mechanical arm.
2. The manipulator for automatically inserting iron into a transformer core according to claim 1, wherein: the travelling mechanism comprises a travelling mechanism I and a travelling mechanism II which are arranged in bilateral symmetry; the lifting mechanism comprises a lifting mechanism I and a lifting mechanism II which are arranged in bilateral symmetry; the rotating mechanism comprises a rotating mechanism I and a rotating mechanism II which are arranged in a bilateral symmetry manner; the manipulator comprises a manipulator I and a manipulator II which are arranged in bilateral symmetry; the feedback mechanism comprises a feedback mechanism I and a feedback mechanism II which are arranged in a bilateral symmetry mode.
3. The manipulator for automatically inserting iron into a transformer core according to claim 2, wherein: the travelling mechanism comprises a track arranged on the inner top of the rack, a rack cylinder is arranged at the end of the track, a sliding plate is connected to the extending end of the rack cylinder, and the middle part of the sliding plate is embedded with the lifting mechanism; the sliding plate is connected with the track in a sliding mode.
4. The manipulator for automatically inserting iron into a transformer core according to claim 3, wherein: the top of slide is provided with "T word" slider, and orbital bottom is provided with "T word" spout with "T word" slider sliding connection.
5. The manipulator for automatically inserting iron into a transformer core according to claim 3, wherein: the lifting mechanism comprises a sliding plate cylinder embedded in the middle of the sliding plate, and the downward extending end of the sliding plate cylinder is connected with the rotating mechanism.
6. The manipulator for automatically inserting iron into a transformer core according to claim 5, wherein: the rotating mechanism comprises a servo motor connected with the extending end of the sliding plate cylinder, and the output end of the servo motor is connected with the manipulator.
7. The manipulator for automatically inserting iron into a transformer core according to claim 6, wherein: the manipulator comprises a mechanical arm connected with the output end of the servo motor, the mechanical arm is in threaded connection with a vacuum chuck, and the vacuum chuck is connected with a vacuum generator.
8. The manipulator for automatically inserting iron into a transformer core according to claim 7, wherein: the middle part of the vacuum chuck is provided with a laser range finder; and the frame cylinder, the sliding plate cylinder, the servo motor, the vacuum generator and the laser range finder are respectively connected with the control terminal.
9. The manipulator for automatically inserting iron into a transformer core according to claim 8, wherein: a chip of the control terminal is provided with a distance detection module, an information processing module, a walking control module, a lifting control module, a rotation control module and a sucker control module;
the distance detection module is responsible for sending information fed back by the laser range finder to the information processing module;
the information processing module is responsible for issuing command information to the walking control module, the lifting control module, the rotation control module and the sucker control module according to preset data; the device is responsible for processing the information sent by the distance detection module, obtaining command information and sending the information to the walking control module, the lifting control module, the rotation control module and the sucker control module;
the walking control module controls the frame cylinder to start or stop according to the information sent by the information processing module;
the lifting control module controls the sliding plate cylinder to start or stop according to the information sent by the information processing module;
the rotation control module controls the servo motor to start or stop according to the information sent by the information processing module;
and the sucker control module controls the vacuum generator to start or stop according to the information sent by the information processing module.
10. The manipulator for automatically inserting iron into a transformer core according to claim 1, wherein: the control terminal adopts a computer, a workstation or a PLC controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022192173.1U CN213560941U (en) | 2020-09-28 | 2020-09-28 | Manipulator for automatically inserting iron into transformer iron core |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022192173.1U CN213560941U (en) | 2020-09-28 | 2020-09-28 | Manipulator for automatically inserting iron into transformer iron core |
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| CN213560941U true CN213560941U (en) | 2021-06-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112185674A (en) * | 2020-09-28 | 2021-01-05 | 山东电工电气集团智能电气有限公司 | Manipulator for automatically inserting iron into transformer iron core and using method |
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2020
- 2020-09-28 CN CN202022192173.1U patent/CN213560941U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112185674A (en) * | 2020-09-28 | 2021-01-05 | 山东电工电气集团智能电气有限公司 | Manipulator for automatically inserting iron into transformer iron core and using method |
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