CN215755103U

CN215755103U - Coil grabbing hand for wind power coil production line

Info

Publication number: CN215755103U
Application number: CN202121589854.XU
Authority: CN
Inventors: 张海军; 郭峰; 李文戈; 左少昌; 冷辉
Original assignee: Chengdu CRRC Motor Co Ltd
Current assignee: Chengdu CRRC Motor Co Ltd
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2022-02-08
Anticipated expiration: 2031-07-13

Abstract

The utility model discloses a coil grabbing hand for a wind power coil production line, which is suitable for grabbing wind power coils on the wind power coil production line. A coil grabbing hand for a wind power coil production line comprises a base, a stand column, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the stand column is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate 360 degrees around the driving arm, and a driving mechanism is arranged in the driving arm and connected with the rotating arm to drive the rotating arm to rotate; and the rotating arm is provided with a paw used for clamping the wind power coil.

Description

Coil grabbing hand for wind power coil production line

Technical Field

The utility model relates to the technical field of wind power coil production lines, in particular to a coil grabbing hand for a wind power coil production line.

Background

The wind power coil is a wind driven generator coil, which is one of the core components of a wind driven generator. The existing wind power coil production line adopts linear layout of all stations, so that the occupied area is large. In order to solve the problem, the applicant designs an arc sectional type production line which comprises a working section I, a working section II, a working section III and a working section IV which are sequentially arranged. A plurality of stations are annularly arranged at the working sections I, II, III and IV. The transfer mechanical arm is arranged in the middle of the annular ring and transfers the wind power coil, so that the wind power coil can be transferred between stations of the same working section, and meanwhile, the wind power coil can be conveyed to the working section II from the working section I. Because need rely on the arm to snatch wind-powered electricity generation coil and transport wind-powered electricity generation coil, consequently, in order to satisfy wind-powered electricity generation coil's transportation requirement, need design the structure of arm.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a coil grabbing hand for a wind power coil production line, which is suitable for the wind power coil production line in structure, grabs a wind power coil and transfers the wind power coil.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

a coil grabbing hand for a wind power coil production line comprises a base, a stand column, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the stand column is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate 360 degrees around the driving arm, and a driving mechanism is arranged in the driving arm and connected with the rotating arm to drive the rotating arm to rotate; and the rotating arm is provided with a paw used for clamping the wind power coil.

As a preferred technical scheme, a paw arm is arranged at the bottom of the rotating arm, a paw is arranged on the paw arm, and the paw is arranged on the rotating arm through the paw arm; the rotating arm is connected with a rotating paw arm through a driving mechanism, so that the rotating paw arm can rotate; the rotating paw arm is provided with a rotating paw; when the rotating paw arm rotates, the rotating paw moves on a circle, and the rotating paw and the paw form a group of grabbing components.

As a preferred technical scheme, the gripper comprises a gripper seat, two gripper plates and a gripper plate driving mechanism for controlling the two main plates to grasp tightly; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;

the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a claw plate; the groove bottom of the sliding groove is provided with a strip-shaped hole matched with the groove bottom in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block.

As a preferred technical scheme, the rotary paw comprises a paw seat, two paw plates and a grabbing plate driving mechanism for controlling the two main plates to grasp tightly; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is arranged in the paw seat. One end of a rotating shaft which is sleeved by the two inclined rods together is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;

the bottom of the claw seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block is arranged in the C-shaped transverse sliding groove, so that the sliding block can only transversely displace in the sliding groove; the bottom of the sliding block is connected with a motor, and an output shaft of the motor is connected with a claw plate; the groove bottom of the sliding groove is provided with a strip-shaped hole matched with the groove bottom in size, and the other end of the diagonal rod penetrates through the strip-shaped hole to be in shaft connection with the sliding block.

Drawings

Fig. 1 is a schematic structural view of embodiment 1.

Fig. 2 is a schematic structural view of embodiment 2.

Fig. 3 is a schematic view of the gripper.

Fig. 4 is a schematic diagram of a rotary gripper.

Wherein the reference numerals are as follows: 1-upright column, 2-driving arm, 3-rotating arm, 4-paw, 5-paw arm, 6-rotating paw arm, 7-rotating paw, 8-paw plate, 9-diagonal rod, 10-rotating shaft, 11-cylinder, 12-slide block and 13-motor.

Detailed Description

The utility model aims to overcome the defects of the prior art and provides a coil grabbing hand for a wind power coil production line, and the utility model is further described in detail with reference to the embodiment.

Example 1

As shown in fig. 1 and 3, a coil grabbing hand for a wind power coil production line comprises a base, a stand column 1, a driving arm 2, a rotating arm 3 and a paw 4.

The upright post 1 is rotatably arranged on the base, and the upright post 1 rotates relative to the base under the action of the driving mechanism. The upright post 1 is an electric lifting upright post 1. This structure is a common structure of the robot arm, and the embodiment is not specifically described.

A driving arm 2 is transversely arranged on the upright post 1, and a rotary driving mechanism is arranged in a shell of the driving arm 2.

A rotating shaft 10 is arranged at one end of the rotating arm 3, and the rotating shaft 10 extends into the shell of the driving arm 2 and is connected with a rotating driving mechanism in the shell of the driving arm 2. A bearing is provided between the rotary shaft 10 and the housing of the driving arm 2.

There are many configurations of the rotary drive mechanism that can be implemented and the present embodiment provides a preferred approach. The rotary driving mechanism comprises a motor 13, an output shaft of the motor 13 is connected with a driving gear, a rotating shaft 10 on the rotating arm 3 is rotatably arranged in a driving arm 2 shell, a driven gear is arranged on the rotating shaft 10, the driven gear is meshed with the driving gear, and therefore the motor 13 works to drive the rotating shaft 10 to rotate, and the rotating arm 3 is driven to rotate.

The rotating arm 3 is provided with two claws 4 which are respectively used for grabbing wind coils. The gripper 4 comprises a gripper 4 seat, two gripper plates 8 and a gripper plate driving mechanism for controlling the gripping of the two main plates. The rotating arm 3 is provided with a paw 4 seat, and a paw plate 8 driving mechanism is arranged in the paw 4 seat. The claw plate 8 driving mechanism comprises a cylinder 11 and a connecting rod assembly. The connecting rod component comprises two inclined rods 9, one ends of the two inclined rods 9 are sleeved on the rotating shaft 10 together, and one ends of the two inclined rods 9 are connected through a shaft. The other ends of the two inclined rods 9 are respectively connected with the two claw plates 8 in a shaft mode. A vertical groove is arranged in the paw 4 seat. One end of a rotating shaft 10 which is sleeved by the two inclined rods 9 is arranged in the vertical groove and can vertically slide in the vertical groove. The cylinder 11 is arranged in the base of the paw 4, and the telescopic end of the cylinder is connected to the rotating shaft 10 to drive the rotating shaft 10 to move up and down in the vertical groove.

The bottom of the paw 4 seat is provided with a C-shaped transverse sliding groove with a downward opening, and a sliding block 12 is arranged in the C-shaped transverse sliding groove, so that the sliding block 12 can only transversely displace in the sliding groove. The bottom of the slide block 12 is connected with a claw plate 8. The groove bottom of the sliding groove is provided with a strip-shaped hole matched with the groove bottom in size, and the other end of the diagonal rod 9 penetrates through the strip-shaped hole to be in shaft connection with the sliding block 12.

The telescopic driving of the cylinder 11 drives the rotating shaft 10 to move up and down, and the other end of the inclined rod 9 is connected to the sliding block 12 in a shaft mode, so that the sliding block 12 can only move transversely, the telescopic driving of the cylinder 11 drives the rotating up and down to move, an included angle between the two inclined rods 9 is increased or decreased, and accordingly the displacement between the two claw plates 8 is driven, and the two claw plates are controlled to be grasped tightly or loosened.

In this embodiment, when transferring a non-expanded workpiece, one straight edge of the wind power coil is directly gripped by one gripper 4. When the expanded wind power coil is transferred, the two straight edges of the wind power coil are respectively grabbed by the two claws 4.

Example 2

As shown in fig. 2 and 4, in order to meet the requirements of wind power coils with different specifications, the present embodiment differs from embodiment 1 as follows:

and a paw arm 5 is fixed at the top of one end of the rotating arm 3 far away from the driving arm 2, and two paws 4 are respectively arranged at two ends of the paw arm 5. The bottom of the paw arm 5 is provided with a rotating paw arm 6. The rotary gripper arm 6 is located in the middle of the gripper arm 5.

The rotating claw arm 6 comprises an arm shell and a rotating claw 7, a motor 13 is arranged on the rotating arm 3, and an output shaft of the motor 13 is connected with the arm shell of the rotating claw arm 6, so that the motor 13 can drive the rotating claw arm 6 to rotate.

Two rotating claws 7 are respectively arranged at two sides of the bottom of the rotating claw arm 6. The structure of the rotating paw 7 is basically the same as that of the paw 4, and the only difference is that in the rotating paw 7, the bottom of the sliding block 12 is provided with the motor 13, and the output shaft of the motor 13 is connected with the grabbing plate, so that the grabbing plate can rotate.

The structure of this embodiment can achieve the effect that one of the claws 4 of the claw arm 5 and the rotating claw 7 on the rotating claw arm 6 closest to the claw arm form a grabbing component for respectively grabbing two straight edges of the wind power coil passing through the expansion type. The height of the rotating paw 7 is lower than that of the paw 4, therefore, the rotating paw 7 grabs the lower straight edge of the wind power coil, and the paw 4 grabs the higher straight edge of the wind power coil.

When wind-powered electricity generation coil specification grow, under motor 13's effect, the casing that rotates gripper arm 6 rotates, drives and rotates gripper arm 6 and rotates, and two rotation grippers 7 rotate around a centre of a circle on a circumference this moment to it is variable to rotate gripper 7 and its gripper 4 that constitutes a grabbing subassembly between the distance, has just also realized snatching the wind-powered electricity generation coil of equidimension.

And because the rotating claw 7 moves on the circumference, the claw plate 8 of the rotating claw 7 and the claw plate 8 of the claw 4 incline to easily cause the deformation of the grabbed wind power coil, therefore, in the embodiment, the grabbing plate of the rotating claw 7 is arranged at the bottom of the sliding block 12 through the motor 13. After changing the circumferential position of the rotary gripper 7, the gripper plates 8 can be rotated by operating the motor 13, so that the two gripper plates 8 of the rotary gripper 7 remain parallel to the two gripper plates 8 of the gripper 4.

The utility model is well implemented in accordance with the above-described embodiments. It should be noted that, based on the above structural design, in order to solve the same technical problems, even if some insubstantial modifications or colorings are made on the present invention, the adopted technical solution is still the same as the present invention, and therefore, the technical solution should be within the protection scope of the present invention.

Claims

1. A coil grabbing hand for a wind power coil production line is characterized by comprising a base, a stand column, a driving arm, a rotating arm and a paw; the upright post is rotatably arranged on the base, rotates relative to the base under the action of the driving mechanism, and is an electric control lifting upright post; the stand column is provided with a driving arm, the driving arm is rotatably connected with a rotating arm, the rotating arm can rotate 360 degrees around the driving arm, and a driving mechanism is arranged in the driving arm and connected with the rotating arm to drive the rotating arm to rotate; and the rotating arm is provided with a paw used for clamping the wind power coil.

2. The coil grabbing hand for the wind power coil production line is characterized in that a claw arm is arranged at the bottom of the rotating arm, a claw is arranged on the claw arm, and the claw is arranged on the rotating arm through the claw arm; the rotating arm is connected with a rotating paw arm through a driving mechanism, so that the rotating paw arm can rotate; the rotating paw arm is provided with a rotating paw; when the rotating paw arm rotates, the rotating paw moves on a circle, and the rotating paw and the paw form a group of grabbing components.

3. The coil grabbing hand for the wind power coil production line is characterized in that the gripper comprises a gripper seat, two gripper plates and a gripper plate driving mechanism for controlling the gripping of the two main plates; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is formed in the paw seat, and one end of a rotating shaft which is jointly sleeved by the two inclined rods is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;

4. The coil grabbing hand for the wind power coil production line is characterized in that the rotating claw comprises a claw seat, two claw plates and a grabbing plate driving mechanism for controlling the two main plates to grab; a claw plate driving mechanism is arranged in the claw seat; the claw plate driving mechanism comprises a cylinder and a connecting rod assembly; the connecting rod assembly comprises two inclined rods, one ends of the two inclined rods are sleeved on the rotating shaft together, and one ends of the two inclined rods are connected through a shaft; the other ends of the two inclined rods are respectively connected with two claw plates in a shaft manner; a vertical groove is formed in the paw seat, and one end of a rotating shaft which is jointly sleeved by the two inclined rods is arranged in the vertical groove and can vertically slide in the vertical groove; the cylinder is arranged in the claw seat, and the telescopic end of the cylinder is connected to the rotating shaft to drive the rotating shaft to move up and down in the vertical groove;