CN217755715U - Handling device and winding assembly equipment - Google Patents

Abstract

The utility model discloses a handling device and winding equipment, handling device includes supporting component, arm, centre gripping subassembly, first station is located to the supporting component, is used for supporting the arm, the arm includes forearm and postbrachium, postbrachium swing joint is in on the supporting component, it can be for the supporting component luffing motion, the forearm level sets up, and the one end of forearm passes through the rotary joint with the postbrachium and rotates to be connected to make the forearm can wind rotary joint gyration in the horizontal plane, the centre gripping subassembly with the other end of forearm is connected for the work piece that the centre gripping is located first station, through removing forearm and postbrachium drive the motion of centre gripping subassembly to carry the second station by first station with the work piece. The carrying device is high in automation degree and convenient to operate, and can effectively improve the working efficiency of winding sleeving.

Description

Handling device and winding assembly equipment

Technical Field

The utility model relates to a handling device and including this handling device's winding equipment.

Background

In the prior art, a traveling crane hoisting mode is always used in the assembly process of the distribution transformer winding, the whole production process is complicated, one person is required to operate a traveling crane in the operation process, and the assembly is carried out by one person, so that a large amount of traveling crane resources are occupied, the working efficiency is low, the operation labor intensity is high, the quality is unstable, and certain potential safety hazards exist; in the case of mass production, the process may cause product blockage and disorderly production, and may cause quality problems such as insulation damage in the disorderly production.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that to the above-mentioned not enough that exists among the prior art, provide a handling device and including this handling device's winding equipment. The carrying device is high in automation degree and convenient to operate, and can effectively improve the working efficiency of winding sleeving.

In order to solve the problem, the utility model adopts the following technical scheme:

the utility model provides a handling device, includes supporting component, arm, centre gripping subassembly, first station is located to the supporting component, is used for supporting the arm, the arm includes forearm and postbrachium, postbrachium swing joint is in on the supporting component, it can be for the supporting component luffing motion, the forearm level sets up, and the one end of forearm passes through the gyration joint with the postbrachium and rotates to be connected to make the forearm can wind gyration joint is gyration in the horizontal plane, the centre gripping subassembly with the other end of forearm is connected for the work piece that the centre gripping is located on first station, through removing forearm and postbrachium, drives the motion of centre gripping subassembly, in order to carry the second station with the work piece by first station.

Preferably, the carrying device further comprises a rotating assembly, the rotating assembly is arranged on the supporting assembly and can rotate for 360 degrees, and the rear arm is connected to the rotating assembly.

Preferably, the carrying device further comprises a lifting assembly, the lifting assembly is arranged on the supporting assembly, the rotating assembly is arranged on the lifting assembly, and the lifting assembly can drive the rotating assembly to move up and down; the arm still includes the lift cylinder, the back arm rotates to be connected on the gyration subassembly, and the one end that the forearm was kept away from to the back arm links to each other with the lift cylinder, and under the effect of lift cylinder, the back arm can the luffing motion.

Preferably, the mechanical arm further comprises a brake, the brake is arranged at the rotary joint and used for locking the mechanical arm in a non-working state, and the rear arm is of a four-bar structure.

Preferably, the centre gripping subassembly includes support, die clamping cylinder, connecting rod, clamping jaw unit, the support is fixed on the forearm, and each articulated arm that hangs down in both ends of support, the connecting rod is located between two arms that hang down, and the connecting rod includes horizontal segment and two swing sections, and two swing sections articulate respectively at the both ends of horizontal segment, die clamping cylinder locates on the support, die clamping cylinder's output with the horizontal segment of connecting rod is connected, and two swing sections of connecting rod are connected with two arms that hang down of support respectively, the clamping jaw unit includes the clamping jaw, and the clamping jaw is two of relative setting, and two clamping jaws are connected respectively at the end of two arms that hang down, and die clamping cylinder's output drives the horizontal segment upward movement of connecting rod, and two swing sections are the swing inwards, drive two arms that hang down inwards to make two clamping jaws can the centre gripping work piece.

Preferably, the clamping assembly is connected with the front arm through a clamp rotating joint and further comprises a cushion block, the cushion block is arranged on the clamping jaw and is made of flexible materials.

Preferably, the carrying device further comprises a control assembly, the control assembly comprises a control handle, and the control handle is electrically connected with the clamping cylinder and used for controlling the opening and closing of the clamping cylinder.

Preferably, handling device still includes the protection subassembly of dying, the protection subassembly of dying includes gas accuse case and gas holder, high-pressure gas has been stored to gas holder in, the gas input end of gas accuse case with the gas holder intercommunication, the gas accuse case is used for maintaining original action when die clamping cylinder breaks gas suddenly.

Preferably, the rotation angle of the forearm is in the range of 0 to 180 °.

The utility model also provides a winding equipment, including foretell handling device, the work piece of handling device transport is the winding, and the winding is placed on first station, and the iron core is placed on the second station.

The utility model provides a handling device improves through automatic technology, only needs the one man operation alright accomplish the automatic suit of transformer winding, need not the driving, and it is convenient to use, is favorable to improving work efficiency and improves quality problems.

Drawings

Fig. 1 is a schematic structural view of a carrying device of the present invention;

FIG. 2 is a left side view of FIG. 1;

fig. 3 is a schematic structural view of the clamping assembly of the present invention;

fig. 4 is a left side view of fig. 3.

In the figure: 1-wire body, 2-base, 3-upright post, 4-rotation component, 5-lifting cylinder, 6-rear arm, 7-rotation joint, 71-brake, 8-front arm, 9-air storage tank, 10-pneumatic control box, 21-clamp rotation joint, 22-bracket, 23-clamping cylinder, 24-control handle, 25-connecting rod, 26-vertical arm, 27-clamping jaw, 28-cushion block and 29-workpiece.

Detailed Description

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

In the description of the present invention, it should be noted that the indication of orientation or positional relationship such as "up" is based on the orientation or positional relationship shown in the drawings, and is only for convenience and simplicity of description, and does not indicate or imply that the indicated device or element must be provided with a specific orientation, constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "connected," "disposed," "mounted," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The utility model provides a handling device, including supporting component, arm, centre gripping subassembly, first station is located to the supporting component, be used for supporting the arm, the arm includes forearm and postbrachium, postbrachium swing joint is in on the supporting component, it can be for the supporting component luffing motion, the forearm level sets up, and the one end of forearm passes through the gyration joint with the postbrachium and rotates to be connected to make the forearm can wind the gyration joint is gyration in the horizontal plane, the centre gripping subassembly with the other end of forearm is connected for the work piece that the centre gripping is located on first station, through removing forearm and postbrachium drive the motion of centre gripping subassembly to carry the work piece to the second station by first station.

The utility model also provides a winding equipment, including foretell handling device, the winding is placed on first station, and the iron core is placed on the second station.

Example 1

As shown in fig. 1, the present embodiment discloses a handling apparatus, which includes a supporting assembly, a robot arm, and a clamping assembly.

Wherein, the position of first station is located to the supporting component, a be used for supporting the arm, particularly, the supporting component includes base 2 and stand 3, base 2 fixed mounting is directly over first station, be equipped with the through passage on the base, first station passes from the through passage, work piece 29 is placed on first station, stand 3 fixed mounting is on base 2, the arm includes forearm 8 and postbrachium 6, postbrachium 6 swing joint is on stand 3, it can be for stand 3 luffing motion, 8 horizontal settings of forearm, and the one end of forearm 8 is rotated through gyration joint 7 with postbrachium 6 and is connected, so that forearm 8 can revolve in the horizontal plane around gyration joint 7, the clamping component is connected with the other end of forearm 8, a work piece 29 for the centre gripping is located on first station, through removing forearm 8 and postbrachium 6, drive the motion of clamping component, in order to transport work piece 29 to the second station by first station.

In this embodiment, the rated load of the robot arm is 160kg, and the device is equipped with a load indicator light, the load indicator light is displayed in red after the workpiece 29 is loaded, and after the load (i.e., the workpiece) is suspended, the robot arm is in a floating state at any position in the stroke, and the device has the characteristics of convenience in operation and high safety.

Optionally, the mechanical arm is further provided with a misoperation protection unit for preventing the workpiece 29 from suddenly falling due to the fact that an operator unloads the mechanical arm when transferring the workpiece 29 by misoperation, that is, the workpiece 29 can be unloaded only when the mechanical arm reaches a specified station.

In this embodiment, handling device still includes gyration subassembly 4, and gyration subassembly 4 is located on stand 3, and gyration subassembly 4 can carry out 360 rotations, and rear arm 6 is connected on gyration subassembly 4, can revolve other stations with rear arm 6 and forearm 8 through gyration subassembly 4 to the work piece 29 centre gripping on the centre gripping subassembly will first station is to other stations.

Optionally, the carrying device further comprises a lifting assembly, the lifting assembly is arranged on the supporting assembly, the rotating assembly 4 is arranged on the lifting assembly, and the lifting assembly can drive the rotating assembly 4 to perform lifting motion, so that the mechanical arm is driven to lift.

Optionally, the arm still includes lift cylinder 5, and lift cylinder 5 locates on the stand, and the back arm 6 rotationally connects on the gyration subassembly through the support to the one end that the forearm was kept away from to the back arm links to each other with lift cylinder 5, and under lift cylinder 5's effect, the back arm can wind the support luffing motion, and then drives forearm 8 up-and-down motion.

In this embodiment, the mechanical arm further includes a brake 71, the brake 71 is disposed at the turning joint 7, and is used for locking the mechanical arm in a non-working state, so as to prevent the mechanical arm from turning around randomly in an accidental situation such as accidental touch, thereby injuring an operator or other equipment. Specifically, the rear arm 6 adopts a four-bar linkage structure, and the four-bar linkage structure has the characteristics of balance and assistance, and can effectively assist an operator in transporting the workpiece 29.

As shown in fig. 3 and 4, the clamping assembly comprises a bracket 22, a clamping cylinder 23, a connecting rod 25 and a clamping jaw unit. The middle part of the bracket 22 is fixed on the front arm 8, two ends of the bracket 22 are respectively hinged with a vertical arm 26, the connecting rod 25 is arranged between the two vertical arms 26, the connecting rod 25 comprises a horizontal section and two swinging sections, the two swinging sections are respectively hinged at two ends of the horizontal section and are symmetrically distributed along the center of the horizontal section, the clamping cylinder 23 is arranged on the middle part of the bracket 22 and is positioned above the connecting rod 25, the output end of the clamping cylinder 23 is connected with the horizontal section of the connecting rod 25, the two swinging sections of the connecting rod 25 are respectively connected with the middle parts of the two vertical arms 26 of the bracket 22, the lower parts of the two vertical arms 26 of the bracket extend inwards to form a hook shape, the clamping jaw unit comprises two clamping jaws 27, the two clamping jaws 27 are oppositely arranged, the two clamping jaws 27 are respectively connected at the tail ends of the two vertical arms 26, the output end of the clamping cylinder 23 drives the horizontal section of the connecting rod 25 to move upwards, the two swinging sections swing inwards to drive the two vertical arms 26 to swing inwards, so that the two clamping jaws 27 can clamp the workpiece 29, and control the output end of the clamping cylinder 23 to move downwards to drive the connecting rod 25 to move downwards, thereby driving the two swinging sections to swing outwards to swing arms 29 to lower the workpiece 29 to lower down.

In this embodiment, the clamping assembly further includes a pad 28, the pad 28 is disposed on the clamping jaw 27 and is made of flexible material, one end of the pad 28 is connected to the end of the clamping jaw 27, and the other end is in a shape of a long strip parallel to the side of the workpiece 29, so as to ensure that the workpiece 29 is not scratched when contacting the workpiece 29.

In this embodiment, the clamping assembly is connected to the forearm 8 by a clamp swivel joint 21. Specifically, the clamp rotation joint 21 is fixed to the forearm 8, and the top of the holder 22 is connected to the clamp rotation joint 21.

In this embodiment, the carrying device further includes a control assembly, the control assembly includes a control handle 24, and the control handle 24 is electrically connected with the clamping cylinder 23 and the lifting cylinder 5 respectively, and is used for controlling the opening and closing of the clamping cylinder 23 and the lifting cylinder 5. Specifically, the control handle 24 includes control buttons including a clamping button, a releasing button, an ascending button, a descending button, and a load balancing button, wherein the clamping button and the releasing button are respectively used for controlling the clamping and releasing of the clamping jaw 27, the ascending button and the descending button are respectively used for controlling the ascending and descending of the lifting cylinder 5, and the load balancing button is used for controlling the mechanical arm to keep balance during the transportation process.

As shown in fig. 2, the carrying device further comprises a gas-cut-off protection component, the gas-cut-off protection component comprises a gas control box 10 and a gas storage tank 9, high-pressure gas is stored in the gas storage tank 9, a gas input end of the gas control box 10 is communicated with the gas storage tank 9, the gas control box 10 is used for maintaining the original action of the clamping cylinder when the clamping cylinder 23 is suddenly cut off, and the workpiece 29 is slowly put down, so that the safety of the device is improved.

In order to ensure that the forearm 8 rotates randomly to damage other equipment, the rotation angle range of the forearm 8 is 0-180 degrees.

The working process of the carrying device in this embodiment is as follows:

the brake 71 at the rotary joint 7 is released;

the control handle 24 is operated to control the clamping cylinder 23 to ascend, so that the horizontal end of the connecting rod 25 is driven to ascend, the horizontal end of the connecting rod 25 drives the swinging section to swing inwards, and further the hanging arm 26 is driven to swing inwards, so that the two clamping jaws 27 can clamp a workpiece 29;

the control handle 24 is operated to control the lifting cylinder 5 to fall down, so that the other end of the rear arm 6 is driven to rise, and the front arm 8 is driven to rise, so that the workpiece 29 is lifted and leaves the first station;

rotating the front arm 8 about the revolute joint 7 in a horizontal plane, bringing the workpiece 29 above the second station;

the lifting cylinder 5 is controlled to ascend by operating the control handle 24, the other end of the rear arm 6 is driven to fall, the front arm 8 is driven to fall, and the workpiece 29 falls to the second station;

the control handle 24 is operated to control the clamping cylinder 23 to move downwards, so that the horizontal end of the connecting rod 25 is driven to fall, the horizontal end of the connecting rod 25 drives the swinging section to swing outwards, and further the hanging arm 26 is driven to swing outwards, so that the two clamping jaws 27 loosen the workpiece 29, and the workpiece 29 is conveyed.

The handling device in this embodiment degree of automation is high and convenient operation to can play balanced and the effect of helping hand when work piece 29 carries, the device only needs one person to operate, need not the driving, and it is convenient to use, is favorable to improving the work efficiency and improving the quality problems in the work piece 29 handling.

Example 2

The embodiment discloses winding assembly equipment, which comprises the conveying device in embodiment 1, wherein a workpiece conveyed by the conveying device is a winding, the winding is placed on a first station, and an iron core is placed on a second station.

In this embodiment, first station and second station all are provided with the line body 1, are used for placing winding and iron core respectively, and handling device passes through the winding that the centre gripping subassembly centre gripping was located on the first station to under the auxiliary action of robotic arm, transport it to the second station on, and accomplish the equipment of winding and iron core at the second station.

The winding assembling equipment in the embodiment adopts the conveying device in the embodiment 1, so that the winding and the iron core can be safely and efficiently conveyed to the same station, the assembly is completed, the operation is convenient and reliable, and the assembling work efficiency is high.

It is to be understood that the above embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and scope of the invention, and such modifications and improvements are also considered to be within the scope of the invention.

Claims (10)

1. A carrying device is characterized by comprising a supporting component, a mechanical arm and a clamping component,

the support assembly is arranged at the first station and used for supporting the mechanical arm,

the mechanical arm comprises a front arm (8) and a rear arm (6), the rear arm (6) is movably connected to the supporting component and can swing up and down relative to the supporting component, the front arm (8) is horizontally arranged, one end of the front arm (8) is rotatably connected with the rear arm (6) through a rotary joint (7) so that the front arm (8) can rotate around the rotary joint (7) in a horizontal plane,

the clamping assembly is connected with the other end of the front arm (8) and used for clamping a workpiece (29) located on a first station, and the clamping assembly is driven to move by moving the front arm (8) and the rear arm (6) so as to convey the workpiece (29) to a second station from the first station.

2. Handling device according to claim 1, further comprising a swivel assembly (4),

gyration subassembly (4) are located on the supporting component, gyration subassembly (4) can carry out 360 rotations, back arm (6) are connected on gyration subassembly (4).

3. The handling device of claim 2, further comprising a lift assembly,

the lifting assembly is arranged on the supporting assembly, the rotary assembly (4) is arranged on the lifting assembly, and the lifting assembly can drive the rotary assembly (4) to move up and down;

the arm still includes lift cylinder (5), trailing arm (6) rotate to be connected on the gyration subassembly, and the trailing arm is kept away from the one end of forearm and is linked to each other with lift cylinder, and under lift cylinder's effect, the trailing arm can the luffing motion.

4. Handling device according to claim 3, characterised in that the robot arm further comprises a brake (71), which brake (71) is arranged at the swing joint (7) for locking the robot arm in the non-operative state,

the rear arm (6) adopts a four-bar structure.

5. Handling device according to claim 1, characterised in that the gripping assembly comprises a stand (22), a gripper cylinder (23), a connecting rod (25), a gripper unit,

the support (22) is fixed on the front arm (8), two ends of the support (22) are respectively hinged with a vertical arm (26), the connecting rod (25) is arranged between the two vertical arms (26), the connecting rod (25) comprises a horizontal section and two swinging sections, the two swinging sections are respectively hinged at two ends of the horizontal section,

the clamping cylinder (23) is arranged on the bracket (22), the output end of the clamping cylinder (23) is connected with the horizontal section of the connecting rod (25), the two swinging sections of the connecting rod (25) are respectively connected with the two vertical arms (26) of the bracket (22),

the clamping jaw unit comprises two clamping jaws (27), the two clamping jaws (27) are oppositely arranged, the two clamping jaws (27) are respectively connected to the tail ends of two vertical arms (26),

the output end of the clamping cylinder (23) drives the horizontal section of the connecting rod (25) to move upwards, the two swinging sections swing inwards and drive the two vertical arms (26) to swing inwards, so that the two clamping jaws (27) can clamp a workpiece (29).

6. Handling device according to claim 5, characterised in that the gripping assembly is connected to the forearm (8) by means of a gripper rotation joint (21),

the clamping assembly further comprises a cushion block (28), the cushion block (28) is arranged on the clamping jaw (27) in a cushioning mode and is made of flexible materials.

7. The handling device of claim 5, further comprising a control assembly,

the control assembly comprises a control handle (24), and the control handle (24) is electrically connected with the clamping cylinder (23) and is used for controlling the opening and closing of the clamping cylinder (23).

8. The handling device according to claim 5, further comprising a gas cut-off protection assembly comprising a gas control box (10) and a gas storage tank (9),

high-pressure gas is stored in the gas storage tank (9), the gas input end of the gas control box (10) is communicated with the gas storage tank (9), and the gas control box (10) is used for maintaining the original action when the clamping cylinder (23) is suddenly cut off.

9. Handling device according to any of claims 1-8, characterised in that the rotation angle of the front arm (8) is in the range of 0-180 °.

10. A winding assembly machine, comprising a handling device according to any one of claims 1 to 9,

the workpiece carried by the carrying device is a winding, the winding is placed on a first station, and the iron core is placed on a second station.

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