WO2022022083A1 - 一种互感器壳体自动插针装置 - Google Patents

一种互感器壳体自动插针装置 Download PDF

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Publication number
WO2022022083A1
WO2022022083A1 PCT/CN2021/099040 CN2021099040W WO2022022083A1 WO 2022022083 A1 WO2022022083 A1 WO 2022022083A1 CN 2021099040 W CN2021099040 W CN 2021099040W WO 2022022083 A1 WO2022022083 A1 WO 2022022083A1
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WO
WIPO (PCT)
Prior art keywords
pin
track
housing
transformer
transformer housing
Prior art date
Application number
PCT/CN2021/099040
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English (en)
French (fr)
Inventor
李向东
马玉峰
Original Assignee
淄博科微电子有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 淄博科微电子有限公司 filed Critical 淄博科微电子有限公司
Priority to JP2023530921A priority Critical patent/JP2023536204A/ja
Publication of WO2022022083A1 publication Critical patent/WO2022022083A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties

Definitions

  • the invention relates to the field of automation equipment, in particular to an automatic pin insertion device for a transformer shell.
  • the technical problem to be solved by the present invention is: to provide an automatic pin insertion device for the transformer housing which is fast, efficient and labor-saving.
  • an automatic pin insertion device for a transformer shell comprising a frame body, characterized in that: the frame body is provided with a pin insertion track, a shell track, a pin insertion manipulator and a controller.
  • the discharge end of the pin track is provided with a pin feeding device to disperse the closely arranged L-shaped pins;
  • the shell track is arranged in parallel with the pin track, and the output end of the shell track is provided with a shell fixing device;
  • the pin manipulator It is arranged on the discharge end of the pin track and the shell track;
  • the controller is electrically connected with the pin manipulator, the pin track and the shell track;
  • the grabbing mechanism on the moving platform; the grabbing mechanism of the pin manipulator grabs the L-shaped pins scattered on the pin feeding device, and then moves to the upper part of the transformer housing clamped by the housing fixing device and inserts the pins into the shape.
  • the pins are inserted into the sockets of the transformer housing.
  • the pin feeding device of the pin track includes: a sliding part, a pin carrying board, and a linear drive module.
  • the sliding part is bent downward along the main body of the pin track, and its lower end face is a horizontal plane; the upper plane of the pin carrier board is fitted with a part of the lower end face of the sliding part, and the end of the upper plane close to the pin insertion manipulator is provided with a pin slot.
  • the linear drive module drives the pin carrier board to reciprocate linearly in its length direction, so as to disassemble the L-shaped pins closely arranged in the pin track into the pin slot; the shell of the shell track
  • the fixing device includes: a first clamping device, a second clamping device, and a first sorting device.
  • the first clamping device and the second clamping device are arranged side by side along the shell track and the second clamping device is close to the end of the discharge end of the shell track; the first sorting device moves the transformer shell out of the second clamp the corresponding position of the holding device; after the second holding device is actuated, the transformer shell is fixed on the shell track, and the jack on the transformer shell is on the extension line of the length direction of the pin slot; Before the first sorting device is actuated, the first clamping device is actuated and fixed to the former transformer housing that has completed the pin insertion; the first clamping device is an electric push rod or a pneumatic push rod , the movable push rod and the shell track are overlapped up and down, and the movable push rod is fixed by squeezing the transformer shell after falling; the grasping mechanism of the pin insertion manipulator is provided with a vacuum suction head, and the vacuum suction head is located in The second clamping device is fixed to move between the insertion hole of the transformer housing and the pin slot.
  • a pressing device is provided at the rear of the second clamping device, and the pressing device includes: a pressing block fixing frame, a sliding pressing block, a pressing block driving mechanism, a baffle plate and a second sorting device.
  • the pressing block fixing frame is fixedly connected with the shell track.
  • the sliding pressure block is slidably connected with the pressure block fixing frame in the vertical direction and overlaps with the shell track up and down; the pressure block driving mechanism drives the sliding pressure block to move up and down;
  • the baffle is connected with the shell track or with the side surface of the sliding pressure block, The side surfaces are perpendicular to the shell track; the second sorting device moves the re-crimped transformer shell out of the shell track.
  • the upper plane of the pin carrier board is provided with two pin slots: the spacing between the two pin slots is the same as the spacing between the jacks on the transformer shell; correspondingly, the pins
  • the gripping mechanism of the manipulator is provided with two vacuum suction heads, or two sets of vacuum suction heads; a blocking device is provided at the lower part of the pin track, and the blocking device includes a blocking block and a blocking block driving device .
  • the blocking block is arranged in parallel with the pin carrier plate in the length direction and its side is abutted with the side surface of the pin carrier board.
  • the L-shaped pin slides down; the blocking block driving device drives the blocking block to move up and down, and when the blocking block moves downward, the upper end surface of the blocking block is separated from the lower end surface of the sliding part to release the connection to the pin track port of blocking.
  • the transformer shell enters from the feeding end of the shell track and flows through the first clamping device and the second clamping device to the discharging end, the discharging end being the front and the feeding end being the rear;
  • the The first sorting device and the second sorting device are air nozzles;
  • the first sorting device is arranged at the rear of the second clamping device, and the length direction of the air nozzle points to the lower part of the second clamping device;
  • the second sorting device is arranged at the rear of the pressing device, and the length direction of the air nozzle points to the lower part of the sliding pressing block of the pressing device, so as to blow the compressed transformer shell away from the shell track;
  • the first sorting device and the second sorting device are electric push rods or pneumatic push rods, and the first and second sorting devices are arranged on the side or bottom surface of the casing track.
  • the controller also includes a detection device electrically connected to the controller; the detection device is an opposite-radiation grating;
  • the detection device is arranged along the pin track and the housing track to detect and locate the L-shaped pins on the pin track and the transformer housing on the housing track.
  • a vibration mechanism is also provided, and the vibration mechanism drives the pin track to vibrate back and forth, so as to realize the movement of the pin to the discharge end.
  • the pin track comprises a rectangular rod and a cover plate arranged in parallel around the side of the rectangular rod, and the gap between the baffle plate and the rectangular rod forms a track;
  • the rectangular rods are arranged obliquely in the cross-sectional direction.
  • a control method for an automatic pin insertion device of a transformer shell characterized in that:
  • the linear drive module drives the pin carrier board to perform reciprocating linear motion to take out the pins in the pin track and place them in a position that is convenient for the pin manipulator to grasp;
  • the pin carrier plate moves toward the end of the slide, and the pin carrier plate blocks the outlet at the end of the slide during the movement;
  • the linear drive module drives the pin carrier board to perform a reciprocating linear motion, so as to take out the pins in the pin track and place them in a position that is convenient for the pin manipulator to grasp;
  • the pin carrier plate moves toward the end of the sliding portion, and the pin carrier plate and the blocking device block the outlet at the end of the sliding portion during the movement;
  • the controller detects the position of the transformer shell through the detection device, and when the position of the socket on the transformer shell coincides with the position of the L-shaped pin, the controller controls the second clamping device to hold the transformer shell. fixed;
  • the controller controls the grasping mechanism to move horizontally to the upper part of the position of the pin slot, and the controller controls the grasping mechanism to move downward to make the vacuum suction head suck the needle;
  • the controller controls the grabbing mechanism to move above the position of the transformer housing, and the L-shaped pins and the transformer housing jacks coincide in the vertical direction;
  • the controller controls the grasping mechanism to move downward, and inserts the L-shaped pins into the jacks of the transformer housing;
  • the controller controls the first clamping device to clamp the transformer housing immediately adjacent to the rear side of the pinned transformer housing, and then controls the second clamping device to release the pinned housing. Clamping, and finally the controller starts the first sorting device, and sprays the shell out of the clamping position of the second clamping device through the air nozzle.
  • the first sorting device blows the transformer shell with completed pins to the lower part of the pressing device
  • the controller controls the pressing device to re-press the L-shaped pins
  • the second sorting device controls the second sorting device to The transformer housing is blown out of the housing track.
  • FIG. 2 is a schematic diagram of the connection between an embodiment of the present invention and the pin vibration plate and the shell vibration plate
  • Figure 3 is a top view of an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a discharge end of a pin rail according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a discharge end of a pin track according to an embodiment of the present invention
  • FIG. 6 is a side view of the discharge end of the pin track according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a discharge end of a pin track according to an embodiment of the present invention
  • Fig. 8 is a schematic diagram of the discharge end of the shell rail according to an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the discharge end of the shell rail according to an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a housing fixing device and a pressing device on a housing rail according to an embodiment of the present invention
  • the automatic pin insertion device for the transformer shell includes a frame body 100 , a pin vibration plate 900 and a shell vibration plate 800 .
  • the frame body 100 is used to realize the installation of various components, and can be constructed with aluminum-plastic profiles.
  • the vibrating plate also known as the rotating vibrating plate, is an auxiliary equipment for automatic assembly machinery, which can discharge various products in an orderly manner. It can be combined with automatic assembly equipment to assemble various parts of the product into a complete product.
  • the rotating vibration plate is used to realize the ordering of the pins and the housing, and then input to the pin track 700 and the housing track 600 of the device.
  • the upper part of the frame body 100 is provided with an operation platform, and the operation platform of the frame body 100 is provided with a pin rail 700 and a shell rail 600 .
  • the pin track 700 includes a feed end and a discharge end, and the feed end of the pin track 700 is connected to the output end of the pin vibration plate 900 .
  • the housing track 600 is arranged in parallel with the pin track 700 , and the housing track 600 also includes a feed end and a feed end. The feed end of the housing rail 600 is connected to the output end of the housing vibration plate 800 .
  • the pin manipulator 500 is arranged at the discharge end of the pin track 700 and the shell track 600.
  • the pin manipulator 500 grabs the L-shaped pin and inserts it into the jack of the transformer housing.
  • a controller and a detection device are also provided.
  • the detection device is used to detect whether the pin and the transformer shell reach the set position. If the set position is reached, the controller will make corresponding operations according to the set program.
  • the housing track 600 is provided with a chute having the same width as the length of the transformer housing as the track of the transformer housing.
  • the needle vibration plate 900 , the housing vibration plate 800 , the pin manipulator 500 , the pin track 700 and the housing track are electrically connected to the controller.
  • a pneumatic mechanism is also used, such as a cylinder, a vacuum suction head, a pneumatic push rod, etc.
  • the above devices are connected to an air source or a negative pressure air source through a pneumatic valve, and an air source or a negative pressure air source can also be set in this embodiment.
  • the controller is electrically connected with the air source and the negative pressure air source, and at the same time is electrically connected with the pneumatic valve to realize pneumatic control.
  • a general interface of the air source and the negative pressure air source is provided, and the general interface is connected to the external air source and the negative pressure air source.
  • the pin track 700 is arranged on the frame body 100 .
  • the pin track 700 is provided with L-shaped through holes as a track for the L-shaped pins.
  • the pin track 700 is designed as a combined type, including a rectangular bar track and a cover plate arranged on the upper part of the rectangular bar, and a cover plate arranged on the side of the rectangular bar close to the housing track 600 .
  • An L-shaped gap is formed between the upper cover plate and the side cover plate and the rectangular rod, so as to limit the movement range of the L-shaped pins.
  • the rectangular rod and cover plate of the pin track 700 can be installed on the frame body through the bracket.
  • the L-shaped pin is a right angle, one side is overlapped on the upper plane of the rectangular rod, and the other side is overlapped on the side surface of the rectangular rod close to the housing rail 600 . More preferably, in order to realize the bearing of the L-shaped pin and prevent the L-shaped pin from sliding down, as shown in the figure, the track is set in an inclined state. From the cross-section of the rectangular rod, the upper side of the rectangular cross-section is an inclined side. At this time, the uppermost side of the rectangular rod is against the middle of the L-shaped pin, which can effectively ensure the stability of the L-shaped pin.
  • the pin track 700 is inclined from the feeding end to the discharging end, and a vibrating mechanism 740 is provided at the same time. connect.
  • the vibration mechanism 740 is arranged on the frame body. Since the vibration mechanism 740 is provided with a motion mechanism, in order to ensure safety, a protective casing is arranged outside the vibration mechanism 740 .
  • the vibration mechanism can be driven by a cam, or by an electric or pneumatic telescopic mechanism.
  • the cam mechanism When the cam mechanism is used, the vibrating mechanism is provided with a driving motor, the outer circumference of the cam is in contact with the vibrating shaft, or the cam is a positive multi-deformation with rounded corners.
  • the vibration shaft is inserted into the vibration sliding hole or the vibration track, and a spring is arranged between the vibration shaft and the end of the vibration sliding hole or the vibration track to realize the reset of the vibration shaft.
  • the cam is connected with the rotating shaft of the driving motor, and when the cam rotates, the vibration shaft is driven to reciprocate linearly.
  • the vibration mechanism 740 is realized by a telescopic mechanism, the vibration shaft driven by an electric or a cylinder is used to pop out, and the spring drives the vibration shaft to recover, so as to realize the reciprocating motion.
  • the electric drive usually has electromagnetic coils, the current will change greatly during the power-on and power-off process, and more harmonics will be generated at the same time, so the equipment requirements are higher.
  • linear motion components are used. Pneumatic drive.
  • the controller controls the operation of the compression pump, or the equipment is provided with an interface for a negative pressure air source and a positive pressure air source.
  • the longitudinal direction of the vibration axis of the vibration mechanism 740 is the same as the longitudinal direction of the pin track 700, and the vibration direction is the same as the longitudinal direction.
  • the vibration shaft of the vibration mechanism 740 is connected with the rectangular rod of the pin track 700 to realize the vibration of the rectangular rod. Meanwhile, in order to ensure the vibration range of the rectangular rod, a gap is provided between the pin track 700 and the end of the output track of the pin vibration plate 900 . When the two are in contact, the pins on the pin vibration plate 900 can slide onto the pin track 700, and when the two are separated, the forward movement of the pins can be realized by vibration.
  • the end of the input end of the pin track 700 is provided with a detection device, and the detection device is a pin shortage detection device 400a.
  • the detection device is an opposite-radiation grating, or an infrared opposite-radiation module.
  • the cover plate on the upper part of the rectangular rod in FIG. 4 is provided with a gap for light to pass through. The upper and lower parts of the gap are installed with light gratings for detection. When it is detected that the pins on the rectangular rod track are missing, the rectangular rod track is controlled to be docked with the output track of the pin vibration plate to receive the pins.
  • the L-shaped pins are closely arranged on the upper part of the rectangular rod.
  • the use of a robot to grasp the equipment requires high precision, which will increase the cost of the product. Therefore, a pin discharge device is provided at the output end of the pin track 700 .
  • the pin discharge device includes a sliding portion 710 , a pin carrier plate 720 and a linear drive module 730 .
  • the slide portion has a downwardly extending portion of the main body of the pin track 700 .
  • the sliding portion 710 is bent downward along the main body of the pin track 700 and its end surface is a horizontal plane.
  • the lower part 710 is provided with an L-shaped slot hole inside, or a rectangular rod and an upper cover plate and a side cover plate.
  • an L-shaped chute is used as the track at the end of the sliding part.
  • the L-shaped sliding groove of the horizontal part of the sliding part 710 is butted with the gap enclosed by the rectangular rod of the main body of the pin track 700 and the cover plate. Realize the connection of the track.
  • the end surface of the lower end of the sliding portion 710 is a flat surface.
  • a pin slot 721 is provided on the upper plane of the pin carrier board 720 .
  • the pin slot 721 slides on the lower end surface of the lower part, the pin slot coincides with the L-shaped groove on the lower end surface of the lower part 710, and the pins inside the L-shaped groove fall into the pin slot.
  • detection devices are provided on both sides of the sliding part, and the detection devices there are the pin discharge detection device 400b.
  • the vibrating device is started to feed materials in time, or the shutdown operation is performed to prevent the transformer shell without pins from entering the finished product area.
  • a slider position detection device 400c is provided at the position of the slider close to the pin manipulator 500, so as to ensure that the slider is accurately positioned. When the position of the slider is offset, it will prompt for correction in time.
  • the shell of the transformer is generally provided with two jacks, so one pin slot can be provided, and then by defining the stop position of the pin slot 721 to correspond to the position of the jack of the transformer shell, the realization of Operation of the pin manipulator 500 .
  • the distance between the two pin sockets 721 is the same as the distance between the two sockets on the transformer housing.
  • a blocking device 750 needs to be designed to realize the insertion
  • the two pin insertion slots on the pin insertion board 720 realize the sliding down of the pins on the one-way movement track in the direction of sliding toward the pin insertion robot 500 .
  • a blocking device 750 is provided below the pin track 700 .
  • the blocking device 750 includes a blocking block 751 and a blocking block driving device 752 .
  • the blocking block 751 has a flat plate structure and is in the shape of a rectangular strip.
  • the width of the pin carrier plate 720 and the width of the blocking block 751 are both smaller than the length of a single side of the pin.
  • the blocking block 751 is arranged in parallel with the pin carrier plate 720 in the longitudinal direction and its side faces are abutted with the side surface of the pin carrier board 720 .
  • the upper plane of the blocking block 751 is in contact with a part of the bottom surface of the sliding part 710 to prevent the L-shaped pin from sliding down.
  • the blocking block 751 is flush with the upper end surface of the pin carrier plate 720 and is arranged side by side while blocking the outlet of the lower end surface of the sliding portion 710 .
  • the blocking block driving device 752 drives the blocking block 751 to move up and down.
  • the blocking block 751 moves downward, and the upper end surface of the blocking block 751 is separated from the lower end surface of the sliding part 710 to release the connection to the pin track 700 port. Blocking.
  • the width of the pin carrier plate 720 and the blocking block 751 are arranged side by side, and can slide up and down relative to each other.
  • the upper plane of the blocking block 751 is in contact with the bottom surface of the sliding part 710. At this time, even if the pin slot 721 slides to the bottom of the sliding part 710 and corresponds to the outlet of the sliding part 710, under the action of the blocking block , the pin will not fall into the pin slot.
  • the blocking block driving device 752 drives the blocking block 751 to separate from the sliding portion 710 .
  • the blocking block 751 is in contact with the lower end surface of the sliding portion 710 to block the pins and prevent them from falling, and the two pin slots remain blocked even after passing through.
  • the blocking block 751 descends, and the upper plane of the blocking block 751 is separated from the lower end surface of the sliding part 710 .
  • the pins pass through the lower end face of the sliding portion 710 and then fall into the pin slot 721 in sequence.
  • the blocking block driving device 752 of the blocking device 750 is still realized by a cylinder.
  • the cylinder is fixedly connected with the frame body or the pin track, the sliding direction of the push rod of the cylinder is the up-down direction, and the end of the push rod of the cylinder is fixedly and fixedly connected with the blocking block 751 .
  • the housing track 600 is provided with a chute having the same width as the length of the transformer housing as the track of the transformer housing.
  • the transformer housings are arranged inside the chute and slide inside.
  • one end of the transformer housing provided with the jack faces the pin track 700 .
  • the housing rail 600 is a chute, which is installed on the frame body through a bracket.
  • a first clamping device 610 , a second clamping device 620 and a pressing device 640 are provided at the end of the chute.
  • the first clamping device 610 and the second clamping device 620 are used to fix the transformer housing.
  • the structures of the first clamping device 610 and the second clamping device 620 are the same, and both can be realized by means of an electric push rod or a pneumatic push rod.
  • the first clamping device 610 and the second clamping device 620 adopt pneumatic push rods, including a clamping cylinder 621 and a clamping block 622 .
  • the clamping block is located on the upper part of the chute of the housing track 600, and the clamping block is fixedly connected with the free end of the push rod of the clamping cylinder.
  • the direction of movement of the gripper push rod is the up and down direction.
  • the push-out air valve of the cylinder When the transformer reaches the lower part of the first clamping device or the second clamping device, the push-out air valve of the cylinder is opened, the push rod is pushed out, and the clamping block presses the transformer shell located at the lower part thereof. Fixing the position of the transformer housing to facilitate pin operation. The end of the transformer shell with the jack faces the pin track, and the clamping block is pressed against the end of the transformer shell without the jack.
  • the clamping cylinder is fixed on the upper part of the frame body through the bracket.
  • a housing detection device 400d to be jacked is provided at the front of the second clamping device 620 .
  • the structure of the detection device is the same as that of the above-mentioned detection device, and it is realized by a module with a grating on the beam.
  • the clamping block of the second clamping device 620 falls to clamp the transformer shell.
  • the shell inside the shell track 600 will stop. flow, and the pin insertion operation is performed at this time.
  • the transformer housing with the completed pin insertion needs to be removed and moved into the flattening area or into the next process position.
  • the function of the first sorting device 630 is to remove the transformer housing where the pins are completed. As shown in the figure, the first sorting device 630 is an air nozzle.
  • the air nozzle is connected to the positive pressure air source through an electronically controlled air valve, the air nozzle is a slender tube, and the nozzle of the air nozzle faces the lower part of the second clamping device 620 .
  • the first clamping device 610 clamps a transformer housing before the transformer housing where the pins are inserted, and then the second clamping device 620 is released, and then the air nozzle is activated to remove the first The transformer housing at the lower part of the two clamping devices 620 is blown away. Finally, the first clamping device 610 is released to continue the pin insertion process.
  • the first and second clamping devices are arranged side by side in the longitudinal direction of the housing rail 600, the first clamping device 610 is located at the rear of the second clamping device 620, and the pressing device 640 is located in the second clamping device 640. the front of the holding device 620.
  • the pressing device is optional, and its main function is to ensure that the pins are completely inserted into the sockets of the transformer housing.
  • the pressing device 640 includes a pressing block fixing frame 641 , a sliding pressing block 642 and a pressing block driving mechanism 643 .
  • the pressing block fixing bracket 641 is fixedly connected with the housing rail 600 .
  • the sliding pressure block 642 is slidably connected to the pressure block fixing frame 641 in the vertical direction, and the sliding pressure block 642 is overlapped up and down with the chute of the casing holder.
  • the pressing block driving mechanism 643 drives the sliding pressing block 642 to move up and down.
  • the baffle 644 is connected to the housing rail 600 or slidably connected to the side surface of the sliding pressure block 642, the side surface being perpendicular to the housing rail. As shown in FIG. 11 , the baffle 644 is fixedly connected to the end of the housing rail 600 , and the baffle is erected in the middle of the chute to block the transformer housing. After blocking, the sliding pressing block 642 descends to press the pins.
  • the sliding pressure block 642 descends to compress the pins, the sliding pressure block abuts against the housing rail 600 to block the transformer housing, and then the sliding pressure block is raised 642, the pressing process is completed. After that, it continues to rise, and the baffle rises along with it and releases the blocking of the transformer housing. Afterwards, the compressed transformer housing can be moved to the finished product area by the second sorting device 645 .
  • a rectangular ring can be provided on the side of the sliding pressure block 642, the baffle 644 is T-shaped and is inserted into the inside of the rectangular ring, and the upper part of the rectangular ring at the big end of the baffle, the sliding pressure block can be raised to a certain height.
  • the baffle plate 644 is driven to rise at the same time, and after the sliding pressure block 642 descends, the baffle plate descends accordingly. After the lower end of the baffle plate 644 contacts the shell track, the sliding pressure block 642 can continue to descend to compress the transformer shell.
  • the baffle 644 is arranged on one side of the chute through an independent mechanism, and when the transformer needs to be pressed, the baffle 644 pops out and blocks the transformer across the middle of the chute.
  • the second sorting device 645 can be an air nozzle, and the transformer housing is blown away by air. Since the transformer housing is made of plastic, it is light in weight and suitable for blow-off. Alternatively, push off the chute in the form of an electric push rod.
  • a discharge box 646 is connected to the end of the discharge end of the shell track 600 , and the discharge box 646 introduces the transformer shell separated from the shell track 600 into a collection box and other finished product collection devices.
  • the pin insertion manipulator 500 includes a vertically arranged two-dimensional motion platform and a grabbing mechanism arranged on the two-dimensional motion platform.
  • the two-dimensional platform includes a horizontal moving platform arranged on the frame body, a vertical moving platform arranged on the horizontal moving platform, and the grabbing mechanism is arranged on the vertical moving platform.
  • the horizontal moving platform and the vertical moving platform are linear motion mechanisms, which are relatively common technologies in the prior art.
  • a vacuum suction head 530 is provided on the grasping mechanism of the pin insertion manipulator 500 . In this application, the pins are sucked by vacuum adsorption. Then insert it into the jack of the transformer housing.
  • connection line between the socket on the transformer housing and the pin slot 721 is parallel to the horizontal movement direction of the gripping mechanism.
  • the vacuum suction head moves to the position of the pin slot 721, lowers to suck the pins, and then moves to the upper part of the socket of the transformer housing. Since the direction of the horizontal movement of the vacuum suction head 530 is different from the socket of the transformer housing and the socket of the transformer housing
  • the connection lines of the pin slot are parallel, so the pin hole can be realized by precision setting.
  • the pin is larger than 1 mm, and the jack is slightly smaller than the pin. The accuracy of the current two-dimensional motion platform can easily achieve accurate positioning.
  • the vacuum suction head 530 is set as a cube, a suction hole is arranged in the middle of the cube, and the upper end of the suction hole is connected to an external negative pressure air source through an electric air valve.
  • the two sides of the lower suction hole of the cube are provided with chute, and the inside of the chute is provided with an anti-dumping block.
  • the anti-tip block is slidably connected with the chute and slides in the up-down direction.
  • the inner side of the chute is provided with a positioning groove, and the anti-dumping block is provided with a limit protrusion at the corresponding position.
  • the anti-tipping block functions to prevent the pins from tilting. specific,
  • the anti-dump block can be fully inserted into the chute.
  • the lower plane of the internal anti-dump block is flush with the lower plane of the vacuum system, and the suction hole can suck the pin at this time.
  • the vacuum suction head 530 rises.
  • the pouring block slides down to form a blocking surface on both sides of the L-shaped pin, which prevents the L-shaped pin from tilting. Since the L-shaped pins are blocked by two anti-dump blocks when inserting the pins, they can maintain a vertical state.
  • the anti-dump blocks are blocked by the transformer housing and rise, so Does not affect pins.
  • the pin carrier plate 720 and rises it is blocked by the pin carrier plate 720 and rises, and the suction of the L-shaped pins will not be affected.
  • the method for using the device includes the following steps:
  • Step A the linear drive module 730 drives the pin carrier plate 720 to perform a reciprocating linear motion, so as to take out the pins in the pin track 700 and place them in a position that is convenient for the pin manipulator 500 to grasp;
  • the pin carrying plate 720 moves toward the end of the sliding part 710, and the pin carrying plate 720 blocks the outlet at the end of the sliding part 710 during the movement.
  • the reverse operation is performed to move the pin carrier plate 720 on which the L-shaped pins are placed to a position close to the pin manipulator 500 .
  • the pin carrier plate 720 moves toward the end of the sliding portion 710, and the pin carrier plate 720 and the blocking device 750 block the outlet at the end of the sliding portion 710 during the movement;
  • the blocking stopper 751 of the blocking device 750 moves downward to release the lock on the lower end surface of the sliding part 710 .
  • the middle pin carrier plate 720 blocks the outlet at the end of the sliding part 710;
  • the reverse operation is performed to move the pin carrier plate 720 on which the L-shaped pins are placed to a position close to the pin insertion manipulator 500 .
  • the two pin insertion slots 721 pass through the L-shaped pins of the lower part 710 .
  • the exit positions fall into the L-shaped pins in sequence into the two pin slots 721 .
  • Step B the controller detects the position of the transformer shell through the detection device, when the position of the jack on the transformer shell coincides with the position of the L-shaped pin, the controller controls the second clamping device 620 to place the transformer shell. fixed;
  • the controller controls the gripping mechanism to move horizontally to the upper part of the position of the pin slot 721, and the controller controls the gripping mechanism to move downward to make the vacuum suction head 530 suck the pins;
  • the controller controls the grabbing mechanism to move above the position of the transformer housing, and the L-shaped pins and the transformer housing jacks coincide in the vertical direction;
  • the controller controls the grasping mechanism to move downward, and inserts the L-shaped pins into the jacks of the transformer housing;
  • the controller controls the first clamping device 610 to clamp the transformer housing immediately adjacent to the rear side of the transformer housing that has completed pin insertion, and then controls the second clamping device 620 to release the housing for the completed pin insertion.
  • the body is clamped, and finally the controller starts the first sorting device 630 , and sprays the shell out of the clamping position of the second clamping device 620 through the air nozzle.
  • the first sorting device 630 blows the transformer housing completed with the pins to the lower part of the pressing device 640, the controller controls the pressing device to press the pins, and controls the second separation after pressing.
  • the picking device blows the shell out of the shell track.

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Abstract

本发明涉及自动化设备领域，具体涉及电流互感器自动化生产设备。本发明包括插针轨道、壳体轨道、插针机械手以及控制器。所述插针机械手的抓取机构抓取插针轨道出料端的插针送料装置上分散的L形插针，然后移动到壳体轨道出料端的壳体固定装置夹持的互感器壳体上部并将形插针插入互感器壳体的插孔内。解决了目前的生产工艺中，互感器引脚的插针主要采用人工插入的方式进行安装效率低下、成品率低同时对劳动人员造成的职业病伤害的问题。

Description

一种互感器壳体自动插针装置 技术领域
本发明涉及自动化设备领域，具体为一种互感器壳体自动插针装置。
背景技术
在小型电流互感器的生产过程中，需要在互感器的壳体上插入插针一实现互感器壳体内部线圈导线的引出，进而便于外部接线。目前的生产工艺中，主要采用人工插入的方式进行安装。由于插针具有微小，常见的L形插针，两边长约1cm作用且两边边长不同，由于插针较小、互感器壳体的插孔同样较小，因此在生产的过程中，非常的耗费精力，尤其是长时间专注与插针插孔对眼睛形成视觉疲劳，损坏视力。同时需要施加一定的力度才能将插针插入互感器的壳体的插孔内部，因此纯手工操作或者是借助硬材质的辅助器具操作同样会对工作人员操作手部的损坏。除了对劳动人员造成的伤害之外，还容易出线插入力度不够，插入边错误等方式，不仅效率低下同时成品率也不高。因此设计一种互感器插孔自动插针的自动化设备成为一种迫切的要求。
发明内容
本发明要解决的技术问题是：提供了具有快速、高效、节约人力成本的一种互感器壳体自动插针装置。
本发明要解决的技术问题的技术方案是：一种互感器壳体自动插针装置，包括架体，其特征在于：所述架体上设有插针轨道、壳体轨道、插针机械手和控制器。
插针轨道出料端设置有插针送料装置，用以将紧密排列的L形插针分散；壳体轨道与插针轨道平行设置，壳体轨道输出端设置有壳体固定装置；插针机械手设于插针轨道和壳体轨道的出料端；控制器与插针机械手、插针轨道、壳体轨道电气连接；所述插针机械手包括竖直设置的二维运动平台、设于二维运动平台上的抓取机构；所述插针机械手的抓取机构抓取插针送料装置上分散的L形插针，然后移动到壳体固定装置夹持的互感器壳体上部并将形插针插入互感器壳体的插孔内。
更好的，所述插针轨道的插针送料装置包括：下滑部、插针承载板、直线驱动模块。下滑部沿插针轨道主体向下弯曲，且其下端端面为水平面；插针承载板上部平面与下滑部的下端端面一部分贴合，并且上部平面上靠近插针机械手的一端设有插针卡槽；直线驱动模块驱动插针承载板在其长度方向上做往复直线运动，用以将插针轨道内紧密排列的L形插针分装到插针卡槽内部；所述壳体轨道的壳体固定装置包括：第一夹持装置、第二夹持装置、第一 分拣装置。第一夹持装置、第二夹持装置，沿壳体轨道并列设置且第二夹持装置靠近壳体轨道的出料端的端部；第一分拣装置，将互感器壳体移出第二夹持装置的对应的位置；所述第二夹持装置动作后将互感器壳体固定在壳体轨道上，此时互感器壳体上的插孔在插针卡槽长度方向的延长线上；所述第一分拣装置动作前，第一夹持装置动作并对完成插针的互感器壳体前一个互感器壳体实施固定；所述第一夹持装置为电动推杆或者气动推杆，其活动推杆与壳体轨道上下重合，活动推杆下落后通过挤压互感器壳体将其固定；所述插针机械手的抓取机构上设有真空吸头，所述真空吸头在第二夹持装置固定的互感器壳体插孔与插针卡槽之间移动。
更好的，所述第二夹持装置后部设有压紧装置，所述压紧装置包括：压块固定架、滑动压块、压块驱动机构、挡板和第二分拣装置。压块固定架与壳体轨道固定连接。滑动压块与压块固定架竖直方向上滑动连接且与壳体轨道上下重合；压块驱动机构驱动滑动压块上下移动；挡板与壳体轨道连接或者与滑动压块的侧面滑动连接，所述侧面与壳体轨道垂直；第二分拣装置，将再次压接后的互感器壳体移出壳体轨道。
更好的，所述插针承载板上部平面设有两个插针卡槽：两个插针卡槽的间距与互感器壳体上插孔的间距相同；与之相应的，所述插针机械手的抓取机构上设有两个真空吸头，或两组真空吸头；所述插针轨道下部设有封堵装置，所述封堵装置包括封堵挡块和封堵挡块驱动装置。封堵挡块，与插针承载板在长度方向上平行设置并且其侧面与插针承载板的侧面贴合，所述封堵挡块的上部平面与下滑部的底面的一部分贴合用以防止L形插针滑落；封堵挡块驱动装置，驱动所述封堵挡块上下移动，所述封堵挡块向下移动时，其上端面与下滑部的下端面脱离解除对插针轨道端口的封堵。
更好的，互感器壳体从壳体轨道的进料端进入经过第一夹持装置、第二夹持装置流向出料端，所述出料端为前方，进料端为后方；所述第一分拣装置、第二分拣装置为喷气嘴；所述第一分拣装置设于第二夹持装置的后部，所述喷气嘴的长度方向指向第二夹持装置的下部；所述第二分拣装置设于压紧装置的后部，所述喷气嘴的长度方向指向压紧装置的滑动压块的下部，用以将完成压紧的互感器壳体吹离壳体轨道；或，所述第一分拣装置、第二分拣装置为电动推杆或气动推杆，所述第一、二分拣装置设于壳体轨道的侧面或底面。
更好的，还包括与控制器电气连接的检测装置；所述检测装置为对射光栅；
所述检测装置沿插针轨道、壳体轨道设置用以检测和定位插针轨道上的L形插针、壳体轨道上的互感器壳体。
更好的，还设有振动机构，所述振动机构驱动插针轨道前后振动，用以实现插针向出料 端移动。
更好的，所述插针轨道包括矩形杆以及围绕矩形杆侧面平行设置的盖板，挡板与矩形杆之间的间隙形成轨道；
更好的，所述矩形杆在截面方向上倾斜设置。
一种互感器壳体自动插针装置的控制方法，其特征在于：
直线驱动模块驱动插针承载板做往复直线运动，用以将插针轨道内的插针取出并放置到便于插针机械手抓取的位置；
插针承载板设有一个插针卡槽时：
插针承载板向下滑部的端部移动，运动过程中插针承载板对下滑部端部的出口进行封堵；
当空置的插针卡槽移动到与下滑部的L形插针出口位置时，插针轨道下滑部内部的L形插针落入插针卡槽内部；
之后，反向运行，将放置有L形插针的插针承载板移动到靠近插针机械手的位置；
更好的，直线驱动模块驱动插针承载板做往复直线运动，用以将插针轨道内的插针取出并放置到便于插针机械手抓取的位置；
插针承载板设有两个插针卡槽时：
插针承载板向下滑部的端部移动，运动过程中插针承载板以及封堵装置对下滑部端部的出口进行封堵；
当两个空置的插针卡槽都移动到与下滑部的L形插针出口位置的另一侧时，封堵装置的封堵挡块向下移动解除对下滑部下端面出口的封堵，此时只有中插针承载板对下滑部端部的出口进行封堵；
之后，反向运行，将放置有L形插针的插针承载板移动到靠近插针机械手的位置，移动的过程中，两个插针卡槽经过下滑部的L形插针出口位置时，L形插针依次落入两个插针卡槽内部。
更好的，控制器通过检测装置检测互感器壳体的位置，当互感器壳体上插孔的位置与L形插针的位置重合时，控制器控制第二夹持装置将互感器壳体固定；
控制器控制抓取机构水平移动到插针卡槽的位置的上部，控制器控制抓取机构向下移动使真空吸头吸取插针；
控制器控制抓取机构移动到互感器壳体的位置的上方，且L形插针与互感器壳体插孔在竖直方向上重合；
控制器控制抓取机构向下移动，将L形插针插入互感器壳体的插孔内；
插针完成后，控制器控制第一夹持装置夹持已完成插针的互感器壳体的后侧紧邻的互感器壳体，然后控制第二夹持装置解除对完成插针的壳体的夹持，最后控制器启动第一分拣装置，通过喷气嘴将壳体喷出第二夹持装置的夹持位置。
更好的，第一分拣装置将插针完成的互感器壳体吹至压紧装置的下部，控制器控制压紧装置对L形插针进行再次压紧，之后控制第二分拣装置将互感器壳体吹出壳体轨道。
本发明的有益效果为：
1、减少了人力的投入，同时降低了对工作人员的健康的损害；
2、提高了插针的效率。
附图说明
图1是本发明一种实施例的示意图
图2是本发明一种实施例与插针振盘以及壳体振盘连接的示意图
图3是本发明一种实施例的俯视图
图4是本发明一种实施例的插针轨道出料端的示意图
图5是本发明一种实施例的插针轨道出料端的示意图
图6是本发明一种实施例的插针轨道出料端的侧视图
图7是本发明一种实施例的插针轨道出料端的示意图
图8是本发明一种实施例的壳体轨道出料端的示意图
图9是本发明一种实施例的壳体轨道出料端的示意图
图10是本发明一种实施例的壳体轨道出料端和插针轨道出料端的放大图
图11是本发明一种实施例的壳体轨道上壳体固定装置及压紧装置的示意图
图中：
622、夹持块；621、夹持气缸；400d、待插孔壳体检测装置；400c、滑块位置检测装置；400b、插针出料检测装置；400a、插针缺料检测装置；100、架体；752、封堵挡块驱动装置；751、封堵挡块；750、封堵装置；740、振动机构；645、第二分拣装置；646、出料盒；643、压块驱动机构；642、滑动压块；641、压块固定架；640、压紧装置；530、真空吸头；520、插接杆驱动装置；510、插接杆；630、第一分拣装置；620、第二夹持装置；610、第一夹持装置；730、直线驱动模块；721、插针卡槽；720、插针承载板；710、下滑部；500、插针机 械手；600、壳体轨道；700、插针轨道；800、壳体振盘；644、挡板；900、插针振盘；
具体实施方式
为使本发明的技术方案和有益效果更加清楚，下面对本发明的实施方式做进一步的详细解释。
如图1所示，互感器壳体自动插针装置，包括架体100、插针振盘900和壳体振盘800。架体100用以实现各部件的安装，可以采用铝塑型材搭建。振盘又称之为转动振盘，是一种自动组装机械的辅助设备，能把各种产品有序排出来。它可以配合自动组装设备一起将产品各个部位组装起来成为完整的一个产品。本发明中采用转动振盘实现插针和壳体的排序，然后输入到本装置的插针轨道700和壳体轨道600上。
架体100上部设有操作平台，架体100的操作平台上设有插针轨道700和壳体轨道600。插针轨道700包括进料端和出料端，插针轨道700的进料端与插针振盘900的输出端连接。壳体轨道600与插针轨道700平行设置，壳体轨道600同样包括进料端和出料端。壳体轨道600的进料端与壳体振盘800的输出端连接。插针机械手500设于插针轨道700和壳体轨道600的出料端，在L形插针和互感器壳体分别到达插针轨道700的出料端和壳体轨道600的出料端的时候，插针机械手500抓取L形插针并插入互感器壳体的插孔中。为了实现自动控制还设置有控制器以及检测装置，检测装置用以检测插针以及互感器壳体是否达到设定的位置，如果到达设定的位置控制器则根据设定的程序作出相应的操作。所述壳体轨道600上设有宽度与互感器壳体长度相同的滑槽作为互感器壳体的轨道。
为了实现自动控制，针振盘900、壳体振盘800、插针机械手500、插针轨道700以及壳体轨道和控制器电气连接。本实施例中还采用有气动机构，如气缸、真空吸头、气动推杆等，上述装置通过气动阀门与气源或者负压气源连接，本实施例中还可设置气源或者负压气源，控制器与气源和负压气源电气连接，同时与气动阀门电气连接实现气动控制。或者，本实施例中设有气源和负压气源的总接口，通过总接口与外部的气源和负压气源连接。
插针轨道700设于架体100上。插针轨道700设有L形通孔作为L形插针的轨道。
为了便于维护和检修，插针轨道700设计为组合式，包括矩形杆轨道以及括设置在矩形杆的上部的盖板，设置在矩形杆靠近壳体轨道600的侧面的盖板。上部的盖板以及侧面的盖板与矩形杆之间形成一个L形的间隙，以便于限定L形插针的活动范围。上部的盖板和侧面的盖板之间设有缺口，以便于检测插针的运行状况以及卡针检测。插针轨道700的矩形杆、盖板可通过支架安装在架体上。
L形插针为直角形，一边搭接在矩形杆的上部平面上，另一边搭接在矩形杆靠近壳体轨道600的侧面上。更好的，为了实现对L形插针的承载，防止L形插针在滑落，如图所示，轨道设置为倾斜状态。从矩形杆的截面看，矩形截面的上边为倾斜边，此时矩形杆位于最上部的一边顶在L形插针的中部，可以有效保证L形插针的稳定。
为了实现插针的行进插针轨道700由进料端向出料端倾斜，同时设置振动机构740，插针轨道700的盖板可以与振动机构的固定部分连接，矩形杆与振动机构的振动部分连接。
如图所示，振动机构740设置在架体上，由于振动机构740设有运动机构，为了保证安全，在其外部设置了保护壳体。振动机构可以通过凸轮驱动，也可以通过电动或者气动的伸缩机构驱动。采用凸轮机构设置时，振动机构设有一个驱动电机，凸轮的外周与振动轴抵接，或者凸轮为经过圆角处理的正多变形。振动轴插接在振动滑孔中或者是振动轨道中，振动轴与振动滑孔或者振动轨道的端部之间设有弹簧用以实现振动轴的复位。凸轮与驱动电机的转轴连接，在凸轮转动时，驱动振动轴往复直线运动。振动机构740采用伸缩机构实现时，采用电动或者气缸的驱动振动轴弹出，弹簧驱动振动轴恢复，来实现往复运动。
由于采用电动驱动多具有电磁线圈，因此在通电和断电的过程中电流产生较大的变化，同时会产生较多的谐波，因此对设备要求较高，本实施例中采用直线运动部件采用气动驱动。控制器控制压缩泵工作，或者设备设有负压气源、正压气源的接口。
振动机构740的振动轴长度方向和插针轨道700的长度方向相同，同时振动方向与长度方向相同。振动机构740的振动轴和插针轨道700的矩形杆连接用以实现矩形杆的振动。同时为了保证矩形杆的振动范围，在插针轨道700与插针振盘900的输出轨道的端部之间设有间隙。两者抵接时，插针振盘900上的插针可以滑动到插针轨道700上，两者分开时可以通过振动的方式实现插针的向前运动。
如图4所示，插针轨道700的输入端的端部设有检测装置，该检测装置为插针缺料检测装置400a。检测装置为对射光栅，或者是红外对射模块。图4中矩形杆上部的盖板设有空隙用以穿过光线。空隙的上部和下部安装对射光栅，进行检测。当检测到矩形杆轨道上的插针缺少时，控制矩形杆轨道与插针振盘的输出轨道对接进行接收插针。
L形插针在矩形杆上部时紧密排列的，采用机械手抓取对设备的精度要求较高，会提高产品的成本，因此在插针轨道700的输出端设置了插针出料装置。
插针出料装置包括下滑部710、插针承载板720以及直线驱动模块730。
如图所示，下滑部有插针轨道700主体向下延伸的部分。下滑部710沿插针轨道700主体向下弯曲且其端面为水平面。下滑部710内部设有L形槽孔，或者设置有矩形杆以及上部 盖板和侧面的盖板。更好的，为了便于插针的稳定排列，在下滑部的端部采用L形滑槽的方式作为轨道。下滑部710的水平部分的L形滑槽与插针轨道700主体的矩形杆与盖板围成的间隙对接。实现轨道的连接。下滑部710的下端的端面为平面。
直线驱动模块730采用气缸驱动，包括气缸、滑动轨道和滑台。气缸设置在架体上部的平台上，气缸与架体固定连接。滑动轨道沿气缸推杆的方向设置在架体上部的平台上。滑台与滑动轨道滑动连接，气缸推杆的自由端与滑台固定连接。插针承载板720设于滑台上。插针承载板720为长条扁平立方体，且其长度方向与滑动轨道的长度方向相同。插针承载板720的扁平面为竖直面，上部面为矩形窄条。插针承载板720上部平面与下滑部的下端的端面贴合，且两者之间可以相对滑动。
插针承载板720的上部平面，为了便于插针的放置，在插针承载板720的上部平面上设置了插针卡槽721。当插针卡槽721滑动中下滑部的下端面时，插针卡槽与下滑部710的下端面的L形凹槽重合，L形凹槽内部的插针落入插针卡槽中。
为了检测，下滑部710是否有充足的插针，在下滑部的两侧设有检测装置，该处的检测装置为插针出料检测装置400b。当检测到插针不足时，及时启动振动装置进行送料，或者进行停机操作，防止未插针的互感器壳体进入成品区。
由于直线驱动模块730的滑块的运动轨迹是限定的，其停止位的位置是固定的，即，端点位置是固定的，因此可以确定插针卡槽721的位置。但是设备自身的运行以及外部因素的影响，其位置会发生改变，为了防止因位置发生改变导致无法抓取插针，进而导致未插针的互感器壳体进入成品区。在滑块靠近插针机械手500的位置设置有滑块位置检测装置400c，用以保证滑块准确到位。在滑块发生位置偏移时，及时提示校正。
现有技术中互感器的壳体一般设有两个插孔，因此插针卡槽可以设置一个，然后通过限定插针卡槽721的停止位置与互感器壳体的插孔的位置对应，实现插针机械手500的操作。
更好的，将插针卡槽设计为两个，两个插针卡槽721的间距和互感器壳体上两个插孔的间距相同。此时在插针卡槽721经过下滑部710的下端出口的位置时，已含有插针的插针卡槽721经过时会容易出现卡针的问题，因此需要设计一个封堵装置750，实现插针承载板720上的两个插针卡槽在滑向插针机械手500的方向的单向运动轨迹上实现插针的滑落。反方向运行时，对下滑部710下端的插针出口进行封堵。因此在插针轨道700下部设置一个封堵装置750。如图所示，所述封堵装置750包括封堵挡块751、封堵挡块驱动装置752。所述封堵挡块751为平板结构，且为矩形长条状，插针承载板720的宽度和封堵挡块751的宽度都小于插针的单边的长度。封堵挡块751与插针承载板720在长度方向上平行设置并且其侧面与 插针承载板720的侧面贴合。所述封堵挡块751的上部平面与下滑部710的底面的一部分贴合用以防止L形插针滑落。封堵挡块751与插针承载板720上端面平齐且并排排列同时对下滑部710的下端面的出口进行封堵。封堵挡块驱动装置752，驱动所述封堵挡块751上下移动，所述封堵挡块751向下移动式，其上端面与下滑部710的下端面脱离解除对插针轨道700端口的封堵。插针承载板720的插针卡槽721落入插针时，插针的一边贴合插针承载板720的侧面，另一边嵌在插针卡槽中。插针的另一边凸出到插针卡槽的外部。插针承载板720的宽度和封堵挡块751并列设置，且两者之间可以相对的上下滑动。所述封堵挡块751的上部平面与下滑部710的底面贴合，此时即使插针卡槽721滑动至下滑部710底部且与下滑部710的出口对应，在封堵挡块的作用下，插针同样不会落入插针卡槽内部。通过在插针承载板720由插针机械手方向向插针轨道700的方向移动时，封堵挡块驱动装置752驱动封堵挡块751脱离下滑部710。封堵挡块751与下滑部710的下端面贴合，实现对插针的封堵，防止其下落，两个插针卡槽都经过之后依然保持封堵状态。插针承载板720在由插针轨道700的方向向插针机械手的方向移动时，封堵挡块751下降，封堵挡块751的上部平面与下滑部710的下部端面分离，此时两个插针依次经过下滑部710的下端面插针便依次落入插针卡槽721中。此时可以防止在回位的过程中落入插针之后，再向插针机械手500时，由于插针卡槽内部设有插针，下滑部710内的插针可能继续落入但又不能完全落入，因此可以防止发生卡针的问题。该封堵装置750的封堵挡块驱动装置752仍然采用气缸实现。气缸和架体或者插针轨道固定连接，气缸的推杆的滑动方向为上下方向，气缸的推杆的端部和封堵挡块751固定固定连接。
所述壳体轨道600上设有宽度与互感器壳体长度相同的滑槽作为互感器壳体的轨道。互感器壳体排列在滑槽的内部并在内部滑动。并且互感器壳体设有插孔的一端朝向插针轨道700。如图所示，壳体轨道600为滑槽，其通过支架安装在架体上。在滑槽的端部设有第一夹持装置610、第二夹持装置620以及压紧装置640。
第一夹持装置610和第二夹持装置620用以实现对互感器壳体的固定。第一夹持装置610和第二夹持装置620的结构相同，都可以采用电动推杆或者气动推杆的方式实现。本实施例中第一夹持装置610和第二夹持装置620采用气动推杆，包括夹持气缸621和夹持块622。夹持块位于壳体轨道600滑槽的上部，夹持块和夹持气缸的推杆的自由端固定连接。夹持推杆移动的方向为上下方向。在互感器到达第一夹持装置或者第二夹持装置的下部的时候，气缸的推出气阀打开，推杆推出，夹持块压住位于其下部的互感器壳体，此时既实现了对互感器壳体的位置的固定，以便于插针操作。互感器的壳体带有插孔的一端朝向插针轨道，夹持 块压在互感器壳体未设有插孔的一端。夹持气缸通过支架固定在架体的上部。
为了检测互感器的位置，如图所示，在第二夹持装置620的前部设有待插孔壳体检测装置400d。与上述检测装置的结构相同，采用光栅对射的模块实现。
互感器壳体到达待插孔的位置之后，第二夹持装置620的夹持块下落夹紧互感器壳体，互感器壳体被夹紧后，壳体轨道600内部的壳体就会停止流动，此时进行插针作业。插针完成后需要将完成插针的互感器壳体移出，移入成平区或者移入下一工序位置。第一分拣装置630的功能即是移出完成插针的互感器壳体。如图所示，第一分拣装置630为喷气嘴。喷气嘴通过电控的气阀和正压气源连接，喷气嘴为细长管，喷气嘴的管口朝向第二夹持装置620的下部。在需要移出互感器壳体的时候，第一夹持装置610夹住完成插针的互感器壳体之前的一个互感器壳体，然后第二夹持装置620松开，之后启动喷气嘴将第二夹持装置620下部的互感器壳体吹离。最后第一夹持装置610松开继续进行插针流程。
如图所示，第一、第二夹持装置在壳体轨道600的长度方向上并列设置，第一夹持装置610位于第二夹持装置620的后部，压紧装置640位于第二夹持装置620的前部。
压紧装置可有可无，其主要功能是保证插针完全插入互感器壳体的插孔内部。
压紧装置640包括压块固定架641、滑动压块642和压块驱动机构643。压块固定架641与壳体轨道600固定连接。滑动压块642与压块固定架641竖直方向上滑动连接，滑动压块642与壳体股东的滑槽上下重合。压块驱动机构643，驱动滑动压块642上下移动。
挡板644与壳体轨道600连接或者与滑动压块642的侧面滑动连接，所述侧面与壳体轨道垂直。如图11所示，挡板644与壳体轨道600的端部固定连接，挡板竖在滑槽中间，对互感器壳体进行阻挡。阻挡之后，滑动压块642下降对插针进行压紧。
当挡板与滑动压块642的侧面滑动连接时，滑动压块642下降对插针进行压紧，滑动压块与壳体轨道600抵接对互感器壳体进行阻挡，之后升起滑动压块642，完成压紧工序。之后继续上升，挡板随之上升并解除对互感器壳体的阻挡。之后可以通过第二分拣装置645将压紧后的互感器壳体移动至成品区。此时滑动压块642的侧面可设置一个矩形环，挡板644为T字形并且在插接在矩形环的内部，且挡板的大头端矩形环的上部，滑动压块上升到一定高度时可以带动挡板644同时上升，滑动压块642下降后，挡板随之下降，挡板644下端与壳体轨道接触后滑动压块642还可继续下降对互感器壳体进行压紧。
或者，挡板644通过独立的机构设置与滑槽的一侧，需要压紧互感器时，挡板644弹出并横在滑槽中间对互感器进行阻挡。
第二分拣装置645可以为喷气嘴，通过喷气将互感器壳体吹离。由于互感器壳体为塑料 材质，重量较轻，适合吹离的方式。或者，采用电动推杆的形式进行推离滑槽。
如图所述，在壳体轨道600出料端的端部连接有出料盒646，出料盒646将脱离壳体轨道600的互感器壳体引入集料箱等成品收集装置。
所述插针机械手500包括竖直设置的二维运动平台、设于二维运动平台上的抓取机构。如图所示，二维平台包括设于架体上水平移动平台，设置于水平移动平台的竖直移动平台，抓取机构设置在竖直移动平台上。水平移动平台和竖直移动平台是直线运动机构，属于现有技术中较为常用的技术。在所述插针机械手500的抓取机构上设有真空吸头530。本申请中通过真空吸附的方式吸取插针。然后插入互感器壳体的插孔内。所述第二夹持装置620夹持住互感器壳体时，互感器壳体上的插孔与插针卡槽721的连线与抓取机构水平移动的方向平行。此时，真空吸头移动至插针卡槽721位置，下降吸取插针，然后移动至互感器壳体插孔的上部，由于真空吸头530水平移动的方向与互感器壳体插孔和插针卡槽的连线平行，因此可以通过精度设定实现插针的插孔。目前插针大于1毫米，插孔略小于插针，目前二维运动平台的精度可以轻松实现准确的定位。
更好的，将真空吸头530设置为立方体，立方体中部设有吸孔，吸孔的上端通过电动气阀与外部的负压气源连接。立方体的下部吸孔的两侧设有滑槽，滑槽内部设有防倾倒块。防倾倒块与滑槽滑动连接，并且在上下方向上滑动。滑槽内侧上下方向设有定位槽、防倾倒块在对应的位置设置限位凸起，限位凸起插接在定位槽的内部，定位槽用以限定防倾倒块滑落。在抓取和插针的过程中，防倾倒块起到防止插针倾斜的功能。具体的，
防倾倒块可以完全插入滑槽内部式防倾倒块的下部平面与真空系统的下部平面平齐，此时吸孔可以吸取插针。两个方倾倒块之间为吸孔，设置两个防倾倒块之间的间隙略大于L形插针的外径，在吸取插针之后，真空吸头530上升，在重力的作用下，防倾倒块下滑，进而在L形插针的两侧形成一个阻挡面，即可以防止L形插针倾斜。由于在插针的时候，有两个防倾倒块的阻挡L形插针可以保持竖直的状态，同时在真空吸头下降的过程中，防倾倒块收到互感器壳体的阻挡上升，因此不会影响插针。同时在抓取的过程中，受到插针承载板720的阻挡上升，也不会影响L形插针的吸取。
基于上述结构，使用本装置的方法包括以下步骤：
步骤A、直线驱动模块730驱动插针承载板720做往复直线运动，用以将插针轨道700内的插针取出并放置到便于插针机械手500抓取的位置；
设有一个插针卡槽721时：
插针承载板720向下滑部710的端部移动，运动过程中插针承载板720对下滑部710端 部的出口进行封堵。
当空置的插针卡槽721移动到与下滑部710的L形插针出口位置时，插针轨道700下滑部710内部的L形插针落入插针卡槽721内部；
之后，反向运行，将放置有L形插针的插针承载板720移动到靠近插针机械手500的位置。
当设有两个插针卡槽721时：
插针承载板720向下滑部710的端部移动，运动过程中插针承载板720以及封堵装置750对下滑部710端部的出口进行封堵；
当两个空置的插针卡槽721都移动到与下滑部710的L形插针出口位置的另一侧时，封堵装置750的封堵挡块751向下移动解除对下滑部710下端面出口的封堵，此时只有中插针承载板720对下滑部710端部的出口进行封堵；
之后，反向运行，将放置有L形插针的插针承载板720移动到靠近插针机械手500的位置，移动的过程中，两个插针卡槽721经过下滑部710的L形插针出口位置依次落入L形插针依次落入两个插针卡槽721内部。
步骤B、控制器通过检测装置检测互感器壳体的位置，当互感器壳体上插孔的位置与L形插针的位置重合时，控制器控制第二夹持装置620将互感器壳体固定；
控制器控制抓取机构水平移动到插针卡槽721的位置的上部，控制器控制抓取机构向下移动使真空吸头530吸取插针；
控制器控制抓取机构移动到互感器壳体的位置的上方，且L形插针与互感器壳体插孔在竖直方向上重合；
控制器控制抓取机构向下移动，将L形插针插入互感器壳体的插孔内；
插针完成后，控制器控制第一夹持装置610夹持已完成插针的互感器壳体的后侧紧邻的互感器壳体，然后控制第二夹持装置620解除对完成插针的壳体的夹持，最后控制器启动第一分拣装置630，通过喷气嘴将壳体喷出第二夹持装置620的夹持位置。
所述步骤B中，第一分拣装置630将插针完成的互感器壳体吹至压紧装置640的下部，控制器控制压紧装置对插针进行压紧，压紧之后控制第二分拣装置将壳体吹出壳体轨道。
综上所述，仅为本发明的较佳实施例而已，并非用来限定本发明的范围，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本发明的技术性范围并不局限于说明书上的内容，凡依本发明的要求范围所述的形状、构造、特征及精神所谓的均等变化与修饰，均应包括与本发明的权利要求范围内。

Claims (13)

  1. 一种互感器壳体自动插针装置，包括架体(100)，其特征在于：
    所述架体(100)上设有：
    插针轨道(700)，插针轨道(700)出料端设置有插针送料装置，用以将紧密排列的L形插针分散；
    壳体轨道(600)，与插针轨道(700)平行设置，壳体轨道(600)输出端设置有壳体固定装置；
    插针机械手(500)，设于插针轨道(700)和壳体轨道(600)的出料端；
    控制器，与插针机械手(500)、插针轨道(700)、壳体轨道(600)电气连接；
    所述插针机械手(500)包括竖直设置的二维运动平台、设于二维运动平台上的抓取机构；所述插针机械手(500)的抓取机构抓取插针送料装置上分散的L形插针，然后移动到壳体固定装置夹持的互感器壳体上部并将形插针插入互感器壳体的插孔内。
  2. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    所述插针轨道(700)的插针送料装置包括：
    下滑部(710)，沿插针轨道(700)主体向下弯曲，且其下端端面为水平面；
    插针承载板(720)，上部平面与下滑部(710)的下端端面一部分贴合，并且上部平面上靠近插针机械手的一端设有插针卡槽(721)；
    直线驱动模块(730)，驱动插针承载板(720)在其长度方向上做往复直线运动，用以将插针轨道(700)内紧密排列的L形插针分装到插针卡槽(721)内部；
    所述壳体轨道(600)的壳体固定装置包括：
    第一夹持装置(610)、第二夹持装置(620)，沿壳体轨道(600)并列设置且第二夹持装置(620)靠近壳体轨道(600)的出料端的端部；
    第一分拣装置(630)，将互感器壳体移出第二夹持装置(620)的对应的位置；
    所述第二夹持装置(620)动作后将互感器壳体固定在壳体轨道(600)上，此时互感器壳体上的插孔在插针卡槽(721)长度方向的延长线上；
    所述第一分拣装置(630)动作前，第一夹持装置(610)动作并对完成插针的互感器壳体前一个互感器壳体实施固定；
    所述第一夹持装置(610)为电动推杆或者气动推杆，其活动推杆与壳体轨道(600)上下重合，活动推杆下落后通过挤压互感器壳体将其固定；
    所述插针机械手(500)的抓取机构上设有真空吸头(530)，所述真空吸头(530)在第二夹持装置(620)固定的互感器壳体插孔与插针卡槽(721)之间移动。
  3. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    所述第二夹持装置(620)后部设有压紧装置(640)，所述压紧装置(640)包括：
    压块固定架(641)，与壳体轨道(600)固定连接，
    滑动压块(642)，与压块固定架(641)竖直方向上滑动连接且与壳体轨道(600)上下重合；
    压块驱动机构(643)，驱动滑动压块(642)上下移动；
    挡板(644)，与壳体轨道(600)连接或者与滑动压块(642)的侧面滑动连接，所述侧面与壳体轨道(600)垂直；
    第二分拣装置(645)，将再次压接后的互感器壳体移出壳体轨道(600)。
  4. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    所述插针承载板(720)上部平面设有两个插针卡槽(721)：两个插针卡槽(721)的间距与互感器壳体上插孔的间距相同；
    与之相应的，所述插针机械手(500)的抓取机构上设有两个真空吸头(530)，或两组真空吸头(530)；
    所述插针轨道(700)下部设有封堵装置(750)，所述封堵装置(750)包括：
    封堵挡块(751)，与插针承载板(720)在长度方向上平行设置并且其侧面与插针承载板(720)的侧面贴合，所述封堵挡块(751)的上部平面与下滑部(710)的底面的一部分贴合用以防止L形插针滑落；
    封堵挡块驱动装置(752)，驱动所述封堵挡块(751)上下移动，所述封堵挡块(751)向下移动时，其上端面与下滑部(710)的下端面脱离解除对插针轨道(700)端口的封堵。
  5. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    互感器壳体从壳体轨道(600)的进料端进入经过第一夹持装置(610)、第二夹持装置(620)流向出料端，所述出料端为前方，进料端为后方；
    所述第一分拣装置(630)、第二分拣装置(645)为喷气嘴；
    所述第一分拣装置(630)设于第二夹持装置(620)的后部，所述喷气嘴的长度方向指向第二夹持装置(620)的下部；
    所述第二分拣装置(645)设于压紧装置(640)的后部，所述喷气嘴的长度方向指向压紧装置(640)的滑动压块(642)的下部，用以将完成压紧的互感器壳体吹离壳体轨道(600)；
    或，
    所述第一分拣装置(630)、第二分拣装置(645)为电动推杆或气动推杆，所述第一、 二分拣装置(630、645)设于壳体轨道(600)的侧面或底面。
  6. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    还包括与控制器电气连接的检测装置；
    所述检测装置为对射光栅；
    所述检测装置沿插针轨道(700)、壳体轨道(600)设置用以检测和定位插针轨道(700)上的L形插针、壳体轨道(600)上的互感器壳体。
  7. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    还设有振动机构(740)，所述振动机构(740)驱动插针轨道(700)前后振动，用以实现插针向出料端移动。
  8. 根据权利要求1所述的一种互感器壳体自动插针装置，其特征在于：
    所述插针轨道(700)包括矩形杆以及围绕矩形杆侧面平行设置的盖板，挡板与矩形杆之间的间隙形成轨道；
  9. 根据权利要求8所述的一种互感器壳体自动插针装置，其特征在于：
    所述矩形杆在截面方向上倾斜设置。
  10. 根据权利要求2所述的一种互感器壳体自动插针装置的控制方法，其特征在于：
    直线驱动模块(730)驱动插针承载板(720)做往复直线运动，用以将插针轨道(700)内的插针取出并放置到便于插针机械手(500)抓取的位置；
    插针承载板(720)设有一个插针卡槽(721)时：
    插针承载板(720)向下滑部(710)的端部移动，运动过程中插针承载板(720)对下滑部(710)端部的出口进行封堵；
    当空置的插针卡槽(721)移动到与下滑部(710)的L形插针出口位置时，插针轨道(700)下滑部(710)内部的L形插针落入插针卡槽(721)内部；
    之后，反向运行，将放置有L形插针的插针承载板(720)移动到靠近插针机械手(500)的位置；
  11. 根据权利要求4所述的一种互感器壳体自动插针装置的控制方法，其特征在于：
    直线驱动模块(730)驱动插针承载板(720)做往复直线运动，用以将插针轨道(700)内的插针取出并放置到便于插针机械手(500)抓取的位置；
    插针承载板(720)设有两个插针卡槽(721)时：
    插针承载板(720)向下滑部(710)的端部移动，运动过程中插针承载板(720)以及封堵装置(750)对下滑部(710)端部的出口进行封堵；
    当两个空置的插针卡槽(721)都移动到与下滑部(710)的L形插针出口位置的另一侧时，封堵装置(750)的封堵挡块(751)向下移动解除对下滑部(710)下端面出口的封堵，此时只有中插针承载板(720)对下滑部(710)端部的出口进行封堵；
    之后，反向运行，将放置有L形插针的插针承载板(720)移动到靠近插针机械手(500)的位置，移动的过程中，两个插针卡槽(721)经过下滑部(710)的L形插针出口位置时，L形插针依次落入两个插针卡槽(721)内部。
  12. 根据权利要求10或11所述的一种互感器壳体自动插针装置的控制方法，其特征在于：
    控制器通过检测装置检测互感器壳体的位置，当互感器壳体上插孔的位置与L形插针的位置重合时，控制器控制第二夹持装置(620)将互感器壳体固定；
    控制器控制抓取机构水平移动到插针卡槽(721)的位置的上部，控制器控制抓取机构向下移动使真空吸头(530)吸取插针；
    控制器控制抓取机构移动到互感器壳体的位置的上方，且L形插针与互感器壳体插孔在竖直方向上重合；
    控制器控制抓取机构向下移动，将L形插针插入互感器壳体的插孔内；
    插针完成后，控制器控制第一夹持装置(610)夹持已完成插针的互感器壳体的后侧紧邻的互感器壳体，然后控制第二夹持装置(620)解除对完成插针的壳体的夹持，最后控制器启动第一分拣装置(630)，通过喷气嘴将壳体喷出第二夹持装置(620)的夹持位置。
  13. 根据权利要求12所述的一种互感器壳体自动插针装置的控制方法，其特征在于：
    第一分拣装置(630)将插针完成的互感器壳体吹至压紧装置(640)的下部，控制器控制压紧装置(640)对L形插针进行再次压紧，之后控制第二分拣装置(645)将互感器壳体吹出壳体轨道(600)。
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