CN112518718A - Automatic feeding, discharging and cleaning system based on manipulator and machining method - Google Patents
Automatic feeding, discharging and cleaning system based on manipulator and machining method Download PDFInfo
- Publication number
- CN112518718A CN112518718A CN202011349885.8A CN202011349885A CN112518718A CN 112518718 A CN112518718 A CN 112518718A CN 202011349885 A CN202011349885 A CN 202011349885A CN 112518718 A CN112518718 A CN 112518718A
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- Prior art keywords
- chuck
- unloading
- arm
- manipulator
- cleaning system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides an unloading and cleaning system and processing method in automation based on manipulator, the system includes the multiaxis arm, the manipulator, the material loading chuck, unloading chuck and washing shower nozzle, the manipulator includes the tip connection of tip rotation axis and U-shaped, the multiaxis arm is connected to tip rotation axis rear end, the front end is equipped with the rotary joint, tip connection rear end and rotary joint rotatable coupling, material loading chuck and unloading chuck are connected respectively to the both sides of tip connection, the washing shower nozzle is connected to the tip connection front end, the material loading chuck is used for centre gripping mutual-inductor coil to the production mould in, the unloading chuck is used for centre gripping mutual-inductor finished product and is taken off by the production mould, the washing shower nozzle is used for wasing the production mould. The beneficial effect of this application: the full automation and standardization of feeding of the coil of the mutual inductor, taking down of a finished product and cleaning of a production die are realized, the production efficiency is high, the labor cost is reduced, the technical conversion period is shortened, the product quality and consistency are improved, and the product competitiveness is increased.
Description
Technical Field
The application relates to the technical field of mutual inductor processing equipment, in particular to an automatic feeding and discharging and cleaning system based on a manipulator.
Background
As power equipment widely used in a power system, a plurality of manufacturers exist on the market. At present, most manufacturers still adopt manual production, and the automation degree is extremely low. With the increase of labor cost in recent years and the requirements of new processes and new technologies, the traditional mutual inductor manual production mode is difficult to adapt to the development requirements of modern mutual inductors. The continuous aggravation of the competition of the power equipment industry puts forward higher requirements on the quality and the standardization of a transformer product, so that the requirements on professional technical personnel engaged in transformer processing are stricter, the technical transformation period of personnel training is longer, and the yield of the transformer product produced manually is lower.
Disclosure of Invention
In view of this, in order to solve the problem that the mutual inductor manual work mode exists, the embodiment of this application provides an automatic unloading and cleaning system of going up based on manipulator.
The embodiment of the application provides an unloading and cleaning system in automation based on manipulator, including multiaxis arm, manipulator, material loading chuck, unloading chuck and washing shower nozzle, the manipulator includes the end connection of tip rotation axis and U-shaped, the tip rotation axis rear end is connected multiaxis arm, front end are equipped with the rotary joint, the end connection rear end is equipped with rotates the groove, the rotary joint inserts rotate the inslot and with end connection rotatable coupling, end connection's both sides are connected respectively the material loading chuck with the unloading chuck, the end connection front end is connected wash the shower nozzle, the material loading chuck is used for centre gripping mutual-inductor coil to production mould in, the unloading chuck is used for the centre gripping mutual-inductor finished product to take off by the production mould, it is used for wasing the production mould to wash the shower nozzle.
Furthermore, both sides of the end connector are provided with connecting side covers, the two connecting side covers are respectively connected with the feeding chuck and the discharging chuck, the front end of the end connector is provided with a connecting shaft, and the connecting shaft is connected with the cleaning sprayer.
Further, the multi-axis mechanical arm comprises a base, a first axis arm and a second axis arm, wherein the first axis arm comprises a driving arm seat, a worm gear assembly and a first motor, the driving arm seat is rotatably arranged on the base, the first motor is arranged on the base, an output shaft of the first motor is connected with the driving arm seat through the worm gear assembly, and the first motor is used for driving the driving arm seat to rotate around a vertical axis; the second cantilever includes middle part spiral arm and second motor, middle part spiral arm lower extreme with the driving arm seat upper end is articulated, the output shaft of second motor is connected middle part spiral arm lower extreme is used for the drive middle part spiral arm is rotatory around horizontal axis, middle part spiral arm upper end is connected the tip rotation axis.
Further, a supporting seat is arranged at the upper end of the middle rotating arm, a gear box is fixed on the supporting seat, a gear set is arranged in the gear box, the input end of the gear set is connected with a third motor, and the output end of the gear set is connected with the end rotating shaft.
Furthermore, the number of the third motors is three, the gear set comprises a driven gear and three driving gears respectively engaged with the driven gear, output shafts of the third motors are respectively connected with the three driving gears, and wheel shafts of the driven gears are connected with the end rotating shaft.
Further, the feeding chuck and the discharging chuck are both pneumatic chucks.
The embodiment of the application also provides a processing method using the automatic loading and unloading and cleaning system based on the manipulator, which comprises the following steps:
s1, driving the manipulator to approach to a feeding device of the mutual inductor coil through the multi-axis mechanical arm, clamping the mutual inductor coil through the feeding chuck, moving the mutual inductor coil into a production mold, and placing the mutual inductor coil at a preset position;
s2, opening the production mold after a finished mutual inductor product is formed in the production mold, driving the mechanical arm to be close to the production mold through the multi-shaft mechanical arm, clamping the finished mutual inductor product in the production mold, and moving the finished mutual inductor product to a finished product area;
s3, the manipulator is driven to be close to the production mold through the multi-axis mechanical arm, and the angle of the manipulator is adjusted to flush the interior of the production mold.
Furthermore, the feeding chuck is provided with a pressure feedback module, and when the mutual inductor coil cannot be clamped on the feeding device, the pressure feedback module gives an alarm.
Further, the multi-axis mechanical arm sequentially puts the finished mutual inductors into a finished product area according to a preset sequence.
The beneficial effects brought by the technical scheme provided by the embodiment of the application are as follows: the utility model provides a go up unloading and cleaning system in automation based on manipulator realizes that material loading, the mutual-inductor finished product of mutual-inductor coil take off and the abluent full automation and the standardization of production mould in the mutual-inductor course of working, and production efficiency is high, reduces artifical the input, reduces the manufacture factory cost of labor, reduces the technology conversion cycle, has improved product quality and uniformity, increases product competitiveness.
Drawings
FIG. 1 is a schematic diagram of a state of a robot-based automatic loading and unloading and cleaning system processing transformer of the present application;
FIG. 2 is a schematic view of a robot-based automatic loading, unloading and cleaning system of the present application;
in the figure: 1-mechanical arm, 2-multi-axis mechanical arm, 3-end rotating shaft, 4-end joint, 5-rotating joint, 6-connecting side cover, 7-connecting shaft, 8-driving arm seat, 9-base, 10-first motor, 11-middle rotating arm, 12-second motor, 13-shaft sleeve, 14-supporting seat, 15-third motor, 16-gear box, 17-feeding device, 18-generating mold, 19-finished product area, 20-transformer coil and 21-transformer finished product.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be further described below with reference to the accompanying drawings.
Referring to fig. 1 and 2, an embodiment of the present application provides an automatic loading and unloading and cleaning system based on a manipulator, including a multi-axis manipulator 2, a manipulator 1, a loading chuck, a unloading chuck, and a cleaning nozzle.
Specifically, multiaxis arm 2 includes base 9, first armshaft and second armshaft, the first armshaft includes driving arm seat 8, worm wheel assembly and first motor 10, driving arm seat 8 rotatable set up in on the base 9, first motor 10 set up in on the base 9, just first motor 10's output shaft passes through worm wheel assembly connects driving arm seat 8, first motor 10 is used for the drive driving arm seat 8 is rotatory around vertical axis. Here, the first motor 10 is fixed on the surface of the base 9, the worm wheel assembly is arranged in the base 9, the worm wheel assembly comprises a worm wheel and a worm which are meshed with each other, the worm is connected with an output shaft of the first motor 10, and a wheel shaft of the worm wheel is vertically arranged and connected with the driving arm seat 8. When rotating, the first motor 10 drives the worm to rotate, and then drives the worm wheel to rotate, so that the driving arm seat 8 rotates.
The second armshaft includes middle part spiral arm 11 and second motor 12, middle part spiral arm 11 lower extreme with 8 upper ends of driving arm seat are articulated, the output shaft of second motor 12 connects 11 lower extremes of middle part spiral arm are used for the drive middle part spiral arm 11 is rotatory around horizontal axis, 11 upper ends of middle part spiral arm are connected tip rotation axis 3. Here, a shaft sleeve 13 is disposed at the lower end of the middle swing arm 11, the shaft sleeve 13 is rotatably sleeved at the upper end of the driving arm base 8, the second motor 12 is disposed at one side of the shaft sleeve 13, and an output shaft of the second motor 12 is fixedly connected with the shaft sleeve 13. When the second motor 12 rotates, the middle radial arm 11 is driven to rotate around the shaft sleeve 13.
The manipulator 1 comprises an end rotating shaft 3 and a U-shaped end joint 4, wherein the rear end of the end rotating shaft 3 is connected with the multi-axis mechanical arm 2. Specifically, middle part spiral arm 11 upper end is equipped with supporting seat 14, be fixed with gear box 16 on the supporting seat 14, be equipped with the gear train in the gear box 16, the input of gear train is connected third motor 15, the output is connected tip rotation axis 3. When rotating, the third motor 15 is driven by the gear set, so that the end rotary shaft 3 rotates.
3 front ends of tip rotation axis are equipped with rotary joint 5, 4 rear ends of tip joint are equipped with the rectangle and rotate the groove, rotary joint 5 inserts rotate the inslot, rotary joint 5 both sides respectively with the both sides face rotatable coupling who rotates the groove, the both sides of tip joint 4 are connected respectively the material loading chuck with the unloading chuck, 4 front ends of tip joint are connected wash the shower nozzle, the material loading chuck is used for centre gripping mutual-inductor coil to production mould in, the unloading chuck is used for centre gripping mutual-inductor finished product to take off by the production mould, it is used for wasing the production mould to wash the shower nozzle. Here, both sides of the end joint 4 are provided with connecting side covers 6, the two connecting side covers 6 are respectively connected with the front ends of the feeding chuck and the discharging chuck and are provided with connecting shafts 7, and the connecting shafts 7 are connected with the cleaning spray head. Because the feeding chuck, the discharging chuck and the cleaning nozzle are positioned in three installation planes which do not interfere with each other, the feeding chuck, the discharging chuck and the cleaning nozzle can work independently and do not influence each other.
Preferably, the number of the third motors 15 is three, the gear set includes a driven gear and three driving gears respectively engaged with the driven gear, output shafts of the third motors 15 are respectively connected to the three driving gears, and wheel shafts of the driven gears are connected to the end rotating shaft 3. And the third motor 15 is used for controlling the rotation of the feeding chuck, the discharging chuck and the cleaning nozzle respectively, so that the feeding chuck, the discharging chuck and the cleaning nozzle work independently and do not interfere with each other.
Preferably, the feeding chuck and the discharging chuck are pneumatic chucks, and the transformer coil or the transformer finished product is prevented from being damaged by clamping by adopting adjustable air pressure drive. The first motor 10, the second motor 12 and the third motor 15 are all selected from stepping motors.
In addition, referring to fig. 1, an embodiment of the present application further provides a processing method using the robot-based automatic loading/unloading and cleaning system, including the following steps:
s1, the manipulator 1 is driven by the multi-axis robot 2 to approach the feeding device 17 of the transformer coil 20, the feeding device 17 generally has an automatic feeding function, the transformer coils 20 are automatically and orderly arranged on the feeding device 17 by gravity difference, the transformer coils 20 are held by the feeding chuck and moved into the production mold 18, the transformer coils 20 are accurately placed at a predetermined position, and then the manipulator 1 stops waiting after leaving the production mold 18. The feeding chuck can be further provided with a pressure feedback module, when the mutual inductor coil 20 cannot be clamped on the feeding device 17, the fact that the feeding device 17 is not provided with the mutual inductor coil 20 is indicated, and the pressure feedback module gives an alarm to remind an operator to supplement.
S2, after a finished transformer product 21 is formed in the production mold 18, opening the production mold 18, driving the manipulator 1 to approach the production mold 18 through the multi-axis robot arm 2, clamping the finished transformer product 20 in the production mold 18, moving the finished transformer product 20 to the finished product area 19, and then stopping waiting by the manipulator 1; the multi-axis mechanical arm 2 can sequentially place the finished mutual inductor products 20 in the finished product area 19 according to a preset sequence, and when the finished product area 19 is placed with a set number of the finished mutual inductor products 20, an alarm is sent to remind operating personnel to timely transport the finished products away, meanwhile, production is stopped, and the multi-axis mechanical arm is started again after waiting for the finished mutual inductor products 20 to be transported away.
S3, the manipulator 1 is driven to approach the production mold 18 through the multi-axis mechanical arm 2, the angle of the manipulator 3 is adjusted to flush the interior of the production mold 18, residues in the gap of the production mold 18 are completely cleaned, and the influence on the quality of the next mutual inductor product is prevented.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. The utility model provides a go up unloading and cleaning system in automation based on manipulator which characterized in that: including multiaxis arm, manipulator, material loading chuck, unloading chuck and washing shower nozzle, the manipulator includes the tip joint of tip rotation axis and U-shaped, tip rotation axis rear end is connected multiaxis arm, front end are equipped with the rotation and connect, the tip joint rear end is equipped with rotates the groove, the rotation connects and inserts rotate the inslot and with tip joint rotatable coupling, the both sides of tip joint are connected respectively the material loading chuck with the unloading chuck, the tip joint front end is connected wash the shower nozzle, the material loading chuck is used for centre gripping mutual-inductor coil to production mould in, the unloading chuck is used for the centre gripping mutual-inductor finished product to be taken off by the production mould, it is used for wasing the shower nozzle and washs the production mould.
2. The robot-based automated loading, unloading and cleaning system of claim 1, wherein: the end part connector is characterized in that connecting side covers are arranged on two sides of the end part connector, the two connecting side covers are respectively connected with the feeding chuck and the discharging chuck, a connecting shaft is arranged at the front end of the end part connector, and the connecting shaft is connected with the cleaning spray head.
3. The robot-based automated loading, unloading and cleaning system of claim 1, wherein: the multi-axis mechanical arm comprises a base, a first axis arm and a second axis arm, wherein the first axis arm comprises a driving arm seat, a worm gear assembly and a first motor, the driving arm seat is rotatably arranged on the base, the first motor is arranged on the base, an output shaft of the first motor is connected with the driving arm seat through the worm gear assembly, and the first motor is used for driving the driving arm seat to rotate around a vertical axis; the second cantilever includes middle part spiral arm and second motor, middle part spiral arm lower extreme with the driving arm seat upper end is articulated, the output shaft of second motor is connected middle part spiral arm lower extreme is used for the drive middle part spiral arm is rotatory around horizontal axis, middle part spiral arm upper end is connected the tip rotation axis.
4. The robot-based automated loading, unloading and cleaning system of claim 3, wherein: the middle part spiral arm upper end is equipped with the supporting seat, be fixed with the gear box on the supporting seat, be equipped with the gear train in the gear box, the input of gear train is connected the third motor, the output is connected the tip rotation axis.
5. The robot-based automated loading, unloading and cleaning system of claim 4, wherein: the number of the third motors is three, the gear set comprises a driven gear and three driving gears respectively meshed with the driven gear, output shafts of the third motors are respectively connected with the three driving gears, and wheel shafts of the driven gears are connected with the end rotating shafts.
6. The robot-based automated loading, unloading and cleaning system of claim 1, wherein: the feeding chuck and the discharging chuck are both pneumatic chucks.
7. The machining method of the automatic loading and unloading and cleaning system based on the mechanical arm as claimed in claims 1 to 6, characterized by comprising the following steps:
s1, driving the manipulator to approach to a feeding device of the mutual inductor coil through the multi-axis mechanical arm, clamping the mutual inductor coil through the feeding chuck, moving the mutual inductor coil into a production mold, and placing the mutual inductor coil at a preset position;
s2, opening the production mold after a finished mutual inductor product is formed in the production mold, driving the mechanical arm to be close to the production mold through the multi-shaft mechanical arm, clamping the finished mutual inductor product in the production mold, and moving the finished mutual inductor product to a finished product area;
s3, the manipulator is driven to be close to the production mold through the multi-axis mechanical arm, and the angle of the manipulator is adjusted to flush the interior of the production mold.
8. The method of claim 7, wherein the robotic-based automated loading and unloading and cleaning system further comprises: the feeding chuck is provided with a pressure feedback module, and the pressure feedback module gives an alarm when the mutual inductor coil cannot be clamped on the feeding device.
9. The method of claim 7, wherein the robotic-based automated loading and unloading and cleaning system further comprises: and the multi-axis mechanical arm sequentially puts the finished mutual inductors to a finished product area according to a preset sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011349885.8A CN112518718A (en) | 2020-11-26 | 2020-11-26 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011349885.8A CN112518718A (en) | 2020-11-26 | 2020-11-26 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
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| Publication Number | Publication Date |
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| CN112518718A true CN112518718A (en) | 2021-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011349885.8A Pending CN112518718A (en) | 2020-11-26 | 2020-11-26 | Automatic feeding, discharging and cleaning system based on manipulator and machining method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113812238A (en) * | 2021-08-25 | 2021-12-21 | 华南理工大学 | Ecological restoration method for vegetation in mine stone yard |
| CN114082918A (en) * | 2021-11-28 | 2022-02-25 | 蚌埠隆华压铸机有限公司 | A manipulator and robot for die-casting processing |
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Application publication date: 20210319 |