Automatic arcing system and method for rectangular pads of transformers

Abstract

The present invention belongs to the technical field of transformer accessories production and manufacturing, and specifically relates to an automatic arcing system for transformer rectangular pads, including a control system, an arcing mechanism, a robot mechanism, a workpiece raw material platform and a finished product stacking platform. The arcing mechanism includes an inclined work surface, and the lower part of the work surface is fixedly provided with a first feeding mechanism, a first horizontal pushing mechanism, a lower supporting mechanism, a first arcing mechanism and a second arcing mechanism. The upper part of the inclined work surface is symmetrically fixedly provided with a second feeding mechanism, a second horizontal pushing mechanism, an upper supporting mechanism, a third arcing mechanism and a fourth arcing mechanism. The first arcing mechanism includes an electric milling cutter 1 and an electric milling cutter 2, the second arcing mechanism includes an electric milling cutter 3, the third arcing mechanism includes an electric milling cutter 4 and an electric milling cutter 5, and the fourth arcing mechanism includes an electric milling cutter 6. The present invention also relates to an automatic arcing method for transformer rectangular pads. The present invention can form an assembly line operation to perform fully automatic arcing of rectangular pads.

Description

Technical Field

[0001] The present invention belongs to the technical field of transformer manufacturing, and specifically relates to an automatic arcing system and method for a transformer rectangular pad, which is mainly used for performing assembly line precision arcing on the rectangular pad. Background Art

[0002] The rectangular pad contains 6 sides, 12 edges and 8 sharp corners on both ends. In the transformer manufacturing industry, the workload of arcing the rectangular pad is very huge. The 12 edges and 8 sharp corners need to be arced, so the operation process of arcing the rectangular pad is also very cumbersome. At present, manual combined with small pneumatic or electric arcing equipment is widely used. The operator needs to wear earplugs and protective masks, hold the rectangular pad and cooperate with the electric or pneumatic arcing machine to arc the edges and sharp corners of the rectangular pad. This is a low-tech, boring, repetitive and mechanical operation. It not only occupies a large number of personnel and has a low degree of automation, but also there are safety hazards in the manual operation of holding the rectangular pad.

[0003] The work of arcing rectangular pads by manual combined with pneumatic or electric arcing equipment is a process with large workload, poor safety, low efficiency, high noise, heavy and boring, serious pollution, and occupies multiple workstations, and often several groups of people are busy operating. Therefore, it is necessary to design a special arcing mechanism, support frame and mobile frame to realize the automatic arcing of the transformer rectangular pads. To realize the automatic arcing of rectangular pads, it is necessary to solve the technical problems of using as few electric milling cutters as possible to save costs, reasonably arrange the positions of electric milling cutters to make the processing flow scientific and reasonable, automatically adapt to the changes in the size of rectangular pads, realize the flexible production of rectangular pads, unmanned manufacturing, automatic loading and unloading, and intelligent logistics to make the processing flow coherent and smooth, and form an automatic assembly line operation. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a transformer rectangular pad automatic arcing system and method. The technical solution adopted by the present invention is as follows:

[0005] A transformer rectangular pad automatic arcing system comprises: a control system, an arcing mechanism, a robot mechanism, a workpiece raw material platform and a finished product stacking platform. The rectangular pad to be processed is placed on the workpiece raw material platform, the robot mechanism grabs the rectangular pad from the workpiece raw material platform, and the arcing mechanism performs automatic arcing on the rectangular pad. The finished rectangular pad is grabbed by the robot mechanism and stacked on the finished product stacking platform. The arcing mechanism comprises: an inclined working table, a first arcing mechanism and a second arcing mechanism, the first feeding mechanism is fixedly arranged at the lower right corner of the working table, the first horizontal pushing mechanism is fixedly arranged in parallel below the first feeding mechanism, the length of the first horizontal pushing mechanism is greater than the length of the first feeding mechanism, the first arcing mechanism is fixedly arranged above the first horizontal pushing mechanism and on the left side of the first feeding mechanism, the first arcing mechanism comprises an electric milling cutter 1 and an electric milling cutter 2, the electric milling cutter 1 is used to arc the four short edges and four sharp corners on the left side of the rectangular pad, the electric milling cutter 2 is used to arc a long edge at the intersection of the upper side and the outer side of the rectangular pad, the second arcing mechanism is fixedly arranged above the first horizontal pushing mechanism and on the left side of the first arcing mechanism, the second arcing mechanism comprises an electric milling cutter 3, the electric milling cutter 3 is used to arc a long edge at the intersection of the lower side and the outer side of the rectangular pad, a lower supporting mechanism is fixedly arranged above the first horizontal pushing mechanism and on the left side of the first feeding mechanism, the lower supporting mechanism is arranged parallel to the first horizontal pushing mechanism, and the lower The upper supporting mechanism is located below the first arcing mechanism and the second arcing mechanism; the second feeding mechanism, the second pushing mechanism, the third arcing mechanism, the fourth arcing mechanism and the upper supporting mechanism are symmetrically fixed above the work table, the second feeding mechanism has the same structure as the first feeding mechanism, the second pushing mechanism has the same structure as the first pushing mechanism, the third arcing mechanism includes: electric milling cutter four and electric milling cutter five, electric milling cutter four is used to arc the four short edges and four sharp corners on the right side of the rectangular pad, the electric milling cutter five is used to arc a long edge where the upper side and the inner side of the rectangular pad intersect, the third arcing mechanism has the same structure as the first arcing mechanism, the fourth arcing mechanism includes electric milling cutter six, electric milling cutter six is ​​used to arc a long edge where the lower side and the inner side of the rectangular pad intersect, the fourth arcing mechanism is set to a fixed structure, the upper supporting mechanism is equipped with a fifth electric cylinder module, a truss manipulator is fixedly arranged between the top and bottom of the work table, the truss manipulator is used to transport the rectangular pad from the lower station of the work table to the upper station.

[0006] The first arcing mechanism includes: a fixed vertical frame and a third electric cylinder module. The first arcing mechanism is fixedly set on the workbench through the fixed vertical frame. The third electric cylinder module is fixedly set on the fixed vertical frame. The milling cutter base is fixedly set on the electric cylinder module slider of the third electric cylinder module. Two electric milling cutter clamps A are fixedly set on the milling cutter base in parallel. The electric milling cutter clamp B is fixedly connected to the electric milling cutter clamp A. The electric milling cutter is clamped and fixed between the electric milling cutter clamp A and the electric milling cutter clamp B. The second adapter plate is fixedly set on the optical axis clamp. The end of the first guide rod is fixedly connected to the second adapter plate. The other end of a guide rod passes through the milling cutter base and is connected to two groups of linear bearings. The linear bearings and the third electric cylinder module are located on the same side of the milling cutter base. One end of the second guide rod is fixedly connected to the second adapter plate, and the other end of the second guide rod is fixedly connected to the lifting plate. A hole is opened in the middle of the lifting plate, and the milling cutter head of the electric milling cutter 2 extends out of the hole. The second pressing plate is fixedly set on the lifting plate, and an electric milling cutter 2 clamp is fixedly set between the second adapter plate and the lifting plate. The electric milling cutter 2 clamp clamps the electric milling cutter 2. A linear bearing 2 is fixedly set on the side of the second adapter plate away from the optical axis clamp, and the position of the linear bearing 2 is close to the second arcing mechanism.

[0007] The second arcing mechanism includes: a third adapter plate and a fourth electric cylinder module, the fourth electric cylinder module is fixed to the work surface through the third adapter plate, the horizontal support plate is fixed to the electric cylinder module slider of the fourth electric cylinder module, the upper side limit plate is fixed to the horizontal support plate, the electric milling cutter three is clamped and fixed on the horizontal support plate by the electric milling cutter three clamps A and the electric milling cutter three clamps B, the third guide rod clamp is fixed on the horizontal support plate, one end of the third guide rod is vertically fixed to the third guide rod clamp, and the other end of the third guide rod is inserted into the linear bearing two of the first arcing mechanism.

[0008] The control system is used to control the electric cylinder module and the electric milling cutter.

[0009] A transformer rectangular pad automatic arcing method, using the aforementioned transformer rectangular pad automatic arcing system, comprises the following steps:

[0010] Step 1: The robot mechanism grabs the rectangular pad material from the workpiece material table;

[0011] Step 2: The robot mechanism places the rectangular pad to the lower arcing station, and completes the arcing operation of the four short edges and four sharp corners on the left end face of the rectangular pad and the two long edges on the outer end face at the lower arcing station;

[0012] Step 3, the truss manipulator moves the rectangular pad from the lower arcing station to the upper arcing station, and completes the arcing operation of the four short edges and four sharp corners on the right end face of the rectangular pad and the two long edges on the inner end face at the upper arcing station;

[0013] Step 4: The robot mechanism uses a suction cup to grab the finished rectangular pad from the upper arcing station and places the finished rectangular pad on the finished parts stacking platform.

[0014] Beneficial effects of the present invention:

[0015] The present invention can form unmanned, intelligent, and assembly line operations by reasonably arranging four sets of arcing mechanisms on the work surface, reasonably arranging the feeding, pushing, and supporting mechanisms, and coordinating and cooperating with multiple sets of electric cylinder modules and air cylinder modules, and can perform fully automatic arcing of rectangular pads, greatly saving labor costs, improving the working environment, enhancing safety, and improving production efficiency. The present invention also has visual recognition and visualization detection functions, and can realize automatic feeding, chamfering, picking, chamfering, arcing, stacking, and feeding of rectangular pads, forming an intelligent, fully automated, and precise assembly line operation for processing rectangular pads. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation of the present invention or the technical solution in the prior art, the following is a brief introduction to the drawings required for the description of the specific implementation or the prior art. Obviously, the drawings described below are some specific implementations of the present invention. For ordinary technicians in this field, other drawings within the protection scope of this application can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of the structure of an automatic arcing system according to an embodiment of the present invention;

[0018] Figure 2 A schematic structural diagram of a support frame according to an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the installation position of the first feeding mechanism according to an embodiment of the present invention;

[0020] Figure 4 It is a structural schematic diagram of a first feeding mechanism according to an embodiment of the present invention;

[0021] Figure 5 It is a schematic diagram of the installation of a double-axis cylinder according to an embodiment of the present invention;

[0022] Figure 6 Schematic diagram of the installation position of the first horizontal push mechanism of the embodiment of the present invention;

[0023] Figure 7 It is a structural schematic diagram of a first horizontal push mechanism according to an embodiment of the present invention;

[0024] Figure 8 Schematic diagram of the installation position of the first arcing mechanism according to an embodiment of the present invention;

[0025] Fig. 9 It is a structural schematic diagram of a first arcing mechanism according to an embodiment of the present invention;

[0026] Fig.10 Schematic diagram of the installation position of the second arcing mechanism according to an embodiment of the present invention;

[0027] Fig.11 is a schematic structural diagram of a second arcing mechanism according to an embodiment of the present invention;

[0028] Fig.12 It is a schematic diagram of the installation and coordination of the first arc striking mechanism and the second arc striking mechanism according to an embodiment of the present invention;

[0029] Fig.13 It is a schematic diagram of the installation of the lower support mechanism of an embodiment of the present invention;

[0030] Fig.14 It is a structural schematic diagram of the lower support mechanism of an embodiment of the present invention;

[0031] Fig.15 It is a schematic diagram of the overall structure of the arc striking mechanism according to an embodiment of the present invention;

[0032] Fig.16 It is a structural schematic diagram of the upper support mechanism of an embodiment of the present invention;

[0033] Fig.17 is a front view of a truss manipulator according to an embodiment of the present invention;

[0034] Fig.18 It is a left view of the truss manipulator according to an embodiment of the present invention;

[0035] Fig.19 A top view of a truss manipulator according to an embodiment of the present invention;

[0036] Fig. 20 A schematic structural diagram of a safety shield according to an embodiment of the present invention;

[0037] Fig.21 A schematic diagram of the structure of a robot mechanism according to an embodiment of the present invention;

[0038] In the figure, 1-support frame, 2-work table, 3-first feeding mechanism, 4-first adapter plate, 5-lower fixed plate, 6-side fixed plate, 7-lower pressure cylinder seat, 8-first pressure plate, 9-slider transition support, 10-first linear guide, 11-first linear guide slider, 12-first electric cylinder module, 13-double-axis cylinder, 14-rectangular pad, 15-first horizontal push mechanism, 16-second electric cylinder module, 17-horizontal push slide, 18-horizontal push slide rod, 19-first mounting base, 20-first arcing mechanism, 21-fixed vertical frame, 22-electric Milling cutter fixture A, 23-electric milling cutter fixture B, 24-milling cutter base, 25-second adapter plate, 26-optical axis clamp, 27-first guide rod, 28-second guide rod, 29-lifting plate, 30-linear bearing one, 31-electric milling cutter one, 32-third electric cylinder module, 33-linear bearing two, 34-electric milling cutter two, 35-electric milling cutter fixture two, 36-second arcing mechanism, 37-horizontal support plate, 38-electric milling cutter fixture A, 39-electric milling cutter fixture B, 40-upper side limit plate, 41-third guide rod clamp, 42-third guide Rod, 43-third adapter plate, 44-fourth electric cylinder module, 45-electric milling cutter three, 46-lower support mechanism, 47-support fixing plate A, 48-support fixing plate B, 49-side support fixing plate, 50-second mounting base, 51-truss manipulator, 52-aluminum profile bracket, 53-cylinder adapter, 54-cylinder push rod fixing plate, 55-suction cup bracket, 56-drag chain rack, 57-aluminum profile beam, 58-cylinder support, 59-three-axis cylinder, 60-stainless steel mini cylinder, 61-second linear guide slider, 62-second linear guide, 63-first suction cup, 64-second feeding mechanism, 65-second push mechanism, 66-third arcing mechanism, 67-fourth arcing mechanism, 68-upper supporting mechanism, 69-fixed protective cover, 70-middle protective cover, 71-right protective cover, 72-touch screen, 73-support bearing assembly, 74-motor protective cover, 75-robot base, 76-rotatable suction cup holder, 77-visual device, 78-robot body, 79-second pressing plate, 80-arcing mechanism, 81-robot mechanism, 82-workpiece raw material table, 83-finished product stacking table. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0040] Unless otherwise specified, the fixed arrangement described in the embodiments of the present invention refers to a fixed arrangement by bolt connection. The terms left, right, inside, outside, top, bottom, etc. described in the embodiments of the present invention are all based on an operator standing in front of the workbench.

[0041] As shown in Figure 1 , it is a schematic structural diagram of the automatic arc striking system according to an embodiment of the present invention. A rectangular cushion block automatic arc striking system for a transformer includes: a control system, an arc striking mechanism 80, a robot mechanism 81, a workpiece raw material table 82, and a finished product palletizing table 83. The arc striking mechanism 80, the workpiece raw material table 82, and the finished product palletizing table 83 are arranged in a shape like the Chinese character 'pin'. The robot mechanism 81 is fixedly installed on the open space among the arc striking mechanism 80, the workpiece raw material table 82, and the finished product palletizing table 83.

[0042] As shown in Figure 2 , it is a schematic structural diagram of the support frame according to an embodiment of the present invention. The support frame 1 is welded by several support beams to form a three-dimensional structure. The upper surface of the support frame 1 is an inclined surface with a certain inclination angle. A panel is welded on the upper surface of the support frame 1 to form a workbench surface 2. Partition plates are welded in the side and inner cavity of the support frame 1 to form several chambers. A control box, a power supply box, and an electrical control system of the arc striking mechanism are installed in the chambers; the rear cabinet panels all adopt a portal structure, which is convenient for opening for maintenance and dust removal; a dust negative pressure pipeline interface is provided on the rear cabinet panel to connect to the common dust removal pipeline in the workshop.

[0043] As shown in Figure 3 , it is a schematic installation position diagram of the first feeding mechanism according to an embodiment of the present invention. The first feeding mechanism 3 is fixedly arranged at the lower right corner of the workbench surface 2, and the length direction of the first feeding mechanism 3 is the horizontal direction. As shown in Figure 4 , it is a schematic structural diagram of the first feeding mechanism according to an embodiment of the present invention. The first feeding mechanism 3 includes a first adapter plate 4. The first adapter plate 4 is fixedly arranged on the workbench surface 2, and the first electric cylinder module 12 is fixedly arranged on the first adapter plate 4. The first adapter plate 4 and the first electric cylinder module 12 are located on the left side of the first feeding mechanism 3. The first linear guide rail 10 is fixedly arranged on the workbench surface 2. The first linear guide rail 10 is arranged in parallel with the first electric cylinder module 12 at a certain distance. A first linear guide rail slider 11 is movably installed on the first linear guide rail 10. A pair of slider transition supports 9 are fixedly arranged at both ends of the upper surface of the first linear guide rail slider 11. One end of the lower fixed plate 5 is fixedly arranged on the pair of slider transition supports 9, and the other end of the lower fixed plate 5 is fixedly arranged on the electric cylinder module slider of the first electric cylinder module 12. The side fixed plate 6 is fixedly arranged at the lower edge position of the lower fixed plate 5. The side fixed plate 6 and the lower fixed plate 5 are perpendicularly intersected to form an L-shaped structure. As shown in Figure 5As shown, it is a schematic diagram of the installation of the double-axis cylinder of the embodiment of the present invention. The lower fixed plate 5 is fixedly provided with a downward pressure cylinder seat 7 near the end of the first electric cylinder module 12. The downward pressure cylinder seat 7 is an L-shaped structure with reinforcing ribs. The first pressing plate 8 is a U-shaped structural plate with upper and lower eaves. The lower end of the double-axis cylinder 13 is fixedly provided on the outer side of the downward pressure cylinder seat 7. The upper end of the double-axis cylinder 13 is fixedly provided on the lower side of the upper eaves of the first pressing plate 8. The lower eaves width of the first pressing plate 8 is smaller than the upper eaves width to avoid the double-axis cylinder 13. The first pressing plate 8 is usually in the upper station (that is, the double-axis cylinder 13 is in an extended state, and the rectangular pad 14 can pass under the lower eaves of the first pressing plate 8). After the robot mechanism grabs the rectangular pad 14 to be arced from the raw material car, it places the rectangular pad 14 on the lower fixed plate 5. Since the work surface 2 is inclined, the rectangular pad 14 will automatically slide onto the side fixed plate 6 and close to it.

[0044] like Figure 6 , which is a schematic diagram of the installation position of the first horizontal push mechanism of the embodiment of the present invention. The first horizontal push mechanism 15 is fixedly arranged below the first feeding mechanism 3, and the length direction of the first horizontal push mechanism 15 is parallel to the lower fixed plate 5 of the first feeding mechanism 3. Figure 7 As shown, it is a schematic diagram of the structure of the first horizontal push mechanism of the embodiment of the present invention. The first horizontal push mechanism 15 includes: a second electric cylinder module 16, a horizontal push component and a first mounting base 19. The lower ends of several first mounting bases 19 are fixedly set on the work table 2, and the upper end of the first mounting base 19 is fixedly set with the second electric cylinder module 16. The second electric cylinder module 16 is a fully enclosed dust-free synchronous belt linear module electric slide. The number of first mounting bases 19 matches the length of the second electric cylinder module 16. The horizontal push component is installed on the electric cylinder module slider in the length direction of the second electric cylinder module 16. The horizontal push component includes an integrally formed horizontal push slide plate 17 and a horizontal push slide rod 18, and the horizontal push slide rod 18 intersects the horizontal push slide plate 17 vertically. The horizontal push slide plate 17 is fixed to the electric cylinder module slider of the second electric cylinder module 16 by bolts, and the electric cylinder module slider is fixed to the synchronous belt (belt) of the electric cylinder module, and the belt drives the electric cylinder module slider to perform linear reciprocating motion. The working principle of the synchronous belt type linear slide: the belt is installed on the transmission shaft on both sides of the linear slide, and the middle one serves as the power input shaft. A slider for adding a rectangular pad of the equipment is fixed on the belt; when there is input, the slider moves by driving the belt; generally, the synchronous belt type linear slide is specifically designed to control the tightness of the belt movement on one side, which is convenient for debugging the equipment during the production process.

[0045] like Figure 8, which is a schematic diagram of the installation position of the first arcing mechanism of the embodiment of the present invention. The first arcing mechanism 20 is fixedly arranged on the work surface 2, and is located above the first horizontal push mechanism 15 and on the left side of the first feeding mechanism 3. The first arcing mechanism 20 is used to perform arcing operations on the four end face edges and four sharp corners of the left end of the rectangular cushion block 14, and to perform arcing operations on the long side edges on the outer side of the upper surface of the rectangular cushion block 14. Fig. 9The figure shows a schematic diagram of the structure of the first arcing mechanism of the embodiment of the present invention. The first arcing mechanism 20 includes: a fixed vertical frame 21 and a third electric cylinder module 32. The first arcing mechanism 20 is fixed to the work table 2 by bolts through the fixed vertical frame 21. The work table 2 has a rectangular hole at the corresponding position to facilitate the motor of the third electric cylinder module 32 to be embedded under the inner table and to facilitate the up and down sliding of the milling cutter base 24. The third electric cylinder module 32 is fixed to the fixed vertical frame 21 by bolts, and the milling cutter base 24 is fixed to the electric cylinder module slider of the third electric cylinder module 32 by bolts. The PLC controls the up and down sliding of the milling cutter base 24 to adapt to the height of different rectangular pads. Two electric milling cutter clamps A22 are fixed to the milling cutter base 24 in parallel by bolts, and the electric milling cutter clamp B23 is fixedly connected to the electric milling cutter clamp A22 by bolts. The electric milling cutter clamp A22 and the electric milling cutter clamp B23 clamp the electric milling cutter 31 between them. The second adapter plate 25 is fixedly arranged on the optical axis clamp 26 with bolts, and the ends of the two first guide rods 27 are fixedly connected to the second adapter plate 25, and the other end of the first guide rod 27 passes through the milling cutter base 24 and is connected with two sets of linear bearings 30 fixedly arranged on the milling cutter base 24, and the linear bearings 30 and the third electric cylinder module 32 are located on the same side of the milling cutter base 24. Through the cooperation of the first guide rod 27 and the linear bearings 30, the second adapter plate 25 can move axially along the bearing seat; one end of the second guide rod 28 is fixedly connected to the second adapter plate 25, and the other end of the second guide rod 28 is fixedly connected to the lifting plate 29. The middle opening of the lifting plate 29 allows the milling cutter head of the electric milling cutter 2 34 to extend out, and the second pressing plate 79 is fixedly arranged on the lifting plate 29, and the second pressing plate 79 is located on the left side of the electric milling cutter 2 34. After axial movement into place, the lifting plate 29 leans against the panel on the long side of the rectangular pad, and the electric milling cutter 2 34 rotates at high speed to round the long edge of the upper part. The second electric milling cutter clamp 35 is fixedly arranged between the second adapter plate 25 and the lifting plate 29, and the second electric milling cutter clamp 35 clamps and fixes the second electric milling cutter 34. The second linear bearing 33 is fixedly arranged on the side of the second adapter plate 25 away from the optical axis clamp 26, and the position of the second linear bearing 33 is close to the second arcing mechanism 36. The third guide rod 42 of the second arcing mechanism 36 is inserted into the second linear bearing 33 for use in conjunction with the second linear bearing 33 to provide power and positioning for the axial movement of the second electric milling cutter 34. The second electric milling cutter 34 can be automatically adjusted, so that the lifting plate 29 can be close to rectangular pads of different widths, and then the milling cutter base 24 can move up and down under the drive of the third electric cylinder module 32, so that the milling cutter can adapt to rectangular pads of different heights, accurately position on the long edges of the rectangular pad 14, and round the long edges.

[0046] After the robot mechanism places the rectangular pad 14 on the lower fixed plate 5 of the first feeding mechanism 3, the push slide plate 17 moves linearly along the length direction of the second electric cylinder module 16 under the control of the control system, and the push slide bar 18 abuts against the rectangular pad 14. The push slide bar 18 pushes the rectangular pad 14 to move linearly along the length direction of the first feeding mechanism 3. When the left end of the rectangular pad 14 reaches the corresponding position of the first arcing mechanism 20, the second electric cylinder module 16 automatically stops moving. After the rectangular pad 14 moves into place, the double-axis cylinder 13 contracts and drives the first pressing plate 8 to move downward. The lower edge of the first pressing plate 8 presses the rectangular pad 14 to perform arcing. At this time, the left end of the rectangular pad 14 has extended out of the first feeding mechanism 3, and the lower edge of the first pressing plate 8 presses the middle section of the rectangular pad 14, thereby freeing the left end of the rectangular pad 14 for arcing. The lower fixing plate 5, the side fixing plate 6, the lower pressing cylinder seat 7, the first pressing plate 8, the slider transition support 9, the first linear guide slider 11 and the double-axis cylinder 13 are assembled into one body, and are driven by the first electric cylinder module 12 to move quickly (upward) on the first linear guide 10 and the first cylinder module 12, so that the left end of the rectangular pad 14 is close to the first arcing mechanism 20 to complete the arcing operation. The first arcing mechanism 20 includes two electric milling cutters, the electric milling cutter 1 23 is used for arcing the four edges and sharp corners of the left end face of the rectangular pad 14, and the electric milling cutter 2 34 is used for arcing the long edges on the upper side (outer side) of the upper surface of the rectangular pad 14. The electric milling cutter 23 first contacts the outer sharp corner of the lower end face of the rectangular pad 14. As the first electric cylinder module 12 drives the rectangular pad 14 to move upward (outward), the third electric cylinder module 32 does not move at this time, and the milling cutter rotates at high speed to make an arc on the lower edge / sharp corner of the end face; after the electric milling cutter 23 contacts the inner sharp corner of the lower end face of the rectangular pad 14, the electric milling cutter 23 moves upward along the outer side of the rectangular pad 14 driven by the third electric cylinder module 32. At this time, the first electric cylinder module 12 does not move, and the milling cutter rotates at high speed to make an arc on the inner edge / sharp corner of the end face; the electric milling cutter 23 After reaching the inner corner position of the upper end face of the rectangular pad 14, the third electric cylinder module 32 stops, and as the first electric cylinder module 12 drives the rectangular pad 14 to move downward (inward), the milling cutter rotates at high speed to arc the upper edge / corner of the end face; after the electric milling cutter 123 reaches the outer corner position of the upper end face of the rectangular pad 14, the first electric cylinder module 12 stops, and the electric milling cutter 123 moves downward along the outer side of the rectangular pad 14 driven by the third electric cylinder module 32, and the milling cutter rotates at high speed to arc the outer edge / corner of the end face, that is, the last edge and corner of the end face are removed. Through the cooperation of the first electric cylinder module 12 and the third electric cylinder module 32 in one movement and one stop, the electric milling cutter 123 can automatically complete the arcing operation of the four edges and four corners of the left end face of the rectangular pad 14.

[0047] like Fig.10, which is a schematic diagram of the installation position of the second arcing mechanism of the embodiment of the present invention. The second arcing mechanism 36 is fixedly arranged on the work surface 2, and is located above the first horizontal push mechanism 15 and on the left side of the first arcing mechanism 20. The second arcing mechanism 36 is used to arc the long edge of the outer side of the lower surface of the rectangular pad 14. Fig.11 The figure shows a schematic diagram of the structure of the second arcing mechanism of the embodiment of the present invention. The second arcing mechanism 36 includes: a third adapter plate 43 and a fourth electric cylinder module 44. The fourth electric cylinder module 44 is fixed to the work surface 2 by bolts through the third adapter plate 43. The horizontal support plate 37 is fixed to the electric cylinder module slider of the fourth electric cylinder module 44. The horizontal support plate 37 can move linearly. The upper side limit plate 40 is fixed to the horizontal support plate 37. The upper side limit plate 40 is a width direction baffle of the rectangular pad. The electric milling cutter 3 45 is clamped and fixed on the horizontal support plate 37 by the electric milling cutter 3 clamp A38 and the electric milling cutter 3 clamp B39. The electric milling cutter 3 45 moves linearly with the fourth electric cylinder module 44, and the milling cutter is used to round the outer long edges of the bottom of the long side of the rectangular pad. The third guide rod clamp 41 is fixedly set on the horizontal support plate 37, and one end of the third guide rod 42 is vertically fixed to the third guide rod clamp 41. The third guide rod clamp 41 fixes one end of the third guide rod 42. The third guide rod clamp 41 is fixed to the horizontal support plate 37 and can adjust the position according to the width of the rectangular pad. The other end of the third guide rod 42 penetrates into the linear bearing 2 33 of the first arcing mechanism 20, which is used to control the synchronous movement of the electric milling cutter 2 34 of the upper corners of the same side, and automatically adapts to the width of the rectangular pad. Fig.12 Detailed description is given of the installation and coordination diagram of the first arcing mechanism and the second arcing mechanism according to an embodiment of the present invention.

[0048] When the arcing operation of the four edges and four corners of the left end face of the rectangular pad 14 is completed, the first electric cylinder module 12 drives the rectangular pad 14 to move to the first horizontal push mechanism 15 station, and the double-axis cylinder 13 controls the first pressure plate 8 to move slightly upward to release the rectangular pad 14. The lower edge of the first pressure plate 8 is close to the rectangular pad 14 to limit it, and at the same time does not affect the sliding of the rectangular pad 14. The fourth electric cylinder module 44 drives the electric milling cutter 2 34 and the electric milling cutter 3 45 to move up and down, with the purpose of adjusting the electric milling cutter 2 34 and the electric milling cutter 3 45 to the position of the long edge of the outer side surface of the rectangular pad 14. The electric milling cutter 2 34 first contacts the left end surface and the upper sharp corner of the outer side surface of the rectangular pad 14. Under the control of the second electric cylinder module 16, the push slide rod 18 pushes the rectangular pad 14 to move in a straight line. The lower edge of the first pressure plate 8 and the second pressure plate 79 on the first arcing mechanism 20 limit the rectangular pad 14. The electric milling cutter 2 34 rotates at high speed to automatically arc the upper long edge of the outer side surface of the rectangular pad 14. When the rectangular pad 14 moves in a straight line to the second arcing mechanism 36 under the push of the horizontal push slide 18, the upper side limit plate 40 presses down close to the upper surface of the rectangular pad 14, and the horizontal support plate 37 and the upper side limit plate 40 clamp the rectangular pad 14 from the upper and lower directions. In addition, the supporting effect of the side support fixing plate 49 is used to reliably support and limit the rectangular pad 14. At the same time, the electric milling cutter three 45 contacts the left end face and the lower sharp corner of the lower side of the rectangular pad 14. Under the control of the second electric cylinder module 16, the horizontal push slide 18 pushes the rectangular pad 14 to continue to move in a straight line. The second pressure plate 79 on the first arcing mechanism 20 cooperates with the upper side limit plate 40 to limit the rectangular pad 14. The electric milling cutter three 45 rotates at high speed to automatically arc the outer long edge of the lower side of the rectangular pad 14. Through the cooperation of the first arcing mechanism 20 and the second arcing mechanism 36, the four edges and four corners on the left side of the rectangular pad 14 and the upper and lower long edges on the outer side are arced.

[0049] In the embodiment of the present invention, the first electric cylinder module 12, the third electric cylinder module 32, the fourth electric cylinder module 44 and the fifth electric cylinder module are all fully enclosed wire dust-free module slides, the first electric cylinder module 12, the second electric cylinder module 16, the third electric cylinder module 32, the fourth electric cylinder module 44 and the fifth electric cylinder module are all equipped with electric cylinder module sliders, the moving directions of the electric cylinder module sliders of the first electric cylinder module 12, the fourth electric cylinder module 44 and the fifth electric cylinder module are consistent with the width direction of the work surface 2, the moving direction of the electric cylinder module slider of the second electric cylinder module 16 is consistent with the length direction of the work surface 2, and the moving direction of the electric cylinder module slider of the third electric cylinder module 32 is perpendicular to the work surface 2.

[0050] like Fig.13The figure shows the installation diagram of the lower support mechanism of the embodiment of the present invention. Considering that the lengths of the rectangular pads 14 vary, in order to effectively support the rectangular pads 14, a lower support mechanism 46 is fixedly arranged above the first horizontal push mechanism 15 and on the left side of the first feeding mechanism 3. The lower support mechanism 46 is arranged parallel to the first horizontal push mechanism 15. A notch is arranged near the position of the second arcing mechanism 36 of the lower support mechanism 46. The notch cooperates with the second arcing mechanism 36. The lower support mechanism 46 is fixedly arranged on the work surface 2. The lower support mechanism 46 is connected to the first feeding mechanism 3 to form a track for the linear motion of the rectangular pad 14. Fig.14 The figure is a schematic diagram of the structure of the lower support mechanism of the embodiment of the present invention. The lower support mechanism 46 includes: a support fixing plate A47, a support fixing plate B48, a side support fixing plate 49 and a second mounting base 50. The lower ends of the plurality of second mounting bases 50 are fixedly arranged on the work surface 2. The support fixing plate A47 and the support fixing plate B48 are respectively fixedly arranged on the upper ends of the second mounting base 50. The side support fixing plate 49 is fixedly arranged at the inner edge of the support fixing plate A47 and the support fixing plate B48. The gap between the support fixing plate A47 and the support fixing plate B48 cooperates with the second arcing mechanism 36. The horizontal support plate 37 of the second arcing mechanism 36, the support fixing plate A47 and the support fixing plate B48 together serve as a supporting bottom plate for the sliding of the rectangular pad 14. The second pressing plate 79 and the upper side limit plate 40 serve as a non-processing surface baffle and a limit slideway for the rectangular pad 14 in the width direction.

[0051] like Fig.15 As shown, it is a schematic diagram of the overall structure of the arcing mechanism of an embodiment of the present invention. Through the cooperation of the first arcing mechanism 20 and the second arcing mechanism 36, half of the process of the arcing operation of the transformer rectangular pad is completed. Here, the first arcing mechanism 20, the second arcing mechanism 36 and other auxiliary mechanisms are referred to as the lower arcing station. In order to complete the other half of the process of the arcing operation of the transformer rectangular pad, an upper arcing station symmetrically arranged with the lower arcing station is set on the upper part of the work table 2, and the rectangular pad 14 is transported from the lower arcing station to the upper arcing station without damage by the truss manipulator 51. The structure of the upper arcing station is symmetrically arranged with the lower arcing station, including: a second feeding mechanism 64, a second horizontal pushing mechanism 65, a third arcing mechanism 66, a fourth arcing mechanism 67 and an upper supporting mechanism 68. The second feeding mechanism 64 has the same structure as the first feeding mechanism 3, the second horizontal pushing mechanism 65 has the same structure as the first horizontal pushing mechanism 15, the third arcing mechanism 66 includes: an electric milling cutter four and an electric milling cutter five. The third arcing mechanism 66 is similar in structure to the first arcing mechanism 20, the difference is that the electric milling cutter five only moves up and down and is fixed in the width direction. Since the position of the upper long edge of the inner side surface is fixed, the rest is the same and will not be repeated here.

[0052] The fourth arcing mechanism 67 includes: an electric milling cutter six. The fourth arcing mechanism 67 is similar in structure to the second arcing mechanism 36. However, because the position of the lower long edge of the inner side surface of the rectangular pad 14 to be arced is fixed, in order to save costs, the fourth arcing mechanism 67 can be set as a fixed structure. The electric milling cutter of the fourth arcing mechanism 67 is directly clamped and fixed to the work table 2 through a fixed bracket. When the rectangular pad passes by, the electric milling cutter of the fourth arcing mechanism 67 rotates at high speed to arc the lower long edge of the inner side surface of the rectangular pad 14, saving the cost of an electric cylinder module. The upper support mechanism 68 is similar in structure to the lower support mechanism 46, except that the lower support mechanism 46 is completely fixed, and the upper support mechanism 68 is equipped with a fifth electric cylinder module. The upper support mechanism 68 also has a mobile clamping function in the width direction, and the electric cylinder module automatically moves to provide clamping and guiding functions for the rectangular pad. Fig.16 The figure shows a schematic diagram of the structure of the upper support mechanism of an embodiment of the present invention. When milling the two long edges, the movable baffle moves downward to block the opposite plane of the rectangular pad processing surface in the width direction to avoid displacement during processing; after processing, the movable baffle automatically moves upward and resets. The upper support mechanism 68 is also the finished product discharge position. After processing is completed, the baffle automatically moves out of the way, and the upper push component pushes the processed rectangular pad 14 to this station for inspection and grabbing and stacking by the robot. The principles and steps of the upper arcing station to realize arcing of the rectangular pad 14 are similar to those of the lower arcing station structure, which will not be repeated here.

[0053] like Fig.17 , which is a front view of a truss manipulator according to an embodiment of the present invention; Fig.18 , which is a left view of the truss manipulator according to an embodiment of the present invention; Fig.19As shown, it is a top view of the truss manipulator of the embodiment of the present invention. The truss manipulator 51 includes two aluminum profile brackets 52 arranged in parallel in the vertical direction. The two aluminum profile brackets 52 are fixed brackets of the truss manipulator 51. The positions of the two aluminum profile brackets 52 span the upper arcing station and the lower arcing station. The lower ends of the two aluminum profile brackets 52 are fixedly arranged on the work table 2. The upper ends of the two aluminum profile brackets 52 are fixedly connected to the aluminum profile crossbeam 57. The aluminum profile brackets 52 and the aluminum profile frame 57 are combined into a door-type integral frame. A second linear guide rail 62 is fixedly arranged on the left side of the aluminum profile crossbeam 57. Cylinder supports 58 are fixedly arranged at the middle position of the upper side surface of the aluminum profile crossbeam 57 and the position of the upper side surface near the upper arcing station. The main ends of the stainless steel mini cylinders 60 are fixedly arranged on the two cylinder supports 58. The movable ends of the stainless steel mini cylinders 60 are fixedly connected to the cylinder push rod fixing plate 54. The cylinder push rod is fixed to the cylinder push rod fixing plate 54 through a nut. The three-axis cylinder 59 is fixedly connected by bolts through the cylinder adapter 53, and then the cylinder adapter 53 is fixedly connected to the cylinder push rod fixing plate 54 by bolts. The lower part of the cylinder adapter 53 is fixedly connected to the second linear guide slider 61 on the second linear guide 62 by bolts, so that the three-axis cylinder 59 can make linear reciprocating motion between the upper and lower stations with the cylinder push rod. That is, the three-axis cylinder 59 is driven by the stainless steel mini cylinder 60 and attached to the second linear guide slider 61 by the push of the cylinder push rod fixing plate 54, and reciprocates along the second linear guide 62 from the lower arcing station to the upper arcing station. The suction cup bracket 55 is fixedly connected to the push plate of the three-axis cylinder 59 by bolts, and moves up and down with the push plate. A plurality of first suction cups 63 are fixedly arranged on the suction cup bracket 55. Through the vacuum absorption and release of the rectangular pad by the first suction cup 63, the three-axis cylinder 59 extends, and the first suction cup 63 falls to the upper surface of the rectangular pad, vacuum absorbs the rectangular pad, lifts it, and driven by the stainless steel mini cylinder 60, it moves along the second linear guide rail 62 to above the upper arcing station, and the first suction cup 63 descends to release the rectangular pad.

[0054] As a further preferred embodiment, a transformer rectangular pad automatic arcing system and method is provided with a safety shield. Fig. 20The figure shows a schematic diagram of the structure of the safety shield of an embodiment of the present invention. The fixed shield 69 is fixedly set to the left side of the work surface 2, and the support bearing assembly 73 is fixedly set at the edge of the work surface 2 on the right side of the fixed shield 69. The middle shield 70 and the right shield 71 are movably mounted on the support bearing assembly 73 through a movable sliding base. The fixed shield 69 is fixedly set with a touch screen 72, and the middle shield 70 and the right shield 71 are provided with an observation window of an acrylic sheet. The motor shield 74 is fixedly set to the motor position of the feeding mechanism of the work surface 2. The touch screen 72 serves to facilitate the operation of a transformer rectangular pad automatic arcing system and method. The middle shield 70 and the right shield 71 can be moved left and right for easy maintenance. The observation window of the acrylic sheet is convenient for viewing the actual processing situation when not moving. The motor shield 74 provides safety protection for the motor of the feeding mechanism.

[0055] As a further preferred embodiment, a transformer rectangular pad automatic arcing system and method is provided with a robot mechanism to realize automatic loading. Fig.21 The figure is a schematic diagram of the structure of the robot mechanism of the embodiment of the present invention. The robot mechanism includes: a robot body 78, the lower end of the robot body 78 is fixedly set on the ground through a robot base 75, a visual device 77 is fixedly set on the upper end of the robot body 78, and the visual device 77 is used to realize automatic visual recognition, and a rotatable suction cup frame 76 is installed at the end of the sixth axis of the robot body 78, and the rotatable suction cup frame 76 can rotate 180°. A plurality of second suction cups are installed on the rotatable suction cup frame 76 according to the process requirements, and the second suction cups are used to grab the rectangular pad 14. Safety guardrails and safety gratings are set around the robot mechanism, and sound and light alarms and emergency stop devices are set to prevent unauthorized personnel from entering by mistake.

[0056] In the embodiments of the present invention, the methods for the control system to control the movement of the electric cylinder module are all existing technologies and will not be described in detail here.

[0057] A transformer rectangular pad automatic arcing method, using the aforementioned transformer rectangular pad automatic arcing system, comprises the following steps:

[0058] Step 1: The robot mechanism grabs the rectangular pad material from the workpiece material table by suction cup adsorption. A visual inspection camera is installed on the robot body, and the robot mechanism automatically positions and grabs the rectangular pad.

[0059] Step 2: The robot mechanism places the rectangular pad at the lower arcing station, and completes the arcing operation of the four short edges and four sharp corners on the left end face of the rectangular pad and the two long edges on the outer end face at the lower arcing station.

[0060] Step 3: The truss robot moves the rectangular pad from the lower arcing station to the upper arcing station, and completes the arcing operation of the four short edges and four sharp corners on the right end face of the rectangular pad and the two long edges on the inner end face at the upper arcing station.

[0061] Step 4: The robot mechanism performs visual inspection and uses a suction cup to grab the finished rectangular pad from the upper arcing station and place the finished rectangular pad on the finished parts stacking platform.

[0062] Step 5: The control system automatically counts and automatically dispatches the AGV to carry out logistics transfer between the raw material platform and the finished product stacking platform. After the processing is completed or when a fault occurs, an automatic sound and light alarm prompts the part-time operator to complete the task or the fault is to be repaired, and the reason is displayed on the device display.

[0063] The transformer rectangular pad automatic arcing system and method of the present invention are suitable for the following process requirements:

[0064] 1. Technical requirements:

[0065] 1.1 Pad size range.

[0066] Pad size: length: 15-300mm (conventional products), 15-900 (reactor products); width 50 / 60 / 70mm; thickness 4-60mm.

[0067] Peripheral arc punching range: 3-5mm.

[0068] Material: Laminated Paperboard, Laminated Wood.

[0069] 1.2 The finished product has no sharp corners, burrs or edges. All faces and edges can be rounded to R3~R5. The end faces are smooth without sharp corners, which meets the requirements of drawings and process.

[0070] 1.3 Finished product quality inspection requirements:

[0071] Vernier caliper thickness tolerance is ±0.5mm, width tolerance is ±0.5mm, length tolerance is -2mm to 0. The edges and corners of the bonding surface for end ring bonding are not rounded, and the upper surface and four corners are rounded R3 to R5.

[0072] 1.4 Working speed: 200 pieces / h (calculated based on a rectangular block with a length of 100mm and a width of 50mm).

[0073] 1.5 Working voltage: 380V, 50HZ;

[0074] 1.6 Working noise: ≤70dB(A).

[0075] 2. Process flow:

[0076] 1) Set up the program, input or import the length / width / height and quantity and other dimensions and order information of the rectangular pads through MES. The default is single-sided chamfer mode (8 edges and 4 sharp corners on the upper surface and the vertical surface), and the full chamfer mode (all 12 edges and 8 sharp corners) can be selected;

[0077] 2) The AGV trolley transports the raw material cart with rectangular pads stacked in the previous unloading process to the loading position, the trolley sinks and drives away, the raw material cart falls on the workpiece raw material table and is positioned, and the trolley sinks and drives away;

[0078] 3) The vision-guided robot mechanism picks up the rectangular pad and places it at the automatic loading position of the lower arcing station;

[0079] 4) The first horizontal push mechanism pushes the rectangular pad of the raw material to the arcing position on the left end surface, and then the cylinder controls the first pressing plate to press the rectangular pad;

[0080] 5) The electric milling cutter 1 performs arcing on the end face under the cooperation of the two sets of electric cylinder modules; after arcing on the end face is completed, the cylinder is lifted, and the first horizontal push mechanism continues to push the rectangular pad forward;

[0081] 6) According to the different widths and thicknesses of the rectangular pad, the parameters are set to control the electric milling cutter 2 and the electric milling cutter 3 to automatically adjust to the position, and the upper and lower long edges of the outer side of the rectangular pad are arced;

[0082] 7) The first horizontal push mechanism frame continues to move horizontally, pushing the rectangular pad to the truss manipulator material picking position; the first horizontal push mechanism is reset, and the robot mechanism places the next rectangular pad, and the arc of the next rectangular pad is simultaneously performed;

[0083] 8) At the same time, the truss manipulator sucks up the rectangular pad, and then hoists the rectangular pad to the upper arcing station, and arcs the right end face and inner side face at the upper arcing station; during the arcing operation at the upper arcing station, the lower arcing station can simultaneously perform arcing work on the left end face and outer side face of the next rectangular pad;

[0084] 9) After the arcing operation of the rectangular pad is completed according to the set process flow, the rectangular pad is purged from the top by high-pressure gas and vacuum adsorbed from the bottom to remove dust, and then moved to the finished product position to be detected and picked up by the robot mechanism;

[0085] 10) The vision-guided robot mechanism detects and picks up the finished rectangular pads, and sorts and stacks them on the finished product stacking platform on the finished product vehicle as needed;

[0086] 11) The AGV trolley is in place and automatically transfers the finished material trolley to the finished product storage area of ​​the rectangular pad.

[0087] In addition, the arc quality can be automatically detected by non-destructive testing devices, and an alarm will be issued if the quality is beyond the tolerance. If the quality is qualified, a signal will be automatically sent to the robot to pick it up; the control system automatically counts and completes all arcing operations of rectangular pads, and sounds a whistle to remind the operator. The raw material car and the finished product car can be used with the AGV car. The control system automatically dispatches according to the material and processing quantity, realizes automatic transfer and replacement, and forms an unmanned assembly line operation.

[0088] Finally, it should be noted that the above embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them, and the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that any technician familiar with the technical field can modify the technical solutions recorded in the above embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be covered within the protection scope of the present invention.

Claims

1. A transformer rectangular pad automatic arcing system, characterized in that: include: A control system, an arcing mechanism (80), a robot mechanism (81), a workpiece raw material platform (82) and a finished product stacking platform (83), wherein the arcing mechanism (80) comprises: an inclined working table (2), a first arcing mechanism (20) and a second arcing mechanism (36), a first feeding mechanism (3) fixedly arranged at the lower right corner of the working table (2), a first horizontal pushing mechanism (15) fixedly arranged parallel to and below the first feeding mechanism (3), and a length of the first horizontal pushing mechanism (15) greater than that of the first feeding mechanism (3). The length of the structure (3) is such that the first arcing mechanism (20) is fixedly arranged above the first horizontal pushing mechanism (15) and on the left side of the first feeding mechanism (3), the first arcing mechanism (20) comprises an electric milling cutter 1 (31) and an electric milling cutter 2 (34), the second arcing mechanism (36) is fixedly arranged above the first horizontal pushing mechanism (15) and on the left side of the first arcing mechanism (20), the second arcing mechanism (36) comprises an electric milling cutter 3 (45), and is fixedly arranged above the first horizontal pushing mechanism (15) and on the left side of the first feeding mechanism (3 ) is fixedly arranged on the left side of the work surface (2), the lower supporting mechanism (46) is arranged in parallel with the first horizontal pushing mechanism (15), and the lower supporting mechanism (46) is located below the first arcing mechanism (20) and the second arcing mechanism (36); the second feeding mechanism (64), the second horizontal pushing mechanism (65), the third arcing mechanism (66), the fourth arcing mechanism (67) and the upper supporting mechanism (68) are symmetrically fixedly arranged above the work surface (2), and the second feeding mechanism (64) and the first feeding mechanism ( 3) The second horizontal push mechanism (65) has the same structure as the first horizontal push mechanism (15), the third arcing mechanism (66) includes: an electric milling cutter four and an electric milling cutter five, the third arcing mechanism (66) has the same structure as the first arcing mechanism (20), the fourth arcing mechanism (67) includes an electric milling cutter six, the fourth arcing mechanism (67) is set as a fixed structure, the upper support mechanism (68) is installed with a fifth electric cylinder module, and a truss manipulator (51) is fixedly arranged between the upper and lower parts of the work table (2); The first arcing mechanism (20) comprises: a fixed vertical frame (21) and a third electric cylinder module (32), the first arcing mechanism (20) is fixedly arranged on the work table (2) through the fixed vertical frame (21), the third electric cylinder module (32) is fixedly arranged on the fixed vertical frame (21), the milling cutter base (24) is fixedly arranged on the electric cylinder module slider of the third electric cylinder module (32), two electric milling cutter clamps A (22) are fixedly arranged on the milling cutter base (24) in parallel, the electric milling cutter clamp B (23) is fixedly connected to the electric milling cutter clamp A (22), the electric milling cutter (31) is clamped and fixedly arranged between the electric milling cutter clamp A (22) and the electric milling cutter clamp B (23), the second adapter plate (25) is fixedly arranged on the optical axis clamp (26), the end of the first guide rod (27) is fixedly connected to the second adapter plate (25), the first guide rod ( The other end of the second guide rod (27) passes through the milling cutter base (24) and is connected to two groups of linear bearings (30). The linear bearings (30) and the third electric cylinder module (32) are located on the same side of the milling cutter base (24). One end of the second guide rod (28) is fixedly connected to the second adapter plate (25). The other end of the second guide rod (28) is fixedly connected to the lifting plate (29). The lifting plate (29) has a hole in the middle, and the milling cutter head of the electric milling cutter 2 extends out of the hole. The second pressing plate (79) is fixedly arranged on the lifting plate (29). An electric milling cutter 2 clamp (35) is fixedly arranged between the second adapter plate (25) and the lifting plate (29). The electric milling cutter 2 clamp (35) clamps the electric milling cutter 2 (34). A linear bearing 2 (33) is fixedly arranged on the side of the second adapter plate (25) away from the optical axis clamp (26). The position of the linear bearing 2 (33) is close to the second arcing mechanism (36). The second arcing mechanism (36) comprises: a third adapter plate (43) and a fourth electric cylinder module (44); the fourth electric cylinder module (44) is fixedly arranged on the work table (2) through the third adapter plate (43); the horizontal support plate (37) is fixedly arranged on the electric cylinder module slider of the fourth electric cylinder module (44); the upper side limit plate (40) is fixedly arranged on the horizontal support plate (37); the electric milling cutter three (45) is clamped and fixed on the horizontal support plate (37) through the electric milling cutter three clamp A (38) and the electric milling cutter three clamp B (39); the third guide rod clamp (41) is fixedly arranged on the horizontal support plate (37); one end of the third guide rod (42) is vertically fixedly arranged on the third guide rod clamp (41); the other end of the third guide rod (42) penetrates into the linear bearing two (33) of the first arcing mechanism (20) The control system is used to control the electric cylinder module and the electric milling cutter.

2. The automatic arcing system for rectangular spacers of transformers according to claim 1 is characterized in that: The first feeding mechanism (3) comprises a first adapter plate (4), the first adapter plate (4) is fixedly arranged on the work surface (2), the first electric cylinder module (12) is fixedly arranged on the first adapter plate (4), the first linear guide rail (10) is fixedly arranged on the work surface (2), the first linear guide rail (10) and the first electric cylinder module (12) are arranged in parallel, a first linear guide rail slider (11) is movably mounted on the first linear guide rail (10), a pair of slider transition supports (9) are fixedly arranged at both ends of the upper surface of the first linear guide rail slider (11), and one end of the lower fixed plate (5) is fixedly arranged on the pair of slider transition supports (9), the other end of the lower fixed plate (5) is fixedly arranged on the electric cylinder module slider of the first electric cylinder module (12), the side fixed plate (6) is fixedly arranged at the lower edge position of the lower fixed plate (5), and the lower fixed plate (5) is fixedly arranged at the end close to the first electric cylinder module (12) with a downward pressure cylinder seat (7), the downward pressure cylinder seat (7) is an L-shaped structure with reinforcing ribs, the first pressure plate (8) is a U-shaped structural plate with upper and lower eaves, the lower end of the double-axis cylinder (13) is fixedly arranged on the outer side surface of the downward pressure cylinder seat (7), and the upper end of the double-axis cylinder (13) is fixedly arranged on the lower side surface of the upper eaves of the first pressure plate (8).

3. The automatic arcing system for transformer rectangular pads according to claim 1 is characterized in that: The first horizontal push mechanism (15) comprises: a second electric cylinder module (16), a horizontal push component and a first mounting base (19); the lower end of the first mounting base (19) is fixedly arranged on the work table (2); the upper end of the first mounting base (19) is fixedly arranged on the second electric cylinder module (16); the horizontal push component is mounted on the electric cylinder module slider of the second electric cylinder module (16); the horizontal push component comprises an integrally formed horizontal push slide plate (17) and a horizontal push slide rod (18); the horizontal push slide rod (18) and the horizontal push slide plate (17) intersect each other vertically.

4. The transformer rectangular pad automatic arcing system according to claim 1 is characterized in that: The lower support mechanism (46) comprises: a support fixing plate A (47), a support fixing plate B (48), a side support fixing plate (49) and a second mounting base (50); the lower end of the second mounting base (50) is fixedly arranged on the work surface (2); the support fixing plate A (47) and the support fixing plate B (48) are respectively fixedly arranged on the upper end of the second mounting base (50); the side support fixing plate (49) is fixedly arranged on the inner edge position of the support fixing plate A (47) and the support fixing plate B (48); and the gap between the support fixing plate A (47) and the support fixing plate B (48) cooperates with the second arcing mechanism (36).

5. The transformer rectangular pad automatic arcing system according to claim 1 is characterized in that: The truss manipulator (51) comprises two aluminum profile brackets (52) arranged in parallel in a vertical direction, the lower ends of the two aluminum profile brackets (52) are fixedly arranged on a work surface (2), the upper ends of the two aluminum profile brackets (52) are fixedly connected to an aluminum profile cross beam (57), a second linear guide rail (62) is fixedly arranged on the side of the aluminum profile cross beam (57), two cylinder supports (58) are fixedly arranged on the upper side of the aluminum profile cross beam (57), the main ends of stainless steel mini cylinders (60) are fixedly arranged on the two cylinder supports (58), and the stainless steel mini cylinders (60) are fixedly arranged on the two cylinder supports (58). 0) is fixedly connected to a cylinder push rod fixing plate (54), the cylinder push rod is fixed to the cylinder push rod fixing plate (54) by a nut, the three-axis cylinder (59) is fixedly connected by a cylinder adapter (53), the cylinder adapter (53) is fixedly connected to the cylinder push rod fixing plate (54), the lower part of the cylinder adapter (53) is fixedly connected to a second linear guide slider (61) on a second linear guide (62), a suction cup bracket (55) is fixedly connected to the push plate of the three-axis cylinder (59), and a first suction cup (63) is fixedly arranged on the suction cup bracket (55).

6. A transformer rectangular pad automatic arcing system according to any one of claims 1 to 5, characterized in that: The support frame (1) is a three-dimensional structure formed by welding support beams. The upper surface of the support frame (1) is an inclined surface. A panel is welded to the upper surface of the support frame (1) to form a work surface (2). The side surfaces and the inner cavity of the support frame (1) are welded with partitions to form a chamber. A control box, a power supply box and an arc-striking mechanism electrical control system are installed in the chamber. The rear cabinet panels all adopt a door-type structure, and a dust negative pressure pipe interface is arranged on the rear cabinet panels.

7. The automatic arcing system for rectangular spacers of transformers according to claim 6 is characterized in that: The arc striking mechanism (80) is provided with a safety protection cover, a fixed protection cover (69) is fixedly arranged on the left side of the work surface (2), a support bearing assembly (73) is fixedly arranged at the edge position of the work surface (2) on the right side of the fixed protection cover (69), the middle protection cover (70) and the right protection cover (71) are movably mounted on the support bearing assembly (73) through a movable sliding base, a touch screen (72) is fixedly arranged on the fixed protection cover (69), an observation window for an acrylic plate is arranged on the middle protection cover (70) and the right protection cover (71), and a motor protection cover (74) is fixedly arranged at the motor position of the feeding mechanism of the work surface (2).

8. The transformer rectangular pad automatic arcing system according to claim 7 is characterized in that: The robot mechanism comprises: a robot body (78), the lower end of the robot body (78) is fixedly arranged on the ground through a robot base (75), a visual device (77) is fixedly arranged on the upper end of the robot body (78), a rotatable suction cup frame (76) is installed at the end of the sixth axis of the robot body (78), and a plurality of second suction cups are installed on the rotatable suction cup frame (76).

9. A method for automatically striking an arc with a transformer rectangular pad, characterized in that: The application of the transformer rectangular pad automatic arcing system as claimed in claim 8 comprises the following steps: Step 1: The robot mechanism grabs the rectangular pad material from the workpiece material table; Step 2: The robot mechanism places the rectangular pad to the lower arcing station, and completes the arcing operation of the four short edges and four sharp corners on the left end face of the rectangular pad and the two long edges on the outer end face at the lower arcing station; Step 3, the truss manipulator moves the rectangular pad from the lower arcing station to the upper arcing station, and completes the arcing operation of the four short edges and four sharp corners on the right end face of the rectangular pad and the two long edges on the inner end face at the upper arcing station; Step 4: The robot mechanism uses a suction cup to grab the finished rectangular pad from the upper arcing station and places the finished rectangular pad on the finished parts stacking platform.

10. The automatic arcing method of a transformer rectangular spacer according to claim 9, characterized in that: The robot mechanism uses a suction cup adsorption method to grab the rectangular pad raw material from the workpiece raw material table; a visual inspection camera is installed on the robot body, and the robot mechanism automatically locates and grabs the rectangular pad; after the arcing operation of the rectangular pad is completed, the high-pressure gas upper blowing and the lower vacuum adsorption are used to remove the dust from the rectangular pad; the control system automatically counts and completes all the arcing operations of the rectangular pads. The control system issues a command to automatically dispatch the AGV cart to automatically transport and replace the finished product stacking table and the workpiece raw material table, and sounds a whistle to remind the operator.

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