Polishing production line for power transformer coil

Abstract

The invention particularly relates to a polishing production line for a power transformer coil. The production line comprises a transverse grinding conveying line, a feeding mechanism and a discharging mechanism are arranged at the two transverse ends of the grinding conveying line correspondingly, and a tool clamp material disc is arranged on the grinding conveying line and used for clamping and fixing materials so as to drive the materials to be conveyed along the grinding conveying line; a 3D scanning device and a grinding robot are sequentially arranged in the conveying direction of the grinding conveying line, the 3D scanning device is used for obtaining a three-dimensional model of a material and transmitting scanning information to the grinding robot, and the grinding robot plans a grinding path through model parameters provided by the 3D scanning device and conducts material grinding. And the dust removal system is used for removing particle dust during grinding. The grinding robot is used for replacing manual work to achieve grinding, circulation and cleaning of materials, safety and reliability are achieved, meanwhile, cyclic operation can be achieved, cooperation of all stations such as feeding, scanning, grinding and discharging is achieved, and automation of the whole process is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of transformers, and in particular to a grinding production line for power transformer coils. Background Art

[0002] With the development of social science and technology, power transformer coils, as the most important components of various transformers in power transmission and distribution, are widely used in urban rail traction rectifier transformers, urban rail traction rectifier groups, amorphous alloy dry-type transformers, mining flameproof transformers and flameproof switches, high and low voltage switch cabinets, frequency converters, anti-harmonic transformers, marine transformers, urban rail transit intelligent box-type substations, American and European box-type substations, wind power and photovoltaic box-type substations, reactors, etc. Covering railways, electricity, electronics, urban rail transit, hydropower, nuclear power, wind power, coal mines, communications, construction, petroleum, chemical industry, aerospace and other industries.

[0003] The outer periphery of the power transformer coil is cast with an insulating material with resin as the main material, so that the main shape feature of the entire power transformer coil is based on an ellipse. In actual production, due to process limitations and other reasons, it is difficult to ensure that the size of each product is exactly the same.

[0004] In order to ensure dimensional accuracy and improve surface quality, the cast power transformer coil needs to be polished to remove excess parts, improve the protection performance and service life of the entire power transformer, and reduce the risk of power failure. At the same time, different application scenarios have different requirements for the insulation performance and dimensional accuracy of the power transformer coil. Through polishing, it can also be adjusted according to specific needs, so that the power transformer coil can better adapt to various working environments.

[0005] In the prior art, grinding operations are usually performed manually with handheld grinding equipment. During this process, due to the differences in the elliptical shapes and their symmetry, manual operations have problems such as difficulty in controlling the grinding accuracy, unsatisfactory control of the grinding area, difficulty in ensuring the grinding quality, low production efficiency, and high labor intensity. At the same time, the dust generated during the grinding process will also cause harm to the health of people in the working area. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a grinding production line for power transformer coils, which utilizes a grinding robot to replace manual labor to achieve material grinding, circulation and cleaning, is safe and reliable, and can be operated in a cycle, realizing the coordination of various workstations such as loading, scanning, grinding and unloading, and realizing automation of the entire process.

[0007] In response to the above technical problems, the technical solution provided by the present invention is a grinding production line for power transformer coils, comprising a transverse grinding conveyor line, wherein a loading mechanism and a unloading mechanism are respectively arranged at the lateral ends of the grinding conveyor line, and a tooling fixture material tray is arranged on the grinding conveyor line, wherein the tooling fixture material tray is used to clamp and fix the material to drive the material to be transported along the grinding conveyor line, and a 3D scanning device and a grinding robot are sequentially arranged in the conveying direction of the grinding conveyor line, wherein the 3D scanning device is used to obtain a three-dimensional model of the material and transmit the scanning information to the grinding robot, wherein the grinding robot plans the grinding path and performs material grinding according to the model parameters provided by the 3D scanning device, and further comprises a dust removal system, wherein the dust removal system is used to remove particulate dust during grinding.

[0008] Furthermore, the loading mechanism and the unloading mechanism respectively include a longitudinal loading conveyor line and a unloading conveyor line, and a group of flipping devices are respectively arranged between the output end of the loading conveyor line and the input end of the grinding conveyor line, and between the input end of the unloading conveyor line and the output end of the grinding conveyor line.

[0009] Furthermore, the flipping device includes a longitudinal conveying bracket and a transverse conveying bracket which are perpendicular to each other. The docking ends of the longitudinal conveying bracket and the transverse conveying bracket are flipped 90 degrees with the transverse direction as the axis. The transverse conveying bracket is used to dock with the grinding conveyor line. The transverse conveying bracket is provided with an installation position adapted to the tooling fixture tray.

[0010] Furthermore, the tooling fixture material tray includes a material tray and a tooling fixture arranged on the material tray, two clamping plates are symmetrically arranged on the inner side of the tooling fixture along the direction of its short semi-axis, two clamping bolts are arranged on the clamping plates at intervals along the thickness direction of the tooling fixture, the inner ends of the clamping bolts are rotatably matched with the clamping plates, and the outer ends extend out of the tooling fixture and are threadedly connected to the tooling fixture, and also include a tightening device, and a group of tightening devices are respectively arranged on the lateral sides of the flipping device, and the tightening devices are used to tighten the clamping bolts on the corresponding sides.

[0011] Furthermore, the tightening device comprises a transverse moving platform, a longitudinal driving mechanism is arranged on the transverse moving platform, a transverse cylinder is arranged on the longitudinal driving mechanism, and a rotating electric clamp is arranged at the end of the transverse cylinder.

[0012] Furthermore, a group of rotating lifting devices are respectively arranged at the positions of the grinding conveyor line corresponding to the 3D scanning device and the grinding robot, and the rotating lifting devices are used to drive the tooling fixture tray to rotate in the horizontal plane and to rise and fall vertically.

[0013] Furthermore, a circulating conveyor line is arranged parallel to one longitudinal side of the grinding conveyor line, a group of longitudinal translation mechanisms is arranged between the output end of the grinding conveyor line and the flipping device on that side, and a group of longitudinal translation mechanisms is arranged on the side of the flipping device on the input end side of the grinding conveyor line facing away from the grinding conveyor line, and the two groups of longitudinal translation mechanisms are used to connect the circulating conveyor line and the grinding conveyor line.

[0014] Furthermore, the longitudinal translation mechanism includes a base, a second linear guide rail extending longitudinally is provided on the base, a translation bracket is slidably provided on the second linear guide rail, a translation conveyor plate chain is provided on the translation bracket, the translation conveyor plate chain conveys in the transverse direction, and the translation bracket slides longitudinally on the second linear guide rail through a driving mechanism to respectively connect the grinding conveyor line and the circulating conveyor line.

[0015] Furthermore, it also includes a jig tray conveyor line, which is arranged on a side of the longitudinal translation mechanism on the input end side of the grinding conveyor line facing away from the grinding conveyor line.

[0016] Furthermore, the jig tray conveyor line conveys in the longitudinal direction, and a rotating conveying mechanism is provided between the jig tray conveyor line and the longitudinal translation mechanism on this side.

[0017] Furthermore, in the grinding production line for power transformer coils, the rotating conveying mechanism includes a rotating bracket, a rotating conveying plate chain is arranged on the upper end of the rotating bracket, and the rotating conveying plate chain is rotatably arranged on the rotating bracket with the vertical direction as the rotation axis. The 3D scanning device outputs data features after scanning the key coordinates of the material, and the grinding robot plans the trajectory of the material in combination with coordinate positioning and completes the grinding work.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] A grinding production line for power transformer coils of the present invention utilizes a grinding robot to replace manual labor to achieve material grinding, circulation and cleaning. It is safe and reliable, and can be operated in a cyclic flow. It efficiently and reasonably realizes the coordination of various workstations such as loading, scanning, grinding and unloading, realizes the automation of the entire process, and greatly improves the continuity of work. At the same time, it also realizes the data collection of transmission, grinding three-dimensional models, grinding trajectories, and grinding forces in the whole process. The production line production realizes the consistency of the labor process. On the basis of reducing the intensity of manual labor and operational errors, the dust removal system is used to solve the human body damage caused by dust, thereby saving the labor costs of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of a grinding production line for power transformer coils in Example 1 of the present invention.

[0021] Figure 2 It is a schematic structural diagram of the tightening device in Example 1 of the present invention.

[0022] Figure 3 It is a schematic diagram of the structure of the flipping device in Example 1 of the present invention.

[0023] Figure 4 It is a schematic diagram of the structure of the 3D scanning device in Example 1 of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the rotary jacking device in Example 1 of the present invention.

[0025] Figure 6 It is a schematic diagram of the structure of the fixture tray in Example 1 of the present invention.

[0026] Figure 7 It is a structural schematic diagram of the longitudinal translation mechanism in Example 1 of the present invention.

[0027] Figure 8 It is a schematic structural diagram of the rotary conveying mechanism in Example 1 of the present invention.

[0028] Fig. 9 It is a structural schematic diagram of the dust removal system in Example 1 of the present invention.

[0029] Fig.10 It is a structural schematic diagram of the polishing robot in Example 1 of the present invention.

[0030] In the figure: 1. Grinding production line;

[0031] 10. Tightening device; 1011. lateral cylinder; 1012. Rotating electric clamp; 102. lateral moving platform; 1013. longitudinal driving mechanism; 1021. first linear guide rail; 1022. ball screw; 1023. driving motor; 101. moving plate; 1025. longitudinal cylinder;

[0032] 20. Turning device; 201. Turning motor; 202. Gear set; 203. Blocker assembly; 204. First power plate chain; 205. Power roller; 206. Longitudinal conveying bracket; 207. Transverse conveying bracket; 208. Baffle; 209. Mounting bracket;

[0033] 30. 3D scanning device; 301. scanner; 302. scanning support;

[0034] 40. Rotating lifting device; 401. Rotating motor; 402. Lifting cylinder; 403. First slewing bearing; 404. First gear; 405. Linear bearing; 406. First bracket;

[0035] 50. Fixture tray; 501. Fixture; 502. Tray; 503. Clamping plate; 504. Clamping bolt;

[0036] 60. Stop the cylinder;

[0037] 70, longitudinal translation mechanism; 701, translation mechanism motor; 702, driving screw; 703, second linear guide rail; 704, translation bracket; 705, translation conveyor plate chain; 706, base;

[0038] 80. Rotating conveying mechanism; 801. Rotating conveying motor; 802. Second slewing bearing; 803. Second gear; 804. Rotating conveying plate chain; 805. Rotating bracket;

[0039] 90. Dust removal system; 901. Dust removal bracket; 902. Dust removal safety fence; 903. Dust collector;

[0040] 100. AGV trolley; 110. Support bracket; 120. Production line safety fence; 130. Material rack; 140. Materials; 150. Grinding robot; 160. Loading conveyor line; 170. Plate chain line; 180. Unloading conveyor line; 190. Circulation conveyor line; 200. Fixture tray conveyor line; 210. Grinding conveyor line. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application: Specific embodiment 1:

[0043] In this embodiment, if Figure 1 As shown, the transverse direction is the length direction of the grinding conveyor line 210 , and the longitudinal direction is the length direction of the feeding conveyor line 160 .

[0044] refer to Figures 1 to 10 The present invention discloses a grinding production line for power transformer coils (hereinafter referred to as grinding production line 1), comprising a transverse grinding conveyor line 210, wherein a loading mechanism and a unloading mechanism are respectively arranged at the transverse ends of the grinding conveyor line 210. A fixture material tray 50 is arranged on the grinding conveyor line 210, which is used to clamp and fix the material 140 to be ground, so as to drive the material 140 to be ground to be conveyed along the grinding conveyor line 210.

[0045] A 3D scanning device 30 and a polishing robot 150 are sequentially arranged in the conveying direction of the polishing conveyor line 210, wherein the 3D scanning device 30 includes a scanning bracket 302 and a scanner 301 installed on the scanning bracket 302. The 3D scanning device 30 is used to obtain a three-dimensional model of the material 140 and transmit the scanning information to the polishing robot 150. The polishing robot 150 plans the polishing path according to the model parameters provided by the 3D scanning device 30 and polishes the material 140. The polishing production line 1 also includes a dust removal system 90, which is used to remove particulate dust during polishing.

[0046] Specifically, in this embodiment, the loading mechanism includes a longitudinal loading conveyor line 160, the output end of the loading conveyor line 160 is connected to the input end of the grinding conveyor line 210, and the unloading mechanism includes a longitudinal unloading conveyor line 180, the unloading conveyor line 180 is arranged in parallel with the loading conveyor line 160, and the input end of the unloading conveyor line 180 is used to connect with the output end of the grinding conveyor line 210, forming a complete automated production line, and making the spatial layout of the entire production line compact. At the position between the loading conveyor line 160 and the unloading conveyor line 180, a plurality of material racks 130 are arranged at intervals along the horizontal direction, and tooling fixture material trays 50 of different specifications and sizes are placed on the plurality of material racks 130, so that the grinding production line 1 can grind and process materials 140 to be processed of different sizes and specifications. In this embodiment, the loading conveyor line 160 and the unloading conveyor line 180 are both roller-type transmission lines.

[0047] Specifically, in this embodiment, a group of flipping devices 20 are respectively arranged between the output end of the loading conveyor line 160 and the input end of the grinding conveyor line 210, and between the input end of the unloading conveyor line 180 and the output end of the grinding conveyor line 210. One group is responsible for loading, and the other group is responsible for unloading. The flipping device 20 is used to complete the transmission of the material 140 to be polished between the loading conveyor line 160, the grinding conveyor line 210 and the unloading conveyor line 180.

[0048] Specifically, in this embodiment, Figure 1 As shown, the material 140 to be polished is transported to the input end of the feeding conveyor line 160 by the AGV trolley 100 (Automated Guided Vehicle trolley). The AGV trolley 100 is provided with a transverse conveying roller. The material 140 to be polished moves to the feeding conveyor line 160 under the action of the transverse conveying roller. At the same time, since the material 140 to be polished is a power transformer coil, its cross section is as follows Figure 1 As shown in the ellipse, the material 140 to be polished needs to be in the following position on the AGV 100 and the feeding conveyor line 160: Figure 1The upright posture shown is convenient for transportation. On the grinding conveyor line 210, the material 140 to be polished needs to be turned 90 degrees to a horizontal posture so as to grind its circumference. At the same time, when unloading, the material 140 on the grinding conveyor line 210 needs to be turned over again and transported to the unloading conveyor line 180. Therefore, a turning device 20 is provided to realize the transformation of the upright posture and the horizontal posture of the material 140 to be polished.

[0049] Specifically, in this embodiment, Figure 3 As shown, the flipping device 20 includes a mounting bracket 209, on which a longitudinal conveying bracket 206 and a transverse conveying bracket 207 are arranged perpendicular to each other. A first power plate chain 204 for transverse transmission is arranged on the transverse conveying bracket 207, and a power roller 205 for longitudinal transmission is arranged on the longitudinal conveying bracket 206. The butt joint end of the longitudinal conveying bracket 206 and the transverse conveying bracket 207 is flipped 90 degrees with the transverse direction as the axis. The transverse conveying bracket 207 is used for docking the grinding conveyor line 210, and a mounting position adapted to the fixture tray 50 is arranged on the transverse conveying bracket 207.

[0050] In this embodiment, if Figure 3 As shown, the power source of the flipping device 20 includes a flipping motor 201 arranged on a mounting bracket 209, and a flipping shaft with an axis extending in the horizontal direction is provided at the docking end of the transverse conveying bracket 207 and the longitudinal conveying bracket 206, so as to rotate the material 140 from an upright posture by 90° to a horizontal posture, so as to achieve docking with the plate chain line 170 of the grinding conveying line 210, and the flipping motor 201 cooperates with the flipping shaft through the gear set 202 to drive the flipping shaft to rotate, thereby realizing a 90-degree flipping action of the transverse conveying bracket 207 and the longitudinal conveying bracket 206.

[0051] In this embodiment, for the convenience of description, it is set Figure 3 The flipping device 20 in the figure is the flipping device 20 at the input end of the grinding conveyor line 210. The longitudinal conveying bracket 206 on this side is arranged on the side of the transverse conveying bracket 207 facing the feeding conveyor line 160. The position of the transverse conveying bracket 207 corresponds to the input end of the grinding conveyor line 210, and the longitudinal conveying bracket 206 is connected to the output end of the feeding conveyor line 160. On the first power plate chain 204, a baffle 208 is arranged on the side facing away from the longitudinal conveying bracket 206. The plane dimension between the baffle 208 and the first power plate chain 204 is the same as that shown in FIG. Figure 6The plane size of the jig tray 50 shown is adapted, and the area enclosed by the baffle 208, the side of the longitudinal conveying bracket 206 and the first power plate chain 204 constitutes the installation position. On the transverse conveying bracket 207, a set of blocker assemblies 203 are respectively arranged at the positions on both sides of the first power plate chain 204 in the transverse direction. The blocker assemblies 203 are used to block the jig tray 50 in the transverse direction and fix the jig tray 50 on the first power plate chain 204 to prevent it from turning over and falling off.

[0052] Specifically, the blocker assembly 203 includes a mounting plate and a rotating motor 401. The output shaft of the rotating motor 401 passes through the mounting plate and is provided with a blocking rod. The rotating motor 401 drives the blocking rod to rotate to the end face of the fixture tray 50 facing away from the first power plate chain 204 to achieve blocking and fixing. In actual use, the fixture tray 50 is first positioned at the mounting position on the first power plate chain 204, and is blocked and fixed by the blocker assembly 203. Then, the flipping device 20 flips toward the feeding conveyor line 160, and the material 140 moves to the fixture 501 of the fixture tray 50 through the longitudinal conveying bracket 206 and is locked and fixed. The flipping device 20 flips in the opposite direction, the first power plate chain 204 is docked with the grinding conveyor line 210, the blocker assembly 203 is unlocked from the fixture tray 50, and the fixture tray 50 drives the material 140 to be transported along the first power plate chain 204 to the grinding conveyor line 210.

[0053] Similarly, the flipping device 20 between the output end of the grinding conveyor line 210 and the unloading conveyor line 180 has the same structure and use principle as the above-mentioned flipping device 20. The flipping and unloading are realized by using the flipping device 20 at the unloading location, which will not be repeated here.

[0054] Preferably, in this embodiment, Figure 6 The fixture tray 50 includes a tray 502 and a fixture 501 disposed on the tray 502. The tray 502 is adapted to the above-mentioned installation position. The fixture 501 is in a semi-elliptical shape adapted to the material 140, and the length direction of its major semi-axis is perpendicular to the tray 502, the direction of its minor semi-axis is parallel to the tray 502, and the thickness direction is perpendicular to the minor semi-axis and parallel to the tray 502.

[0055] Two clamping plates 503 are symmetrically arranged on the inner side of the jig 501 along the direction of its minor semi-axis, and two clamping bolts 504 are arranged at intervals on each clamping plate 503 along the thickness direction of the jig 501. The jig 501 is provided with mounting holes at positions corresponding to the clamping bolts 504, and the inner ends of the clamping bolts 504 are rotatably matched with the clamping plates 503, and the outer ends extend out of the jig 501 and are threadedly connected with the corresponding mounting holes of the jig 501. By screwing the clamping bolts 504, the two clamping plates 503 can be relatively moved to clamp or remove the material 140.

[0056] Specifically, in this embodiment, a tightening device 10 is further included, and the tightening device 10 is used to tighten the clamping bolt 504. Specifically, a set of tightening devices 10 is respectively arranged on both lateral sides of each set of flipping devices 20, and each set of tightening devices 10 is used to tighten the clamping bolt 504 on the corresponding side.

[0057] Specifically, in this embodiment, each group of tightening devices 10 is arranged on both sides of the lateral direction of the position of the fixture tray 50 when the flipping device 20 on the corresponding side flips toward the loading (or unloading) direction. Figure 2 As shown, the tightening device 10 includes a transverse moving platform 102, on which a longitudinal driving mechanism 1013 is arranged, and the longitudinal driving mechanism 1013 is arranged on the transverse moving platform 102 in a transverse sliding manner to form an XY workbench. The longitudinal driving mechanism 1013 is provided with a transverse cylinder 1011 that is telescopic in the transverse direction, and the transverse cylinder 1011 is movably arranged on the longitudinal driving mechanism 1013 in the longitudinal direction, and a rotating electric clamp 1012 is arranged on the side of the transverse cylinder 1011 facing the fixture 501.

[0058] Specifically, a first linear guide rail 1021 extending in the transverse direction is provided on the transverse moving platform 102, and the longitudinal driving mechanism 1013 includes a moving plate 101, and the moving plate 101 is slidably provided on the first linear guide rail 1021 and driven by the driving mechanism. Specifically, the driving mechanism includes a ball screw 1022 rotatably provided on the transverse moving platform 102 and extending in the transverse direction, and a driving motor 1023 is installed at one end of the ball screw 1022, and the ball screw 1022 is threadedly connected with the moving plate 101 to form a screw nut mechanism, and the driving motor 1023 is used to drive the ball screw 1022 to rotate and then drive the moving plate 101 to move in the transverse direction.

[0059] The longitudinal driving mechanism 1013 also includes a sliding plate arranged on the moving plate 101 for sliding along the longitudinal direction, and a longitudinal cylinder 1025 is arranged at one end of the moving plate 101, and the longitudinal cylinder 1025 is connected to the sliding plate to drive the sliding plate to move along the longitudinal direction. The transverse cylinder 1011 is fixedly arranged on the sliding plate to realize the transverse and longitudinal movement of the transverse cylinder 1011.

[0060] At the same time, on each tightening device 10, two sets of horizontal cylinders 1011 and rotating electric clamps 1012 are symmetrically arranged on the upper and lower sides of the sliding plate to realize the tightening operation of the two clamping bolts 504 on this side. Figure 6The fixture 501 shown performs four-point positioning. At the same time, the drive motor 1023 is provided with a reducer, and the initial position of the tightening device 10 can be adjusted according to the product model set by the system, and then the fixed pressure air pressure is set by the transverse cylinder 1011, and the transverse cylinder 1011 is pushed from four points on both sides at the same time to achieve symmetrical compression of the center of the material 140. The rotating electric clamp 1012 is connected to the front end of the transverse cylinder 1011 by bolts to achieve the bolt tightening action, and finally achieve stable tightening and center positioning of the material 140 on the fixture 501.

[0061] Preferably, in this embodiment, a circulating conveyor line 190 is arranged in parallel on one longitudinal side of the grinding conveyor line 210, and a set of longitudinal translation mechanisms 70 are respectively arranged at the output end and the input end of the grinding conveyor line 210 to dock with the circulating conveyor line 190. Specifically, the longitudinal translation mechanism 70 on the input end side of the grinding conveyor line 210, and the flip device 20 on this side are facing away from the grinding conveyor line 210. The longitudinal translation mechanism 70 on the output end side of the grinding conveyor line 210 is located between the flip device 20 on this side and the output end of the grinding conveyor line 210. The two sets of longitudinal translation mechanisms 70 are responsible for the circulation operation of the fixture tray 50.

[0062] Specifically, Figure 7 As shown, the longitudinal translation mechanism 70 includes a base 706, the base 706 is provided with a second linear guide rail 703 extending in the longitudinal direction, a translation bracket 704 is slidably provided on the second linear guide rail 703, a translation conveying plate chain 705 is provided on the translation bracket 704, the translation conveying plate chain 705 is transported in the transverse direction, and the translation bracket 704 slides in the longitudinal direction on the second linear guide rail 703 through a driving mechanism to respectively dock the grinding conveying line 210 and the circulating conveying line 190. Specifically, the driving mechanism includes a driving screw 702 that is rotatably provided on the translation bracket 704 in the longitudinal direction, the driving screw 702 is threadedly connected to a bracket plate (not shown in the figure) at the middle of the lower end of the translation bracket 704 to form a screw nut mechanism, and a translation mechanism motor 701 is provided at one end of the driving screw 702 to achieve driving.

[0063] In this way, the translation mechanism motor 701 serves as a moving power source, driving the driving screw 702 to move on the second linear guide rail 703, and then driving the translation bracket 704, the translation conveyor plate chain 705 and the tooling fixture tray 50 thereon to move.

[0064] Specifically, Figure 1As shown, in this embodiment, the grinding production line 1 further includes a jig tray conveyor line 200, which is arranged on the side of the longitudinal translation mechanism 70 at the input end side of the grinding conveyor line 210 facing away from the grinding conveyor line 210. A plurality of racks 130 are arranged at the input end of the jig tray conveyor line 200, and jig trays 50 of corresponding specifications are arranged on the racks 130.

[0065] Specifically, the jig tray conveyor line 200 conveys in the longitudinal direction, and a rotating conveying mechanism 80 is provided between the jig tray conveyor line 200 and the longitudinal translation mechanism 70 on this side.

[0066] The fixture tray conveyor line 200 and the rotary conveyor mechanism 80 are mainly responsible for the replacement and recovery of the fixture tray 50. Figure 1 The longitudinal translation mechanism 70 and the circulating conveyor line 190 on the right side convey to Figure 1 When the longitudinal translation mechanism 70 on the left side reaches the position shown in the figure, if the fixture material tray 50 needs to be replaced, it will be transported to the position by the rotating conveying mechanism 80. Figure 1 The leftmost fixture tray conveyor line 200 is replaced.

[0067] Specifically, the rotary conveying mechanism 80 includes a bottom mounting frame, a rotary bracket 805 is disposed at the upper end of the bottom mounting frame, a second slewing bearing 802 is rotatably disposed on the rotary bracket 805, a rotary conveying plate chain 804 is disposed on the second slewing bearing 802, and the second slewing bearing 802 is driven to rotate by a driving mechanism to realize the rotation of the rotary conveying plate chain 804. Specifically, its driving mechanism includes a rotary conveying motor 801, and the rotary conveying motor 801 is driven by a second gear 803 through a reversing mechanism, and the second gear 803 is meshed with the second slewing bearing 802 for transmission to realize the rotation of the second slewing bearing 802.

[0068] In this way, the rotating conveying motor 801 provides a rotating power source to drive the second slewing bearing 802, the second gear 803, and the rotating conveying plate chain 804 to rotate, and then the rotating conveying plate chain 804 transports the carried tooling fixture tray 50 to the tooling fixture tray conveyor line 200 for the next operation.

[0069] In this embodiment, if Figure 1 , 9 As shown, the dust removal system 90 is entirely covered outside the workstation of the grinding robot 150. The dust removal system 90 includes a dust removal bracket 901, a dust removal safety fence 902 is arranged on the periphery of the dust removal bracket 901, and a dust collector 903 is arranged on one side of the dust removal bracket 901, which encloses the grinding robot 150 therein, isolates and removes dust.

[0070] Preferably, in this embodiment, a group of rotating lifting devices 40 are respectively arranged at the positions of the grinding conveyor line 210 corresponding to the 3D scanning device 30 and the grinding robot 150, and the rotating lifting device 40 is used to drive the tooling fixture tray 50 to rotate in the horizontal plane and rise and fall vertically.

[0071] One group cooperates with the 3D scanning device 30 to perform scanning work on different surfaces, and the other group cooperates with the grinding robot 150 to perform grinding work on different surfaces. The 3D scanning device 30 is fixed on one longitudinal side of the grinding conveyor line 210, and has an absolute coordinate deviation with the grinding robot 150. The 3D scanning device 30 scans the front of the grinding workpiece coil material 140 from the main perspective, and outputs the coordinate point cloud data to the control system after the scanning is completed. After completion, the rotary jacking device 40 rotates the angle to detect the remaining surface features of the grinding workpiece coil material 140, and transmits the data to the control system. In order to obtain the three-dimensional model of the material 140, provide the grinding robot 150 with the position, key dimensions, and feature information of the grinding workpiece coil material 140 on the production line, and provide model parameters for the grinding robot 150 to plan the grinding path.

[0072] Specifically, in the present embodiment, the rotary lifting device 40 comprises a first bracket 406, and a lifting plate is provided at the upper end of the first bracket 406 along a vertical sliding manner. Specifically, the four corners of the lifting plate are provided at the four corners of the first bracket 406 along a vertical sliding manner through linear bearings 405. At the same time, the lifting plate is driven to rise and fall by a lifting cylinder 402. A first slewing bearing 403 is rotatably provided on the lifting plate, and the rotation axis of the first slewing bearing 403 extends vertically. The first slewing bearing 403 is driven to rotate by a rotary drive mechanism. A mounting plate is provided at the upper end of the first slewing bearing 403, and a workpiece fixture tray 502 is provided on the mounting plate, and is lifted and rotated with the mounting plate. Specifically, the rotary drive mechanism comprises a first gear 404 meshing with the first slewing bearing 403 for transmission, and the first gear 404 is driven to rotate by a rotary motor 401 and a reversing mechanism.

[0073] In this way, the driving motor 1023 acts as a rotation power source to drive the first gear 404, the first slewing bearing 403 and the mounting plate to work, and the lifting cylinder 402 acts as a lifting power source to lift the mounting plate and other related components. The linear bearing 405 realizes the movement coordination between the lifting plate and the first bracket 406. The upper end of the mounting plate cooperates with the fixture material tray 50, thereby realizing the operation of the grinding workpiece coil material 140.

[0074] Preferably, in the present embodiment, a stop cylinder 60 is provided at the flipping device 20 at the unloading position. Similarly, 8 groups of stop cylinders 60 are provided on the entire grinding production line 1, which are located at each workstation to block the tooling fixture tray 50 and realize the positioning of the tray 502 at the workstation. The stop cylinder 60 has rigid strength to prevent the tray 502 from shaking back and forth.

[0075] In this embodiment, the grinding conveyor line 210, the circulating conveyor line 190 and the tooling fixture tray conveyor line 200 are all plate chain lines 170. And the plate chain line 170 of the grinding conveyor line 210 is installed through the support bracket 110. In the longitudinal direction, the plate chain line 170 of the grinding conveyor line 210 is provided with a notch adapted to the rotary jacking device 40. The longitudinal sides of the tooling fixture tray 50 are arranged on the longitudinal sides of the plate chain line 170 of the grinding conveyor line 210. The lower end of the tooling fixture tray 50 is exposed in the notch to be lifted and rotated by the rotary jacking device 40 to meet the scanning and grinding requirements. After the work is completed, the rotary jacking device 40 places the tooling fixture tray 50 in its original position on the grinding conveyor line 210 for continued transportation.

[0076] In this embodiment, a plurality of production line safety fences 120 are provided around the outer periphery of the entire grinding production line 1 to enclose the entire production line to ensure safety.

[0077] The working process of the present application is as follows: first, the material 140 to be polished is transported to the loading conveyor line 160 via the AGV trolley 100, a fixture material tray 50 is installed on the flipping device 20 at the loading location, and the flipping device 20 is flipped toward the loading conveyor belt.

[0078] The material 140 passes through the feeding conveyor belt and the longitudinal conveying bracket 206 of the turning device 20 on this side and moves to the fixture material tray 50. The tightening device 10 on this side works to fix and clamp the material 140 on the fixture 501.

[0079] The flipping device 20 on this side flips back, and the fixture tray 50 moves to the grinding conveyor line 210 through the lateral conveying bracket 207 on this side. After being scanned by the 3D scanning device 30, the grinding operation is completed under the action of the grinding robot 150, and the dust removal system 90 works to remove dust.

[0080] After grinding is completed, the jig tray 50 carries the material 140 to the flip device 20 on the output side through the docking of the longitudinal translation mechanism 70 on the output side. The flip device 20 on this side flips toward the unloading conveyor line 180, and the tightening device 10 on this side operates to separate the material 140 from the jig 501. The material 140 is transported to the unloading conveyor line 180 by the longitudinal conveying bracket 206 on this side to complete automatic unloading.

[0081] The fixture tray 50 is returned to the longitudinal translation mechanism 70 on the output side through the flipping device 20 on this side, and is transported to the circulating conveyor line 190 through the translation mechanism. After passing through the circulating conveyor line 190 and the longitudinal translation mechanism 70 on the input side, the fixture tray 50 is transported to the flipping device 20 on the input side, and the material 140 loading operation continues.

[0082] At the same time, when the jig tray 50 needs to be replaced, the jig tray 50 is transported to the jig tray conveying line 200 through the longitudinal translation mechanism 70 and the rotary conveying mechanism 80 on the input side. At the same time, the new jig tray 50 is transported to the flipping device 20 on the input side through the conveyor belt, the rotary conveying mechanism 80 and the longitudinal translation mechanism 70 on this side to continue the operation.

[0083] In summary, the grinding production line 1 of the present invention utilizes the grinding robot 150 to replace manual labor to realize the grinding, circulation and cleaning of the material 140. It is safe and reliable, and can be operated in a circular flow. It efficiently and reasonably realizes the coordination of various workstations such as loading, scanning, grinding and unloading, realizes the automation of the whole process, and greatly improves the continuity of work. At the same time, it also realizes the transmission, grinding of three-dimensional models, grinding trajectory, and data collection of grinding force in the whole process. The production line production realizes the consistency of the labor process. On the basis of reducing the intensity of manual labor and operational errors, the dust removal system 90 is adopted to solve the human body harm caused by dust, thereby saving the labor costs of the enterprise.

[0084] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0085] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0086] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

Claims

1. A grinding production line for power transformer coils, characterized in that: It includes a horizontal grinding conveyor line, wherein a loading mechanism and a unloading mechanism are respectively arranged at the horizontal ends of the grinding conveyor line, and a tooling fixture material tray is arranged on the grinding conveyor line, and the tooling fixture material tray is used to clamp and fix the material to drive the material to be transported along the grinding conveyor line. A 3D scanning device and a grinding robot are sequentially arranged in the conveying direction of the grinding conveyor line, and the 3D scanning device is used to obtain a three-dimensional model of the material and transmit the scanning information to the grinding robot, and the grinding robot plans the grinding path and performs material grinding according to the model parameters provided by the 3D scanning device. It also includes a dust removal system, and the dust removal system is used to remove particulate dust during grinding.

2. The grinding production line for power transformer coils according to claim 1, characterized in that: The loading mechanism and the unloading mechanism respectively include a longitudinal loading conveyor line and a unloading conveyor line, and a group of flipping devices are respectively arranged between the output end of the loading conveyor line and the input end of the grinding conveyor line, and between the input end of the unloading conveyor line and the output end of the grinding conveyor line.

3. The grinding production line for power transformer coils according to claim 2, characterized in that: The flipping device includes a longitudinal conveying bracket and a transverse conveying bracket which are perpendicular to each other. The docking ends of the longitudinal conveying bracket and the transverse conveying bracket are flipped 90 degrees with the transverse direction as the axis. The transverse conveying bracket is used to dock with the grinding conveyor line. The transverse conveying bracket is provided with an installation position adapted to the tooling fixture tray.

4. The grinding production line for power transformer coils according to claim 2, characterized in that: The jig tray comprises a tray and a jig arranged on the tray, wherein two clamping plates are symmetrically arranged on the inner side of the jig along the direction of its short semi-axis, and two clamping bolts are arranged on the clamping plates at intervals along the thickness direction of the jig, wherein the inner ends of the clamping bolts are rotatably matched with the clamping plates, and the outer ends extend out of the jig and are threadedly connected to the jig, and further comprises a tightening device, wherein a group of tightening devices are respectively arranged on the lateral sides of the flipping device, and the tightening devices are used to screw the clamping bolts on the corresponding sides.

5. The grinding production line for power transformer coils according to claim 4, characterized in that: The tightening device comprises a transverse moving platform, a longitudinal driving mechanism is arranged on the transverse moving platform, a transverse cylinder is arranged on the longitudinal driving mechanism, and a rotating electric clamp is arranged at the end of the transverse cylinder.

6. The grinding production line for power transformer coils according to claim 1, characterized in that: A set of rotating lifting devices is respectively arranged at the positions of the grinding conveyor line corresponding to the 3D scanning device and the grinding robot, and the rotating lifting devices are used to drive the tooling fixture tray to rotate in the horizontal plane and to rise and fall vertically.

7. The grinding production line for power transformer coils according to claim 2, characterized in that: A circulating conveyor line is arranged parallel to one longitudinal side of the grinding conveyor line, a group of longitudinal translation mechanisms are arranged between the output end of the grinding conveyor line and the flipping device on this side, and a group of longitudinal translation mechanisms are arranged on the side of the flipping device on the input end side of the grinding conveyor line facing away from the grinding conveyor line. The two groups of longitudinal translation mechanisms are used for connecting the circulating conveyor line and the grinding conveyor line.

8. The grinding production line for power transformer coils according to claim 7, characterized in that: The longitudinal translation mechanism includes a base, a second linear guide rail extending longitudinally is arranged on the base, a translation bracket is slidably arranged on the second linear guide rail, a translation conveying plate chain is arranged on the translation bracket, the translation conveying plate chain conveys in the transverse direction, and the translation bracket slides longitudinally on the second linear guide rail through a driving mechanism to respectively connect with the grinding conveying line and the circulating conveying line.

9. The grinding production line for power transformer coils according to claim 8, characterized in that: It also includes a tooling fixture tray conveyor line, which is arranged on a side of the longitudinal translation mechanism on the input end side of the grinding conveyor line that is away from the grinding conveyor line.

10. The grinding production line for power transformer coils according to claim 9, characterized in that: The jig tray conveyor line conveys along the longitudinal direction, and a rotating conveying mechanism is arranged between the jig tray conveyor line and the longitudinal translation mechanism on this side.

11. The grinding production line for power transformer coils according to claim 10, characterized in that: The rotary conveying mechanism comprises a rotary bracket, and a rotary conveying plate chain is arranged at the upper end of the rotary bracket. The rotary conveying plate chain is rotatably arranged on the rotary bracket with the vertical direction as the rotation axis.

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