A grinding line for power transformer coils

Abstract

The application specifically relates to a polishing production line for power transformer coils. The production line comprises a transverse polishing conveying line, a feeding mechanism and a discharging mechanism arranged at the transverse two ends of the polishing conveying line respectively, a tool clamp material disc arranged on the polishing conveying line, the tool clamp material disc being used for clamping and fixing materials to convey the materials along the polishing conveying line, a 3D scanning device and a polishing robot arranged in sequence in the conveying direction of the polishing conveying line, the 3D scanning device being used for acquiring a three-dimensional model of the materials and transmitting scanning information to the polishing robot, the polishing robot planning a polishing path through model parameters provided by the 3D scanning device and polishing the materials, and a dust removal system, the dust removal system being used for removing particle dust in polishing. The polishing robot is used to replace manual polishing, circulation and cleaning, is safe and reliable, can be operated cyclically, realizes cooperation of feeding, scanning, polishing and discharging of various stations and realizes full-process automation.

Description

Technical Field

[0001] This invention relates to the field of transformer technology, and more specifically to a grinding production line for power transformer coils. Background Technology

[0002] With the development of science and technology, power transformer coils, as the most important component 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, explosion-proof transformers and switches for mining, high and low voltage switchgear, frequency converters, anti-harmonic transformers, marine transformers, intelligent prefabricated substations for urban rail transit, American and European style prefabricated substations, wind power and photovoltaic prefabricated substations, reactors, etc. They cover multiple industries including railways, power, electronics, urban rail transit, hydropower, nuclear power, wind power, coal mining, communications, construction, petroleum, chemical, and aerospace.

[0003] The outer periphery of the power transformer coil is cast with an insulating material primarily composed of resin, causing the overall shape of the power transformer coil to be based on an ellipse. In actual production, due to process limitations and other reasons, it is difficult to ensure that the dimensions of each product are completely consistent.

[0004] To ensure dimensional accuracy and improve surface quality, the coils of cast power transformers need to be ground to remove excess material, thereby enhancing the overall protective performance and service life of the power transformer and reducing the risk of power failures. Furthermore, different application scenarios have varying requirements for the insulation performance and dimensional accuracy of the power transformer coils; grinding allows for adjustments based on specific needs, enabling the power transformer coils to better adapt to various working environments.

[0005] In existing technologies, grinding operations are usually carried out manually using handheld grinding equipment. During this process, due to the differences in the elliptical shape and the fact that they are all symmetrical, manual operation has problems such as difficulty in controlling grinding precision, unsatisfactory control of the grinding area, difficulty in ensuring grinding quality, low production efficiency, and high labor intensity. At the same time, the dust generated during the grinding process can also harm the health of personnel in the work 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 uses a grinding robot to replace manual labor to achieve grinding, transfer and cleaning of materials. It is safe and reliable, and can be operated in a cyclical manner. It realizes the coordination of various stations such as feeding, scanning, grinding and unloading, and achieves full-process automation.

[0007] To address the aforementioned technical problems, the present invention provides a grinding production line for power transformer coils, comprising a transverse grinding conveyor line, with a feeding mechanism and a discharging mechanism respectively installed at both ends of the transverse grinding conveyor line. A tooling fixture tray is installed on the grinding conveyor line to clamp and fix materials, thereby driving the materials to be conveyed 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. The 3D scanning device is used to acquire a three-dimensional model of the material and transmit the scanning information to the grinding robot. The grinding robot plans the grinding path and performs material grinding based on the model parameters provided by the 3D scanning device. The system also includes a dust removal system for removing particulate dust during grinding.

[0008] Furthermore, the feeding mechanism and the unloading mechanism respectively include a longitudinal feeding conveyor line and an unloading conveyor line, and a set of turning devices are respectively provided between the output end of the feeding 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 that 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 axis as the axis. The transverse conveying bracket is used to dock with the grinding conveying line. The transverse conveying bracket is provided with an installation position that is adapted to the tooling fixture tray.

[0010] Furthermore, the tooling fixture tray includes a tray and a tooling fixture disposed on the tray. Two clamping plates are symmetrically arranged on the inner side of the tooling fixture along its minor axis. Two clamping bolts are spaced apart on the clamping plates along the thickness direction of the tooling fixture. The inner end of the clamping bolt is rotatably engaged with the clamping plate, and the outer end extends out of the tooling fixture and is threadedly connected to the tooling fixture. The device also includes a tightening device. A set of tightening devices is disposed on each of the two transverse sides of the flipping device. The tightening devices are used to tighten the clamping bolts on the corresponding sides.

[0011] Furthermore, the tightening device includes a transverse moving platform, on which a longitudinal driving mechanism is mounted, and a transverse cylinder is mounted on the longitudinal driving mechanism. A rotary electric gripper is mounted at the end of the transverse cylinder.

[0012] Furthermore, the grinding conveyor line is equipped with a set of rotary lifting devices corresponding to the positions of the 3D scanning device and the grinding robot. The rotary lifting devices are used to drive the tooling fixture tray to rotate in the horizontal plane and to lift it vertically.

[0013] Furthermore, a circulating conveyor line is arranged parallel to one longitudinal side of the grinding conveyor line. A set of longitudinal translation mechanisms is provided between the output end of the grinding conveyor line and the flipping device on that side. A set of longitudinal translation mechanisms is provided 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 sets 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, on which a second linear guide rail extending longitudinally is provided, and a translation bracket is slidably provided on the second linear guide rail. A translation conveyor chain is provided on the translation bracket, and the translation conveyor chain conveys laterally. The translation bracket slides longitudinally on the second linear guide rail through a driving mechanism to respectively connect with the grinding conveyor line and the circulating conveyor line.

[0015] Furthermore, it also includes a tooling and fixture tray conveyor line, which is located on the side of the longitudinal translation mechanism opposite to the grinding conveyor line at the input end of the grinding conveyor line.

[0016] Furthermore, the tooling fixture tray conveyor line conveys along the longitudinal direction, and a rotary conveyor mechanism is provided between the tooling fixture tray conveyor line and the longitudinal translation mechanism on this side.

[0017] Furthermore, in the grinding production line for power transformer coils, the rotary conveying mechanism includes a rotary support, and a rotary conveying plate chain is provided at the upper end of the rotary support. The rotary conveying plate chain is rotatably mounted on the rotary support with the vertical axis as the rotation axis. After the 3D scanning device scans the key coordinates of the material, it outputs data features. The grinding robot combines coordinate positioning to plan the trajectory of the material and complete the grinding work.

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

[0019] This invention discloses a grinding production line for power transformer coils, which utilizes a grinding robot to replace manual labor in grinding, transferring, and cleaning materials. It is safe, reliable, and allows for continuous, cyclical operation. The line efficiently and rationally coordinates various workstations such as feeding, scanning, grinding, and unloading, achieving full-process automation and greatly improving work continuity. Simultaneously, it collects data on transmission, grinding 3D models, grinding trajectories, and grinding forces throughout the process. The production line model ensures consistency in the labor process. While reducing manual labor intensity and operational errors, the dust removal system eliminates the harm caused by dust, thereby saving labor costs for enterprises. Attached Figure Description

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

[0021] Figure 2 This is a schematic diagram of the tightening device in Embodiment 1 of the present invention.

[0022] Figure 3 This is a schematic diagram of the flipping device in Embodiment 1 of the present invention.

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

[0024] Figure 5 This is a schematic diagram of the rotating lifting device in Embodiment 1 of the present invention.

[0025] Figure 6 This is a schematic diagram of the tooling fixture tray in Embodiment 1 of the present invention.

[0026] Figure 7 This is a schematic diagram of the longitudinal translation mechanism in Embodiment 1 of the present invention.

[0027] Figure 8 This is a schematic diagram of the rotary conveying mechanism in Embodiment 1 of the present invention.

[0028] Figure 9 This is a schematic diagram of the dust removal system in Embodiment 1 of the present invention.

[0029] Figure 10 This is a schematic diagram of the grinding robot in Embodiment 1 of the present invention.

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

[0031] 10. Tightening device; 1011. Transverse cylinder; 1012. Rotary electric gripper; 102. Transverse moving platform; 1013. Longitudinal drive mechanism; 1021. First linear guide rail; 1022. Ball screw; 1023. Drive motor; 101. Moving plate; 1025. Longitudinal cylinder;

[0032] 20. Tilting device; 201. Tilting motor; 202. Gear set; 203. Stopper assembly; 204. First power chain; 205. Power roller; 206. Longitudinal conveyor support; 207. Transverse conveyor support; 208. Baffle; 209. Mounting bracket;

[0033] 30. 3D scanning device; 301. Scanner; 302. Scanning stand;

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

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

[0036] 60. Stop cylinder;

[0037] 70. Longitudinal translation mechanism; 701. Translation mechanism motor; 702. Drive screw; 703. Second linear guide rail; 704. Translation bracket; 705. Translation conveyor chain; 706. Base;

[0038] 80. Rotary conveyor mechanism; 801. Rotary conveyor motor; 802. Second slewing bearing; 803. Second gear; 804. Rotary conveyor chain; 805. Rotary support;

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

[0040] 100. AGV trolley; 110. Support bracket; 120. Production line safety fence; 130. Material rack; 140. Material; 150. Grinding robot; 160. Feeding conveyor line; 170. Plate chain line; 180. Unloading conveyor line; 190. Circulating conveyor line; 200. Tooling fixture tray conveyor line; 210. Grinding conveyor line. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings: Specific Implementation Example 1:

[0043] In this embodiment, as Figure 1 As shown, the horizontal direction is the length direction of the grinding conveyor line 210, and the vertical 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 feeding mechanism and a discharging mechanism are respectively provided at both ends of the transverse grinding conveyor line 210. A tooling fixture tray 50 is provided on the grinding conveyor line 210 for clamping and fixing 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 grinding robot 150 are sequentially arranged in the conveying direction of the grinding conveyor line 210. The 3D scanning device 30 includes a scanning bracket 302 and a scanner 301 mounted on the scanning bracket 302. The 3D scanning device 30 is used to acquire a three-dimensional model of the material 140 and transmit the scanning information to the grinding robot 150. The grinding robot 150 plans the grinding path and grinds the material 140 based on the model parameters provided by the 3D scanning device 30. The grinding production line 1 also includes a dust removal system 90, which is used to remove particulate dust during grinding.

[0046] Specifically, in this embodiment, the feeding mechanism includes a longitudinal feeding conveyor line 160, the output end of which is connected to the input end of the grinding conveyor line 210. The unloading mechanism includes a longitudinal unloading conveyor line 180, which is arranged parallel to the feeding conveyor line 160. The input end of the unloading conveyor line 180 is used to connect to the output end of the grinding conveyor line 210, forming a complete automated production line with a compact spatial layout. Between the feeding conveyor line 160 and the unloading conveyor line 180, multiple material racks 130 are arranged at lateral intervals. Different sizes and specifications of tooling fixture trays 50 are placed on these racks, allowing the grinding production line 1 to grind and process materials 140 of different sizes and specifications. In this embodiment, both the feeding conveyor line 160 and the unloading conveyor line 180 are roller conveyor lines.

[0047] Specifically, in this embodiment, a set of turning devices 20 are respectively installed between the output end of the feeding 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 set is responsible for feeding, and the other set is responsible for unloading. The turning devices 20 are used to complete the transfer of the material to be ground 140 between the feeding conveyor line 160, the grinding conveyor line 210, and the unloading conveyor line 180.

[0048] Specifically, in this embodiment, such as Figure 1 As shown, the material to be ground 140 is transported to the input end of the loading conveyor line 160 via an AGV trolley 100 (Automated Guided Vehicle). The AGV trolley 100 is equipped with transverse conveying rollers. The material to be ground 140 moves onto the loading conveyor line 160 under the action of these rollers. Simultaneously, since the material to be ground 140 is a power transformer coil, its cross-section is as follows... Figure 1 As shown in the elliptical shape, the material to be ground 140 needs to be positioned as follows on the AGV trolley 100 and the feeding conveyor line 160: Figure 1The upright posture shown facilitates conveying. However, on the grinding conveyor line 210, the material 140 to be ground needs to be rotated 90 degrees to a horizontal position for grinding its circumference. Simultaneously, during unloading, the material 140 on the grinding conveyor line 210 needs to be rotated again and conveyed to the unloading conveyor line 180. Therefore, a rotating device 20 is provided to realize the change between the upright and horizontal postures of the material 140 to be ground.

[0049] Specifically, in this embodiment, such as 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, perpendicular to each other, are mounted. A first power plate chain 204 for transverse transmission is mounted on the transverse conveying bracket 207, and a power roller 205 for longitudinal transmission is mounted on the longitudinal conveying bracket 206. The mating ends of the longitudinal conveying bracket 206 and the transverse conveying bracket 207 are flipped 90 degrees with the transverse axis as the axial direction. The transverse conveying bracket 207 is used to connect to the grinding conveyor line 210, and has mounting positions adapted to the tooling fixture tray 50.

[0050] In this embodiment, as Figure 3 As shown, the power source of the flipping device 20 includes a flipping motor 201 mounted on the mounting bracket 209. The docking ends of the transverse conveying bracket 207 and the longitudinal conveying bracket 206 are provided with a flipping shaft whose axis extends laterally. The material 140 is rotated 90° from an upright position to a horizontal position, so as to dock with the plate chain line 170 of the grinding conveyor line 210. The flipping motor 201 is driven by the flipping shaft through the gear set 202 to drive the flipping shaft to rotate, thereby realizing the 90-degree flipping action of the transverse conveying bracket 207 and the longitudinal conveying bracket 206.

[0051] In this embodiment, for ease of description, the following is set: Figure 3 The flipping device 20 is the flipping device 20 at the input end of the grinding conveyor line 210. The longitudinal conveyor support 206 on this side is arranged on the side of the transverse conveyor support 207 facing the feeding conveyor line 160. The position of the transverse conveyor support 207 corresponds to the input end of the grinding conveyor line 210, and the longitudinal conveyor support 206 is connected to the output end of the feeding conveyor line 160. A baffle 208 is provided on the side of the first power chain 204 facing away from the longitudinal conveyor support 206. The planar dimension between the baffle 208 and the first power chain 204 is as follows... Figure 6The planar dimensions of the tooling fixture tray 50 shown are adapted, and the area enclosed by the baffle 208, the side of the longitudinal conveyor bracket 206, and the first power chain 204 constitutes the mounting position. On the transverse conveyor bracket 207, a set of stopper assemblies 203 are respectively installed on both sides of the first power chain 204. The stopper assemblies 203 are used to stop the tooling fixture tray 50 in the transverse direction and fix the tooling fixture tray 50 on the first power chain 204 to prevent it from overturning and falling off.

[0052] Specifically, the stopper assembly 203 includes a mounting plate and a rotary motor 401. The output shaft of the rotary motor 401 passes through the mounting plate and is equipped with a stop bar. The rotary motor 401 drives the stop bar to rotate to the end face of the tooling fixture tray 50 facing away from the first power chain 204, thereby achieving a stop and fixation. In actual use, the tooling fixture tray 50 is first positioned on the mounting position of the first power chain 204 and fixed using the stopper assembly 203. Then, the flipping device 20 flips towards the feeding conveyor line 160, and the material 140 moves through the longitudinal conveyor bracket 206 into the tooling fixture 501 of the tooling fixture tray 50 and is locked in place. The flipping device 20 flips in the opposite direction, the first power chain 204 connects with the grinding conveyor line 210, the stopper assembly 203 unlocks from the tooling fixture tray 50, and the tooling fixture tray 50 carries the material 140 along the first power chain 204 to the grinding conveyor line 210.

[0053] Similarly, the flipping device 20 located between the output end of the grinding conveyor line 210 and the unloading conveyor line 180 has the same structure and operating principle as the flipping device 20 described above. It uses the flipping device 20 at the unloading point to achieve flipping unloading, which will not be described in detail here.

[0054] Preferably, in this embodiment, such as Figure 6 As shown. The tooling fixture tray 50 includes a tray 502 and a tooling fixture 501 disposed on the tray 502. The tray 502 is adapted to the above-mentioned mounting position. The tooling fixture 501 is semi-elliptical in shape to adapt to the material 140. 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 its 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 tooling fixture 501 along its minor axis. Two clamping bolts 504 are spaced apart on each clamping plate 503 along the thickness direction of the tooling fixture 501. Mounting holes are provided on the tooling fixture 501 corresponding to the positions of the clamping bolts 504. The inner end of the clamping bolt 504 is rotatably engaged with the clamping plate 503, and the outer end extends out of the tooling fixture 501 and is threadedly connected to the corresponding mounting hole of the tooling fixture 501. Tightening the clamping bolts 504 allows the two clamping plates 503 to move relative to each other, thereby clamping and fixing or removing the material 140.

[0056] Specifically, in this embodiment, a tightening device 10 is also included, which is used to tighten the clamping bolt 504. Specifically, a set of tightening devices 10 is provided on each of the two 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, the tightening device 10 of each group is arranged on both sides of the lateral side of the tooling fixture tray 50 when the flipping device 20 on the corresponding side flips towards the loading (or unloading) direction. Figure 2 As shown, the tightening device 10 includes a transverse moving platform 102, on which a longitudinal drive mechanism 1013 is provided. The longitudinal drive mechanism 1013 is slidably disposed on the transverse moving platform 102, forming an XY worktable. A transverse cylinder 1011 that extends and retracts laterally is provided on the longitudinal drive mechanism 1013. The transverse cylinder 1011 is movably disposed on the longitudinal drive mechanism 1013. A rotary electric gripper 1012 is provided on the side of the transverse cylinder 1011 facing the tooling fixture 501.

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

[0059] The longitudinal drive mechanism 1013 also includes a sliding plate that is slidably mounted on the moving plate 101 along the longitudinal direction. A longitudinal cylinder 1025 is mounted at one end of the moving plate 101 and is connected to the sliding plate to drive the sliding plate to move longitudinally. A transverse cylinder 1011 is fixedly mounted on the sliding plate to enable transverse and longitudinal movement of the transverse cylinder 1011.

[0060] Meanwhile, on each tightening device 10, two sets of transverse cylinders 1011 and rotary electric grippers 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 that side. Figure 6The tooling fixture 501 shown performs four-point positioning. Simultaneously, the drive motor 1023 is equipped with a reducer, which can adjust the initial position of the tightening device 10 according to the product model set in the system. Then, a fixed pressure is set through the transverse cylinder 1011, which is simultaneously pushed from four points on both sides to achieve symmetrical central clamping of the material 140. The rotating electric gripper 1012 is bolted to the front end of the transverse cylinder 1011 to achieve bolt tightening, ultimately achieving stable fastening and central positioning of the material 140 on the tooling fixture 501.

[0061] Preferably, in this embodiment, a circulating conveyor line 190 is arranged parallel to the longitudinal side of the grinding conveyor line 210. A set of longitudinal translation mechanisms 70 is respectively provided at the output end and input end of the grinding conveyor line 210, and these mechanisms are connected to the circulating conveyor line 190. Specifically, the longitudinal translation mechanism 70 located at the input end of the grinding conveyor line 210 has a flipping device 20 facing away from the grinding conveyor line 210. The longitudinal translation mechanism 70 located at the output end of the grinding conveyor line 210 is positioned between the flipping device 20 and the output end of the grinding conveyor line 210. The two sets of longitudinal translation mechanisms 70 are responsible for the cyclic operation of the tooling fixture tray 50.

[0062] Specifically, such as Figure 7 As shown, the longitudinal translation mechanism 70 includes a base 706, on which a second linear guide rail 703 extending longitudinally is provided. A translation bracket 704 is slidably mounted on the second linear guide rail 703, and a translation conveyor chain 705 is mounted on the translation bracket 704. The translation conveyor chain 705 conveys laterally, and the translation bracket 704 slides longitudinally on the second linear guide rail 703 via a drive mechanism to respectively connect with the grinding conveyor line 210 and the circulating conveyor line 190. Specifically, the drive mechanism includes a drive screw 702 rotatably mounted on the translation bracket 704 longitudinally. The drive screw 702 is threadedly connected to a bracket plate (not shown in the figure) at the lower middle part of the translation bracket 704, forming a screw-nut mechanism. A translation mechanism motor 701 is provided at one end of the drive screw 702 for driving.

[0063] In this way, the translation mechanism motor 701 serves as the power source for movement, driving the drive screw 702 to move on the second linear guide rail 703, which in turn drives the translation bracket 704, the translation conveyor chain 705 and the tooling fixture tray 50 on it to move.

[0064] Specifically, such as Figure 1As shown, in this embodiment, the grinding production line 1 further includes a tooling tray conveyor line 200, which is located on the side of the longitudinal translation mechanism 70 opposite to the grinding conveyor line 210 at the input end of the grinding conveyor line 210. The input end of the tooling tray conveyor line 200 is provided with multiple racks 130, and tooling trays 50 of corresponding specifications are mounted on the racks 130.

[0065] Specifically, the tooling and fixture tray conveyor line 200 conveys longitudinally, and a rotary conveyor mechanism 80 is provided between the tooling and fixture tray conveyor line 200 and the longitudinal translation mechanism 70 on this side.

[0066] The tooling and fixture tray conveyor line 200 and the rotary conveyor mechanism 80 are mainly responsible for the replacement and recycling of the tooling and fixture tray 50. When the tooling and fixture tray 50 is... Figure 1 The longitudinal translation mechanism 70 and the circulating conveyor line 190 on the right side transport to... Figure 1 When the longitudinal translation mechanism 70 on the left reaches the position shown in the figure, if it is necessary to change the tooling fixture tray 50, the rotary conveyor mechanism 80 will transport it to... Figure 1 Replace the leftmost tooling fixture tray conveyor line 200.

[0067] Specifically, the rotary conveying mechanism 80 includes a bottom mounting frame, with a rotary support 805 at the upper end of the bottom mounting frame. A second slewing bearing 802 is rotatably mounted on the rotary support 805, and a rotary conveying chain 804 is mounted on the second slewing bearing 802. A drive mechanism drives the second slewing bearing 802 to rotate, thereby rotating the rotary conveying chain 804. Specifically, the drive mechanism includes a rotary conveying motor 801, which transmits a second gear 803 through a reversing mechanism. The second gear 803 meshes with the second slewing bearing 802 to achieve rotation of the second slewing bearing 802.

[0068] In this way, the rotary conveyor motor 801 provides a rotational power source, driving the second slewing bearing 802, the second gear 803, and the rotary conveyor chain 804 to rotate. Then, the rotary conveyor chain 804 sends the tooling fixture tray 50 to the tooling fixture tray conveyor line 200 for the next operation.

[0069] In this embodiment, as Figure 1 , 9 As shown, the dust removal system 90 is completely enclosed 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 provided around the outer perimeter of the dust removal bracket 901, and a dust collector 903 is provided on one side of the dust removal bracket 901, which encloses the grinding robot 150 inside, isolating and removing dust.

[0070] Preferably, in this embodiment, a set of rotary lifting devices 40 are respectively set at the positions of the 3D scanning device 30 and the grinding robot 150 on the grinding conveyor line 210. The rotary lifting devices 40 are used to drive the tooling fixture tray 50 to rotate in the horizontal plane and to lift it vertically.

[0071] One set of equipment works with the 3D scanning device 30 to scan different surfaces, while the other set works with the grinding robot 150 to grind different surfaces. The 3D scanning device 30 is fixed on one longitudinal side of the grinding conveyor line 210, with an absolute coordinate deviation from the grinding robot 150. The 3D scanning device 30 scans the front of the workpiece coil material 140 from a main perspective. After scanning, it outputs coordinate point cloud data to the control system. Then, the rotating lifting device 40 rotates the workpiece coil material 140 to detect the remaining surface features and transmits the data to the control system. This obtains a three-dimensional model of the material 140, providing the grinding robot 150 with the position, key dimensions, and feature information of the workpiece coil material 140 on the production line, and providing model parameters for the grinding robot 150 to plan the grinding path.

[0072] Specifically, in this embodiment, the rotary lifting device 40 includes a first support 406, with a lifting plate slidably mounted vertically on the upper end of the first support 406. Specifically, the four corners of the lifting plate are slidably mounted vertically at the four corners of the first support 406 via linear bearings 405. The lifting plate is driven to rise and fall by a lifting cylinder 402. A first slewing bearing 403 is rotatably mounted on the lifting plate, with its rotation axis extending 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 clamping tray 502 is mounted on the mounting plate, rising, falling, and rotating with it. Specifically, the rotary drive mechanism includes a first gear 404 meshing with the first slewing bearing 403, and the first gear 404 is driven to rotate by a rotary motor 401 and a reversing mechanism.

[0073] In this configuration, the drive motor 1023 serves as the rotational power source, driving the first gear 404, the first slewing bearing 403, and the mounting plate. The lifting cylinder 402 acts as the lifting power source, raising the mounting plate and related components. The linear bearing 405 facilitates the movement between the lifting plate and the first bracket 406. The upper end of the mounting plate engages with the tooling fixture tray 50, thereby enabling the movement of the grinding workpiece coil material 140.

[0074] Preferably, in this embodiment, a stop cylinder 60 is provided at the turning device 20 at the material feeding point. Similarly, eight sets of stop cylinders 60 are provided on the entire grinding production line 1, located at each work station, to block the tooling fixture tray 50 and realize the positioning of the tray 502 at the work station. The stop cylinder 60 has rigidity 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 tray conveyor line 200 are all plate chain lines 170. The plate chain line 170 of the grinding conveyor line 210 is mounted via a support bracket 110. Longitudinally, the plate chain line 170 of the grinding conveyor line 210 has a notch adapted to the rotary lifting device 40. The longitudinal sides of the tooling tray 50 are positioned on the longitudinal sides of the plate chain line 170 of the grinding conveyor line 210, with the lower end of the tooling tray 50 exposed within the notch for the rotary lifting device 40 to lift and rotate, meeting the scanning and grinding requirements. After the work is completed, the rotary lifting device 40 places the tooling tray 50 back into its original position on the grinding conveyor line 210 for continued transport.

[0076] In this embodiment, multiple production line safety fences 120 are provided around the entire grinding production line 1 to enclose the entire production line and ensure safety.

[0077] The working process of this application is as follows: First, the material to be ground 140 is transported to the feeding conveyor line 160 by the AGV trolley 100. The tooling fixture tray 50 is installed on the flipping device 20 at the feeding point, and the flipping device 20 is flipped towards the feeding conveyor belt.

[0078] Material 140 is moved to the tooling fixture tray 50 via the feeding conveyor belt and the longitudinal conveying support 206 of the flipping device 20 on this side. The tightening device 10 on this side works to fix and clamp the material 140 onto the tooling fixture 501.

[0079] The flipping device 20 on this side flips in the opposite direction, and the tooling fixture tray 50 moves to the grinding conveyor line 210 via the transverse conveyor support 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, while the dust removal system 90 works to remove dust.

[0080] After grinding, the tooling fixture tray 50, carrying the material 140, moves to the turning device 20 on the output side via the longitudinal translation mechanism 70. This turning device 20 turns towards the unloading conveyor line 180, and the tightening device 10 on this side operates to disengage the material 140 from the tooling fixture 501. The material 140 is then conveyed to the unloading conveyor line 180 by the longitudinal conveying bracket 206 on this side, completing the automatic unloading process.

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

[0082] Meanwhile, when it is necessary to replace the tooling tray 50, the tooling tray 50 is transported to the tooling tray conveyor line 200 via the longitudinal translation mechanism 70 and the rotary conveyor mechanism 80 on the input side. At the same time, the new tooling tray 50 is transported to the flipping device 20 on the input side via the conveyor belt, the rotary conveyor mechanism 80 and the longitudinal translation mechanism 70 on the same side to continue the operation.

[0083] In summary, the grinding production line 1 of this invention utilizes a grinding robot 150 to replace manual labor in grinding, transferring, and cleaning materials 140. It is safe, reliable, and can operate in a continuous flow. It efficiently and rationally coordinates the various workstations such as feeding, scanning, grinding, and unloading, achieving full-process automation and greatly improving the continuity of work. At the same time, it realizes the data acquisition of transmission, grinding 3D model, grinding trajectory, and grinding force throughout the process. The production line-style production achieves consistency in the labor process. While reducing the intensity of manual labor and operational errors, the dust removal system 90 solves the problem of human harm caused by dust, thereby saving labor costs for enterprises.

[0084] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0085] In the description of the embodiments of this application, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0086] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

Claims

1. A grinding line for power transformer coils, characterized in that, The polishing conveying line includes a transverse polishing conveying line, which is provided with a feeding mechanism and a discharging mechanism at its two ends respectively, and a tool clamp tray is arranged on the polishing conveying line, which is used to clamp and fix the material to convey the material along the polishing conveying line, and a 3D scanning device and a polishing robot are arranged on the polishing conveying line in sequence in the conveying direction, the 3D scanning device is used to obtain a three-dimensional model of the material and transmit the scanning information to the polishing robot, the polishing robot plans a polishing path according to the model parameters provided by the 3D scanning device and polishes the material, and a dust removal system is arranged, which is used to remove the particle dust generated during polishing. The feeding mechanism and the discharging mechanism respectively include a longitudinal feeding conveying line and a longitudinal discharging conveying line, and a set of turnover devices are arranged between the output end of the feeding conveying line and the input end of the polishing conveying line and between the input end of the discharging conveying line and the output end of the polishing conveying line. The tool clamp tray includes a tray and a tool clamp arranged on the tray, two clamping plates are symmetrically arranged on the inner side of the tool clamp along the short half-axis direction, two clamping bolts are arranged on the clamping plates in the thickness direction of the tool clamp, the inner end of the clamping bolt is rotationally connected with the clamping plate, the outer end of the clamping bolt extends out of the tool clamp and is threadedly connected with the tool clamp, and a tightening device is arranged on the two sides of the turnover device, which is used to rotate the clamping bolt on the corresponding side.

2. The grinding line for power transformer coils according to claim 1, characterized in that, The turnover device includes a longitudinal conveying support and a transverse conveying support which are perpendicular to each other, the longitudinal conveying support is turned by 90 degrees around the transverse axis at the abutting end of the transverse conveying support, the transverse conveying support is used to abut the polishing conveying line, and the transverse conveying support is provided with a mounting position which is matched with the tool clamp tray.

3. The grinding line for power transformer coils according to claim 1, characterized in that, The tightening device includes 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 rotary electric clamp jaw is arranged at the end of the transverse cylinder.

4. The grinding line for power transformer coils according to claim 1, characterized in that, A set of rotary jacking devices are arranged at the positions corresponding to the 3D scanning device and the polishing robot of the polishing conveying line, which are used to drive the tool clamp tray to rotate in the horizontal plane and to ascend and descend in the vertical direction.

5. The grinding line for power transformer coils according to claim 1, characterized in that, A circulating conveying line is arranged on one side of the polishing conveying line in parallel, a set of longitudinal translation mechanisms are arranged between the output end of the polishing conveying line and the turnover device on this side, and a set of longitudinal translation mechanisms are arranged on the turnover device on the input end side of the polishing conveying line and away from the polishing conveying line, and the two sets of longitudinal translation mechanisms are used to abut the circulating conveying line and the polishing conveying line.

6. The grinding line for power transformer coils according to claim 5, characterized in that, The longitudinal translation mechanism includes a base, a second straight guide rail extending in the longitudinal direction is arranged on the base, a translation support is slidably arranged on the second straight guide rail, a translation conveying plate chain is arranged on the translation support, the translation conveying plate chain is conveyed in the transverse direction, and the translation support is slidably driven by a driving mechanism in the longitudinal direction on the second straight guide rail to abut the polishing conveying line and the circulating conveying line respectively.

7. The grinding line for power transformer coils according to claim 6, characterized in that, The tooling fixture tray conveying line is arranged on the side of the longitudinal translation mechanism opposite to the polishing conveying line.

8. The grinding line for power transformer coils according to claim 7, characterized in that, The tooling fixture tray conveying line is arranged on the side of the longitudinal translation mechanism opposite to the polishing conveying line.

9. The grinding line for power transformer coils according to claim 8, characterized in that, The rotating conveying mechanism comprises a rotating support, and a rotating conveying plate chain is arranged on the upper end of the rotating support.

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