Laboratory transformer testing robot

Abstract

The application relates to a laboratory transformer testing robot, and belongs to the technical field of transformer testing equipment. The robot end execution arm is arranged on the robot body, the connecting plate is arranged on the robot end execution arm, the robot end execution arm can be controlled to work by the control system, the movement and horizontal rotation adjustment of the connecting plate are realized, the clamping seat is fixedly hung on the bottom of the connecting plate through the two symmetrical connecting columns, the arc-shaped notch is arranged on one side of the clamping seat and is used for butt joint accommodation of the transformer. Through cooperation of the positioning clamping rod and the positioning clamping plate, different specifications of the bushing type current transformer can be clamped and fixed and centered and corrected, different specifications of the post type current transformer can also be clamped and fixed without replacing the clamp, the testing accuracy and efficiency are greatly improved, and the service life of the whole testing robot is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of instrument transformer testing equipment, and relates to a laboratory instrument transformer testing robot. Background Technology

[0002] A current transformer testing robot is an intelligent device used for automatically detecting, calibrating, and diagnosing the performance of current transformers (such as current transformers and voltage transformers). It combines mechanical automation, sensor technology, data analysis, and artificial intelligence to improve testing efficiency, reduce human error, and adapt to the testing needs of current transformers in complex environments.

[0003] In laboratory environments, to improve batch calibration efficiency, current transformer testing robots are often used to replace traditional manual testing benches. Therefore, these robots need to possess characteristics such as high precision, automation, and flexible adaptability. During testing, the current transformer is typically clamped onto the end effector of the robot arm. The end effector is the direct contact component between the robot arm and the current transformer under test, responsible for grasping, positioning, and fixing operations. Traditional fixtures are replaceable and mounted on the end effector of the robot arm. For bushing-type current transformers, a ring gripper is used to wrap around the outer wall of the ceramic bushing; for pillar-type current transformers, clamping plates are used for fixation. Using traditional fixture replacement methods is not only cumbersome and inflexible, resulting in low testing efficiency, but frequent replacements also increase the risk of fixture damage. Therefore, we propose a laboratory current transformer testing robot to address the aforementioned problems. Summary of the Invention

[0004] In view of this, in order to solve the problems of the traditional method of changing fixtures, which is not only very troublesome to operate and has poor flexibility, resulting in low testing efficiency, but also more likely to cause fixture damage due to frequent changes, the present invention provides a laboratory instrument transformer testing robot.

[0005] To achieve the above objectives, the present invention provides the following technical solution: including a robot end effector arm disposed on the robot body;

[0006] The connecting plate is mounted on the robot's end effector arm and can be controlled by the control system to move and rotate horizontally.

[0007] The clamping seat is fixedly suspended to the bottom of the connecting plate by two symmetrically arranged connecting columns;

[0008] An arc-shaped slot is formed on one side of the clamping seat for accommodating the current transformer.

[0009] The clamping mechanism, located inside the clamping seat, is capable of positioning and clamping bushing current transformers of different specifications.

[0010] A mounting plate is disposed above the top of the clamping seat, and the top of the clamping seat is provided with a drive mechanism for moving and adjusting the mounting plate.

[0011] The clamping mechanism, located on one side of the bottom of the mounting plate, is used to correct the deviation of the bushing-type current transformer and can also clamp and fix the support-type current transformers of different specifications.

[0012] Furthermore, the clamping rod mechanism includes a bottom groove formed at the bottom of the clamping seat. A sliding strip plate is slidably connected to the top inner wall of the bottom groove. Two connecting strip plates are symmetrically fixedly connected to one side of the sliding strip plate, and the two connecting strip plates are slidably connected to the two inner side walls of the bottom groove respectively. A rack is fixedly connected to the side of the two connecting strip plates that are close to each other. An electric push rod is fixedly connected to the top inner wall of the bottom groove, and the output shaft of the electric push rod is fixedly connected to one side of the sliding strip plate.

[0013] Furthermore, the clamping mechanism also includes two rotating shafts symmetrically rotatably connected to the inner wall of the top of the bottom groove. Each of the two rotating shafts has a gear fixedly fitted onto its outer wall, meshing with a corresponding rack. Each of the two rotating shafts also has a positioning clamping rod fixedly fitted onto its outer wall, extending into the arc-shaped groove. The inner wall of the arc-shaped groove has two symmetrically formed through holes, both communicating with the bottom groove, and one side of each positioning clamping rod passes through a corresponding through hole. This clamping mechanism is used to clamp and fix the bushing-type current transformer.

[0014] Furthermore, an arc-shaped rubber pad is fixedly connected to the inner wall of the arc-shaped groove.

[0015] Furthermore, the driving mechanism includes a lead screw motor fixedly connected to the top of the clamping seat, a first fixing block fixedly connected to one side edge of the top of the clamping seat, a lead screw rotatably connected to one side of the first fixing block, and the end of the lead screw away from the first fixing block fixedly connected to the output shaft of the lead screw motor. A first nut block slidably connected to the top of the clamping seat is fixedly connected to one side edge of the bottom of the mounting plate, and the first nut block is threaded onto the lead screw.

[0016] Furthermore, the clamping mechanism includes two connecting blocks symmetrically fixedly connected to one side of the bottom of the mounting plate. Two sliding rods are symmetrically fixedly connected to the two connecting blocks on opposite sides. The same slider is slidably sleeved on the two sliding rods on the same side. The bottom of the two sliders is fixedly connected to a positioning clamping plate located above the positioning clamping rod.

[0017] Furthermore, both positioning clamps have anti-slip textures on the side that is close to each other.

[0018] Furthermore, an arc-shaped plate is fixedly connected to the bottom of the mounting plate, and two arc-shaped sliders are symmetrically slidably connected to the outer side wall of the arc-shaped plate. A lower support block and an upper support block are fixedly connected to the outer side wall of each of the two arc-shaped sliders. A connecting rod is rotatably connected to the top of each of the two lower support blocks, and the other end of each connecting rod is rotatably connected to the top of the corresponding slider. A vertical rod is fixedly connected to the top of each of the two upper support blocks, and the top end of each vertical rod penetrates through the top of the mounting plate and extends upward. Two arc-shaped slots are symmetrically opened on the top of the mounting plate to engage with the corresponding vertical rods.

[0019] Furthermore, two second fixing blocks are symmetrically fixedly connected to one side of the top of the mounting plate, and the same bidirectional screw is rotatably connected between the two second fixing blocks. A support plate is fixedly connected to one side of the mounting plate, and a servo motor is fixedly connected to the top of the support plate. The output shaft of the servo motor rotates through one of the second fixing blocks and is fixedly connected to one end of the bidirectional screw.

[0020] Furthermore, a second nut block is threaded onto both the positive and negative thread sections of the bidirectional screw. The bottom of each of the two second nut blocks is fixedly connected to a movable block that slides against the top of the mounting plate. The top of each movable block is provided with a strip hole that penetrates and engages with the top of the corresponding vertical rod.

[0021] Furthermore, a wire-passing hole is provided on the top of the mounting plate.

[0022] Furthermore, a vertical plate is fixedly connected to the top of the mounting plate, and two guide rods symmetrically pass through the interior of the vertical plate. One end of each guide rod is fixedly connected to one side of the connecting plate.

[0023] Furthermore, the inner wall of the arc-shaped groove is fixedly connected with multiple sleeves at equal intervals in an arc shape. One end of each sleeve extends into the bottom groove. An inner rod slides through the end of each sleeve near the arc-shaped rubber pad. One end of the inner rod is fixedly connected to the inner wall of one end of the sleeve with the same return spring. The other end of the inner rod is inserted into the arc-shaped rubber pad.

[0024] The beneficial effects of this invention are as follows:

[0025] This invention, through the cooperation of positioning clamp rods and positioning clamp plates, can not only clamp and fix bushing current transformers of different specifications and perform centering and correction, but also clamp and fix pillar current transformers of different specifications without changing the clamps. This greatly improves the accuracy and efficiency of testing and extends the service life of the entire testing robot.

[0026] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0028] Figure 1 This is a three-dimensional bottom view of the overall structure of the present invention used in conjunction with a bushing-type current transformer;

[0029] Figure 2 This is a perspective view of the overall structure of the present invention;

[0030] Figure 3 This is a perspective view of the overall connection structure between the connecting plate and the clamping seat of the present invention;

[0031] Figure 4 This is a perspective view of the overall connection structure of the positioning clamp rod of the present invention;

[0032] Figure 5 This is a perspective view of the overall connection structure between the mounting plate and the positioning clamping plate of the present invention;

[0033] Figure 6 This is a perspective view of a partial connection structure between the mounting plate and the positioning clamping plate of the present invention;

[0034] Figure 7 This is a perspective view of the mounting plate connection structure of the present invention;

[0035] Figure 8 This is a perspective view of the positioning clamp connection structure of the present invention;

[0036] Figure 9 This is a three-dimensional sectional view of the connection structure between the arc-shaped rubber pad and the inner rod of the present invention.

[0037] Reference numerals: 1. Robot end effector; 2. Connecting plate; 3. Connecting column; 4. Guide rod; 5. Mounting plate; 51. Wire hole; 52. Arc-shaped slot; 6. Clamping seat; 61. Bottom groove; 62. Arc-shaped slot; 63. Through hole; 7. First fixing block; 8. First nut block; 9. Arc-shaped rubber pad; 10. Positioning clamp; 11. Lead screw motor; 12. Vertical plate; 13. Sliding strip; 14. Electric push rod; 15. Connecting strip; 16. Rack; 17. 18. Shaft; 19. Gear; 20. Lead screw; 21. Connecting block; 22. Support plate; 23. Slide rod; 24. Slider; 25. Positioning clamp; 26. Arc plate; 27. Arc slider; 28. Lower support block; 29. ​​Connecting rod; 30. Upper support block; 31. Vertical rod; 32. Servo motor; 33. Second fixing block; 34. Bidirectional screw; 35. Moving block; 36. Strip hole; 37. Second nut block; 38. Sleeve; 39. Inner rod; 30. Return spring. Detailed Implementation

[0038] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Example 1: As Figures 1-4 As shown, the laboratory current transformer testing robot includes a robot end effector 1 mounted on the robot body, with a connecting plate 2 connected to the end effector 1. By controlling the robot end effector 1 through the control system, the connecting plate 2 can be moved and horizontally rotated for precise positioning of the current transformer. At the bottom of the connecting plate 2, a clamping seat 6 is fixedly suspended by two symmetrically arranged connecting pillars 3. An arc-shaped slot 62 is formed on one side of the clamping seat 6 for accommodating the current transformer. An arc-shaped rubber pad 9 is fixedly connected to the inner wall of the arc-shaped slot 62 to increase clamping stability and prevent the current transformer from falling off during movement.

[0040] The clamping base 6 has an internal clamping mechanism for positioning and clamping bushing current transformers of different specifications. Specifically, the clamping mechanism includes a bottom groove 61 formed at the bottom of the clamping base 6, and a sliding strip 13 is slidably connected to the top inner wall of the bottom groove 61. Two connecting strips 15 are symmetrically fixedly connected to one side of the sliding strip 13, and these two connecting strips 15 are slidably connected to the two inner side walls of the bottom groove 61 respectively. A rack 16 is fixedly connected to the side of the two connecting strips 15 that are close to each other. An electric push rod 14 is also fixedly connected to the top inner wall of the bottom groove 61, and its output shaft is fixedly connected to one side of the sliding strip 13.

[0041] In addition, the clamping mechanism includes two rotating shafts 17 symmetrically rotatably connected to the inner wall of the top of the bottom groove 61. The outer walls of the two rotating shafts 17 are fixedly fitted with gears 18 that mesh with the corresponding racks 16. The outer walls of the two rotating shafts 17 are also fixedly fitted with positioning clamping rods 10 extending into the arc-shaped slot 62. The inner wall of the arc-shaped slot 62 has two through holes 63 symmetrically opened, both communicating with the bottom groove 61. One side of each of the two positioning clamping rods 10 passes through the corresponding through hole 63.

[0042] When testing a bushing-type current transformer, the control system first controls the robot's end effector 1 to move the connecting plate 2, aligning the bushing-type current transformer with the arc-shaped slot 62. Then, the electric push rod 14 is activated, moving the sliding plate 13, which in turn moves the two racks 16 simultaneously via the two connecting plates 15. The meshing motion of the racks 16 and gears 18 rotates the two shafts 17, simultaneously causing the two positioning clamps 10 to move closer to each other within their corresponding through holes 63, clamping and fixing the bushing-type current transformer in the middle position of the arc-shaped slot 62.

[0043] This invention can be used in the field of laboratory transformer testing robots, and can also be applied to other fields of this invention.

[0044] Example 2: This example is a further improvement on the previous example, such as... Figures 1-8 As shown, the test robot also includes a mounting plate 5 located above the top of the gripper 6. The top of the gripper 6 is equipped with a drive mechanism for moving and adjusting the mounting plate 5. The drive mechanism includes a lead screw motor 11 fixedly connected to the top of the gripper 6. A first fixing block 7 is fixedly connected to one side edge of the top of the gripper 6. A lead screw 19 is rotatably connected to one side of the first fixing block 7, and the end of the lead screw 19 away from the first fixing block 7 is fixedly connected to the output shaft of the lead screw motor 11. A first nut block 8 is fixedly connected to one side edge of the bottom of the mounting plate 5 and slidably connected to the top of the gripper 6. The first nut block 8 is threaded onto the lead screw 19. Starting the lead screw motor 11 rotates the lead screw 19, which in turn moves the first nut block 8 back and forth on the top of the gripper 6, thereby moving and adjusting the mounting plate 5 back and forth.

[0045] In addition, a vertical plate 12 is fixedly connected to the top of the mounting plate 5. Two guide rods 4 are symmetrically inserted through the interior of the vertical plate 12, and one end of each guide rod 4 is fixedly connected to one side of the connecting plate 2. By guiding the vertical plate 12 on the guide rods 4, the stability of the entire mounting plate 5 movement can be further improved, and the stability of clamping the current transformer can also be improved.

[0046] A clamping mechanism is provided on one side of the bottom of the mounting plate 5 for correcting the alignment of bushing-type current transformers and for clamping and fixing current transformers of different specifications. The clamping mechanism includes two connecting blocks 20 symmetrically fixedly connected to one side of the bottom of the mounting plate 5. Two sliding rods 22 are symmetrically fixedly connected to the sides of the two connecting blocks 20 that are far apart from each other. A single slider 23 is slidably mounted on the two sliding rods 22 on the same side. A positioning clamping plate 24 located above the positioning clamping rod 10 is fixedly connected to the bottom of each slider 23. Anti-slip textures are provided on the sides of the two positioning clamping plates 24 that are close to each other to increase clamping stability.

[0047] To achieve movement control of the positioning clamp 24, an arc-shaped plate 25 is fixedly connected to the bottom of the mounting plate 5. Two arc-shaped sliders 26 are symmetrically slidably connected to the outer side wall of the arc-shaped plate 25. A lower support block 27 and an upper support block 29 are fixedly connected to the outer side wall of each of the two arc-shaped sliders 26. A connecting rod 28 is rotatably connected to the top of each of the two lower support blocks 27, and the other end of each connecting rod 28 is rotatably connected to the top of the corresponding slider 23. A vertical rod 30 is fixedly connected to the top of each of the two upper support blocks 29. The top of each vertical rod 30 penetrates the top of the mounting plate 5 and extends upwards. Two arc-shaped slots 52 are symmetrically opened on the top of the mounting plate 5 to mate with the corresponding vertical rods 30.

[0048] Furthermore, two second fixing blocks 32 are symmetrically fixed to one side of the top of the mounting plate 5, and the two second fixing blocks 32 are rotatably connected to the same bidirectional screw 33. A support plate 21 is fixedly connected to one side of the mounting plate 5, and a servo motor 31 is fixedly connected to the top of the support plate 21. The output shaft of the servo motor 31 rotatably passes through one of the second fixing blocks 32 and is fixedly connected to one end of the bidirectional screw 33. A second nut block 35 is threaded on both the positive and negative thread sections of the bidirectional screw 33, and a movable block 34 that slides against the top of the mounting plate 5 is fixedly connected to the bottom of each of the two second nut blocks 35. The top of each of the two movable blocks 34 has a strip hole 341 that passes through and engages with the top of the corresponding vertical rod 30. Starting the servo motor 31 drives the bidirectional screw 33 to rotate, which can drive the two second nut blocks 35 to move relative to each other, and at the same time drive the two movable blocks 34 to move relative to each other. This allows the two vertical rods 30 to move relative to each other within the corresponding arc-shaped slots 52. Through the arc-shaped movement of the arc-shaped slider 26 on the arc-shaped plate 25 and the cooperation of the connecting rod 28, the relative movement of the two positioning clamps 24 is achieved, thus completing the correction or clamping and fixing of the transformer.

[0049] Example 3: This example is a further improvement on the previous example, such as... Figures 1-7 As shown, the top of the mounting plate 5 is also provided with a wire-passing hole 51, which facilitates the wires to be passed through the wire-passing hole 51 downwards during testing, and then through the primary busbar hole inside the bushing-type current transformer. The wire-passing hole 51 is designed in an elliptical shape, which can be used to pass wires in different positions and for bushing-type current transformers of different specifications, making it more convenient to use.

[0050] Example 4: This example is a further improvement on the previous example, such as... Figure 1 , Figure 9 As shown, the inner wall of the arc-shaped slot 62 is also equidistantly connected with multiple sleeves 36 in an arc shape, one end of each sleeve 36 extending into the bottom slot 61. An inner rod 37 slides through the end of each sleeve 36 near the arc-shaped rubber pad 9. A return spring 38 is fixedly connected between one end of the inner rod 37 and the inner wall of one end of the sleeve 36. The other end of the inner rod 37 is inserted into the arc-shaped rubber pad 9. When one side of the bushing-type current transformer presses against the arc-shaped rubber pad 9, it can push the inner rod 37 to extend into the sleeve 36 and press the return spring 38. Through the contact with the inner rod 37, combined with the elasticity of the return spring 38, the clamping and fixing effect on the bushing-type current transformer can be further enhanced. When releasing the fixing, the bushing-type current transformer can be slowly rotated with the positioning clamp 10, preventing the bushing-type current transformer from falling off after the positioning clamp 10 has rotated a little.

[0051] However, as is well known to those skilled in the art, the working principles and wiring methods of the lead screw motor 11, electric push rod 14 and servo motor 31 are commonplace and are all conventional methods or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A laboratory current transformer testing robot, characterized in that, include: A robot end effector mounted on the robot body; The connecting plate is mounted on the robot's end effector arm and can be controlled by the control system to move and rotate horizontally. The clamping seat is fixedly suspended to the bottom of the connecting plate by two symmetrically arranged connecting columns; An arc-shaped slot is formed on one side of the clamping seat for accommodating the current transformer during docking. A clamping mechanism, located inside the clamping seat, is used to position and clamp bushing current transformers of different specifications. The clamping mechanism includes a bottom groove at the bottom of the clamping seat. A sliding strip is slidably connected to the top inner wall of the bottom groove. Two connecting strips are symmetrically fixed to one side of the sliding strip, and the two connecting strips are slidably connected to the two inner side walls of the bottom groove. A rack is fixedly connected to the side of each connecting strip that is close to it. An electric push rod is fixedly connected to the top inner wall of the bottom groove, and the output shaft of the electric push rod is fixedly connected to one side of the sliding strip. The clamping mechanism also includes two rotating shafts symmetrically rotatably connected to the top inner wall of the bottom groove. Gears that mesh with corresponding racks are fixedly fitted onto the outer walls of both rotating shafts. Positioning clamping rods extending into an arc-shaped slot are fixedly fitted onto the outer walls of both rotating shafts. Two through holes communicating with the bottom groove are symmetrically opened on the inner wall of the arc-shaped slot, and one side of each positioning clamping rod passes through the corresponding through hole. A mounting plate is located above the top of the clamping seat. The top of the clamping seat is provided with a driving mechanism for moving and adjusting the mounting plate. An arc-shaped plate is fixedly connected to the bottom of the mounting plate. Two arc-shaped sliders are symmetrically slidably connected to the outer side wall of the arc-shaped plate. A lower support block and an upper support block are fixedly connected to the outer side wall of each of the two arc-shaped sliders. A connecting rod is rotatably connected to the top of each of the two lower support blocks, and the other end of each connecting rod is rotatably connected to the top of the corresponding slider. A vertical rod is fixedly connected to the top of each of the two upper support blocks, and the top end of each vertical rod penetrates the top of the mounting plate and extends upward. Two arc-shaped slots are symmetrically opened on the top of the mounting plate to engage with the corresponding vertical rods. A clamping mechanism, located on one side of the bottom of the mounting plate, is used to correct the deviation of the bushing-type current transformer and to clamp and fix different specifications of the pillar-type current transformer. The clamping mechanism includes two connecting blocks symmetrically fixedly connected to one side of the bottom of the mounting plate. Two sliding rods are symmetrically fixedly connected to the sides of the two connecting blocks that are far apart from each other. The same slider is slidably sleeved on the two sliding rods on the same side. The bottom of the two sliders is fixedly connected to a positioning clamping plate located above the positioning clamping rod. The sides of the two positioning clamping plates that are close to each other are provided with anti-slip texture. The driving mechanism includes a lead screw motor fixedly connected to the top of the clamping seat, a first fixing block fixedly connected to one side edge of the top of the clamping seat, a lead screw rotatably connected to one side of the first fixing block, and the end of the lead screw away from the first fixing block fixedly connected to the output shaft of the lead screw motor. A first nut block slidably connected to the top of the clamping seat is fixedly connected to one side edge of the bottom of the mounting plate, and the first nut block is threaded onto the lead screw.

2. The laboratory current transformer testing robot as described in claim 1, characterized in that, An arc-shaped rubber pad is fixedly connected to the inner wall of the arc-shaped groove.

3. The laboratory current transformer testing robot as described in claim 1, characterized in that, Two second fixing blocks are symmetrically fixed to one side of the top of the mounting plate. The two second fixing blocks are rotatably connected to the same bidirectional screw. A support plate is fixedly connected to one side of the mounting plate. A servo motor is fixedly connected to the top of the support plate. The output shaft of the servo motor rotates through one of the second fixing blocks and is fixedly connected to one end of the bidirectional screw. A second nut block is threaded on both the positive and negative thread sections of the bidirectional screw. A movable block that slides against the top of the mounting plate is fixedly connected to the bottom of each of the two second nut blocks. A strip hole is opened on the top of each of the two movable blocks to mate with the top of the corresponding vertical rod.

4. The laboratory current transformer testing robot as described in claim 3, characterized in that, The mounting plate has a wire hole on its top.

5. The laboratory current transformer testing robot as described in claim 1, characterized in that, A vertical plate is fixedly connected to the top of the mounting plate, and two guide rods symmetrically run through the interior of the vertical plate. One end of each guide rod is fixedly connected to one side of the connecting plate.

6. The laboratory current transformer testing robot as described in claim 2, characterized in that, The inner wall of the arc-shaped groove is fixedly connected with multiple sleeves at equal intervals in an arc shape. One end of each sleeve extends into the bottom groove. An inner rod slides through the end of each sleeve near the arc-shaped rubber pad. One end of the inner rod is fixedly connected to the inner wall of one end of the sleeve with the same return spring. The other end of the inner rod is inserted into the arc-shaped rubber pad.

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