Mutual inductor automatic testing device based on multi-degree-of-freedom mechanical arm

Abstract

The invention discloses a mutual inductor automatic testing device based on a multi-degree-of-freedom mechanical arm, and the device comprises a mounting seat, positioning bolts are fixed on the bottom surface of the mounting seat in an array manner, the bottom surface of the mounting seat is provided with an adjusting assembly which is used for the mechanical arm to carry out fine motion, the top surface of the mounting seat is provided with a movable arm, and a movable motor is fixed in the movable seat. A rotating arm is arranged at the bottom end of the movable arm, a rotating motor is fixed in the movable arm, a mounting groove is formed in one end of the rotating arm, a positioning assembly used for accurately clamping the mutual inductor is arranged in the mounting groove, a plurality of hydraulic cylinders are arranged in the adjusting assembly and between the mounting plate and the supporting base in an array mode, every two hydraulic cylinders form a group, and universal balls are arranged at the two ends of each hydraulic cylinder correspondingly. According to the mechanical arm, the mounting plate can slightly swing at any angle through stretching of different hydraulic cylinders, and the overall freedom degree and accuracy of the mechanical arm are improved through the design.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and particularly relates to an automatic testing device for transformers based on a multi-degree-of-freedom robotic arm. Background Art

[0002] An automatic testing device for transformers is a device that can automatically complete the testing of multiple performance indicators of transformers by using advanced electronic technology. It significantly improves the testing efficiency and accuracy, and reduces the labor intensity of operators. An automatic testing device for transformers based on a multi-degree-of-freedom robotic arm is an intelligent device that combines multi-degree-of-freedom robotic arm technology with the testing requirements of transformers, aiming to improve the testing efficiency and safety and reduce human errors.

[0003] In the existing automatic testing device for transformers based on a multi-degree-of-freedom robotic arm, there are still some dead angles in the rotation angle of the robotic arm, resulting in the robotic arm being unable to complete some specific actions. Moreover, in order to be able to move and operate flexibly in multiple directions, the robotic arm occupies a large space, resulting in insufficient accuracy when the robotic arm performs micro-actions. In addition, when the robotic arm clamps the transformer, it cannot quickly and accurately identify the transformer, reducing the testing efficiency of the transformer. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an automatic testing device for transformers based on a multi-degree-of-freedom robotic arm. Through the extension of different hydraulic cylinders, the mounting plate can perform small swings at any angle, which improves the overall degree of freedom and accuracy of the robotic arm.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: An automatic testing device for transformers based on a multi-degree-of-freedom robotic arm, wherein positioning bolts are fixedly arranged in an array on the bottom surface of the mounting seat, an adjusting component for the robotic arm to perform fine actions is arranged on the bottom surface of the mounting seat, a movable arm is arranged on the top surface of the mounting seat, and the movable arm is rotatably connected to the mounting seat. A movable motor is fixed in the movable seat, and the output end of the movable motor is fixedly connected to the movable arm. A rotating arm is arranged at the bottom end of the movable arm, and the rotating arm is rotatably connected to the movable arm. A rotating motor is fixed in the movable arm, and the output end of the rotating motor is fixedly connected to one end of the rotating arm. An installation groove is formed at one end of the rotating arm, and a positioning component for accurately clamping the transformer is arranged in the installation groove.

[0006] Preferably, the adjusting component includes a mounting plate and a support base. Convex blocks are arranged in an array on the top surface of the support base and the side surface of the mounting plate. Hydraulic cylinders are arranged in an array between the mounting plate and the support base. Universal balls are fixedly arranged at both ends of the hydraulic cylinders, and the universal balls are respectively rotatably connected to the convex blocks.

[0007] Preferably, a limit seat is provided on the top surface of the mounting plate, and the limit seat penetrates through the mounting plate and is rotatably connected to the mounting plate. A plurality of balls are arranged in the limit seat in an array, and the balls are in rolling connection with the mounting plate. Positioning holes are respectively formed in the bottom surface of the mounting plate in an array, and the positioning holes penetrate through the limit seat respectively.

[0008] Preferably, a rotating motor is fixed to the bottom surface of the mounting plate, and the output end of the rotating motor penetrates through the mounting plate. A transmission gear is fixed to the output end of the rotating motor, a gear ring is fixed to the side surface of the limit seat, and the transmission gear is meshed with the gear ring.

[0009] Preferably, the positioning assembly includes a rotating seat, and the rotating seat is rotatably connected to the mounting groove, and one end of the rotating seat penetrates through the side surface of the mounting groove. A driven belt pulley is fixed to one end of the rotating seat. A flipping motor is fixed in the rotating arm, and the output end of the flipping motor penetrates through the rotating arm. A driving belt pulley is fixed to the output end of the flipping motor, and a transmission belt is nested on the surfaces of the driving belt pulley and the driven belt pulley.

[0010] Preferably, a limit post is arranged in the rotating seat, and the limit post penetrates through the rotating seat and is rotatably connected to the rotating seat. A scanner is fixed to one end of the limit post, a clamping cylinder is fixed to the other end of the limit post, a clamping jaw is arranged at the output end of the clamping cylinder, and the clamping jaw is movably connected to the clamping cylinder.

[0011] Preferably, an adjusting motor is fixed to the surface of the rotating seat, and the output end of the adjusting motor penetrates through the rotating seat. A driving bevel gear is fixed to the output end of the adjusting motor, a driven bevel gear is fixed to the surface of the limit post, and the driving bevel gear is meshed with the driven bevel gear.

[0012] The beneficial effects of the present invention are as follows: 1) Through the extension of different hydraulic cylinders, the mounting plate can make small swings at any angle, and this design improves the overall freedom and precision of the robotic arm.

[0013] 2) An adjusting assembly is provided at the bottom of the robotic arm. In the adjusting assembly, a plurality of hydraulic cylinders are arranged in an array between the mounting plate and the support base, in pairs, and universal balls are respectively arranged at both ends of the hydraulic cylinders. Through the extension of different hydraulic cylinders, the mounting plate can make small swings at any angle, and this design improves the overall freedom and precision of the robotic arm.

[0014] 3) A positioning component is provided in the mounting groove on the swing arm. In the positioning component, through the connection of the limit posts, a scanner and a jaw are respectively provided at both ends of the rotating seat. Before grasping the mutual inductor, the mutual inductor is scanned by the scanner first. After determining the placement position of the mutual inductor, under the drive of the flipping motor, the rotating seat rotates until the jaw faces downward. When the jaw fixes the mutual inductor, the adjusting motor drives the mutual inductor to rotate to a suitable position. This design improves the testing efficiency of the mutual inductor. Brief Description of the Drawings

[0015] Attached Figure 1 is a schematic structural diagram of the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0016] Attached Figure 2 is an overall cross-sectional view of the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0017] Attached Figure 3 is an overall exploded view of the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0018] Attached Figure 4 is a schematic structural diagram of the adjusting component in the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0019] Attached Figure 5 is an exploded view of the structure of the adjusting component in the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0020] Attached Figure 6 is a schematic structural diagram of the positioning component in the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0021] Attached Figure 7 is a cross-sectional view of the positioning component in the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0022] Attached Figure 8 is an exploded view of the structure of the positioning component in the automatic testing device for mutual inductors based on a multi-degree-of-freedom robotic arm of the present invention.

[0023] In the figure: 1, 1, adjusting component; 101, positioning hole; 102, mounting plate; 103, hydraulic cylinder; 104, support base; 105, gear ring; 106, limit seat; 107, transmission gear; 108, rotating motor; 109, universal ball; 110, ball; 111, bump; 2, positioning component; 201, adjusting motor; 202, scanner; 203, transmission belt; 204, driving pulley; 205, driving bevel gear; 206, rotating seat; 207, clamping cylinder; 208, clamping jaw; 209, driven bevel gear; 210, adjusting motor; 211, limit post; 212, driven pulley; 213, flipping motor; 3, movable arm; 4, rotating arm; 5, mounting groove; 6, rotating motor; 7, movable motor; 8, mounting seat; 9, positioning bolt. Specific embodiments

[0024] The following combines the attached Figure 1-8 , the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying 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 of the present invention.

[0026] The automatic testing device for transformers based on a multi-degree-of-freedom robotic arm includes a mounting seat 8. The bottom surface of the mounting seat 8 is fixedly arranged in an array with positioning bolts 9. The bottom surface of the mounting seat 8 is provided with an adjusting component 1 for the robotic arm to perform fine movements. The top surface of the mounting seat 8 is provided with a movable arm 3, and the movable arm 3 is rotatably connected to the mounting seat 8. A movable motor 7 is fixed in the movable seat, and the output end of the movable motor 7 is fixedly connected to the movable arm 3. The bottom end of the movable arm 3 is provided with a rotating arm 4, and the rotating arm 4 is rotatably connected to the movable arm 3. A rotating motor 6 is fixed in the movable arm 3, and the output end of the rotating motor 6 is fixedly connected to one end of the rotating arm 4. An installation groove 5 is opened at one end of the rotating arm 4, and a positioning component 2 for accurately clamping the transformer is arranged in the installation groove 5.

[0027] The adjustment assembly 1 includes a mounting plate 102 and a support base 104. The top surface of the support base 104 and the side surface of the mounting plate 102 are provided with bumps 111 in an array. Hydraulic cylinders 103 are arranged in an array between the mounting plate 102 and the support base 104. Universal balls 109 are fixed at both ends of the hydraulic cylinders 103, and the universal balls 109 are respectively rotatably connected to the bumps 111. First, the support base 104 is fixed on the horizontal ground, and then the robotic arm is installed on the mounting plate 102. By controlling the telescoping of different hydraulic cylinders 103, the mounting plate 102 can drive the robotic arm to perform vertical rotation in different directions and angles at the positioned points.

[0028] A limit seat 106 is provided on the top surface of the mounting plate 102. The limit seat 106 penetrates through the mounting plate 102 and is rotatably connected to the mounting plate 102. Balls 110 are arranged in an array in the limit seat 106, and the balls 110 are in rolling connection with the mounting plate 102. Positioning holes 101 are arranged in an array on the bottom surface of the mounting plate 102, and the positioning holes 101 respectively penetrate through the limit seat 106. The positioning bolts 9 on the bottom surface of the mounting seat 8 are docked with the positioning holes 101 on the limit seat 106. When the limit seat 106 rotates, the robotic arm installed on the limit seat 106 can achieve horizontal rotation. The function of the balls 110 is to reduce the friction between the limit seat 106 and the mounting plate 102 when the limit seat 106 rotates.

[0029] A rotating motor 108 is fixed on the bottom surface of the mounting plate 102. The output end of the rotating motor 108 penetrates through the mounting plate 102. A transmission gear 107 is fixed at the output end of the rotating motor 108. A gear ring 105 is fixed on the side surface of the limit seat 106, and the transmission gear 107 meshes with the gear ring 105. Driven by the rotating motor 108, the transmission gear 107 drives the gear ring 105 on the surface of the limit seat 106 to rotate, thereby realizing the rotation of the limit seat 106.

[0030] In the adjustment assembly 1, a plurality of hydraulic cylinders 103 are arranged in an array between the mounting plate 102 and the support base 104, in pairs. Moreover, universal balls 109 are provided at both ends of the hydraulic cylinders 103. By the extension of different hydraulic cylinders 103, the mounting plate 102 can perform small swings at any angle. This design improves the overall freedom and precision of the robotic arm.

[0031] The positioning assembly 2 includes a rotating seat 206. The rotating seat 206 is rotatably connected to the mounting groove 5, and one end of the rotating seat 206 penetrates through the side surface of the mounting groove 5. A driven pulley 212 is fixed at one end of the rotating seat 206. A flipping motor 213 is fixed in the rotating arm 4. The output end of the flipping motor 213 penetrates through the rotating arm 4. A driving pulley 204 is fixed at the output end of the flipping motor 213. A transmission belt 203 is nested on the surfaces of the driving pulley 204 and the driven pulley 212.

[0032] Driven by the flipping motor 213, the driving pulley 204 drives the driven pulley 212 to rotate through the transmission belt 203, thereby rotating the rotating seat 206 in the mounting groove 5.

[0033] The rotating seat 206 is provided with a limiting post 211. The limiting post 211 penetrates through the rotating seat 206 and is rotatably connected to the rotating seat 206. One end of the limiting post 211 is fixed with a scanner 202, and the other end of the limiting post 211 is fixed with a clamping cylinder 207. The output end of the clamping cylinder 207 is provided with a clamping jaw 208, and the clamping jaw 208 is movably connected to the clamping cylinder 207.

[0034] The scanner 202 at one end of the limiting post 211 can scan the position and shape of the mutual inductor to be clamped. Then, when the rotating seat 206 rotates to the other end, under the action of the clamping cylinder 207, the clamping jaw 208 clamps the mutual inductor.

[0035] The surface of the rotating seat 206 is fixed with an adjusting motor 210. The output end of the adjusting motor 210 penetrates through the rotating seat 206. The output end of the adjusting motor 210 is fixed with a driving bevel gear 205. The surface of the limiting post 211 is fixed with a driven bevel gear 209, and the driving bevel gear 205 meshes with the driven bevel gear 209.

[0036] Under the action of the adjusting motor 210, the driving bevel gear 205 drives the driven bevel gear 209 on the surface of the limiting post 211 to rotate, realizing the horizontal adjustment of the position of the mutual inductor.

[0037] In the positioning assembly 2, through the connection of the limiting post 211, a scanner 202 and a clamping jaw 208 are respectively arranged at both ends of the rotating seat 206. Before grasping the mutual inductor, the mutual inductor is scanned by the scanner 202 first. After determining the placement position of the mutual inductor, under the drive of the flipping motor 213, the rotating seat 206 rotates until the clamping jaw 208 faces downward. After the clamping jaw 208 fixes the mutual inductor, the adjusting motor 210 will drive the mutual inductor to rotate to a suitable position. This design improves the testing efficiency of the mutual inductor.

[0038] First, fix the support base 104 on the horizontal ground, then install the robotic arm on the mounting plate 102. By controlling the telescopic movement of different hydraulic cylinders 103, the mounting plate 102 can drive the robotic arm to rotate vertically at different directions and angles at the positioning point. Through the docking of the positioning bolts 9 at the bottom of the mounting seat 8 with the positioning holes 101 on the limit seat 106, when the limit seat 106 rotates, the robotic arm installed on the limit seat 106 can achieve horizontal rotation. The function of the ball 110 is to reduce the friction between the limit seat 106 and the mounting plate 102 during rotation. Driven by the rotation motor 108, the transmission gear 107 drives the gear ring 105 on the surface of the limit seat 106 to rotate, thereby realizing the rotation of the limit seat 106.

[0039] Driven by the flipping motor 213, the driving pulley 204 drives the driven pulley 212 to rotate through the transmission belt 203, so that the rotating seat 206 in the mounting groove 5 rotates. One end of the limiting column 211, the scanner 202, can scan the position and shape of the mutual inductor to be clamped. Then, when the rotating seat 206 rotates to the other end, under the action of the clamping cylinder 207, the clamping jaws 208 clamp the mutual inductor. Under the action of the adjusting motor 210, the driving bevel gear 205 drives the driven bevel gear 209 on the surface of the limiting column 211 to rotate, realizing the horizontal adjustment of the position of the mutual inductor.

[0040] The above content is only an example and explanation of the structure of the present invention. Those skilled in the art of the present technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the structure of the invention or exceed the scope defined by this claim book, they should all belong to the protection scope of the present invention.

Claims

1. The automated testing device for mutual inductors based on a multi-degree-of-freedom robotic arm, including a mounting base, is characterized in that: The bottom surface of the mounting base is fixedly arranged with positioning bolts in an array. The bottom surface of the mounting base is provided with an adjusting component for the fine movement of the robotic arm. The top surface of the mounting base is provided with a movable arm, and the movable arm is rotatably connected to the mounting base. A movable motor is fixed in the movable seat, and the output end of the movable motor is fixedly connected to the movable arm. The bottom end of the movable arm is provided with a rotating arm, and the rotating arm is rotatably connected to the movable arm. A rotating motor is fixed in the movable arm, and the output end of the rotating motor is fixedly connected to one end of the rotating arm. An installation groove is formed at one end of the rotating arm, and a positioning component for precisely clamping the mutual inductor is arranged in the installation groove.

2. The transformer automatic test device based on a multi-degree-of-freedom robotic arm according to claim 1, characterized in that, The adjusting component includes a mounting plate and a support base. Convex blocks are arranged in an array on the top surface of the support base and the side surface of the mounting plate. Hydraulic cylinders are arranged in an array between the mounting plate and the support base. Universal balls are respectively fixed at both ends of the hydraulic cylinder, and the universal balls are respectively rotatably connected to the convex blocks.

3. The transformer automatic testing device based on a multi-degree-of-freedom robotic arm according to claim 2, wherein A limiting seat is arranged on the top surface of the mounting plate, and the limiting seat penetrates through the mounting plate and is rotatably connected to the mounting plate. A plurality of balls are arranged in an array in the limiting seat, and the balls are in rolling connection with the mounting plate. Positioning holes are formed in an array on the bottom surface of the mounting plate, and the positioning holes respectively penetrate through the limiting seat.

4. The transformer automatic testing device based on a multi-degree-of-freedom robotic arm according to claim 3, wherein, A rotating motor is fixed on the bottom surface of the mounting plate, and the output end of the rotating motor penetrates through the mounting plate. A transmission gear is fixed at the output end of the rotating motor. A gear ring is fixed on the side surface of the limiting seat, and the transmission gear is meshed with the gear ring.

5. The transformer automatic testing device based on a multi-degree-of-freedom robotic arm according to claim 1, wherein The positioning component includes a rotating seat, and the rotating seat is rotatably connected to the installation groove. One end of the rotating seat penetrates through the side surface of the installation groove. A driven belt pulley is fixed at one end of the rotating seat. A flipping motor is fixed in the rotating arm, and the output end of the flipping motor penetrates through the rotating arm. A driving belt pulley is fixed at the output end of the flipping motor. A transmission belt is nested on the surfaces of the driving belt pulley and the driven belt pulley.

6. The transformer automatic testing device based on a multi-degree-of-freedom robotic arm according to claim 5, wherein A limiting column is arranged in the rotating seat, and the limiting column penetrates through the rotating seat and is rotatably connected to the rotating seat. A scanner is fixed at one end of the limiting column, and a clamping cylinder is fixed at the other end of the limiting column. A clamping jaw is arranged at the output end of the clamping cylinder, and the clamping jaw is movably connected to the clamping cylinder.

7. The transformer automatic test device based on a multi-degree-of-freedom robotic arm according to claim 6, wherein An adjusting motor is fixed on the surface of the rotating seat, and the output end of the adjusting motor penetrates through the rotating seat. A driving bevel gear is fixed at the output end of the adjusting motor. A driven bevel gear is fixed on the surface of the limiting column, and the driving bevel gear is meshed with the driven bevel gear.

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