Transformer copper foil feeding equipment and feeding method
By setting up a position detection device to confirm the loading status of the copper foil rolls before transportation, and locking it in place with a locking mechanism, heavy objects are prevented from falling due to improper material handling, thus improving operational safety and material loading efficiency.
Patent Information
- Application Number
- CN202511768971.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-27
- Publication Date
- 2026-02-24
AI Technical Summary
Traditional methods of feeding copper foil into transformers are labor-intensive, have low production efficiency, and pose a safety hazard of accidental slippage of the copper foil roll.
Design a transformer copper foil feeding device, including a mobile platform, a feeding execution mechanism, a drive mechanism, and a scheduling and control system. By setting up a position detection device and a locking mechanism, the device realizes the automated feeding and locking of copper foil rolls, eliminating safety accidents caused by improper feeding and significantly improving operational safety. At the same time, it realizes the full automation of the copper foil roll feeding and unloading process, improving feeding efficiency.
The entire process of automated feeding and unloading of copper foil rolls has been automated, freeing operators from heavy and dangerous manual labor and improving feeding efficiency.
Smart Images
Figure CN121553739A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of transformer manufacturing technology, and more specifically, to a transformer copper foil feeding device and feeding method. Background Technology
[0002] In the transformer manufacturing process, low-voltage coils are typically wound from heavy copper foil rolls on winding equipment. Traditional loading methods rely mainly on operators working with cranes and other lifting equipment for hoisting and installation. This method is not only labor-intensive and inefficient, but also carries the risk of the copper foil rolls accidentally slipping during hoisting and alignment, posing a serious safety hazard.
[0003] Therefore, how to improve the feeding efficiency of transformer copper foil and reduce safety hazards during the feeding process has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention
[0004] In view of this, the purpose of this application is to provide a transformer copper foil feeding device to improve the feeding efficiency of transformer copper foil and reduce safety hazards during the feeding process.
[0005] Another objective of this application is to provide a feeding method applicable to the aforementioned transformer copper foil feeding equipment.
[0006] To achieve the above objectives, this application provides the following technical solution:
[0007] A transformer copper foil feeding device, comprising:
[0008] A mobile platform for moving between a material handling station and a material loading station;
[0009] A rack, which is mounted on the mobile platform;
[0010] A feeding actuator is mounted on the frame and is used to perform the picking and placing of copper foil rolls. The feeding actuator includes a picking mandrel, a locking mechanism, and a position detection device. The picking mandrel is used to insert the copper foil roll, the locking mechanism is used to fix the copper foil roll on the picking mandrel, and the position detection device is used to detect the loading status of the copper foil roll.
[0011] The driving mechanism includes a lifting component and a horizontal moving component. The lifting component is used to drive the feeding actuator to move vertically, and the horizontal moving component is used to drive the feeding actuator to move horizontally, so that the picking mandrel can be inserted into the copper foil roll.
[0012] A scheduling and control system is used to control the coordinated operation of the mobile platform and the feeding mechanism.
[0013] Optionally, in the above-mentioned transformer copper foil feeding equipment, the mobile platform includes an automated guided vehicle, and the automated guided vehicle is equipped with an obstacle avoidance device.
[0014] Optionally, in the above-mentioned transformer copper foil feeding equipment, the automated guided vehicle is equipped with warning lights to project the operating area of the transformer copper foil feeding equipment onto the ground; and / or,
[0015] Safety edge sensors are installed on both sides of the automated guided vehicle; and / or,
[0016] The automated guided vehicle is equipped with equipment status indicator lights, which are used to provide feedback on the operating status of the transformer copper foil feeding equipment.
[0017] Optionally, in the above-mentioned transformer copper foil feeding equipment, the lifting assembly is installed on the frame, and the lifting assembly includes a lifting drive and a lifting seat. The feeding execution mechanism is disposed on the lifting seat, and the lifting drive is used to drive the lifting seat to move in the vertical direction.
[0018] Optionally, in the above-mentioned transformer copper foil feeding equipment, the horizontal moving component is installed on the moving platform, and the horizontal moving component includes a moving drive, a moving guide rail and a moving base. The moving base is installed on the moving guide rail, the moving drive is used to drive the moving base to move along the moving guide rail, and the frame is installed on the moving base.
[0019] Optionally, in the above-mentioned transformer copper foil feeding equipment, the locking mechanism includes a rotating arm and a rotating drive component. The rotating drive component is used to drive the rotating arm to rotate so that the rotating arm can lock or release the end of the picking mandrel.
[0020] Optionally, in the above-mentioned transformer copper foil feeding equipment, the feeding execution mechanism further includes a distance sensor, which is used to detect the distance between the distance sensor and the outer circumferential surface of the copper foil roll.
[0021] Optionally, in the above-mentioned transformer copper foil feeding equipment, the position detection device includes a stroke detection switch, which is installed at the root of the feeding mandrel and is used to output a position signal when the end face of the copper foil roll touches it.
[0022] A feeding method, applicable to the transformer copper foil feeding equipment as described in any of the preceding claims, comprising:
[0023] Step A: The scheduling and control system receives the material loading task and controls the mobile platform to move to the target material picking station;
[0024] Step B: The scheduling and control system controls the feeding actuator to perform a material picking action so that the picking mandrel is inserted into the center hole of the copper foil roll, and the position detection device detects the positioning status of the copper foil roll.
[0025] Step C: The scheduling and control system controls the locking mechanism to lock the copper foil roll and controls the mobile platform to move to the target loading station;
[0026] Step D: The scheduling and control system controls the feeding actuator to perform the feeding action, placing the copper foil roll onto the target equipment.
[0027] Optionally, in the above feeding method, step C further includes:
[0028] The scheduling and control system controls the feeding actuator to lift the copper foil roll vertically, and detects the lifting of the copper foil roll through a distance sensor.
[0029] The transformer copper foil feeding equipment provided in this application can move between the picking station and the feeding station via a mobile platform, and simultaneously drive the feeding actuator to perform the picking and placing actions of the copper foil roll via a drive mechanism. Specifically, a lifting component can drive the feeding actuator to the insertion height of the copper foil roll, and a horizontal moving component drives the feeding actuator to move horizontally, so that the picking mandrel is inserted into the copper foil roll. A position detection device can detect the positioning status of the copper foil roll, and a locking mechanism can fix the copper foil roll onto the picking mandrel, thereby realizing the picking action of the transformer copper foil feeding equipment at the picking station. At this time, the mobile platform moves to the feeding station to perform the feeding. Furthermore, the above feeding process can be controlled by a scheduling and control system to coordinate the operation of the mobile platform and the feeding actuator. As can be seen from the above examples, the transformer copper foil feeding equipment provided in this application confirms the loading status of the copper foil rolls before transportation by setting a position detection device and locks them in place by a locking mechanism. This fundamentally eliminates the safety accident caused by the heavy object falling due to improper material handling, significantly improving operational safety. At the same time, it can realize the full automation of the copper foil rolls from leaving the warehouse, transferring to the winding equipment, freeing operators from heavy and dangerous physical labor and improving feeding efficiency.
[0030] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description
[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0032] Figure 1 An isometric view of the transformer copper foil feeding device provided in the embodiments of this application;
[0033] Figure 2 This is a front view of the transformer copper foil feeding device provided in the embodiments of this application;
[0034] Figure 3 This is a side view of the transformer copper foil feeding device provided in an embodiment of this application.
[0035] Among them, 100 is the transformer copper foil feeding equipment, 10 is the mobile platform, 11 is the automatic guided vehicle, 111 is the obstacle avoidance device, 112 is the warning light, 113 is the equipment status indicator light, 114 is the safety contact sensor, 20 is the frame, 30 is the feeding actuator, 31 is the material picking mandrel, 32 is the locking mechanism, 321 is the rotating arm, 322 is the rotating drive component, 323 is the connecting beam, 33 is the position detection device, 34 is the distance sensor, 40 is the drive mechanism, 41 is the lifting assembly, 411 is the lifting drive component, 412 is the lifting seat, 42 is the horizontal moving assembly, 421 is the moving drive component, 422 is the moving guide rail, and 423 is the moving seat. Detailed Implementation
[0036] The core of this application is to provide a transformer copper foil feeding device to improve the feeding efficiency of transformer copper foil and reduce safety hazards during the feeding process.
[0037] Another core aspect of this application is to provide a feeding method applicable to the aforementioned transformer copper foil feeding equipment.
[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0039] In the transformer manufacturing process, low-voltage coils are typically wound from heavy copper foil rolls on winding equipment. Traditional loading methods rely mainly on operators working with cranes and other lifting equipment for hoisting and installation. This method is not only labor-intensive and inefficient, but also carries the risk of the copper foil rolls accidentally slipping during hoisting and alignment, posing a serious safety hazard.
[0040] Therefore, such as Figure 1 As shown in the figure, this application discloses a transformer copper foil loading device 100, including a mobile platform 10, a frame 20, a loading execution mechanism 30, a drive mechanism 40, and a scheduling and control system. By setting a position detection device 33, the loading status of the copper foil roll is confirmed before transportation, and it is locked and fixed by a locking mechanism 32, which fundamentally eliminates the safety accident caused by the heavy object falling due to improper material handling, significantly improving operational safety. At the same time, it can realize the full automation of the copper foil roll from leaving the warehouse, transferring it to loading onto the winding equipment, freeing operators from heavy and dangerous physical labor and improving loading efficiency.
[0041] The following will combine Figures 1 to 3 The transformer copper foil feeding device 100 disclosed in the embodiments of this application will be explained and described in detail.
[0042] like Figures 1 to 3 As shown, the mobile platform 10 can move between the picking station and the loading station, thereby transporting the copper foil roll from the picking station to the loading station. Furthermore, the frame 20 can be mounted on the mobile platform 10, and the loading actuator 30 can be mounted on the frame 20 to perform the picking and loading actions of the copper foil roll under the drive of the drive mechanism 40. Wherein, as... Figure 1As shown, the drive mechanism 40 may include a lifting assembly 41 and a horizontal moving assembly 42, and the loading execution mechanism 30 may include a picking mandrel 31, a locking mechanism 32, and a position detection device 33. The horizontal moving assembly 42 can drive the loading execution mechanism 30 to move horizontally, so that the picking mandrel 31 can be inserted into the copper foil roll. The position detection device 33 can detect the loading status of the copper foil roll, and the locking mechanism 32 can fix the copper foil roll on the picking mandrel 31, fundamentally eliminating the safety accident caused by the heavy object falling due to improper picking, and significantly improving the safety of operation. At the same time, the height of the loading execution mechanism 30 can be adjusted by the lifting assembly 41 to complete the picking and loading actions. In addition, the loading process can be controlled by the scheduling and control system to make the mobile platform 10 and the loading execution mechanism 30 work together, thereby realizing the fully automatic loading process of the copper foil roll.
[0043] When the scheduling and control system receives a feeding task, it can control the mobile platform 10 to move to the feeding station and drive the feeding mandrel 31 to insert into the center hole of the copper foil roll placed at the feeding station via the horizontal moving component 42. At the same time, the position detection device 33 detects the loading status of the copper foil roll. If the position detection device 33 detects that the copper foil roll is loaded in place, the copper foil roll can be fixed on the feeding mandrel 31 by the locking mechanism 32 and lifted to a safe height by the lifting component 41, thereby completing the feeding action. Then, the mobile platform 10 can move to the feeding station and the height of the feeding execution mechanism 30 can be adjusted by the lifting component 41. At the same time, the horizontal moving component 42 drives the feeding execution mechanism 30 to move towards the winding equipment close to the feeding station so that the feeding mandrel 31 automatically connects with the feeding shaft of the winding equipment, delivering the copper foil roll to the designated position. After it is in place, the locking mechanism 32 opens, and the lifting component 41 drives the feeding mandrel 31 of the feeding execution mechanism 30 to descend until the feeding is completed. At this point, the horizontal moving component 42 drives the feeding actuator 30 to move towards the winding equipment away from the feeding station until the feeding actuator 30 exits the feeding shaft area of the winding equipment. The moving platform 10 then executes the next task or returns to its standby position, completing the entire feeding action. Simultaneously, the automatic locking mechanism of the winding equipment's feeding shaft locks, and the next production stage begins.
[0044] In some embodiments, such as Figure 1As shown, the mobile platform 10 may include an automated guided vehicle (AGV) 11. The AAV 11 serves as the mobile carrier of the entire transformer copper foil loading equipment 100, and can move autonomously along a pre-set path in the factory to facilitate the transfer of the transformer copper foil loading equipment 100 between the waiting point, the material picking station, and the material loading station. To achieve autonomous navigation and precise positioning, the AAV 11 can employ mature navigation technologies in the field, such as laser synchronous positioning and mapping navigation, QR code navigation, or magnetic strip navigation. Simultaneously, the bottom of the AAV 11 is equipped with drive wheels and driven wheels, and its interior integrates a battery pack, drive controller, navigation controller, and a module for wireless communication with the upper-level scheduling and control system, enabling the AAV 11 to move autonomously along the pre-set path in the factory.
[0045] In some embodiments, such as Figures 1 to 3 As shown, to ensure the safety of the automated guided vehicle 11 during operation, an obstacle avoidance device 111 can be installed on the vehicle body. Multiple obstacle avoidance devices 111 can be used, with each device distributed at the front and rear ends of the vehicle body. The obstacle avoidance device 111 can be a laser scanning safety obstacle avoidance device, which can scan a horizontal fan-shaped area along the vehicle's direction of travel in real time. Once it detects personnel, equipment, or other obstacles entering its designated safety area, such as a deceleration zone or a stopping zone, it sends a signal to the drive controller of the automated guided vehicle 11 to control the vehicle to decelerate or stop urgently, thereby effectively avoiding collisions.
[0046] In some embodiments, such as Figures 1 to 3 As shown, safety edge sensors 114 can be installed on both sides of the automated guided vehicle 11, thereby forming a safety monitoring system for the transformer copper foil feeding equipment 100 together with the safety edge sensors 114 and the obstacle avoidance device 111. When a person or object comes into contact with either side of the automated guided vehicle 11, the safety edge sensor 114 can be physically squeezed, thereby triggering a safety signal. At this time, the drive controller of the automated guided vehicle 11 sends a signal to control the vehicle to decelerate or stop urgently, thereby improving safety.
[0047] It should be noted that multiple laser scanning safety obstacle avoidance devices can also be installed on both sides of the automated guided vehicle 11 to effectively avoid collision accidents.
[0048] In some embodiments, such as Figures 1 to 3As shown, to ensure the safe operation of the transformer copper foil feeding equipment 100, warning lights 112 can be installed on the automated guided vehicle 11. Multiple warning lights 112 can be used, with each warning light 112 positioned on both sides and the rear of the automated guided vehicle 11. The warning lights 112 project blue or other colored light onto the ground around the operating area of the transformer copper foil feeding equipment 100, thus alerting workshop personnel to stay away from this area and serving as an electronic fence warning.
[0049] In some embodiments, such as Figures 1 to 3 As shown, the automated guided vehicle 11 can be equipped with an equipment status indicator light 113, and the equipment status indicator light 113 can be linked with the dispatch control system and the safety monitoring system (obstacle avoidance device 111, safety contact sensor 114, emergency stop button). The equipment status indicator light 113 can display different operating status information of the transformer copper foil feeding equipment 100, such as normal operation, encountering obstacles or malfunction, through different colored lights, so as to provide feedback to the equipment maintenance personnel so that the equipment maintenance personnel can carry out inspection and maintenance of the transformer copper foil feeding equipment 100.
[0050] In some embodiments, such as Figure 1 As shown, the automated guided vehicle 11 has an installation space for mounting the frame 20, and the frame 20 can move within the installation space. The frame 20 can be made of high-strength metal profiles, such as square steel or channel steel, welded or bolted together to ensure sufficient rigidity and load-bearing capacity. This allows the transformer copper foil loading equipment 100 to have a maximum load capacity of 3 tons, enabling it to withstand the dynamic and static loads generated during the loading, unloading, and transportation of the copper foil rolls.
[0051] In some embodiments, such as Figure 1 and Figure 3 As shown, the lifting assembly 41 can be installed on the frame 20, and the lifting assembly 41 may include a lifting drive 411 and a lifting seat 412. The feeding execution mechanism 30 can be disposed on the lifting seat 412. The lifting drive 411 can drive the lifting seat 412 to move vertically, thereby driving the feeding execution mechanism 30 to perform lifting actions. The frame 20 may be provided with a lifting guide rail that guides the lifting seat 412, and the lifting seat 412 can be located on the lifting guide rail. The lifting drive 411 can be a lifting motor, connected to the lifting seat 412 via a chain transmission mechanism. This allows the lifting motor to drive the sprocket to rotate, and the chain to drive the lifting seat 412 to move up and down on the lifting guide rail of the frame 20, thereby driving the feeding execution mechanism 30 to perform lifting actions. It should be noted that the lifting drive component 411 can also be a screw motor, telescopic cylinder, telescopic hydraulic cylinder or other drive components to drive the lifting seat 412 to move up and down on the lifting guide rail of the frame 20. This article does not limit it.
[0052] In some embodiments, such as Figure 1 and Figure 3 As shown, the horizontal moving component 42 can be installed on the moving platform 10 to drive the frame 20 to move along the moving direction of the moving platform 10. The horizontal moving component 42 may include a moving drive component 421, a moving guide rail 422, and a moving base 423. The moving guide rail 422 can be installed on the moving platform 10, and the moving base 423 can be installed on the moving guide rail 422. At the same time, the frame 20 can be fixed on the moving base 423, so that the moving drive component 421 can drive the moving base 423 to move along the moving guide rail 422, thereby driving the frame 20 to move along the moving direction of the moving platform 10, and then driving the loading actuator 30 on the frame 20 to perform material picking and unloading actions. The movable base 423 may be equipped with rollers that can move within the movable guide rail 422. The movable drive component 421 may be a movable motor, which can drive the movable base 423 to move back and forth along the moving direction of the movable platform 10 via a gear rack or synchronous belt, thereby driving the frame 20 to move along the moving direction of the movable platform 10, and thus driving the loading actuator 30 on the frame 20 to perform material picking and unloading actions. It should be noted that the movable drive component 421 may also be a lead screw motor, telescopic cylinder, telescopic hydraulic cylinder, or other drive components to drive the movable base 423 to move back and forth along the moving direction of the movable platform 10 on the movable guide rail 422. This is not limited here.
[0053] In the above embodiment, through the coordinated work of the lifting component 41 and the horizontal moving component 42, the feeding execution mechanism 30 can accurately reach the target point in three-dimensional space, thereby completing the precise docking with the warehouse outbound docking station of the picking station or the feeding shaft of the winding equipment of the feeding station.
[0054] In some embodiments, such as Figure 1 and Figure 3 As shown, the picking mandrel 31 can be a cantilevered long shaft with sufficient strength and rigidity, and the outer diameter of the cantilevered long shaft can match the diameter of the center hole of the copper foil roll to be transported, so as to facilitate smooth insertion. The root of the picking mandrel 31 can be connected to the lifting seat 412.
[0055] In some embodiments, such as Figure 1 and Figure 3As shown, the locking mechanism 32 can be disposed at the end of the picking mandrel 31 to reliably fix the copper foil roll onto the picking mandrel 31 after picking up the material, so as to prevent it from slipping out due to bumps or inertia during transportation. The locking mechanism 32 may include a rotating arm 321 and a rotating drive 322. The rotating arm 321 can be installed on the end of the picking mandrel 31 via a connecting beam 323. That is, one end of the connecting beam 323 can be fixed on the lifting seat 412, and the other end of the connecting beam 323 can be mounted on the rotating arm 321. The rotating arm 321 can rotate around the end of the connecting beam 323. At the same time, the rotating drive 322 can be installed on the connecting beam 323 to drive the rotating arm 321 to rotate, thereby allowing the rotating arm 321 to lock or release the end of the picking mandrel 31. After material handling is completed, the rotary drive 322 drives the rotary arm 321 to rotate by a specific angle, such as 90 degrees, so that the rotary arm 321 rotates to a locked position perpendicular to the axis of the material handling mandrel 31. In this locked position, the end of the rotary arm 321 blocks the end face of the copper foil roll, thereby achieving mechanical locking. When released, the rotary drive 322 drives the rotary arm 321 to rotate in the opposite direction, so that the rotary arm 321 disengages from the end of the material handling mandrel 31. It should be noted that the rotary drive 322 can be a rotary motor, a rotary cylinder, a rotary hydraulic cylinder, or other drive components to drive the rotary arm 321 to rotate; this is not limited to these methods in this paper.
[0056] In some embodiments, the locking mechanism 32 may also be an expansion-type locking mechanism, such as an inflatable rubber bladder. The rubber bladder may be built into the interior of the take-up mandrel 31 or embedded in a groove on its surface. The take-up mandrel 31 has an air passage communicating with the rubber bladder, which is connected to an external air source via a rotary joint. When performing the locking action, the scheduling control system controls the solenoid valve to open, introducing compressed air into the rubber bladder, causing the rubber bladder to expand radially under pressure, so that its outer surface presses tightly against the inner wall of the center hole of the copper foil roll. By adjusting the air pressure, a large and evenly distributed frictional force can be generated, thereby firmly fixing the heavy copper foil roll to the take-up mandrel 31. When releasing the copper foil roll, the scheduling control system can control the solenoid valve to switch the air passage, expelling the compressed air from the rubber bladder. The rubber bladder contracts under its own elasticity, thus releasing the locking action.
[0057] In some embodiments, such as Figure 1 and Figure 3As shown, the position detection device 33 can be installed on the lifting base 412. The position detection device 33 can confirm whether the copper foil roll has been completely and securely installed on the picking mandrel 31 before the transformer copper foil feeding equipment 100 begins transportation. The position detection device 33 may include a travel detection switch, which can be installed at the root of the picking mandrel 31, with the trigger face of the travel detection switch facing the end of the picking mandrel 31. When the picking mandrel 31 is inserted into the center hole of the copper foil roll, driven by the horizontal moving component 42, the copper foil roll will gradually move towards the root of the picking mandrel 31 until its end face finally touches the travel detection switch and activates it. The action of the travel detection switch generates a clear electrical signal, which is sent to the scheduling control system as a confirmation signal that the copper foil roll has been installed in place. Only after receiving this confirmation signal will the scheduling control system control the transformer copper foil feeding equipment 100 to perform subsequent locking and transportation actions, thereby effectively avoiding the safety hazard of the roll falling during transportation due to improper material handling.
[0058] In some embodiments, such as Figure 1 and Figure 3 As shown, the feeding actuator 30 may further include a distance sensor 34, which can be installed below the connecting beam 323 to detect the distance between the distance sensor 34 and the outer circumferential surface of the copper foil roll in real time. The distance sensor 34 may be a laser sensor, with its beam pointing vertically downwards, used to detect the distance between the laser sensor and the outer circumferential surface of the copper foil roll in real time, thus providing secondary confirmation of the success of the feeding / unloading operation and further enhancing the reliability of the transformer copper foil feeding equipment 100.
[0059] In some embodiments, the scheduling and control system is the control core of the entire transformer copper foil feeding equipment 100. It can be composed of an industrial PC or an embedded controller to control the mobile platform 10 and the feeding execution mechanism 30 to work together, realize the full-process automation of copper foil rolls from leaving the warehouse, transferring to the winding equipment, freeing operators from heavy and dangerous physical labor and improving feeding efficiency.
[0060] The transformer copper foil feeding device 100 disclosed in this application can move between the picking station and the feeding station via a mobile platform 10. Simultaneously, a drive mechanism 40 drives a feeding execution mechanism 30 to perform the picking and placing of copper foil rolls. Specifically, a lifting component 41 drives the feeding execution mechanism 30 to the insertion height of the copper foil roll, and a horizontal moving component 42 drives the feeding execution mechanism 30 to move horizontally, allowing the picking mandrel 31 to insert into the copper foil roll. A position detection device 33 detects the positioning status of the copper foil roll, and a locking mechanism 32 fixes the copper foil roll to the picking mandrel, thus enabling the transformer copper foil feeding device 100 to pick up material at the picking station. At this time, the mobile platform 10 moves to the feeding station to perform the feeding. Furthermore, the above feeding process can be controlled by a scheduling and control system to coordinate the operation of the mobile platform 10 and the feeding execution mechanism 30.
[0061] The transformer copper foil loading equipment 100 disclosed in this application uses a position detection device 33 to confirm the loading status of the copper foil roll before transportation and locks it in place using a locking mechanism 32. This fundamentally eliminates the safety accident caused by the heavy object falling due to improper material handling, significantly improving operational safety. At the same time, it can realize the full automation of the copper foil roll from leaving the warehouse, transferring it to loading it onto the winding equipment, freeing operators from heavy and dangerous physical labor and improving loading efficiency.
[0062] This application also discloses a feeding method applicable to the transformer copper foil feeding equipment 100 disclosed in the above embodiments. Therefore, it possesses all the technical effects of the aforementioned transformer copper foil feeding equipment 100, and will not be repeated here. The feeding method may include the following steps:
[0063] Step A: The scheduling and control system receives the loading task and controls the mobile platform 10 to move to the target picking station. Specifically, when the copper foil of a winding machine is about to run out, the station operator can initiate a material request through the terminal of the production execution system. This request includes information such as the material code, quantity, and target loading station (i.e., the identification of the winding machine) of the required copper foil roll. After receiving the request, the production execution system issues a warehousing task to the warehouse management system, instructing automated equipment in the warehouse, such as stacker cranes or shuttles, to retrieve the specified copper foil roll from the automated racking and transport it to the designated warehouse outbound connection point, i.e., the picking station. On the other hand, the production execution system issues a transport task to a transformer copper foil loading machine 100 that is in standby mode. After receiving the loading task instruction, the scheduling and control system of the transformer copper foil loading machine 100 controls the mobile platform 10 to move autonomously to the warehouse outbound connection point, i.e., the target picking station, according to the planned path. During the movement, the obstacle avoidance device 111 continues to work to ensure driving safety.
[0064] In step B, the scheduling control system controls the feeding actuator 30 to perform a picking action, so that the picking mandrel 31 is inserted into the center hole of the copper foil roll, and the position detection device 33 detects the positioning status of the copper foil roll. Specifically, after the moving platform 10 moves to the target picking station, it can perform high-precision positioning through its own positioning system (such as a laser reflector or ground QR code) to ensure that the copper foil roll on the vehicle body and the docking platform are in the correct relative position. Then, the transformer copper foil feeding equipment 100 starts to perform the picking action. During the picking action of the feeding actuator 30, the scheduling control system first controls the horizontal moving component 42 to insert the picking mandrel 31 into the center hole of the copper foil roll, and during the insertion of the picking mandrel 31, the scheduling control system continuously monitors the status of the position detection device 33. When the position detection device 33 detects that the copper foil roll has been fed into place, it outputs a level signal indicating that it has been placed (such as a high level or a low level). When the scheduling control system receives this signal, it confirms that the copper foil roll has been installed in place on the picking mandrel 31.
[0065] In step C, the scheduling control system controls the locking mechanism 32 to lock the copper foil roll and controls the moving platform 10 to move to the target loading station. Specifically, after the scheduling control system confirms that the copper foil roll has been loaded into place, it controls the locking mechanism 32 to lock the copper foil roll to prevent it from coming off due to bumps or inertia during transportation. Then, it controls the moving platform 10 to move to the target loading station.
[0066] In some embodiments, after the scheduling control system confirms that the copper foil roll has been fed into place, it controls the locking mechanism 32 to lock the copper foil roll. Then, the scheduling control system drives the feeding execution mechanism 30 through the lifting component 41 to lift the copper foil roll in the vertical direction. When the distance sensor 34 detects that the distance to the outer surface of the copper foil roll no longer changes, it can be confirmed that the picking mandrel 31 has lifted the copper foil roll, that is, the distance sensor 34 detects that the copper foil roll has been lifted. At this time, if the copper foil roll is lifted a certain safe distance, the picking action of the copper foil roll can be completed.
[0067] Step D: The scheduling control system controls the feeding actuator 30 to perform the feeding action, placing the copper foil roll onto the target equipment. Specifically, when the scheduling control system controls the moving platform 10 to move next to the winding equipment at the target feeding station, the scheduling control system can precisely control the lifting component 41 and the horizontal moving component 42 according to the pre-stored feeding axis coordinates of the winding equipment, aligning the picking mandrel 31 carrying the copper foil roll and slowly fitting it onto the feeding axis of the winding equipment. That is, the scheduling control system controls the feeding actuator 30 to perform the feeding action. When the scheduling control system controls the feeding actuator 30 to perform the feeding action, the height of the picking mandrel 31 can be adjusted through the lifting component 41, while the horizontal moving component 42 drives the frame 20 to move forward, i.e., towards the feeding axis of the winding equipment. At this time, the picking mandrel 31 automatically aligns with the feeding axis of the winding equipment, delivering the copper foil roll to the target position. Once the copper foil roll is in place, the locking mechanism 32 opens, and the lifting assembly 41 drives the picking mandrel 31 to descend. If the distance sensor 34 detects a change in the distance from the outer surface of the copper foil roll, it indicates that the copper foil has detached from the picking mandrel 31, meaning the loading is complete. At this point, the horizontal moving assembly 42 drives the frame 20 to move backward, i.e., towards the direction away from the loading shaft of the winding equipment. The picking mandrel 31 exits the loading shaft area of the winding equipment, and simultaneously, the moving platform 10 executes the next task or returns to the standby position, completing the entire loading action. Correspondingly, after receiving the loading completion signal or detecting the roll's arrival through its own sensors, the winding equipment automatically clamps the loading shaft, preparing to begin new production.
[0068] The terminology used in the above embodiments is for the purpose of describing specific embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.
[0069] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0070] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.
[0071] The terms "parallel" and "perpendicular" used in this application refer to "basically parallel" and "basically perpendicular" in practical operation. "Basically parallel" can be understood as parallelism with a certain degree of error, and similarly, "basically perpendicular" can be understood as perpendicularity with a certain degree of error.
[0072] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. A transformer copper foil feeding device, characterized in that, include: A mobile platform (10) is used to move between a material handling station and a material loading station; A rack (20) is mounted on the mobile platform (10); A feeding actuator (30) is mounted on the frame (20). The feeding actuator (30) is used to perform the picking and placing of copper foil rolls. The feeding actuator (30) includes a picking mandrel (31), a locking mechanism (32), and a position detection device (33). The picking mandrel (31) is used to insert the copper foil rolls. The locking mechanism (32) is used to fix the copper foil rolls on the picking mandrel (31). The position detection device (33) is used to detect the loading status of the copper foil rolls. The drive mechanism (40) includes a lifting component (41) and a horizontal moving component (42). The lifting component (41) is used to drive the feeding execution mechanism (30) to move in the vertical direction, and the horizontal moving component (42) is used to drive the feeding execution mechanism (30) to move in the horizontal direction, so that the picking mandrel (31) can be inserted into the copper foil roll. A scheduling and control system is used to control the mobile platform (10) and the feeding execution mechanism (30) to work together.
2. The transformer copper foil feeding device according to claim 1, characterized in that, The mobile platform (10) includes an automated guided vehicle (11), and the automated guided vehicle (11) is equipped with an obstacle avoidance device (111).
3. The transformer copper foil feeding device according to claim 2, characterized in that, The automated guided vehicle (11) is equipped with warning lights (112) that project the operating area of the transformer copper foil feeding equipment (100) onto the ground; and / or, Safety edge sensors (114) are respectively installed on both sides of the automated guided vehicle (11); and / or, The automated guided vehicle (11) is equipped with an equipment status indicator light (113), which is used to provide feedback on the operating status of the transformer copper foil feeding equipment (100).
4. The transformer copper foil feeding device according to claim 1, characterized in that, The lifting assembly (41) is mounted on the frame (20), and the lifting assembly (41) includes a lifting drive (411) and a lifting seat (412). The feeding execution mechanism (30) is disposed on the lifting seat (412), and the lifting drive (411) is used to drive the lifting seat (412) to move in the vertical direction.
5. The transformer copper foil feeding device according to claim 1, characterized in that, The horizontal moving component (42) is mounted on the moving platform (10), and the horizontal moving component (42) includes a moving drive (421), a moving guide rail (422) and a moving base (423). The moving base (423) is mounted on the moving guide rail (422), and the moving drive (421) is used to drive the moving base (423) to move along the moving guide rail (422). The frame (20) is mounted on the moving base (423).
6. The transformer copper foil feeding device according to claim 1, characterized in that, The locking mechanism (32) includes a rotating arm (321) and a rotating drive (322). The rotating drive (322) is used to drive the rotating arm (321) to rotate so that the rotating arm (321) locks or releases the end of the picking mandrel (31).
7. The transformer copper foil feeding device according to claim 1, characterized in that, The feeding actuator (30) also includes a distance sensor (34), which is used to detect the distance between the distance sensor (34) and the outer circumferential surface of the copper foil roll.
8. The transformer copper foil feeding device according to claim 1, characterized in that, The position detection device (33) includes a stroke detection switch, which is installed at the root of the picking mandrel (31). The stroke detection switch is used to output a position signal when the end face of the copper foil roll touches the end face.
9. A feeding method, characterized in that, The transformer copper foil feeding device (100) as described in any one of claims 1 to 8 comprises: Step A: The scheduling and control system receives the material loading task and controls the mobile platform (10) to move to the target material picking station; Step B, the scheduling control system controls the feeding actuator (30) to perform the picking action so that the picking mandrel (31) is inserted into the center hole of the copper foil roll, and the position detection device (33) detects the position status of the copper foil roll; Step C, the scheduling and control system controls the locking mechanism (32) to lock the copper foil roll and controls the moving platform (10) to move to the target loading station; Step D: The scheduling and control system controls the feeding actuator (30) to perform the feeding action and place the copper foil roll on the target equipment.
10. The feeding method according to claim 9, characterized in that, Step C also includes: The scheduling and control system controls the feeding actuator (30) to lift the copper foil roll in the vertical direction, and detects the lifting of the copper foil roll by the distance sensor (34).