An automatic detection line mechanical arm device for a mutual inductor and an operating method thereof

Abstract

The application belongs to the technical field of mechanical hands, and particularly relates to a mutual inductor automatic detection line mechanical hand device and an operation method. The device comprises a base, a detection line installed on the base, a workpiece placed on the detection line, a detection unit installed on the base, a multi-axis mechanical hand installed on the base, a relay plate connected to the output end of the multi-axis mechanical hand, a fixing posture compensator arranged on the relay plate, a movable cavity arranged in the relay plate, a guide sliding groove arranged on the top of the relay plate, the guide sliding groove being in communication with the movable cavity, and a plurality of guide sliding grooves being arranged in a ring shape at equal intervals with the center of the relay plate as a reference. The device can reduce problems such as eccentric clamping, placement jamming, and inaccurate detection interface docking, improve the positioning accuracy and detection stability of the workpiece, avoid problems such as workpiece wear, abnormal stress of clamping jaws, and detection failure, and further improve the overall use effect of the device.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, specifically a robotic arm device and operating method for an automatic detection line of current transformers. Background Technology

[0002] With the rapid development of the intelligent manufacturing equipment industry and the continuous improvement of industrial automation, program-controlled robotic arms have been widely used in automatic inspection lines for instrument transformers. They are responsible for processes such as gripping, handling, positioning, and loading / unloading instrument transformer workpieces. They can combine vision inspection technology with preset trajectories to complete the automatic flow of workpieces between various inspection stations, effectively improving inspection efficiency and production consistency. Since there are many models of instrument transformers, different batches of products generally have certain differences in terms of external dimensions, assembly tolerances, and placement postures. Therefore, when performing gripping and placement actions, the robotic arm must ensure that the end effector can accurately align with the workpiece and inspection fixture to meet the positioning accuracy requirements in the automatic inspection process.

[0003] In existing technologies, to ensure that robotic arms can accurately complete gripping and placement actions, position correction is usually achieved by relying on the repeatability of the robot body, industrial vision positioning systems, or high-precision inspection fixtures, so that the robotic arm can complete the gripping and placement of workpieces according to a preset trajectory. However, when the actual position of the current transformer is slightly offset due to processing errors, placement deviations, or fixture wear, the end effector gripper of the robotic arm still performs gripping and placement actions in a fixed posture. It lacks the ability to adaptively compensate for small position deviations based on vision intelligence, which can easily lead to problems such as gripping eccentricity, placement jamming, and inaccurate detection interface docking. This not only affects the detection efficiency and stability, but may also cause workpiece wear, abnormal gripper force, or even detection failure, reducing the overall effectiveness of the device. Summary of the Invention

[0004] In view of the above situation and to overcome the defects of the prior art, the present invention provides a robotic arm device and operating method for an automatic testing line of current transformers, which effectively solves the problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic inspection line robot device for current transformers, comprising a base; an inspection line mounted on the base, on which a workpiece is placed; an inspection unit mounted on the base; a multi-axis robot mounted on the base; a relay plate connected to the output end of the multi-axis robot; a fixed posture compensator provided on the relay plate for automatically calibrating the center position of the workpiece when it is clamped to the inspection unit for operation; the fixed posture compensator includes a movable cavity disposed within the relay plate; A guide chute is provided on the top of the relay plate; the guide chute is connected to the movable cavity; a plurality of guide chute are arranged in a ring at equal intervals with the center of the relay plate as the reference. A guide slider is fitted into a guide groove; the guide slider and the guide groove are slidably engaged. A shielding plate is installed on both sides of the guide slider; the shielding plate is located on both sides of the guide groove, one shielding plate is located on the top of the relay plate, and the other shielding plate is located in the movable cavity; the size of the shielding plate is larger than the guide groove. Guide base, installed on the shielding square plate inside the movable cavity; Guide seat, connected to the side of guide base; The movable cavity is equipped with a centering cleaning unit for cleaning the inner wall of the workpiece; the centering cleaning unit includes a positioning rotating shaft, which is installed on the relay plate; One end of the positioning shaft is located inside the movable cavity and is connected to a first bevel tooth; The other end of the positioning shaft is located on the outer wall of the relay plate and is connected to a rotating half gear.

[0006] Preferably, it includes a guide wheel, which is mounted on a guide base; Guide block, installed on guide base; A guide cylinder is fixedly connected to the inner wall of the movable cavity; the guide base block is connected through the guide cylinder, and the two are slidably engaged. A guide spring is sleeved on a guide cylinder; one end of the guide spring is fixedly connected to the inner wall of the movable cavity, and the other end is fixedly connected to the guide base block.

[0007] Preferably, it includes a telescopic cylinder body, which is installed on the bottom surface of the movable cavity; A cross-shaped connecting block is attached to the output end of the telescopic cylinder. Guide inclined blocks are installed on cross connecting blocks; the number and position of the guide inclined blocks correspond one-to-one with the guide grooves; the guide wheel is located on the moving path of the inclined surface of the guide inclined block; the inclined surfaces of several guide inclined blocks are all facing away from each other.

[0008] Preferably, it includes a positioning base, which is installed on the outer wall of the relay plate; A positioning slide post is connected through the top of the positioning base; the positioning base and the positioning slide post are slidably engaged. A positioning base plate is connected to both ends of a positioning slide column; two positioning base plates are connected to a positioning toothed frame; the rotating half gear is located inside the positioning toothed frame, and the two mesh with each other; A positioning spring is sleeved on a positioning slide post; one end of the positioning spring is fixedly connected to the positioning base plate, and the other end is fixedly connected to the positioning base.

[0009] Preferably, it includes an auxiliary base plate, which is mounted on the positioning tooth frame; An electric telescopic device is connected to the side of the auxiliary base plate away from the relay plate; A first elastic rod is installed on the output end of the electric expansion joint; an arc-shaped scraper is installed on the first elastic rod; the inner wall of the workpiece is located on the moving path of the arc-shaped scraper.

[0010] Preferably, it includes a fixing base connected to a shielding square plate on top of the relay plate; A retaining square tube is installed on a retaining base; a retaining square column is fitted inside the retaining square tube, and the two are slidably connected. A retaining horizontal plate is installed on a retaining square column; a retaining cylindrical column is connected through the retaining horizontal plate, and the two are slidably engaged. The retaining arc block is installed on the retaining cylinder; the inner wall of the workpiece is located on the moving path of the retaining arc block. A retaining spring is sleeved on a retaining cylinder; one end of the retaining spring is fixedly connected to a retaining arc block, and the other end is fixedly connected to a retaining horizontal plate. A compression spring is installed inside a fixed-position square tube; one end of the compression spring is fixedly connected to the bottom surface inside the fixed-position square tube, and the other end is fixedly connected to the fixed-position square column; the strength of the fixed-position spring is greater than that of the compression spring.

[0011] Preferably, the fixed-position square tube is provided with an exhaust adsorption assembly; the exhaust adsorption assembly includes a limiting hollow tube connected to the fixed-position square tube; the limiting hollow tube is connected to the fixed-position square tube. A limiting cylinder is fitted and connected to the end of the limiting hollow cylinder away from the fixed square cylinder; the limiting cylinder and the limiting hollow cylinder are in sliding fit. The limiting toothed frame is installed at the end of the limiting cylinder away from the fixed square tube; A limiting spring is sleeved on a limiting cylinder; one end of the limiting spring is fixedly connected to a limiting tooth frame, and the other end is fixedly connected to a fixed square tube. An active sliding cylinder is installed on a fixed square tube; A driven hollow column is installed on a retaining arc block; a retaining cavity is provided inside the retaining arc block; the driven hollow column is connected to the retaining cavity; the driven hollow column and the active slide cylinder are fitted together and slide in cooperation.

[0012] Preferably, a limiting base is installed on the retaining base; a limiting gear is connected to one side of the limiting base, and a limiting cam is connected to the other side; the limiting gear is located within the limiting gear frame, and the two are meshed; a reciprocating base plate is installed on the limiting base; a reciprocating slide column is connected through the reciprocating base plate near the limiting cam; the reciprocating slide column is slidably engaged with the reciprocating base plate; one end of the reciprocating slide column is connected to a reciprocating square plate, and the other end is connected to a reciprocating cross block; the reciprocating cross block is located on the rotation path of the outer wall of the limiting cam; a reciprocating spring is sleeved on the reciprocating slide column; one end of the reciprocating spring is fixedly connected to the reciprocating base plate, and the other end is fixedly connected to the reciprocating square plate; the retaining base plate is installed on the limiting base. A gas generating box is installed on the base; the reciprocating plate is fitted into the gas generating box, and the two are slidably engaged; a gas exchange pipe is installed on the side of the gas generating box away from the reciprocating plate; a main valve is installed in the gas exchange pipe; a connecting hose is installed on the gas generating box; the connecting hose is connected to the active sliding cylinder, and the two are in communication; a secondary valve is installed in the connecting hose; a drive slot is provided on the side of the stationary arc block near the inner wall of the workpiece; the drive slot is connected to the stationary cavity; a second elastic rod is connected in the stationary cavity; a rubber tube is installed on the second elastic rod; the rubber tube is fitted into the drive slot, and the two are slidably engaged; the initial position of the rubber tube is located on the outer wall of the stationary arc block.

[0013] Preferably, it includes a fixed pulley connected to the movable cavity; A transmission base is installed inside the movable cavity; a transmission shaft is connected to the transmission base. The winding roller is mounted on the drive shaft; The cable is connected at one end to the guide seat and at the other end after passing over the fixed pulley and winding onto the winding roller; The second bevel gear is connected to the drive shaft; the second bevel gear meshes with the first bevel gear. A clockwork spring is connected to the drive shaft; the end of the clockwork spring is fixedly connected to the drive base.

[0014] The present invention also provides an operation method for a robotic arm device for an automatic testing line of current transformers, comprising the following steps: S1. Place the workpiece on the inspection line for conveying. The multi-axis robot moves the relay plate above the workpiece, so that the fixed posture compensator extends into the inner hole of the workpiece. S2. The fixed posture compensator compensates for the center position of the workpiece, and the centering cleaning unit starts synchronously to complete the cleaning of the inner wall of the workpiece. S3. After the multi-axis robot arm finishes gripping the workpiece, it moves the workpiece to the detection unit for automatic detection. After the detection is completed, it returns to the detection line for the next workpiece operation.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) By using the fixed posture compensator, the telescopic cylinder drives several guide blocks to move synchronously, and in conjunction with the guide wheel, guide slider, guide spring and fixed arc block to form a radial adaptive compensation mechanism, so that several fixed arc blocks can expand outward synchronously according to the actual position of the workpiece and automatically compensate for dimensional tolerances and placement deviations, so that the workpiece is automatically adjusted to the center position of the relay plate, realizing the self-centering clamping of the workpiece, reducing problems such as clamping eccentricity, placement jamming, and inaccurate detection interface docking, which not only improves detection efficiency and detection stability, but also avoids problems such as workpiece wear, abnormal force on the clamping jaws or even detection failure, further improving the overall use effect of the device; (2) After the fixed arc block completes mechanical clamping, the air inside the fixed square tube is compressed by the fixed square column as a power source to drive the exhaust adsorption component to continuously pump out the air in the fixed cavity, so that a vacuum adsorption state is formed between the rubber tube and the inner wall of the workpiece. On the basis of mechanical clamping, the workpiece fixing ability is further improved, and the loosening and dislocation of the workpiece due to vibration, inertia or rapid movement during handling and inspection are effectively prevented, thereby improving the detection accuracy and reliability. (3) Through the centering cleaning unit, the rotating half gear, positioning tooth frame and arc scraper are synchronously driven to perform reciprocating cleaning during the compensation process of the fixed posture compensator. The arc scraper pre-treats the workpiece clamping area for dust and chip removal, and pre-positions the workpiece inner hole in a circumferential direction, so that the fixed arc block is in full contact with the clean clamping surface, improving the clamping reliability and avoiding the impact of dust, iron filings and processing residues on clamping stability. At the same time, it further reduces the workpiece clamping eccentricity and improves the overall use effect of the device. (4) By setting the compression spring and the retention spring to different elastic strengths, the compression spring first compresses and drives the exhaust adsorption component to complete the vacuum adsorption. Then the retention spring continues to provide elastic buffer and compensation stroke, so that when the workpiece is subjected to external impact or has dimensional tolerance, the retention arc block can still automatically compensate for the change in workpiece position and maintain stable clamping, reduce the impact load generated by rigid clamping and abnormal force on the gripper, realize the synergistic effect of mechanical clamping, elastic compensation and vacuum adsorption, and further improve the service life of the device and the overall detection effect. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0017] In the attached diagram: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the relay plate structure of the present invention; Figure 3 This is a diagram of the interior of the movable cavity of the present invention; Figure 4 This is a cross-sectional view of the active sliding cylinder of the present invention; Figure 5 This is a schematic diagram of the shielding square plate structure of the present invention; Figure 6 This is a cross-sectional view of the guide block of the present invention; Figure 7 This is a cross-sectional view of the guide wheel of the present invention; Figure 8 This is a cross-sectional view of the retaining square tube of the present invention; Figure 9 This is a cross-sectional view of the guide groove of the present invention; Figure 10 This is a cross-sectional view of the limiting hollow cylinder of the present invention; Figure 11 This is a schematic diagram of the retaining arc block structure of the present invention; Figure 12 This is a schematic diagram of the arc-shaped scraper structure of the present invention; Figure 13 This is a cross-sectional view of the gas-generating box of the present invention; Figure 14 This is a cross-sectional view of the fixed cavity of the present invention; In the diagram: 1. Base; 2. Detection line; 3. Detection unit; 4. Multi-axis robot; 5. Relay plate; 6. Movable cavity; 7. Guide groove; 8. Guide slider; 9. Blocking square plate; 10. Guide base; 11. Guide square base; 12. Positioning shaft; 13. First bevel gear; 14. Rotary half gear; 15. Guide wheel; 16. Guide block; 17. Guide cylinder; 18. Guide spring; 19. Telescopic cylinder; 20. Cross connecting block; 21. Guide inclined block; 22. Positioning base; 23. Positioning slide column; 24. Positioning base plate; 25. Positioning tooth frame; 26. Positioning spring; 27. Auxiliary base plate; 28. Electric telescopic device; 29. ​​First elastic rod; 30. Arc-shaped scraper; 31. Fixing base; 32. Fixing square cylinder; 33. Fixing square column; 34. Retaining horizontal plate; 35. Retaining cylinder; 36. Retaining arc block; 37. Retaining spring; 38. Compression spring; 39. Limiting hollow cylinder; 40. Limiting cylinder; 41. Limiting gear frame; 42. Limiting spring; 43. Driving slide cylinder; 44. Driven hollow column; 45. Retaining cavity; 46. Limiting base; 47. Limiting gear; 48. Limiting cam; 49. Reciprocating base plate; 50. Reciprocating slide column; 51. Reciprocating square plate; 52. Reciprocating horizontal block; 53. Reciprocating spring; 54. Gas generating square box; 55. Air exchange pipe; 56. Connecting hose; 57. Drive slot; 58. Second elastic rod; 59. Rubber hollow tube; 60. Fixed pulley; 61. Transmission base; 62. Transmission shaft; 63. Winding roller; 64. Cable; 65. Second bevel gear; 66. Clock spring. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] Implementation examples, by Figures 1 to 14The present invention includes a base 1; a detection line 2 is mounted on the base 1, and a workpiece is placed on the detection line 2; a detection unit 3 is mounted on the base 1; a multi-axis robot 4 is mounted on the base 1; a relay plate 5 is connected to the output end of the multi-axis robot 4; a fixation posture compensator is provided on the relay plate 5 for automatically calibrating the center position of the workpiece when it is clamped to the detection unit 3 for operation; the fixation posture compensator includes a movable cavity 6 disposed within the relay plate 5; a guide groove 7 disposed on the top of the relay plate 5; the guide groove 7 is connected to the movable cavity 6; a plurality of guide grooves 7 are arranged in a ring at equal intervals with the center of the relay plate 5 as a reference; and a guide slider 8 is fitted and connected to the guide. Inside the slide groove 7; the guide slider 8 slides in cooperation with the guide slide groove 7; the shielding square plate 9 is installed on both sides of the guide slider 8; the shielding square plate 9 is located on both sides of the guide slide groove 7, one shielding square plate 9 is located on the top of the relay plate 5, and the other shielding square plate 9 is located inside the movable cavity 6; the size of the shielding square plate 9 is larger than the guide slide groove 7; the guide base 10 is installed on the shielding square plate 9 inside the movable cavity 6; the guide square seat 11 is connected to the side of the guide base 10; the guide wheel 15 is installed on the guide base 10; the guide base block 16 is installed on the guide base 10; the guide cylinder 17 is fixedly connected to the inner wall of the movable cavity 6; the guide base block 16 and the guide cylinder 17 are connected through each other and slide in cooperation. Guide spring 18, sleeved on guide cylinder 17; one end of guide spring 18 is fixedly connected to the inner wall of movable cavity 6, and the other end is fixedly connected to guide base block 16; telescopic cylinder 19, installed on the inner bottom surface of movable cavity 6; cross connecting block 20, connected to the output end of telescopic cylinder 19; guide inclined block 21, installed on cross connecting block 20; the number and position of guide inclined blocks 21 correspond one-to-one with guide slide 7; guide wheel 15 is located on the moving path of the inclined surface of guide inclined block 21; the inclined surfaces of several guide inclined blocks 21 are all facing away from each other; fixed base 31, connected to the shielding square plate 9 on the top of relay plate 5; fixed square tube 32, installed on fixed base 31; fixed square tube 32 A retaining square post 33 is internally fitted and slidably connected to the retaining square post 33; a retaining horizontal plate 34 is installed on the retaining square post 33; a retaining cylinder 35 is slidably connected through the retaining horizontal plate 34; a retaining arc block 36 is installed on the retaining cylinder 35; the inner wall of the workpiece is located on the moving path of the retaining arc block 36; a retaining spring 37 is sleeved on the retaining cylinder 35; one end of the retaining spring 37 is fixedly connected to the retaining arc block 36, and the other end is fixedly connected to the retaining horizontal plate 34; a compression spring 38 is disposed inside the retaining square tube 32; one end of the compression spring 38 is fixedly connected to the inner bottom surface of the retaining square tube 32, and the other end is fixedly connected to the retaining square post 33; the strength of the retaining spring 37 is greater than that of the compression spring 38. When the equipment is in use, the multi-axis manipulator 4 moves the relay plate 5 above the detection line 2, causing the fixed posture compensator to extend into the inner hole of the current transformer workpiece. Then, the telescopic cylinder 19 is activated, pushing the cross connecting block 20 to move synchronously, causing several guide inclined blocks 21 to advance synchronously in the same direction. Because the guide wheel 15 always maintains rolling contact with the inclined surface of the corresponding guide inclined block 21, when the guide inclined block 21 continues to move, its inclined surface generates a radial component force on the guide wheel 15, driving the guide base 10 to drive the guide slider 8 to slide synchronously in opposite directions along the guide groove 7. During the movement of the slider 8, the guide base 16 slides synchronously along the guide cylinder 17 and compresses the guide spring 18, enabling each guide slider 8 to form a stable and elastic radial compensation movement within the guide groove 7. This, in turn, drives the corresponding retaining base 31, retaining square cylinder 32, and retaining square column 33 to move outward synchronously, causing several retaining arc blocks 36 to gradually expand towards the inner wall of the workpiece. When each retaining arc block 36 contacts the inner wall of the workpiece, due to dimensional tolerances, placement offsets, and inner hole position errors in different workpieces, the contact time of each retaining arc block 36 is not completely consistent. Continued elastic compression allows the remaining retaining arc blocks 36, which have not yet contacted the workpiece, to continue moving outwards until all retaining arc blocks 36 form uniform contact with the inner wall of the workpiece. This automatically adjusts the center position of the workpiece to the center position of the relay plate 5, achieving automatic compensation and positioning of the workpiece's posture and position. This avoids the eccentric clamping phenomenon caused by the fixed posture clamping of traditional robotic arms. At the same time, the guide slider 8 is always restricted by the guide groove 7, allowing only radial movement. This ensures synchronous guidance throughout the compensation process, preventing excessive unilateral displacement that could cause workpiece tilting. After clamping, the workpiece remains coaxial with the detection unit 3, providing a stable positioning reference for subsequent detection. This improves the robotic arm's adaptability to different batches of current transformer workpieces and effectively reduces problems such as clamping offset, detection interface misalignment, and placement jamming caused by processing errors and placement deviations. It also improves the positioning accuracy and detection stability during automatic detection. As a result, the device reduces problems such as clamping eccentricity, placement jamming, and inaccurate detection interface docking. This not only improves detection efficiency and stability but also avoids problems such as workpiece wear, abnormal gripper force, and even detection failure, further enhancing the overall performance of the device.

[0020] In this embodiment, a centering cleaning unit is provided inside the movable cavity 6 for cleaning the inner wall of the workpiece. The centering cleaning unit includes a positioning rotating shaft 12, which is installed on the relay plate 5. One end of the positioning rotating shaft 12 is located inside the movable cavity 6 and is connected to a first bevel gear 13. The other end of the positioning rotating shaft 12 is located on the outer wall of the relay plate 5 and is connected to a rotating half gear 14. A positioning base 22 is installed on the outer wall of the relay plate 5. A positioning slide post 23 is connected through to the top of the positioning base 22. The positioning base 22 and the positioning slide post 23 are in sliding engagement. A positioning base plate 24 is connected to both ends of the positioning slide post 23. The two positioning base plates 24 are connected to a positioning tooth frame 25. The rotating half gear 14 is located inside the positioning tooth frame 25 and the two mesh with each other. A positioning spring 26 is sleeved on the positioning slide post 23. One end of the positioning spring 26 is fixedly connected to the positioning base plate 24 and the other end is fixed to the positioning base 22. Connections include: an auxiliary base plate 27 mounted on a positioning toothed frame 25; an electric telescopic device 28 connected to the side of the auxiliary base plate 27 away from the relay plate 5; a first elastic rod 29 mounted on the output end of the electric telescopic device 28; an arc-shaped scraper 30 mounted on the first elastic rod 29; the inner wall of the workpiece located on the moving path of the arc-shaped scraper 30; a fixed pulley 60 connected to the movable cavity 6; a transmission base 61 mounted in the movable cavity 6; a transmission shaft 62 connected to the transmission base 61; a winding roller 63 mounted on the transmission shaft 62; a cable 64, one end connected to the guide seat 11, the other end passing over the fixed pulley 60 and wound around the winding roller 63; a second bevel tooth 65 connected to the transmission shaft 62; the second bevel tooth 65 meshing with the first bevel tooth 13; and a spring 66 connected to the transmission shaft 62; the end of the spring 66 fixedly connected to the transmission base 61. During the use of the fixed attitude compensator, when the guide base 10 moves outward, it synchronously drives the guide square base 11 to move. The guide square base 11 pulls the cable 64 around the fixed pulley 60, causing the winding roller 63 to rotate synchronously with the transmission shaft 62. This puts the spring spring 66 in a buffer state, so that when it resets, it can drive the winding roller 63 to reset and rotate, rewinding the cable 64 and driving the second bevel tooth 65 to rotate, making it mesh with the first bevel tooth 13 to rotate, thereby causing the rotating half gear 14 to rotate. Since the rotating half gear 14 only... Part of the circumference is equipped with teeth. Therefore, when the toothed segment rotates to the position of the positioning tooth frame 25, the rotating half gear 14 meshes with the positioning tooth frame 25, pushing the positioning tooth frame 25 to move in one direction along the positioning slide post 23 and compressing the positioning spring 26. As the rotating half gear 14 continues to rotate, when the toothless segment rotates to the position of the positioning tooth frame 25, the two disengage. The positioning tooth frame 25, which has lost its driving force, returns to its initial position along the positioning slide post 23 under the elastic force of the positioning spring 26, until the toothed segment rotates again. After moving to the positioning tooth frame 25, the above actions are repeated to make the positioning tooth frame 25 form a stable and continuous reciprocating linear motion. At the same time, the electric telescopic device 28 is activated first, and its output end pushes the first elastic rod 29 to extend inward to the workpiece, so that the arc-shaped scraper 30 gently fits against the inner wall of the workpiece. After maintaining contact, the reciprocating motion of the positioning tooth frame 25 drives the auxiliary base plate 27 and the electric telescopic device 28 to move synchronously back and forth, so that the arc-shaped scraper 30 repeatedly scrapes along the inner wall of the workpiece, removing dust, iron filings and processing residues attached to the workpiece clamping area, providing a clean and accurate contact surface for the subsequent clamping of the retaining arc block 36, improving the clamping effect of the workpiece, avoiding the workpiece falling due to the presence of impurities affecting the clamping stability during the clamping process, reducing the limitations of the device's use, and improving the device's use effect. At the same time, several arc-shaped scrapers 30 extend outward simultaneously and contact the inner wall of the workpiece, which can also guide the inner hole of the workpiece in advance, making the center position of the workpiece more accurate, and further reducing the problem of clamping eccentricity.

[0021] In this embodiment, an exhaust adsorption assembly is provided on the fixed square tube 32. The exhaust adsorption assembly includes a limiting hollow tube 39 connected to the fixed square tube 32; the limiting hollow tube 39 is in communication with the fixed square tube 32; a limiting cylinder 40 is fitted and connected to the end of the limiting hollow tube 39 away from the fixed square tube 32; the limiting cylinder 40 and the limiting hollow tube 39 are in sliding fit; a limiting toothed frame 41 is installed on the end of the limiting cylinder 40 away from the fixed square tube 32; a limiting spring 42 is sleeved on the limiting cylinder 40; one end of the limiting spring 42 is fixedly connected to the limiting toothed frame 41, and the other end is fixedly connected to the fixed square tube 32. The active slide cylinder 43 is mounted on the fixed square cylinder 32; the driven hollow column 44 is mounted on the fixed arc block 36; the fixed arc block 36 has a fixed cavity 45; the driven hollow column 44 is connected to the fixed cavity 45; the driven hollow column 44 and the active slide cylinder 43 are fitted together and slide in cooperation; a limiting base 46 is mounted on the fixed base 31; a limiting gear 47 is connected to one side of the limiting base 46 and a limiting cam 48 is connected to the other side; the limiting gear 47 is located in the limiting gear frame 41 and the two are meshed; a reciprocating base plate 49 is mounted on the limiting base 46; the reciprocating base plate 49 is close to the limiting cam. A reciprocating slide column 50 is connected through one side of the limiting cam 48; the reciprocating slide column 50 is slidably engaged with the reciprocating base plate 49; one end of the reciprocating slide column 50 is connected to a reciprocating square plate 51, and the other end is connected to a reciprocating horizontal block 52; the reciprocating horizontal block 52 is located on the rotation path of the outer wall of the limiting cam 48; a reciprocating spring 53 is sleeved on the reciprocating slide column 50; one end of the reciprocating spring 53 is fixedly connected to the reciprocating base plate 49, and the other end is fixedly connected to the reciprocating square plate 51; a gas generating box 54 is installed on the fixing base 31; the reciprocating square plate 51 is fitted into the gas generating box 54, and the two are slidably engaged; the gas generating box 54 is away from the reciprocating plate 51. A ventilation pipe 55 is installed on one side; a main valve is installed inside the ventilation pipe 55; a connecting hose 56 is installed on the gas generating box 54; the connecting hose 56 is connected to the active slide cylinder 43, and the two are connected; a secondary valve is installed inside the connecting hose 56; a drive slot 57 is provided on the side of the fixed arc block 36 near the inner wall of the workpiece; the drive slot 57 is connected to the fixed cavity 45; a second elastic rod 58 is connected inside the fixed cavity 45; a rubber tube 59 is installed on the second elastic rod 58; the rubber tube 59 is fitted into the drive slot 57, and the two slide together; the initial position of the rubber tube 59 is located on the outer wall of the fixed arc block 36. When all the retaining arc blocks 36 on the retaining posture compensator are in contact with the inner wall of the workpiece, the workpiece restricts the retaining arc blocks 36 from moving outward, while the telescopic cylinder 19 continues to push the cross connecting block 20 to move, causing the retaining square column 33 to continue sliding inward relative to the retaining square tube 32. Since the elastic strength of the compression spring 38 is less than that of the retaining spring 37, the retaining square column 33 compresses the compression spring 38 first when it continues to move, causing the internal volume of the retaining square tube 32 to gradually decrease, thereby continuously compressing the air inside the retaining square tube 32 and pushing the compressed air into the limiting hollow tube 39 connected to it. The compressed air pushes the limiting cylinder 40 to move along the limiting hollow tube 39, causing the limiting tooth frame 41 to move synchronously, and also putting the limiting spring 42 in a buffer state, allowing it to reset. The limiting gear frame 41 can be moved to reset; the movement of the limiting gear frame 41 drives the limiting gear 47 to rotate, and the limiting gear 47 further drives the limiting cam 48 to rotate synchronously. During the rotation, the limiting cam 48 periodically presses against the reciprocating horizontal block 52, causing the reciprocating slide column 50 to drive the reciprocating square plate 51 to slide back and forth in the gas generating box 54; when the reciprocating plate 51 moves away from the air exchange pipe 55, the internal volume of the gas generating box 54 increases to form a negative pressure, the main valve in the air exchange pipe 55 closes, and at the same time the secondary valve in the connecting hose 56 opens, so that the air in the active slide cylinder 43, the driven hollow column 44 and the fixed cavity 45 are drawn into the gas generating box 54; when the reciprocating plate 51 moves in the opposite direction, the air inside the gas generating box 54 is compressed, the secondary valve closes and the main valve opens. When activated, air is discharged to the outside through the ventilation pipe 55, thereby continuously forming a one-way air extraction cycle in the gas generating box 54, constantly expelling the air from the fixed cavity 45. After the fixed posture compensator clamps the workpiece through several fixed arc blocks 36, the rubber tube 59 on the fixed arc block 36 contacts the inner wall of the workpiece, and continuously compresses the second elastic rod 58, causing the rubber tube 59 to move in a limited position at the drive slot 57. This ensures that the contact area between the fixed arc block 36 and the inner wall of the workpiece is large, while also ensuring sufficient contact between the rubber tube 59 and the inner wall of the workpiece. Since the rubber tube 59 is connected to the fixed cavity 45, a negative pressure gradually forms at the rubber tube 59. Under the action of pressure difference, it adheres more tightly to the inner wall of the workpiece, forming a vacuum adsorption state with the fixed arc block 36, further enhancing the clamping effect on the workpiece. This design ensures effective operation and prevents workpiece dislocation during inspection, thus maintaining the workpiece's lifespan and the device's inspection accuracy. It also effectively prevents workpiece loosening due to vibration or rapid movement of the robotic arm, enhancing the device's performance. Simultaneously, since the compression spring 38 completes compression first, after reaching its compression limit, the retaining column 33 continues to move and compresses the retaining spring 37, which has greater elastic strength, ensuring the retaining arc block 36 retains a certain degree of elastic floating capability. When the workpiece experiences slight displacement due to dimensional tolerances, inspection tooling errors, or the robotic arm's inertia, the retaining spring 37 continues to provide buffer stroke, ensuring the retaining arc block 36 remains stably pressed against the workpiece's inner wall and automatically compensates for changes in workpiece position, preventing impact or sudden increases in clamping force caused by rigid clamping.Meanwhile, the fixed column 33 continuously maintains a compressed state on the air inside the fixed cylinder 32, enabling the exhaust adsorption assembly to maintain a continuous negative pressure adsorption effect. This achieves a synergistic effect of mechanical clamping, elastic compensation, and vacuum adsorption, further improving the clamping stability, positioning accuracy, and detection reliability during the handling and testing of the instrument transformer.

[0022] The present invention also provides an operation method for a robotic arm device for an automatic testing line of current transformers, comprising the following steps: S1. Place the workpiece on the inspection line 2 for conveying. The multi-axis robot 4 drives the relay plate 5 to move above the workpiece, so that the fixed posture compensator extends into the inner hole of the workpiece. S2. The fixed posture compensator compensates for the center position of the workpiece, and the centering cleaning unit starts synchronously to complete the cleaning of the inner wall of the workpiece. S3. After the multi-axis robot arm 4 has finished clamping the workpiece, it moves the workpiece to the detection unit 3 for automatic detection. After the detection is completed, it returns to the detection line 2 to perform the next workpiece operation.

[0023] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm device for an automatic testing line of instrument transformers, comprising a base; characterized in that: A detection line is installed on the base, and a workpiece is placed on the detection line; a detection unit is installed on the base; a multi-axis robot is installed on the base; a relay plate is connected to the output end of the multi-axis robot; a fixation attitude compensator is provided on the relay plate, which is used to automatically calibrate the center position of the workpiece when the workpiece is clamped to the detection unit for operation; the fixation attitude compensator includes a movable cavity, which is disposed within the relay plate; A guide chute is provided on the top of the relay plate; the guide chute is connected to the movable cavity; a plurality of guide chute are arranged in a ring at equal intervals with the center of the relay plate as the reference. A guide slider is fitted into a guide groove; the guide slider and the guide groove are slidably engaged. A shielding plate is installed on both sides of the guide slider; the shielding plate is located on both sides of the guide groove, one shielding plate is located on the top of the relay plate, and the other shielding plate is located in the movable cavity; the size of the shielding plate is larger than the guide groove. Guide base, installed on the shielding square plate inside the movable cavity; Guide seat, connected to the side of guide base; The movable cavity is equipped with a centering cleaning unit for cleaning the inner wall of the workpiece; the centering cleaning unit includes a positioning rotating shaft, which is installed on the relay plate; One end of the positioning shaft is located inside the movable cavity and is connected to a first bevel tooth; The other end of the positioning shaft is located on the outer wall of the relay plate and is connected to a rotating half gear.

2. The robotic arm device for an automatic testing line of a current transformer according to claim 1, characterized in that: Includes a guide wheel, mounted on a guide base; Guide block, installed on guide base; A guide cylinder is fixedly connected to the inner wall of the movable cavity; the guide base block is connected through the guide cylinder, and the two are slidably engaged. A guide spring is sleeved on a guide cylinder; one end of the guide spring is fixedly connected to the inner wall of the movable cavity, and the other end is fixedly connected to the guide base block.

3. The robotic arm device for an automatic testing line of a current transformer according to claim 2, characterized in that: Includes a telescopic cylinder body, installed on the bottom surface of the movable cavity; A cross-shaped connecting block is attached to the output end of the telescopic cylinder. Guide inclined blocks are installed on cross connecting blocks; the number and position of the guide inclined blocks correspond one-to-one with the guide grooves; the guide wheel is located on the moving path of the inclined surface of the guide inclined block; the inclined surfaces of several guide inclined blocks are all facing away from each other.

4. The robotic arm device for an automatic testing line of a current transformer according to claim 1, characterized in that: Includes a positioning base, installed on the outer wall of the relay plate; A positioning slide post is connected through the top of the positioning base; the positioning base and the positioning slide post are slidably engaged. A positioning base plate is connected to both ends of a positioning slide column; two positioning base plates are connected to a positioning toothed frame; the rotating half gear is located inside the positioning toothed frame, and the two mesh with each other; A positioning spring is sleeved on a positioning slide post; one end of the positioning spring is fixedly connected to the positioning base plate, and the other end is fixedly connected to the positioning base.

5. The robotic arm device for an automatic testing line of a current transformer according to claim 4, characterized in that: Includes an auxiliary base plate, mounted on a positioning tooth frame; An electric telescopic device is connected to the side of the auxiliary base plate away from the relay plate; A first elastic rod is installed on the output end of the electric expansion joint; an arc-shaped scraper is installed on the first elastic rod; the inner wall of the workpiece is located on the moving path of the arc-shaped scraper.

6. The robotic arm device for an automatic testing line of a current transformer according to claim 1, characterized in that: Includes a fixed base, which is connected to the shielding plate on top of the relay plate; A retaining square tube is installed on a retaining base; a retaining square column is fitted inside the retaining square tube, and the two are slidably connected. A retaining horizontal plate is installed on a retaining square column; a retaining cylindrical column is connected through the retaining horizontal plate, and the two are slidably engaged. The retaining arc block is installed on the retaining cylinder; the inner wall of the workpiece is located on the moving path of the retaining arc block. A retaining spring is sleeved on a retaining cylinder; one end of the retaining spring is fixedly connected to a retaining arc block, and the other end is fixedly connected to a retaining horizontal plate. A compression spring is installed inside the retaining square tube; One end of the compression spring is fixedly connected to the bottom surface of the inner side of the fixed square tube, and the other end is fixedly connected to the fixed square column; the strength of the fixed spring is greater than that of the compression spring.

7. The robotic arm device for an automatic testing line of a current transformer according to claim 6, characterized in that: An exhaust adsorption assembly is provided on the fixed square tube; the exhaust adsorption assembly includes a limiting hollow tube connected to the fixed square tube; the limiting hollow tube is connected to the fixed square tube. A limiting cylinder is fitted and connected to the end of the limiting hollow cylinder away from the fixed square cylinder; the limiting cylinder and the limiting hollow cylinder are in sliding fit. The limiting toothed frame is installed at the end of the limiting cylinder away from the fixed square tube; A limiting spring is sleeved on a limiting cylinder; one end of the limiting spring is fixedly connected to a limiting tooth frame, and the other end is fixedly connected to a fixed square tube. An active sliding cylinder is installed on a fixed square tube; A driven hollow column is installed on a retaining arc block; a retaining cavity is provided inside the retaining arc block; the driven hollow column is connected to the retaining cavity; the driven hollow column and the active slide cylinder are fitted together and slide in cooperation.

8. The robotic arm device for an automatic testing line of a current transformer according to claim 7, characterized in that: A limiting base is installed on the fixed base; a limiting gear is connected to one side of the limiting base, and a limiting cam is connected to the other side; the limiting gear is located inside the limiting gear frame, and the two are meshed; a reciprocating base plate is installed on the limiting base; a reciprocating slide column is connected through the reciprocating base plate near the limiting cam; the reciprocating slide column is slidably engaged with the reciprocating base plate; one end of the reciprocating slide column is connected to a reciprocating square plate, and the other end is connected to a reciprocating cross block; the reciprocating cross block is located on the rotation path of the outer wall of the limiting cam; a reciprocating spring is sleeved on the reciprocating slide column; one end of the reciprocating spring is fixedly connected to the reciprocating base plate, and the other end is fixedly connected to the reciprocating square plate; the fixed base... A gas generating box is installed on the upper part; the reciprocating plate is fitted into the gas generating box, and the two are slidably engaged; a gas exchange pipe is installed on the side of the gas generating box away from the reciprocating plate; a main valve is provided in the gas exchange pipe; a connecting hose is installed on the gas generating box; the connecting hose is connected to the active slide cylinder, and the two are in communication; a secondary valve is provided in the connecting hose; a drive slot is provided on the side of the stationary arc block near the inner wall of the workpiece; the drive slot is connected to the stationary cavity; a second elastic rod is connected in the stationary cavity; a rubber tube is installed on the second elastic rod; the rubber tube is fitted into the drive slot, and the two are slidably engaged; the initial position of the rubber tube is located on the outer wall of the stationary arc block.

9. The robotic arm device for an automatic testing line of a current transformer according to claim 1, characterized in that: Includes a fixed pulley, connected to the movable cavity; A transmission base is installed inside the movable cavity; a transmission shaft is connected to the transmission base. The winding roller is mounted on the drive shaft; The cable is connected at one end to the guide seat and at the other end after passing over the fixed pulley and winding onto the winding roller; The second bevel gear is connected to the drive shaft; the second bevel gear meshes with the first bevel gear. A clockwork spring is connected to the drive shaft; the end of the clockwork spring is fixedly connected to the drive base.

10. A method for operating a robotic arm device for an automatic transformer testing line, using the robotic arm device for an automatic transformer testing line as described in claim 1, characterized in that... Including the following steps: S1. Place the workpiece on the inspection line for conveying. The multi-axis robot moves the relay plate above the workpiece, so that the fixed posture compensator extends into the inner hole of the workpiece. S2. The fixed posture compensator compensates for the center position of the workpiece, and the centering cleaning unit starts synchronously to complete the cleaning of the inner wall of the workpiece. S3. After the multi-axis robot arm finishes gripping the workpiece, it moves the workpiece to the detection unit for automatic detection. After the detection is completed, it returns to the detection line for the next workpiece operation.

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