A feeding and overturning manipulator for a mutual inductor assembly

Abstract

The present application relates to the technical field of manipulator, specifically to a feeding and overturning manipulator for transformer assembly, which comprises a column base, a main machine and an end execution component, the end execution component comprises a boom, an assembly frame, an installation guide plate and two groups of mirror-symmetrical claw arm assemblies; the installation guide plate is provided with a pushing mechanism for driving the two groups of claw arm assemblies to move towards each other; each group of claw arm assemblies comprises a movable frame, a fixed clamping plate, a movable clamping plate driven to lift by a linkage mechanism and a reference clamping plate; the side wall of the reference clamping plate is provided with a pressing strip and a wedge-shaped pressing block located between adjacent pressing strips, the pressing strip and the wedge-shaped pressing block are driven to move reversely by a driven assembly, the bottom of the reference clamping plate is hingedly connected with a supporting plate, and the two sides of the claw arm assembly are provided with auxiliary calibration components; the present application realizes the separation and release of the lowermost transformer through the reverse movement of the pressing strip and the wedge-shaped pressing block, and realizes the stable grabbing and individual feeding of the industrial robot to multiple stacked transformers in cooperation with the supporting plate and the auxiliary calibration components.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a feeding and flipping robotic arm for assembling current transformers. Background Technology

[0002] As a core component in power systems that enables current and voltage transformation and electrical isolation, the assembly quality of instrument transformers directly affects the operational safety and measurement accuracy of power equipment. With the rapid development of the power industry and the continuous improvement of automation, the use of industrial robots to replace manual labor in the feeding, turning, and assembly of instrument transformers has become an inevitable trend in the industry. Currently, some technologies are attempting to apply robotic arms to the loading, unloading, and calibration of instrument transformers. For example, six-degree-of-freedom robots can be used to handle and place instrument transformers, or integrated clamps can be used to simultaneously accommodate the transfer needs of instrument transformers and cartons. In the instrument transformer winding process, there are also disassembly and assembly robots that use multi-point staggered supports to clamp the inner wall of the coil. In addition, there are loading and unloading robots that can store and unload multiple instrument transformers in a storage tray, using separators and lifting components to prevent the instrument transformers from rubbing against each other.

[0003] However, the existing technologies mentioned above still have the following drawbacks: 1. Most of the existing current transformer feeding robots can only grasp and transfer a single current transformer, and cannot simultaneously grasp and separate multiple current transformers stacked on the same floor, which seriously restricts the operating efficiency of industrial robots in the current transformer assembly line. 2. The existing gripping mechanism of the robot is relatively simple and lacks the ability to grip, separate and release multiple stacked current transformers in layers in an orderly manner. It is difficult to meet the actual needs of transporting multiple workpieces to the processing station in sequence during the current transformer assembly process. 3. Existing clamps have relatively simple limiting methods for current transformers, mostly clamping and fixing in one direction, lacking all-round limiting protection for the current transformer in the front-back and bottom directions. During transportation, the current transformer is prone to falling or being damaged due to shaking or displacement. Summary of the Invention

[0004] The purpose of this invention is to provide a feeding and turning robot for assembling current transformers, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a feeding and turning robot for assembling current transformers, comprising a column-type base, a main unit and an end effector, the end effector comprising a lifting rod, an assembly frame, a mounting guide plate and a claw arm assembly, one end of the lifting rod being connected to the main unit and the other end being connected to the mounting guide plate through the assembly frame, two sets of mirror-symmetrical claw arm assemblies being slidably mounted on the mounting guide plate, the mounting guide plate being provided with a pushing mechanism for driving the two sets of claw arm assemblies to move toward each other; Each claw arm assembly includes a movable frame, a fixed clamping plate, a movable clamping plate, and a reference clamping plate. The fixed clamping plate is fixed to the movable frame, the movable clamping plate is slidably inserted into the fixed clamping plate and is driven to lift by a linkage mechanism, and the bottom of the movable clamping plate is connected to the reference clamping plate. The reference clamping plate has linearly arranged pressure strips on its side wall and wedge-shaped pressure blocks located between adjacent pressure strips. The pressure strips and wedge-shaped pressure blocks are driven to move in opposite directions by the driven component. A support plate is hinged to the bottom of the reference clamping plate. The claw arm assembly has auxiliary calibration components on both sides to limit the forward and backward contact of the current transformers; the claw arm assembly is driven by the pushing mechanism to clamp the stacked current transformers, the linkage mechanism adjusts the gripping height, and the pressure bar and wedge-shaped pressure block move in opposite directions to separate and release the bottom current transformer, thereby realizing the stable gripping and one-by-one delivery of multiple stacked current transformers.

[0006] Preferably, the linkage mechanism includes a drive shaft passing through the center seat, a first bevel gear and a second bevel gear meshing with each other, a first spur gear and a second spur gear meshing with each other, a drive motor, and a threaded rod. The output shaft of the drive motor is connected to the second spur gear, and the first spur gear is fixedly sleeved in the middle of the drive shaft. The drive shaft is slidably connected to the first bevel gear via a limiting protrusion, and the threaded rod is coaxially fixed with the second bevel gear and screwed into the nut sleeve on the movable clamp.

[0007] Preferably, the outer wall of the drive shaft is provided with a plurality of limiting protrusions arranged in an annular array, and the inner wall of the through hole of the first bevel gear is provided with a radial groove corresponding to the limiting protrusions. The limiting protrusion is slidably engaged in the radial groove, so that the No. 1 bevel gear can move horizontally with the movable frame and can also be driven to rotate by the drive shaft.

[0008] Preferably, both the fixed clamp and the movable clamp are comb-shaped and interlocked. The movable clamp has a cylindrical cavity for accommodating the threaded rod. A nut sleeve that is screwed onto the threaded rod is installed at the opening of the cylindrical cavity to limit rotation. When the threaded rod rotates, the movable clamp moves up and down linearly along the fixed clamp through the nut sleeve.

[0009] Preferably, the driven component includes a driven frame, a driven rack, a conversion wheel, a driving frame, a driving rack, a translation push bar, a protrusion, and an electric push rod. The wedge-shaped pressure block is fixedly connected to the driving frame, and the pressure bar is fixedly connected to the driven frame. Both the driving frame and the driven frame are slidably mounted on the reference clamping plate. The driving rack and driven rack are driven by a switching wheel, and the electric push rod pushes the translation pusher horizontally through the cam.

[0010] Preferably, the active frame is provided with multiple inclined slots, and the translation push bar is provided with a lever inserted into the inclined slots; When the electric push rod pushes the translation push bar, the actuating column slides along the inclined groove to drive the drive frame to move. The drive rack drives the driven rack in the opposite direction through the conversion wheel, so that the wedge-shaped pressure block and the pressure bar move synchronously in the opposite direction.

[0011] Preferably, the auxiliary calibration component includes an upper limit bar and a lower limit bar that slide and insert into each other. One end of the upper limit bar is rotatably mounted on the movable frame and driven by a rotary motor, and one end of the lower limit bar is rotatably mounted on the reference clamp. The rotary motor drives the upper and lower limit bars to rotate synchronously in both directions, thus limiting their contact with the front and rear sides of the current transformer.

[0012] Preferably, the support plate is fixedly inserted with a deflection shaft, the deflection shaft is rotatably mounted on the reference clamp and an external gear is fixedly sleeved in the middle, and a vertical toothed plate driven by a hydraulic cylinder is meshed on one side of the external gear; When the hydraulic cylinder drives the vertical toothed plate to move up and down, it drives the external gear to deflect the support plate upward to lift the bottom of the current transformer or deflect it downward to release the current transformer.

[0013] Preferably, the pushing mechanism consists of two sets of cylinder piston rods, which respectively push a set of claw arm assemblies to move horizontally in opposite directions along the mounting guide plate, clamping or releasing multiple stacked current transformers from the left and right.

[0014] Preferably, the mounting guide plate has side plates at both ends of its bottom, and a central seat is fixedly bonded to the middle of the bottom of the mounting guide plate between the two sets of side plates. The drive shaft passes through the central seat and is mounted on the side plates at both ends by bearings for rotatable positioning.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention designs the claw arm assembly as a combination structure of a movable frame, a fixed clamping plate, a movable clamping plate, and a reference clamping plate. With the help of a linkage mechanism, the movable clamping plate is driven to move linearly up and down along the fixed clamping plate. This allows the overall gripping height of the claw arm assembly to be flexibly adjusted according to actual needs, thereby enabling the simultaneous gripping of multiple current transformers and greatly improving the single-operation efficiency and batch processing capability of industrial robots. 2. By setting multiple linearly arranged pressure bars and wedge-shaped pressure blocks on the reference clamping plate, and combining the meshing transmission relationship of the driving frame, driven frame, driving rack, driven rack and conversion wheel in the driven assembly, the wedge-shaped pressure blocks and pressure bars can perform linear motion in opposite directions. This not only achieves reliable clamping of the bottom current transformer, but also uses the inclined surface of the wedge-shaped pressure blocks to squeeze the bottom current transformer downward and effectively separate it from the adjacent current transformer above it. Thus, under the combined action of gravity and inclined surface guidance, the current transformers fall steadily one by one, solving the technical problem that traditional robotic arms cannot separate and place multiple stacked current transformers one by one. 3. This invention achieves simultaneous positioning of multiple current transformers in the front-to-back and bottom directions by rotatably setting auxiliary calibration components consisting of upper and lower limit bars on both sides of the claw arm assembly, and rotatably installing a support plate at the bottom of the reference clamping plate, which is driven by a vertical toothed plate pushed by a hydraulic cylinder and driven by an external gear. This forms an all-round stable clamping system, effectively avoiding the risk of multiple current transformers falling off due to shaking or displacement during transportation, and significantly improving the operational stability and safety of industrial robots in current transformer assembly operations. Attached Figure Description

[0016] Figure 1 This is a three-dimensional schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a three-dimensional schematic diagram of the structure of the present invention from another perspective.

[0018] Figure 3 This is a three-dimensional schematic diagram of the end effector of the present invention.

[0019] Figure 4 This is a schematic diagram showing the state of the claw arm assembly clamping the stacked current transformer according to the present invention.

[0020] Figure 5 This is a schematic diagram of the claw arm assembly of the present invention in the state where the lowest current transformer is released.

[0021] Figure 6 This is a schematic diagram showing the connection of the assembly frame, mounting guide plate, side plate, center seat, and claw arm assembly of the present invention.

[0022] Figure 7 This is a schematic diagram showing the connection of the guide plate, side plate, center seat, and claw arm assembly of the present invention.

[0023] Figure 8 This is a schematic diagram showing the connection between the two sets of claw arm assemblies and the linkage assembly of the present invention.

[0024] Figure 9 This is a schematic diagram of the movable frame, fixed clamp, movable clamp, reference clamp, support plate, upper limit bar, and lower limit bar of the present invention.

[0025] Figure 10 This is a cross-sectional schematic diagram of the movable frame, fixed clamping plate, movable clamping plate, and reference clamping plate in this invention.

[0026] Figure 11 This is a schematic diagram of the connection of the driven component of the present invention.

[0027] Figure 12 This is a schematic diagram of the driven component, pressure bar, and wedge-shaped pressure block of the present invention.

[0028] Figure 13 This is a schematic diagram of the wedge-shaped pressure block and the driven component of the present invention.

[0029] In the diagram: 1. Column-type base; 2. Main unit; 3. Hanging rod; 4. Assembly frame; 5. Mounting guide plate; 51. Side plate; 52. Center seat; 53. Drive shaft; 531. Limiting protrusion; 54. First bevel gear; 55. Second bevel gear; 56. First spur gear; 57. Second spur gear; 58. Drive motor; 59. Threaded rod; 6. Claw arm assembly; 61. Movable frame; 62. Fixed clamping plate; 63. Moving clamping plate; 64. Reference clamping plate; 65. Support plate; 66. Upper limit bar; 67. Lower limit bar; 7. Pressure bar; 71. Driven frame; 72. Driven rack; 73. Converter wheel; 8. Wedge-shaped pressure block; 81. Drive frame; 811. Inclined groove; 82. Drive rack; 83. Actuating column; 84. Translation push bar; 85. Protrusion; 86. Electric push rod; 9. Current transformer. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figures 1 to 13This invention provides a technical solution: a feeding and turning robot for assembling current transformers 9, comprising a column-type base 1, a main unit 2, and an end effector. The main unit 2 consists of a balancing cylinder and a multi-joint cantilever. The end effector includes a lifting rod 3, an assembly frame 4, a mounting guide plate 5, and claw arm assemblies 6. One end of the lifting rod 3 is mounted on the main unit 2, and the other end of the lifting rod 3 is rotatably connected to the assembly frame 4. The lower end of the assembly frame 4 is fixedly connected to the mounting guide plate 5. Two sets of mirror-symmetrical claw arm assemblies 6 are movably mounted on the mounting guide plate 5. The mounting guide plate 5 is provided with a pushing mechanism for driving the two sets of claw arm assemblies 6 to move horizontally towards each other. Each set of claw arm assemblies 6 has auxiliary calibration components rotatably mounted on both sides, which can limit the contact between the front and rear sides of multiple current transformers 9. Each set of claw arm assemblies 6 includes a movable frame 61, a fixed clamping plate 62, a movable clamping plate 63, and a reference clamping plate 64. The movable frame 61 is slidably mounted on the mounting guide plate 5. A fixed clamping plate 62 is fixedly installed at the bottom of the claw arm assembly 61. A movable clamping plate 63 is slidably inserted into the upper limit of the fixed clamping plate 62. The movable clamping plate 63 is driven by a linkage mechanism and moves linearly up and down along the fixed clamping plate 62 to adjust the overall gripping height of the claw arm assembly 6. It can grip multiple current transformers 9 simultaneously according to actual needs. A reference clamping plate 64 is fixedly connected to the bottom of the movable clamping plate 63. Multiple linearly arranged pressure strips 7 are slidably installed on the upper limit of the side wall of the reference clamping plate 64. A set of wedge-shaped pressure blocks 8 is set between each pair of adjacent pressure strips 7. The wedge-shaped pressure blocks 8 and the pressure strips 7 move linearly towards each other under the push of the driven component. The pressure strips 7 can clamp and fix the bottom current transformer 9 from left and right. The wedge-shaped pressure blocks 8 can squeeze the bottom current transformer 9 downward and separate it from the current transformer 9 above it. A support plate 65 is also rotatably installed at the bottom of the reference clamping plate 64 to lift and limit the bottom of the current transformer 9. Furthermore, the pushing mechanism consists of two sets of cylinder piston rods. The bases of the two sets of cylinder piston rods are both mounted on the assembly frame 4. The two sets of cylinder piston rods respectively push a set of movable frames 61 to move horizontally, so that the two sets of claw arm assemblies 6 move in a straight line towards or away from each other, thereby clamping or releasing multiple current transformers 9 from the left and right.

[0032] In use, the movable clamping plate 63 is adjusted to a suitable position via the linkage mechanism according to actual needs, enabling it to simultaneously grasp multiple current transformers 9. Then, using the pushing mechanism, two sets of claw arm assemblies 6 can be pushed to clamp and fix the multiple current transformers 9 from both sides. It should be noted that the multiple pressure strips 7 on the base clamping plate 64 in the claw arm assembly 6 clamp and limit the movement of the lowest current transformer 9. The fixed clamping plate 62 and the movable clamping plate 63 in the claw arm assembly 6 together clamp the remaining current transformers 9. The system performs clamping and limiting; then, the auxiliary calibration component limits the current transformer 9 to its front and rear contact, while the support plate 65 provides bottom support for the lowest current transformer 9. This multi-directional limiting protection allows the robot to stably transport multiple current transformers 9. When the current transformer 9 is transported to the processing position, the support plate 65 is flipped downwards to release the bottom limiting of the current transformer 9. The driven component drives multiple sets of wedge-shaped pressure blocks 8 to extend from inside the reference clamping plate 64 and connect the lowest current transformer 9 with the reference clamping plate 64. The adjacent current transformers 9 at the upper end separate, and at the same time, multiple pressure bars 7 retract into the reference clamp 64 and release the lowermost current transformer 9, allowing the lowermost current transformer 9 to fall rapidly onto the processing platform under its own weight and the inclined surface of the wedge-shaped pressure block 8. After the first set of current transformers 9 falls smoothly, the driven components push the pressure bars 7 and wedge-shaped pressure blocks 8 back to their original positions, and the support plate 65 is flipped upwards again. At this time, the pushing mechanism pushes the two sets of claw arm assemblies 6 to release the remaining current transformers 9. The remaining current transformer 9, under its own weight and the guidance of the auxiliary calibration components, moves downward as a whole, and its bottom is supported and limited by the support plate 65. Then, the pushing mechanism is used again to push the two sets of claw arm assemblies 6 to clamp and fix the remaining current transformer 9 from the left and right. The current transformer 9, which was originally located on the second to last layer, is now the lowest current transformer 9 and is clamped and limited by the multiple pressure bars 7 on the reference clamping plate 64. Therefore, by simply following the above operations, multiple current transformers 9 can be stably placed one by one on the processing platform.

[0033] like Figures 5 to 10As shown, side plates 51 are symmetrically arranged at both ends of the bottom of the mounting guide plate 5, and a central seat 52 is arranged between the two sets of side plates 51. The central seat 52 is fixedly bonded to the middle of the bottom of the mounting guide plate 5. The linkage mechanism includes a drive shaft 53, a first bevel gear 54, a second bevel gear 55, a first spur gear 56, a second spur gear 57, a drive motor 58, and a threaded rod 59. The drive shaft 53 passes through the central seat 52 and its two ends are rotatably mounted on the side plates 51 through bearings. The first spur gear 56 and the second spur gear 57 mesh with each other and are rotatably mounted in the central seat 52. The output shaft of the drive motor 58 is coaxially connected to the second spur gear 57. The first spur gear 56 is fixedly sleeved in the middle of the drive shaft 53. A circular through hole for accommodating the drive shaft 53 is opened through the movable frame 61. The first bevel gear 54 and the second bevel gear 55 are meshed with each other and are both rotatably mounted on the movable frame 61. The first bevel gear 54 is movably sleeved on the drive shaft 53. The first bevel gear 54 has a through hole to accommodate the drive shaft 53. The inner wall of the through hole is recessed with 3-4 radial grooves. The outer wall of the drive shaft 53 has multiple limiting protrusions 531 arranged in a ring array. The number of limiting protrusions 531 is the same as the number of radial grooves. The limiting protrusions 531 are slidably engaged in the radial grooves. One end of the threaded rod 59 is coaxially fixedly connected to the second bevel gear 55. The other end of the threaded rod 59 extends into the movable clamping plate 63. The movable clamping plate 63 has a cylindrical cavity to accommodate the threaded rod 59. A nut sleeve is rotatably mounted at the opening of the cylindrical cavity and is screwed onto the threaded rod 59. Furthermore, the fixed clamping plate 62 and the movable clamping plate 63 are both comb-shaped and interlocked with each other.

[0034] In use, since the movable frame 61 is movably mounted on the drive shaft 53, the first bevel gear 54, guided and limited by the limiting protrusion 531 and the radial slide groove, can move horizontally along the drive shaft 53 with the movable frame 61, and can also be normally driven to rotate by the drive shaft 53 after horizontal displacement. Therefore, when the claw arm assembly 6 can move horizontally left and right along the mounting plate guide plate under the push of the pushing mechanism, the first bevel gear 54, the second bevel gear 55, and the threaded rod 59 installed in each component of the claw arm assembly 6 also move horizontally together. When the claw arm assembly 6 remains stationary, the first bevel gear 54, the second bevel gear 55, and the threaded rod 59 also maintain the lateral position after the movement; then through... The drive motor 58 is turned on, causing it to drive the second spur gear 57 to rotate. The second spur gear 57 acts on the first spur gear 56, causing the first spur gear 56 to drive the drive shaft 53 to rotate. Since the first bevel gear 54 is slidably sleeved with the drive shaft 53 through the limiting protrusion 531 and the radial slide groove, the first bevel gear 54 can still be pushed by the drive shaft 53 to rotate after the movable frame 61 moves horizontally. The first bevel gear 54 then acts on the second bevel gear 55, causing the threaded rod 59 to rotate with the second bevel gear 55. At this time, under the screwing action of the nut sleeve and the internal and external threads of the threaded rod 59, the moving clamp 63 drives the reference clamp 64 to move linearly up and down.

[0035] like Figures 10 to 13As shown, the driven assembly includes a driven frame 71, a driven rack 72, a conversion wheel 73, a driving frame 81, a driving rack 82, a translation pusher 84, a protrusion 85, and an electric push rod 86. A wedge-shaped pressure block 8 extends into the reference clamping plate 64 and is fixedly connected to the driving frame 81. A pressure strip 7 extends into the reference clamping plate 64 and is fixedly connected to the driven frame 71. Both the driving frame 81 and the driven frame 71 are slidably mounted on the reference clamping plate 64. The lower end of the driving frame 81 is fixedly bonded to the driving rack 82, and the lower end of the driven frame 71 is fixedly bonded to the driven rack 82. The driven rack 72 is meshed with the driving rack 82 and the conversion wheel 73. The conversion wheel 73 is rotatably mounted on the reference clamp 64. The translation pusher 84 is slidably mounted in the reference clamp 64. The side wall of the translation pusher 84 is provided with a protrusion 85. The piston rod of the electric pusher 86 extends outward and is fixedly connected to the protrusion 85. The driving frame 81 is also provided with multiple linearly distributed inclined slots 811. The translation pusher 84 is fixedly provided with a toggle post 83 inserted into the inclined slot 811. In use, the piston rod of the electric push rod 86 is activated to move and push the protrusion 85. The protrusion 85 is forced to move the translation push bar 84 horizontally. The actuating column 83 on the translation push bar 84 acts on the inclined groove 811, so that the active frame 81 is forced to extend or retract the wedge-shaped pressure block 8 to the reference clamp 64. At the same time, the active rack 82 on the active frame 81 acts on the driven rack 72 through the conversion wheel 73, so that the driven frame 71 is forced to clamp or release the pressure bar 7 to the lowermost current transformer 9. It should be noted that the movement directions of the wedge-shaped pressure block 8 and the pressure bar 7 are always opposite.

[0036] like Figures 6 to 9 As shown, the auxiliary calibration component includes an upper limit bar 66 and a lower limit bar 67 that slide and insert into each other. The end of the upper limit bar 66 away from the lower limit bar 67 is rotatably mounted on the movable frame 61 and driven to rotate by a rotary motor. The end of the lower limit bar 67 away from the upper limit bar 66 is rotatably mounted on the reference clamp 64. A dovetail-shaped retaining strip is protruding from the side of the upper limit bar 66 that contacts the lower limit bar, and a trapezoidal guide groove for accommodating the dovetail-shaped retaining strip is provided on the side wall of the lower limit bar. In use, the lower limit bar 67 moves up and down along the side wall of the upper limit bar 66 under the drive of the reference clamp 64, so that the overall height of the upper limit bar 66 and the lower limit bar 67 can be adaptively adjusted according to the height of the claw arm assembly 6. When the reference clamp 64 remains stationary, the longitudinal position of the lower limit bar 67 remains unchanged. Then, the rotary motor drives the upper limit bar 66 and the lower limit bar 67 to rotate 90° in both directions.

[0037] like Figures 7 to 10As shown, a deflection shaft is fixedly inserted into the rotating end of the support plate 65. The deflection shaft is rotatably mounted on the reference clamping plate 64 via a bearing limiter. An external gear is fixedly sleeved in the middle of the deflection shaft. A vertical toothed plate is meshed with one side of the external gear. The vertical toothed plate is slidably mounted on the reference clamping plate 64 and pushed by a hydraulic cylinder. In use, the piston rod of the hydraulic cylinder is activated to push the vertical toothed plate up and down. When the vertical toothed plate moves downward, the support plate 65 deflects upward under the action of the external gear and lifts and limits the bottom of the lowest current transformer 9. When the vertical toothed plate moves upward, the support plate 65 deflects downward under the action of the external gear to avoid obstructing the fall of the lowest current transformer 9.

[0038] In use, the present invention is as follows: First, the entire feeding and flipping manipulator is installed on the main unit 2 as the end effector of an industrial robot. The balancing cylinder and multi-joint cantilever in the main unit 2 move it to the gripping station. According to the actual number of current transformers 9 to be gripped, the drive motor 58 is turned on, causing the second spur gear 57 to rotate. The second spur gear 57 drives the first spur gear 56 to rotate, causing the drive shaft 53 to rotate accordingly. Since the movable frame 61 is movably sleeved on the drive shaft 53, and the first bevel gear 54 is slidably sleeved with the drive shaft 53 through the limiting protrusion 531 and the radial groove, the first bevel gear 54 can still be controlled by the drive shaft 53 after moving horizontally with the movable frame 61. 3. Normal drive rotation, which in turn drives the second bevel gear 55 to rotate, causing the threaded rod 59 to rotate accordingly. Under the screwing action of the nut sleeve and the threaded rod 59, the movable clamping plate 63 moves up and down linearly along the fixed clamping plate 62 to a suitable height, so that the claw arm assembly 6 can simultaneously align multiple current transformers 9. Subsequently, the piston rods of the two sets of cylinders in the pushing mechanism respectively push the two sets of movable frames 61 to move horizontally towards each other along the mounting guide plate 5, so that the two sets of claw arm assemblies 6 clamp and fix the multiple current transformers 9 left and right. The fixed clamping plate 62 and the movable clamping plate 63 jointly clamp the remaining current transformers 9 except for the bottom one, while the multiple pressure bars 7 arranged linearly on the reference clamping plate 64 extend and clamp under the drive of the driven component. The lowest current transformer 9 is tightened; simultaneously, the upper limit bar 66 and lower limit bar 67 in the auxiliary calibration component rotate under the drive of the rotary motor to a direction perpendicular to the claw arm assembly 6, thereby limiting the front and rear sides of multiple current transformers 9. Furthermore, the support plate 65 at the bottom of the reference clamp 64 deflects upward through the external gear when the vertical toothed plate is pushed downward by the hydraulic cylinder, supporting the bottom of the lowest current transformer 9. This multi-directional limiting achieves stable gripping and transport of multiple current transformers 9. After the robot arm moves multiple current transformers 9 to the processing position, the hydraulic cylinder pushes the vertical toothed plate upward in the opposite direction, causing the support plate 65 to deflect downward, releasing the bottom limit of the lowest current transformer 9. Subsequently, the driven assembly... The electric push rod 86 drives the translation push bar 84 to move horizontally through the protrusion 85. The actuating column 83 on the translation push bar 84 acts on the inclined groove 811 on the active frame 81, so that the active frame 81 is subjected to force and drives the wedge-shaped pressure block 8 to extend out from the inside of the reference clamping plate 64. The inclined surface of the wedge-shaped pressure block 8 squeezes the lowest current transformer 9 downward and separates it from the adjacent current transformer 9 above it. At the same time, the active rack 82 on the active frame 81 meshes with the driven rack 72 through the conversion wheel 73, so that the driven frame 71 drives multiple pressure bars 7 to retract synchronously into the reference clamping plate 64, thereby releasing the lowest current transformer 9, which falls quickly to the processing platform under its own weight and the guiding action of the inclined surface of the wedge-shaped pressure block 8.After the first set of current transformers 9 has successfully descended, the electric push rod 86 reverses its movement, causing the wedge-shaped pressure block 8 to retract into the reference clamping plate 64 and the pressure strip 7 to extend again. The hydraulic cylinder then pushes the support plate 65 upward to the lifting position. Subsequently, the piston rods of the two sets of cylinders in the pushing mechanism slightly loosen, allowing the remaining current transformers 9 to move down one position under their own weight and the guidance of the auxiliary calibration components until their bottom touches the support plate 65. Then, the pushing mechanism pushes the two sets of claw arm assemblies 6 again to clamp and fix the remaining current transformers 9 from both sides. At the same time, the multiple pressure strips 7 on the reference clamping plate 64 extend again and clamp the current transformer 9 located at the bottom. This cycle is repeated to stably place multiple current transformers 9 one by one on the processing platform, realizing continuous feeding and flipping assembly operations.

[0039] 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 feeding and turning robot for assembling instrument transformers, comprising a column-type base, a main unit, and an end effector, wherein the end effector includes a lifting rod, an assembly frame, a mounting guide plate, and a claw arm assembly, one end of the lifting rod being connected to the main unit, and the other end being connected to the mounting guide plate via the assembly frame, characterized in that: Two sets of mirror-symmetrical claw arm assemblies are slidably mounted on the mounting guide plate, and the mounting guide plate is equipped with a pushing mechanism to drive the two sets of claw arm assemblies to move towards each other. Each claw arm assembly includes a movable frame, a fixed clamping plate, a movable clamping plate, and a reference clamping plate. The fixed clamping plate is fixed to the movable frame, the movable clamping plate is slidably inserted into the fixed clamping plate and is driven to lift by a linkage mechanism, and the bottom of the movable clamping plate is connected to the reference clamping plate. The reference clamping plate has linearly arranged pressure strips on its side wall and wedge-shaped pressure blocks located between adjacent pressure strips. The pressure strips and wedge-shaped pressure blocks are driven to move in opposite directions by the driven component. A support plate is hinged to the bottom of the reference clamping plate. The claw arm assembly has auxiliary calibration components on both sides to limit the forward and backward contact of the current transformers; the claw arm assembly is driven by the pushing mechanism to clamp the stacked current transformers, the linkage mechanism adjusts the gripping height, and the pressure bar and wedge-shaped pressure block move in opposite directions to separate and release the bottom current transformer, thereby realizing the stable gripping and one-by-one delivery of multiple stacked current transformers.

2. The feeding and turning robot for assembling current transformers according to claim 1, characterized in that: The linkage mechanism includes a drive shaft passing through the center seat, a first bevel gear and a second bevel gear meshing with each other, a first spur gear and a second spur gear meshing with each other, a drive motor, and a threaded rod. The output shaft of the drive motor is connected to the second spur gear, and the first spur gear is fixedly sleeved in the middle of the drive shaft. The drive shaft is slidably connected to the first bevel gear via a limiting protrusion, and the threaded rod is coaxially fixed with the second bevel gear and screwed into the nut sleeve on the movable clamp.

3. The feeding and turning robot for assembling current transformers according to claim 2, characterized in that: The outer wall of the drive shaft is provided with multiple limiting protrusions arranged in an annular array, and the inner wall of the through hole of the first bevel gear is recessed with a radial sliding groove corresponding to the limiting protrusions. The limiting protrusion is slidably engaged in the radial groove, so that the No. 1 bevel gear can move horizontally with the movable frame and can also be driven to rotate by the drive shaft.

4. A feeding and turning robot for assembling current transformers according to claim 3, characterized in that: Both the fixed clamp and the movable clamp are comb-shaped and interlock with each other. The movable clamp has a cylindrical cavity to accommodate the threaded rod. A nut sleeve that is screwed onto the threaded rod is installed at the opening of the cylindrical cavity to limit rotation. When the threaded rod rotates, the movable clamp moves up and down linearly along the fixed clamp through the nut sleeve.

5. A feeding and turning robot for assembling current transformers according to claim 4, characterized in that: The driven component includes a driven frame, a driven rack, a conversion wheel, a driving frame, a driving rack, a translation push bar, a protrusion, and an electric push rod. A wedge-shaped pressure block is fixedly connected to the driving frame, and a pressure bar is fixedly connected to the driven frame. Both the driving frame and the driven frame are slidably mounted on the reference clamping plate. The driving rack and driven rack are driven by a switching wheel, and the electric push rod pushes the translation pusher horizontally through the cam.

6. A feeding and turning robot for assembling current transformers according to claim 5, characterized in that: The active frame is provided with multiple inclined slots, and the translation push bar is provided with a lever inserted into the inclined slots; When the electric push rod pushes the translation push bar, the actuating column slides along the inclined groove to drive the drive frame to move. The drive rack drives the driven rack in the opposite direction through the conversion wheel, so that the wedge-shaped pressure block and the pressure bar move synchronously in the opposite direction.

7. A feeding and turning robot for assembling current transformers according to claim 1, characterized in that: The auxiliary calibration component includes an upper limit bar and a lower limit bar that slide and insert into each other. One end of the upper limit bar is rotatably mounted on the movable frame and driven by a rotary motor, and one end of the lower limit bar is rotatably mounted on the reference clamp. The rotary motor drives the upper and lower limit bars to rotate synchronously in both directions, thus limiting their contact with the front and rear sides of the current transformer.

8. A feeding and turning robot for assembling current transformers according to claim 1, characterized in that: The pallet is fixedly inserted with a deflection shaft, which is rotatably mounted on the reference clamp and has an external gear fixedly sleeved in the middle. A vertical toothed plate driven by a hydraulic cylinder is meshed on one side of the external gear. When the hydraulic cylinder drives the vertical toothed plate to move up and down, it drives the external gear to deflect the support plate upward to lift the bottom of the current transformer or deflect it downward to release the current transformer.

9. A feeding and turning robot for assembling current transformers according to claim 1, characterized in that: The pushing mechanism consists of two sets of cylinder piston rods, which respectively push a set of claw arm assemblies to move horizontally in opposite directions along the mounting guide plate, clamping or releasing multiple stacked current transformers from the left and right.

10. A feeding and turning robot for assembling current transformers according to claim 1, characterized in that: The mounting guide plate has side plates at both ends of its bottom. A central seat is fixedly connected to the middle of the bottom of the mounting guide plate between the two sets of side plates. The drive shaft passes through the central seat and is mounted on the side plates at both ends by bearings for rotatable positioning.

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