Stacker for oil-immersed transformer body

Abstract

The utility model discloses a kind of stacking machines, belong to oil-immersed transformer body production technical field, specifically related to a kind of stacking machine for oil-immersed transformer body, comprising: mechanical arm and clamping device installed on the mechanical arm;The clamping device includes: control box, rack, electrical module, supporting shaft, jaw assembly and positioning assembly;The control box is installed on the rack top, the electrical module is installed on the rack top and is connected with the control box, the jaw assembly and the positioning assembly, the supporting shaft is installed on the bottom of the rack, the jaw assembly is installed on the supporting shaft, the positioning assembly is installed in the jaw assembly, the flexible movement of the utility model cooperates mechanical arm, whole stacking process is completed automatically, the quick switching of different specifications products and efficient, accurate, safe continuous operation are realized, and the automation level and reliability of production line are significantly improved.

Description

Technical Field

[0001] This utility model discloses a stacker, belonging to the field of oil-immersed transformer body production technology, specifically relating to a stacker for oil-immersed transformer bodies. Background Technology

[0002] As the core component of a transformer, the transformer body of an oil-immersed transformer typically consists of an iron core, windings, and insulation components. Its overall structure is relatively bulky and requires multi-layer stacking during assembly. In traditional production processes, the handling and stacking of the transformer body mainly rely on overhead cranes, simple lifting tools, and manual assistance. This method is not only inefficient but also suffers from poor positioning accuracy and high labor intensity, making it difficult to meet the quality and cycle time requirements of modern mass production.

[0003] Traditional stacking devices often use fixed conveyor lines in conjunction with lifting platforms to achieve the stacking of equipment bodies. This type of mechanical structure has obvious limitations: First, its positioning often relies on stops or mechanical limits, resulting in poor adjustability and difficulty in adapting to the rapid switching of equipment bodies of different sizes and specifications; second, the lifting and translating operations are separate, which can easily cause swaying or displacement during stacking, posing a risk of tipping over; third, traditional clamps are mostly rigid structures, lacking self-adjusting capabilities, and are prone to causing pressure damage or scratches to the insulation layer of the equipment body when clamping; in addition, the entire process is fragmented, with low automation and reliance on manual intervention, resulting in low stacking efficiency and difficulty in ensuring consistency. Utility Model Content

[0004] Purpose of the utility model: To provide a stacker for the body of an oil-immersed transformer, thereby solving the aforementioned problems.

[0005] Technical solution: A stacker for the body of an oil-immersed transformer, comprising: a robotic arm and a gripping device mounted on the robotic arm;

[0006] The clamping device includes: a control box, a frame, an electrical module, a support shaft, a gripper assembly, and a positioning assembly;

[0007] The control box is mounted on the top of the frame, the electrical module is mounted on the top of the frame and connected to the control box, the gripper assembly and the positioning assembly, the support shaft is mounted on the bottom of the frame, the gripper assembly is mounted on the support shaft and the positioning assembly is mounted inside the gripper assembly.

[0008] In a further embodiment, the frame is provided with a connecting seat for connecting the robotic arm.

[0009] In a further embodiment, the gripper assembly is provided in two sets and is mounted symmetrically on the support shaft.

[0010] In a further embodiment, the gripper assembly includes: a mounting plate mounted on the support shaft via a bearing seat; a first side plate and a second side plate symmetrically fixedly mounted on both ends of the mounting plate; a first connecting frame fixedly mounted on the bottom of the mounting plate and located between the first side plate and the second side plate; a mounting shaft sleeved on the bottom of the first connecting frame; a first cylinder and a second cylinder fixedly mounted on the bottom of the mounting plate; a first connecting rod and a second connecting rod, one end of which is connected to the first cylinder and the second cylinder respectively, and the middle part is sleeved on the mounting shaft; a clamping plate fixedly connected to the other end of the first connecting rod and the second connecting rod; a third connecting rod and a fourth connecting rod, one end of which is sleeved on the mounting shaft respectively; a claw plate fixedly connected to the other end of the third connecting rod and the fourth connecting rod; the clamping plate cooperates with the third connecting rod and the fourth connecting rod.

[0011] In a further embodiment, front and rear limiters are provided on the first side plate, the second side plate, and the first connecting frame, and a limit rod that cooperates with the front and rear limiters is provided on the mounting shaft.

[0012] In a further embodiment, the positioning component includes a positioning cylinder and a positioning plate; the positioning cylinder is fixedly installed on the bottom of the mounting plate, and the positioning plate is installed on the bottom of the positioning cylinder.

[0013] In a further embodiment, an adjustment plate is provided between the mounting plate and the frame.

[0014] Beneficial Effects: This invention effectively overcomes the shortcomings of traditional structures through the collaborative operation of a multi-degree-of-freedom robotic arm and intelligent grippers. Its core advantage lies in the dedicated grippers with automatic positioning and adaptive clamping functions: the gripper assembly employs multi-point flexible limiting, automatically adjusting the clamping width and force according to the device's dimensions, ensuring a firm grip while avoiding damage to the insulating surface; furthermore, the grippers have an adaptive angle adjustment function, ensuring vertical stacking even with slight deflection during lifting, greatly improving stacking stability and safety. Combined with the flexible movement of the robotic arm, the entire stacking process is fully automated, enabling rapid switching between different product specifications and efficient, precise, and safe continuous operation, significantly improving the automation level and reliability of the production line. Attached Figure Description

[0015] Figure 1 This is an isometric drawing of this utility model.

[0016] Figure 2 This is the front view of this utility model.

[0017] Figure 3 This is a schematic diagram of the gripper assembly and positioning assembly of this utility model. Figure 1 .

[0018] Figure 4 This is a schematic diagram of the gripper assembly and positioning assembly of this utility model. Figure 2 .

[0019] Figure 5 This is a schematic diagram of the gripper assembly and positioning assembly of this utility model, shown in the main axial view.

[0020] Reference numerals: 1. Control box; 2. Frame; 3. Electrical module; 4. Support shaft; 5. Gripper assembly; 6. Positioning assembly; 7. Connecting seat; 8. Mounting plate; 9. First side plate; 10. Second side plate; 11. First connecting frame; 12. Mounting shaft; 13. First cylinder; 14. Second cylinder; 15. First connecting rod; 16. Second connecting rod; 17. Clamping plate; 18. Third connecting rod; 19. Fourth connecting rod; 20. Gripper; 21. Front and rear limiters; 22. Limiting rod; 23. Adjusting plate; 24. Positioning cylinder; 25. Positioning plate. Detailed Implementation

[0021] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0022] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0024] A stacker for the body of an oil-immersed transformer includes: a robotic arm and a gripping device mounted on the robotic arm;

[0025] In one embodiment, such as Figures 1 to 5 As shown, the clamping device includes: a control box 1, a frame 2, an electrical module 3, a support shaft 4, a gripper assembly 5, and a positioning assembly 6;

[0026] The control box 1 is installed on the top of the frame 2. The electrical module 3 is installed on the top of the frame 2 and connected to the control box 1, the gripper assembly 5 and the positioning assembly 6. The support shaft 4 is installed on the bottom of the frame 2. The gripper assembly 5 is installed on the support shaft 4 and the positioning assembly 6 is installed inside the gripper assembly 5.

[0027] In one embodiment, such as Figures 1 to 5 As shown, the frame 2 is provided with a connecting seat 7 for connecting the robotic arm.

[0028] In one embodiment, such as Figures 1 to 5 As shown, the gripper assembly 5 has two sets and is installed symmetrically on the support shaft 4.

[0029] In one embodiment, such as Figures 1 to 5 As shown, the gripper assembly 5 includes: a mounting plate 8, mounted on the support shaft 4 via a bearing; a first side plate 9 and a second side plate 10, symmetrically fixedly mounted on both ends of the mounting plate 8; a first connecting frame 11, fixedly mounted on the bottom of the mounting plate 8 and located between the first side plate 9 and the second side plate 10; a mounting shaft 12, sleeved on the bottom of the first connecting frame 11; a first cylinder 13 and a second cylinder 14, fixedly mounted on the bottom of the mounting plate 8; a first connecting rod 15 and a second connecting rod 16. Rod 16, one end of which is connected to the first cylinder 13 and the second cylinder 14 respectively, and the middle part is sleeved on the mounting shaft 12; clamping plate 17, which is fixedly connected to the other end of the first connecting rod 15 and the second connecting rod 16; third connecting rod 18 and fourth connecting rod 19, one end of which is sleeved on the mounting shaft 12 respectively; claw plate 20, which is fixedly connected to the other end of the third connecting rod 18 and the fourth connecting rod 19; clamping plate 17 cooperates with the third connecting rod 18 and the fourth connecting rod 19.

[0030] In one embodiment, such as Figures 1 to 5 As shown, front and rear limiters 21 are provided on the first side plate 9, the second side plate 10 and the first connecting frame 11, and a limit rod 22 that cooperates with the front and rear limiters 21 is provided on the mounting shaft 12.

[0031] In one embodiment, such as Figures 1 to 5As shown, the positioning component 6 includes a positioning cylinder 24 and a positioning plate 25; the positioning cylinder 24 is fixedly installed on the bottom of the mounting plate 8, and the positioning plate 25 is installed on the bottom of the positioning cylinder 24.

[0032] In one embodiment, such as Figures 1 to 5 As shown, an adjustment plate 23 is provided between the mounting plate 8 and the frame 2.

[0033] Working principle: When this utility model is in operation, the control box 1 issues control commands, and the electrical module 3, robotic arm, gripper assembly 5, and positioning assembly 6 work. First, the robotic arm moves the gripping device to the designated position. At the same time, the gripper assembly 5 works, and the first cylinder 13 and the second cylinder 14 work, driving the mounting shaft 12 to rotate through the first connecting rod 15 and the second connecting rod. At the same time, the clamping plate 17 works. As the mounting shaft 12 rotates, the claw plate 20 follows the clamping plate 17 to grip the product. Then, the positioning cylinder 24 in the positioning assembly 6 works, driving the positioning plate 25 to press the product, thereby realizing the stacking operation of the robotic arm.

[0034] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A stacker crane for the body of an oil-immersed transformer, characterized in that, include: A robotic arm, and a gripping device mounted on the robotic arm; The clamping device includes: a control box, a frame, an electrical module, a support shaft, a gripper assembly, and a positioning assembly; The control box is mounted on the top of the frame, the electrical module is mounted on the top of the frame and connected to the control box, the gripper assembly and the positioning assembly, the support shaft is mounted on the bottom of the frame, the gripper assembly is mounted on the support shaft and the positioning assembly is mounted inside the gripper assembly.

2. The stacker crane for the body of an oil-immersed transformer according to claim 1, characterized in that, The frame is equipped with a connecting seat for connecting the robotic arm.

3. A stacker crane for the body of an oil-immersed transformer according to claim 1, characterized in that, The gripper assembly has two sets and is mounted symmetrically on the support shaft.

4. A stacker crane for the body of an oil-immersed transformer according to claim 1, characterized in that, The gripper assembly includes: a mounting plate mounted on the support shaft via a bearing seat; a first side plate and a second side plate symmetrically fixedly mounted on both ends of the mounting plate; a first connecting frame fixedly mounted on the bottom of the mounting plate and located between the first side plate and the second side plate; a mounting shaft sleeved on the bottom of the first connecting frame; a first cylinder and a second cylinder fixedly mounted on the bottom of the mounting plate; a first connecting rod and a second connecting rod, one end of which is connected to the first cylinder and the second cylinder respectively, and the middle part is sleeved on the mounting shaft; a clamping plate fixedly connected to the other end of the first connecting rod and the second connecting rod; a third connecting rod and a fourth connecting rod, one end of which is sleeved on the mounting shaft respectively; and a gripper plate fixedly connected to the other end of the third connecting rod and the fourth connecting rod. The clamping plate cooperates with the third connecting rod and the fourth connecting rod.

5. A stacker crane for the body of an oil-immersed transformer according to claim 4, characterized in that, Front and rear limiters are provided on the first side plate, the second side plate, and the first connecting frame, and a limit rod that cooperates with the front and rear limiters is provided on the mounting shaft.

6. A stacker crane for the body of an oil-immersed transformer according to claim 4, characterized in that, The positioning component includes a positioning cylinder and a positioning plate; the positioning cylinder is fixedly installed on the bottom of the mounting plate, and the positioning plate is installed on the bottom of the positioning cylinder.

7. A stacker crane for the body of an oil-immersed transformer according to claim 4, characterized in that, An adjustment plate is provided between the mounting plate and the frame.

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