CN106002943A - Electric motor bidirectional synchronous paper inserting robot - Google Patents
Electric motor bidirectional synchronous paper inserting robot Download PDFInfo
- Publication number
- CN106002943A CN106002943A CN201610459518.0A CN201610459518A CN106002943A CN 106002943 A CN106002943 A CN 106002943A CN 201610459518 A CN201610459518 A CN 201610459518A CN 106002943 A CN106002943 A CN 106002943A
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- China
- Prior art keywords
- paper
- seat
- base
- fixed
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/10—Applying solid insulation to windings, stators or rotors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
Abstract
The invention relates to an electric motor bidirectional synchronous paper inserting robot. The electric motor bidirectional synchronous paper inserting robot comprises a base, a supporting device, a Stewart parallel mechanism, a paper inserting device and fixing devices. The base is of a T-shaped plate structure. The supporting device is located at the rear side end of the base and fixedly connected with the base. The Stewart parallel mechanism is mounted at the front end of the supporting device. The paper inserting device is located under the Stewart parallel mechanism. The four fixing devices are symmetrically arranged on the upper end face of the base correspondingly and are fixedly connected with the base. The electric motor bidirectional synchronous paper inserting robot can conduct bidirectional synchronous insulation paper inserting operation on motor stators, the whole paper inserting process is operated in a mechanical automation mode, paper inserting is rapid, convenient and high in safety, the uniformity of the paper inserting depth is high, input of labor force is reduced, production cost of motors is reduced, and the production quality of the motors is improved to a certain extent.
Description
Technical field
The present invention relates to motor production of intelligent machinery technical field, a kind of power motor bi-directional synchronization paper-inserting machine
Device people.
Background technology
Motor is a kind of equipment converting electrical current into into mechanical energy, and it is to use the power on coil (namely stator winding) to produce
Rotating excitation field also acts on rotor, forms electro-magnetic motor force rotation torque, and motor can be divided into direct current according to the difference using power supply
Motor and ac motor, the motor major part in power system is ac motor, can be synchronous motor and asynchronous electricity
Machine, motor is mainly made up of stator and rotor, electrified wire in magnetic field the direction of movement under force with the sense of current and magnetic induction line
Direction is relevant, and electric motor operation principle is exactly the magnetic field effect to electric current stress so that motor rotation；Produced at motor
Journey, motor rotor and stator are required to insert insulating paper, insulating paper is the general name of electric insulation paper using, be mainly used as cable and
The insulant of every electric equipment such as coil, has good insulating properties and mechanical strength.
At present manual operation mostly is for motor stator insulating paper update, is usually and first manually insulating paper is rolled into requirement
Shape, currently mainly has V-type, c-type and semiellipse shape, is the most manually sequentially inserted into inside the dead slot of motor stator, and
It is advancing to the position, simultaneously intermittent rotary motor stator, whole stator insulated groove will be stuck with, so consume substantial amounts of work
Power, causes motor production cost high, and production efficiency is low, simultaneously as be manual operation, and motor stator insulating sublayer
The insulating paper that groove is inserted into advances depth disparity very big, the most also have impact on the quality of motor.In consideration of it, the present invention
Provide a kind of power motor bi-directional synchronization paper-inserting machine device people.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of power motor bi-directional synchronization paper-inserting machine device people.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of power motor bi-directional synchronization paper-inserting machine device people, including base, support means, Stewart parallel institution, inserts paper
Device and fixing device；The T-shaped platy structure of described base, support means is positioned at base rear side end, and support means and the end
Between Zuo be connected, Stewart parallel institution is arranged on support means front end, insert paper device be positioned at Stewart parallel institution just under
Side, fixing device quantity is four, and fixing device is respectively symmetrically and is arranged on base upper surface, and solid between fixing device and base
Even.
Further, described support means includes elevator, horizontally moving device and vertical lift device；Described moves horizontally
Device is fixed on elevator dead ahead, and vertical lift device is fixed on immediately below elevator；Described horizontally moving device includes water
Flat electric sliding rail, cross sliding clock and fixing seat, and the quantity of horizontal electric slide rail and cross sliding clock is two, horizontal electric slide rail
Parallel Symmetric is arranged, horizontal electric slide rail front end is provided with baffle plate, and the vertical cross section of horizontal electric slide rail is I-shaped structure, water
Smooth block is arranged on horizontal electric slide rail, fixing seat structure in the form of annular discs, and fixing seat two ends are connected with cross sliding clock respectively；
By cross sliding clock moving back and forth on horizontal electric slide rail, can realize inserting the regulation of paper device horizontal level.
Further, described vertical lift device includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving tooth
Wheel, locking end cap, fixed mount and driven gear；The quantity of described lifting screw, sleeve and driven gear is two, lifting
Screw rod upper end is connected with elevator, and lifting screw lower end is arranged in sleeve, and sleeve inner offers the outer spiral shell with lifting screw
The female thread that stricture of vagina matches, sleeve bottom end is arranged on base upper surface by bearing, and it is electric that lifting motor uses adjustable speed to slow down
Machine, lifting motor is fixed on base upper surface by motor cabinet, is connected between rotating shaft one end with lifting motor main shaft, rotating shaft
Use key to be attached between the other end and driving gear, and driving gear upper end is locked by locking end cap, rotating shaft
Middle part is fixed by fixed mount, and fixed mount, in the U-shape structure stood upside down, is provided with at fixed mount medium position and matches with rotating shaft
Closing the bearing installed, driven gear is fixed at sleeve medium position, and driven gear is meshed with driving gear；By lifting
The rotation rotarily driving driving gear of motor, driving gear is meshed with driven gear, two driven gear synchronous axial system in the same direction,
And driven gear and sleeve are fixing is connected, thus the synchronous rotary in the same direction of band moving sleeve, pass through screw thread between lifting screw and sleeve
Carry out transmission, and then achieve the function of the raising and lowering motion of lifting screw, it is simple to the whole height of adjusting supporting device,
Can carry out the motor of different model size inserting paper operation, improve the scope of application of the present invention, design more rationalizes.
Further, described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod,
Block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electronic
The quantity of push rod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, connection seat is pacified
Being contained on the lower surface of fixed platform, and connect seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform
On end face, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is equilateral triangle column structure, triangle
Seat is respectively symmetrically along its vertical center line and to be provided with inclined plane, inclined plane offers and matches with lower spherical hinge lower end external screw thread
Installing screwed hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, and electric pushrod top is connected with block plate seat upper end
Connecing, block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within
On electric pushrod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；Stewart
Parallel institution uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, big with serial mechanism phase specific stiffness, Stewart parallel institution structure
Stablize, kinematic dexterity is high, bearing capacity is strong and fine motion precision is high, and Stewart parallel institution can carry out three translations in space
Three motions rotating six-freedom degree direction altogether, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention,
Drive whole slotting paper device can carry out three translations three rotation six-freedom degree directions altogether in space by Stewart parallel institution
Motion, can carry out para-position one by one to the insulation tank on motor stator medial wall and insert paper.
Further, described slotting paper device includes base plate, travel mechanism, suction mechanism of paper and paper advance mechanism, and travel mechanism and suction
The quantity of mechanism of paper is two；Described travel mechanism is respectively symmetrically layout along the central transverse axis of base plate, and travel mechanism with
Base plate is connected, and inhales mechanism of paper and is positioned at immediately below travel mechanism, and paper advance mechanism is positioned at base plate medium position, and paper advance mechanism and the end
Plate is connected；Described travel mechanism includes motorized rails, mobile support saddle, rule and mobile spring；Described motorized rails is left
Right two ends are respectively arranged with spacing clamp, and mobile support saddle is arranged on motorized rails, and rule quantity is two, and rule is the most right
Claiming to be arranged in before and after motorized rails on lateral wall, mobile spring is fixed at mobile support saddle medium position；Described suction mechanism of paper
Including micro air pump, suction nozzle, c-type sleeve pipe and insulating paper；Described described micro air pump lower end is provided with suction nozzle, and suction nozzle
Material is elastomeric material, and suction nozzle is shaped hollow round table structure, and c-type sleeve pipe is positioned at immediately below suction nozzle, and c-type sleeve pipe and suction nozzle it
Between use the technology of expanding with heat and contract with cold be attached, insulating paper is positioned at c-type inside pipe casing；Described paper advance mechanism includes that paper feeding is electronic to be pushed away
Bar, paper pushing board and telescopic press head；Described paper feeding electric pushrod bottom is fixed on base plate, paper feeding electric pushrod top and paper feeding
Be connected in the middle part of plate, paper pushing board in " in " font structure, telescopic press head quantity is two, and telescopic press head one end is provided with telescopic block,
And telescopic block is connected with paper pushing board, telescopic press head other end semicircular in shape shape structure, and the portion of telescopic press head semicircular in shape structure
Steam vent is uniformly offered on Fen.First according to the size model of the motor stator of paper to be inserted, led electronic by mobile support saddle
Movement on rail, and according to the measurement of rule, determine corresponding size-spacing；Then produced in suction nozzle by micro air pump
Raw suction from bottom to top, under suction, the insulating paper folded carries over c-type sleeve pipe and is tightly held, when inserting paper, logical
Cross Stewart parallel institution by the insulation tank on insulating paper lower end aligned motor stator medial wall, then start that paper feeding is electronic to be pushed away
Bar, drives paper pushing board the most down to move by the stretching of paper feeding electric pushrod, and paper pushing board is fixed with telescopic press head and is connected,
When the suction that the pressure of telescopic press head produces more than micro air pump, insulating paper carries over c-type sleeve pipe medial wall and the most down moves,
And be perpendicularly inserted in the insulation tank on motor stator medial wall, it is achieved that motor stator insulating sublayer inserts the function of paper, works as insulation
After paper is completely inserted into motor stator insulation tank inside, by the contractile motion of slotting paper electric pushrod drive paper pushing board vertical on
Rise motion, insert paper device and can realize two-way suction paper and the function of two-way paper feeding, compared with unidirectional slotting paper, be totally doubled
Insert paper efficiency, and operation is quickly and easily, insert paper efficiency height, improve efficiency and quality that motor produces.
Further, described fixing device includes line slideway, mobile slide block, fixation clamp and clamping screw；Described straight line is led
Linearly being evenly arranged with spacing hole on rail upper surface, mobile slide block is arranged on line slideway, and offers logical on mobile slide block
Hole, fixation clamp front end is arc shape structure, and fixation clamp rear end is connected with mobile slip front, mobile slide block and line slideway it
Between use clamping screw be fixed；During use, motor stator is disposed vertically in the middle of four fixing devices, by movement
Slide block motion on line slideway, when fixation clamp front end contacts with motor stator lateral wall, will be moved by clamping screw
Movable slider is fixed on line slideway, has reached the effect fixing to motor stator, has prevented motor stator during slotting paper
The problem that dislocation is moved in position.
Compared with prior art, the invention have the advantages that
(1) present invention can carry out insulating paper bi-directional synchronization and inserts paper operation motor stator, and whole slotting paper process be all machinery from
Dynamic equalization, slotting paper is quick and convenient and safety is high, inserts paper depth consistency high, decreases the input of labour force, reduce electricity
The cost that motivation produces, and improve the quality that motor produces to a certain extent.
(2) support means of the present invention can realize the effect of synchronous same-speed raising and lowering on the vertical plane, can enter in the horizontal plane
Row is movable, it is simple to the present invention carries out insulating paper to the motor stator of different model size and inserts paper, applied widely.
(3) the Stewart parallel institution of the present invention uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, with serial mechanism phase specific stiffness
Greatly, Stewart parallel institution Stability Analysis of Structures, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, Stewart parallel machine
Structure can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast and fortune
Dynamic motility is good, drives whole slotting paper device can carry out three translations three in space by Stewart parallel institution and rotates totally six
The motion in degree of freedom direction, can carry out para-position one by one to the insulation tank on motor stator medial wall and insert paper.
(4) insulating paper folded can be held by the slotting paper device of the present invention by suction principle, then will be inhaled by pressure principle
The insulating paper bi-directional synchronization lived is inserted in the insulation tank of motor stator, and compared with unidirectional slotting paper, be totally doubled inserts
Paper efficiency, and operation is quickly and easily, inserts paper efficiency height, improves efficiency and quality that motor produces.
(5) motor stator of different model can be fixed by the fixing device of the present invention, prevents electricity during slotting paper
The problem that motivation position of stator moves dislocation.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of support means of the present invention；
Fig. 3 is the perspective view of vertical lift device of the present invention；
Fig. 4 is the top view of vertical lift device of the present invention；
Fig. 5 is perspective view when Stewart parallel institution of the present invention and the cooperation of slotting paper device；
Fig. 6 is the perspective view of Stewart parallel institution of the present invention；
Fig. 7 is the perspective view that the present invention inserts paper device；
Fig. 8 is the perspective view of fixing device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of power motor bi-directional synchronization paper-inserting machine device people, including base 1, support means 2,
Stewart parallel institution 3, slotting paper device 4 and fixing device 5；The described T-shaped platy structure of base 1, support means 2
Being positioned at base 1 rear side end, and be connected between support means 2 and base 1, Stewart parallel institution 3 is arranged on support means 2
Front end, inserts paper device 4 and is positioned at immediately below Stewart parallel institution 3, and fixing device 5 quantity is four, and fixing device 5 is respectively
It is arranged symmetrically on base 1 upper surface, and is connected between fixing device 5 and base 1.
As shown in Figures 2 to 4, described support means 2 includes elevator 21, horizontally moving device 22 and vertical lift dress
Put 23；Described horizontally moving device 22 is fixed on elevator 21 dead ahead, and vertical lift device 23 is fixed on elevator 21
Underface；Described horizontally moving device 22 includes horizontal electric slide rail 221, cross sliding clock 222 and fixing seat 223, and water
The quantity of flat electric sliding rail 221 and cross sliding clock 222 is two, and horizontal electric slide rail 221 Parallel Symmetric is arranged, horizontal electric
Slide rail 221 front end is provided with baffle plate, and the vertical cross section of horizontal electric slide rail 221 is I-shaped structure, and cross sliding clock 222 is installed
On horizontal electric slide rail 221, fixing seat 223 structure in the form of annular discs, fixing seat 223 two ends respectively with cross sliding clock 222 phase
Connect；By cross sliding clock 222 moving back and forth on horizontal electric slide rail 221, can realize inserting paper device 4 horizontal position
The regulation put.
As shown in Figures 2 to 4, described vertical lift device 23 include lifting screw 231, sleeve 232, lifting motor 233,
Motor cabinet 234, rotating shaft 235, driving gear 236, locking end cap 237, fixed mount 238 and driven gear 239；Described
The quantity of lifting screw 231, sleeve 232 and driven gear 239 is two, and lifting screw 231 upper end is connected with elevator 21
Connecing, lifting screw 231 lower end is arranged in sleeve 232, and sleeve 232 is internal offers the external screw thread phase with lifting screw 231
The female thread coordinated, sleeve 232 bottom is arranged on base 1 upper surface by bearing, and lifting motor 233 uses adjustable speed
Reducing motor, lifting motor 233 is fixed on base 1 upper surface by motor cabinet 234, rotating shaft 235 one end and lifting motor
It is connected between 233 main shafts, between rotating shaft 235 other end and driving gear 236, uses key to be attached, and driving gear 236
Upper end is locked by locking end cap 237, is fixed by fixed mount 238, fixed mount 238 in the middle part of rotating shaft 235
In the U-shape structure stood upside down, at fixed mount 238 medium position, it is provided with the bearing installed that matches with rotating shaft 235, driven gear
239 are fixed at sleeve 232 medium position, and driven gear 239 is meshed with driving gear 236；By lifting motor 233
The rotation rotarily driving driving gear 236, driving gear 236 is meshed with driven gear 239, two driven gears 239
Synchronous axial system in the same direction, and driven gear 239 and sleeve 232 is fixing is connected, thus the synchronous rotary in the same direction of band moving sleeve 232,
Carry out transmission by screw thread between lifting screw 231 and sleeve 232, and then achieve the raising and lowering fortune of lifting screw 231
Dynamic function, it is simple to the whole height of adjusting supporting device 2, can insert the motor stator 6 of different model size
Paper operation, improves the scope of application of the present invention, and design more rationalizes.
As shown in Figure 5 and Figure 6, described Stewart parallel institution 3 include fixed platform 31, moving platform 32, connect seat 33,
Upper spherical hinge 34, electric pushrod 35, block plate seat 36, lower spherical hinge 37, Triangulum 38 and limit spring 39；Described company
Joint chair 33 and Triangulum 38 quantity are three, upper spherical hinge 34, electric pushrod 35, block plate seat 36 and the quantity of lower spherical hinge 37
Being six, described fixed platform 31 and moving platform 32 the most rounded shape structure, connection seat 33 is arranged on the lower end of fixed platform 31
On face, and connecting seat 33 on fixed platform 31 in equilateral triangle location arrangements, Triangulum 38 is arranged on moving platform 32 upper surface
On, and the installation site connected between seat 33 and Triangulum 38 interlocks two-by-two, and Triangulum 38 is in equilateral triangle column structure,
Triangulum 38 is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and spiral shell outside lower spherical hinge 37 lower end
The installation screwed hole that stricture of vagina matches, electric pushrod 35 bottom is connected with being connected seat 33 by upper spherical hinge 34, electric pushrod
35 tops are connected with block plate seat 36 upper end, and block plate seat 36 lower end is connected with lower spherical hinge 37 one end, and lower spherical hinge 37 is another
One end is arranged on Triangulum 38, and limit spring 39 is around being enclosed within electric pushrod 35, and limit spring 39 one end pushes away with electronic
Bar 35 is connected, and limit spring 39 other end is connected with block plate seat 36；Stewart parallel institution 3 uses the six of 6-SPS
Freedom degree parallel connection mechanism, big with serial mechanism phase specific stiffness, Stewart parallel institution 3 Stability Analysis of Structures, kinematic dexterity height,
Bearing capacity is strong and fine motion precision is high, and Stewart parallel institution 3 can carry out three translations three in space and rotate six-freedom degree altogether
The motion in direction, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention, in parallel by Stewart
Mechanism 3 drives whole slotting paper device 4 can carry out three translations three in space and rotates the motion in six-freedom degree direction altogether, can be to electricity
Insulation tank on motivation stator 6 medial wall carries out para-position one by one and inserts paper.
As shown in figure 5 and figure 7, described slotting paper device 4 includes base plate 41, travel mechanism 42, inhales mechanism of paper 43 and paper feeding
Mechanism 44, and travel mechanism 42 and inhale the quantity of mechanism of paper 43 and be two；Horizontal along base plate 41 of described travel mechanism 42
Central axis is respectively symmetrically layout, and travel mechanism 42 is connected with base plate 41, inhale mechanism of paper 43 be positioned at travel mechanism 42 just under
Side, paper advance mechanism 44 is positioned at base plate 41 medium position, and paper advance mechanism 44 is connected with base plate 41；Described travel mechanism
42 include motorized rails 421, mobile support saddle 422, rule 423 and mobile spring 424；Described motorized rails about 421
Two ends are respectively arranged with spacing clamp, and mobile support saddle 422 is arranged on motorized rails 421, and rule 423 quantity is two, carve
Degree chi 423 is respectively symmetrically and is arranged in before and after motorized rails 421 on lateral wall, and mobile spring 424 is fixed on mobile support saddle 422
At medium position；Described suction mechanism of paper 43 includes micro air pump 431, suction nozzle 432, c-type sleeve pipe 433 and insulating paper 434；
Described described micro air pump 431 lower end is provided with suction nozzle 432, and suction nozzle 432 material is elastomeric material, suction nozzle 432 in
Shaped hollow round table structure, c-type sleeve pipe 433 is positioned at immediately below suction nozzle 432, and uses between c-type sleeve pipe 433 and suction nozzle 432
The technology of expanding with heat and contract with cold is attached, and it is internal that insulating paper 434 is positioned at c-type sleeve pipe 433；Described paper advance mechanism 44 includes paper feeding electricity
Dynamic push rod 441, paper pushing board 442 and telescopic press head 443；Described paper feeding electric pushrod 441 bottom is fixed on base plate 41,
Paper feeding electric pushrod 441 top is connected in the middle part of paper pushing board 442, paper pushing board 442 in " in " font structure, telescopic press head
443 quantity are two, and telescopic press head 443 one end is provided with telescopic block, and telescopic block is connected with paper pushing board 442, telescopic press head
Other end semicircular in shape shape structure, and uniformly offer steam vent in the part of telescopic press head semicircular in shape structure.First according to treating
Insert the size model of the motor stator 6 of paper, by the mobile support saddle 422 movement on motorized rails 421, and according to scale
The measurement of chi 423, determines corresponding size-spacing；Then produced from bottom to top in suction nozzle 432 by micro air pump 431
Suction, under suction, the insulating paper 434 folded carries over c-type sleeve pipe 433 and is tightly held, insert paper time, pass through
Stewart parallel institution 3, by the insulation tank on insulating paper 434 lower end aligned motor stator 6 medial wall, then starts paper feeding
Electric pushrod 441, drives paper pushing board 442 vertically down to move by the stretching of paper feeding electric pushrod 441, and paper pushing board
442 fixing with telescopic press head 443 are connected, when the pressure of telescopic press head 443 is more than the suction of micro air pump 431 generation, absolutely
Edge paper 434 carries over c-type sleeve pipe 433 medial wall and the most down moves, and be perpendicularly inserted on motor stator 6 medial wall exhausted
In edge groove, it is achieved that the function of paper is inserted in motor stator 6 insulation, insulate when insulating paper 434 is completely inserted into motor stator 6
Behind groove inside, driven the vertical ascending motion of paper pushing board 442 by the contractile motion of slotting paper electric pushrod 441, insert paper device 4
Two-way suction paper and the function of two-way paper feeding can be realized, compared with unidirectional slotting paper, the slotting paper efficiency being totally doubled, and operation
Quickly and easily, insert paper efficiency height, improve efficiency and quality that motor produces.
As shown in Figure 8, described fixing device 5 includes line slideway 51, mobile slide block 52, fixation clamp 53 and clamping screw
54；Linearly being evenly arranged with spacing hole on described line slideway 51 upper surface, mobile slide block 52 is arranged on line slideway 51
On, and offering through hole on mobile slide block 52, fixation clamp 53 front end is arc shape structure, fixation clamp 53 rear end and mobile slide block
52 front ends are connected, and use clamping screw 54 to be fixed between mobile slide block 52 and line slideway 51；During use, by electricity
Motivation stator 6 is disposed vertically in the middle of four fixing devices 5, by moving the slide block 52 motion on line slideway 51, when
When fixation clamp 53 front end contacts with motor stator 6 lateral wall, by clamping screw 54, movement slide block 52 is fixed on straight line
On guide rail 51, reach, to the fixing effect of motor stator 6, to prevent motor stator 6 position during slotting paper from moving mistake
The problem of position.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. a power motor bi-directional synchronization paper-inserting machine device people, it is characterised in that: include base, support means, Stewart
Parallel institution, slotting paper device and fixing device；The T-shaped platy structure of described base, support means is positioned at base rear side end,
And be connected between support means and base, Stewart parallel institution is arranged on support means front end, inserts paper device and is positioned at Stewart
Immediately below parallel institution, fixing device quantity is four, and fixing device is respectively symmetrically and is arranged on base upper surface, and fixing device
And it is connected between base；Wherein:
Described support means includes elevator, horizontally moving device and vertical lift device；Described horizontally moving device is fixed
At elevator dead ahead, vertical lift device is fixed on immediately below elevator；Described horizontally moving device includes that horizontal electric is sliding
Rail, cross sliding clock and fixing seat, and the quantity of horizontal electric slide rail and cross sliding clock is two, horizontal electric slide rail Parallel Symmetric
Arranging, horizontal electric slide rail front end is provided with baffle plate, and the vertical cross section of horizontal electric slide rail is I-shaped structure, and cross sliding clock is pacified
Being contained on horizontal electric slide rail, fixing seat structure in the form of annular discs, fixing seat two ends are connected with cross sliding clock respectively；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat,
Lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, gear
The quantity of dish seat and lower spherical hinge is six, and described fixed platform and moving platform the most rounded shape structure, connection seat is arranged on and allocates
On the lower surface of platform, and connecting seat on fixed platform in equilateral triangle location arrangements, Triangulum is arranged on moving platform upper surface,
And the installation site connected between seat and Triangulum interlocks two-by-two, and Triangulum is equilateral triangle column structure, and Triangulum hangs down along it
Straight centrage is respectively symmetrically and is provided with inclined plane, and inclined plane offers the installation screw thread matched with lower spherical hinge lower end external screw thread
Hole, electric pushrod bottom is connected with being connected seat by upper spherical hinge, and electric pushrod top is connected with block plate seat upper end, block plate
Seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod
On, and limit spring one end is connected with electric pushrod, the limit spring other end is connected with block plate seat；
Described slotting paper device includes base plate, travel mechanism, suction mechanism of paper and paper advance mechanism, and travel mechanism and suction mechanism of paper
Quantity is two；Described travel mechanism is respectively symmetrically layout along the central transverse axis of base plate, and travel mechanism is connected with base plate,
Inhaling mechanism of paper and be positioned at immediately below travel mechanism, paper advance mechanism is positioned at base plate medium position, and paper advance mechanism is connected with base plate；Institute
The travel mechanism stated includes motorized rails, mobile support saddle, rule and mobile spring；Described two ends, motorized rails left and right are respectively
Being provided with spacing clamp, mobile support saddle is arranged on motorized rails, and rule quantity is two, and rule is respectively symmetrically and is arranged in electricity
Before and after dynamic guide rail on lateral wall, mobile spring is fixed at mobile support saddle medium position；Described suction mechanism of paper includes miniature gas
Pump, suction nozzle, c-type sleeve pipe and insulating paper；Described described micro air pump lower end is provided with suction nozzle, and suction nozzle material is rubber
Material, suction nozzle is shaped hollow round table structure, and c-type sleeve pipe is positioned at immediately below suction nozzle, and uses flatulence of heat type between c-type sleeve pipe and suction nozzle
Cold-shrink technology is attached, and insulating paper is positioned at c-type inside pipe casing.
A kind of power motor bi-directional synchronization paper-inserting machine device people the most according to claim 1, it is characterised in that: described hangs down
Go straight up to falling unit and include lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, fixed mount
And driven gear；The quantity of described lifting screw, sleeve and driven gear is two, and lifting screw upper end is connected with elevator
Connecing, lifting screw lower end is arranged in sleeve, and sleeve inner offers the female thread that the external screw thread with lifting screw matches, set
Cylinder bottom is arranged on base upper surface by bearing, and lifting motor uses adjustable speed reducing motor, and lifting motor passes through motor
Seat is fixed on base upper surface, is connected, between the rotating shaft other end and driving gear between rotating shaft one end with lifting motor main shaft
Employing key is attached, and driving gear upper end is locked by locking end cap, is carried out solid in the middle part of rotating shaft by fixed mount
Fixed, fixed mount, in the U-shape structure stood upside down, is provided with the bearing installed that matches with rotating shaft, driven tooth at fixed mount medium position
Wheel is fixed at sleeve medium position, and driven gear is meshed with driving gear.
A kind of power motor bi-directional synchronization paper-inserting machine device people the most according to claim 1, it is characterised in that: described consolidates
Determine device and include line slideway, mobile slide block, fixation clamp and clamping screw；On described line slideway upper surface the most uniform
Being provided with spacing hole, mobile slide block is arranged on line slideway, and offers through hole on mobile slide block, and fixation clamp front end is arc
Shape structure, fixation clamp rear end is connected with mobile slip front, uses clamping screw to carry out solid between mobile slide block and line slideway
Fixed.
A kind of power motor bi-directional synchronization paper-inserting machine device people the most according to claim 1, it is characterised in that: described send
Mechanism of paper includes paper feeding electric pushrod, paper pushing board and telescopic press head；Described paper feeding electric pushrod bottom is fixed on base plate, send
Paper electric pushrod top is connected with in the middle part of paper pushing board, paper pushing board in " in " font structure, telescopic press head quantity is two, flexible
Pressure head one end is provided with telescopic block, and telescopic block is connected with paper pushing board, telescopic press head other end semicircular in shape shape structure, and stretches
Steam vent is uniformly offered in the part of contractive pressure head semicircular in shape structure.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711485250.9A CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
| CN201610459518.0A CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
| CN201711481738.4A CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459518.0A CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
Related Child Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485250.9A Division CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
| CN201711481738.4A Division CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106002943A true CN106002943A (en) | 2016-10-12 |
| CN106002943B CN106002943B (en) | 2018-06-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610459518.0A Active CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
| CN201711481738.4A Withdrawn CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
| CN201711485250.9A Withdrawn CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
Family Applications After (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711481738.4A Withdrawn CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
| CN201711485250.9A Withdrawn CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
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| Country | Link |
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| CN (3) | CN106002943B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112103839A (en) * | 2020-09-08 | 2020-12-18 | 贵州电网有限责任公司 | Convenient support hanging ring for live working of power transmission line |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850817B (en) * | 2018-12-26 | 2021-10-29 | 洪蕾 | A device is stacked in clothing stock for wholesale |
| CN113145598A (en) * | 2021-04-22 | 2021-07-23 | 滁州职业技术学院 | Cleaning device for chemical equipment and with temperature compensation function |
| CN114977696B (en) * | 2022-06-22 | 2023-10-17 | 苏州上舜精密工业科技有限公司 | Insulation paper embedding structure, assembly machine with insulation paper embedding structure and assembly method |
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- 2016-06-23 CN CN201610459518.0A patent/CN106002943B/en active Active
- 2016-06-23 CN CN201711481738.4A patent/CN108214460A/en not_active Withdrawn
- 2016-06-23 CN CN201711485250.9A patent/CN108054888A/en not_active Withdrawn
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| FR2757440B1 (en) * | 1996-12-20 | 1999-03-19 | Conservatoire Nat Arts | HEXAPODE PLATFORM AND SPHERICAL ARTICULATION DEVICES FOR USE IN THE PRODUCTION THEREOF |
| CN103587724A (en) * | 2013-09-24 | 2014-02-19 | 南京航空航天大学 | Six-degree-of-freedom vibration isolation platform based on Stewart parallel mechanism |
| CN204468616U (en) * | 2015-02-06 | 2015-07-15 | 安徽理工大学 | Three-freedom-degree hybrid formula Chinese massage robot |
| CN204753769U (en) * | 2015-06-25 | 2015-11-11 | 景宁山凤皇工艺制品有限公司 | Liftable closestool |
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| CN112103839A (en) * | 2020-09-08 | 2020-12-18 | 贵州电网有限责任公司 | Convenient support hanging ring for live working of power transmission line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002943B (en) | 2018-06-26 |
| CN108214460A (en) | 2018-06-29 |
| CN108054888A (en) | 2018-05-18 |
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Effective date of registration: 20180528 Address after: 243000 2, 1669 north section of Huo Li Shan Road, Ma'anshan high tech Zone, Anhui Applicant after: Lan Xin Environmental Protection Technology Co., Ltd of Ma'an Mountain Address before: 246001 room 2, unit 11, Huakang new village, 556 Huazhong West Road, Yingjiang District, Anqing, Anhui, China, 503 Applicant before: Yao Haili |
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