CN106697973A - Automatic transformer iron core stacking system - Google Patents
Automatic transformer iron core stacking system Download PDFInfo
- Publication number
- CN106697973A CN106697973A CN201710072728.9A CN201710072728A CN106697973A CN 106697973 A CN106697973 A CN 106697973A CN 201710072728 A CN201710072728 A CN 201710072728A CN 106697973 A CN106697973 A CN 106697973A
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- Prior art keywords
- lower yoke
- yoke member
- piece
- station
- manipulators
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 152
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 10
- 238000002360 preparation method Methods 0.000 claims abstract description 5
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 22
- 230000001737 promoting effect Effects 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 239000010410 layer Substances 0.000 abstract 4
- 230000007306 turnover Effects 0.000 abstract 2
- 238000004826 seaming Methods 0.000 abstract 1
- 239000002356 single layer Substances 0.000 abstract 1
- 230000035611 feeding Effects 0.000 description 22
- 230000009021 linear effect Effects 0.000 description 18
- 241000252254 Catostomidae Species 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 14
- 238000010586 diagram Methods 0.000 description 11
- 239000000463 material Substances 0.000 description 5
- 230000002787 reinforcement Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000008447 perception Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000007704 transition Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000035807 sensation Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 241000252253 Catostomus Species 0.000 description 1
- 241000272165 Charadriidae Species 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic transformer iron core stacking system which comprises a preparation station I area, a turnover station II area and a work station III area, and the preparation station I area and the turnover station II area play corresponding roles alternatively. The work station III area comprises a three-pillar-piece single-layer automatic stacking system, a servo stacking opposite seaming mechanism and an extra-thin-piece X-axis Y-axis bidirectional centering platform. The work station III area is divided into a ground layer and an overhead layer, and the ground layer is provided with a pillar piece feeding station, a pillar piece centering station, a final assembly station, a lower yoke piece centering station and a lower yoke piece feeding station in sequence in the X direction; and the overhead layer is provided with a pillar piece A mechanical arm, a pillar piece B mechanical arm and a lower yoke piece mechanical arm in sequence in the X direction. According to the automatic transformer iron core stacking system, when pieces are taken, whether multiple pieces are taken or not can be recognized automatically, and stacking of an iron core shaped like a Chinese character 'shan' can be completed according to requirements; and the automatic transformer iron core stacking system has the advantages of being high in efficiency and stable in quality, and a plenty of manpower can be saved.
Description
Technical field
The present invention relates to power transformer iron core manufacturing technology field, specifically a kind of transformer core automatic overlapping and assembling
System.
Background technology
Existing transformer core closed assembly be typically all by being accomplished manually, the work belong to simply, the duplication of labour, labor
Fatigue resistance is high, inefficiency.
Power transformer iron core closed assembly is generally mountain word iron core, that is, have the mountain word that a piece of lower yoke member and three post pieces are constituted
Piece, then every layer of mountain word slice enumerate and walk stepping, formed word post.
The characteristics of power transformer mountain word post iron core closed assembly, has：One is that post piece spacing M0 is a parameter, and two is that number of steps is
Individual parameter, three is that the step-length of each step is parameter.This causes to be produced during the word post iron core closed assembly of power transformer mountain
Very big difficulty.
The content of the invention
It is an object of the invention to solve the above problems, there is provided a kind of transformer core automatic overlapping and assembling system, the system exists
When taking piece, can automatic identification whether multi-disc, the closed assembly of mountain shaped iron core can be on request completed, with efficiency high, steady quality
Feature, can save substantial amounts of manpower.
The technical scheme adopted by the invention to solve the technical problem is that：
A kind of transformer core automatic overlapping and assembling system, including prepare the area of station I, all areas of switching stations II and work station III
Area, the area of preparation station I and all areas of switching stations II alternately serve as, and the area of the work station III includes three post piece individual layers
Automatic overlapping and assembling system, servo closed assembly opposite joint mechanism and wafer thin X-axis Y-axis Bidirectional centering platform, the work station III are divided into
Ground floor and air-layer, the ground floor be sequentially arranged in X direction post piece feeding station, post piece centering station, general assembly station,
Lower yoke member centering station, lower yoke feeding station, the post piece feeding station are provided with three post piece feeding Shuttling trolleys, the post piece pair
The full-automatic centering platform of three post pieces is provided with middle station, finished product Shuttling trolley, the lower yoke member pair are provided with the general assembly station
The full-automatic centering platform of lower yoke member is provided with middle station, lower yoke member feeding Shuttling trolley is provided with the lower yoke feeding station；It is empty
Middle level has been sequentially arranged post piece A manipulators, post piece B manipulators, lower yoke member manipulator in X direction, on the lower yoke member manipulator
It is provided with the two lower yoke member A manipulators and lower yoke member B manipulators lifted along Z axis.
Further, along X at the three posts piece feeding Shuttling trolley, finished product Shuttling trolley and lower yoke member feeding Shuttling trolley
There is the dolly rail of three secondary parallel arrangements in direction successively, and each secondary dolly rail is provided with two, is run on every pair dolly rail
Two chassis；
The three posts piece feeding Shuttling trolley upper surface is provided with to put down hangs pallet I and locating piece I, on the finished product Shuttling trolley
End face is provided with closed assembly platform, and the lower yoke member feeding Shuttling trolley upper surface is provided with to put down hangs pallet II and locating piece II, and three small
Car is moved on corresponding rail respectively, and three dolly lower surfaces are respectively equipped with wheel, and wheel is rotated with dolly lower surface and is connected,
Wheel is contacted with dolly rail, is connected by power transmission shaft between wheel, and power transmission shaft centre position is provided with drive sprocket, the dolly
Lower surface position corresponding with drive sprocket is provided with vehicle motor.
Further, the area of the work station III be provided with X to portal frame, the portal frame is provided with two, two portal frames
Parallel, the portal frame two ends are provided with gantry pillar, two portal frame upper surfaces inner side be respectively equipped with X to portal frame tooth bar,
Two portal frame tooth bars are parallel to each other, and portal frame upper surface outside is respectively equipped with portal frame guide rail, two portal frame guide rails point described in two
It is not parallel with corresponding portal frame tooth bar.
Further, the post piece A manipulators include walking mechanism and elevating mechanism, and the walking mechanism includes post piece A
Robot cart car body, post piece A manipulator running trolley servomotors and post piece A manipulator running trolley power transmission shafts；
The elevating mechanism includes post piece A manipulators lifting column, post piece A manipulator lift servo motors and post piece A machines
Tool hand sucker fixed beam.
Further, the three posts piece individual layer automatic overlapping and assembling system, including three post piece closed assembly platforms and the crawl of three post pieces are certainly
It is dynamic to adjust spacing mechanism between spacing mechanism between post piece, the three posts piece crawl automatic tune post piece to be located at three post piece closed assembly platforms top, it is described
Three post piece closed assembly platforms are watched including three sets of servo centering bodies, three sets and walk stepping mechanism and big branch by seam mechanism, a set of servo Y-direction
Support platform, three sets of automatic centering mechanisms are horizontally distributed in big support platform, and it is automatic right that three sets of servos are each located on by seam mechanism
On the center line of middle mechanism, a set of servo Y-direction walks stepping mechanism and three sets of perpendicular arrangements of servo automatic centering mechanism；Described three
Spacing mechanism includes walking in a horizontal state device, lowering or hoisting gear and adjusts post piece spacing device, lowering or hoisting gear between post piece crawl automatic tune post piece
It is supported on walking in a horizontal state device, adjusts post piece spacing device to be arranged on lowering or hoisting gear.
Further, the wafer thin X-axis Y-axis Bidirectional centering platform, including Y-direction centering is simultaneously walked stepping mechanism, level and is pushed away
In motivation structure, big support platform and silicon steel sheet support platform, the silicon steel sheet support platform is arranged in big support platform simultaneously
Built on stilts, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism in big support platform, and Y-direction centering simultaneously walks stepping mechanism
With Level Promoting mechanism into being arranged vertically, the Y-direction centering is simultaneously walked stepping mechanism including installation floor, straight line module and is disappeared automatically
Gap device, automatic gap eliminating device is located in silicon steel sheet support platform and compresses silicon steel sheet support platform, the Level Promoting mechanism
Including propelling track, connecting cross beam, forward block and electric cylinders, the forward block is located on connecting cross beam and extends silicon steel sheet support
Platform.
Further, servo closed assembly opposite joint mechanism, including walking mechanism, lower yoke member grasping mechanism and lower yoke member butt-jointed gap machine
Structure, the lower yoke member grasping mechanism and lower yoke member opposite joint mechanism are respectively supported in walking mechanism, under the walking mechanism includes
Yoke piece manipulator servomotor, lower yoke member robotic transfer axle and lower yoke member running trolley；The lower yoke member grasping mechanism includes
Lower yoke member A manipulators lifting column, lower yoke member A manipulators lifting motor, lower yoke member A manipulator sucker fixed beams and sucker；Institute
Stating lower yoke member opposite joint mechanism includes lower yoke member B manipulators lifting column, lower yoke member B manipulators lifting motor, lower yoke member B manipulators
Sucker fixed beam and opposite joint module, the opposite joint module are arranged on lower yoke member B manipulator sucker fixed beams, and opposite joint module includes watching
Take pulling mechanism, hold-down mechanism, mounting bracket and board-like vacuum cup II, the servo pulling mechanism, hold-down mechanism and board-like
Vacuum cup II is fixed in mounting bracket.
Further, the opposite joint module is provided with three groups, and the mounting bracket is fixed on lower yoke member B manipulator suckers and fixes
Liang Shang, mounting bracket includes riser and end connecting plate；
The servo pulling mechanism includes that servo pulls electric cylinders, pulls sucker and spring lever, and the servo pulls electric cylinders to consolidate
It is scheduled in mounting bracket, the spring lever pulls electric cylinders with servo, pulls sucker to pull electric cylinders to be connected by spring lever and servo,
Servo is pulled electric cylinders to be driven by spring lever and pulls sucker movement；
The hold-down mechanism includes cylinder and pressure strip, and the cylinder piston rod end is connected with pressure strip, and cylinder upper end is consolidated
Surely there is cylinder mounting block, the cylinder mounting block is fixed in mounting bracket；
The upper end of board-like vacuum cup II is fixed with top connecting plate, and the top connecting plate is fixed on mounting bracket
On.
The beneficial effects of the invention are as follows：
1st, a kind of transformer core automatic overlapping and assembling system that the present invention is provided includes 2 three post piece feeding Shuttling trolleys, three
The full-automatic centering platform of post piece, 2 finished product iron core Shuttling trolleys, yoke feeding shuttles small under the full-automatic centering platform of lower yoke member, 2 platforms
Car, dolly rail, portal frame, post piece A manipulators, post piece B manipulators and lower yoke member manipulator.Can incessantly according to transformation
Device lamination order unshakable in one's determination completes closed assembly unshakable in one's determination, and production efficiency is high, product quality stabilization.Highly versatile of the present invention, to post piece A
Manipulator and B manipulators etc. are slightly changed, you can complete the automatic overlapping and assembling of three-phase and five-pole power transformer iron core.Opposite joint mechanism profit
The control of " power " during with to opposite joint, simulates the sensation of " artificial hand ", rather than only to the control of position, has been completely secured per together
Mitre it is perfectly aligned.
2nd, the present invention provide a kind of transformer core automatic overlapping and assembling system described in three post piece individual layer automatic overlapping and assembling systems by
Being arranged vertically and disposably adjusting for stepping mechanism is walked in three sets of centering bodies and the Y-direction of equipment, yoke piece and three post pieces
90 degree are able to strict guarantee, rather than artificial closed assembly, it is necessary to each mitre will be checked, improve closed assembly efficiency；With lower yoke
The design of plate shape identical pattern is introduced, and stepping is walked by pattern, by being three sets of movements by stitching electric cylinders, is once completed
Three post pieces walk stepping and complete mitre alignment；The locating piece I of servo centering body is specially designed, can not do any
Change is used with regard to changeable surface, is supported four with one and is used, and is increased the service life, and the locating piece II on same pattern is also designed to replaceable
Structure, and the design for passing through T-slot, vertical direction are slightly moved, and be can be used again, and the earth reduces the replacing frequency, extends
Service life；Design by stitching mechanism, is, by the maximum moment pattern of fine motion electric cylinders, to perceive whether post piece encounters lower yoke
Piece, simulates the perception dynamics of artificial " hand ", more preferable by seam effect；B manipulator linear modules cause that two ends trough of belt sucker is fixed
Beam move toward one another realizes the demand of the change of different transformer pillar spacing M0, convenient and swift, strong adaptability.
3rd, wafer thin X-axis Y-axis Bidirectional centering platform described in a kind of transformer core automatic overlapping and assembling system that the present invention is provided
Automatic gap eliminating device is provided with, and one half V blocks are tightly pressed in silicon steel sheet support platform, such silicon steel sheet occurs in
In mobile process, it is unlikely to during corner inserts its gap；The design of Level Promoting mechanism, is by the maximum moment mould of electric cylinders
Formula, perceives whether post piece encounters lower yoke member, simulates the perception dynamics of artificial hand；Can be the silicon steel of the various width of transformer
Piece, centering one at a time, and by its corresponding step number, but a series of the several of the different silicon steel sheets of same shape size
The same point of platform is fixed at what center, and makes this that the step-length of regulation, stepping are walked along Y-direction, is transformer core from fold
True up and get defined location ready, make the geometric center of the silicon steel sheet of each step into equidistantly arranging, when being iron core closed assembly in future
Opposite joint lays the first stone.
4th, servo closed assembly opposite joint mechanism includes walking described in a kind of transformer core automatic overlapping and assembling system that the present invention is provided
Mechanism, lower yoke member grasping mechanism and lower yoke member opposite joint mechanism, the cooperation of walking mechanism and lower yoke member grasping mechanism can realize by
Lower yoke member grabs centering platform and carries out centering, and walking mechanism can be realized with the cooperation of lower yoke member opposite joint mechanism, and centering is good
Lower yoke member is captured and opposite joint, simple to operate, save manpower, be not only suitable for silicon steel sheet automatic overlapping and assembling production line side column and
Center pillar splices opposite joint with lower yoke, is also applied for automatic production line thin plate splicing opposite joint technological requirement；Servo pulling mechanism passes through
Servo is pulled electric cylinders to be driven by spring lever and pulls sucker to move, be, by the maximum moment pattern of fine motion electric cylinders, to perceive post piece
Whether encounter lower yoke member, simulate the perception dynamics of artificial " hand ", while also simulating the motion mode of staff；Pressed in hold-down mechanism
Plate has guide frame, guide post piece can move and align to the hypotenuse or v-notch of yoke piece exactly, and is unlikely to " weight
Folded, tooled joint ".
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is present invention entirety top view；
Fig. 3 is present invention entirety front view；
Fig. 4 is air-layer structural representation of the present invention；
Fig. 5 is general assembly station structure schematic diagram where finished product Shuttling trolley of the present invention；
Fig. 6 is post piece A robot manipulator structure schematic diagrames of the present invention；
Fig. 7 is three posts piece individual layer automatic overlapping and assembling system structure diagram of the invention；
Fig. 8 is board-like vacuum cup structural representation of the invention；
Fig. 9 is three posts piece closed assembly platform structure schematic diagram of the invention；
Figure 10 is servo centering body structural representation of the present invention；
Figure 11 is the present invention by seam mechanism structure schematic diagram；
Figure 12 walks stepping mechanism front view for servo Y-direction of the present invention；
Figure 13 walks stepping mechanism top view for servo Y-direction of the present invention；
Figure 14 is wafer thin X-axis Y-axis Bidirectional centering platform structure schematic diagram of the present invention；
Figure 15 is Y-direction centering of the present invention and walks stepping mechanism structure schematic diagram；
Figure 16 is automatic anti-backlash section of structure of the present invention；
Figure 17 is Level Promoting mechanism structure schematic diagram of the present invention；
Figure 18 is servo closed assembly opposite joint mechanism of the present invention structural representation；
Figure 19 is lower yoke member B robot manipulator structure schematic diagrames of the present invention；
Figure 20 is lower yoke member B manipulator top views of the present invention；
Figure 21 is opposite joint modular structure schematic diagram of the present invention；
Figure 22 is opposite joint module front view of the present invention.
Specific embodiment
According to Fig. 1 to Fig. 3, a kind of transformer core automatic overlapping and assembling system, including prepare the area of station I, all switching stations
IIth area and the area of work station III, the area of preparation station I and all areas of switching stations II alternately serve as, the area of the work station III
Three post piece individual layer automatic overlapping and assembling systems, servo closed assembly opposite joint mechanism and wafer thin X-axis Y-axis Bidirectional centering platform are included, it is described
Work station III divides into ground floor and air-layer, and the ground floor has been sequentially arranged post piece feeding station, post piece pair in X direction
Middle station, general assembly station, lower yoke member centering station, lower yoke feeding station, the post piece feeding station are provided with three post piece feedings and wear
Shuttle dolly 1, is provided with the full-automatic centering platform 2 of three post pieces at the post piece centering station, being provided with finished product at the general assembly station wears
Shuttle dolly 3, is provided with the full-automatic centering platform 4 of lower yoke member at the lower yoke member centering station, be provided with the lower yoke feeding station
Lower yoke member feeding Shuttling trolley 5；Air-layer has been sequentially arranged post piece A manipulators 6, post piece B manipulators 7, lower yoke member machine in X direction
Tool hand 8, is provided with the two lower yoke member A manipulators and lower yoke member B manipulators lifted along Z axis on the lower yoke member manipulator.
The three posts piece individual layer automatic overlapping and assembling system includes post piece B manipulators and the full-automatic centering platform 2 of three post pieces, described
Servo closed assembly opposite joint mechanism includes lower yoke member manipulator 8, and the wafer thin X-axis Y-axis Bidirectional centering platform includes that lower yoke member is complete certainly
Dynamic centering platform 4.
According to Figure 22, the three posts piece feeding Shuttling trolley 1, finished product Shuttling trolley 3 and lower yoke member feeding shuttle small
There is the dolly rail 10 of three secondary parallel arrangements at car 5 successively in X direction, each secondary dolly rail 10 is provided with two, per pair dolly
Two chassis are run on rail 10；The upper surface of three posts piece feeding Shuttling trolley 1 is provided with to put down hangs pallet I 101 and locating piece I
102, locating piece I 102 hangs pallet I 101 for positioning to put down, and the upper surface of finished product Shuttling trolley 3 is provided with closed assembly platform 301, institute
State the upper surface of lower yoke member feeding Shuttling trolley 5 be provided with it is flat hang pallet II 51 and locating piece II 52, three dollies are respectively corresponding
Moved on dolly rail 10, three dolly lower surfaces are respectively equipped with wheel 302, wheel 302 is rotated with dolly lower surface and is connected, car
Wheel 302 is contacted with dolly rail 10, is connected by power transmission shaft 303 between wheel 302, and the centre position of power transmission shaft 303 is provided with transmission
Sprocket wheel 304, the dolly lower surface is provided with vehicle motor 305, vehicle motor 305 and biography with the corresponding position of drive sprocket 304
Connected by chain between movable sprocket 304, vehicle motor 305 by chain and movable sprocket 304 send power to power transmission shaft from
And band motor car wheel 302 is rotated.
According to Fig. 4, the area of the work station III be provided with X to portal frame 9, the portal frame 9 is provided with two, two dragons
Door frame 9 is parallel, and the two ends of the portal frame 9 are provided with gantry pillar 91, and the gantry pillar 91 is fixed on overlapping system work
On platform, the upper surface of two portal frame 9 inner side be respectively equipped with X to portal frame tooth bar 92, two portal frame tooth bars 92 are parallel to each other, two
The upper surface of the portal frame 9 outside is respectively equipped with portal frame guide rail 93, two portal frame guide rails 93 respectively with corresponding portal frame
Tooth bar 92 is parallel.
According to Fig. 5, the post piece A manipulators include walking mechanism and elevating mechanism, and the walking mechanism includes post
The transmission of piece A robot carts car body 601, post piece A manipulator running trolleys servomotor 602 and post piece A manipulators running trolley
Axle 604, the two ends of post piece A robot carts car body 601 are provided with post piece A manipulators and transport with the corresponding position of portal frame guide rail 93
Row dolly sliding block 608, post piece A robot carts car body 601 is led by post piece A manipulator running trolleys sliding block 608 and portal frame
Rail 93 is slided on portal frame 9, and post piece A manipulator running trolleys servomotor 602 is arranged on post piece A robot cart car bodies
601 centre positions, the lower end of post piece A manipulator running trolleys servomotor 602 is provided with post piece A manipulator running trolley reducing motors
603, the post piece A manipulator running trolleys power transmission shaft 604 passes through post piece A manipulator running trolleys reducing motor 603, the post
The two ends of piece A manipulator running trolleys power transmission shaft 604 are provided with post piece A manipulator running trolleys travelling gear 607, post piece A manipulators
The support of post piece A robotic transfers axle is provided with the upper prop piece A manipulator running trolleys travelling gear 607 of running trolley power transmission shaft 604
Bearing 605, by post piece A machineries between post piece A robotic transfer axles spring bearing 605 and post piece A robot carts car body 601
Hand power transmission shaft support base 606 is connected, and post piece A robotic transfer axles support base 606 is welded on post piece A robot carts car body 601
On, post piece A robotic transfer axles spring bearing 605 is bolted on post piece A robotic transfer axles support base 606.
The elevating mechanism includes post piece A manipulators lifting column 609, post piece A manipulator lift servos motor 610 and post
Piece A manipulator suckers fixed beam 615, the post piece A manipulator lift servos motor 610 is supported on post piece A robot cart cars
On body 601, the lower end of post piece A manipulator lift servos motor 610 is provided with post piece A manipulators lifting slider 611, the post piece A machines
Tool hand lifting slider 611 is provided with reinforcement, and the rectangular triangle of reinforcement, the reinforcement right-angle side is welded on post piece
On A robot carts car body 601, the post piece A manipulators lifting column 609 is provided with post piece A manipulators riser guide 612,
Post piece A manipulator lift servos motor 610 passes through post piece A manipulators lifting slider 611 and post piece A manipulators riser guide 612
It is slidably connected with post piece A manipulators lifting column 609, the lower end of post piece A manipulators lifting column 609 is provided with post piece A manipulators company
Frame 613 is connect, the lower end of post piece A manipulators link 613 is fixed with post piece A manipulators connecting cross beam 614, the post piece A manipulators
The two ends of connecting cross beam 614 or so are fixed with post piece A manipulator suckers fixed beam 615, the post piece A manipulators connecting cross beam 614
It is connected by post piece A robotic connectors 616 between post piece A manipulator suckers fixed beam 615, the post piece A manipulators are inhaled
Disk fixed beam 615 is provided with weighing sensor 617, and the post piece A manipulator suckers fixed beam 615 is fixed with three post piece A machines
Tool hand spring lever 619, the lower end of post piece A manipulators spring lever 619 is fixed with post piece A manipulators sucker 618.
According to Fig. 6 to Figure 12, the three posts piece individual layer automatic overlapping and assembling system, including three post piece closed assembly platforms and three posts
Piece crawl is automatic to adjust spacing mechanism between post piece, and M0 is post piece spacing in figure, and the three posts piece crawl is automatic to adjust M0 mechanisms to be located at three posts
Piece closed assembly platform top, the three posts piece closed assembly platform is watched by seam mechanism, a set of servo including three sets of servo centering bodies, three sets
Y-direction walks stepping mechanism and big support platform 11, and three sets of automatic centering mechanisms are horizontally distributed in big support platform 11, three sets of servos
By seam, mechanism is each located on the center line of automatic centering mechanism, and it is automatically right with three sets of servos that a set of servo Y-direction walks stepping mechanism
The middle perpendicular arrangement of mechanism, wherein three sets of servo automatic centering mechanisms are designed to perfect parallelism arrangement, spacing is equal, and Y-direction
Walk stepping mechanism to be arranged vertically with three sets of servo automatic centering mechanisms, equipment is once installed in place good, then the post piece being assembled
Mitre angle with yoke piece would not change again；The servo automatic centering mechanism includes the guide rail I 14, of move toward one another
Crossbeam 15, straight line module I 12 and locating piece I 16 to move toward one another, the guide rail I 14 are fixed in big support platform, guide rail I
14 are provided with two, and two guide rails I 14 are parallel, three locating pieces I 16 are fixed with each crossbeam 15, under two two ends of crossbeam 14 or so
End face is provided with slider I 13, and crossbeam 15 is slidably connected by between slider I 13 and guide rail I 14 and big support platform 11, under crossbeam 15
End face centre position is provided with sliding block II 17, and straight line module I 12 passes through to be slidably connected between sliding block II 17 and crossbeam 15, straight line module
I 12 one end are provided with servomotor 140, and it is S1 that servomotor can drive the ultimate range that crossbeam is walked；Servo automatic centering machine
The shape of locating piece I 16 of structure is special, and the end face in its short transverse is square, i.e. the distance in opposite sides face is identical, when with
Complete one of face is can be rotated by 90 ° and be continuing with, with one when four use.It is automatically right that servo centering body can complete three post pieces
In, each post piece center line is positioned in defined location.
The servo includes fine motion electric cylinders 18 and electromagnet 110 by seam mechanism, and the fine motion electric cylinders 18 are fixed on big support
On platform 11, electromagnet base 19 is provided between the electromagnet 110 and fine motion electric cylinders 18, electromagnet 110 is fixed on electromagnet base
19 upper surfaces, the lower end of electromagnet base 19 is provided with sliding block III 111, and the upper surface of fine motion electric cylinders 18 is provided with guide rail II 112, electromagnet base 19
It is slidably connected by between sliding block III 111 and guide rail II 112 and fine motion electric cylinders 18；The upper surface of big support platform 11 with three sets
The corresponding position of servo automatic centering mechanism is respectively equipped with silicon steel sheet support platform 141, and silicon steel sheet support platform 141 is leaned on servo
The corresponding position of seam mechanism is provided with slotted eye 119, and the electromagnet 110 passes through slotted eye 119, in order to the adsorption column piece of electromagnet 110,
Three silicon steel sheet support platforms 141 are arranged in respective centering body top, are supported in big support platform 11 by supporting leg, pacify
Plane is generally flush with thereon after dress.For the ease of detecting supplied materials, close opening is devised on the center line of silicon steel sheet support platform
Closing detecting apparatus, through hole is provided with the silicon steel sheet support platform 141, so that locating piece I 16 is higher by, silicon is positioned during for centering
Steel disc.The ultimate range that the electromagnet 110 is capable of displacement is S.
The servo Y-direction walks stepping mechanism includes pattern 113, positioning electric cylinders 114, guide rail III 116 and sliding block IV 117, institute
State positioning electric cylinders 114 and be located at the downside of pattern 113, positioning electric cylinders mounting seat is provided between positioning electric cylinders 114 and big support platform 11
118, positioning electric cylinders 114 be fixed in big support platform 11 by positioning electric cylinders mounting seat 118, positioning the upper surface of electric cylinders 114 with
Pattern 113 is fixedly connected, and the sliding block IV 117 is located at the lower surface of pattern 114, passes through between pattern 113 and big support platform 11
Guide rail III 116 and sliding block IV 117 are slidably connected, and pattern 113 completes the walking precession of Y-direction under the drive of positioning electric cylinders 114
Make；The complete analogue conjugate plate shape of the shape of the pattern 113, locating piece II 115 is fixed with its V-groove mouthful and two hypotenuses, is positioned
The band T-slot of block II 115, when locating piece II 115 is worn, can move down certain distance installation, to extend its service life.Y
Correspondence step-length is walked according to program to stepping mechanism is walked, mechanism is moved by the adsorption column silicon steel sheet of electromagnet 110 to pattern 113 by seam
It is dynamic, under the drive of electromagnet 110, post piece is close to pattern 113 in X direction and is alignd.
The three posts piece crawl is automatic to adjust M0 mechanisms to include walking in a horizontal state device, lowering or hoisting gear and adjusts M0 devices, the water
Parallel walking apparatus include that B robot carts car body 120, B robot carts runs servomotor 121 and power transmission shaft 123, the B
Robot cart operation servomotor 121 is fixed on 120, B robot carts operation servomotor on B robot cart car bodies
B manipulator B manipulator B manipulator B manipulators reducing motor 122, power transmission shaft 123 or so two are provided between 121 and power transmission shaft 123
End is provided with B robotic transfers gear 126, and the B robotic transfers gear 126 is engaged with portal frame guide rail 93, by gear teeth
Bar transmission is driven, and the inner side of B robotic transfers gear 126 is provided with B robotic transfer shaft support bearings on power transmission shaft 123
124, B robotic transfer shaft support bearings 124 are arranged on B robot carts car body 120 by B robot supports seat 125, B
The two ends lower surface of robot cart car body 120 or so is provided with B manipulator linears sliding block 127, B manipulator linears sliding block 127 with
Portal frame guide rail 93 coordinates, and the direction of dolly is controlled by slide block guide rail pair.
The lowering or hoisting gear includes B manipulators lifting column 128, B manipulators lifting motor 131, B manipulator riser guides
129 and B manipulators lifting slider 130, the B manipulators lifting motor 131 is fixed on B robot carts car body 120, B machines
It is driven by rack and pinion engagement between tool hand lifting motor 131 and B manipulators lifting column 128, B manipulator lifting motors
Pass through 130 pairs of motion sides of B manipulators riser guide 129 and B manipulators lifting slider between 131 and B manipulators lifting column 128
To being positioned.
The tune M0 devices include frame-type flange 133, B manipulator linears module 138, the and of trough of belt sucker fixed beam 136
Board-like vacuum cup I 137, the lower end of B manipulators lifting column 128 is fixed with connecting seat 132, is set on the connecting seat 132
There is guide pillar I 134, guide pillar I 134 is provided with four, and one of guide pillar I 134 is provided with B manipulators and touches material detection switch 135；It is described
B manipulator linears module 138 is fixed on the lower end of frame-type flange 133, and trough of belt sucker fixed beam 136 is fixed on B manipulator linears
The lower end of module 138, trough of belt sucker fixed beam 136 is provided with three, and middle trough of belt sucker fixed beam 136 is fixed, B manipulator linears
A pair of sliding blocks of module 138 make move toward one another and drive two ends trough of belt suckers fixed beam 136 to move, before trough of belt sucker fixed beam 136
Two ends are provided with B manipulator linear modules sliding block 139, B manipulator linear module sliding blocks with the corresponding position of frame-type flange 133 afterwards
139 coordinate with the lowermost guide rail of frame-type flange 133, and the rear and front end lower surface of trough of belt sucker fixed beam 136 is fixed with board-like
Vacuum cup.
Board-like vacuum cup I 137 is made up of sucker body, vacuum generator 1371 and the suction hole 1372 put that gathers,
The check valve that each suction hole 1372 is equipped with, sucker size B0 is more than drawn post piece width B, if big support platform
11 have blowing function, and this cannot be completed in common sucker, because vacuum generator 1371 does not set up vacuum, but this hair
The board-like vacuum cup I 137 of bright offer can reach, sucker not by the sucker of the part blocked of post piece 1372 it is unidirectional
Valve is closed, and the foundation of vacuum is not influenceed.One layer of very thin sponge is arranged at the bottom of board-like vacuum cup I 137, can make up sucker plate
The face not uneven defect of gentle support platform, and when be crushed because of suction after sponge can into " rigid body ", in quick movement,
Both enough frictional force is provided, there is certain rigidity again.
Post piece B manipulators are responsible for, three good post pieces of centering, grabbing total closed assembly station.Due to different transformer cores
Phase spacing M0 be a variable, so the center spacing of three groups of board-like vacuum cups I 137 of post piece B manipulators is to change
, the sucker for capturing middle column sheet is fixed, and the sucker for capturing two side columns will be moved towards.The movement of this relative quantity, is by arranging
Completed in the B manipulator linears module 138 of the sliding block move toward one another of post piece B manipulators bottom.B manipulator lifting columns
128 lower ends are fixed with frame-type flange 133, fixed B manipulator linears module 138 and two guide rails on frame-type flange 133,
A pair of sliding blocks of B manipulator linears module 138 make move toward one another, drive two X to trough of belt sucker fixed beam along Y-direction phase
To motion, so as to the M0 for reaching needs is measured；While middle part, the two trough of belt suckers for moving towards of the flange lower plane of frame-type 133
Also fixed one fixed trough of belt sucker fixed beam 136 between fixed beam, this solid two three dynamic trough of belt sucker fixed beam
One group of board-like vacuum cup is respectively arranged in 136 lower ends.This three groups of board-like vacuum cups I 137 are used for capturing three post pieces pair respectively
The good post piece of centering on middle platform.Pass through four guide pillars I 134 between B manipulators lifting column 128 and frame-type flange 133
It is connected with linear bearing, linear bearing is fixed on B manipulators lifting column 128, and guide pillar I 134 is fixed on frame-type flange
133, B manipulators are fixed with four wherein one of guide pillar and touch material detection switch 135.
According to Figure 13 to Figure 16, a kind of wafer thin X-axis Y-axis Bidirectional centering platform, including Y-direction centering and walk stepper
In structure, Level Promoting mechanism, big support platform 21 and silicon steel sheet support platform 22, the silicon steel sheet support platform 22 is arranged on
In big support platform 21 and make somebody a mere figurehead, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism is arranged in big support platform 21, institute
State and be provided with footing 23 between silicon steel sheet support platform 22 and big support platform 21, silicon steel sheet support platform 22 is pacified and big support platform
21 are connected by footing 23, and Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism positioned at silicon steel sheet support platform 22 and big branch
Between support platform 21, Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism into being arranged vertically.
The Y-direction centering simultaneously walks stepping mechanism including installation floor 24, straight line module 25 and automatic gap eliminating device, disappears automatically
Gap device is located in silicon steel sheet support platform 22 and compresses silicon steel sheet support platform 22, the installation floor 24 and big support platform
It is fixed together by eight screws between 21, the connecting hole in the installation floor 24 is elongate holes；The straight line module
25 are provided with two, and two straight line modules 25 are separately fixed at the two ends of installation floor 24, and electric cylinders are respectively equipped with two straight line modules 25
Sliding block 28, electric cylinders sliding block 28 can be slided along straight line module 25, and the side of electric cylinders sliding block 28 is provided with electric cylinders 27, and electric cylinders 27 provide electric cylinders
The power that sliding block 28 is slided, the upper surface of electric cylinders sliding block 28 is fixed with transition contiguous block 29, and the automatic gap eliminating device was fixed on
Cross on contiguous block 29, Y-direction centering and to walk stepping mechanism electric cylinders be two sets individually electric, 27, its action that can be completed is to fit
The lower yoke member 227 of different length is answered, stepping can be walked after completing in again.
The automatic gap eliminating device includes half V blocks 26 and guide rod 210, and the guide rod 210 is provided with three, three guide rods 210
It is parallel to each other, the transition contiguous block 29 is provided with through hole with the corresponding position of guide rod 210, and through hole bottom is provided with fastening grooves 228,
The bottom of guide rod 210 is provided with cylindrical protrusions 229, and the lower end of guide rod 210 passes through the through hole on transition contiguous block 29, the bottom of guide rod 210
Cylindrical protrusions 229 are fitted close with through hole bottom fastening grooves 228, and strictly determine the distance between three guide rods 210, with
Just after half V blocks 26 are installed, smooth not clamping stagnation is lifted, two automatic gap eliminating devices are arranged into " V " font, it is therefore an objective to utilize lower yoke member
227 two 45 ° of hypotenuses are positioned and centering.
The lower surface of half V blocks 26 is in close contact with silicon steel sheet support platform 22, half V blocks 26 and the corresponding position of guide rod 210
Three through holes are installed, three guide rods 210 are each passed through through hole, and through hole lower end is provided with groove II 215, in the groove II 215
Linear bearing 216 is provided with, the lower end of linear bearing 216 is provided with baffle plate 217, and baffle plate 217 is fixed on the inwall of groove II 215, baffle plate
217 are prevented from linear bearing 216 slides, and has ball to reduce friction in the linear bearing 216；The through hole upper end sets
Fluted I 211, holddown spring 212 is provided with groove I 211, the upper surface of half V blocks 26 is provided with pressure with the corresponding position of groove I 211
Plate 213, the lower end of holddown spring 212 contacts with the bottom of groove I 211, and the upper end of holddown spring 212 contacts with the lower surface of pressing plate 213, institute
State the upper end of guide rod 210 and be provided with nut 214, nut 214 is spun on guide rod 210 and clamping platen 213, and such lower yoke member 227 exists
Centering and during being moved, be unlikely to during corner inserts its gap.
The silicon steel sheet support platform 22 is provided with the slotted eye I 218 of strip with the corresponding position of guide rod 210, and guide rod 210 is worn
Cross slotted eye I 218 and connect half V blocks 26.
The Level Promoting mechanism includes propelling track 219, connecting cross beam 220, forward block 224 and electric cylinders 221, described to push away
Enter guide rail 219 to be fixed in big support platform 21, the two ends of the connecting cross beam 220 or so and the corresponding position of propelling track 219
Promoting slider 222 is provided with, promoting slider 222 coordinates with propelling track 219；The electric cylinders 221 are located at the lower surface of connecting cross beam 220
Centre position, electric cylinders 221 are fixed in big support platform 21；The upper surface of the connecting cross beam 220 is provided with forward block groove 223,
Two forward blocks 224 are fixed with forward block groove 223, the forward block 224 extends silicon steel sheet support platform 22, the silicon
Steel disc support platform 22 is provided with slotted eye II 225 with the corresponding position of forward block 224, and the forward block 224 is prolonged by slotted eye II 225
Silicon steel sheet support platform is stretched out, the upper surface of forward block 224 of the Level Promoting mechanism is square, can be without any changes
Changeable surface is used, four is supported with one and is used, increased the service life.The electric cylinders 221 provide horizontal power, drive connecting cross beam 220
Move horizontally, locating piece 224 pairs wants the lower yoke member 227 of centering to carry out X to promotion, and the wherein four sides of locating piece 224 can use.
Further, the center line of the silicon steel sheet support platform is provided with supplied materials detection means 226.
According to Figure 17 to Figure 21, the servo closed assembly opposite joint mechanism, including walking mechanism, lower yoke member grasping mechanism and
Lower yoke member opposite joint mechanism, the lower yoke member grasping mechanism and lower yoke member opposite joint mechanism are respectively supported in walking mechanism, the row
Walking mechanism includes lower yoke member manipulator servomotor 31, lower yoke member robotic transfer axle 32 and lower yoke member running trolley 33, described
Lower yoke member running trolley 33 is in II shape, and lower yoke member grasping mechanism and lower yoke member opposite joint mechanism are separately fixed at lower yoke member running trolley
On 33 two relative sides；The lower end of lower yoke member manipulator servomotor 31 is provided with lower yoke member manipulator reducing motor 34, institute
State lower yoke member manipulator reducing motor 34 and be provided with connecting plate 35, lower yoke member manipulator reducing motor 34 is by connecting plate 35 with
Yoke piece running trolley 33 is fixedly connected, and the lower yoke member robotic transfer axle 32 passes through lower yoke member manipulator reducing motor 34, under
Yoke piece manipulator servomotor 31 drives lower yoke member robotic transfer axle 32 to rotate by lower yoke member manipulator reducing motor 34；Institute
State the two ends of lower yoke member robotic transfer axle 32 and be provided with lower yoke member running trolley travelling gear 38, on lower yoke member robotic transfer axle 32
The inner side of lower yoke member running trolley travelling gear 38 is provided with power transmission shaft spring bearing 36, the power transmission shaft spring bearing 36 and lower yoke member
Lower yoke member running trolley support base 36 is provided between running trolley 33, lower yoke member running trolley support base 36 is fixed on the operation of yoke piece
On dolly 33, lower yoke member running trolley 33 passes through rack pinion.
The lower yoke member grasping mechanism includes lower yoke member A manipulators lifting column 39, lower yoke member A manipulator lifting motors
310th, lower yoke member A manipulators sucker fixed beam 311 and lower yoke member A manipulator suckers, under the lower yoke member A manipulator lifting motors
End is provided with lower yoke member A manipulators sliding block 313, and institute's book lower yoke member A manipulator lifting motors are fixed on lower yoke member A manipulator sliding blocks
On 313, the lower yoke member A manipulators sliding block 313 is provided with right angled triangle reinforcement, the right angled triangle reinforcement right-angle side
Lower yoke member running trolley 33 is welded on, the lower yoke member A manipulators lifting column 39 is provided with lower yoke member A manipulators guide rail 314,
Lower yoke member A manipulators lifting motor 310 passes through lower yoke member A manipulators guide rail 314 and lower yoke member A manipulators sliding block 313 and lower yoke
It is slidably connected between piece A manipulators lifting column 39；The lower end of lower yoke member A manipulators lifting column 39 is welded with lower yoke member A
Manipulator link 315, the lower yoke member A manipulator suckers fixed beam 311 is fixed on lower yoke member A manipulators link 315；
Lower yoke member A manipulator spring levers are provided between the lower yoke member A manipulators sucker and lower yoke member A manipulator suckers fixed beam 311
316, lower yoke member A manipulators sucker is connected by lower yoke member A manipulators spring lever 316 with lower yoke member A manipulator suckers fixed beam 311
Connect, lower yoke member A manipulators spring lever 316 plays a part of buffering when lower yoke member A manipulators sucker contacts all lower yoke members, prevents
Crushing lower yoke member.
The lower yoke member opposite joint mechanism includes lower yoke member B manipulators lifting column 317, lower yoke member B manipulator lifting motors
318th, lower yoke member B manipulators sucker fixed beam 319 and opposite joint module, the lower end of lower yoke member B manipulators lifting motor 318 are provided with
Lower yoke member B manipulators sliding block 320, the lower yoke member B manipulators sliding block 320 is fixed on lower yoke member running trolley 33, it is described under
Yoke piece B manipulators lifting column 317 is provided with lower yoke member B manipulators guide rail 321, and lower yoke member B manipulators lifting motor 318 passes through
Slided between lower yoke member B manipulators guide rail 321 and lower yoke member B manipulators sliding block 320 and lower yoke member B manipulators lifting column 317
Connection；The lower end of lower yoke member B manipulators lifting column 317 is fixed with two lower yoke member B manipulators links 322, under each
Yoke piece B manipulators link 322 is provided with a guide pillar II 323, the lower yoke member B manipulator suckers fixed beam 319 and lower yoke
Piece B manipulators link 322 is connected by guide pillar II 323, and one of guide pillar II 323 is provided with lower yoke member B manipulators and touches material
Detection switch 324.
The opposite joint module is arranged in lower yoke member B manipulator suckers fixed beam 311, and opposite joint module includes that servo pulls machine
Structure, hold-down mechanism, mounting bracket 325 and board-like vacuum cup II 326, the servo pulling mechanism, hold-down mechanism and board-like true
Suction disk II 326 is fixed in mounting bracket 325, and the opposite joint module is provided with three groups, and the mounting bracket 325 is fixed on lower yoke
In piece B manipulator suckers fixed beam 311, mounting bracket 325 includes riser 331 and end connecting plate 332；The servo pulls machine
Structure includes that servo pulls electric cylinders 327, pulls sucker 328 and spring lever 329, and the servo pulls electric cylinders 327 to be fixed on installation branch
On frame 325, the spring lever 329 pulls electric cylinders 327 with servo, pulls sucker 328 to pull electric cylinders with servo by spring lever 329
327 connections, servo pulls electric cylinders 327 to drive pulling sucker 328 to move by spring lever 329；The hold-down mechanism includes cylinder
333 and pressure strip 334, the tailpiece of the piston rod of the cylinder 333 is connected with pressure strip 334, and the upper end of cylinder 333 is fixed with cylinder mounting block
335, the cylinder mounting block 335 is fixed in mounting bracket 325；The upper end of board-like vacuum cup II 326 is fixed with top
Connecting plate 330, the top connecting plate 330 is fixed in mounting bracket 325.
The servo pulling mechanism pulls electric cylinders 327, pulls sucker 328 and spring lever 329 to constitute by servo；Compacting machine
Structure is made up of guide rod type cylinder, pressing plate, and pressing plate has guide frame, can exactly hypotenuse from guide post piece to yoke piece or V-type
Breach is moved and alignd, and is unlikely to " overlap, tooled joint ".The effect of board-like vacuum cup II 326 wherein herein is under adsorbing
Yoke piece is motionless, and one group of post piece that this is identical before this " step number " is in place, and leaves certain gap with yoke piece, hold-down mechanism
Compact heap just " push down " gap, now the servo electric cylinders of opposite joint mechanism drive respective post piece to yoke by vacuum cup
Piece is moved, and under the guide effect of compact heap, completes the opposite joint of post piece and yoke piece, and the disposable full bias seam completed at three should
Structure make use of the torque control pattern of opposite joint servo electric cylinders, rather than position control mode, completely attach to seam, solve
The inaccurate contradiction of positional precision, mobile accuracy, simulates the sensation of artificial hand completely.
Although above-mentioned be described with reference to accompanying drawing to specific embodiment of the invention, not to present invention protection model
The limitation enclosed, on the basis of technical solution of the present invention, those skilled in the art make by need not paying creative work
Various modifications or deformation still within protection scope of the present invention.
Claims (8)
1. a kind of transformer core automatic overlapping and assembling system, it is characterized in that, including prepare the area of station I, all areas of switching stations II and work
The area of station III, the area of preparation station I and all areas of switching stations II alternately serve as, and the area of the work station III includes three posts
Piece individual layer automatic overlapping and assembling system, servo closed assembly opposite joint mechanism and wafer thin X-axis Y-axis Bidirectional centering platform, the work station III
Divide into ground floor and air-layer, the ground floor has been sequentially arranged post piece feeding station, post piece centering station, total in X direction
Dress station, lower yoke member centering station, lower yoke feeding station, the post piece feeding station are provided with three post piece feeding Shuttling trolleys, institute
State and the full-automatic centering platform of three post pieces is provided with post piece centering station, finished product Shuttling trolley is provided with the general assembly station, it is described
The full-automatic centering platform of lower yoke member is provided with lower yoke member centering station, the shuttle of lower yoke member feeding is provided with the lower yoke feeding station
Dolly；Air-layer has been sequentially arranged post piece A manipulators, post piece B manipulators, lower yoke member manipulator, the lower yoke member machine in X direction
Tool is provided with the two lower yoke member A manipulators and lower yoke member B manipulators lifted along Z axis on hand.
2. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, the three posts piece feeding is worn
There is the dolly rail of three secondary parallel arrangements at shuttle dolly, finished product Shuttling trolley and lower yoke member feeding Shuttling trolley successively in X direction,
Each secondary dolly rail is provided with two, and two chassis are run on every pair dolly rail；
The three posts piece feeding Shuttling trolley upper surface is provided with to put down hangs pallet I and locating piece I, the finished product Shuttling trolley upper surface
Closed assembly platform is provided with, the lower yoke member feeding Shuttling trolley upper surface is provided with to put down hangs pallet II and locating piece II, three dollies point
Do not moved on corresponding rail, three dolly lower surfaces are respectively equipped with wheel, wheel is rotated with dolly lower surface and is connected, wheel
Contacted with dolly rail, connected by power transmission shaft between wheel, power transmission shaft centre position is provided with drive sprocket, the dolly lower end
Face position corresponding with drive sprocket is provided with vehicle motor.
3. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, the area of the work station III
Be provided with X to portal frame, the portal frame is provided with two, and two portal frames are parallel, and the portal frame two ends are provided with gantry pillar,
Two portal frame upper surfaces inner side be respectively equipped with X to portal frame tooth bar, two portal frame tooth bars are parallel to each other, on portal frame described in two
End face outside is respectively equipped with portal frame guide rail, and two portal frame guide rails are parallel with corresponding portal frame tooth bar respectively.
4. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, the post piece A manipulators
Including walking mechanism and elevating mechanism, the walking mechanism includes that post piece A robot carts car body, the operation of post piece A manipulators are small
Car servomotor and post piece A manipulator running trolley power transmission shafts；
The elevating mechanism includes post piece A manipulators lifting column, post piece A manipulator lift servo motors and post piece A manipulators
Sucker fixed beam.
5. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, the three posts piece individual layer from
Spacing mechanism between fold dress system, including three post piece closed assembly platforms and three post pieces crawl automatic tune post piece, the three posts piece crawl is certainly
Spacing mechanism is located at three post piece closed assembly platforms top between dynamic tune post piece, and the three posts piece closed assembly platform includes three sets of servo transducers
Structure, three sets watch and walk stepping mechanism and big support platform, three sets of automatic centering mechanism horizontal distributions by seam mechanism, a set of servo Y-direction
In in big support platform, three sets of servos are each located on the center line of automatic centering mechanism by seam mechanism, a set of servo Y-direction walking
Enter mechanism and three sets of perpendicular arrangements of servo automatic centering mechanism；Spacing mechanism includes water between the three posts piece crawl automatic tune post piece
Parallel walking apparatus, lowering or hoisting gear and tune post piece spacing device, lowering or hoisting gear are supported on walking in a horizontal state device, adjust post piece spacing dress
Put on lowering or hoisting gear.
6. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, the wafer thin X-axis Y-axis
Bidirectional centering platform, including Y-direction centering and walk stepping mechanism, Level Promoting mechanism, big support platform and silicon steel sheet support platform
On, the silicon steel sheet support platform is arranged in big support platform and makes somebody a mere figurehead, and Y-direction centering simultaneously walks stepping mechanism and Level Promoting
Mechanism is arranged in big support platform, and Y-direction centering simultaneously walks stepping mechanism and Level Promoting mechanism into being arranged vertically, the Y-direction pair
In and walk stepping mechanism including installation floor, straight line module and automatic gap eliminating device, automatic gap eliminating device is supported positioned at silicon steel sheet
On platform and compress silicon steel sheet support platform, the Level Promoting mechanism includes propelling track, connecting cross beam, forward block and electricity
Cylinder, the forward block is located on connecting cross beam and extends silicon steel sheet support platform.
7. a kind of transformer core automatic overlapping and assembling system according to claim 1, it is characterized in that, servo closed assembly butt-jointed gap machine
Structure, including walking mechanism, lower yoke member grasping mechanism and lower yoke member opposite joint mechanism, the lower yoke member grasping mechanism and lower yoke member opposite joint
Mechanism is respectively supported in walking mechanism, and the walking mechanism includes that lower yoke member manipulator servomotor, lower yoke member manipulator are passed
Moving axis and lower yoke member running trolley；The lower yoke member grasping mechanism includes lower yoke member A manipulators lifting column, lower yoke member A machineries
Hand lifting motor, lower yoke member A manipulator sucker fixed beams and sucker；The lower yoke member opposite joint mechanism includes lower yoke member B manipulators
Lifting column, lower yoke member B manipulators lifting motor, lower yoke member B manipulator sucker fixed beams and opposite joint module, the opposite joint module
Installed in lower yoke member B manipulator sucker fixed beams, opposite joint module includes servo pulling mechanism, hold-down mechanism, mounting bracket and plate
Formula vacuum cup, the servo pulling mechanism, hold-down mechanism and board-like vacuum cup are fixed in mounting bracket.
8. a kind of transformer core automatic overlapping and assembling system according to claim 7, it is characterized in that, the opposite joint module is provided with
Three groups, the mounting bracket is fixed in lower yoke member B manipulator sucker fixed beams, and mounting bracket includes that riser and end connect
Plate；
The servo pulling mechanism includes that servo pulls electric cylinders, pulls sucker and spring lever, and the servo pulls electric cylinders to be fixed on
In mounting bracket, the spring lever pulls electric cylinders with servo, pulls sucker to pull electric cylinders to be connected by spring lever and servo, servo
Pulling electric cylinders to be driven by spring lever pulls sucker to move；
The hold-down mechanism includes cylinder and pressure strip, and the cylinder piston rod end is connected with pressure strip, and cylinder upper end is fixed with
Cylinder mounting block, the cylinder mounting block is fixed in mounting bracket；
The board-like vacuum cup upper end is fixed with top connecting plate, and the top connecting plate is fixed in mounting bracket.
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| CN201710072728.9A CN106697973B (en) | 2017-02-10 | 2017-02-10 | A kind of transformer core automatic overlapping and assembling system |
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| CN201710072728.9A CN106697973B (en) | 2017-02-10 | 2017-02-10 | A kind of transformer core automatic overlapping and assembling system |
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| CN115910585A (en) * | 2022-12-07 | 2023-04-04 | 海安华诚新材料有限公司 | Automatic stacking and continuous feeding and discharging device for transformer iron cores |
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| CN112520415A (en) * | 2020-12-16 | 2021-03-19 | 海安上海交通大学智能装备研究院 | Automatic stacked material level warehouse |
| CN112397302B (en) * | 2020-12-16 | 2022-01-28 | 南通睿驰智能科技有限公司 | Automatic stack assembly production line in batches of transformer core |
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| CN113066656B (en) * | 2021-03-29 | 2022-11-18 | 河南宇和电气有限公司 | Intelligent laminating machine and method for silicon steel sheets of transformer |
| CN113066656A (en) * | 2021-03-29 | 2021-07-02 | 韩丹丹 | Intelligent laminating machine and method for silicon steel sheets of transformer |
| CN115910585B (en) * | 2022-12-07 | 2024-01-30 | 海安华诚新材料有限公司 | Automatic continuous loading and unloading device for transformer iron cores |
| CN115910585A (en) * | 2022-12-07 | 2023-04-04 | 海安华诚新材料有限公司 | Automatic stacking and continuous feeding and discharging device for transformer iron cores |
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