CN107840156A - Automatic laminating device - Google Patents

Abstract

An automatic lamination device of the present invention comprises a bin mechanism installed on the ground, a stacking robot mechanism, a charging mechanism and a track, the stacking robot mechanism corresponds to the position of the bin mechanism, and the bin mechanism is located on both sides of the track, The loading mechanism travels on the track; the silo mechanism includes a base and multiple sets of material tables arranged side by side on the base. The two sides of the material table are correspondingly equipped with fixed components for fixing the workpiece. The lifting assembly; the loading mechanism includes a loading trolley, which is symmetrically provided with pads, a positioning plate is provided on the pad, and a positioning block is provided at the center of the bottom of the loading platform; the track includes a base and a sliding rail, and the sliding The rail is installed on the base, and a positioning assembly is arranged on the base corresponding to the position of the stacked robot mechanism. The positioning assembly realizes the travel and stop of the charging trolley on the slide rail by opening and closing the positioning block. The invention has high work efficiency, reduces the labor intensity of workers, and has high yield.

Description

Automatic stacking device

technical field

The invention relates to the technical field of silicon steel sheet production, in particular to an automatic lamination device.

Background technique

With the continuous improvement of the degree of electrification, the demand for electric power is constantly increasing. As an important equipment in power transmission, the demand for transformers is self-evident, and the demand for small and medium-sized transformers is particularly prominent. The structure and performance of the iron core in the transformer directly affect the overall performance of the transformer, so the manufacturing process of the transformer iron core requires high precision. The existing transformer iron core is made of silicon steel sheets with a thickness of 0.27-0.3 mm, and finally stacked into a "day" shape. On average, a small and medium-sized transformer is composed of more than 5,000 silicon steel sheets.

The lamination method of silicon steel sheets disclosed in the prior art adopts manual stacking, but the stacking effect of this method is not good, and the staff needs to use auxiliary tools to smooth it, the workload is large, the labor intensity is high, and the transformer core The quality also depends entirely on the technical level of the workers, with poor consistency and low yield.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic lamination device with high working efficiency, reduced labor intensity of workers and high yield.

An automatic lamination device of the present invention includes a bin mechanism installed on the ground, a stacking robot mechanism, a loading mechanism and a track, the stacking robot mechanism corresponds to the position of the bin mechanism, and the bin mechanism is located on the track on both sides, the charging mechanism travels on the track;

The silo mechanism includes a base and multiple sets of material tables arranged side by side on the base. The two sides of the material table are correspondingly provided with fixing components for fixing workpieces, and the lower part of the material table is provided with a lifting assembly to control its up and down movement. ;

The charging mechanism includes a charging trolley, the charging trolley is symmetrically provided with pads, the pads are provided with a positioning plate, and the center of the bottom of the charging platform is provided with a positioning block;

The track includes a base and a slide rail, the slide rail is installed on the base, and a positioning component is arranged on the base corresponding to the position of the stacked robot mechanism, and the positioning component is opened and closed by the positioning block. It is used to realize the travel and stop of the charging trolley on the slide rail.

The automatic lamination device of the present invention, wherein the fixing assembly includes a fixing seat installed on the base, bolts are respectively provided at both ends of the fixing seat, and an adjustment block abutting against the side of the workpiece is provided at one end of the bolt, so that A plurality of limit blocks are sleeved on the bolts.

In the automatic lamination device of the present invention, an optical fiber sensor is arranged on the top of the adjustment block.

The automatic lamination device of the present invention, wherein the lifting assembly includes an oil cylinder located at the center of the lower part of the material table, a connecting block is provided on the top of the oil cylinder, the connecting block is fixed to the base, and the two sides of the oil cylinder are respectively provided with There are a support seat and a sliding seat located at the lower part of the material platform, the support seat is fixed to the material platform, the sliding seat is fixed to the ground, and the lower end of the support seat is fixed with a slider adapted to the sliding seat.

The automatic lamination device of the present invention further includes a hydraulic mechanism for driving the oil cylinder. The automatic lamination device of the present invention, wherein the positioning assembly includes a stopper and a clamping member relatively arranged, the lower part of the stopper is provided with a positioning cylinder to control its lifting, and the lower part of the clamping member is provided with a positioning cylinder to control its lifting clamping cylinder.

The automatic lamination device of the present invention further includes a control mechanism, the optical fiber sensor is connected to the control mechanism, and the control mechanism is respectively connected to the stacking robot mechanism, hydraulic mechanism, positioning cylinder and clamping cylinder.

The automatic stacking device of the present invention, wherein the stacking robot mechanism includes a robot base, a horizontal rotation assembly and a mechanical arm, the robot base is installed on the ground, the mechanical arm is connected to the robot base through a horizontal rotation assembly, and the mechanical A gripper is provided at the end of the arm, and the gripper includes one or more rows of suction cups.

The automatic lamination device of the present invention further includes a protective net, and the protective net is arranged outside the bin mechanism.

Compared with prior art, the advantages and beneficial effects that the present invention has are:

The silo mechanism of the present invention is used to store the silicon steel sheets used for lamination assembly. The loading mechanism travels on the track to the lamination station corresponding to the position of the stacking robot mechanism. The number of silicon steel sheets is stacked on the charging mechanism, and the silicon steel sheets stacked on it are positioned neatly through the charging mechanism, and the worker removes the charging mechanism that has stacked the silicon steel sheets, and The next loading mechanism is moved to the lamination station to realize continuous lamination operation, which improves the processing efficiency, and can cover the processing size and model of a wide assembly, with a high degree of intelligence.

The optical fiber sensor is set on the silo mechanism of the present invention, which can sense the storage state of the workpiece in the hopper mechanism in real time, so that every time a certain workpiece is taken away from the material platform, it will be lifted by a certain distance under the action of the lifting component until the workpiece on the material platform After being picked up, the stacking robot mechanism can be controlled. Only when the optical fiber sensor senses the workpiece, the stacking robot mechanism will pick up the workpiece to realize automatic stacking and improve processing efficiency.

The invention arranges and aligns the stacked silicon steel sheets through the positioning plate, and the stacking effect is good, without the need for workers to use auxiliary tools for smoothing, and it can be directly in place in one step, improving work efficiency and reducing work intensity.

The present invention fixes the loading trolley by providing a positioning component on the track, avoiding the phenomenon that the stacking robot mechanism slides on the track when the stacking robot mechanism stacks the absorbed workpieces, improves the stacking effect, and does not need Manually fix the charging trolley to reduce labor intensity.

The automatic lamination device of the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is the whole structure schematic diagram of automatic lamination device of the present invention;

Fig. 2 is the enlarged structural diagram of A in Fig. 1;

Fig. 3 is the installation structure drawing of lifting assembly and material platform;

Fig. 4 is the cross-sectional view of the charging mechanism fixed on the track in the automatic lamination device of the present invention;

Fig. 5 is a side view of the charging mechanism fixed on the track in the automatic lamination device of the present invention;

Fig. 6 is a structural diagram of the charging mechanism walking on the track in the automatic lamination device of the present invention;

Among them: 1. Ground; 2. Track; 3. Loading mechanism; 4. Storage bin mechanism; 5. Stacked robot mechanism; 6. Control mechanism; 7. Protective net; 8. Hydraulic mechanism;

201, base; 202, slide rail; 203, block; 204, positioning cylinder; 205, clamping piece; 206, clamping cylinder;

301, wheel; 302, loading platform; 303, spacer; 304, positioning piece; 305, positioning block;

401, base; 402, fixed seat; 403, limit block; 404, adjustment block; 405, material platform; 406, connection block; 407, oil cylinder; 408, support seat; 409, slide block; 410, slide seat;

501, robot base; 502, horizontal rotation component; 503, mechanical arm; 504, suction cup adsorption part.

Detailed ways

As shown in Figure 1, an automatic lamination device of the present invention comprises a bin mechanism 4 installed on the ground 1, a stacking robot mechanism 5, a charging mechanism 3, a track 2 and a hydraulic mechanism 8, and the stacking robot mechanism 5 Corresponding to the position of the bin mechanism 4, the bin mechanism 4 is located on both sides of the track 2, and the charging mechanism 3 advances on the track 2.

The silo mechanism 4 is used to store silicon steel sheets for lamination assembly. The silo mechanisms 4 on both sides of the track 2 are respectively placed with silicon steel sheets of different specifications and structures. The silo mechanisms 4 on each side are respectively equipped with stacking The robot mechanism 5 and the charging mechanism 3 travel on the track 2 to the stacking station corresponding to the position of the stacking robot mechanism 5, and the stacking robot mechanism 5 absorbs a certain amount of silicon steel sheets on the corresponding bin mechanism 4 each time, and puts the silicon steel The silicon steel sheets are stacked on the charging mechanism 3, and the silicon steel sheets stacked on it are positioned neatly through the charging mechanism 3. The worker removes the charging mechanism 3 that has stacked the silicon steel sheets, and puts the next loading The material mechanism 3 moves to the stacking station to realize the continuous stacking operation.

The hydraulic mechanism 8 is used to drive the lifting of the charging mechanism 3 .

Specifically, as shown in Fig. 2 and Fig. 3, the bin mechanism 4 includes a base 401 and a plurality of material platforms 405 arranged side by side on the base 401, and both sides of the material platform 405 are correspondingly provided with fixed components for fixing workpieces. The lower part of 405 is provided with a lifting assembly to control its up and down movement.

The fixing assembly includes a fixing seat 402 mounted on a base 401, bolts are provided at both ends of the fixing seat 402, an adjusting block 404 is provided at one end of the bolt, and a plurality of limit blocks 403 are sleeved on the bolt. In actual operation, silicon steel sheets of different specifications and sizes need to be stacked. By adjusting the position of the adjustment block 404 relative to the side of the workpiece and correspondingly increasing or decreasing the number of limit blocks 403, the silicon steel sheets of different specifications and sizes can be stacked. Fixed, wide range of applications.

The lifting assembly includes an oil cylinder 407 located at the center of the lower part of the material table 405. The top of the oil cylinder 407 is provided with a connecting block 406. The connecting block 406 is fixed to the base 401. The two sides of the oil cylinder 407 are respectively provided with a supporting base 408 and a The sliding seat 410 and the supporting seat 408 are fixed to the material platform 405 , the sliding seat 410 is fixed to the ground 1 , and the lower end of the supporting seat 408 is fixed with a sliding block 409 adapted to the sliding seat 410 . The hydraulic mechanism 8 drives the oil cylinder 407 so that when the material table 405 is lifted, the slider 409 slides relative to the sliding seat 410 to control the lifting of the material table 405 .

As shown in Fig. 4, Fig. 5 and Fig. 6, the charging mechanism 3 includes a charging trolley, which is symmetrically provided with spacers 303, the spacers 303 are provided with positioning plates, and the center of the bottom of the charging platform 302 is provided with There is positioning block 305 . The track 2 includes a base 201 and a slide rail 202. The slide rail 202 is installed on the base 201. A positioning assembly is arranged on the base 201 corresponding to the position of the stacked robot mechanism 5. The positioning assembly is realized by opening and closing the positioning block 305. The progress and stop of charging trolley on slide rail 202. The worker places the charging trolley on the slide rail 202, and pushes the charging trolley to the positioning assembly, and the loading trolley is fixed by the positioning assembly, so that the stacking robot mechanism 5 places the sucked silicon steel sheets on the loading trolley , and arrange and align the stacked silicon steel sheets through the positioning plate, the stacking effect is good, no need for workers to use auxiliary tools for smoothing, and it can be directly in place in one step, improving work efficiency and reducing work intensity.

Wherein, the positioning assembly includes a block 203 and a clamping member 205 that are relatively arranged. The lower part of the stopper 203 is provided with a positioning cylinder 204 for controlling its lifting, and the lower part of the clamping member 205 is provided with a clamping cylinder 206 for controlling its lifting. The charging trolley runs on the slide rail 202. When the positioning block 305 is in contact with the block 203, the positioning cylinder 204 drives the block 203 to rise, and the clamping cylinder 206 drives the clamp 205 to rise, so that the block 203 and the clamp 205 are aligned. The positioning blocks 305 work together to clamp and fix the positioning block 305, and then fix the charging trolley on the slide rail 202. When the loading trolley is full, the positioning cylinder 204 drives the stopper 203 to descend, and the clamping cylinder 206 drives the clip. The tightening part 205 descends, so that the block 203 and the clamping part 205 respectively eliminate the active force with the positioning block 305, and then the charging trolley advances on the slide rail 202, and the worker pushes the charging trolley out of the slide rail 202, and uses Hoist the loading trolley to the designated position by driving.

The present invention fixes the charging trolley by providing a positioning assembly on the track 2, avoiding the phenomenon that the loading trolley slides on the track 2 when the stacking robot mechanism 5 stacks the sucked workpieces, and improves the stacking effect , No need to artificially fix the charging trolley, reducing labor intensity.

In addition, in the embodiment of the present invention, the section of the slide rail 202 is I-shaped, and the wheels 301 of the charging trolley are engaged with the slide rail 202 to avoid derailment of the loading trolley during operation.

As shown in Figure 2, stacked robot mechanism 5 comprises robot base 501, horizontal rotation assembly 502 and mechanical arm 503, and robot base 501 is installed on the ground 1, and mechanical arm 503 is connected with robot base 501 by horizontal rotation assembly 502, and mechanical arm A gripper is provided at the end of 503, and the gripper includes one or more rows of suction cups 504. Preferably, the multiple rows of suction cups 504 are symmetrical to the center of the gripper, and their relative positions are adjustable. When the stacked robot mechanism 5 is working, the control of the suction distance is realized by the mechanical arm 503, the suction of the silicon steel sheet is realized by the suction cup adsorption part 504 on the gripper, and the rotation of 360 degrees in the horizontal direction is realized by the horizontal rotation component 502, and then The stacking robot mechanism 5 absorbs and stacks the silicon steel sheets placed on the material table 405 onto the charging trolley, thereby realizing the overall automatic stacking process of the silicon steel sheets, with high work efficiency and reduced labor intensity of workers.

In one embodiment of the present invention, also comprise control mechanism 6, be provided with optical fiber sensor on the top of adjustment block 404, fiber optic sensor is connected with control mechanism 6, and control mechanism 6 is connected with stacking robot mechanism 5, hydraulic mechanism 8, positioning cylinder respectively. 204 is connected to the clamping cylinder 206, wherein the optical fiber sensor is used to sense the workpiece on the material table 405, and the control mechanism 6 is equipped with a PLC control system for receiving the signal sent by the optical fiber sensor and transmitting the received signal to the stacking machine respectively. Install robot mechanism 5, hydraulic mechanism 8, positioning cylinder 204 and clamping cylinder 206 to control stacked robot mechanism 5 to absorb workpiece, charging trolley on track 2 and the lifting of bin mechanism 4 respectively.

The present invention can sense the storage state of the workpiece on the material table 405 in real time by setting an optical fiber sensor, so that every time a certain workpiece is taken away from the material table 405, it will be lifted for a certain distance under the action of the oil cylinder 407 until the workpiece on the material table 405 is removed. Absorbed.

Combining the above structure and the control mechanism 6, the specific working process of the present invention is as follows: first, the worker pushes the material trolley to the positioning assembly, and fixes the material trolley on the track 2 through the positioning assembly, and then places the workpieces to be stacked On the material platform 405, when the stroke of the oil cylinder 407 is zero, it is the full state of the material bin mechanism 4 at this time, that is, the worker replenishes the material to the material bin mechanism 4 until the optical fiber sensor can sense each material platform 405 On the topmost workpiece, the optical fiber sensor transmits the signal sensed to the workpiece to the PLC control system, and the PLC control system transmits the received signal to the stacked robot mechanism 5, so that the stacked robot mechanism 5 performs suction work, and the sucked workpiece Stacked on the material trolley, and at the same time, the material trolley arranges and aligns the stacked workpieces through the positioning plate on it. When the stacking robot mechanism 5 absorbs a layer of workpieces, the total height of the workpieces on the material table 405 will be lower than that of the optical fiber. The position that the sensor can sense, that is, the optical fiber sensor cannot sense the workpiece. At this time, the optical fiber sensor transmits the signal to the PLC control system, and the PLC control system transmits the signal to the stacked robot mechanism 5 respectively to stop the suction work, and The hydraulic mechanism 8 makes it drive the oil cylinder 407 to rise, so that the workpiece rises to the position that the optical fiber sensor can sense, and repeats the above actions until the workpiece on the material table 405 is sucked, and finally, drives the positioning cylinder separately through the PLC control system 204 and the clamping cylinder 206 descend, so that the block 203 and the clamping part 205 respectively eliminate the force of the positioning block 305, and then the workers push the filled material trolley out of the track 2, and use the driving to hoist the loading trolley to the Specifies the position at which this set of cycles completes.

Specifically, when the optical fiber sensor fails to detect the workpiece within the set time, the PLC control system prompts the worker that the bin mechanism 4 is empty, that is, the bin mechanism 4 is in a state of lack of material, and at this time, the PLC control system suspends operation. The worker presses the feeding button, controls the hydraulic mechanism 8 through the PLC control system, and lowers the oil cylinder 407 to the initial position, and feeds the material bin mechanism 4 .

In one embodiment of the present invention, a protective net 7 is also included, and the protective net 7 is arranged on the outside of the bin mechanism 4 .

The above-mentioned embodiments are only descriptions of preferred implementations of the present invention, and are not intended to limit the scope of the present invention. Variations and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (9)

1. A kind of 1. automatic laminating device, it is characterised in that including install feed bin mechanism on the ground, closed assembly robot mechanism, Charge mechanism and track, the closed assembly robot mechanism is corresponding with feed bin mechanism position, and the feed bin mechanism is located at the two of track Side, the charge mechanism are advanced in orbit；

   The feed bin mechanism includes base and multigroup material table on base side by side, and the both sides of the material table are correspondingly provided with The fixation kit of fixed workpiece, the bottom of the material table are provided with the lifting assembly for controlling it to move up and down；

   The charge mechanism includes charging carriage, and cushion block is arranged with the charging carriage, and the cushion block is provided with location-plate, Locating piece is provided with the bottom centre of the filling place；

   The track includes pedestal and slide rail, and the slide rail is arranged on pedestal, and the closed assembly robot is corresponded on the pedestal Positioning component is provided with mechanism position, the positioning component realizes charging carriage on slide rail by the folding effect to locating piece Traveling and stopping.
2. 2. automatic laminating device according to claim 1, it is characterised in that：The fixation kit includes being arranged on base Fixed seat, the both ends of the fixed seat are respectively equipped with bolt, and one end of the bolt is provided with the regulation abutted with side surface of workpiece Block, some limited blocks are arranged with the bolt.
3. 3. automatic laminating device according to claim 2, it is characterised in that：The top of the regulating block is provided with Fibre Optical Sensor Device.
4. 4. automatic laminating device according to claim 3, it is characterised in that：The lifting assembly includes being located at the material Oil cylinder at platform lower central, the top of the oil cylinder are provided with contiguous block, and the contiguous block is fixed with base, and the two of the oil cylinder Side is respectively equipped with support base and slide positioned at the material table bottom, and the support base is fixed with material table, the slide with Ground is fixed, and the lower end of the support base is fixed with the sliding block being adapted to slide.
5. 5. automatic laminating device according to claim 4, it is characterised in that：Also include hydraulic mechanism, the hydraulic mechanism For driving the oil cylinder.
6. 6. automatic laminating device according to claim 5, it is characterised in that：The positioning component includes being oppositely arranged on gear Block and clamping element, the bottom of the block are provided with the positioning cylinder for controlling its lifting, and the bottom of the clamping element, which is provided with, controls it The clamping cylinder of lifting.
7. 7. automatic laminating device according to claim 6, it is characterised in that：Also include controlling organization, the Fibre Optical Sensor Device is connected with controlling organization, the controlling organization respectively with closed assembly robot mechanism, hydraulic mechanism, positioning cylinder and the clamping Cylinder connects.
8. 8. the automatic laminating device according to claim 1 or 7, it is characterised in that：The closed assembly robot mechanism includes machine Device people base, component and mechanical arm are rotated horizontally, on the ground, the mechanical arm passes through water for the robot base installation Flat rotary components are connected with robot base, and the end of the mechanical arm is provided with gripping apparatus, and the gripping apparatus includes a row or multi-row Sucker suction part.
9. 9. automatic laminating device according to claim 1, it is characterised in that：Also include protection network, the protection network is set In the outside of the feed bin mechanism.