CN108214460A - A kind of robot and its method of work - Google Patents
A kind of robot and its method of work Download PDFInfo
- Publication number
- CN108214460A CN108214460A CN201711481738.4A CN201711481738A CN108214460A CN 108214460 A CN108214460 A CN 108214460A CN 201711481738 A CN201711481738 A CN 201711481738A CN 108214460 A CN108214460 A CN 108214460A
- Authority
- CN
- China
- Prior art keywords
- paper
- pedestal
- mobile
- electric pushrod
- seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
- B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/10—Applying solid insulation to windings, stators or rotors
Abstract
The present invention relates to a kind of robot and its method of works, including pedestal, support device, Stewart parallel institutions, insert paper device and fixing device；The T-shaped platy structure of the pedestal, support device is located at pedestal rear side end, and it is connected between support device and pedestal, Stewart parallel institutions are mounted on support device front end, paper device is inserted to be located at immediately below Stewart parallel institutions, fixing device quantity is four, and fixing device is symmetrically arranged on pedestal upper surface, and is connected between fixing device and pedestal.The present invention can carry out insulating paper bi-directional synchronization to motor stator and insert paper operation, and entirely slotting paper process is mechanical automation operation, it is quick and convenient and safe to insert paper, it is high to insert paper depth consistency, reduce the input of labour, the cost of motor production is reduced, and improves the quality of motor production to a certain extent.
Description
Technical field
The present invention relates to motor production of intelligent machinery technical field, specifically a kind of robot and its work side
Method.
Background technology
Motor is a kind of equipment for converting electrical current into mechanical energy, it is to use the power on coil (namely stator winding)
It generates rotating excitation field and simultaneously acts on rotor, form electro-magnetic motor force rotation torque, motor can divide according to using the difference of power supply
For dc motor and ac motor, the motor in electric system is largely ac motor, can be synchronous motor
And asynchronous machine, motor are mainly made of stator and rotor, the direction of electrified wire movement under force in magnetic field is with electric current side
To related with magnetic induction line direction, electric motor operation principle is exactly effect of the magnetic field to electric current stress so that motor rotation；In electricity
Motivation production process is required to motor rotor and stator to be inserted into insulating paper, and insulating paper is the general name of electrical isolation paper, mainly
Insulating materials as every electrical equipment such as cable and coil, has good insulation performance and mechanical strength.
It is mostly at present manual operation for motor stator insulating paper insertion operation, is usually first manually rolled into insulating paper
It is required that shape, mainly have V-type, c-type and semiellipse shape at present, be then manually sequentially inserted into the empty slot of motor stator
Portion, and be advancing to the position, while intermittent rotary motor stator, entire stator insulated groove will be stuck with, consumed so a large amount of
Labour, cause motor production cost height, and low production efficiency, simultaneously as be manual operation, motor stator
The insulating paper being inserted into insulation tank promotes depth disparity very big, also affects the quality of motor to a certain extent.In consideration of it, this
Invention provides a kind of power motor bi-directional synchronization paper-inserting machine device people.
Invention content
In order to make up for the deficiencies of the prior art, the present invention provides a kind of power motor bi-directional synchronization paper-inserting machine device people.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of power motor bi-directional synchronization paper-inserting machine device people including pedestal, support device, Stewart parallel institutions, inserts
Paper device and fixing device；The T-shaped platy structure of the pedestal, support device are located at pedestal rear side end, and support device with
It is connected between pedestal, Stewart parallel institutions are mounted on support device front end, insert paper device and are being located at Stewart parallel institutions just
Lower section, fixing device quantity are four, and fixing device is symmetrically arranged on pedestal upper surface, and between fixing device and pedestal
It is connected.
Further, the support device includes elevator, horizontally moving device and vertical lift device；The level
Mobile device is fixed on immediately ahead of elevator, and vertical lift device is fixed on immediately below elevator；The horizontally moving device
Including horizontal electric sliding rail, horizontal slider and fixed seat, and the quantity of horizontal electric sliding rail and horizontal slider is two, horizontal electricity
Dynamic sliding rail Parallel Symmetric arrangement, horizontal electric sliding rail front end are provided with baffle, and the vertical cross section of horizontal electric sliding rail is I-shaped
Structure, horizontal slider be mounted on horizontal electric sliding rail on, fixed seat structure in the form of annular discs, fixed seat both ends respectively with horizontal slider
It is connected；By horizontal slider moving back and forth on horizontal electric sliding rail, it can be achieved that inserting the tune of paper device horizontal position
Section.
Further, the vertical lift device includes lifting screw, sleeve, lifting motor, motor cabinet, shaft, active
Gear, locking end cap, fixed frame and driven gear；The quantity of the lifting screw, sleeve and driven gear is two, lifting
Screw rod upper end is connected with elevator, and lifting screw lower end is mounted in sleeve, and sleeve inner offers outer with lifting screw
The matched internal thread of screw thread, sleeve bottom end are mounted on by bearing on pedestal upper surface, and lifting motor is subtracted using adjustable speed
Speed motor, lifting motor are fixed on by motor cabinet on pedestal upper surface, are connected between shaft one end and lifting motor main shaft,
It is attached between the shaft other end and driving gear using key, and driving gear upper end by locking end cap lock admittedly
It is fixed, be fixed in the middle part of shaft by fixed frame, fixed frame in the U-shaped structure to stand upside down, be provided at fixed frame medium position with
Shaft matches the bearing of installation, and driven gear is fixed at sleeve medium position, and driven gear is meshed with driving gear；
The rotation of driving gear is driven by the rotation of lifting motor, driving gear is meshed with driven gear, and two driven gears are same
To synchronous rotation, and driven gear is fixedly connected with sleeve, so as to the synchronous rotary in the same direction with moving sleeve, lifting screw and sleeve
Between be driven by screw thread, and then realize lifting screw raising and lowering movement function, convenient for adjust support dress
The whole height put can carry out the motor of different model size to insert paper operation, improve the scope of application of the present invention,
Design more rationalizes.
Further, the Stewart parallel institutions include fixed platform, moving platform, connecting seat, upper spherical hinge, electronic push away
Bar, block plate seat, lower spherical hinge, Triangulum and limit spring；The connecting seat and Triangulum quantity are three, upper spherical hinge, electricity
The quantity of dynamic push rod, block plate seat and lower spherical hinge is six, the fixed platform and moving platform structure in rounded shape, connecting seat
On the lower face of fixed platform, and connecting seat is put down on fixed platform in equilateral triangle location arrangements, Triangulum mounted on dynamic
On platform upper surface, and the installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum is in equilateral triangle column structure,
Triangulum has been symmetrically arranged inclined surface along its vertical center line, is offered on inclined surface and lower spherical hinge lower end external screw thread phase
The installation threaded hole of cooperation, electric pushrod bottom end are connected by upper spherical hinge with connecting seat, electric pushrod top and block plate seat
Upper end is connected, and block plate seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is mounted on Triangulum, limits bullet
Around being sleeved on electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end is connected spring with block plate seat
It connects；Stewart parallel institutions use the six-degree-of-freedom parallel connection mechanism of 6-SPS, and rigidity is big compared with serial mechanism, and Stewart is simultaneously
Online structure stable structure, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and Stewart parallel institutions can in space
The movement in the common six-freedom degree direction of three translations, three rotation is carried out, and space is small, movement velocity is fast and kinematic dexterity is good,
In the present invention, by Stewart parallel institutions drive entirely slotting paper device three translations three can be carried out in space rotate totally six
The movement in a degree of freedom direction to the insulation tank on motor stator madial wall can align one by one and insert paper.
Further, the slotting paper device includes bottom plate, mobile mechanism, absorbing mechanism and paper advance mechanism, and mobile mechanism
Quantity with absorbing mechanism is two；The mobile mechanism is symmetrically arranged along the central transverse axis of bottom plate, and mobile
Mechanism is connected with bottom plate, and absorbing mechanism is located at immediately below mobile mechanism, and paper advance mechanism is located at bottom plate medium position, and dexter feeder
Structure is connected with bottom plate；The mobile mechanism includes motorized rails, mobile support saddle, graduated scale and mobile spring；Described is electronic
Guide rail left and right ends are respectively arranged with limit card board, and mobile support saddle is mounted on motorized rails, and graduated scale quantity is two, graduated scale
It is symmetrically arranged on the front and rear lateral wall of motorized rails, mobile spring is fixed at mobile support saddle medium position；Described
Absorbing mechanism includes micro air pump, suction nozzle, c-type casing and insulating paper；The micro air pump lower end is equipped with suction nozzle, and suction nozzle
Material is rubber material, and suction nozzle is in shaped hollow round table structure, and c-type casing is located at immediately below suction nozzle, and between c-type casing and suction nozzle
It is attached using the technology of expanding with heat and contract with cold, insulating paper is located at c-type inside pipe casing；The paper advance mechanism includes that paper feeding is electronic pushes away
Bar, paper pushing board and telescopic press head；The paper feeding electric pushrod bottom end is fixed on bottom plate, paper feeding electric pushrod top and paper feeding
Be connected in the middle part of plate, paper pushing board in " in " font structure, telescopic press head quantity is two, and telescopic press head one end is provided with telescopic block,
And telescopic block is connected with paper pushing board, telescopic press head other end semicircular in shape shape structure, and telescopic press head semicircular in shape structure
Gas vent is uniformly provided on part.First according to the size model number of the motor stator of paper to be inserted, by mobile support saddle in electricity
Movement on dynamic guide rail, and according to the measurement of graduated scale, determine corresponding size spacing；Then by micro air pump in suction nozzle
Interior generation suction from bottom to top, under suction, the insulating paper that folds carries over c-type casing and is tightly sucked, when inserting paper,
By Stewart parallel institutions by the insulation tank on insulating paper lower end aligned motor stator madial wall, then start paper feeding electricity
Dynamic push rod drives paper pushing board vertically to move down, and paper pushing board is consolidated with telescopic press head by the stretching routine of paper feeding electric pushrod
Fixed connection, when the pressure of telescopic press head is more than the suction that micro air pump generates, it is vertically past that insulating paper carries over c-type casing madial wall
Lower movement, and in the insulation tank being perpendicularly inserted on motor stator madial wall, realize the work(that motor stator insulating sublayer inserts paper
Can, after insulating paper is completely inserted into motor stator insulation tank inside, sent by the contractile motion drive for inserting paper electric pushrod
The vertical ascending motion of cardboard, the function of two-way suction paper and two-way paper feeding can be realized by inserting paper device, compared with unidirectional slotting paper, totally
The slotting paper efficiency being doubled, and operate quickly and easily, slotting paper is efficient, improves the efficiency and quality of motor production.
Further, the fixing device includes the linear guide, mobile sliding block, geometrical clamp and clamping screw；Described is straight
Limit hole is linearly evenly arranged on line guide rail upper surface, mobile sliding block is mounted in the linear guide, and is opened on mobile sliding block
Equipped with through-hole, geometrical clamp front end is arc shape structure, and geometrical clamp rear end is connected with mobile slip front, mobile sliding block and straight line
It is fixed between guide rail using clamping screw；In use, being disposed vertically motor stator among four fixing devices, lead to
The movement for moving sliding block in the linear guide is crossed, when geometrical clamp front end is in contact with motor stator lateral wall, passes through locking
Mobile sliding block is fixed in the linear guide by bolt, has reached the fixed effect to motor stator, is prevented during paper is inserted
The problem of motor stator position movement dislocation.
Compared with prior art, the present invention has the following advantages：
(1) present invention can carry out motor stator insulating paper bi-directional synchronization and insert paper operation, and entirely slotting paper process is machinery
Automated job, slotting paper is quick and convenient and safe, inserts paper depth consistency height, reduces the input of labour, reduce
The cost of motor production, and the quality of motor production is improved to a certain extent.
(2) support device of the invention can realize the effect of synchronous same-speed raising and lowering on the vertical plane, in horizontal plane
On can be moved forward and backward, carrying out insulating paper to the motor stator of different model size convenient for the present invention inserts paper, the scope of application
Extensively.
(3) Stewart parallel institutions of the invention use the six-degree-of-freedom parallel connection mechanism of 6-SPS, compared with serial mechanism
Rigidity is big, and Stewart parallel institutions stable structure, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high, and Stewart is simultaneously
Online structure can carry out the movement in the common six-freedom degree direction of three translations three rotation in space, and space is small, movement velocity
Fast and kinematic dexterity is good, drives entire slotting paper device that can carry out three turns of three translation in space by Stewart parallel institutions
The movement in dynamic six-freedom degree direction altogether to the insulation tank on motor stator madial wall can align one by one and insert paper.
(4) slotting paper device of the invention the insulating paper folded can be sucked by suction principle, then pass through pressure original
The insulating paper bi-directional synchronization being sucked is inserted into the insulation tank of motor stator by reason, compared with unidirectional slotting paper, is totally improved
One times of slotting paper efficiency, and operate quickly and easily, slotting paper is efficient, improves the efficiency and quality of motor production.
(5) fixing device of the invention can fix the motor stator of different model, prevent in slotting paper mistake
In journey the problem of motor stator position movement dislocation.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram of support device of the present invention；
Fig. 3 is the dimensional structure diagram of vertical lift device of the present invention；
Fig. 4 is the vertical view of vertical lift device of the present invention；
Dimensional structure diagram when Fig. 5 is Stewart parallel institutions of the present invention and the cooperation of slotting paper device；
Fig. 6 is the dimensional structure diagram of Stewart parallel institutions of the present invention；
Fig. 7 is the dimensional structure diagram of the slotting paper device of the present invention；
Fig. 8 is the dimensional structure diagram of fixing device of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of power motor bi-directional synchronization paper-inserting machine device people, including pedestal 1, support device 2,
Stewart parallel institutions 3 insert paper device 4 and fixing device 5；The 1 T-shaped platy structure of pedestal, support device 2 are located at
1 rear side end of pedestal, and be connected between support device 2 and pedestal 1, Stewart parallel institutions 3 are mounted on 2 front end of support device, insert
Paper device 4 is located at immediately below Stewart parallel institutions 3, and 5 quantity of fixing device is four, and fixing device 5 is symmetrically arranged at bottom
On 1 upper surface of seat, and it is connected between fixing device 5 and pedestal 1.
As shown in Figures 2 to 4, the support device 2 includes elevator 21, horizontally moving device 22 and vertical lift dress
Put 23；The horizontally moving device 22 is fixed on 21 front of elevator, and vertical lift device 23 is being fixed on elevator 21 just
Lower section；The horizontally moving device 22 includes horizontal electric sliding rail 221, horizontal slider 222 and fixed seat 223, and horizontal electricity
The quantity of dynamic sliding rail 221 and horizontal slider 222 is two, 221 Parallel Symmetric of horizontal electric sliding rail arrangement, horizontal electric sliding rail
221 front ends are provided with baffle, and the vertical cross section of horizontal electric sliding rail 221 is I-shaped structure, and horizontal slider 222 is mounted on level
On electric sliding rail 221,223 structure in the form of annular discs of fixed seat, 223 both ends of fixed seat are connected respectively with horizontal slider 222；Pass through
The moving back and forth on horizontal electric sliding rail 221 of horizontal slider 222 is, it can be achieved that insert the adjusting of 4 horizontal position of paper device.
As shown in Figures 2 to 4, the vertical lift device 23 includes lifting screw 231, sleeve 232, lifting motor
233rd, motor cabinet 234, shaft 235, driving gear 236, locking end cap 237, fixed frame 238 and driven gear 239；The liter
The quantity for dropping screw rod 231, sleeve 232 and driven gear 239 is two, and 231 upper end of lifting screw is connected with elevator 21, is risen
It drops 231 lower end of screw rod to be mounted in sleeve 232, be offered inside sleeve 232 matched interior with the external screw thread of lifting screw 231
Screw thread, 232 bottom end of sleeve are mounted on by bearing on 1 upper surface of pedestal, and lifting motor 233 uses adjustable speed decelerating motor,
Lifting motor 233 is fixed on by motor cabinet 234 on 1 upper surface of pedestal, between 233 main shaft of 235 one end of shaft and lifting motor
It is connected, is attached between 235 other end of shaft and driving gear 236 using key, and 236 upper end of driving gear passes through locking
End cap 237 is locked, and 235 middle part of shaft is fixed by fixed frame 238, and fixed frame 238 is in the U-shaped knot to stand upside down
Structure is provided with the bearing that installation is matched with shaft 235 at 238 medium position of fixed frame, and driven gear 239 is fixed on sleeve
At 232 medium positions, and driven gear 239 is meshed with driving gear 236；It is driven actively by the rotation of lifting motor 233
The rotation of gear 236, driving gear 236 are meshed with driven gear 239, and two driven gears 239 rotate synchronously in the same direction, and from
Moving gear 239 is fixedly connected with sleeve 232, so as to the synchronous rotary in the same direction with moving sleeve 232, lifting screw 231 and sleeve 232
Between be driven by screw thread, and then realize lifting screw 231 raising and lowering movement function, convenient for adjust support
The whole height of device 2 can carry out the motor stator 6 of different model size to insert paper operation, improve the present invention's
The scope of application, design more rationalize.
As shown in Figure 5 and Figure 6, the Stewart parallel institutions 3 include fixed platform 31, moving platform 32, connecting seat 33,
Upper spherical hinge 34, electric pushrod 35, block plate seat 36, lower spherical hinge 37, Triangulum 38 and limit spring 39；The connecting seat 33
Be three with 38 quantity of Triangulum, upper spherical hinge 34, electric pushrod 35, block plate seat 36 and lower spherical hinge 37 quantity be six, institute
Fixed platform 31 and moving platform 32 structure in rounded shape stated, connecting seat 33 are mounted on the lower face of fixed platform 31, and are connected
Seat 33 is in equilateral triangle location arrangements on fixed platform 31, and Triangulum 38 is mounted on 32 upper surface of moving platform, and connecting seat 33
Installation site between Triangulum 38 is interlocked two-by-two, and Triangulum 38, in equilateral triangle column structure, Triangulum 38 hangs down along it
Straight center line has been symmetrically arranged inclined surface, is offered on inclined surface and the lower 37 matched installation of lower end external screw thread of spherical hinge
Threaded hole, 35 bottom end of electric pushrod are connected by upper spherical hinge 34 with connecting seat 33,35 top of electric pushrod and block plate seat 36
Upper end is connected, and 36 lower end of block plate seat is connected with lower 37 one end of spherical hinge, and lower 37 other end of spherical hinge is mounted on Triangulum 38
On, limit spring 39 is around being sleeved on electric pushrod 35, and 39 one end of limit spring is connected with electric pushrod 35, limit spring 39
The other end is connected with block plate seat 36；Stewart parallel institutions 3 use the six-degree-of-freedom parallel connection mechanism of 6-SPS, with serial mechanism
Big compared to rigidity, 3 stable structure of Stewart parallel institutions, kinematic dexterity are high, bearing capacity is strong and fine motion precision is high,
Stewart parallel institutions 3 can carry out the movement in the common six-freedom degree direction of three translations three rotation, and space in space
It is small, movement velocity is fast and kinematic dexterity is good, in the present invention, entirely slotting paper device 4 is driven by Stewart parallel institutions 3
The movement in the common six-freedom degree direction of three translations three rotation can be carried out in space, it can be to exhausted on 6 madial wall of motor stator
Edge slot, which align one by one, inserts paper.
As shown in figure 5 and figure 7, the slotting paper device 4 includes bottom plate 41, mobile mechanism 42, absorbing mechanism 43 and paper feeding
Mechanism 44, and the quantity of mobile mechanism 42 and absorbing mechanism 43 is two；The mobile mechanism 42 is along the transverse direction of bottom plate 41
Mandrel line is symmetrically arranged, and mobile mechanism 42 is connected with bottom plate 41, and absorbing mechanism 43 is located at immediately below mobile mechanism 42, send
Mechanism of paper 44 is located at 41 medium position of bottom plate, and paper advance mechanism 44 is connected with bottom plate 41；The mobile mechanism 42 includes electricity
Dynamic guide rail 421, mobile support saddle 422, graduated scale 423 and mobile spring 424；421 left and right ends of motorized rails are set respectively
Limit card board is equipped with, mobile support saddle 422 is mounted on motorized rails 421, and 423 quantity of graduated scale is two, and graduated scale 423 is right respectively
Title is arranged on the front and rear lateral wall of motorized rails 421, and mobile spring 424 is fixed at 422 medium position of mobile support saddle；It is described
Absorbing mechanism 43 include micro air pump 431, suction nozzle 432, c-type casing 433 and insulating paper 434；Under the micro air pump 431
End is equipped with suction nozzle 432, and 432 material of suction nozzle is rubber material, and suction nozzle 432 is in shaped hollow round table structure, c-type casing 433
Immediately below suction nozzle 432, and it is attached between c-type casing 433 and suction nozzle 432 using the technology of expanding with heat and contract with cold, insulating paper 434
Inside c-type casing 433；The paper advance mechanism 44 includes paper feeding electric pushrod 441, paper pushing board 442 and telescopic press head 443；
441 bottom end of paper feeding electric pushrod is fixed on bottom plate 41,441 top of paper feeding electric pushrod and 442 middle part phase of paper pushing board
Connection, paper pushing board 442 in " in " font structure, 443 quantity of telescopic press head be two, 443 one end of telescopic press head is provided with telescopic block,
And telescopic block is connected with paper pushing board 442, telescopic press head other end semicircular in shape shape structure, and telescopic press head semicircular in shape structure
Part on be uniformly provided with gas vent.First according to the size model number of the motor stator 6 of paper to be inserted, pass through mobile support saddle
422 movement on motorized rails 421, and according to the measurement of graduated scale 423, determine corresponding size spacing；Then pass through
Micro air pump 431 generates suction from bottom to top in suction nozzle 432, and under suction, the insulating paper 434 folded carries over C
Molded cannula 433 is tightly sucked, when inserting paper, by Stewart parallel institutions 3 by 434 lower end aligned motor stator 6 of insulating paper
Then insulation tank on madial wall starts paper feeding electric pushrod 441, sent by the stretching routine drive of paper feeding electric pushrod 441
Cardboard 442 vertically moves, and paper pushing board 442 is fixedly connected with telescopic press head 443 down, when the pressure of telescopic press head 443 is more than
During the suction that micro air pump 431 generates, insulating paper 434 carries over 433 madial wall of c-type casing and vertically moves down, and be inserted perpendicularly into
In insulation tank on to 6 madial wall of motor stator, the function that paper is inserted in the insulation of motor stator 6 is realized, when insulating paper 434 is complete
After being fully inserted into 6 insulation tank inside of motor stator, paper pushing board 442 is driven by the contractile motion for inserting paper electric pushrod 441
Vertical ascending motion, the function of two-way suction paper and two-way paper feeding can be realized by inserting paper device 4, whole to improve compared with unidirectional slotting paper
One times of slotting paper efficiency, and operate quick and easy, it inserts that paper is efficient, improves the efficiency and quality of motor production.
As shown in figure 8, the fixing device 5 includes the linear guide 51, mobile sliding block 52, geometrical clamp 53 and clamping screw
54；Limit hole is linearly evenly arranged on 51 upper surface of the linear guide, mobile sliding block 52 is mounted on the linear guide 51
On, and through-hole is offered on mobile sliding block 52,53 front end of geometrical clamp is arc shape structure, 53 rear end of geometrical clamp and mobile sliding block 52
Front end is connected, and is fixed between mobile sliding block 52 and the linear guide 51 using clamping screw 54；In use, by motor stator
Son 6 is disposed vertically among four fixing devices 5, by movement of the mobile sliding block 52 in the linear guide 51, when geometrical clamp 53
When front end is in contact with 6 lateral wall of motor stator, mobile sliding block 52 is fixed in the linear guide 51 by clamping screw 54,
Reach to 6 fixed effect of motor stator, prevented from moving the problem of misplacing in 6 position of motor stator during inserting paper.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (1)
1. a kind of method of work of power motor bi-directional synchronization paper-inserting machine device people, it is characterised in that：The robot include pedestal,
Support device, inserts paper device and fixing device at Stewart parallel institutions；The T-shaped platy structure of the pedestal, support device
It positioned at pedestal rear side end, and is connected between support device and pedestal, Stewart parallel institutions are mounted on support device front end, insert
Paper device is located at immediately below Stewart parallel institutions, and fixing device quantity is four, and fixing device is symmetrically arranged on pedestal
On end face, and it is connected between fixing device and pedestal；Wherein：
The support device includes elevator, horizontally moving device and vertical lift device；The horizontally moving device is consolidated
It is scheduled on immediately ahead of elevator, vertical lift device is fixed on immediately below elevator；The horizontally moving device includes horizontal electricity
Dynamic sliding rail, horizontal slider and fixed seat, and the quantity of horizontal electric sliding rail and horizontal slider is two, horizontal electric sliding rail is parallel
It is arranged symmetrically, horizontal electric sliding rail front end is provided with baffle, and the vertical cross section of horizontal electric sliding rail is I-shaped structure, and level is sliding
Block is mounted on horizontal electric sliding rail, and fixed seat structure in the form of annular discs, fixed seat both ends are connected respectively with horizontal slider；
The Stewart parallel institutions include fixed platform, moving platform, connecting seat, upper spherical hinge, electric pushrod, block plate seat, under
Spherical hinge, Triangulum and limit spring；The connecting seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate seat
Quantity with lower spherical hinge is six, the fixed platform and moving platform structure in rounded shape, and connecting seat is mounted on fixed platform
Lower face on, and connecting seat on fixed platform in equilateral triangle location arrangements, Triangulum is mounted on moving platform upper surface, and
Installation site between connecting seat and Triangulum is interlocked two-by-two, and Triangulum, in equilateral triangle column structure, Triangulum hangs down along it
Straight center line has been symmetrically arranged inclined surface, is offered on inclined surface and the lower matched installation spiral shell of spherical hinge lower end external screw thread
Pit, electric pushrod bottom end are connected by upper spherical hinge with connecting seat, and electric pushrod top is connected with block plate seat upper end, gear
Disk seat lower end is connected with lower spherical hinge one end, and the lower spherical hinge other end is mounted on Triangulum, and limit spring is electronic around being sleeved on
On push rod, and limit spring one end is connected with electric pushrod, and the limit spring other end is connected with block plate seat；
The slotting paper device includes bottom plate, mobile mechanism, absorbing mechanism and paper advance mechanism, and mobile mechanism and absorbing mechanism
Quantity is two；The mobile mechanism is symmetrically arranged along the central transverse axis of bottom plate, and mobile mechanism consolidates with bottom plate
Even, absorbing mechanism is located at immediately below mobile mechanism, and paper advance mechanism is located at bottom plate medium position, and paper advance mechanism is consolidated with bottom plate
Even；The mobile mechanism includes motorized rails, mobile support saddle, graduated scale and mobile spring；Described motorized rails or so two
End is respectively arranged with limit card board, and mobile support saddle is mounted on motorized rails, and graduated scale quantity is two, graduated scale respectively symmetrically cloth
It puts before and after the motorized rails on lateral wall, mobile spring is fixed at mobile support saddle medium position；The absorbing mechanism packet
Include micro air pump, suction nozzle, c-type casing and insulating paper；The micro air pump lower end is equipped with suction nozzle, and suction nozzle material is rubber
Material, suction nozzle are in shaped hollow round table structure, and c-type casing is located at immediately below suction nozzle, and cold using heat expansion between c-type casing and suction nozzle
Contracting technology is attached, and insulating paper is located at c-type inside pipe casing；
The paper advance mechanism includes paper feeding electric pushrod, paper pushing board and telescopic press head；The paper feeding electric pushrod bottom end is consolidated
Be scheduled on bottom plate, be connected in the middle part of paper feeding electric pushrod top and paper pushing board, paper pushing board in " in " font structure, telescopic press head number
It is two to measure, and telescopic press head one end is provided with telescopic block, and telescopic block is connected with paper pushing board, telescopic press head other end semicircular in shape
Shape structure, and it is uniformly provided with gas vent on the part of telescopic press head semicircular in shape structure；
The method of work, including：
First, according to the size model number of the motor stator of paper to be inserted, by movement of the mobile support saddle on motorized rails, and root
According to the measurement of graduated scale, corresponding size spacing is determined；
Then, suction from bottom to top is generated in suction nozzle by micro air pump, under suction, the insulating paper folded is suitable
It is tightly sucked along c-type casing；
When inserting paper, by Stewart parallel institutions by the insulation tank on insulating paper lower end aligned motor stator madial wall, then
Start paper feeding electric pushrod, paper pushing board driven vertically to move down by the stretching routine of paper feeding electric pushrod, and paper pushing board with
Telescopic press head is fixedly connected；When the pressure of telescopic press head is more than the suction that micro air pump generates, insulating paper is carried in c-type casing
Side wall vertically moves down, and in the insulation tank being perpendicularly inserted on motor stator madial wall, it is exhausted to realize motor stator
Edge inserts the function of paper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481738.4A CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711481738.4A CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
| CN201610459518.0A CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610459518.0A Division CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108214460A true CN108214460A (en) | 2018-06-29 |
Family
ID=57086386
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485250.9A Withdrawn CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
| CN201711481738.4A Withdrawn CN108214460A (en) | 2016-06-23 | 2016-06-23 | A kind of robot and its method of work |
| CN201610459518.0A Active CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711485250.9A Withdrawn CN108054888A (en) | 2016-06-23 | 2016-06-23 | Power motor bi-directional synchronization paper-inserting machine device people and its method of work |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610459518.0A Active CN106002943B (en) | 2016-06-23 | 2016-06-23 | A kind of power motor bi-directional synchronization paper-inserting machine device people |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN108054888A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113145598A (en) * | 2021-04-22 | 2021-07-23 | 滁州职业技术学院 | Cleaning device for chemical equipment and with temperature compensation function |
| CN114977696A (en) * | 2022-06-22 | 2022-08-30 | 苏州上舜精密工业科技有限公司 | Insulating paper embedding structure and assembly machine and method with insulating paper embedding structure |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850817B (en) * | 2018-12-26 | 2021-10-29 | 洪蕾 | A device is stacked in clothing stock for wholesale |
| CN112103839B (en) * | 2020-09-08 | 2021-08-24 | 贵州电网有限责任公司 | Convenient support hanging ring for live working of power transmission line |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2726205Y (en) * | 2004-09-20 | 2005-09-14 | 大庆石油管理局 | Motor stator coil cutting machine |
| CN202815586U (en) * | 2012-09-21 | 2013-03-20 | 山东大学 | Robot single leg assembly control development performance testing platform |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
| JP6256268B2 (en) * | 2014-09-09 | 2018-01-10 | トヨタ自動車株式会社 | Incremental molding equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2757440B1 (en) * | 1996-12-20 | 1999-03-19 | Conservatoire Nat Arts | HEXAPODE PLATFORM AND SPHERICAL ARTICULATION DEVICES FOR USE IN THE PRODUCTION THEREOF |
| CN103587724B (en) * | 2013-09-24 | 2016-04-13 | 南京航空航天大学 | A kind of six-degree-of-freedom vibration isolation platform based on Stewart parallel institution |
| CN204468616U (en) * | 2015-02-06 | 2015-07-15 | 安徽理工大学 | Three-freedom-degree hybrid formula Chinese massage robot |
| CN204753769U (en) * | 2015-06-25 | 2015-11-11 | 景宁山凤皇工艺制品有限公司 | Liftable closestool |
-
2016
- 2016-06-23 CN CN201711485250.9A patent/CN108054888A/en not_active Withdrawn
- 2016-06-23 CN CN201711481738.4A patent/CN108214460A/en not_active Withdrawn
- 2016-06-23 CN CN201610459518.0A patent/CN106002943B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2726205Y (en) * | 2004-09-20 | 2005-09-14 | 大庆石油管理局 | Motor stator coil cutting machine |
| CN202815586U (en) * | 2012-09-21 | 2013-03-20 | 山东大学 | Robot single leg assembly control development performance testing platform |
| JP6256268B2 (en) * | 2014-09-09 | 2018-01-10 | トヨタ自動車株式会社 | Incremental molding equipment |
| CN204834875U (en) * | 2015-08-06 | 2015-12-02 | 中国电子科技集团公司第五十四研究所 | Vice face position appearance adjusting device based on stewart formula six -degree -of -freedom parallel mechanism |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113145598A (en) * | 2021-04-22 | 2021-07-23 | 滁州职业技术学院 | Cleaning device for chemical equipment and with temperature compensation function |
| CN114977696A (en) * | 2022-06-22 | 2022-08-30 | 苏州上舜精密工业科技有限公司 | Insulating paper embedding structure and assembly machine and method with insulating paper embedding structure |
| CN114977696B (en) * | 2022-06-22 | 2023-10-17 | 苏州上舜精密工业科技有限公司 | Insulation paper embedding structure, assembly machine with insulation paper embedding structure and assembly method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106002943B (en) | 2018-06-26 |
| CN106002943A (en) | 2016-10-12 |
| CN108054888A (en) | 2018-05-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106041886B (en) | A kind of power motor stator paper-inserting machine people | |
| CN105978262B (en) | A kind of multiple degrees of freedom formula Intelligent insulation paper paper-inserting machine | |
| CN106026564B (en) | A kind of automatic paper-inserting machine device people of motor c-type insulating paper | |
| CN106002943B (en) | A kind of power motor bi-directional synchronization paper-inserting machine device people | |
| CN106002940B (en) | A kind of six degree of freedom based on delta parallel institutions inserts paper industrial robot | |
| CN105965479B (en) | A kind of power distribution station inserts paper intelligent robot with motor bi-directional synchronization | |
| CN106002942B (en) | A kind of motor inserts paper industrial robot | |
| CN209419431U (en) | A kind of electromotor rotor pressing tooling | |
| CN205571708U (en) | A slip table elevating system for laser cutting | |
| CN106100258B (en) | A kind of motor intelligent paper inserter | |
| CN106100257B (en) | A kind of power distribution station slotting paper actuator of motor Bidirectional intelligent | |
| CN105983960B (en) | A kind of paper-inserting machine Pneumatic manipulator based on delta parallel institutions | |
| CN209113064U (en) | A kind of feeding device of iron core silicon-steel sheet | |
| CN106026565B (en) | A kind of special slotting paper equipment of slotting paper industrial robot of motor | |
| CN205986535U (en) | Electric motor rotor plays ware | |
| CN211016773U (en) | Inductance coil winding equipment | |
| CN206663354U (en) | Cutting machine for electric appliance insulating bushing | |
| CN210649737U (en) | High-speed linear transportation type feeder for corrugated filler production | |
| CN106002941B (en) | A kind of six degree of freedom unidirectionally inserts paper industrial robot special manipulator | |
| CN208104779U (en) | Dye beams bracket system | |
| CN206634322U (en) | A kind of in-mold label machine | |
| CN214776756U (en) | Packing plant is used in magnet production | |
| CN216902544U (en) | Automatic layer raising device for winding of transformer coil winding machine | |
| CN215243159U (en) | Paper feeding device is used in paper packing carton processing | |
| CN220510946U (en) | Winding tool for winding of direct-current brushless hollow cup motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180629 |
|
| WW01 | Invention patent application withdrawn after publication |