CN108326888A - A kind of manipulator for silicon steel sheet automatic laminating - Google Patents
A kind of manipulator for silicon steel sheet automatic laminating Download PDFInfo
- Publication number
- CN108326888A CN108326888A CN201810305805.5A CN201810305805A CN108326888A CN 108326888 A CN108326888 A CN 108326888A CN 201810305805 A CN201810305805 A CN 201810305805A CN 108326888 A CN108326888 A CN 108326888A
- Authority
- CN
- China
- Prior art keywords
- steel sheet
- silicon steel
- feeding device
- running gear
- high pressure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
- H01F41/0233—Manufacturing of magnetic circuits made from sheets
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of manipulators for silicon steel sheet automatic laminating, belong to transformer core manufacture technology field.The position for the silicon steel sheet feeding device that apparatus of the present invention are set according to control system, feeding device is set to be moved to above feeding device by horizontal walking device and longitudinal running gear, hydraulic lift declines along hydraulic stem, make feeding device fitting silicon steel sheet surface, air inside vacuum cup is discharged vacuum pump, silicon steel sheet is adsorbed on vacuum cup, laser sensor is detected silicon steel sheet thickness, detecting thickness normally makes that silicon steel sheet is transported to lamination device by running gear, when laser sensor detects silicon steel sheet thickness abnormity, feed back to control system, control system blows high pressure gas by high pressure nozzle to two panels silicon steel sheet bonding place, the silicon steel sheet of bonding is detached, ensure that feeding device once takes a silicon steel sheet.Apparatus of the present invention reduce the process that material is got rid of in the laminating machine course of work, improve lamination efficiency.
Description
Technical field
The present invention relates to a kind of manipulators for silicon steel sheet automatic laminating, belong to transformer core manufacture technology field.
Background technology
Transformer industry is a traditional industry, its quality is direct as the core of transformer for transformer core
Influence the safe and reliable of the technical performance of transformer, economic indicator and operation, therefore its manufacturing technology improvement and quality control
It makes particularly significant.Due to the particularity of transformer core closed assembly manufacturing process, existing iron core manufacture is nearly all using folded by hand
Fill the mode of production of silicon steel sheet.By taking a 10KV miniature transformer as an example, core-lamination stack process is operated by two people, and worker presses drawing
Core laminations, two panels one is folded, and three-level seam stack, two people stack step by step in the both sides of same core limb (or iron yoke).Behaviour
Workmanship keeps closed assembly precision, production efficiency is low, and product quality is irregular not by experience during lamination with visually observing
Together.The drawbacks of artificial iron core closed assembly, gradually shows in today of automated production rapid development, becomes and restricts transformer industry hair
The obstacle of exhibition.
In the manufacturing process of transformer, need to carry out core lamination, core construction is more complex, core limb and both sides iron
Yoke need to carry out pre- folded in advance.The existing pre- folded work of silicon steel sheet mainly repeats stack mode of operation, stack process back and forth using artificial
In and be constantly adjusted, it is ensured that it reaches required precision.Iron core is folded in certain sequence with multi-disc silicon steel sheet of different shapes
Add, this technical process is referred to as " lamination ", and at home, this process mainly has worker to have been manually done, and work step is numerous
Trivial, the amount of labour is big, and a skilled lamination worker completes a finished product and needs 30 ~ 40min, low production efficiency, and is easy error.With
The demand for mutual inductor increasingly increases, and expanding production, artificial lamination cannot be satisfied industry demand therewith for manufacturing enterprise, therefore
Enterprise's urgent need improves production technology, improves efficiency using automatic producing device, saves cost.Pre- fold of silicon steel sheet is one
The action uninterruptedly simply repeated, and easily malfunction（When not finding in time, pre- folded work need to be re-started）, silicon steel sheet when lamination
And both ends locating module impacts and generates a certain distance deviation, results in certain site error, slightly careless, having very much can
Overlapping can be dismantled.The labour that the existing pre- folded technique of transformer core expends is big, and working efficiency is relatively low；The pre- lamination work of iron core
What is filled is too simple, it is desirable that employee pays attention to its lamination precision at moment during lamination, and keeps rote, resistance to employee
The heart, carefulness are proposed high requirement.It is therefore necessary to repeat some machineries, the automation of simple, uninteresting process is set
It is standby to substitute, improve working efficiency while reducing personnel demand.
Invention content
Present invention mainly solves the technical issues of：Adhesion is generated when for traditional silicon steel sheet automatic laminating machine tool hand feeding,
The method of operation is single, the problem of cannot be satisfied the silicon steel sheet feeding lamination operation under various working, and the present invention provides a kind of use
In the manipulator of silicon steel sheet automatic laminating.
In order to solve the above-mentioned technical problem, the technical solution adopted in the present invention：
A kind of manipulator for silicon steel sheet automatic laminating, including pedestal, running gear and feeding device, on the pedestal
It is provided with running gear, the running gear includes longitudinal running gear, is horizontal walking device above longitudinal running gear,
Horizontal walking device connects hydraulic stem, and hydraulic lift is provided on hydraulic stem, and hydraulic lift connects working arm, work
Arm end connects feeding device by linkage, and the feeding device includes holder, and vacuum cup is provided with below holder,
Holder upper left is vacuum pump, and right side is high pressure gas holder, and high pressure gas holder is connected by gas pipeline with vacuum pump, high pressure gas
It is provided with laser sensor and high pressure gas jets below tank.
A kind of application process of manipulator for silicon steel sheet automatic laminating is：The silicon steel that device is set according to control system
The position of piece feeding device makes feeding device be moved on feeding device by horizontal walking device and longitudinal running gear
Side, hydraulic lift decline along hydraulic stem, make feeding device fitting silicon steel sheet surface, and vacuum pump is by the sky inside vacuum cup
Gas is discharged, and silicon steel sheet is adsorbed on vacuum cup, and laser sensor is detected silicon steel sheet thickness, detects that thickness normally makes
Silicon steel sheet is transported to lamination device by running gear, when laser sensor detects silicon steel sheet thickness abnormity, is fed back to
Control system, control system blow high pressure gas by high pressure nozzle to two panels silicon steel sheet bonding place, by the silicon steel sheet of bonding point
From guarantee feeding device once takes a silicon steel sheet.
The linkage is controlled using electric device.
The running gear provides power using pneumatic system.
The beneficial effects of the invention are as follows：
（1）Vacuum pump and high pressure gas holder are provided in the present invention on feeding device holder, vacuum pump is connected with vacuum cup,
Silicon steel sheet can be adsorbed on vacuum cup by vacuum cup, to reach feeding blowing, and not damage silicon-steel sheet, very
Sky pump is connected with high pressure gas holder, and in the air delivery to high pressure gas holder that vacuum pump extracts, that realizes high pressure gas holder fills energy.
Laser sensor is provided in the present invention on holder, detecting vacuum cup absorption by laser sensor is put into silicon
The thickness of steel disc, so that it is determined that the silicon steel sheet of absorption is one or more pieces, when detecting absorption multi-disc silicon steel sheet, control system
High pressure nozzle is driven, high pressure gas is sprayed to silicon steel sheet bonding place by high pressure nozzle, the silicon steel sheet to be bonded together
Separation, achievees the effect that a feeding only takes a piece of silicon steel sheet, reduces the process for getting rid of material, improves the efficiency of silicon steel sheet lamination.
Description of the drawings
Fig. 1 is a kind of organigram of manipulator for silicon steel sheet automatic laminating of the invention.
Wherein, 1, linkage；2, gas pipeline；3, vacuum pump；4, holder；5, vacuum cup；6, pedestal；7, hydraulic pressure
Bar；8, hydraulic lift；9, horizontal walking device；10, longitudinal running gear；11, high pressure gas holder；12, laser sensor；
13, high pressure gas jets.
Specific implementation mode
A kind of manipulator for silicon steel sheet automatic laminating, including pedestal 6, running gear and feeding device, it is described
Running gear is provided on pedestal, the running gear includes longitudinal running gear 10, and 10 top of longitudinal running gear is cross
To running gear 9, horizontal walking device 9 connects hydraulic stem 7, and hydraulic lift 8, hydraulic lifting dress are provided on hydraulic stem 7
8 connection working arms are set, working arm end connects feeding device by linkage 1, and the feeding device includes holder 4, branch
4 lower section of frame is provided with vacuum cup 5, and 4 upper left of holder is vacuum pump 3, and right side is high pressure gas holder 11, and high pressure gas holder 11 passes through
Gas pipeline 2 is connected with vacuum pump 3, and 11 lower section of high pressure gas holder is provided with laser sensor 12 and high pressure gas jets 13.One
Planting the application process of the manipulator for silicon steel sheet automatic laminating is：The silicon steel sheet feeding device that device is set according to control system
Position, so that feeding device is moved to above feeding device by horizontal walking device 9 and longitudinal running gear 10, hydraulic pressure liter
Falling unit 8 declines along hydraulic stem 7, and feeding device fitting silicon steel sheet surface, vacuum pump 3 is made to arrange the air inside vacuum cup 5
Go out, silicon steel sheet is adsorbed on vacuum cup 5, and laser sensor 12 is detected silicon steel sheet thickness, detects that thickness normally makes
Silicon steel sheet is transported to lamination device by running gear, when laser sensor 12 detects silicon steel sheet thickness abnormity, feedback
To control system, control system blows high pressure gas by high pressure nozzle 13 to two panels silicon steel sheet bonding place, by the silicon steel of bonding
Piece detaches, and ensures that feeding device once takes a silicon steel sheet.The linkage 1 is controlled using electric device.The row
Walking apparatus provides power using pneumatic system.
Claims (4)
1. a kind of manipulator for silicon steel sheet automatic laminating, including pedestal（6）, running gear and feeding device, it is described
Running gear is provided on pedestal, the running gear includes longitudinal running gear（10）, longitudinal running gear（10）Top
For horizontal walking device（9）, horizontal walking device（9）Connect hydraulic stem（7）, hydraulic stem（7）On be provided with hydraulic lift
（8）, hydraulic lift（8）Working arm is connected, working arm end passes through linkage（1）Feeding device is connected, described takes
Expect that device includes holder（4）, holder（4）Lower section is provided with vacuum cup（5）, holder（4）Upper left is vacuum pump（3）, right
Side is high pressure gas holder（11）, high pressure gas holder（11）Pass through gas pipeline（2）With vacuum pump（3）It is connected, high pressure gas holder（11）Under
Side is provided with laser sensor（12）And high pressure gas jets（13）.
2. a kind of application process of manipulator for silicon steel sheet automatic laminating according to claim 1 is：Device according to
The position of the silicon steel sheet feeding device of control system setting, passes through horizontal walking device（9）And longitudinal running gear（10）Make
Feeding device is moved to above feeding device, hydraulic lift（8）Along hydraulic stem（7）Decline, feeding device is made to be bonded silicon steel
Piece surface, vacuum pump（3）By vacuum cup（5）Internal air discharge, silicon steel sheet are adsorbed on vacuum cup（5）On, laser
Sensor（12）Silicon steel sheet thickness is detected, detecting thickness normally makes that silicon steel sheet is transported to lamination dress by running gear
It sets, works as laser sensor（12）When detecting silicon steel sheet thickness abnormity, control system is fed back to, control system passes through high pressure nozzle
（13）High pressure gas is blowed to two panels silicon steel sheet bonding place, the silicon steel sheet of bonding is detached, ensures that feeding device once takes one
Silicon steel sheet.
3. a kind of manipulator for silicon steel sheet automatic laminating according to claim 1, it is characterised in that：The hinge
Mechanism（1）It is controlled using electric device.
4. a kind of manipulator for silicon steel sheet automatic laminating according to claim 1, it is characterised in that：The walking
Device provides power using pneumatic system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305805.5A CN108326888A (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator for silicon steel sheet automatic laminating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810305805.5A CN108326888A (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator for silicon steel sheet automatic laminating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108326888A true CN108326888A (en) | 2018-07-27 |
Family
ID=62932957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810305805.5A Withdrawn CN108326888A (en) | 2018-04-08 | 2018-04-08 | A kind of manipulator for silicon steel sheet automatic laminating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108326888A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533972A (en) * | 2019-01-09 | 2019-03-29 | 旭东机械(昆山)有限公司 | Detection takes the device of piece sticky paper in a kind of glass substrate depacketizing system |
| CN110143436A (en) * | 2019-06-03 | 2019-08-20 | 江苏金佳铁芯有限公司 | Iron core middle column's classification reason material equipment |
| CN110303517A (en) * | 2019-07-30 | 2019-10-08 | 赵旭锋 | A kind of manipulator |
| CN112103063A (en) * | 2020-08-07 | 2020-12-18 | 山东电力设备有限公司 | Full-automatic bonding device and process method for magnetic shielding of transformer |
| CN112489975A (en) * | 2020-11-23 | 2021-03-12 | 海安上海交通大学智能装备研究院 | Sheet stock slewer suitable for automatic closed assembly production line of transformer core |
| CN113251898A (en) * | 2021-06-28 | 2021-08-13 | 江苏利泷半导体科技有限公司 | Silicon steel sheet width deviation detection device and detection method thereof |
| CN114274117A (en) * | 2021-11-16 | 2022-04-05 | 深圳市普渡科技有限公司 | Robot, robot interaction method and device based on obstacle and medium |
| CN115824124A (en) * | 2022-11-30 | 2023-03-21 | 南通思瑞机器制造有限公司 | Intelligent thickness detection system for silicon steel sheet of cross cut line |
-
2018
- 2018-04-08 CN CN201810305805.5A patent/CN108326888A/en not_active Withdrawn
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533972A (en) * | 2019-01-09 | 2019-03-29 | 旭东机械(昆山)有限公司 | Detection takes the device of piece sticky paper in a kind of glass substrate depacketizing system |
| CN110143436A (en) * | 2019-06-03 | 2019-08-20 | 江苏金佳铁芯有限公司 | Iron core middle column's classification reason material equipment |
| CN110143436B (en) * | 2019-06-03 | 2024-03-26 | 江苏金佳铁芯有限公司 | Iron core center pillar grading and arranging equipment |
| CN110303517A (en) * | 2019-07-30 | 2019-10-08 | 赵旭锋 | A kind of manipulator |
| CN112103063A (en) * | 2020-08-07 | 2020-12-18 | 山东电力设备有限公司 | Full-automatic bonding device and process method for magnetic shielding of transformer |
| CN112489975A (en) * | 2020-11-23 | 2021-03-12 | 海安上海交通大学智能装备研究院 | Sheet stock slewer suitable for automatic closed assembly production line of transformer core |
| CN113251898A (en) * | 2021-06-28 | 2021-08-13 | 江苏利泷半导体科技有限公司 | Silicon steel sheet width deviation detection device and detection method thereof |
| CN114274117A (en) * | 2021-11-16 | 2022-04-05 | 深圳市普渡科技有限公司 | Robot, robot interaction method and device based on obstacle and medium |
| CN115824124A (en) * | 2022-11-30 | 2023-03-21 | 南通思瑞机器制造有限公司 | Intelligent thickness detection system for silicon steel sheet of cross cut line |
| CN115824124B (en) * | 2022-11-30 | 2023-08-18 | 南通思瑞机器制造有限公司 | Intelligent transverse shear line silicon steel sheet thickness detection system |
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|---|---|---|---|
| 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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180727 |