CN109003804B - Automatic lamination production system of power transformer silicon steel sheets based on cooperation of multiple mechanical arms - Google Patents
Automatic lamination production system of power transformer silicon steel sheets based on cooperation of multiple mechanical arms Download PDFInfo
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- CN109003804B CN109003804B CN201811121952.3A CN201811121952A CN109003804B CN 109003804 B CN109003804 B CN 109003804B CN 201811121952 A CN201811121952 A CN 201811121952A CN 109003804 B CN109003804 B CN 109003804B
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- 238000003475 lamination Methods 0.000 title claims abstract description 202
- 229910000976 Electrical steel Inorganic materials 0.000 title claims abstract description 173
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims description 124
- 238000003860 storage Methods 0.000 claims description 27
- 210000000245 forearm Anatomy 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 8
- 230000007704 transition Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 11
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010030 laminating Methods 0.000 description 2
- 150000003376 silicon Chemical class 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000007103 stamina Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to a production system for automatic lamination of silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms, which is used for automatic lamination of the silicon steel sheets and belongs to the field of manufacturing of transformer cores. The automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms comprises an automatic feeding device, a silicon steel sheet positioning device, a lamination mechanical arm, a silicon steel sheet lamination device, a finished product trolley conveying device and a rack; the silicon steel sheet lamination device is arranged in the middle of the frame; a guide rail is arranged on the frame; the automatic feeding device is arranged around the silicon steel sheet lamination device; the silicon steel sheet positioning device is arranged between the automatic feeding device and the silicon steel sheet lamination device; the lamination manipulator is arranged above the silicon steel sheet lamination device; the finished product trolley conveying device is arranged on the guide rails on the upper parts of the racks on two sides of the silicon steel sheet lamination device. The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms has reasonable design, compact structure and convenient installation and use.
Description
Technical Field
The invention relates to a production system for automatically laminating silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms, which is a matched device of the production system for automatically laminating the silicon steel sheets and belongs to the field of manufacturing of transformer cores.
Background
The transformer industry is a traditional industry, the transformer iron core is used as a core part of the transformer, the quality of the transformer iron core directly influences the technical performance, economic index and operation safety and reliability of the transformer, and therefore, the improvement of the manufacturing technology and the quality control of the transformer iron core are very important. The iron core column and the iron yokes on two sides of the transformer are pre-stacked in advance. The existing pre-stacking of the silicon steel sheets is an uninterrupted and repeated action, and mainly adopts a manual repeated stacking operation mode, and the adjustment is required continuously in the stacking process, so that the requirement of high precision is met. The silicon steel sheets are easy to make mistakes when being pre-stacked, and when being stacked, the silicon steel sheets and the two-end positioning modules are impacted to generate certain distance deviation, and the deviation is possibly generated when the silicon steel sheets are slightly careless, so that the silicon steel sheets are detached and overlapped. The existing transformer core pre-stacking process consumes large labor force and has lower action efficiency; the mechanical action of pre-stacking the cores puts high demands on the stamina and care of the staff.
Thus, the automatic device can replace some mechanically repeated, simple and boring procedures with automatic devices to reduce personnel requirements and improve work efficiency.
At present, a silicon steel sheet automatic lamination robot has the problems that the material taking operation is single, the operation mode is single, and the material taking lamination operation of the silicon steel sheets under various working conditions cannot be met.
Disclosure of Invention
The invention aims to provide an automatic lamination production system for silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms, which adopts multiple groups of automatic lamination manipulators to replace repeated operation of manual machinery, so that the product precision is ensured, the labor degree of staff is reduced, the production efficiency is improved, and the automation level of the production process is improved to be the current main difficulty.
The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is realized by adopting the following technical scheme:
the automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms comprises an automatic feeding device, a silicon steel sheet positioning device, a lamination mechanical arm, a silicon steel sheet lamination device, a finished product trolley conveying device and a rack;
the silicon steel sheet lamination device is arranged in the middle of the frame; a guide rail is arranged on the frame; the automatic feeding device is arranged around the silicon steel sheet lamination device; the silicon steel sheet positioning device is arranged between the automatic feeding device and the silicon steel sheet lamination device; the lamination manipulator is arranged above the silicon steel sheet lamination device; the finished product trolley conveying device is arranged on the guide rails on the upper parts of the racks on two sides of the silicon steel sheet lamination device.
The automatic feeding device comprises a feeding frame, a rotary table, a storage horizontal plate, a storage baffle plate, a feeding motor, a transmission shaft, a central transmission gear, a horizontal plate transmission gear, a transition transmission gear and rollers.
The feeding motor is installed at one end of a feeding frame through the motor mounting plate, an output shaft of the feeding motor is connected with a transmission shaft, two turntables are respectively installed at two ends of the transmission shaft, a central gear is installed on the transmission shaft, a plurality of storage horizontal plates are respectively installed between the two turntables, two ends of each storage horizontal plate are respectively movably installed on the turntables through a short shaft and a bearing, a horizontal plate transmission gear is installed at the outer end of the short shaft, storage baffle plates are arranged on two sides of each storage horizontal plate, the horizontal plate transmission gear is meshed with the central transmission gear through a transition transmission gear, rollers are installed at the bottom of the feeding frame, and the feeding frame is installed on a track of the frame through the rollers so as to be convenient for feeding.
The silicon steel sheet positioning device comprises a positioning platform, a transverse positioning servo motor, a transverse positioning stop block, a longitudinal positioning servo motor and a longitudinal positioning stop block; the positioning platform is provided with a transverse positioning servo motor which is connected with the transverse positioning stop block through a screw rod and a nut, and the longitudinal positioning servo motor is connected with the longitudinal positioning stop block through the screw rod and the nut.
The lamination manipulator comprises a manipulator mounting seat, a front arm transmission motor, a rear arm transmission motor, a lifting arm (rod) transmission motor, a cross beam and a vacuum chuck; the manipulator mount pad is installed on the silicon steel sheet lamination workstation, and the rear arm is installed in the upper portion of manipulator mount pad, and the rear arm passes through the transmission of rear arm drive motor, and the forearm is installed in the upper end of rear arm, and the front end at the rear arm is installed to the forearm drive motor, and the forearm passes through the transmission of forearm drive motor, and the front portion at the forearm is installed to the lifting arm (pole), and the front portion at the forearm is installed to lifting arm (pole) drive motor, and the crossbeam is equipped with to lifting arm (pole) lower part. The lower part of the beam is provided with a vacuum chuck which is connected with a vacuum pump through a pipeline.
The lamination manipulator is provided with five, is used for snatching silicon steel sheet center pillar, two side posts, upper yoke, lower yoke respectively.
The silicon steel sheet lamination device comprises a silicon steel sheet lamination workbench, a silicon steel sheet lamination support frame, a silicon steel sheet lamination transmission vehicle, a lifting platform, a lifting servo motor, a positioning column and a positioning sliding sleeve.
The lower part of the lamination workbench is provided with a lifting platform, the bottom of the lifting platform is provided with a lifting servo motor, the lifting servo motor drives the lifting platform to lift through a screw rod and a nut, four corners of the lifting platform are provided with positioning sliding sleeves and positioning columns, the lifting platform is provided with a lamination transmission vehicle, the upper part of the lamination transmission vehicle is provided with a lamination support frame for placing silicon steel sheets lamination, the lamination transmission vehicle is provided with a frame, the bottom of the frame is provided with a transmission vehicle roller, and the transmission motor drives the lamination transmission vehicle through a transmission belt.
The finished product trolley conveying device comprises a frame, wheels, a lamination transmission vehicle and a silicon steel sheet lamination support frame; wheels are arranged at the lower part of the frame, a guide rail is arranged at the upper part of the frame, a lamination transmission vehicle is arranged at the upper part of the guide rail, and a silicon steel sheet support frame is arranged at the upper part of the lamination transmission vehicle. The lamination transmission vehicle is provided with a vehicle frame, the bottom of the vehicle frame is provided with transmission vehicle rollers, and a transmission motor drives the lamination transmission vehicle through a transmission belt.
The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is matched with a controller, a PLC programmable controller is arranged in the controller, and speed and position control is carried out through an encoder arranged on a servo motor.
An automatic lamination method of an automatic lamination production system of silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms comprises the following steps:
1. feeding:
(1) Respectively placing the middle column, the two side columns, the upper yoke and the lower yoke silicon steel sheets on a storage horizontal plate of an automatic feeding device;
(2) The storage horizontal plate where the silicon steel sheet to be taken is positioned is kept horizontal by a positioning device through a feeding motor;
2. and (5) taking and positioning a sheet:
the lamination manipulator conveys the silicon steel sheet from the feeding device to the silicon steel sheet positioning device through the vacuum chuck, and performs transverse and longitudinal positioning through the transverse servo motor and the longitudinal servo motor;
3. lamination:
the lamination mechanical arm respectively grabs (picks up) the positioned silicon steel sheets from the positioning device, places the positioned silicon steel sheets on a silicon steel sheet lamination support of the silicon steel sheet lamination device for lamination, and when a certain height is completed, the lifting platform descends by a certain height through the lifting servo motor, lamination is performed again until the preset lamination layer number is completed, and lamination is finished;
4. and (3) outputting: and removing the automatic feeding device, yielding the channel, lowering the lifting platform to the lowest position, starting the lamination transmission vehicle, moving to the finished product trolley conveying device, simultaneously, moving the lamination transmission vehicle which does not carry out lamination transmission to the lifting platform of the silicon steel sheet lamination device together with the silicon steel sheet lamination support, and starting the lifting platform transmission motor to lift the lifting platform to the position to be laminated, and simultaneously recovering the automatic feeding device to the position to be laminated, and repeating the cycle to realize automatic feeding lamination.
The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms has reasonable design, compact structure and convenient installation and use.
According to the invention, a multi-mechanical arm is adopted to stack silicon steel sheets into transformer cores with reliable precision and different shapes; the invention adopts bilateral symmetry structural arrangement so as to shorten the effective stroke of a robot and avoid waste in the lamination process. The invention replaces the manual simple and repeated labor action, reduces the labor intensity of staff and improves the production efficiency.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of an automatic lamination production system of silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms;
FIG. 2 is a block diagram of an automatic feeding device of an automatic lamination production system of silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms;
FIG. 3 is a block diagram of a silicon steel sheet positioning device of an automatic lamination production system of silicon steel sheets of a power transformer based on cooperation of multiple mechanical arms;
FIG. 4 is a block diagram of a manipulator device and a silicon steel sheet lamination device of an automatic silicon steel sheet lamination production system of a power transformer based on cooperation of multiple mechanical arms;
fig. 5 is a block diagram of a finished product trolley conveying device of the automatic lamination production system of the silicon steel sheets of the power transformer based on cooperation of multiple mechanical arms.
Description of the embodiments
The technical scheme of the invention is fully described below with reference to the accompanying drawings of the embodiment of the invention. All other embodiments, which can be made by those skilled in the art without any inventive effort, are intended to be within the scope of the present invention, based on the examples herein.
As shown in fig. 1-5, the automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of multiple mechanical arms comprises an automatic feeding device 1, a silicon steel sheet positioning device 2, a lamination manipulator 3, a silicon steel sheet lamination device 4, a finished product trolley conveying device 5 and a rack 6; the silicon steel sheet lamination device 4 is arranged in the middle of the frame 6; a guide rail 7 is arranged on the frame 6; the automatic feeding device 1 is arranged around the silicon steel sheet lamination device 4; the silicon steel sheet positioning device 2 is arranged between the automatic feeding device 1 and the silicon steel sheet lamination device 4; the lamination manipulator 3 is arranged above the silicon steel sheet lamination device 4; the finished product trolley conveying device 5 is arranged on guide rails 7 on the upper parts of the frames 6 on two sides of the silicon steel sheet lamination device 4.
As shown in FIG. 2, the automatic feeding device 1 comprises a feeding frame 1-1, a turntable 1-2, a storage horizontal plate 1-3, a storage baffle plate 1-4, a feeding motor 1-5, a transmission shaft 1-6, a central transmission gear 1-7, a horizontal plate transmission gear 1-8, a transition transmission gear 1-9 and a roller 1-11.
The feeding motor 1-5 is arranged at one end of the feeding frame 1-1 through the motor mounting plate 1-10, an output shaft of the feeding motor 1-5 is connected with the transmission shaft 1-6, the two rotary tables 1-2 are respectively arranged at two ends of the transmission shaft 1-5, the transmission shaft 1-6 is provided with the central transmission gear 1-7, the plurality of storage horizontal plates 1-3 are respectively arranged between the two rotary tables 1-2, two ends of the plurality of storage horizontal plates 1-3 are respectively movably arranged on the rotary tables 1-2 through a short shaft and a bearing, the outer end of the short shaft is provided with the horizontal plate transmission gear 1-8, two sides of the storage horizontal plates 1-3 are provided with the storage baffle plate 1-4, the horizontal plate transmission gear 1-8 is meshed with the central transmission gear 1-7 through the transition transmission gear 1-9, the bottom of the feeding frame 1-1 is provided with the idler wheels 1-11, and the feeding frame 1-1 is arranged on the guide rail 7 of the frame 6 through the idler wheels 1-11 so as to facilitate feeding.
When the automatic feeding device 1 works, silicon steel sheets with different specifications, namely, a silicon steel sheet center pillar, two side pillars, an upper yoke and a lower yoke are respectively and horizontally placed on a storage horizontal plate 1-3, when a lamination manipulator needs to feed materials, a feeding motor 1-5 is started, the feeding motor 1-5 drives a transmission shaft 1-6, the transmission shaft 1-6 drives the horizontal plate transmission gear 1-8 through a central transmission gear 1-7 and a transition transmission gear 1-9, so that the storage horizontal plate 1-3 keeps a horizontal rotation state in the process of driving a turntable 1-2 to rotate and feed materials by the transmission shaft 1-6, and a vacuum chuck of the lamination manipulator is convenient to grasp the silicon steel sheet center pillar, the two side pillars, the upper yoke and the lower yoke and automatically feed the silicon steel sheet center pillar to the silicon steel sheet positioning device 2.
As shown in FIG. 3, the silicon steel sheet positioning device 2 comprises a positioning platform 2-1, a transverse positioning servo motor 2-2, a transverse positioning stop block 2-3, a longitudinal positioning servo motor 2-4 and a longitudinal positioning stop block 2-5, wherein the transverse positioning servo motor 2-2 is arranged on the positioning platform 2-1, the transverse positioning servo motor 2-2 is connected with the transverse positioning stop block 2-5 through a screw rod and a nut, and the longitudinal positioning servo motor 2-5 is connected with the longitudinal positioning stop block 2-3 through the screw rod and the nut. Four silicon steel sheet positioning devices 2 are arranged. The silicon steel sheet positioning devices 2 are respectively arranged around the silicon steel sheet lamination device 4.
When the silicon steel sheet positioning device 2 works, the lamination manipulator 3 respectively horizontally places silicon steel sheets of different specifications on the storage horizontal plate 1-3 of the automatic feeding device 1, the vacuum chuck of the lamination manipulator 3 respectively grabs the silicon steel sheets of different specifications on the positioning platform 2-1 of the silicon steel sheet positioning device 2, positions and places the lamination neatly through the transverse positioning servo motor 2-2 through the screw rod and the nut and the transverse positioning stop block 2-5, positions and places the lamination neatly through the longitudinal positioning servo motor 2-5 through the screw rod and the nut and the longitudinal positioning stop block 2-3, and places the lamination neatly for later use.
As shown in FIG. 4, the lamination robot 3 comprises a robot mounting seat 3-1, a front arm 3-2, a front arm transmission motor 3-3, a rear arm 3-4, a rear arm transmission motor 3-5, a lifting arm (rod) 3-6, a lifting arm (rod) transmission motor 3-7, a beam 3-8 and a vacuum chuck 3-9, wherein the robot mounting seat 3-1 is mounted on a silicon steel sheet lamination workbench 4-1, the rear arm 3-4 is mounted on the upper part of the robot mounting seat 3-1, the rear arm 3-4 is transmitted through the rear arm transmission motor 3-5, the front arm 3-2 is mounted on the upper end of the rear arm 3-4, the front arm 3-2 is transmitted through the front arm transmission motor 3-3, the lifting arm (rod) 3-6 is mounted on the front part of the front arm 3-2, the lifting arm (rod) transmission motor 3-7 is mounted on the front part of the front arm 3-2, and the lifting arm (rod) 3-8 is mounted on the lower part of the beam 3-6. The lower part of the cross beam 3-8 is provided with a vacuum chuck 3-9, and the vacuum chuck 3-9 is connected with a vacuum pump through a pipeline. The lamination manipulator 3 is provided with five, installs respectively on the silicon steel sheet lamination workstation, is used for snatching silicon steel sheet center pillar, two side posts, upper yoke, lower yoke respectively.
The lamination manipulator 3 is an automatic lamination manipulator 3 of a multi-mechanical arm cooperative power transformer silicon steel sheet, can perform transverse, longitudinal and vertical rotation and lifting motions, and the lamination manipulator 3 respectively transmits a front arm 3-2, a rear arm 3-4 and a rear arm transmission motor 3-5 through a front arm transmission motor 3-3, a rear arm 3-4, a lifting arm (rod) transmission motor 3-7 transmits a cross beam 3-8 and a vacuum chuck 3-9 to grasp silicon steel sheets of different specifications from a positioning platform 2-1 of the silicon steel sheet positioning device 2 according to design requirements and send the silicon steel sheets to a silicon steel sheet lamination support frame of the silicon steel sheet lamination device 4 for lamination of the silicon steel sheets.
The silicon steel sheet lamination device 4 comprises a silicon steel sheet lamination workbench 4-1, a silicon steel sheet lamination support frame 4-2, a silicon steel sheet lamination transmission vehicle 5-3, a lifting platform 4-4, a lifting servo motor 4-5, a screw rod 4-6, a nut 4-7, a positioning column 4-8 and a positioning sliding sleeve 4-9.
The lower part of the lamination workbench 4-1 is provided with a lifting platform 4-4, the bottom of the lifting platform 4-4 is provided with a lifting servo motor 4-5, the lifting servo motor 4-5 drives the lifting platform 4-4 to lift through a screw rod 4-6 and a nut 4-7, four corners of the lifting platform 4-4 are provided with positioning columns 4-8 and positioning sliding sleeves 4-9, the lifting platform 4-4 is provided with a lamination transmission vehicle 5-3, the upper part of the lamination transmission vehicle 5-3 is provided with a silicon steel sheet lamination support frame 4-2 for placing silicon steel sheets, the lamination transmission vehicle 5-3 is provided with a lamination transmission vehicle frame, the bottom of the lamination transmission vehicle frame is provided with transmission vehicle rollers, and the transmission motor drives the lamination transmission vehicle through a transmission belt.
The lamination manipulator 3 respectively drives the front arm 3-2 and the rear arm 3-4 through the front arm driving motor 3-3, the rear arm 3-4 and the rear arm driving motor 3-5, the lifting arm (rod) driving motor 3-7 drives the cross beam 3-8 and the vacuum chuck 3-9 to respectively grasp the positioned silicon steel sheets with different specifications from the positioning platform 2-1 of the silicon steel sheet positioning device 2 according to the design requirement and send the positioned silicon steel sheets to the silicon steel sheet lamination support frame of the silicon steel sheet lamination device 4 for silicon steel sheet lamination, and when a certain height is finished, the lifting platform descends by a certain height through the lifting servo motor and then carries out lamination until the preset lamination layer number is finished, and the lamination is finished to form the silicon steel sheet iron core 8 of the power transformer.
The power transformer silicon steel sheet iron core 8 is made of a middle column 8-1, two side columns 8-2, an upper yoke 8-1 and a lower yoke 8-2 silicon steel sheet laminated stack.
As shown in FIG. 5, the finished product trolley conveying device 5 comprises a frame 5-1, wheels 5-2 and a lamination transmission vehicle 5-3, wherein the wheels 5-2 are arranged at the lower part of the frame 5-1, a guide rail 5-4 is arranged at the upper part of the frame 5-1, the lamination transmission vehicle 5-3 is arranged at the upper part of the guide rail 5-4, and a silicon steel sheet lamination support frame 4-2 is arranged at the upper part of the lamination transmission vehicle 5-3. The laminated transmission vehicle 5-3 is provided with a laminated transmission vehicle frame 5-3-1, transmission vehicle rollers 5-3-2 are arranged at the bottom of the laminated transmission vehicle frame 5-3-1, and the transmission motor 5-3-3 transmits the laminated transmission vehicle 5-3 through a transmission belt 5-3-4.
And after lamination, placing the laminated silicon steel sheet iron core 8 of the power transformer on a silicon steel sheet lamination support frame provided with a lamination transmission vehicle 5-3 on a lifting table 4-4, removing the automatic feeding device 1, starting a transmission motor 5-3-3 of the lamination transmission vehicle 5-3, transmitting the lamination transmission vehicle 5-3 through a transmission belt 5-3-4, driving the laminated silicon steel sheet iron core on a frame 5-1 of a finished product trolley conveying device 5, and then moving the silicon steel sheet iron core 8 of the power transformer to the next power transformer production process.
The automatic lamination method of the automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is characterized by comprising the following steps:
1. feeding:
(1) Respectively placing a middle column, two side columns, an upper yoke and a lower yoke silicon steel sheet on a storage horizontal plate 1-3 of an automatic feeding device 1;
(2) The storage horizontal plate 1-3 where the silicon steel sheet to be taken is positioned is kept horizontal by a positioning device through a feeding motor 1-5;
2. and (5) taking and positioning a sheet:
the lamination manipulator 3 conveys the silicon steel sheet from the automatic feeding device 1 to the silicon steel sheet positioning device 2 through the vacuum chuck 3-9, and performs transverse and longitudinal positioning through the transverse servo motor 2-2 and the longitudinal servo motor 2-4;
3. lamination:
the lamination manipulator 3 respectively grabs (picks up) the positioned silicon steel sheets from the silicon steel sheet positioning device 2, places the positioned silicon steel sheets on the silicon steel sheet lamination support 4-2 of the silicon steel sheet lamination device 4, and when a certain height is finished, the lifting table 4-4 descends by a certain height through the lifting servo motor 4-5, lamination is carried out again until the preset lamination layer number is finished, and lamination is finished;
4. and (3) outputting: the automatic feeding device 1 is removed, the channel is yielded, the lifting platform 4-4 is lowered to the lowest position, the lamination transmission vehicle 5-3 is started and moved to the finished product trolley conveying device 5, meanwhile, the lamination transmission vehicle 5-3 which does not carry out lamination transmission moves onto the lifting platform 4-4 of the silicon steel sheet lamination device 4 together with the silicon steel sheet lamination support 4-2, the lifting platform transmission motor is started again to lift the lifting platform to the position to be laminated, meanwhile, the automatic feeding device 1 is restored to the position to be laminated, circulation is repeated, and automatic feeding lamination is achieved.
The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is matched with a controller, a PLC programmable controller is arranged in the controller, and speed and position control is carried out through an encoder arranged on a servo motor.
According to the technical scheme, the silicon steel sheet automatic lamination system can be used for simultaneously carrying out silicon steel sheet automatic lamination, and the feeding device can adopt an automatic device feeding device to realize automatic feeding. The invention can also be used in other silicon steel sheet lamination or similar silicon steel sheet lamination fields.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the examples shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is characterized by comprising an automatic feeding device, a silicon steel sheet positioning device, a lamination manipulator, a silicon steel sheet lamination device, a finished product trolley conveying device and a rack;
the silicon steel sheet lamination device is arranged in the middle of the frame; a guide rail is arranged on the frame; the automatic feeding device is arranged around the silicon steel sheet lamination device; the silicon steel sheet positioning device is arranged between the automatic feeding device and the silicon steel sheet lamination device; the lamination manipulator is arranged above the silicon steel sheet lamination device; the finished product trolley conveying device is arranged on the upper guide rail of the rack on two sides of the silicon steel sheet lamination device;
the automatic feeding device comprises a feeding frame, a rotary table, a storage horizontal plate, a storage baffle plate, a feeding motor, a transmission shaft, a central transmission gear, a horizontal plate transmission gear, a transition transmission gear and rollers;
the feeding motor is installed at one end of a feeding frame through the motor mounting plate, an output shaft of the feeding motor is connected with a transmission shaft, two turntables are respectively installed at two ends of the transmission shaft, a central gear is installed on the transmission shaft, a plurality of storage horizontal plates are respectively installed between the two turntables, two ends of each storage horizontal plate are respectively movably installed on the turntables through a short shaft and a bearing, a horizontal plate transmission gear is installed at the outer end of the short shaft, storage baffle plates are arranged on two sides of each storage horizontal plate, the horizontal plate transmission gear is meshed with the central transmission gear through a transition transmission gear, rollers are installed at the bottom of the feeding frame, and the feeding frame is installed on a track of the frame through the rollers so as to be convenient for feeding.
2. The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms, which is disclosed in claim 1, is characterized in that the silicon steel sheet positioning device comprises a positioning platform, a transverse positioning servo motor, a transverse positioning stop block, a longitudinal positioning servo motor and a longitudinal positioning stop block; the positioning platform is provided with a transverse positioning servo motor which is connected with the transverse positioning stop block through a screw rod and a nut, and the longitudinal positioning servo motor is connected with the longitudinal positioning stop block through the screw rod and the nut.
3. The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of multiple mechanical arms, which is disclosed in claim 1, is characterized in that the lamination manipulator comprises a manipulator mounting seat, a front arm transmission motor, a rear arm transmission motor, a lifting arm transmission motor, a cross beam and a vacuum chuck;
the manipulator mount pad is installed on the silicon steel sheet lamination workstation, and the rear arm is installed on the upper portion of manipulator mount pad, and the rear arm passes through the transmission of rear arm drive motor, and the forearm is installed in the upper end of rear arm, and the front end at the rear arm is installed to forearm drive motor, and the forearm passes through the transmission of forearm drive motor, and the lifting arm is installed in the front portion of forearm, and the front portion at the forearm is installed to lifting arm drive motor, and the crossbeam is equipped with to the lifting arm lower part, and vacuum chuck is installed to the crossbeam lower part.
4. The automatic silicon steel sheet lamination production system of the power transformer based on the cooperation of the multiple mechanical arms, which is disclosed in claim 1, is characterized in that the silicon steel sheet lamination device comprises a silicon steel sheet lamination workbench, a silicon steel sheet lamination support frame, a silicon steel sheet lamination transmission vehicle, a lifting platform, a lifting servo motor, a positioning column and a positioning sliding sleeve;
the lower part of the lamination workbench is provided with a lifting platform, the bottom of the lifting platform is provided with a lifting servo motor, the lifting servo motor drives the lifting platform to lift through a screw rod and a nut, four corners of the lifting platform are provided with positioning sliding sleeves and positioning columns, the lifting platform is provided with a lamination transmission vehicle, and the upper part of the lamination transmission vehicle is provided with a lamination support frame for placing silicon steel sheet laminations.
5. The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms according to claim 1 is characterized in that,
the finished product trolley conveying device comprises a frame, wheels, a lamination transmission vehicle and a silicon steel sheet lamination support frame; wheels are arranged at the lower part of the frame, a guide rail is arranged at the upper part of the frame, a lamination transmission vehicle is arranged at the upper part of the guide rail, and a silicon steel sheet support frame is arranged at the upper part of the lamination transmission vehicle.
6. The automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms, which is disclosed in claim 5, is characterized in that the lamination transmission vehicle is provided with a vehicle frame, the bottom of the vehicle frame is provided with transmission vehicle rollers, and the transmission motor drives the lamination transmission vehicle through a transmission belt.
7. The automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms, which is disclosed in claim 1, is characterized in that the lamination mechanical arm is provided with five lamination mechanical arms which are respectively used for grabbing a middle column, two side columns, an upper yoke and a lower yoke of the silicon steel sheets.
8. The automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms, which is disclosed in claim 1, is characterized in that the automatic lamination production system for the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms is matched with a controller, a PLC programmable controller is arranged in the controller, and the speed and the position are controlled through an encoder arranged on a servo motor.
9. The automatic lamination method of the automatic lamination production system of the silicon steel sheets of the power transformer based on the cooperation of the multiple mechanical arms as claimed in claim 1 is characterized by comprising the following steps:
1. feeding:
(1) Respectively placing the middle column, the two side columns, the upper yoke and the lower yoke silicon steel sheets on a storage horizontal plate of an automatic feeding device;
(2) The storage horizontal plate where the silicon steel sheet to be taken is positioned is kept horizontal by a positioning device through a feeding motor;
2. and (5) taking and positioning a sheet:
the lamination manipulator conveys the silicon steel sheet from the feeding device to the silicon steel sheet positioning device through the vacuum chuck, and performs transverse and longitudinal positioning through the transverse servo motor and the longitudinal servo motor;
3. lamination:
the lamination mechanical arm respectively grabs the positioned silicon steel sheets from the silicon steel sheet positioning device, and places the silicon steel sheets on a silicon steel sheet lamination support of the silicon steel sheet lamination device to carry out lamination, and when a certain height is completed, the lifting platform descends by a certain height through the lifting servo motor, lamination is carried out again until the preset lamination layer number is completed, and lamination is finished;
4. and (3) outputting: and removing the automatic feeding device, yielding the channel, lowering the lifting platform to the lowest position, starting the lamination transmission vehicle, moving to the finished product trolley conveying device, simultaneously, moving the lamination transmission vehicle which does not carry out lamination transmission to the lifting platform of the silicon steel sheet lamination device together with the silicon steel sheet transmission bracket, and then starting the lifting platform transmission motor to lift the lifting platform to the position to be laminated, and simultaneously recovering the automatic feeding device to the position to be laminated, and repeating the cycle to realize automatic feeding lamination.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811121952.3A CN109003804B (en) | 2018-09-26 | 2018-09-26 | Automatic lamination production system of power transformer silicon steel sheets based on cooperation of multiple mechanical arms |
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| CN201811121952.3A CN109003804B (en) | 2018-09-26 | 2018-09-26 | Automatic lamination production system of power transformer silicon steel sheets based on cooperation of multiple mechanical arms |
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| CN109003804B true CN109003804B (en) | 2024-03-26 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108538565A (en) * | 2018-04-18 | 2018-09-14 | 明珠电气股份有限公司 | Transformer core flexible intelligent lamination production system platform |
| CN108538566A (en) * | 2018-04-18 | 2018-09-14 | 明珠电气股份有限公司 | Transformer core flexible intelligent lamination production system |
| CN208889470U (en) * | 2018-09-26 | 2019-05-21 | 江苏北辰互邦电力股份有限公司 | Power transformer silicon steel sheet automatic laminating production system based on the collaboration of more mechanical arms |
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2018
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108538565A (en) * | 2018-04-18 | 2018-09-14 | 明珠电气股份有限公司 | Transformer core flexible intelligent lamination production system platform |
| CN108538566A (en) * | 2018-04-18 | 2018-09-14 | 明珠电气股份有限公司 | Transformer core flexible intelligent lamination production system |
| CN208889470U (en) * | 2018-09-26 | 2019-05-21 | 江苏北辰互邦电力股份有限公司 | Power transformer silicon steel sheet automatic laminating production system based on the collaboration of more mechanical arms |
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