CN110518759B - Semi-automatic magnetic steel groove insertion equipment and method thereof - Google Patents
Semi-automatic magnetic steel groove insertion equipment and method thereof Download PDFInfo
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- CN110518759B CN110518759B CN201910823022.0A CN201910823022A CN110518759B CN 110518759 B CN110518759 B CN 110518759B CN 201910823022 A CN201910823022 A CN 201910823022A CN 110518759 B CN110518759 B CN 110518759B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
- H02K15/03—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies having permanent magnets
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Abstract
The invention discloses semi-automatic magnetic steel slot inserting equipment, which comprises: at least one pair of electric push rod assemblies are respectively positioned on two sides of the central line of the direct-drive generator and connected to the push rod frames of the double portal frames; the magnetic steel material box is used for storing the magnetic steel sheets and is connected below the electric push rod assembly, and the push rod frame drives the electric push rod assembly and the magnetic steel material box to move to the position above the magnetic steel sheet slot of the direct-drive generator through movement; and the 3D vision system is used for determining the correct positions of the push head and the tray notch in the magnetic steel sheet aligning electric push rod assembly, and the push head pushes the magnetic steel sheet in the magnetic steel material box to be accurately inserted into the magnetic steel sheet slot by moving up and down. The invention reduces the accumulated error caused by the moving position of the equipment in the process of inserting the magnetic steel sheet, and the error precision is less than 0.01 mm; different interfaces are suitable, and cross-platform compatibility is high; the invention has the advantages of low price, high precision, complete functions, strong power of equipment, wide application range and the like, and has high working efficiency.
Description
Technical Field
The invention relates to magnetic steel inserting equipment of a generator, in particular to semi-automatic magnetic steel groove inserting equipment and a method thereof, which are suitable for various large direct-drive generators and similar processes.
Background
The existing magnetic steel inserting equipment generally adopts X-axis and Y-axis two-dimensional guide rail positioning, and magnetic steel automatic installation equipment runs along the guide rail according to the positioning and inserts a magnetic steel sheet. However, when the magnetic steel inserting equipment moves along the guide rails of the X axis and the Y axis, accumulative errors which cannot be compensated can be caused, and meanwhile, due to the use mode of the existing equipment, errors can occur in the X axis and the Y axis simultaneously, double superposition errors are caused, further, the errors are large, the compensation and the correction cannot be basically performed, manual adjustment is needed, and the equipment has extremely high requirements on the manufacturing precision of the guide rails. At present, no supplier can meet the requirement of manufacturing precision at home, and the supply period of foreign suppliers needs more than three months and the manufacturing cost is higher; the applicability of this device is also low, subject to the design of the device. Based on the above, it is necessary to develop a semi-automatic magnetic steel slot inserting device and a method thereof suitable for various large direct-drive generators and similar processes.
Disclosure of Invention
The invention aims to provide semi-automatic magnetic steel slot inserting equipment and a method thereof, wherein an electric push rod is combined with a 3D visual recognition system to automatically assemble a magnetic core on a rotor of a direct-drive generator so as to replace the traditional manual operation and reduce the working strength; meanwhile, a double-gantry structure is adopted, so that two magnetic steel sheets are inserted into a fixed position at the same time, the working efficiency is improved, the position is changed by a rotating motor of the rotating table, the precision of the rotating table is very high, the errors are basically eliminated, the precision is greatly improved, and the manual workload is reduced; the invention can realize the function of semi-automatic magnetic steel slot insertion of the 3.0MW-8.0MW permanent magnet direct drive generator, and overcomes the high requirement of magnetic steel insertion equipment on the manufacturing precision of the guide rail; the invention also reduces the accumulated error during moving and improves the working precision.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a semi-automatic magnet steel groove cartridge equipment, contains:
at least one pair of electric push rod assemblies are respectively positioned on two sides of the central line of the direct-drive generator and connected to the push rod frames of the double portal frames;
the magnetic steel material box is used for storing a magnetic steel sheet and is connected below the electric push rod assembly, and the movement of the push rod frame of the double gantry frame drives the electric push rod assembly and the magnetic steel material box to move to the position above a magnetic steel sheet slot of the direct drive generator;
and the 3D vision system is used for determining the correct position of the magnetic steel sheet aligned to the push head of the electric push rod assembly, and the push head pushes the magnetic steel sheet in the magnetic steel material box to be accurately inserted into the magnetic steel sheet slot by moving up and down.
Preferably, the double gantry comprises: the lower parts of the two push rod frames which are parallel to each other are connected with the electric push rod assembly; the two guide rails which are parallel to each other and the two push rod frames are arranged vertically and horizontally, and sliding grooves for sliding movement of the guide rails are arranged on the guide rails.
Preferably, the electric push rod assembly comprises: the push rod is connected above the magnetic steel material box; the push rod rotating shaft is respectively connected with the push rod and the push rod frame; the push rod frame drives the push rod and the magnetic steel material box to move to the upper part of a magnetic steel sheet slot of the direct-drive generator by sliding along the sliding groove; the push rod rotating shaft is used for adjusting the positions of the push rod and the magnetic steel material box moving along the horizontal plane, so that the magnetic steel material box is aligned with the magnetic steel sheet slot; and the push head is arranged at the lower part of the push rod and is positioned above the magnetic steel material box.
Preferably, the electric push rod assembly further comprises a tray for preventing the steel sheets in the magnetic steel material box from sliding off before working, and the tray is positioned at the lower end of the magnetic steel material box; the tray is provided with a notch, the 3D vision system is used for determining the correct positions of the magnetic steel sheet aligning to the pushing head and the tray notch, and when the tray notch is aligned with the magnetic steel sheet, the pushing head pushes the magnetic steel sheet to be accurately inserted into the magnetic steel sheet slot by moving up and down.
Preferably, the push rod rotating shaft comprises a first rotating shaft part and a second rotating shaft part which respectively rotate on two planes perpendicular to each other; the first rotating shaft part is movably connected with the push rod frame and movably connected with the second rotating shaft part, the second rotating shaft part is movably connected with the push rod, and the push rod is clamped between the two second rotating shaft parts;
the push rod frame is obliquely placed on the sliding groove to slide, the push rod frame is of a chute structure, the magnetic steel sheet is inserted into the chute structure to be matched with the chute structure, the plane where the first rotating shaft portion rotates is a certain inclined angle with the vertical plane, and the push rod frame is matched with the chute structure in a tilted mode.
Preferably, the thrust of the electric push rod component is 2 tons, the displacement range reaches 0 mm-1500 mm, and the electric push rod component is matched with a direct-drive generator of 3.0MW-8.0 MW.
Preferably, the pair of electric push rod assemblies are symmetrical about the center of the direct drive generator, and the pair of electric push rod assemblies respectively push the inserted same-stage magnetic steel sheets to be symmetrical about the center of the direct drive generator; first magnetic steel sheets and second magnetic steel sheets are inserted into the magnetic steel sheet slots, the same-level magnetic steel sheets are alternate, and the different-level magnetic steel sheets are adjacent.
Preferably, the direct-drive generator is placed on a rotary platform controlled by a servo system, and the servo system drives the rotary platform to rotate through a servo motor with an encoder and is adjusted by means of a PLC module.
The invention also provides a plugging method of the semi-automatic magnetic steel slot plugging equipment based on the above, which comprises the following processes:
the direct-drive generator is placed on a rotating platform controlled by a servo system;
installing a 3D vision system for determining the correct positions of a push head and a tray notch in the electric push rod assembly aligned with the magnetic steel sheet in the magnetic steel material box;
the push rod frame of the double gantry frame moves to the position above a magnetic steel sheet slot of the direct drive generator along the sliding groove, and drives the electric push rod assembly and the magnetic steel material box to move to the position above the magnetic steel sheet slot;
the positions of the electric push rod assembly and the magnetic steel material box moving on the horizontal plane are adjusted through a push rod rotating shaft of the electric push rod assembly, and the cartridge clip provided with the magnetic steel sheet in the magnetic steel material box rotates until the magnetic steel sheet of the magnetic steel material box aligns to the push head and the tray notch;
a push head at the lower part of a push rod of the electric push rod assembly pushes a first magnetic group of magnetic steel sheets in the magnetic steel material box to be accurately inserted into the magnetic steel sheet slot by moving up and down, a second magnetic group of magnetic steel sheets in the magnetic steel material box is inserted after the rotary platform rotates for a certain angle, and the like, the first magnetic group of magnetic steel sheets is inserted until the first magnetic group of magnetic steel sheets is completely inserted, the second magnetic group of magnetic steel sheets in the magnetic steel material box is inserted after the rotary platform rotates for a certain angle, and the like until the second magnetic group of magnetic steel sheets is completely inserted; the same-level magnetic steel sheets are alternate, the different-level magnetic steel sheets are adjacent, and the space between the magnetic steel sheets is the same.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the invention, the magnetic core is automatically assembled on the rotor of the direct drive generator by utilizing the electric push rod in combination with the 3D visual recognition system so as to replace the traditional manual operation and reduce the working strength;
(2) the thrust of the electric push rod adopted by the invention is 2 tons, the displacement range can reach 0 mm-1500 mm, the insertion function of the magnetic steel sheet of a 3 MW-8 MW motor can be met, and the electric push rod has high applicability;
(3) in the prior art, a robot is used for inserting a magnetic steel sheet, the robot is moved to a next position for inserting a second magnetic steel sheet after inserting the magnetic steel sheet at a certain position, and on one hand, the form can cause that a single magnetic steel sheet adsorbs a stator to cause the deformation of a rotor, and on the other hand, the displacement of the robot has a large error which needs to be reduced by subsequent manual work; the double gantry structure adopted by the invention is characterized in that two magnetic steel sheets are simultaneously inserted into a fixed position, the position is changed by a rotating motor of the rotating table, and the rotating table has high precision, so that the errors are basically eliminated, the precision is greatly improved, and the manual workload is reduced; the rotary table top of the direct-drive generator is provided with different rotary table tops, so that the magnetic steel inserting piece function of the 70t-150t generator can be realized.
(4) Because the double gantry structure is adopted, the two magnetic steel sheets at the same level are symmetrically inserted into the electric push rod at the original point at the same time, the working efficiency is doubled, and the magnetic steel sheets at the same level offset the adsorption force, the rotor deformation caused by the adsorption force of a single magnetic steel sheet to the stator is reduced;
(5) the traditional robot type magnetic steel sheet inserting method determines the inclination of the magnetic steel sheet when the magnetic steel sheet is inserted by means of a front projection view, meanwhile, the robot cannot judge the current multi-inclination slot, and the matching degree of the magnetic steel sheet when the magnetic steel sheet is inserted and the slot is poor due to visual errors; the invention is suitable for the rotor magnetic steel sheet slot with the chute structure, determines the inclination of the magnetic steel sheet slot from the beginning for different direct-drive generators, and directly inputs inclination parameters for the slots with different inclinations, thereby improving the matching degree of the magnetic steel sheet to the slots and also improving the universality of the equipment.
Drawings
FIG. 1 is a top view of a semi-automatic magnetic steel slot insertion apparatus of the present invention;
FIG. 2 is a schematic perspective view of a semi-automatic magnetic steel slot insertion apparatus of the present invention;
FIG. 3 is a schematic structural view of a spindle of the push rod of the present invention;
FIG. 4 is a schematic structural view of an electric push rod assembly of the present invention;
fig. 5 is a schematic structural view of a magnetic steel sheet slot of a direct drive generator according to the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
As shown in fig. 1-5, the semi-automatic magnetic steel slot inserting apparatus provided by the present invention comprises a double gantry 2, a magnetic steel magazine 9 (also called a multi-sheet feeding box), an electric push rod assembly 5, an automatic rotating platform 7, a 3D vision system, and a PLC control and servo system.
The double gantry 2 comprises two push rod frames 21 parallel to each other and two guide rails 22 parallel to each other. Two push rod frames 21 and two guide rails 22 are arranged in a longitudinal and transverse direction.
Two sides (in the length direction) of one of the push rod frames 21 are respectively connected to the same sides of the two guide rails 22, and two sides (in the length direction) of the other push rod frame 21 are respectively connected to the other same sides of the two guide rails 22. In this embodiment, the guide rail 22 is also supported by a support bracket 23. Each guide rail 22 is provided with a sliding groove 6, and the push rod frame 21 slides on the sliding groove 6.
The lower part of the middle position of each push rod frame 21 is connected with an electric push rod assembly 5, the electric push rod assembly 5 is connected with a magnetic steel material box 9 below the electric push rod assembly 5 into a whole, and the magnetic steel material box 9 is a cartridge clip type material box and is used for storing magnetic steel sheets.
In the invention, the servo system drives the rotary platform 7 to rotate through the servo motor with the encoder and is adjusted by the PLC, the rotation precision can reach 1/4500, the accurate control of the installation angle of the magnetic steel sheet is achieved, the error is reduced, and the superposition error is reduced.
The direct-drive generator 1 is placed on the automatic rotating platform 7, a magnetic steel sheet slot 8 is formed in the inner side of a rotor 71 of the direct-drive generator 1, and the rotor 71 is located in an area range defined by two guide rails 2 of the double gantry frame 2 and two push rod frames 21 and used for aligning a subsequent electric push rod assembly 5 and a magnetic steel material box 9 with the magnetic steel sheet slot of the rotor 71.
In order to deal with direct drive generators with different magnetic steel sheets, the magnetic steel material box 9 is replaceable, so that the magnetic steel sheets with different sizes can be replaced by different magnetic steel material boxes 9. Six magnetic steel sheets can be placed into the magnetic steel material box 9 at a time, twelve magnetic steel sheets can be installed on the two groups of electric push rod assemblies 5 on the equipment at a time, and working efficiency is greatly improved.
As shown in fig. 2, 3 and 4, the electric push rod assembly 5 includes a push rod rotating shaft 51, a push rod 54, a push head 52 and a tray 53. The push rod 54 is positioned above the magnetic steel material box 9; the push head 52 at the lower part of the push rod 54 is positioned above the magnetic steel material box 9, and the push head 52 is used for pushing the magnetic steel sheet in the magnetic steel material box 9 when the magnetic steel box works; the tray 53 is located below the magnetic steel material box 9 and used for preventing the magnetic steel sheet in the magnetic steel material box 9 from sliding off before work.
The push rod rotating shaft 51 is respectively connected with the push rod frame 21 and the push rod 54, and when the push rod frame 21 moves along the chute 6, the electric push rod assembly 5 and the magnetic steel material box 9 can be driven to move above the magnetic steel sheet slot 8 on the rotor 71 of the direct drive generator 1; meanwhile, the push rod rotating shaft 51 comprises a first rotating shaft part 511 and a second rotating shaft part 512 which can rotate on two planes (such as a plane yoz and a plane xoz) respectively, and is used for adjusting the positions of the electric push rod assembly 5 and the magnetic steel material box 9 in the X direction and the Y direction so that the magnetic steel material box 9 is aligned with the magnetic steel sheet slot 8 on the rotor 71. The first rotating shaft part 511 is movably connected with the push rod frame 21 and movably connected with the second rotating shaft part 512, the second rotating shaft part 512 is movably connected with the outer side of the push rod 54, and the push rod 54 is clamped between the two second rotating shaft parts 512, so that the angle of the push rod can be adjusted.
As shown in fig. 5, the magnetic steel sheet slot 8 of the direct drive generator 1 is of a chute structure, the inclination of the magnetic steel sheet slot 8 is determined from the beginning for different direct drive generators, and inclination parameters are directly input for slots with different inclinations, so that the matching degree of the magnetic steel sheet to the slots is improved, and the universality of the device is also improved. Because the magnetic steel sheet slot 8 is of a chute structure, the push rod frame 21 is correspondingly obliquely arranged on the chute 6 to slide, and then the first rotating shaft part 511 is matched with the push rod frame 21 to rotate on the yoz plane at a certain inclination angle.
After the direct-drive generator 1 is placed on an automatic rotating platform 7 controlled by a servo system, and after the automatic rotating platform is rotated to an initial position, the push rod frame 21 of the double gantry frame 2 can move to the position above a magnetic steel sheet slot 8 of a rotor 71 of the direct-drive generator 1 along the sliding groove 6, and then the electric push rod assembly 5 and the magnetic steel material box 9 are driven to move to the position above the magnetic steel sheet slot 8 of the rotor of the direct-drive generator 1; the positions of the electric push rod component 5 and the magnetic steel material box 9 in the X direction and the Y direction are adjusted through the push rod rotating shaft 51, and the cartridge clip provided with the magnetic steel sheets in the magnetic steel material box 9 rotates, so that the push head 52 is aligned with the magnetic steel sheets and then the tray 53 is actively aligned with the magnetic steel sheets (the alignment is used for ensuring that the magnetic steel sheets are smoothly pushed out and inserted into the slots), and the push head 52 at the lower part of the push rod 54 pushes the magnetic steel sheets in the magnetic steel material box 9 to be inserted into the magnetic steel sheet slots 8 in the direct-drive generator 1 through the up-and-down. In this process, the push rod rotating shaft 51 can adjust the angle of the push rod 54 to adjust the insertion angle.
The invention adopts a 3D vision system to determine the correct position of the magnetic steel sheet aligning to the push head and the tray gap, the 3D vision system performs data analysis by depending on photo images, and the correct position is found out and adjusted by a computer. When the 3D vision system finds out the correct position, the electric push rod assembly 5 pushes the magnetic steel sheet at the designated position, and the electric push rod assembly 5 and the 3D vision system are independent systems respectively. Therefore, the invention finds the working reference surface by using the 3D imaging mode, obtains correct original position data and reduces errors caused by position movement.
The invention adopts a double gantry structure, the electric push rod assemblies 5 on each push rod frame 21 are symmetrically inserted into two magnetic steel sheets 3 (N-pole magnetic steel sheets) at the same level by the original point of the direct drive generator 1, thus the working efficiency can be doubled, and simultaneously, the magnetic steel sheets at the same level counteract the adsorption force mutually, thereby reducing the rotor deformation caused by the adsorption force of a single magnetic steel sheet to the stator.
After two same-level magnetic steel sheets 3 (such as N-pole magnetic steel sheets) in a first group of the magnetic steel magazine 9 are inserted, the rotating platform 7 rotates by 90 degrees, correspondingly drives the rotor 71 and the magnetic steel sheet slot 8 of the rotor 71 to rotate, then inserts two same-level magnetic steel sheets (S-pole magnetic steel sheets) in a second group of the magnetic steel magazine 9, and the like until all the same-level magnetic steel sheets are inserted, completely inserts magnetic steel sheets 4 (such as S-pole magnetic steel sheets) with the other polarity, the N-pole magnetic steel sheets and the S-pole magnetic steel sheets are arranged alternately, namely the same-level magnetic steel sheets are arranged alternately and different-level magnetic steel sheets are adjacent, such as NSNS … … NSNS, and the magnetic steel sheets have the same interval, so that the magnetic steel sheet inserting process is completed.
The number of the homopolar magnetic steel sheets inserted at one time is not limited to the above embodiment, as long as the same-level magnetic steel sheets are alternated and different-level magnetic steel sheets are adjacent to each other, and the rotating angle and direction of the rotary platform 7 are not limited, as long as the same distance between the magnetic steel sheets is ensured.
In an example, the thrust of the electric push rod assembly 5 is 2 tons, the displacement range can reach 0 mm-1500 mm, the insertion function of the magnetic steel sheet of a 3 MW-8 MW motor can be met, and the high applicability is realized.
In summary, the invention amplifies the radius to improve the accuracy of the detection of the direction angle through the 3D vision principle and the thought of the three-point circle, and corrects the position data by means of the 2D mode, thereby achieving the following effects: (1) the accumulated error caused by the movement position of equipment in the process of inserting the magnetic steel sheet is reduced, and the error is less than 0.01 mm; (2) the defects of high manufacturing cost and long purchase period of the traditional magnetic steel inserting equipment are overcome; (3) different interfaces are suitable, and cross-platform compatibility is high; therefore, the invention has the advantages of low price, high precision, complete functions, strong power of equipment, wide application range and the like; (4) the once-supplementing material can be inserted into 12 magnetic steel sheets, and the working efficiency is high.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. The utility model provides a semi-automatic magnet steel groove cartridge equipment which characterized in that contains:
at least one pair of electric push rod assemblies (5) are respectively positioned on two sides of the central line of the direct drive generator (1) and connected to the push rod frames (21) of the double portal frames;
the magnetic steel material box (9) is used for storing a magnetic steel sheet and is connected below the electric push rod assembly (5), and the movement of the push rod frame (21) of the double gantry frame drives the electric push rod assembly (5) and the magnetic steel material box (9) to move to the position above a magnetic steel sheet slot (8) of the direct drive generator (1);
the 3D vision system is used for determining the correct position of the magnetic steel sheet aligned to the push head of the electric push rod assembly (5), and the push head pushes the magnetic steel sheet in the magnetic steel material box (9) to be accurately inserted into the magnetic steel sheet slot (8) by moving up and down;
the double gantry comprises:
two parallel push rod frames (21), the lower parts of which are connected with the electric push rod assembly (5);
two parallel guide rails (22) are arranged in a longitudinal and transverse mode with the two push rod frames (21), and sliding grooves (6) for sliding movement of the guide rails (22) are formed in the guide rails;
the electric push rod assembly (5) comprises:
the push rod (54) is connected above the magnetic steel material box (9);
a push rod rotating shaft (51) which is respectively connected with the push rod (54) and the push rod frame (21); the push rod frame (21) drives the push rod (54) and the magnetic steel material box (9) to move to the upper part of a magnetic steel sheet slot (8) of the direct drive generator (1) through sliding along the sliding groove (6); the push rod rotating shaft (51) is used for adjusting the positions of the push rod (54) and the magnetic steel material box (9) moving along the horizontal plane, so that the magnetic steel material box (9) is aligned with the magnetic steel sheet slot (8);
the push head (52) is arranged at the lower part of the push rod (54) and is positioned above the magnetic steel material box (9);
the push rod rotating shaft (51) comprises a first rotating shaft part (511) and a second rotating shaft part (512) which respectively rotate on two planes which are perpendicular to each other;
the first rotating shaft part (511) is movably connected with the push rod frame (21) and movably connected with the second rotating shaft part (512), the second rotating shaft part (512) is movably connected with the push rod (54), and the push rod (54) is clamped between the two second rotating shaft parts (512);
push rod frame (21) are tilted on spout (6) and are placed and slide, with the chute structure magnetic steel piece slot (8) phase-match, and the plane at first pivot portion (511) rotation place is with vertical plane certain inclination, be used for with the slope place push rod frame (21) looks adaptation.
2. The semi-automatic magnetic steel slot plugging device of claim 1,
the electric push rod assembly (5) further comprises a tray (53) for preventing the magnetic steel sheets in the magnetic steel material box (9) from sliding off before working, and the tray (53) is positioned at the lower end of the magnetic steel material box (9);
the tray is provided with a notch, the 3D vision system is used for determining the correct positions of the magnetic steel sheet aligning to the pushing head and the tray notch, and when the tray notch is aligned with the magnetic steel sheet, the pushing head pushes the magnetic steel sheet to be accurately inserted into the magnetic steel sheet slot (8) through moving up and down.
3. The semi-automatic magnetic steel slot plugging device of claim 1,
the thrust of the electric push rod component (5) is 2 tons, the displacement range reaches 0 mm-1500 mm, and the electric push rod component is matched with the direct-drive generator (1) of 3.0MW-8.0 MW.
4. The semi-automatic magnetic steel slot plugging device of claim 1,
the pair of electric push rod assemblies (5) are symmetrical about the center of the direct-drive generator (1), and the pair of electric push rod assemblies (5) respectively push the inserted homopolar magnetic steel sheets to be symmetrical about the center of the direct-drive generator (1);
first magnetic steel sheets and second magnetic steel sheets are inserted into the magnetic steel sheet slots (8), the same-pole magnetic steel sheets are alternate, and the different-pole magnetic steel sheets are adjacent.
5. The semi-automatic magnetic steel slot plugging device of claim 1,
the direct-drive generator (1) is placed on a rotary platform (7) controlled by a servo system, and the servo system drives the rotary platform (7) to rotate through a servo motor with an encoder and is adjusted by means of a PLC module.
6. A plugging method based on the semi-automatic magnetic steel slot plugging device of any one of claims 1-5, characterized in that the method comprises the following processes:
the direct drive generator (1) is placed on a rotary platform (7) controlled by a servo system;
a 3D vision system is installed and used for determining the correct positions of a push head and a tray notch in the magnetic steel sheet in the magnetic steel material box (9) aligned with the electric push rod assembly (5);
a push rod frame (21) of the double gantry frame (2) moves to the position above a magnetic steel sheet slot (8) of a direct drive generator (1) along a sliding groove (6) to drive the electric push rod assembly (5) and the magnetic steel material box (9) to move to the position above the magnetic steel sheet slot (8);
the positions of the electric push rod assembly (5) and the magnetic steel material box (9) moving on the horizontal plane are adjusted through a push rod rotating shaft (51) of the electric push rod assembly (5), and the cartridge clip with the magnetic steel sheet in the magnetic steel material box (9) rotates until the magnetic steel sheet of the magnetic steel material box (9) aligns with the push head and the tray notch;
the push head at the lower part of the push rod (54) of the electric push rod component (5) pushes the magnetic steel sheet in the magnetic steel material box (9) to be accurately inserted into the magnetic steel sheet slot (8) by moving up and down.
7. The inserting method of the semi-automatic magnetic steel slot inserting equipment according to claim 6, wherein after a first magnetic group of magnetic steel sheets in the magnetic steel magazine (9) are inserted, after the rotating platform (7) rotates a certain angle, a second magnetic group of magnetic steel sheets in the magnetic steel magazine (9) are inserted, and so on, until the first magnetic group of magnetic steel sheets are completely inserted, the first magnetic group of magnetic steel sheets are inserted, after the rotating platform (7) rotates a certain angle, a second magnetic group of magnetic steel sheets in the magnetic steel magazine (9) are inserted, and so on, until the second magnetic group of magnetic steel sheets are completely inserted; the homopolar magnetic steel sheets are alternate, the heteropolar magnetic steel sheets are adjacent, and the spacing between the magnetic steel sheets is the same.
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| CN201720786U (en) * | 2010-08-16 | 2011-01-26 | 河南理工大学 | Magnetic steel assembling clamp for belt type magnetic separator |
| CN202591919U (en) * | 2012-04-21 | 2012-12-12 | 石家庄爱驰自动化设备有限公司 | Automatic assembly machine for magnetic steel |
| CN103633792A (en) * | 2013-11-27 | 2014-03-12 | 北京金风科创风电设备有限公司 | Magnet automatic assembly device for wind generating set |
| CN107979249A (en) * | 2018-01-22 | 2018-05-01 | 电子科技大学中山学院 | Automatic magnetic steel assembling device |
| CN108188860A (en) * | 2018-02-08 | 2018-06-22 | 佛山市博斯马克机器人有限公司 | A kind of double gantry beam CNC processing unit (plant)s |
| CN208015556U (en) * | 2018-04-10 | 2018-10-26 | 上海鑫国动力科技有限公司 | A kind of alinco assembled machine |
| CN109648327A (en) * | 2019-01-17 | 2019-04-19 | 深圳市硬核智娱科技有限公司 | A kind of multi-robot arm team control assembling device |
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| CN110518759A (en) | 2019-11-29 |
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Address after: 200241 Dongchuan Road, Shanghai, No. 555, building No. 8, floor, floor, No. Applicant after: Shanghai Electric Wind Power Group Co.,Ltd. Address before: 200241, 4 floor, building 555, 4 Dongchuan Road, Shanghai, Minhang District Applicant before: SHANGHAI ELECTRIC WIND POWER GROUP Co.,Ltd. |
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