CN112382502A - Automatic lamination production line for transformer cores - Google Patents
Automatic lamination production line for transformer cores Download PDFInfo
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- CN112382502A CN112382502A CN202011394786.1A CN202011394786A CN112382502A CN 112382502 A CN112382502 A CN 112382502A CN 202011394786 A CN202011394786 A CN 202011394786A CN 112382502 A CN112382502 A CN 112382502A
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- 238000003475 lamination Methods 0.000 title claims abstract description 94
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 41
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 212
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 49
- 238000012546 transfer Methods 0.000 claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims description 244
- 230000004888 barrier function Effects 0.000 claims description 61
- 230000005540 biological transmission Effects 0.000 claims description 54
- 238000006243 chemical reaction Methods 0.000 claims description 34
- 238000013461 design Methods 0.000 claims description 14
- 238000013519 translation Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000012549 training Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000010030 laminating Methods 0.000 description 4
- 238000007493 shaping process Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
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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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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F27/00—Details of transformers or inductances, in general
- H01F27/24—Magnetic cores
- H01F27/245—Magnetic cores made from sheets, e.g. grain-oriented
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Abstract
The invention relates to the technical field of automation equipment for transformer production, in particular to an automatic stacking production line for transformer cores. The automatic lamination device comprises an automatic lamination platform of a transformer core and a sheet feeding device, wherein a post sheet fine positioning device and a yoke sheet fine positioning device are respectively arranged on two sides of the automatic lamination platform, the post sheet fine positioning device is connected with a post sheet conveying device, the yoke sheet fine positioning device is connected with a yoke sheet conveying device, and starting ends of the post sheet conveying device and the yoke sheet conveying device are respectively provided with a feeding bin for storing corresponding silicon steel sheets; the column sheet stacking mechanical arm and the yoke sheet stacking mechanical arm can respectively transfer the precisely positioned silicon steel sheets of each column and the silicon steel sheets of the upper and lower yokes to the automatic lamination table, so that the automatic lamination of the iron core is realized. The production efficiency of the production line is obviously improved, the lamination cost is reduced, the attractive appearance of the iron core and the stability of the quality of the transformer are ensured, and the product quality can be ensured.
Description
Technical Field
The invention relates to the technical field of automation equipment for transformer production, in particular to an automatic stacking production line for transformer cores.
Background
At present, core laminations of more than one thousand transformer production enterprises in China adopt a manual lamination mode, and the lamination efficiency is low. Taking a 10kV miniature transformer as an example, the whole iron core is formed by stacking 6 thousand silicon steel sheets according to a certain sequence rule, the lamination process is operated by 2 persons, if two sheets are stacked (called double lamination for short), a skilled operator can complete the lamination of 1 transformer within 3 hours, and if one sheet is stacked (called single lamination for short, the performance of the single lamination iron core is superior to that of the double lamination for short), a longer time is needed. The large transformer needs 3 persons and more than 3 persons for cooperative operation, the lamination workload is huge and tedious, the stacking period is long, the lamination consistency is poor, and the quality is difficult to ensure. In the process of laminating, an operator stacks and aligns all silicon steel sheets by experience and visual observation to keep the stacking precision, the laminating worker has to keep high attention, the quality of iron cores stacked by different workers is different, and the product has a certain proportion of reject ratio. The defect of the manual iron core stacking is gradually shown today when the automatic production is rapidly developed, and becomes an important obstacle for restricting the development of the transformer industry.
With the development of intelligent manufacturing technology, the rising of labor cost, the scarcity of high-skill talents and other factors, the process optimization of the procedures of simple operation and extremely high repeatability of the transformer core lamination becomes a strong demand for reducing labor cost and realizing intelligent manufacturing. Therefore, there is a need for a production line capable of realizing automatic lamination, thereby completely replacing manual lamination to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an automatic closed assembly production line of transformer core, it can replace the current iron core production technology that needs the manual work to carry out the silicon steel sheet lamination completely, and the production line can carry out all-weather 24 hours operation, and lamination speed is higher than artifical lamination, can realize that quick, the accuracy of silicon steel sheet piles up to greatly improve production efficiency, and closed assembly precision is high.
The technical scheme adopted for solving the technical problems is as follows:
an automatic lamination assembly production line for transformer cores comprises an automatic lamination platform for transformer cores, wherein a post sheet fine positioning device and a yoke sheet fine positioning device are respectively arranged on two sides of the automatic lamination platform, the post sheet fine positioning device is connected with a post sheet conveying device, the yoke sheet fine positioning device is connected with a yoke sheet conveying device, and starting ends of the post sheet conveying device and the yoke sheet conveying device are respectively provided with a feeding bin for storing corresponding silicon steel sheets;
the feeding device can send the silicon steel sheets of each feeding bin to the starting ends of the corresponding column sheet conveying device and the corresponding yoke sheet conveying device;
each column sheet conveying device and each yoke sheet conveying device can respectively move the silicon steel sheet at the starting end to the corresponding tail end;
a column piece moving manipulator and a column piece stacking manipulator are arranged between the automatic lamination platform and the column piece conveying device, and a yoke piece moving manipulator and a yoke piece stacking manipulator are arranged between the automatic lamination platform and the yoke piece conveying device;
the column sheet moving manipulator can simultaneously send the core column silicon steel sheets of the same stage at the tail end of the corresponding column sheet conveying device to the column sheet fine positioning device, and the column sheet fine positioning device can position the core column silicon steel sheets of the same stage to the design position of the laminated iron core; the yoke sheet moving manipulator can send the silicon steel sheets of the upper and lower yokes at the same level at the tail end of the corresponding yoke sheet conveying device to the yoke sheet fine positioning device, and the yoke sheet fine positioning device can position the silicon steel sheets of the upper and lower yokes at the same level to the design position of the laminated iron core; the column sheet stacking mechanical arm and the yoke sheet stacking mechanical arm can respectively transfer the precisely positioned core column silicon steel sheets and the silicon steel sheets of the upper and lower yokes to the automatic lamination table to realize the automatic lamination of the iron core.
The invention mainly comprises a column sheet conveying device, a yoke sheet conveying device, a column sheet fine positioning device, a yoke sheet fine positioning device and an automatic lamination platform, wherein the starting ends of the column sheet conveying device and the yoke sheet conveying device are respectively provided with a feeding bin for storing corresponding silicon steel sheets, and a sheet moving manipulator and a stacking manipulator are arranged in front of and behind the automatic lamination platform. The post piece fine positioning device is vertical to the yoke piece fine positioning device. When the device works, the silicon steel sheets of each core column and the silicon steel sheets of the upper and lower yokes are arranged in respective feeding bins, each sheet feeding device moves the corresponding silicon steel sheet to the starting end of the corresponding conveying device, and each column sheet conveying device and each yoke sheet conveying device respectively move the silicon steel sheet at the starting end to the corresponding tail end; the sheet moving mechanical arm moves the silicon steel sheets at the tail end of the conveying device to the fine positioning device, wherein the column sheet fine positioning device sends the silicon steel sheets of each core column to the column sheet fine positioning device, and the column sheet fine positioning device can position the position of each core column silicon steel sheet to be the designed position of the laminated iron core; the yoke sheet fine positioning device is used for sending the silicon steel sheets of the upper and lower yokes to the yoke sheet fine positioning device, and the yoke sheet fine positioning device is used for positioning the positions of the silicon steel sheets of the upper and lower yokes to the designed positions of the laminated iron core; the post sheet fine positioning device and the yoke sheet fine positioning device carry out shaping and accurate positioning on the position, the interval and the like of each silicon steel sheet, the stacking precision and the quality of the silicon steel sheet iron core in the next procedure during stacking are guaranteed, and the stacking manipulator transfers the positioned post sheet and the upper and lower yoke silicon steel sheets to the automatic stacking platform in sequence to stack the sheets, so that the automatic stacking of the iron core is realized.
In a preferred embodiment, the column sheet conveying device comprises A, B, C silicon steel sheet conveying lines which are arranged in parallel, a B silicon steel sheet conveying line is positioned between an A silicon steel sheet conveying line and a C silicon steel sheet conveying line, the starting end of the B silicon steel sheet conveying line is positioned in front of the starting ends of the A and C silicon steel sheet conveying lines, the tail end of a A, B, C silicon steel sheet conveying line is butted with the column sheet fine positioning device, and A, B, C core column silicon steel sheets which are conveyed to the tail end of a A, B, C silicon steel sheet conveying line and arranged in parallel are conveyed to the column sheet fine positioning device through a column sheet conveying manipulator; the yoke plate conveying device comprises D, E silicon steel plate conveying lines which are arranged in parallel, the starting ends of the D, E silicon steel plate conveying lines are respectively located at the left and right positions of one side of the yoke plate fine positioning device, the tail ends of the D silicon steel plate conveying lines and the E silicon steel plate conveying lines are located at one side of the yoke plate fine positioning device, and D, E yoke plate silicon steel plates which are arranged in parallel at the tail ends of the D, E silicon steel plate conveying lines are conveyed to the yoke plate fine positioning device through the yoke plate moving mechanical arm.
The feeding bin comprises an A column feeding bin, a B column feeding bin, a C column feeding bin, a D yoke feeding bin and an E yoke feeding bin, the B column feeding bin comprises a B1 column feeding bin and a B2 column feeding bin, and the A column feeding bin, the C column feeding bin, the D yoke feeding bin and the E yoke feeding bin are respectively positioned on one side of the starting ends of the A silicon steel sheet conveying line, the C silicon steel sheet conveying line, the D silicon steel sheet conveying line and the E silicon steel sheet conveying line; the B1 column feeding bin and the B2 column feeding bin are respectively positioned at the left side and the right side of the starting end of the B silicon steel sheet conveying line.
For a three-phase transformer, A, B, C silicon steel sheets are respectively three core columns of an iron core, wherein the B silicon steel sheet is a center column; D. e silicon steel sheets are respectively an upper yoke and a lower yoke.
In a preferred embodiment, the A, B, C, D, E silicon steel sheet conveying line comprises a conveying rack, wherein a servo drawing arm is arranged on the conveying rack, synchronous gears are arranged at two ends of the servo drawing arm, and a synchronous belt parallel to the drawing arm is sleeved between the two synchronous gears; the drawing arm is provided with a slideway, and the slideway is provided with a sliding block matched with the slideway; the drawing arm and the synchronous belt are sleeved with a synchronous belt traction block; the synchronous belt traction block is connected with the sliding block, a support frame is arranged on the sliding block, a sucker cylinder is arranged on the support frame, a vacuum sucker fixing frame is arranged on the sucker cylinder, and a vacuum sucker is arranged on the vacuum sucker fixing frame; one of the synchronous gears is provided with a driving device; the conveying frame is connected with a supporting plate fixing frame, a supporting plate is arranged on the upper portion of the supporting plate fixing frame, the supporting plate is located on the vacuum chuck fixing frame, a gap is formed in the middle of the supporting plate, the chuck cylinder is in an initial state, the vacuum chuck is located below the supporting plate, and the chuck cylinder is used for ejecting the vacuum chuck from the gap in the middle of the supporting plate when working.
When the silicon steel sheet is put at one end of the supporting plate through a mechanical handle, when the sucking disc cylinder works, the vacuum sucking disc is pushed out to the lower side of the silicon steel sheet from a gap in the middle of the supporting plate, the vacuum sucking disc works, the vacuum sucking disc tightly sucks the silicon steel sheet, the driving device works to drive the synchronous gear to rotate, the synchronous gear drives the synchronous belt to rotate, the synchronous belt traction block sleeved on the synchronous belt moves forwards, the sliding block moves forwards on the sliding way, the supporting frame on the sliding block moves forwards to drive the silicon steel sheet on the vacuum sucking disc to move forwards, when the silicon steel sheet reaches the other end of the supporting plate, the vacuum chuck decompresses, the output shaft of the chuck cylinder contracts, the vacuum chuck is positioned below the supporting plate and is attached to the supporting plate, the sheet taking mechanical handle conveys the silicon steel sheet to the next procedure, meanwhile, the driving device works in the opposite direction to drive the synchronous gear to rotate in the opposite direction, and the vacuum chuck returns to the starting end of the supporting plate to convey the next silicon steel sheet. Because the silicon steel sheet is conveyed by adopting the vacuum chuck, the inertia phenomenon can not occur when the silicon steel sheet is conveyed by adopting the conveyer belt, and the problems of inaccurate conveying position and large impact force are avoided.
Generally, the driving device is a servo motor provided with a reducer; the support frame is provided with two or more sucker cylinders, each sucker cylinder is provided with a vacuum sucker fixing frame, and the vacuum sucker fixing frame is provided with two or more vacuum suckers; the left end and the right end of the drawing arm are respectively provided with a drawing limit stop block, and the stop blocks are provided with buffer rubber heads; the slider passes through the slider switching piece and is connected with hold-in range traction block, is equipped with proximity switch on the slider switching piece.
In a preferred embodiment, send piece device, include through the stand be equipped with orbital truss, span be in removal roof beam on the track, establish on the removal roof beam and with removal roof beam vertically erect the roof beam, establish erect the piece manipulator that send that can reciprocate on the roof beam, the removal roof beam be equipped with independent running gear and follow walk on the track, erect and be equipped with the mobile device between roof beam and removal roof beam, erect the roof beam and can round trip movement on the removal roof beam through upper and lower power device, send the terminal installation of piece manipulator to specially get and put piece tool device, get the material sucking disc of putting piece tool device installation including installation under sucking disc fixed plate and the sucking disc fixed plate. The silicon steel sheet taking and placing device can realize the rapid movement in the X, Y and Z directions and the taking and placing of the silicon steel sheet by the taking sucker at the tail end of the Z axis, and has the advantages of flexible movement, no dead angle and high working efficiency. The material taking sucker is connected with the vacuum pump through the air suction pipe, the silicon steel sheet is sucked by the negative pressure generated by the working of the vacuum pump, the negative pressure is released, and the silicon steel sheet is loosened by the vacuum sucker. A vacuum pump system: a vacuum two-position three-way electromagnetic valve is arranged on the negative pressure air suction pipeline, and the negative pressure air suction pipeline is electrified to suck air and is disconnected to release air.
In a preferred embodiment, the sheet feeding device includes an a-pillar sheet feeding device, a B1-pillar sheet feeding device, a B2-pillar sheet feeding device, a C-pillar sheet feeding device, a D-yoke sheet feeding device and an E-yoke sheet feeding device, which are respectively located at positions of an a-pillar feeding bin, a B1-pillar feeding bin, a B2-pillar feeding bin, a C-pillar feeding bin, a D-yoke feeding bin and an E-yoke feeding bin, the a-pillar sheet feeding device, the B1-pillar sheet feeding device, the B2-pillar sheet feeding device and the C-pillar sheet feeding device are respectively provided with two trusses parallel rails through pillars and a moving beam crossing the two parallel rails, and two ends of the moving beam are respectively provided with independent traveling devices to travel synchronously along the rails; the moving beam is provided with an independent walking device, the moving device between the vertical beam and the moving beam, and the upper power device and the lower power device of the vertical beam are driven by servo motors.
In a preferred embodiment, the post sheet fine positioning device and the yoke sheet fine positioning device comprise a frame, wherein an installation top plate is arranged on the frame, a positioning combination is arranged on the installation top plate, the positioning combination comprises a barrier strip and a positioning block arranged on one side between the two barrier strips, the barrier strips are parallel to each other, and the positioning block is provided with a groove matched with one end of a processed silicon steel sheet; the two barrier strips can move inwards, and the positioning block can move towards the barrier strips; in an initial state, the distance between the two barrier strips is larger than the width of the silicon steel sheet to be processed; the two barrier strips are provided with synchronous driving devices which drive the barrier strips to move towards the inner sides of the barrier strips, and the positioning block is provided with a pushing and pressing driving device which drives the barrier strips to move towards the direction.
When a silicon steel sheet to be processed is placed between two barrier strips through a mechanical handle, the synchronous driving device drives the two barrier strips to move inwards, two sides of the silicon steel sheet to be processed are pressed, the pushing driving device drives the positioning block to move towards the barrier strips (the silicon steel sheets), one side of the silicon steel sheet is located in the groove of the positioning block, the silicon steel sheet is pushed to a set position, the silicon steel sheet is accurately positioned, then the sheet is taken through a mechanical arm, and the synchronous driving device and the pushing driving device drive the two barrier strips to return to an initial state.
In a preferred embodiment, a mounting bottom plate is arranged on a shelf below the mounting top plate, the synchronous driving device comprises a synchronous servo motor, a synchronous transmission belt, an output belt wheel and a pair of synchronous transmission belt wheels, the synchronous transmission belt is mounted on the output belt wheel and the pair of synchronous transmission belt wheels, a rotating shaft of the synchronous servo motor is connected with a central shaft of the output belt wheel, the central shaft of each synchronous transmission belt wheel is connected with a synchronous transmission screw rod, the thread directions of the two synchronous transmission screw rods are opposite, and the synchronous transmission screw rods are connected with bearing supports for supporting the screw rods; the mounting bottom plate is provided with a positioning translation slide rail, and the translation slide rail is provided with a movable slide block matched with the translation slide rail; the two synchronous transmission screw rods are respectively provided with a matched nut conversion piece, the nut conversion pieces are fixed with the movable slide block, and the two nut conversion pieces are respectively fixedly connected with two stop bars in the positioning combination; the two barrier strips are respectively a movable barrier strip and a static barrier strip, one of the nut conversion pieces is connected with a pushing cylinder, and an output shaft of the pushing cylinder is fixedly connected with the movable barrier strip in the positioning combination.
When the synchronous servo motor is used, the synchronous transmission belt is driven to transmit when the synchronous servo motor is positively transmitted, the two synchronous transmission belt wheels rotate to drive the two synchronous transmission screw rods to rotate, and the nut conversion pieces respectively drive the corresponding stop bars to move inwards to press two sides of a processed silicon steel sheet to realize the transverse positioning of the silicon steel sheet because the thread directions of the two synchronous transmission screw rods are opposite. On the contrary, when the synchronous servo motor reversely transmits, the synchronous transmission belt is driven to transmit, and the two barrier strips return to the initial state. In the mode, when the silicon steel sheet transverse positioning device is used, when a synchronous servo motor forwards drives a synchronous transmission belt to transmit, two synchronous transmission belt wheels rotate to drive two synchronous transmission screw rods to rotate, and because the thread directions of the two synchronous transmission screw rods are opposite, the nut conversion pieces respectively drive the corresponding barrier strips to move inwards, when the barrier strips move to a set position, the synchronous servo motor stops working, the static barrier strips serve as positioning backer of a silicon steel sheet to push the air cylinder to work, the output shafts of the air cylinder push out, and the movable barrier strips are driven to move inwards, so that the silicon steel sheet transverse positioning is realized.
In a preferred embodiment, the pushing drive device is a pushing servo motor, a transmission nut is connected to the lower surface of the positioning block, a transmission screw rod matched with the transmission nut is screwed in the transmission nut, and the transmission screw rod is connected with a rotating shaft of the pushing servo motor. During the use, through bulldozing servo motor's forward pass and reversal to realize the locating piece round trip movement.
In a preferred embodiment, the positioning assemblies of the post fine positioning devices are three groups, and the positioning assemblies of the yoke fine positioning devices are two groups; the synchronous driving device drives the barrier strips of all the positioning combinations to move simultaneously, and the pushing driving device drives the positioning blocks of all the positioning combinations to move simultaneously.
The column sheet fine positioning device and the yoke sheet fine positioning device carry out shaping and accurate positioning on the position, the spacing and the like of each silicon steel sheet, ensure the stacking precision and the quality when the silicon steel sheet iron cores are stacked in the next procedure, have high automation level, and further ensure the attractive appearance of the iron cores and the stability of the quality of the transformer.
The column piece moving manipulator, the column piece stacking manipulator, the yoke piece moving manipulator and the yoke piece stacking manipulator comprise row frames, row arches are arranged on the row frames, slide rails are arranged on the row arches, the upper parts of the manipulators are provided with transverse sliding plates and jig bottom plates at the lower parts of the manipulators, the transverse sliding plates are connected with the jig bottom plates through support columns, the transverse sliding plates can move back and forth on the slide rails, power driving devices are arranged on the transverse sliding plates, and the power driving devices control and drive the transverse sliding plates to move back and forth on the slide rails; the jig bottom plates of the column piece moving manipulator and the column piece stacking manipulator are provided with three rows of tool devices for taking and placing the column pieces; the yoke piece moving manipulator and the yoke piece stacking manipulator are provided with two rows of piece taking and placing tool devices; the sheet taking tool device comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a support is connected below a jig bottom plate, a cylinder is arranged on the support, and an output shaft of the cylinder is connected with the fixing plate.
The transformer silicon steel sheet generally has an upper yoke and a lower yoke, and the upper yoke and the lower yoke adopt two rows of sheet taking and placing tool devices; the three-column iron core adopts a three-row sheet taking and placing tool device; the four-column iron core adopts a four-row sheet taking and placing tool device; five rows of sheet taking and placing tool devices are adopted for the iron cores with five columns. The silicon steel sheets are synchronously laminated to corresponding positions through the movement of the transverse sliding plate on the row arch and the sheet taking and placing tool device below the jig base plate.
In a preferred embodiment, the sheet taking and placing tool device of the column sheet stacking manipulator further comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a support is arranged below the jig base plate, an air cylinder is arranged on the support, and an output shaft of the air cylinder is connected with the fixing plate; the jig is provided with a synchronous driving device, the synchronous driving device can drive the left and right arrangement piece taking and placing tool devices to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous belt wheels, a motor fixing plate is arranged on a jig base plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is installed on the pair of synchronous belt wheels, a rotating shaft of the synchronous motor is connected with a central shaft of one of the synchronous belt wheels, the central shaft of the other synchronous belt wheel is respectively connected with a left synchronous screw rod and a right synchronous screw rod, the thread directions of the two synchronous screw rods are opposite; the two synchronous screw rods are respectively provided with a nut conversion block which is matched with the screw rods, the nut conversion blocks are respectively fixed with the left bracket and the right bracket, and the middle bracket is connected with the jig bottom plate.
The column sheet moving manipulator can adopt the same structure, the structure is used for stacking A, B, C silicon steel sheets which are three core column sheets of an iron core respectively, the column sheet moving manipulator moves the silicon steel sheets at the tail end of the conveying device to the fine positioning device, and the column sheet fine positioning device positions the positions of the core column silicon steel sheets to be the designed positions of the laminated iron core; the A, B, C silicon steel sheets which are precisely positioned by the stacking mechanical handle are sequentially transferred to the automatic lamination table to be laminated, so that the automatic lamination of the iron core column sheets is realized.
The synchronous motor works to drive the synchronous belt pulley to rotate and further drive the two synchronous screw rods to rotate, the two nut conversion blocks can move back and forth on the synchronous screw rods under the rotation of the synchronous screw rods respectively, the left support and the right support connected with the nut conversion blocks can move back and forth inwards and outwards, and the left and the right sheet taking and placing tool devices move inwards and outwards. This structure is used for the lamination of the iron core silicon steel sheet of transformer core A, B, C three-column, and the silicon steel sheet of center pillar B is fixed position, and the silicon steel sheet of controlling the core pillar is used for synchronous machine to move getting of the left and right sides and puts the piece instrument device inside, outside synchronous motion, according to the design requirement, reaches the iron core silicon steel sheet design position of A, B, C three-column.
In a preferred embodiment, the sheet taking and placing tool device of the yoke sheet stacking manipulator comprises a fixed plate and a sheet taking sucker arranged below the fixed plate, a bracket is arranged below a jig base plate, an air cylinder is arranged on the bracket, and an output shaft of the air cylinder is connected with the fixed plate; the jig is provided with a synchronous driving device, the synchronous driving device can drive one row of the sheet taking and placing tool devices to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous belt wheels, a motor fixing plate is arranged on a jig base plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is installed on the pair of synchronous belt wheels, a rotating shaft of the synchronous motor is connected with a central shaft of one of the synchronous belt wheels, the central shaft of the other synchronous belt wheel is respectively connected with a synchronous screw rod, and the synchronous screw rod is connected with a bearing; the support of one row of the sheet taking and placing tool devices is connected with the jig bottom plate, the support of the other row of the sheet taking and placing tool devices is connected with a nut conversion block matched with the synchronous screw rod, and the nut conversion block is positioned on the synchronous screw rod.
Of course, the same structure can be adopted for the yoke wafer moving manipulator. The synchronous motor works to drive the synchronous belt pulley to rotate and further drive the synchronous screw rod to rotate, the nut conversion block can move back and forth on the synchronous screw rod under the rotation of the synchronous screw rod, the support connected with the nut conversion block can move back and forth towards the inner side and the outer side, and the arrangement taking and placing tool device moves towards the inner side and the outer side. The structure is used for laminating iron core silicon steel sheets of upper and lower yokes of a transformer iron core D, E, wherein the silicon steel sheet on one side is a fixed position, the silicon steel sheet of the other core column is used for driving a sheet taking and placing tool device of the synchronous motor to move inwards and outwards synchronously, and the design position of the iron core silicon steel sheet of the upper and lower yokes D, E is reached according to the design requirement.
In a preferred embodiment, two parallel slide rails are arranged on the row arch, a slide block assembly is arranged between the transverse sliding plate and the slide rails, a power driving device on the transverse sliding plate comprises a servo motor with a speed reducer, a speed reducer adapter plate is arranged on the transverse sliding plate, the servo motor with the speed reducer is positioned on the speed reducer adapter plate, a gear is arranged on an output shaft of the speed reducer, a rack matched with the gear is arranged on the row arch, and the servo motor works to drive the transverse sliding plate to move back and forth on the slide rails.
In a preferred embodiment, the front end and the rear end of the transverse sliding plate are respectively provided with an anti-collision transfer block, the anti-collision transfer blocks are provided with anti-collision rubber heads, and the front end and the rear end of a rack or a slide rail of the transverse sliding plate are respectively provided with a proximity switch. The silicon steel sheets are synchronously laminated to corresponding positions through the movement of the transverse sliding plate on the row arch and the sheet taking and placing tool device under the jig base plate, so that the problem of complex precise positioning of grabbing and placing actions in the lamination process is solved, and the purpose of automatic lamination is achieved. Therefore, manual lamination actions are replaced, the lamination is neat, the positioning of the steel sheets to be laminated is accurate, the rate of finished products of the iron core is improved, and the quality of the transformer is stable; the synchronous lamination of core column silicon steel sheets or iron core silicon steel sheets of upper and lower yokes is realized, and the lamination precision and the lamination efficiency are improved.
The invention has the beneficial effects that:
1. the production efficiency is obviously improved, and the lamination cost is reduced. Through the research and development of the automatic lamination robot for the transformer core, the lamination efficiency is improved, and the lamination cost is reduced. When the products are produced in a large scale, the automatic lamination robot can produce continuously for 24 hours, the problem that the lamination precision is not high when the light at night is insufficient in manual lamination can be solved, and the utilization rate and the production efficiency of production time are improved.
2. The high quality rate of the product is improved. The stacking precision is high, and the high quality rate of products is improved; meanwhile, when the automatic lamination robot runs for a long time or overtime, compared with manual lamination, the automatic lamination robot has more obvious advantages, stable lamination quality and lower error probability than manual lamination, thereby ensuring the attractive appearance of an iron core and the stability of transformer quality and ensuring the product quality.
3. The resource utilization rate is improved. By using the production line, one worker can simultaneously watch a plurality of devices, so that a large amount of manpower resources are saved, and the labor cost is reduced. In addition, the operation and maintenance of the invention are simple, and ordinary workers can be skilled for operation after about half a day of training, thereby greatly saving the training time and the cost of the workers.
Drawings
FIG. 1 is a schematic layout of a production line according to an embodiment of the present invention;
FIG. 2 is a perspective view of a production line according to an embodiment of the present invention;
FIG. 3 is a perspective view of an automatic lamination station in accordance with an embodiment of the present invention;
FIG. 4 is a perspective view of a yoke plate conveying apparatus according to an embodiment of the present invention;
FIG. 5 is a perspective view of the yoke plate conveying apparatus of the embodiment of the present invention with the supporting plate fixing frame removed;
FIG. 6 is a perspective view of a servo drawing arm of the yoke plate conveying device in accordance with the embodiment of the present invention;
FIG. 7 is a perspective view of a pole piece conveyor according to an embodiment of the invention;
FIG. 8 is a perspective view of a yoke plate fine positioning device in accordance with an embodiment of the present invention;
FIG. 9 is a perspective view of the yoke plate fine positioning device of the embodiment of the present invention with the top mounting plate removed;
FIG. 10 is a perspective view of a mounting plate of a yoke plate fine positioning device in accordance with an embodiment of the present invention;
FIG. 11 is a perspective view of a positioning block of the yoke plate fine positioning device in accordance with the embodiment of the present invention;
FIG. 12 is an enlarged view of portion A of FIG. 10 in accordance with an embodiment of the present invention;
FIG. 13 is an enlarged view of portion B of FIG. 11 in accordance with an embodiment of the present invention;
FIG. 14 is a perspective view of a post sheet fine positioning device according to an embodiment of the present invention;
FIG. 15 is a perspective view of a static bar embodying the present invention;
FIG. 16 is a perspective view of a moving bar embodying the present invention;
FIG. 17 is a side view of a row frame of an embodiment of the present invention;
FIG. 18 is a perspective view of a row frame according to an embodiment of the present invention;
FIG. 19 is a perspective view of a wafer stacking robot in accordance with an embodiment of the present invention;
FIG. 20 is a perspective view of a base plate of a wafer stacking robot jig according to an embodiment of the present invention;
FIG. 21 is a perspective view of a stud sheet stacking robot mounting top plate according to an embodiment of the present invention;
FIG. 22 is a perspective view of a yoke plate stacking robot in accordance with an embodiment of the present invention;
fig. 23 is a perspective view of a bottom plate of a yoke plate stacking robot jig according to an embodiment of the present invention.
The figures are numbered: 1 automatic lamination table, 2 post fine positioning device, 201 post slice moving mechanical hand, 202 post slice stacking mechanical hand, 203 frame, 204 mounting top plate, 205 bar, 206 positioning block, 207 groove, 208 mounting bottom plate, 209 synchronous servo motor, 210 synchronous transmission belt, 211 output belt wheel, 212 synchronous transmission belt wheel, 213 synchronous transmission screw rod, 214 bearing support, 215 translation slide rail, 216 moving slide block, 217 nut conversion piece, 218 moving bar, 219 static bar, 220 pushing cylinder, 221 pushing servo motor, 222 transmission nut, 223 transmission screw rod, 3 yoke slice fine positioning device, 301 yoke slice moving mechanical hand, 302 yoke slice stacking mechanical hand, 303 row frame, 304 row arch, 305 slide rail, 306 transverse slide plate, 307 tool bottom plate, 308 slice taking tool device, 309 fixing plate, 310 slice taking suction cup, 311 support, 312 cylinder, 313 synchronous driving device 314, synchronous motor, 315 synchronous belt, 312 synchronous belt, 316 synchronous pulley, 317 motor fixing plate, 318 synchronous screw rod, 319 bearing seat, 320 nut conversion block, 321 slider component, 322 speed reducer, 323 servo motor, 324 speed reducer adapter plate, 325 gear, 326 rack, 4 column sheet conveying device, 401A silicon steel sheet conveying line, 402B silicon steel sheet conveying line, 403C silicon steel sheet conveying line, 5 yoke sheet conveying device, 501D silicon steel sheet conveying line, 502E silicon steel sheet conveying line, 503 conveying frame, 504 servo drawing arm, 505 synchronous gear, 506 synchronous belt, 507 slideway, 508 slider, 509 synchronous belt traction block, 510 support frame, 511 sucker air cylinder, 512 vacuum sucker fixing frame, 513 vacuum sucker, 514 splint fixing frame, 515 splint, 516 gap, 517 servo motor, 518 stopper, 519 buffer rubber head, 6 feeding bin, 601A column feeding bin, 602B1 column feeding bin, 603B2 column feeding bin, 604C column feeding bin, 605D yoke feeding bin, 605D column feeding bin, and, 606E yoke feed bin, 7 sheet feeder, 701A core column sheet feeder, 702B1 core column sheet feeder, 703B2 core column sheet feeder, 704C core column sheet feeder, 705D yoke sheet feeder, 706E yoke sheet feeder, 707 column, 708 truss, 709 traveling beam, 710 vertical beam, 711 sheet feeder robot, 8 silicon steel sheet.
Detailed Description
The present invention will be described in detail below with reference to the drawings of fig. 1 to 23.
In the embodiment, taking a three-phase transformer as an example, A, B, C silicon steel sheets are respectively used as three core columns of an iron core, wherein the silicon steel sheet B is used as a center column; D. e silicon steel sheets are respectively an upper yoke and a lower yoke.
With reference to fig. 1 and 2, the automatic transformer core stacking production line of the invention comprises an automatic transformer core stacking table 1, wherein two sides of the automatic transformer core stacking table 1 are respectively provided with a post sheet fine positioning device 2 and a yoke sheet fine positioning device 3, the post sheet fine positioning device 2 is connected with a post sheet conveying device 4, the yoke sheet fine positioning device 3 is connected with a yoke sheet conveying device 5, and starting ends of the post sheet conveying device 4 and the yoke sheet conveying device 5 are respectively provided with a feeding bin 6 for storing corresponding silicon steel sheets 8; the device comprises a sheet feeding device 7, wherein the sheet feeding device 7 can feed silicon steel sheets 8 in each feeding bin 6 to the starting ends of a corresponding column sheet conveying device 4 and a corresponding yoke sheet conveying device 5; each column sheet conveying device 4 and each yoke sheet conveying device 5 can respectively move the silicon steel sheet 8 at the starting end to the corresponding tail end.
The column sheet conveying device 4 comprises A, B, C silicon steel sheet conveying lines which are arranged in parallel, a B silicon steel sheet conveying line 402 is located between an A silicon steel sheet conveying line 401 and a C silicon steel sheet conveying line 403, the starting end of the B silicon steel sheet conveying line 402 is located in front of the starting ends of the A and C silicon steel sheet conveying lines, the tail end of a A, B, C silicon steel sheet conveying line is in butt joint with the column sheet fine positioning device 2, and A, B, C core column silicon steel sheets which are conveyed to the tail end of a A, B, C silicon steel sheet conveying line and arranged in parallel are conveyed to the column sheet fine positioning device 2 through a column sheet moving manipulator 201; the yoke plate conveying device 5 comprises a D silicon steel plate conveying line 501 and an E silicon steel plate conveying line 502 which are arranged in parallel, the starting ends of the D, E silicon steel plate conveying lines are respectively located at the left and right positions of one side of the yoke plate fine positioning device 3, the tail ends of the D silicon steel plate conveying line 501 and the E silicon steel plate conveying line 502 are located at one side of the yoke plate fine positioning device 3, and the same-grade D, E yoke plate silicon steel plates which are arranged in parallel at the tail end of the D, E silicon steel plate conveying line are conveyed to the yoke plate fine positioning device 3 through a yoke plate moving manipulator 301. The feeding bin 6 comprises an A column feeding bin 601, a B column feeding bin, a C column feeding bin 604, a D yoke feeding bin 605 and an E yoke feeding bin 606, the B column feeding bin comprises a B1 column feeding bin 602 and a B2 column feeding bin 603, and the A column feeding bin 601, the C column feeding bin 604, the D yoke feeding bin 605 and the E yoke feeding bin 606 are respectively positioned on one side of the starting ends of the A silicon steel sheet conveying line 401, the C silicon steel sheet conveying line 403, the D silicon steel sheet conveying line 501 and the E silicon steel sheet conveying line 502; the B1 column feeding bin 602 and the B2 column feeding bin 603 are respectively positioned at the left and right sides of the starting end of the B silicon steel sheet conveying line 402.
A column piece moving manipulator 201 and a column piece stacking manipulator 202 are arranged between the automatic lamination platform 1 and the column piece conveying device 2, and a yoke piece moving manipulator 301 and a yoke piece stacking manipulator 302 are arranged between the automatic lamination platform 1 and the yoke piece conveying device 3;
the column sheet moving manipulator 201 can simultaneously send the same-stage core column silicon steel sheets 8 at the tail end of the corresponding column sheet conveying device 4 to the column sheet fine positioning device 2, and the column sheet fine positioning device 2 can position the same-stage core column silicon steel sheets 8 to be the design position of the laminated iron core; the yoke sheet moving manipulator 301 can send the silicon steel sheets 8 of the upper and lower yokes at the same level at the tail end of the corresponding yoke sheet conveying device 5 to the yoke sheet fine positioning device 3, and the yoke sheet fine positioning device 3 can position the positions of the silicon steel sheets 8 of the upper and lower yokes at the same level to the design position of the laminated iron core; the column sheet stacking mechanical arm 202 and the yoke sheet stacking mechanical arm 302 can respectively transfer the precisely positioned core column silicon steel sheets and the silicon steel sheets of the upper and lower yokes to the automatic lamination table 1, so as to realize the automatic lamination of the iron core.
Referring to fig. 4 to 7, the A, B, C, D, E silicon steel sheet conveying line includes a conveying rack 503, the conveying rack 503 is provided with a servo drawing arm 504, two ends of the servo drawing arm 504 are provided with synchronous gears 505, and a synchronous belt 506 parallel to the drawing arm 504 is sleeved between the two synchronous gears 505; a slideway 507 is arranged on the drawing arm 504, and a sliding block 508 matched with the slideway 507 is arranged on the slideway 507; a synchronous belt traction block 509 is sleeved on the drawing arm 504 and the synchronous belt 506; the synchronous belt traction block 509 is connected with the sliding block 508, a support frame 510 is arranged on the sliding block 508, a sucker cylinder 511 is arranged on the support frame 510, a vacuum sucker fixing frame 512 is arranged on the sucker cylinder 511, and a vacuum sucker 513 is arranged on the vacuum sucker fixing frame 512; one of the synchronizing gears 505 is provided with a drive; the conveying frame 503 is connected with a supporting plate fixing frame 514, a supporting plate 515 is arranged on the upper portion of the supporting plate fixing frame 514, the supporting plate 515 is located on the vacuum chuck fixing frame 512, a gap 516 is formed in the middle of the supporting plate 515, a chuck cylinder 511 is in an initial state, a vacuum chuck 513 is located below the supporting plate 515, and when the chuck cylinder 511 works, the vacuum chuck 513 is ejected out of the gap 516 in the middle of the supporting plate 515.
When the silicon steel sheet lifting device works, a silicon steel sheet 8 is placed at one end of a supporting plate 515 through a mechanical handle, when a sucking disc cylinder 511 works, a vacuum sucking disc 513 is ejected out of a gap 516 in the middle of the supporting plate 515 to the lower side of the silicon steel sheet 8, the vacuum sucking disc 513 works, the silicon steel sheet 8 is tightly sucked by the vacuum sucking disc 513, a driving device works to drive a synchronous gear 505 to rotate, the synchronous gear 505 drives a synchronous belt 506 to rotate, a synchronous belt traction block 509 sleeved on the synchronous belt 506 moves forwards, a sliding block 508 moves forwards on a sliding way 507, a supporting frame 510 on the sliding block 508 moves forwards to drive the silicon steel sheet 8 on the vacuum sucking disc 513 to move forwards, when the silicon steel sheet 8 reaches the other end of the supporting plate 515, the vacuum sucking disc 513 decompresses, an output shaft of the sucking disc cylinder 511 contracts, the vacuum sucking disc 513 is positioned below the supporting plate 515, the silicon steel, the synchronous gear 505 is driven to rotate in the opposite direction, and the vacuum chuck 513 returns to the starting end of the supporting plate 515 to convey the next silicon steel sheet 8. Because the silicon steel sheet 8 is conveyed by adopting the vacuum chuck 513, the inertia phenomenon can not occur when the silicon steel sheet is conveyed by adopting a conveying belt, and the problems of inaccurate conveying position and large impact force are avoided.
In this embodiment, the driving device is a servo motor 517 provided with a reducer; the support frame 510 is provided with two or more sucker cylinders 511, each sucker cylinder 511 is provided with a vacuum sucker fixing frame 512, and the vacuum sucker fixing frame 512 is provided with two or more vacuum suckers 513; the left end and the right end of the drawing arm 504 are respectively provided with a drawing limit stop 518, and the stop 518 is provided with a buffer rubber head 519; the slider 508 is connected with the synchronous belt traction block through a slider transfer block, and a proximity switch is arranged on the slider transfer block.
Referring to fig. 17 to 23, the sheet feeding device 7 includes an a-column sheet feeding device 701, a B1-column sheet feeding device 702, a B2-column sheet feeding device 703, a C-column sheet feeding device 704, a D-yoke sheet feeding device 705 and an E-yoke sheet feeding device 706, which are respectively located at positions of an a-column feed bin 601, a B1-column feed bin 602, a B2-column feed bin 603, a C-column feed bin 604, a D-yoke feed bin 605 and an E-yoke feed bin 606, the a-column sheet feeding device 701, the B1-column sheet feeding device 702, the B2-column sheet feeding device 703 and the C-column sheet feeding device 704 are all provided with two parallel rails via a column 707, and a moving beam 709 crossing over the two parallel rails, and two ends of the moving beam 709 are respectively provided with independent moving devices to synchronously move along the rails; the D yoke piece feeding device 705 and the E yoke piece feeding device 706 comprise a truss 708 provided with a track through a vertical column 707, a moving beam 709 stretching across the track, a vertical beam 710 arranged on the moving beam 709 and vertical to the moving beam 709, and a piece feeding manipulator 711 arranged on the vertical beam 710 and capable of moving up and down, wherein the moving beam 709 is provided with an independent walking device to walk along the track, a moving device is arranged between the vertical beam 710 and the moving beam 709, and the vertical beam 710 can move back and forth on the moving beam 709 through an up-down power device. The special piece taking and placing tool device is installed at the tail end of the piece feeding mechanical arm 711 and comprises a sucker fixing plate and a material taking sucker installed below the sucker fixing plate. The movable beam 709 is provided with an independent walking device, the movable device between the vertical beam 710 and the movable beam 709, and the upper and lower power devices of the vertical beam 710 are driven by servo motors. The silicon steel sheet taking and placing device can realize the rapid movement in the X, Y and Z directions and the taking and placing of the silicon steel sheet by the taking sucker at the tail end of the Z axis, and has the advantages of flexible movement, no dead angle and high working efficiency. The material taking sucker is connected with the vacuum pump through the air suction pipe, the silicon steel sheet is sucked by the negative pressure generated by the working of the vacuum pump, the negative pressure is released, and the silicon steel sheet is loosened by the vacuum sucker. A vacuum pump system: a two-position three-way electromagnetic valve for vacuum is arranged on the negative pressure air suction pipeline, and the negative pressure air suction pipeline is electrified to suck air and is disconnected to discharge air
Referring to fig. 8 to 16, the post fine positioning device 2 and the yoke fine positioning device 3 include a shelf 203, a mounting top plate 204 is disposed on the shelf 203, a positioning combination is disposed on the mounting top plate 204, three positioning combinations of the post fine positioning device 2 are provided, and two positioning combinations of the yoke fine positioning device 3 are provided; the positioning assembly comprises a barrier rib 205 and a positioning block 206 arranged on one side between the two barrier ribs 205 which are parallel to each other, and the positioning block 206 is provided with a groove 207 matched with one end of the processed silicon steel sheet 8; the two barrier strips 205 can move inwards, and the positioning block 206 can move towards the barrier strips 205; in an initial state, the distance between the two barrier strips 205 is greater than the width of the silicon steel sheet 8 to be processed; two barrier strips 205 are provided with synchronous driving devices which drive the barrier strips to move towards the inner sides, and the positioning block 206 is provided with a pushing driving device which drives the barrier strips 205 to move. The lower frame 203 of the mounting top plate 204 is provided with a mounting bottom plate 208, the synchronous driving device comprises a synchronous servo motor 209, a synchronous transmission belt 210, an output belt wheel 211 and a pair of synchronous transmission belt wheels 212, the synchronous transmission belt 210 is mounted on the output belt wheel 211 and the pair of synchronous transmission belt wheels 212, the rotating shaft of the synchronous servo motor 209 is connected with the central shaft of the output belt wheel 211, the central shaft of each synchronous transmission belt wheel 212 is connected with a synchronous transmission screw rod 213, the thread directions of the two synchronous transmission screw rods 213 are opposite, and the synchronous transmission screw rods 213 are connected with bearing supports 214 supporting the synchronous transmission screw rods 213; a positioning translation slide rail 215 is arranged on the mounting bottom plate 208, and a moving slide block 216 matched with the translation slide rail 215 is arranged on the translation slide rail 215; the two synchronous transmission screw rods 213 are respectively provided with a matched nut conversion piece 217, the nut conversion pieces 217 are fixed with the movable slider 216, and the two nut conversion pieces 217 are respectively fixedly connected with the two barrier strips 205 in the positioning combination; the two barrier strips 205 are respectively a movable barrier strip 218 and a static barrier strip 219, one of the nut conversion pieces 217 is connected with a pushing cylinder 220, and an output shaft of the pushing cylinder 220 is fixedly connected with the movable barrier strip 218 in the positioning assembly. The pushing and driving device is a pushing and servo motor 221, a transmission nut 222 is connected to the lower portion of the positioning block 206, a transmission screw rod 223 matched with the transmission nut 222 is screwed in the transmission nut 222, and the transmission screw rod 223 is connected with a rotating shaft of the pushing and servo motor 221. When the positioning device is used, the positioning block 206 is moved back and forth by forward and reverse rotation of the pressing servo motor 221.
When the silicon steel sheet 8 to be processed is placed between the two barrier strips 205 through a mechanical handle, the synchronous driving device drives the two barrier strips 205 to move inwards, two sides of the silicon steel sheet 8 to be processed are pressed, the pushing driving device drives the positioning block 206 to move towards the barrier strips 205 (the silicon steel sheet 8), one side of the silicon steel sheet 8 is located in the groove 207 of the positioning block 206, the silicon steel sheet 8 is pushed to a set position, accurate positioning of the silicon steel sheet 8 is achieved, then the sheet is taken through the mechanical arm, and the synchronous driving device and the pushing driving device drive the two barrier strips 205 to return to an initial state. When the silicon steel sheet positioning device is used, the synchronous servo motor 209 is in positive transmission to drive the synchronous transmission belt 210 to transmit, the two synchronous transmission belt wheels 212 rotate to drive the two synchronous transmission screw rods 213 to rotate, and the nut conversion pieces 217 respectively drive the corresponding barrier strips 205 to move inwards to press two sides of a silicon steel sheet 8 to be processed due to opposite thread directions of the two synchronous transmission screw rods 213, so that the silicon steel sheet 8 is transversely positioned. On the contrary, when the synchronous servo motor 209 reversely transmits, the synchronous transmission belt 210 is driven to transmit, and the two bars 205 return to the initial state. Due to the adoption of the structure of the movable barrier rib 218 and the static barrier rib 219, in the mode, when the silicon steel sheet positioning device is used, when the synchronous servo motor 209 forwards drives the synchronous transmission belt 210 to transmit, the two synchronous transmission belt wheels 212 rotate to drive the two synchronous transmission screw rods 213 to rotate, due to the fact that the thread directions of the two synchronous transmission screw rods 213 are opposite, the nut switching pieces 217 respectively drive the corresponding barrier ribs 205 to move inwards, when the barrier ribs 205 move to a set position, the synchronous servo motor 209 stops working, the static barrier rib 219 serves as a positioning backer of the silicon steel sheet 8, the air cylinder 220 is pushed to work, the output shaft of the air cylinder is ejected out, the movable barrier rib 218 is driven to move inwards, and the silicon steel sheet 8 is transversely positioned. The column sheet fine positioning device 2 and the yoke sheet fine positioning device 3 of the invention carry out shaping and accurate positioning on the position, the spacing and the like of each silicon steel sheet 8, ensure the stacking precision and the quality when the silicon steel sheet iron cores are stacked in the next procedure, have high automation level, and further ensure the attractive appearance of the iron cores and the stability of the transformer quality.
Referring to fig. 19 and 23, each of the column piece moving manipulator 201, the column piece stacking manipulator 202, the yoke piece moving manipulator 301, and the yoke piece stacking manipulator 302 includes a row frame 303, a row arch 304 is disposed on the row frame 303, a slide rail 305 is disposed on the row arch 304, a horizontal slide plate 306 and a lower jig base plate 307 are disposed on the upper portion of each manipulator, the horizontal slide plate 306 is connected with the jig base plate 307 through a support column, the horizontal slide plate 306 can move back and forth on the slide rail 305, and a power driving device is disposed on the horizontal slide plate 306 and controls and drives the horizontal slide plate 306 to move back and forth on the slide rail 305; the jig bottom plate 307 of the column piece moving manipulator 201 and the column piece stacking manipulator 202 is provided with three rows of piece taking and placing tool devices 308; the yoke piece transfer robot 301 and the yoke piece stacking robot 302 are provided with two rows of piece taking and placing tool devices 308; the sheet taking and placing tool device 308 comprises a fixing plate 309 and a sheet taking suction cup 310 mounted below the fixing plate 309, a bracket 311 is connected below the jig base plate 307, an air cylinder 312 is arranged on the bracket 311, and an output shaft of the air cylinder 312 is connected with the fixing plate 309.
Referring to fig. 19 to 21, the sheet taking and placing tool device 308 of the sheet stacking robot 202 further includes a fixing plate 309 and a sheet taking suction cup 310 installed below the fixing plate 309, a bracket 311 is installed below the jig base plate 307, an air cylinder 312 is installed on the bracket 311, and an output shaft of the air cylinder 312 is connected to the fixing plate 309; the jig is provided with a synchronous driving device 313, the synchronous driving device 313 can drive the left and right discharging and taking and placing tool device 308 to move inwards and outwards, the synchronous driving device 313 comprises a synchronous motor 314, a synchronous belt 315 and a pair of synchronous belt wheels 316, a motor fixing plate 317 is arranged on a jig bottom plate 307, the synchronous motor 314 is arranged on the motor fixing plate 317, the synchronous belt 315 is arranged on the pair of synchronous belt wheels 316, a rotating shaft of the synchronous motor 314 is connected with a central shaft of one synchronous belt wheel 316, a central shaft of the other synchronous belt wheel 316 is respectively connected with left and right synchronous screw rods 318, the thread directions of the two synchronous screw rods 318 are opposite, and the synchronous screw rods 318 are connected with bearing seats; the two synchronous screw rods 318 are respectively provided with a nut conversion block 320 which is matched with the two synchronous screw rods, the nut conversion blocks 320 are respectively fixed with the left bracket 311 and the right bracket 311, and the middle bracket 311 is connected with the jig bottom plate 307. The column sheet moving manipulator 201 of the embodiment of the invention adopts the same structure, the structure is used for stacking A, B, C silicon steel sheets which are three core column sheets of an iron core respectively, the column sheet moving manipulator 201 moves the silicon steel sheets 8 at the tail end of a column sheet conveying device 4 to a column sheet fine positioning device 2, and the column sheet fine positioning device 2 positions the position of each core column silicon steel sheet to be the designed position of the laminated iron core; according to the invention, the A, B, C silicon steel sheets after fine positioning are sequentially transferred to the automatic lamination table 1 by the column sheet stacking manipulator 202 to be laminated, so that the automatic lamination of the iron core column sheets is realized.
The synchronous motor 314 works to drive the synchronous belt pulley 316 to rotate, and further drives the two synchronous screw rods 318 to rotate, the two nut conversion blocks 320 can respectively move back and forth on the synchronous screw rods 318 under the rotation of the synchronous screw rods 318, the left bracket 311 and the right bracket 311 which are connected with the synchronous screw rods can move back and forth inwards and outwards, and the left and the right discharging and taking and placing tool devices 308 move inwards and outwards. This structure is used for the lamination of the iron core silicon steel sheet of transformer core A, B, C three-column, and the silicon steel sheet of center pillar B is fixed position, and the silicon steel sheet of controlling the core pillar is used for synchronous machine 314 to drive the taking and putting piece tool device 308 of the left and right sides inside, outside synchronous motion, according to the design requirement, reaches the iron core silicon steel sheet design position of A, B, C three-column.
Referring to fig. 22 and 23, the sheet taking and placing tool device 308 of the yoke sheet stacking manipulator 302 comprises a fixing plate 309 and a sheet taking suction cup 310 mounted below the fixing plate 309, a bracket 311 is arranged below the jig base plate 307, an air cylinder 312 is arranged on the bracket 311, and an output shaft of the air cylinder 312 is connected with the fixing plate; the jig is provided with a synchronous driving device 313, the synchronous driving device 313 can drive one row of the pick-and-place tool devices 308 to move inwards and outwards, the synchronous driving device 313 comprises a synchronous motor 314, a synchronous belt 315 and a pair of synchronous pulleys 316, a motor fixing plate 317 is arranged on a jig bottom plate 307, the synchronous motor 314 is arranged on the motor fixing plate 317, the synchronous belt 315 is arranged on the pair of synchronous pulleys 316, a rotating shaft of the synchronous motor 314 is connected with a central shaft of one synchronous pulley 316, a central shaft of the other synchronous pulley 316 is connected with a synchronous screw rod 318, and the synchronous screw rod 318 is connected with a bearing seat 319 for supporting the synchronous screw rod; the bracket 311 of one row of the pick-and-place tool devices 308 is connected with the jig bottom plate 307, the bracket 311 of the other row of the pick-and-place tool devices 308 is connected with a nut conversion block 320 matched with the synchronous screw rod 318, and the nut conversion block 320 is positioned on the synchronous screw rod 318. The yoke piece moving manipulator 301 of the embodiment of the invention adopts the same structure. The synchronous motor 314 operates to drive the synchronous pulley 316 to rotate, and further drive the synchronous screw 318 to rotate, the nut switching block 320 can move back and forth on the synchronous screw 318 under the rotation of the synchronous screw 318, the bracket 311 connected with the nut switching block can move back and forth inwards and outwards, and the arrangement pick-and-place tool device 308 moves inwards and outwards. The structure is used for laminating iron core silicon steel sheets of upper and lower yokes of a transformer iron core D, E, wherein the silicon steel sheet on one side is a fixed position, the silicon steel sheet of the other core column is used for driving the sheet taking and placing tool device 308 of the synchronous motor 314 to move inwards and outwards synchronously, and the iron core silicon steel sheet design position of the upper and lower yokes D, E is reached according to design requirements.
The row arch 304 is provided with two parallel slide rails 305, a slide block assembly 321 is arranged between the transverse slide plate 306 and the slide rails 305, the power driving device of the transverse slide plate 306 comprises a servo motor 323 with a speed reducer 322, the transverse slide plate 306 is provided with a speed reducer adapter plate 324, the servo motor 323 with the speed reducer is positioned on the speed reducer adapter plate 324, an output shaft of the speed reducer 322 is provided with a gear 325, the row arch 304 is provided with a rack 326 matched with the gear 325, and the servo motor 323 works to drive the transverse slide plate 306 to move back and forth on the slide rails 305.
The invention greatly improves the lamination efficiency and reduces the lamination cost.
In the aspect of production efficiency, the embodiment of the invention takes the stacking of 10kV transformer cores as an example, 3 stacking machines can be stacked according to 10 hours of work, and simultaneously 1 worker can simultaneously watch 4 machines, so that 12 workers can finish the stacking in 8 hours; because the manual lamination needs two people to cooperate, 1 workman is equivalent to 12 original workers, the same production task, and the personnel have reduced 91.6%. When the products are produced in a large scale, the automatic lamination robot can produce continuously for 24 hours, the problem that the lamination precision is not high when the light at night is insufficient in manual lamination can be solved, and the utilization rate and the production efficiency of production time are improved.
In the aspect of high quality rate of products, the stacking precision is higher, and the high quality rate of the products can be improved by more than 25%. The automatic lamination robot has more obvious advantages compared with manual lamination when running for a long time or overtime, and can ensure the product quality. The problem that the iron core appearance is attractive and even the quality of the transformer is affected due to the fact that the lamination is not uniform because the attention concentration can not be kept by manpower constantly is solved.
In the aspect of resource utilization rate, an automatic lamination robot is used for production, one worker can simultaneously watch more than 4 machines, manpower resources are greatly saved, and labor cost is reduced. The automatic lamination robot is simple to operate and maintain, ordinary workers can be skilled in operation after training for about 0.5 day, and training for a skilled manual lamination worker requires about 7 days, so that the training time and the training cost of the workers are saved.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings can be directly or indirectly applied to other related technical fields and are included in the scope of the present invention.
Claims (11)
1. An automatic lamination production line for transformer cores is characterized by comprising an automatic lamination table for the transformer cores, wherein a post sheet fine positioning device and a yoke sheet fine positioning device are respectively arranged on two sides of the automatic lamination table;
the feeding device can send the silicon steel sheets of each feeding bin to the starting ends of the corresponding column sheet conveying device and the corresponding yoke sheet conveying device;
each column sheet conveying device and each yoke sheet conveying device can respectively move the silicon steel sheet at the starting end to the corresponding tail end;
a column piece moving manipulator and a column piece stacking manipulator are arranged between the automatic lamination platform and the column piece conveying device, and a yoke piece moving manipulator and a yoke piece stacking manipulator are arranged between the automatic lamination platform and the yoke piece conveying device;
the column sheet moving manipulator can simultaneously send the core column silicon steel sheets of the same stage at the tail end of the corresponding column sheet conveying device to the column sheet fine positioning device, and the column sheet fine positioning device can position the core column silicon steel sheets of the same stage to the design position of the laminated iron core; the yoke sheet moving manipulator can send the silicon steel sheets of the upper and lower yokes at the same level at the tail end of the corresponding yoke sheet conveying device to the yoke sheet fine positioning device, and the yoke sheet fine positioning device can position the silicon steel sheets of the upper and lower yokes at the same level to the design position of the laminated iron core; the column sheet stacking mechanical arm and the yoke sheet stacking mechanical arm can respectively transfer the precisely positioned silicon steel sheets of each column and the silicon steel sheets of the upper and lower yokes to the automatic lamination table, so that the automatic lamination of the iron core is realized.
2. The automatic lamination production line of transformer cores as claimed in claim 1, wherein the column sheet conveying device comprises A, B, C silicon steel sheet conveying lines arranged in parallel, the B silicon steel sheet conveying line is positioned between the a silicon steel sheet conveying line and the C silicon steel sheet conveying line, the starting end of the B silicon steel sheet conveying line is positioned in front of the starting ends of the a silicon steel sheet conveying line and the C silicon steel sheet conveying line, the tail end of the A, B, C silicon steel sheet conveying line is butted with the column sheet fine positioning device, and the A, B, C core column silicon steel sheets conveyed to the tail end of the A, B, C silicon steel sheet conveying line and arranged in parallel are conveyed to the column sheet fine positioning device through a column sheet moving manipulator; the yoke plate conveying device comprises D, E silicon steel plate conveying lines which are arranged in parallel, the starting ends of the D, E silicon steel plate conveying lines are respectively located at the left and right positions of one side of the yoke plate fine positioning device, the tail ends of the D silicon steel plate conveying lines and the E silicon steel plate conveying lines are located at one side of the yoke plate fine positioning device, and D, E yoke plate silicon steel plates which are arranged in parallel at the tail ends of the D, E silicon steel plate conveying lines are conveyed to the yoke plate fine positioning device through the yoke plate moving mechanical arm.
3. The automatic lamination production line of transformer cores according to claim 2, wherein the supply bins include an a-column supply bin, a B-column supply bin, a C-column supply bin, a D-yoke supply bin and an E-yoke supply bin, the B-column supply bin includes a B1-column supply bin and a B2-column supply bin, and the a-column supply bin, the C-column supply bin, the D-yoke supply bin and the E-yoke supply bin are respectively located at one side of a start end of the a-silicon steel sheet conveying line, the C-silicon steel sheet conveying line, the D-silicon steel sheet conveying line and the E-silicon steel sheet conveying line; the B1 column feeding bin and the B2 column feeding bin are respectively positioned at the left side and the right side of the starting end of the B silicon steel sheet conveying line.
4. The automatic lamination production line of the transformer cores as claimed in claim 3, wherein the A, B, C, D, E silicon steel sheet conveying line comprises a conveying rack, the conveying rack is provided with a servo drawing arm, two ends of the servo drawing arm are provided with synchronous gears, and a synchronous belt parallel to the drawing arm is sleeved between the two synchronous gears; the drawing arm is provided with a slideway, and the slideway is provided with a sliding block matched with the slideway; the drawing arm and the synchronous belt are sleeved with a synchronous belt traction block; the synchronous belt traction block is connected with the sliding block, a support frame is arranged on the sliding block, a sucker cylinder is arranged on the support frame, a vacuum sucker fixing frame is arranged on the sucker cylinder, and a vacuum sucker is arranged on the vacuum sucker fixing frame; one of the synchronous gears is provided with a driving device; the conveying frame is connected with a supporting plate fixing frame, a supporting plate is arranged on the upper portion of the supporting plate fixing frame, the supporting plate is located on the vacuum chuck fixing frame, a gap is formed in the middle of the supporting plate, the chuck cylinder is in an initial state, the vacuum chuck is located below the supporting plate, and the chuck cylinder is used for ejecting the vacuum chuck from the gap in the middle of the supporting plate when working.
5. The automatic lamination production line of transformer cores according to claim 1, characterized in that the sheet feeding device comprises a truss provided with a track through a column, a transfer beam crossing the track, a vertical beam arranged on the transfer beam and perpendicular to the transfer beam, and a sheet feeding manipulator arranged on the vertical beam and capable of moving up and down, wherein the transfer beam is provided with an independent walking device to walk along the track, a moving device is arranged between the vertical beam and the transfer beam, the vertical beam can move back and forth on the transfer beam through an upper power device and a lower power device, the sheet feeding manipulator is provided with a sheet taking and placing tool device specially arranged at the tail end thereof, and the sheet taking and placing tool device comprises a sucker fixing plate and a material taking sucker arranged below the sucker fixing plate.
6. The automatic lamination production line of transformer cores according to claim 4, wherein the sheet feeding device comprises an A-column sheet feeding device, a B1-column sheet feeding device, a B2-column sheet feeding device, a C-column sheet feeding device, a D-yoke sheet feeding device and an E-yoke sheet feeding device which are respectively located at the positions of the A-column feeding bin, the B1-column feeding bin, the B2-column feeding bin, the C-column feeding bin, the D-yoke feeding bin and the E-yoke feeding bin, the A-column sheet feeding device, the B1-column sheet feeding device, the B2-column sheet feeding device and the C-column sheet feeding device are respectively provided with two trusses with parallel rails through vertical columns, and a moving beam crossing the two parallel rails, and independent traveling devices are respectively arranged at two ends of the moving beam and synchronously travel along the rails; the moving beam is provided with an independent walking device, the moving device between the vertical beam and the moving beam, and the upper power device and the lower power device of the vertical beam are driven by servo motors.
7. The automatic lamination production line of the transformer core according to claim 1, wherein the post sheet fine positioning device and the yoke sheet fine positioning device comprise a frame, a mounting top plate is arranged on the frame, a positioning combination is arranged on the mounting top plate, the positioning combination comprises a barrier strip parallel to each other and a positioning block arranged on one side between the two barrier strips, and the positioning block is provided with a groove matched with one end of the processed silicon steel sheet; the two barrier strips can move inwards, and the positioning block can move towards the barrier strips; in an initial state, the distance between the two barrier strips is larger than the width of the silicon steel sheet to be processed; the two barrier strips are provided with synchronous driving devices which drive the barrier strips to move towards the inner sides of the barrier strips, and the positioning block is provided with a pushing and pressing driving device which drives the barrier strips to move towards the direction.
8. The automatic lamination production line of transformer cores according to claim 7, wherein a mounting bottom plate is arranged on a lower shelf of the mounting top plate, the synchronous driving device comprises a synchronous servo motor, a synchronous driving belt, an output belt pulley and a pair of synchronous driving belt pulleys, the synchronous driving belt is arranged on the output belt pulley and the pair of synchronous driving belt pulleys, a rotating shaft of the synchronous servo motor is connected with a central shaft of the output belt pulley, the central shaft of each synchronous driving belt pulley is connected with a synchronous driving screw rod, the thread directions of the two synchronous driving screw rods are opposite, and the synchronous driving screw rods are connected with bearing supports of the supporting screw rods; the mounting bottom plate is provided with a positioning translation slide rail, and the translation slide rail is provided with a movable slide block matched with the translation slide rail; the two synchronous transmission screw rods are respectively provided with a matched nut conversion piece, the nut conversion pieces are fixed with the movable slide block, and the two nut conversion pieces are respectively fixedly connected with two stop bars in the positioning combination; the two barrier strips are respectively a movable barrier strip and a static barrier strip, one of the nut conversion pieces is connected with a pushing cylinder, and an output shaft of the pushing cylinder is fixedly connected with the movable barrier strip in the positioning combination.
9. The automatic lamination production line of transformer cores according to claim 1, wherein the column piece moving manipulator, the column piece stacking manipulator, the yoke piece moving manipulator and the yoke piece stacking manipulator comprise a row frame, a row arch is arranged on the row frame, a slide rail is arranged on the row arch, a transverse slide plate and a lower jig bottom plate are arranged on the upper portion of each manipulator, the transverse slide plate is connected with the jig bottom plate through support columns, the transverse slide plate can move back and forth on the slide rail, a power driving device is arranged on the transverse slide plate, and the power driving device controls and drives the transverse slide plate to move back and forth on the slide rail; the jig bottom plates of the column piece moving manipulator and the column piece stacking manipulator are provided with three rows of tool devices for taking and placing the column pieces; the yoke piece moving manipulator and the yoke piece stacking manipulator are provided with two rows of piece taking and placing tool devices; the sheet taking tool device comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a support is connected below a jig bottom plate, a cylinder is arranged on the support, and an output shaft of the cylinder is connected with the fixing plate.
10. The automatic lamination production line of transformer cores according to claim 9, wherein the sheet picking and placing tool device of the column sheet stacking manipulator further comprises a fixing plate and a sheet picking suction cup installed below the fixing plate, a support is arranged below the jig base plate, an air cylinder is arranged on the support, and an output shaft of the air cylinder is connected with the fixing plate; the jig is provided with a synchronous driving device, the synchronous driving device can drive the left and right arrangement piece taking and placing tool devices to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous belt wheels, a motor fixing plate is arranged on a jig base plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is installed on the pair of synchronous belt wheels, a rotating shaft of the synchronous motor is connected with a central shaft of one of the synchronous belt wheels, the central shaft of the other synchronous belt wheel is respectively connected with a left synchronous screw rod and a right synchronous screw rod, the thread directions of the two synchronous screw rods are opposite; the two synchronous screw rods are respectively provided with a nut conversion block which is matched with the screw rods, the nut conversion blocks are respectively fixed with the left bracket and the right bracket, and the middle bracket is connected with the jig bottom plate.
11. The automatic lamination production line of transformer cores according to claim 9, wherein the pick-and-place tool device of the yoke sheet stacking manipulator comprises a fixing plate and a pick-and-place sucker installed below the fixing plate, a bracket is arranged below the jig base plate, an air cylinder is arranged on the bracket, and an output shaft of the air cylinder is connected with the fixing plate; the jig is provided with a synchronous driving device, the synchronous driving device can drive one row of the sheet taking and placing tool devices to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous belt wheels, a motor fixing plate is arranged on a jig base plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is installed on the pair of synchronous belt wheels, a rotating shaft of the synchronous motor is connected with a central shaft of one of the synchronous belt wheels, the central shaft of the other synchronous belt wheel is respectively connected with a synchronous screw rod, and the synchronous screw rod is connected with a bearing; the support of one row of the sheet taking and placing tool devices is connected with the jig bottom plate, the support of the other row of the sheet taking and placing tool devices is connected with a nut conversion block matched with the synchronous screw rod, and the nut conversion block is positioned on the synchronous screw rod.
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| CN202011394786.1A CN112382502B (en) | 2020-12-03 | 2020-12-03 | Automatic stacking production line for transformer iron cores |
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| CN202011394786.1A CN112382502B (en) | 2020-12-03 | 2020-12-03 | Automatic stacking production line for transformer iron cores |
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| CN113921262A (en) * | 2021-11-05 | 2022-01-11 | 江苏海川电气制造股份有限公司 | Automatic iron core stacking production line for manufacturing marine transformer |
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| CN116013679A (en) * | 2023-03-29 | 2023-04-25 | 雄县兴驰电气设备制造有限公司 | Iron core manufacturing and assembling equipment of three-phase transformer |
| CN116525284A (en) * | 2023-06-29 | 2023-08-01 | 保定市卓泽电气科技有限公司 | Transformer core pressing device |
| CN116525284B (en) * | 2023-06-29 | 2023-09-08 | 保定市卓泽电气科技有限公司 | Transformer core pressing device |
| CN116646167A (en) * | 2023-07-26 | 2023-08-25 | 深圳市兴科荣科技有限公司 | Isolation transformer iron core assembling and processing equipment |
| CN116646167B (en) * | 2023-07-26 | 2023-11-07 | 深圳市兴科荣科技有限公司 | Isolation transformer iron core assembling and processing equipment |
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