CN112382502B - Automatic stacking production line for transformer iron cores - Google Patents
Automatic stacking production line for transformer iron cores Download PDFInfo
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- CN112382502B CN112382502B CN202011394786.1A CN202011394786A CN112382502B CN 112382502 B CN112382502 B CN 112382502B CN 202011394786 A CN202011394786 A CN 202011394786A CN 112382502 B CN112382502 B CN 112382502B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 65
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 37
- 229910000976 Electrical steel Inorganic materials 0.000 claims abstract description 205
- 238000003475 lamination Methods 0.000 claims abstract description 91
- 230000001360 synchronised effect Effects 0.000 claims description 247
- 230000004888 barrier function Effects 0.000 claims description 52
- 238000006243 chemical reaction Methods 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 27
- 238000013461 design Methods 0.000 claims description 18
- 238000013519 translation Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 5
- 238000007599 discharging Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 description 13
- 238000000034 method Methods 0.000 description 10
- 238000003825 pressing Methods 0.000 description 6
- 238000012546 transfer Methods 0.000 description 6
- 238000012549 training Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000007493 shaping process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
- H01F41/0233—Manufacturing of magnetic circuits made from sheets
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- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manufacturing Cores, Coils, And Magnets (AREA)
Abstract
The invention relates to the technical field of automatic equipment for transformer production, in particular to an automatic stacking production line for transformer cores. The automatic lamination device comprises an automatic lamination table of a transformer iron core and a sheet feeding device, wherein a column sheet fine positioning device and a yoke sheet fine positioning device are respectively arranged at two sides of the automatic lamination table, the column sheet fine positioning device is connected with a column sheet conveying device, the yoke sheet fine positioning device is connected with a yoke sheet conveying device, and starting ends of the column sheet conveying device and the yoke sheet conveying device are respectively provided with a feed bin for storing corresponding silicon steel sheets; the column sheet stacking manipulator and the yoke sheet stacking manipulator can respectively move the precisely positioned core column silicon steel sheets and the upper and lower yoke silicon steel sheets to an automatic lamination table, so that the automatic lamination of the iron core is realized. The production line has the advantages of remarkably improving the production efficiency, reducing the lamination cost, ensuring the attractive appearance of the iron core and the stability of the quality of the transformer, and ensuring the quality of the product.
Description
Technical Field
The invention relates to the technical field of automatic equipment for transformer production, in particular to an automatic stacking production line for transformer cores.
Background
At present, a plurality of iron core lamination sheets of transformer manufacturers in China adopt a manual lamination mode, and the lamination efficiency is low. Taking a 10kV small-sized transformer as an example, the whole iron core is formed by stacking 6 thousands of silicon steel sheets according to a certain sequence rule, the lamination procedure is operated by 2 persons, if two sheets (called double lamination for short) are stacked each time, a skilled operator can complete lamination of 1 transformer for 3 more hours, and if one sheet is stacked each time (called single lamination for short, the performance of the single-lamination iron core is better than that of the double lamination), longer time is needed. The large-scale transformer needs 3 people and 3 people above collaborative operation, and lamination work load is huge loaded down with trivial details, and the lamination cycle is long, and lamination uniformity is poor, and quality is difficult to guarantee. In the lamination process, operators keep lamination precision by experience and visual observation of lamination and alignment of silicon steel sheets, lamination workers have to keep high attention, the quality of iron cores laminated by different workers is different, and products have a certain proportion of reject ratio. The defect of manual iron core lamination is gradually developed at present of rapid development of automatic production, and becomes an important obstacle for restricting the development of transformer industry.
Along with the development of intelligent manufacturing technology, a series of factors such as rising of labor cost and scarcity of high-skill personnel are adopted, and process optimization is carried out on the procedures such as the transformer iron core lamination with simple operation and extremely high repeatability, so that the method becomes a strong demand for reducing the labor cost and realizing intelligent manufacturing. Therefore, there is a great need for a production line that can implement automated lamination, thereby completely replacing manual lamination to solve the above-mentioned problems.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the automatic stacking production line for the transformer iron cores can completely replace the existing iron core production process requiring manual silicon steel sheet lamination, the production line can run for 24 hours in all weather, the lamination speed is higher than that of manual lamination, the silicon steel sheets can be rapidly and accurately stacked, and therefore production efficiency is greatly improved, and stacking precision is high.
The technical scheme adopted for solving the technical problems is as follows:
the automatic stacking production line for the transformer iron cores comprises an automatic stacking table for the transformer iron cores, wherein a post fine positioning device and a yoke fine positioning device are respectively arranged on two sides of the automatic stacking table, the post fine positioning device is connected with a post conveying device, the yoke fine positioning device is connected with a yoke conveying device, and the starting ends of the post conveying device and the yoke conveying device are respectively provided with a feed bin for storing corresponding silicon steel sheets;
the device comprises a sheet feeding device, wherein the sheet feeding device can feed silicon steel sheets of all feed bins to the starting ends of a corresponding column sheet conveying device and a 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 sheet moving manipulator and a column sheet stacking manipulator are arranged between the automatic lamination table and the column sheet conveying device, and a yoke sheet moving manipulator and a yoke sheet stacking manipulator are arranged between the automatic lamination table and the yoke sheet conveying device;
The column sheet moving mechanical arm can simultaneously send each core column silicon steel sheet of the same grade 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 positions of the core column silicon steel sheets of the same grade to be the design positions of the laminated iron core; the yoke sheet moving mechanical arm can send the silicon steel sheets of the upper and lower yokes of the same stage 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 of the same stage to be the design position of the laminated iron core; the post stacking manipulator and the yoke stacking manipulator can respectively move the core post silicon steel sheets and the upper and lower yoke silicon steel sheets which are positioned accurately (respectively by the post fine positioning device and the yoke fine positioning device) to an automatic lamination table, so that the automatic lamination of the iron core is realized.
The invention mainly comprises a column slice conveying device, a yoke slice conveying device, a column slice fine positioning device, a yoke slice fine positioning device and an automatic lamination table, wherein the starting ends of the column slice conveying device and the yoke slice conveying device are respectively provided with a feed bin for storing corresponding silicon steel slices, and the front and the rear of the automatic lamination table are respectively provided with a slice moving manipulator and a stacking manipulator. The post fine positioning device and the yoke fine positioning device are mutually perpendicular. When the device works, the silicon steel sheets of each core column and the silicon steel sheets of the upper yoke and the lower yoke are discharged in respective feed bins, the corresponding silicon steel sheets are moved to the initial ends of the corresponding conveying devices by the sheet conveying devices, and the silicon steel sheets at the initial ends are respectively moved to the corresponding tail ends by the column sheet conveying devices and the yoke sheet conveying devices; the moving mechanical arm moves the silicon steel sheet at the tail end of the conveying device to the fine positioning device, wherein the column sheet fine positioning device conveys each core column silicon steel sheet to the column sheet fine positioning device, and the column sheet fine positioning device can position the positions of each core column silicon steel sheet to be the design positions of the laminated iron core; the yoke fine positioning device sends the silicon steel sheets of the upper yoke and the lower yoke to the yoke fine positioning device, and the yoke fine positioning device positions the silicon steel sheets of the upper yoke and the lower yoke to be in a design position with the laminated iron core; the post piece fine positioning device and the yoke piece fine positioning device carry out shaping and accurate positioning on the positions, the intervals and the like of the silicon steel sheets, so that the stacking precision and the quality of the silicon steel sheet iron cores in the next procedure are guaranteed, and the stacking manipulator sequentially moves the post pieces after positioning and the upper yoke silicon steel sheets and the lower yoke silicon steel sheets to an automatic lamination table, lamination layers are carried out, and the automatic lamination of the iron cores is realized.
In a preferred embodiment, the pillar 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 initial end of the B silicon steel sheet conveying line is positioned in front of the initial ends of the A and C silicon steel sheet conveying lines, the tail end of the A, B, C silicon steel sheet conveying line is in butt joint with the pillar sheet fine positioning device, and the same-stage A, B, C core pillar silicon steel sheet which is arranged in parallel and conveyed to the tail end of the A, B, C silicon steel sheet conveying line is conveyed to the pillar sheet fine positioning device through a pillar sheet moving manipulator; the yoke conveying device comprises D, E silicon steel sheet conveying lines which are arranged in parallel, the starting ends of the D, E silicon steel sheet conveying lines are respectively located at the left and right positions of one side of the yoke fine positioning device, the tail ends of the D silicon steel sheet conveying line and the E silicon steel sheet conveying line are located at one side of the yoke fine positioning device, and the same-stage D, E yoke silicon steel sheets which are arranged in parallel and conveyed to the tail ends of the D, E silicon steel sheet conveying lines are conveyed to the yoke fine positioning device through a yoke sheet moving manipulator.
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, wherein 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 at 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; and the B1 column supply bin and the B2 column supply 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 B silicon steel sheets are middle columns; 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 frame, wherein a servo drawing arm is arranged on the conveying frame, 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 synchronous belt traction block is sleeved on the traction arm and the synchronous belt; the synchronous belt traction block is connected with the sliding block, a supporting frame is arranged on the sliding block, a sucker cylinder is arranged on the supporting 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 and located on the vacuum chuck fixing frame, a gap is formed in the middle of the supporting plate, the vacuum chuck is located below the supporting plate in the initial state of the chuck cylinder, and when the chuck cylinder works, the vacuum chuck is ejected out of the gap in the middle of the supporting plate.
When the vacuum chuck is operated, the vacuum chuck is ejected out of a gap in the middle of the supporting plate to the position below the silicon steel sheet, the vacuum chuck is operated, the vacuum chuck is tightly used for sucking the silicon steel sheet, the driving device is operated and drives 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 rail, the supporting frame on the sliding block moves forwards and drives the silicon steel sheet on the vacuum chuck to move forwards, when the silicon steel sheet reaches the other end of the supporting plate, the vacuum chuck is decompressed, the output shaft of the chuck cylinder contracts, the vacuum chuck is positioned below the supporting plate, the silicon steel sheet is stuck on the supporting plate, the silicon steel sheet is conveyed to the next procedure by the sheet taking manipulator, meanwhile, the driving device is operated in the opposite direction and drives the synchronous gear to rotate in the opposite direction, and the vacuum chuck returns to the starting end of the supporting plate for conveying the next silicon steel sheet. Because the silicon steel sheet is conveyed by adopting the vacuum chuck, the inertia phenomenon can not occur when conveying by adopting the conveying belt, and the problems of inaccurate conveying position and large impact force are avoided.
Typically, the driving device is a servo motor provided with a decelerator; two or more sucker cylinders are arranged on the support frame, each sucker cylinder is provided with a vacuum sucker fixing frame, and two or more vacuum suckers are arranged on the vacuum sucker fixing frame; 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 sliding block is connected with the synchronous belt traction block through a sliding block switching block, and a proximity switch is arranged on the sliding block switching block.
In a preferred embodiment, the film feeding device comprises a truss provided with a track through a stand column, a movable beam spanned on the track, a vertical beam arranged on the movable beam and vertical to the movable beam, and a film feeding manipulator arranged on the vertical beam and capable of moving up and down, wherein the movable beam is provided with an independent running gear to run along the track, a moving device is arranged between the vertical beam and the movable beam, the vertical beam can move back and forth on the movable beam through an up-and-down power device, and the tail end of the film feeding manipulator is provided with a special film taking and placing tool device which comprises a sucker fixing plate and a material taking sucker arranged below the sucker fixing plate. The invention can realize the rapid movement of X, Y and Z directions and the fetching of the silicon steel sheet by the fetching sucker at the tail end of the Z axis, and has flexible movement, no dead angle and high working efficiency. The material taking sucker is connected with the vacuum pump through the air suction pipe, negative pressure is generated through the work of the vacuum pump to suck the silicon steel sheet, the negative pressure is released, and the vacuum sucker loosens the silicon steel sheet. Vacuum pump system: a two-position three-way electromagnetic valve for vacuum is installed on the negative pressure air suction pipe, and is electrified for suction and powered off for deflation.
In a preferred embodiment, the sheet feeding device includes an a-stem sheet feeding device, a B1-stem sheet feeding device, a B2-stem sheet feeding device, a C-stem 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-stem feeding bin, a B1-stem feeding bin, a B2-stem feeding bin, a C-stem feeding bin, a D-yoke feeding bin, and an E-yoke feeding bin, and the a-stem sheet feeding device, the B1-stem sheet feeding device, the B2-stem sheet feeding device, and the C-stem sheet feeding device are each provided with a truss with two parallel rails through a post, and a moving beam spanning 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 movable beam is provided with an independent walking device, the movable device between the vertical beams and the movable beam, and the upper and lower power devices of the vertical beams are driven by servo motors.
In a preferred embodiment, the column slice fine positioning device and the yoke slice 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 and a positioning block arranged on one side between the two barrier strips, which 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 strip direction; in an initial state, the distance between the two barrier strips is larger than the width of the processed silicon steel sheet; the two barrier strips are provided with synchronous driving devices which drive the two barrier strips to move towards the inner sides of the two barrier strips, and the positioning blocks are provided with pushing driving devices which drive the two barrier strips to move towards the barrier strips.
When the processed silicon steel sheet is placed between the two barrier strips through the manipulator, the synchronous driving device drives the two barrier strips to move inwards to press two sides of the processed silicon steel sheet, the pushing driving device drives the positioning block to move towards the barrier strips (silicon steel sheets), one side of the silicon steel sheet is positioned in the groove of the positioning block, the silicon steel sheet is pushed to a set position, accurate positioning of the silicon steel sheet is achieved, and then the manipulator takes sheets, 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 frame below 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 a bearing support for supporting the screw rods; the mounting bottom plate is provided with a positioned translation sliding rail, and the translation sliding rail is provided with a movable sliding block matched with the translation sliding rail; the two synchronous transmission screw rods are respectively provided with a matched nut conversion piece in a transmission way, the nut conversion pieces are fixed with the movable sliding block, and the two nut conversion pieces are respectively fixedly connected with two blocking strips in the positioning combination; the two barrier strips are respectively a movable barrier strip and a static barrier strip, one nut conversion piece 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 in use, the synchronous servo motor is positively transmitted to drive the synchronous transmission belt to transmit, the two synchronous transmission belt wheels are rotated to drive the two synchronous transmission screw rods to rotate, and the nut conversion parts respectively drive the corresponding baffle strips to move inwards to press two sides of the processed silicon steel sheet, so that the silicon steel sheet is transversely positioned. 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. Because of adopting the structure of the movable stop bar and the static stop bar, in the mode, when the synchronous servo motor positively transmits, the synchronous transmission belt is driven to transmit, the two synchronous transmission belt pulleys are driven to rotate, the two synchronous transmission screw rods are driven to rotate, and because the thread directions of the two synchronous transmission screw rods are opposite, the nut conversion parts respectively drive the corresponding stop bars to move inwards, when the stop bars move to the set positions, the synchronous servo motor stops working, the static stop bar is used as a positioning backing of the silicon steel sheet, the air cylinder is pushed to work, the output shaft of the air cylinder is ejected, the movable stop bar is driven to move inwards, and the silicon steel sheet is transversely positioned.
In a preferred embodiment, the pushing and pressing driving device is a pushing and pressing servo motor, a transmission nut is connected below 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 and pressing servo motor. When the positioning block is used, the positioning block moves back and forth through forward and reverse rotation of the pushing servo motor.
In a preferred embodiment, the three sets of positioning combinations of the column slice fine positioning devices and the two sets of positioning combinations of the yoke slice fine positioning devices; the synchronous driving device simultaneously drives the barrier bars of each positioning combination to move, and the pushing driving device simultaneously drives the positioning blocks of each positioning combination to move.
The post piece fine positioning device and the yoke piece fine positioning device carry out shaping and accurate positioning on the positions, the intervals and the like of the silicon steel sheets, ensure the stacking precision and the quality during the stacking of the silicon steel sheet iron cores in the next working procedure, and have high automation level, thereby ensuring the attractive appearance of the iron cores and the stability of the quality of the transformer.
The column sheet moving manipulator, the column sheet stacking manipulator, the yoke sheet moving manipulator and the yoke sheet stacking manipulator comprise a row frame, a row arch is arranged on the row frame, a sliding rail is arranged on the row arch, the upper part of each manipulator is a transverse sliding plate and a lower jig bottom plate, the transverse sliding plate is connected with the jig bottom plate through a supporting column, the transverse sliding plate can move back and forth on the sliding rail, a power driving device is arranged on the transverse sliding plate, and the power driving device controls and drives the transverse sliding plate to move back and forth on the sliding rail; the jig base plate of the column slice moving manipulator and the column slice stacking manipulator is provided with three rows of slice taking and placing tool devices; the yoke slice moving manipulator and the yoke slice stacking manipulator are provided with two rows of slice taking and placing tool devices; the sheet taking and placing tool device comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a bracket is connected below a bottom plate of the jig, an air cylinder is arranged on the bracket, and an output shaft of the air cylinder is connected with the fixing plate.
The transformer silicon steel sheet is usually provided with an upper yoke and a lower yoke, wherein the upper yoke and the lower yoke adopt two rows of sheet taking and placing tool devices; three rows of sheet taking and placing tool devices are adopted for the iron cores of the three columns; four rows of sheet taking and placing tool devices are adopted for the iron cores of the four columns; the iron core of five posts adopts five rows of to get and put piece tool device. The silicon steel sheets are synchronously laminated to corresponding positions through the movement of the transverse sliding plate on the travelling arch and the picking and placing tool device under the bottom plate of the jig.
In a preferred embodiment, the tablet picking and placing tool device of the column tablet stacking manipulator further comprises a fixing plate and a tablet picking sucker arranged below the fixing plate, a bracket is arranged below the bottom plate of the jig, a cylinder is arranged on the bracket, and an output shaft of the cylinder is connected with the fixing plate; the device is provided with a synchronous driving device, the synchronous driving device can drive the left and right sheet discharging, taking and placing tool device to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous pulleys, a motor fixing plate is arranged on a jig bottom plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is arranged on the pair of synchronous pulleys, a rotating shaft of the synchronous motor is connected with a central shaft of one synchronous pulley, a central shaft of the other synchronous pulley 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, and the synchronous screw rods are connected with a bearing seat for supporting the screw rods; and the two synchronous screw rods are respectively provided with a nut conversion block in a matched mode, the nut conversion blocks are respectively fixed with the left bracket and the right bracket, and the middle bracket is connected with the bottom plate of the jig.
Of course, the column sheet moving manipulator can also adopt the same structure, the structure is used for lamination of three core column sheets of A, B, C silicon steel sheets which are iron cores 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 silicon steel sheets of each core column to be in a design position with the laminated iron cores; according to the invention, the A, B, C silicon steel sheets subjected to fine positioning are sequentially transferred to the automatic lamination table through the stacking manipulator, and lamination is carried out layer by layer, 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 respectively under the rotation of the synchronous screw rods, the left and right supports connected with the synchronous motor can move back and forth inwards and outwards, and the left and right sheet taking and placing tool device moves inwards and outwards. The structure is used for lamination of iron core silicon steel sheets of three columns of a transformer iron core A, B, C, the silicon steel sheets of a middle column B are fixed positions, the silicon steel sheets of left and right core columns are used for a synchronous motor to drive a sheet taking and placing tool device on the left side and the right side to move inwards and outwards synchronously, and according to design requirements, the design position of the iron core silicon steel sheets of the three columns A, B, C is achieved.
In a preferred embodiment, the device for picking and placing the wafer of the yoke stacking manipulator comprises a fixed plate and a wafer picking chuck arranged below the fixed plate, a bracket is arranged below a bottom plate of the jig, a cylinder is arranged on the bracket, and an output shaft of the cylinder is connected with the fixed plate; the device 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 pulleys, a motor fixing plate is arranged on a jig bottom plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is arranged on the pair of synchronous pulleys, a rotating shaft of the synchronous motor is connected with a central shaft of one synchronous pulley, the central shaft of the other synchronous pulley is respectively connected with a synchronous screw rod, and the synchronous screw rod is connected with a bearing seat for supporting the screw rod; one row of brackets of the sheet taking and placing tool devices are connected with the bottom plate of the jig, and the other row of brackets of the sheet taking and placing tool devices are 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 yoke sheet moving manipulator can also adopt the same structure. 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 bracket connected with the nut conversion block can move back and forth inwards and outwards, and the sheet discharging and placing tool device moves inwards and outwards. The structure is used for lamination of 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 synchronously moving a sheet taking and placing tool device of the synchronous motor inwards and outwards, and the design position of the iron core silicon steel sheets of the upper and lower yokes of D, E is reached according to design requirements.
In a preferred embodiment, two parallel sliding rails are arranged on the travelling arch, a sliding block assembly is arranged between the travelling slide plate and the sliding rails, the power driving device on the travelling slide plate comprises a servo motor with a speed reducer, a speed reducer adapter plate is arranged on the travelling slide 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 travelling arch, and the servo motor works and can drive the travelling slide plate to move back and forth on the sliding rails.
In a preferred embodiment, the front and rear ends of the traverse slide are respectively provided with an anti-collision conversion block, the anti-collision conversion block is provided with an anti-collision rubber head, and the front and rear ends of the rack or the slide rail of the traverse slide are respectively provided with a proximity switch. Through the movement of the horizontal sliding plate on the traveling arch and the picking and placing tool device under the bottom plate of the jig, the silicon steel sheets are synchronously laminated to the corresponding positions, and the problem of accurate positioning of complex grabbing and placing actions in the lamination process is solved, so that the purpose of automatic lamination is achieved. Therefore, manual lamination is replaced, lamination is tidy, the steel sheets to be laminated are positioned accurately, the yield of the iron core is improved, and the quality of the transformer is stable; synchronous lamination of core column silicon steel sheets or iron core silicon steel sheets of an upper yoke and a lower yoke is realized, and lamination precision and lamination efficiency are improved.
The beneficial effects of the invention are as follows:
1. The production efficiency is obviously improved, and the lamination cost is reduced. Through the research and development of the automatic lamination robot of the transformer iron core, the lamination efficiency is improved, and the lamination cost is reduced. When the products are produced in batches, the automatic lamination robot can continuously produce for 24 hours, the problem that the lamination precision is not high when the manual lamination is insufficient at night can be solved, and the utilization rate and the production efficiency of the production time are improved.
2. The high quality rate of the product is improved. The stacking precision is higher, and the high-quality rate of products is improved; meanwhile, when the automatic lamination robot runs for a long time or overtime, the advantage is more obvious compared with that of manual lamination, the lamination quality is stable, and the error probability is far lower than that of the manual lamination, so that the appearance of the iron core is attractive, the stability of the quality of the transformer is ensured, and the quality of a product can be ensured.
3. The resource utilization rate is improved. By using the production line provided by the invention, one worker can simultaneously watch a plurality of devices, so that a great deal of manpower resources are saved, and labor cost is reduced. In addition, the invention has simple operation and maintenance, and the common workers can be trained to operate in about half a day of training, thereby greatly saving the training time and 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 automated lamination station according to an embodiment of the invention;
FIG. 4 is a perspective view of a yoke conveying device according to an embodiment of the present invention;
FIG. 5 is a perspective view of an embodiment of the present invention with the pallet mount removed;
FIG. 6 is a perspective view of a servo pull arm of a yoke conveying device according to an embodiment of the present invention;
FIG. 7 is a perspective view of a column slice transport apparatus according to an embodiment of the present invention;
FIG. 8 is a perspective view of a yoke fine positioning device according to an embodiment of the present invention;
FIG. 9 is a perspective view of the yoke fine positioning device of the present invention with the mounting plate removed;
FIG. 10 is a perspective view of a mounting base plate of a yoke fine positioning device according to an embodiment of the present invention;
FIG. 11 is a perspective view of a positioning block of a yoke fine positioning device according to an 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 part B of FIG. 11 in accordance with an embodiment of the present invention;
FIG. 14 is a perspective view of a column slice accurate positioning device according to an embodiment of the present invention;
FIG. 15 is a perspective view of a deadband in accordance with an embodiment of the present invention;
FIG. 16 is a perspective view of a gear bar embodying the present invention;
FIG. 17 is a side view of an embodiment of the present invention;
FIG. 18 is a perspective view of an embodiment of the present invention;
FIG. 19 is a perspective view of a column slice stacking robot according to an embodiment of the present invention;
FIG. 20 is a perspective view of a bottom plate of a column slice stacking robot tool according to an embodiment of the present invention;
FIG. 21 is a perspective view of a mounting top plate of a column slice stacking robot in accordance with an embodiment of the present invention;
FIG. 22 is a perspective view of a yoke stacking robot according to an embodiment of the present invention;
fig. 23 is a perspective view of a yoke stacking robot jig base plate according to an embodiment of the present invention.
The reference numerals in the drawings are as follows: 1 automatic lamination table, 2 column sheet fine positioning device, 201 column sheet moving manipulator, 202 column sheet stacking manipulator, 203 rack, 204 mounting top plate, 205 stop bar, 206 positioning block, 207 groove, 208 mounting bottom plate, 209 synchronous servo motor, 210 synchronous drive belt, 211 output belt pulley, 212 synchronous drive belt pulley, 213 synchronous drive screw, 214 bearing support, 215 translation slide rail, 216 moving slide block, 217 nut conversion piece, 218 movable stop bar, 219 static stop bar, 220 pushing cylinder, 221 pushing servo motor, 222 driving nut, 223 driving screw, 3 yoke sheet fine positioning device, 301 yoke sheet moving manipulator, 302 yoke sheet stacking manipulator, 303 row rack, 304 row arch, 305 slide rail, 306 horizontal slide plate, 307 jig bottom plate, 308 picking and placing tool device, 309 fixing plate, 310 picking and sucking disc, 311 support, 312 cylinder, 313 synchronous drive device, 314 synchronous motor, 315 synchronous belt 316 synchronous pulley, 317 motor fixed plate, 318 synchronous lead screw, 319 bearing seat, 320 nut conversion block, 321 sliding block assembly, 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 pulling arm, 505 synchronous gear, 506 synchronous belt, 507 slideway, 508 sliding block, 509 synchronous belt traction block, 510 supporting frame, 511 sucker cylinder, 512 vacuum sucker fixing frame, 513 vacuum sucker, 514 supporting plate fixing frame, 515 supporting plate, 516 gap, 517 servo motor, 518 block, 519 buffer rubber head, 6 feed bin, 601A column feed bin, 602B1 column feed bin, 603B2 column feed bin, 604C column feed bin, 605D yoke feed bin, 606E yoke feed bin, 7 sheet feeding device, 701A core column sheet feeding device, 702B1 core column sheet feeding device, 703B2 core column sheet feeding device, 704C core column sheet feeding device, 705D yoke sheet feeding device, 706E yoke sheet feeding device, 707 column, 708 truss, 709 moving beam, 710 vertical beam, 711 sheet feeding manipulator and 8 silicon steel sheet.
Detailed Description
The present invention will be described in detail with reference to the drawings of fig. 1 to 23.
In the embodiment, a three-phase transformer is taken as an example, A, B, C silicon steel sheets are respectively three core columns of an iron core, wherein B silicon steel sheets are middle columns; D. e silicon steel sheets are respectively an upper yoke and a lower yoke.
Referring to fig. 1 and 2, the automatic stacking production line for the transformer core comprises an automatic stacking table 1 for the transformer core, wherein a post fine positioning device 2 and a yoke fine positioning device 3 are respectively arranged on two sides of the automatic stacking table 1, the post fine positioning device 2 is connected with a post conveying device 4, the yoke fine positioning device 3 is connected with a yoke conveying device 5, and supply bins 6 for storing corresponding silicon steel sheets 8 are respectively arranged at the initial ends of the post conveying device 4 and the yoke conveying device 5; the device comprises a sheet feeding device 7, wherein the sheet feeding device 7 can feed silicon steel sheets 8 of each feed bin 6 to the initial ends of the corresponding column sheet conveying device 4 and yoke sheet conveying device 5; each of the column sheet conveying device 4 and the yoke sheet conveying device 5 can move the silicon steel sheet 8 at the start end to the corresponding 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 positioned between an A silicon steel sheet conveying line 401 and a C silicon steel sheet conveying line 403, the initial end of the B silicon steel sheet conveying line 402 is positioned in front of the initial ends of the A and C silicon steel sheet conveying lines, the tail end of the A, B, C silicon steel sheet conveying line is in butt joint with the column sheet fine positioning device 2, the same-stage A, B, C core column silicon steel sheets which are arranged in parallel at the tail end of the A, B, C silicon steel sheet conveying line are conveyed to the column sheet fine positioning device 2 through a column sheet moving manipulator 201; the above-mentioned yoke piece conveyor 5 includes parallel arrangement's D silicon steel sheet transfer chain 501 and E silicon steel sheet transfer chain 502, and the initial ends of D, E silicon steel sheet transfer chain are located the left and right sides position of yoke piece fine positioning device 3 one side respectively, and the end of D silicon steel sheet transfer chain 501 and E silicon steel sheet transfer chain 502 is located yoke piece fine positioning device 3 one side, and the end parallel arrangement's of conveying D, E silicon steel sheet transfer chain same level D, E yoke piece silicon steel sheet is passed through yoke piece and is moved piece manipulator 301 and is sent on the yoke piece fine positioning device 3. The supply bin 6 comprises an A-column supply bin 601, a B-column supply bin, a C-column supply bin 604, a D-yoke supply bin 605 and an E-yoke supply bin 606, the B-column supply bin comprises a B1-column supply bin 602 and a B2-column supply bin 603, and the A-column supply bin 601, the C-column supply bin 604, the D-yoke supply bin 605 and the E-yoke supply bin 606 are respectively positioned at 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 feed bin 602 and the B2 column feed bin 603 are respectively located at the left and right sides of the start end of the B silicon steel sheet conveying line 402.
A column sheet moving manipulator 201 and a column sheet stacking manipulator 202 are arranged between the automatic lamination table 1 and the column sheet conveying device 2, and a yoke sheet moving manipulator 301 and a yoke sheet stacking manipulator 302 are arranged between the automatic lamination table 1 and the yoke sheet conveying device 3;
the column slice moving manipulator 201 can simultaneously send each core column silicon steel sheet 8 of the same stage at the tail end of the corresponding column slice conveying device 4 to the column slice fine positioning device 2, and the column slice fine positioning device 2 can position the positions of the core column silicon steel sheets 8 of the same stage to be the design positions of the laminated iron cores; the yoke sheet moving manipulator 301 can send the corresponding silicon steel sheets 8 of the upper and lower yokes of the same level at the tail end of the yoke sheet conveying device 5 to the yoke sheet fine positioning device 3, and the yoke sheet fine positioning device 3 can position the silicon steel sheets 8 of the upper and lower yokes of the same level to be the design position of the laminated iron core; the column sheet stacking manipulator 202 and the yoke sheet stacking manipulator 302 can respectively move the precisely positioned core column silicon steel sheets and the upper and lower yoke silicon steel sheets to the automatic lamination table 1, so as to realize automatic lamination of the iron core.
Referring to fig. 4 to 7, the A, B, C, D, E silicon steel sheet conveying line comprises a conveying frame 503, a servo drawing arm 504 is arranged on the conveying frame 503, synchronous gears 505 are arranged at two ends of the servo drawing arm 504, and a synchronous belt 506 parallel to the drawing arm 504 is sleeved between the two synchronous gears 505; the pulling arm 504 is provided with a slide way 507, and the slide way 507 is provided with a slide block 508 matched with the slide way 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 supporting frame 510 is arranged on the sliding block 508, a sucker cylinder 511 is arranged on the supporting 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 driving means; 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 above the vacuum chuck fixing frame 512, a gap 516 is formed in the middle of the supporting plate 515, the vacuum chuck 513 is located below the supporting plate 515 in an initial state of the chuck cylinder 511, 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 vacuum chuck is operated, the vacuum chuck 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 chuck 513 is operated, the vacuum chuck 513 tightly sucks the silicon steel sheet 8, the driving device is operated to drive the synchronous gear 505 to rotate, the synchronous gear 505 drives the synchronous belt 506 to rotate, the synchronous belt traction block 509 sleeved on the synchronous belt 506 moves forwards, the sliding block 508 moves forwards on the sliding way 507, the supporting frame 510 on the sliding block 508 moves forwards to drive the silicon steel sheet 8 on the vacuum chuck 513 to move forwards, when the silicon steel sheet 8 reaches the other end of the supporting plate 515, the vacuum chuck 513 decompresses, the output shaft of the suction chuck cylinder 511 contracts, the vacuum chuck 513 is positioned below the supporting plate 515, the silicon steel sheet 8 is attached to the supporting plate 515, the sheet taking manipulator conveys the silicon steel sheet 8 to the next procedure, and simultaneously, the driving device is operated in the opposite direction to drive the synchronous gear 505 to rotate in the opposite direction, and the vacuum chuck 513 returns to the starting end of the supporting plate 515 to convey the 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 conveying by adopting a conveying belt mode, and the problems of inaccurate conveying position and large impact force are avoided.
The driving device in this embodiment is a servo motor 517 with a speed reducer; two or more suction cup air cylinders 511 are arranged on the support frame 510, each suction cup air cylinder 511 is provided with a vacuum suction cup fixing frame 512, and two or more vacuum suction cups 513 are arranged on the vacuum suction cup fixing frame 512; the left end and the right end of the drawing arm 504 are respectively provided with a drawing limit stop block 518, and the stop block 518 is provided with a buffer rubber head 519; the sliding block 508 is connected with the synchronous belt traction block through a sliding block switching block, and a proximity switch is arranged on the sliding block switching block.
Referring to fig. 17 to 23, the sheet feeding device 7 includes an a-pillar sheet feeding device 701, a B1-pillar sheet feeding device 702, a B2-pillar sheet feeding device 703, a C-pillar 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-pillar supply bin 601, a B1-pillar supply bin 602, a B2-pillar supply bin 603, a C-pillar supply bin 604, a D-yoke supply bin 605, and an E-yoke supply bin 606, wherein the a-pillar sheet feeding device 701, the B1-pillar sheet feeding device 702, the B2-pillar sheet feeding device 703, and the C-pillar sheet feeding device 704 are each provided with two trusses 708 of parallel tracks through a column 707, and moving beams 709 that span the two parallel tracks, and both ends of the moving beams 709 are respectively provided with independent running devices to run synchronously along the tracks; the D yoke sheet feeding device 705 and the E yoke sheet feeding device 706 comprise a truss 708 provided with a track through a column 707, a moving beam 709 crossing the track, a vertical beam 710 arranged on the moving beam 709 and vertical to the moving beam 709, and a sheet feeding manipulator 711 arranged on the vertical beam 710 and capable of moving up and down, wherein an independent travelling device of the moving beam 709 is arranged to travel along the track, a travelling 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 tail end of the film feeding manipulator 711 is provided with a special film taking and placing tool device, and the film taking and placing tool device comprises a sucker fixing plate and a material taking sucker arranged below the sucker fixing plate. The independent traveling device of the moving beam 709, the moving device between the vertical beam 710 and the moving beam 709, and the up-and-down power device of the vertical beam 710 are all driven by servo motors. The invention can realize the rapid movement of X, Y and Z directions and the fetching of the silicon steel sheet by the fetching sucker at the tail end of the Z axis, and has flexible movement, no dead angle and high working efficiency. The material taking sucker is connected with the vacuum pump through the air suction pipe, negative pressure is generated through the work of the vacuum pump to suck the silicon steel sheet, the negative pressure is released, and the vacuum sucker loosens the silicon steel sheet. Vacuum pump system: a vacuum two-position three-way electromagnetic valve is arranged on the negative pressure air suction pipe, and is electrified for suction and powered off for deflation
Referring to fig. 8 to 16, the fine positioning device 2 for the column and the fine positioning device 3 for the yoke comprise a frame 203, a mounting top plate 204 is arranged on the frame 203, positioning combinations are arranged on the mounting top plate 204, three positioning combinations of the fine positioning device 2 for the column and two positioning combinations of the fine positioning device 3 for the yoke; the positioning assembly comprises a barrier strip 205 and a positioning block 206 at one side between the two barrier strips 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 the initial state, the distance between the two barrier strips 205 is larger than the width of the processed silicon steel sheet 8; the two barrier strips 205 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 206 is provided with pushing driving devices which drive the barrier strips 205 to move towards the directions. 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 driving belt 210, an output belt pulley 211 and a pair of synchronous driving belt pulleys 212, the synchronous driving belt 210 is arranged on the output belt pulley 211 and the pair of synchronous driving belt pulleys 212, a rotating shaft of the synchronous servo motor 209 is connected with a central shaft of the output belt pulley 211, the central shaft of each synchronous driving belt pulley 212 is connected with a synchronous driving screw 213, the thread directions of the two synchronous driving screw 213 are opposite, and the synchronous driving screw 213 is connected with a bearing support 214 for supporting the synchronous driving screw 213; the mounting bottom plate 208 is provided with a positioned translation sliding rail 215, and the translation sliding rail 215 is provided with a movable sliding block 216 matched with the translation sliding rail; the two synchronous transmission screw rods 213 are respectively provided with an adaptive nut conversion piece 217, the nut conversion piece 217 and the movable sliding block 216 are fixed together, 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, wherein one nut conversion piece 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 combination. The pushing and pressing driving device is a pushing and pressing servo motor 221, a transmission nut 222 is connected below 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 pressing servo motor 221. In use, the positioning block 206 is moved back and forth by pushing forward and reverse rotation of the servo motor 221.
When the processed silicon steel sheet 8 is placed between the two barrier strips 205 through the manipulator, the synchronous driving device drives the two barrier strips 205 to move inwards to press two sides of the processed silicon steel sheet 8, 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 positioned 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, and then the manipulator takes sheets, and the synchronous driving device and the pushing driving device drive the two barrier strips 205 to return to an initial state. When the synchronous servo motor 209 is in use, the synchronous driving belt 210 is driven to drive, the two synchronous driving belt pulleys 212 are driven to rotate, the two synchronous driving screw rods 213 are driven to rotate, and as the thread directions of the two synchronous driving screw rods 213 are opposite, the nut conversion parts 217 respectively drive the corresponding barrier strips 205 to move inwards to press the two sides of the processed silicon steel sheet 8, so that the silicon steel sheet 8 is transversely positioned. On the contrary, when the synchronous servo motor 209 reversely transmits, the synchronous driving belt 210 is driven, and the two barrier strips 205 return to the initial state. Due to the adoption of the structures of the movable stop bar 218 and the static stop bar 219, when the synchronous servo motor 209 is positively transmitted in the mode, the synchronous transmission belt 210 is driven to rotate, the two synchronous transmission belt pulleys 212 are driven to rotate, the two synchronous transmission screw rods 213 are driven to rotate, due to the fact that the thread directions of the two synchronous transmission screw rods 213 are opposite, the nut conversion pieces 217 respectively drive the corresponding stop bars 205 to move inwards, when the stop bars 205 move to the set positions, the synchronous servo motor 209 stops working, the static stop bar 219 serves as a positioning backer of the silicon steel sheet 8, the pushing cylinder 220 is pushed to work, and the output shaft of the static stop bar 219 is pushed out to drive the movable stop bar 218 to move inwards, so that the silicon steel sheet 8 is transversely positioned. The post piece fine positioning device 2 and the yoke piece fine positioning device 3 of the invention carry out shaping and accurate positioning on the positions, the intervals and the like of the silicon steel sheets 8, ensure the stacking precision and the quality during the stacking of the silicon steel sheet iron cores in the next working procedure, and have high automation level, thereby ensuring the attractive appearance of the iron cores and the stability of the transformer quality.
Referring to fig. 19 and 23, each of the column sheet moving robot 201, the column sheet stacking robot 202, the yoke sheet moving robot 301 and the yoke sheet stacking robot 302 includes a row frame 303, a row arch 304 is provided on the row frame 303, a slide rail 305 is provided on the row arch 304, the upper part of each robot is a horizontal sliding plate 306 and a lower jig bottom plate 307, the horizontal sliding plate 306 is connected with the jig bottom plate 307 through a support column, the horizontal sliding plate 306 can move back and forth on the slide rail 305, a power driving device is provided on the horizontal sliding plate 306, and the power driving device controls and drives the horizontal sliding plate 306 to move back and forth on the slide rail 305; the jig base plate 307 of the column sheet moving manipulator 201 and the column sheet stacking manipulator 202 is provided with three rows of sheet taking and placing tool devices 308; the yoke sheet moving manipulator 301 and the yoke sheet stacking manipulator 302 are provided with two rows of sheet picking and placing tool devices 308; the slice taking and placing tool device 308 comprises a fixing plate 309 and a slice taking sucker 310 arranged below the fixing plate 309, a bracket 311 is connected below the jig bottom 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 tablet picking and placing tool device 308 of the tablet stacking manipulator 202 further includes a fixing plate 309 and a tablet picking chuck 310 installed below the fixing plate 309, a bracket 311 is provided below the jig bottom plate 307, a cylinder 312 is provided on the bracket 311, and an output shaft of the cylinder 312 is connected with the fixing plate 309; the synchronous driving device 313 is arranged, the synchronous driving device 313 can drive the left and right sheet 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 pulleys 316, a motor fixing plate 317 is arranged on the 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, the central shaft of the other synchronous pulley 316 is respectively connected with a left synchronous lead screw 318 and a right synchronous lead screw 318, the thread directions of the two synchronous lead screws 318 are opposite, and the synchronous lead screws 318 are connected with a bearing seat 319 for supporting the synchronous lead screws 318; the two synchronous screw rods 318 are respectively provided with a nut conversion block 320 in a matched mode, the nut conversion block 320 is 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 lamination of three core column sheets of A, B, C silicon steel sheets which are iron cores respectively, the column sheet moving manipulator 201 moves the silicon steel sheets 8 at the tail end of the column sheet conveying device 4 to the column sheet fine positioning device 2, and the column sheet fine positioning device 2 positions the positions of the silicon steel sheets of each core column to be the design positions of the laminated iron cores; according to the invention, the post stacking manipulator 202 is used for sequentially transferring the A, B, C precisely positioned silicon steel sheets to the automatic lamination table 1, and laminating layers, so that the automatic lamination of the iron core post is realized.
The synchronous motor 314 works to drive the synchronous pulley 316 to rotate and further drive the two synchronous screw rods 318 to rotate, the two nut conversion blocks 320 can move back and forth on the synchronous screw rods 318 respectively under the rotation of the synchronous screw rods 318, and the left and right brackets 311 connected with the synchronous screw rods can move back and forth inwards and outwards, and the left and right sheet discharging and taking and placing tool device 308 moves inwards and outwards. The structure is used for lamination of iron core silicon steel sheets of three columns of a transformer iron core A, B, C, the silicon steel sheets of a middle column B are fixed positions, the silicon steel sheets of left and right core columns are used for a synchronous motor 314 to drive a sheet taking and placing tool device 308 on the left and right sides to synchronously move inwards and outwards, and the design positions of the iron core silicon steel sheets of the three columns A, B, C are achieved according to design requirements.
Referring to fig. 22 and 23, the picking and placing tool device 308 of the yoke stacking manipulator 302 includes a fixing plate 309 and a picking chuck 310 mounted under the fixing plate 309, a bracket 311 is disposed under the jig bottom plate 307, a cylinder 312 is disposed on the bracket 311, and an output shaft of the cylinder 312 is connected with the fixing plate; the synchronous driving device 313 is arranged, the synchronous driving device 313 can drive one row of the sheet taking and placing 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 the 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 lead screw 318, and the synchronous lead screw 318 is connected with a bearing seat 319 for supporting the synchronous lead screw 318; the bracket 311 of one row of the slice taking and placing tool devices 308 is connected with the jig bottom plate 307, the bracket 311 of the other row of slice taking and placing tool devices 308 is connected with a nut conversion block 320 which is matched with the synchronous screw rod 318, and the nut conversion block 320 is positioned on the synchronous screw rod 318. The yoke sheet moving manipulator 301 of the embodiment of the invention adopts the same structure. The synchronous motor 314 works to drive the synchronous pulley 316 to rotate and further drive the synchronous screw rod 318 to rotate, the nut conversion block 320 can move back and forth on the synchronous screw rod 318 under the rotation of the synchronous screw rod 318, the bracket 311 connected with the synchronous motor can move back and forth inwards and outwards, and the sheet taking and placing tool device 308 moves inwards and outwards. The structure is used for lamination of 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, and the silicon steel sheet of the other core column is used for a synchronous motor 314 to drive a sheet taking and placing tool device 308 of the synchronous motor to synchronously move inwards and outwards, so that the design position of the iron core silicon steel sheet of the upper and lower yokes of D, E is reached according to design requirements.
The traveling arch 304 is provided with two parallel sliding rails 305, a sliding block assembly 321 is arranged between the traveling slide plate 306 and the sliding rails 305, a power driving device of the traveling slide plate 306 comprises a servo motor 323 with a speed reducer 322, the traveling 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 traveling arch 304 is provided with a rack 326 matched with the gear 325, and the servo motor 323 works and can drive the traveling slide plate 306 to move back and forth on the sliding rails 305.
The invention greatly improves the lamination efficiency and reduces the lamination cost.
In terms of production efficiency, the embodiment of the invention takes 10kV transformer iron core lamination as an example, the lamination amount can be 3 according to the working time of 10 hours, 1 worker can simultaneously take care of 4 machines, and 12 workers can finish 8 hours; because the manual lamination needs two people to cooperate, 1 workman is equivalent to original 12 workman, the same production task, personnel have reduced 91.6%. When the products are produced in batches, the automatic lamination robot can continuously produce for 24 hours, the problem that the lamination precision is not high when the manual lamination is insufficient at night can be solved, and the utilization rate and the production efficiency of the production time are improved.
In terms of the 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%. When the automatic lamination robot runs for a long time or overtime, the advantage is more obvious compared with manual lamination, and the product quality can be ensured. The problems that the appearance of the iron core is attractive and even the quality of the transformer is affected due to uneven lamination caused by the fact that people cannot keep concentration all the time are avoided.
In terms of resource utilization rate, the automatic lamination robot is used for production, and one worker can simultaneously watch more than 4 machines, so that a large amount of manpower resources are saved, and labor cost is reduced. The automatic lamination robot is simple to operate and maintain, a common worker can be trained in about 0.5 days of training, a skilled manual lamination worker needs about 7 days to train, and training time and cost of the worker are saved.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover all equivalent structures as modifications within the scope of the invention, either directly or indirectly, as may be contemplated by the present invention.
Claims (9)
1. The automatic stacking production line for the transformer iron cores is characterized by comprising an automatic stacking table for the transformer iron cores, wherein a post fine positioning device and a yoke fine positioning device are respectively arranged on two sides of the automatic stacking table, the post fine positioning device is connected with a post conveying device, the yoke fine positioning device is connected with a yoke conveying device, and the starting ends of the post conveying device and the yoke conveying device are respectively provided with a feed bin for storing corresponding silicon steel sheets;
the device comprises a sheet feeding device, wherein the sheet feeding device can feed silicon steel sheets of all feed bins to the starting ends of a corresponding column sheet conveying device and a 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 sheet moving manipulator and a column sheet stacking manipulator are arranged between the automatic lamination table and the column sheet conveying device, and a yoke sheet moving manipulator and a yoke sheet stacking manipulator are arranged between the automatic lamination table and the yoke sheet conveying device;
The column sheet moving mechanical arm can simultaneously send each core column silicon steel sheet of the same grade 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 positions of the core column silicon steel sheets of the same grade to be the design positions of the laminated iron core; the yoke sheet moving mechanical arm can send the silicon steel sheets of the upper and lower yokes of the same stage 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 of the same stage to be the design position of the laminated iron core; the column sheet stacking manipulator and the yoke sheet stacking manipulator can respectively move the precisely positioned core column silicon steel sheets and the upper and lower yoke silicon steel sheets to an automatic lamination table to realize automatic lamination of the iron core;
The column slice fine positioning device and the yoke slice 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 baffle strip and a positioning block arranged on one side between the two baffle strips, the baffle 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 strip direction; in an initial state, the distance between the two barrier strips is larger than the width of the processed silicon steel sheet; the two barrier strips are provided with synchronous driving devices which drive the two barrier strips to move towards the inner sides of the barrier strips, and the positioning blocks are provided with pushing driving devices which drive the two barrier strips to move towards the barrier strips;
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, wherein 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 a bearing support for supporting the screw rods; the mounting bottom plate is provided with a positioned translation sliding rail, and the translation sliding rail is provided with a movable sliding block matched with the translation sliding rail; the two synchronous transmission screw rods are respectively provided with a matched nut conversion piece in a transmission way, the nut conversion pieces are fixed with the movable sliding block, and the two nut conversion pieces are respectively fixedly connected with two blocking strips in the positioning combination; the two barrier strips are respectively a movable barrier strip and a static barrier strip, one nut conversion piece 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.
2. The automatic stacking production line of the transformer iron core as set forth in claim 1, wherein the pillar sheet conveying device comprises a A, B, C silicon steel sheet conveying line which is 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 initial end of the B silicon steel sheet conveying line is positioned in front of the initial ends of the A and C silicon steel sheet conveying lines, the tail end of the A, B, C silicon steel sheet conveying line is in butt joint with the pillar sheet fine positioning device, and the same-stage A, B, C core pillar silicon steel sheet which is conveyed to the tail end of the A, B, C silicon steel sheet conveying line and is arranged in parallel is conveyed to the pillar sheet fine positioning device through a pillar sheet moving manipulator; the yoke conveying device comprises D, E silicon steel sheet conveying lines which are arranged in parallel, the starting ends of the D, E silicon steel sheet conveying lines are respectively located at the left and right positions of one side of the yoke fine positioning device, the tail ends of the D silicon steel sheet conveying line and the E silicon steel sheet conveying line are located at one side of the yoke fine positioning device, and the same-stage D, E yoke silicon steel sheets which are arranged in parallel and conveyed to the tail ends of the D, E silicon steel sheet conveying lines are conveyed to the yoke fine positioning device through a yoke sheet moving manipulator.
3. The automatic stacking line for transformer cores according to claim 2, wherein the supply bin comprises an a-pillar supply bin, a B-pillar supply bin, a C-pillar supply bin, a D-yoke supply bin and an E-yoke supply bin, the B-pillar supply bin comprises a B1-pillar supply bin and a B2-pillar supply bin, and the a-pillar supply bin, the C-pillar supply bin, the D-yoke supply bin and the E-yoke supply bin are located at the starting end sides 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, respectively; and the B1 column supply bin and the B2 column supply 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 stacking production line for the transformer cores according to claim 3, wherein the A, B, C, D, E silicon steel sheet conveying line comprises a conveying frame, servo drawing arms are arranged on the conveying frame, synchronous gears are arranged at two ends of the servo drawing arms, and a synchronous belt parallel to the drawing arms 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 synchronous belt traction block is sleeved on the traction arm and the synchronous belt; the synchronous belt traction block is connected with the sliding block, a supporting frame is arranged on the sliding block, a sucker cylinder is arranged on the supporting 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 and located on the vacuum chuck fixing frame, a gap is formed in the middle of the supporting plate, the vacuum chuck is located below the supporting plate in the initial state of the chuck cylinder, and when the chuck cylinder works, the vacuum chuck is ejected out of the gap in the middle of the supporting plate.
5. The automatic stacking production line for the transformer cores according to claim 1, wherein the sheet feeding device comprises a truss provided with a track through a stand column, a movable beam which spans the track, a vertical beam which is arranged on the movable beam and is vertical to the movable beam, and a sheet feeding manipulator which is arranged on the vertical beam and can move up and down, wherein the movable beam is provided with an independent running device and runs along the track, the movable device is arranged between the vertical beam and the movable beam, the vertical beam can move back and forth on the movable beam through an up-down power device, a special sheet taking and placing tool device is arranged at the tail end of the sheet feeding manipulator, 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 stacking production line for the transformer cores according to claim 5, wherein the sheet feeding devices comprise an A-core column sheet feeding device, a B1-core column sheet feeding device, a B2-core column sheet feeding device, a C-core column sheet feeding device, a D-yoke sheet feeding device and an E-yoke sheet feeding device which are respectively positioned at positions of an A-core column feed bin, a B1-core column feed bin, a B2-core column feed bin, a C-core column feed bin, a D-yoke feed bin and an E-yoke feed bin, wherein the A-core column sheet feeding device, the B1-core column sheet feeding device, the B2-core column sheet feeding device and the C-core column sheet feeding device are respectively provided with trusses with two parallel tracks through upright posts and movable beams crossing the two parallel tracks, and independent running devices are respectively arranged at two ends of each movable beam to synchronously run along the tracks; the movable beam is provided with an independent walking device, the movable device between the vertical beams and the movable beam, and the upper and lower power devices of the vertical beams are driven by servo motors.
7. The automatic stacking production line for the transformer iron cores according to claim 1, wherein the pole piece moving manipulator, the pole piece stacking manipulator, the yoke piece moving manipulator and the yoke piece stacking manipulator all comprise a row frame, a row arch is arranged on the row frame, a sliding rail is arranged on the row arch, the upper part of each manipulator is a transverse sliding plate and a lower jig bottom plate, the transverse sliding plate is connected with the jig bottom plate through a supporting column, the transverse sliding plate can move back and forth on the sliding rail, a power driving device is arranged on the transverse sliding plate, and the power driving device controls and drives the transverse sliding plate to move back and forth on the sliding rail; the jig base plate of the column slice moving manipulator and the column slice stacking manipulator is provided with three rows of slice taking and placing tool devices; the yoke slice moving manipulator and the yoke slice stacking manipulator are provided with two rows of slice taking and placing tool devices; the sheet taking and placing tool device comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a bracket is connected below a bottom plate of the jig, an air cylinder is arranged on the bracket, and an output shaft of the air cylinder is connected with the fixing plate.
8. The automatic stacking production line for the transformer cores according to claim 7, wherein the sheet taking and placing tool device of the pole piece stacking manipulator further comprises a fixing plate and a sheet taking sucker arranged below the fixing plate, a bracket is arranged below a bottom plate of the jig, a cylinder is arranged on the bracket, and an output shaft of the cylinder is connected with the fixing plate; the device is provided with a synchronous driving device, the synchronous driving device can drive the left and right sheet discharging, taking and placing tool device to move inwards and outwards, the synchronous driving device comprises a synchronous motor, a synchronous belt and a pair of synchronous pulleys, a motor fixing plate is arranged on a jig bottom plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is arranged on the pair of synchronous pulleys, a rotating shaft of the synchronous motor is connected with a central shaft of one synchronous pulley, a central shaft of the other synchronous pulley 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, and the synchronous screw rods are connected with a bearing seat for supporting the screw rods; and the two synchronous screw rods are respectively provided with a nut conversion block in a matched mode, the nut conversion blocks are respectively fixed with the left bracket and the right bracket, and the middle bracket is connected with the bottom plate of the jig.
9. The automatic stacking production line for the transformer cores according to claim 7, wherein 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 bottom plate of the jig, a cylinder is arranged on the bracket, and an output shaft of the cylinder is connected with the fixed plate; the device 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 pulleys, a motor fixing plate is arranged on a jig bottom plate, the synchronous motor is arranged on the motor fixing plate, the synchronous belt is arranged on the pair of synchronous pulleys, a rotating shaft of the synchronous motor is connected with a central shaft of one synchronous pulley, the central shaft of the other synchronous pulley is respectively connected with a synchronous screw rod, and the synchronous screw rod is connected with a bearing seat for supporting the screw rod; one row of brackets of the sheet taking and placing tool devices are connected with the bottom plate of the jig, and the other row of brackets of the sheet taking and placing tool devices are 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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| CN113555207B (en) * | 2021-06-09 | 2023-04-11 | 南通思瑞机器制造有限公司 | Feeding system for silicon steel sheet stacking |
| CN113921262B (en) * | 2021-11-05 | 2023-01-13 | 江苏海川电气制造股份有限公司 | Automatic iron core stacking production line for manufacturing marine transformer |
| CN115331945B (en) * | 2022-09-14 | 2024-11-08 | 江西赣中变压器有限公司 | Transformer core lamination device |
| CN115483019B (en) * | 2022-11-02 | 2023-03-24 | 江苏金佳铁芯有限公司 | Iron core stacking device |
| CN115910585B (en) * | 2022-12-07 | 2024-01-30 | 海安华诚新材料有限公司 | Automatic continuous loading and unloading device for transformer iron cores |
| CN116013679B (en) * | 2023-03-29 | 2023-06-16 | 雄县兴驰电气设备制造有限公司 | Iron core manufacturing and assembling equipment of three-phase transformer |
| CN116692499A (en) * | 2023-05-03 | 2023-09-05 | 海安上海交通大学智能装备研究院 | E-shaped straight seam iron core offline stacking bin |
| 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 |
| 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 |
| CN117038308B (en) * | 2023-08-15 | 2024-09-27 | 海安上海交通大学智能装备研究院 | Material receiving platform for transformer core online shearing and stacking production line |
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