CN113387190A - Silicon steel sheet lamination device - Google Patents
Silicon steel sheet lamination device Download PDFInfo
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- CN113387190A CN113387190A CN202110782981.XA CN202110782981A CN113387190A CN 113387190 A CN113387190 A CN 113387190A CN 202110782981 A CN202110782981 A CN 202110782981A CN 113387190 A CN113387190 A CN 113387190A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G60/00—Simultaneously or alternatively stacking and de-stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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Abstract
The invention discloses a silicon steel sheet lamination device, which relates to the field of silicon steel sheet superposition and comprises the following components: the feeding mechanism comprises a first positioning device, the first positioning device comprises a plurality of first axial positioning columns, the first axial positioning columns correspond to the circumferential holes one by one, and the plurality of first axial positioning columns respectively penetrate through the circumferential holes at different positions; the fine positioning mechanism is used for circumferentially positioning the silicon steel sheet; the blanking mechanism comprises a second positioning device, and the second positioning device comprises a central positioning column matched with the central hole of the silicon steel sheet; the shifting mechanism is used for moving the silicon steel sheet arranged on the first axial positioning column to the fine positioning mechanism; a camera device; the robot arm, camera device and robot arm communication connection, the robot arm is according to the angle of the key slot square opening characteristic adjustment silicon steel sheet that camera device clapped to remove silicon steel sheet to central reference column. This silicon steel sheet lamination device can effectively reduce artifical intensity of labour to improve and stack efficiency.
Description
Technical Field
The invention relates to the field of silicon steel sheet superposition, in particular to a silicon steel sheet lamination device.
Background
The silicon steel sheet is a ferrosilicon soft magnetic alloy with extremely low carbon content and is mainly used for manufacturing iron cores of various transformers, motors and generators. At present, in the application process, the superposition of silicon steel sheets is mainly completed manually, and for one set of products needing to be superposed with 500 silicon steel sheets, the labor intensity of the manual work is high, and the superposition efficiency is low.
Therefore, how to reduce the labor intensity and improve the stacking efficiency is a problem to be solved by those skilled in the art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a silicon steel sheet laminating device, which is used for reducing the labor intensity of workers and improving the stacking efficiency.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a silicon steel sheet lamination device, comprising: the feeding mechanism comprises a first positioning device, the first positioning device comprises a plurality of first axial positioning columns which are used for being matched with circumferential holes in the silicon steel sheet, the first axial positioning columns correspond to the circumferential holes one to one, the first axial positioning columns respectively penetrate through the circumferential holes in different positions to position the silicon steel sheet on the first axial positioning columns, and each first axial positioning column is in sliding connection with the corresponding circumferential hole; the fine positioning mechanism circumferentially positions the silicon steel sheet so as to realize fine positioning of the silicon steel sheet; the blanking mechanism comprises a second positioning device, the second positioning device comprises a central positioning column matched with the central hole of the silicon steel sheet, the shape of the cross section of the central positioning column perpendicular to the axis direction is the same as that of the central hole when the central positioning column is in a positioning state, and the central positioning column penetrates through the central hole; the shifting mechanism is used for moving the silicon steel sheet arranged on the first axial positioning column to the fine positioning mechanism; the camera device is used for shooting the square opening characteristics of the key groove in the silicon steel sheet arranged on the fine positioning mechanism; the robot arm, camera device with robot arm communication connection to will clap keyway square-mouth characteristic transmission to the robot arm on the silicon steel sheet, the robot arm basis according to the keyway square-mouth characteristic adjustment that camera device clapped the angle of silicon steel sheet and will set up in fine positioning mechanism the silicon steel sheet remove extremely the center reference column.
Preferably, the feeding mechanism further comprises a first lifting device, a first rotary driving device, a first supporting plate, a first rotating plate, a first feeding station and a first material taking station, wherein the first lifting device is used for lifting the silicon steel sheet along the axial direction of the first axial positioning column, the first rotating plate is supported on the first supporting plate, the first rotary driving device is in transmission connection with the first rotating plate to drive the first rotating plate to rotate, the number of the first positioning devices is multiple, the multiple first positioning devices are arranged on the first rotating plate along the circumferential direction of the first rotating plate, the first feeding station and the first material taking station are arranged along the circumferential direction of the first rotating plate, the first lifting device is arranged on the first material taking station, when the first positioning device rotates to the first feeding station, the silicon steel sheet is arranged on the first axial positioning column of the first positioning device, and when the first positioning device provided with the silicon steel sheet rotates to the first material taking station, the first lifting device can drive the silicon steel sheet arranged on the first positioning device to slide along the axis direction of the first axial positioning column.
Preferably, the first positioning device further comprises a positioning plate, the positioning plate is arranged on the first rotating plate, the plurality of first axial positioning columns are arranged along the circumferential direction of the positioning plate, each first axial positioning column is perpendicular to the positioning plate and is fixedly connected with the positioning plate, the first lifting device comprises a first supporting table, a first driving motor and a first screw rod, the first supporting table is arranged at the bottom end of the first supporting plate, the first driving motor is arranged in the first supporting table, one end of the first screw rod is in transmission connection with the first driving motor, the other end of the first screw rod can sequentially penetrate through the first supporting plate, the first rotating plate and the positioning plate to abut against the silicon steel sheet, and the first screw rod is in threaded connection with the first supporting plate; the first rotary driving device is a first rotary motor, and an output shaft of the first rotary motor penetrates through the first supporting plate to be connected with the bottom end of the first rotary plate so as to drive the first rotary plate to rotate.
Preferably, the fine positioning mechanism comprises a first linear driving device, a movable positioning block and a plurality of fixed positioning blocks, the movable positioning block and the plurality of fixed positioning blocks are uniformly arranged along the circumferential direction of the silicon steel sheet, the first linear driving device is connected with the movable positioning block, and during fine positioning, the first linear driving device drives the movable positioning block to abut against the silicon steel sheet and pushes the circumferential edge of the silicon steel sheet to abut against each of the fixed positioning blocks.
Preferably, the blanking mechanism further comprises a second lifting device, and the second lifting device is used for driving the second positioning device to move along the axial direction of the central positioning column; the second positioning device further comprises a positioning table and a plurality of second axial positioning columns, the central positioning columns are coaxially arranged with the positioning table and fixedly connected with the positioning table, the second axial positioning columns are arranged along the circumferential direction of the positioning table, the second axial positioning columns are perpendicular to the positioning table and fixedly connected with the positioning table, the second axial positioning columns are arranged along the circumferential direction of the silicon steel sheet, and the second lifting device is used for driving the positioning table to move along the axis direction of the second lifting device.
Preferably, the blanking mechanism further includes a second rotary driving device, a second supporting plate, a second rotating plate, a second feeding station and a second material taking station, the second rotating plate is supported on the second supporting plate, the second rotary driving device is in transmission connection with the second rotating plate to drive the second rotating plate to rotate, the number of the second positioning devices is plural, the plural second positioning devices are arranged on the second rotating plate along the circumferential direction of the second rotating plate, the second feeding station and the second material taking station are arranged along the circumferential direction of the second rotating plate, and the second lifting device is arranged at the second feeding station, when the second positioning device rotates to the second feeding station, the second lifting device can drive the second positioning device to move along the axial direction of the central positioning column, and the silicon steel sheet is arranged on the central positioning column of the second positioning device.
Preferably, the second lifting device comprises a second supporting table, a second driving motor and a second screw rod, the second supporting table comprises a fixed table and a movable table, the fixed table is arranged at the bottom end of the second supporting plate, the movable table penetrates through the second supporting plate and the second rotating plate to abut against the second positioning device, the movable table is connected with the fixed table in a sliding manner, the second driving motor is arranged in the fixed table, one end of the second screw rod is in transmission connection with the second driving motor, the other end of the second screw rod abuts against the movable table, and the second screw rod is in threaded connection with the second supporting plate; the second rotary driving device is a second rotary motor, and an output shaft of the second rotary motor penetrates through the second supporting plate to be connected with the bottom end of the second rotary plate so as to drive the second rotary plate to rotate.
Preferably, the central positioning column is an inflatable shaft, when the central positioning column is in a positioning state, the inflatable shaft is inflated and expanded, and the shape of the cross section of the inflatable shaft perpendicular to the axis direction of the inflatable shaft is the same as that of the central hole.
Preferably, move and carry mechanism includes mounting bracket, second linear driving device, third elevating gear and sucking disc, the sucking disc set up in on the third elevating gear, third elevating gear slidable set up in on the mounting bracket, second linear driving device with the third elevating gear links to each other, in order to drive the third elevating gear slides.
Preferably, the robot arm is a four-axis robot.
Compared with the prior art, the invention has the following technical effects:
the silicon steel sheet lamination device provided by the invention comprises: the feeding mechanism comprises a first positioning device, the first positioning device comprises a plurality of first axial positioning columns which are used for being matched with circumferential holes in the silicon steel sheet, the first axial positioning columns correspond to the circumferential holes one to one, the first axial positioning columns respectively penetrate through the circumferential holes in different positions to position the silicon steel sheet on the first axial positioning columns, and each first axial positioning column is in sliding connection with the corresponding circumferential hole; the fine positioning mechanism circumferentially positions the silicon steel sheet so as to realize fine positioning of the silicon steel sheet; the blanking mechanism comprises a second positioning device, the second positioning device comprises a central positioning column matched with the central hole of the silicon steel sheet, when the blanking mechanism is in a positioning state, the shape of the section of the central positioning column, which is vertical to the axis direction of the central positioning column, is the same as that of the central hole, and the central positioning column penetrates through the central hole; the shifting mechanism is used for moving the silicon steel sheet arranged on the first axial positioning column to the fine positioning mechanism; the camera device is used for shooting the square opening characteristics of the key groove on the silicon steel sheet arranged on the fine positioning mechanism; the robot arm, camera device and robot arm communication connection to transmit the keyway square-mouth characteristic to the robot arm on the silicon steel sheet that will clap, the robot arm is according to the keyway square-mouth characteristic adjustment silicon steel sheet's that camera device clapped angle, and will set up in fine positioning mechanism's silicon steel sheet and remove to central reference column.
In the specific use process, firstly, the silicon steel sheet is placed on a first axial positioning column of a feeding mechanism, the coarse positioning of the silicon steel sheet is completed, then the device starts to work, the silicon steel sheet arranged on the first axial positioning column is moved to a fine positioning mechanism by a transfer mechanism, the fine positioning of the silicon steel sheet is performed, after the fine positioning is completed, the silicon steel sheet is moved to a central positioning column by a mechanical arm, and the angle of the silicon steel sheet is adjusted by the mechanical arm according to the characteristics of the square opening of the key groove on the silicon steel sheet shot by a camera device in the moving process, so that the angles of the stacked silicon steel sheets are consistent, and the silicon steel sheets can be stacked by arranging the silicon steel sheets on the central positioning column. Therefore, the silicon steel sheet lamination device can automatically complete the stacking of the silicon steel sheets, thereby greatly reducing the labor intensity of workers and improving the stacking efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural view of a silicon steel sheet lamination device provided in an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic structural diagram of a feeding mechanism provided in the embodiment of the present invention;
FIG. 4 is a cross-sectional view of FIG. 3;
FIG. 5 is a schematic structural diagram of a fine positioning mechanism provided in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a blanking mechanism provided in the embodiment of the present invention;
FIG. 7 is a cross-sectional view of FIG. 6;
fig. 8 is a schematic structural view of a transfer mechanism provided in an embodiment of the present invention;
fig. 9 is a schematic structural view of a silicon steel sheet according to an embodiment of the present invention.
Description of reference numerals: 100. a silicon steel sheet lamination device; 1. a feeding mechanism; 101. a first positioning device; 1011. a first axial locating column; 1012. positioning a plate; 102. a first rotating plate; 103. a first rotary drive device; 104. a first support plate; 105. a first support table; 106. a first drive motor; 107. a first screw; 2. a fine positioning mechanism; 201. a first linear driving device; 202. a movable positioning block; 203. fixing a positioning block; 3. a blanking mechanism; 301. a second positioning device; 3011. a central positioning column; 3012. a positioning table; 3013. a second axial positioning column; 302. a second rotary drive device; 303. a second support plate; 304. a second rotating plate; 305. a fixed table; 306. a movable table; 307. a second drive motor; 308. a second screw; 4. a transfer mechanism; 401. a mounting frame; 402. a second linear drive; 403. a third lifting device; 404. a suction cup; 5. a robot arm; 6. silicon steel sheets; 601. circumferentially opening a hole; 602. a central bore; 603. a keyway square opening; 7. and a supporting device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a silicon steel sheet laminating device which can reduce the labor intensity of workers and improve the stacking efficiency.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 9, a silicon steel sheet stacking apparatus 100 according to the present embodiment includes: the feeding mechanism 1 comprises a first positioning device 101, wherein the first positioning device 101 comprises a plurality of first axial positioning columns 1011 used for being matched with the circumferential holes 601 on the silicon steel sheet 6, the first axial positioning columns 1011 are in one-to-one correspondence with the circumferential holes 601, the plurality of first axial positioning columns 1011 respectively penetrate through the circumferential holes 601 at different positions so as to position the silicon steel sheet 6 on the first axial positioning columns 1011, and each first axial positioning column 1011 is in sliding connection with the corresponding circumferential hole 601; the fine positioning mechanism 2 is used for positioning the silicon steel sheet 6 in the circumferential direction so as to realize fine positioning of the silicon steel sheet 6; the blanking mechanism 3 comprises a second positioning device 301, the second positioning device 301 comprises a central positioning column 3011 used for being matched with the central hole 602 of the silicon steel sheet 6, when the blanking mechanism is in a positioning state, the shape of the cross section of the central positioning column 3011 perpendicular to the axis direction is the same as that of the central hole 602, and the central positioning column 3011 penetrates through the central hole 602; the shifting mechanism 4 is used for moving the silicon steel sheets 6 arranged on the first axial positioning columns 1011 to the fine positioning mechanism 2; the camera device is used for shooting the characteristics of the key groove square opening 603 arranged on the silicon steel sheet 6 of the fine positioning mechanism 2; the robot arm 5, camera device and robot arm 5 communication connection to the silicon steel sheet 6 that will clap goes up keyway square mouth 603 characteristic and transmits to the robot arm 5, and the robot arm 5 is according to the keyway square mouth 603 characteristic adjustment silicon steel sheet 6's that camera device clapped angle, and will set up in the silicon steel sheet 6 of fine positioning mechanism 2 and move to central reference column 3011. This silicon steel sheet lamination device 100 can accomplish stacking of silicon steel sheet 6 automatically to greatly reduced artifical intensity of labour, and improved and stacked efficiency.
In this embodiment, the specific structure of the photographing device belongs to the prior art, and for example, a CCD photographing device can be selected.
In the present embodiment, the feeding mechanism 1, the fine positioning mechanism 2, the blanking mechanism 3, the transferring mechanism 4, and the robot arm 5 are all disposed on the supporting device 7. What kind of structure specifically chooses for strutting arrangement 7 belongs to prior art, and the structure that plays the supporting role can, for example the support frame.
In this embodiment, as shown in fig. 3-4, the feeding mechanism 1 further includes a first lifting device, a first rotary driving device 103, a first supporting plate 104, a first rotary plate 102, a first feeding station and a first material taking station, the first lifting device is configured to lift the silicon steel sheet 6 along the axial direction of the first axial positioning column 1011, the first rotary plate 102 is supported on the first supporting plate 104, the first rotary driving device 103 is in transmission connection with the first rotary plate 102 to drive the first rotary plate 102 to rotate, the number of the first positioning devices 101 is plural, the plural first positioning devices 101 are disposed on the first rotary plate 102 along the circumferential direction of the first rotary plate 102, the first feeding station and the first material taking station are disposed along the circumferential direction of the first rotary plate 102, and the first lifting device is disposed on the first material taking station, when the first positioning device 101 rotates to the first feeding station, the silicon steel sheet 6 is arranged on the first axial positioning column 1011 of the first positioning device 101, and when the first positioning device 101 provided with the silicon steel sheet 6 rotates to the first material taking station, the first lifting device can drive the silicon steel sheet 6 arranged on the first positioning device 101 to slide along the axial direction of the first axial positioning column 1011.
Further, the first positioning device 101 further includes a positioning plate 1012, the positioning plate 1012 is disposed on the first rotating plate 102, the plurality of first axial positioning columns 1011 are disposed along a circumferential direction of the positioning plate 1012, each of the first axial positioning columns 1011 is perpendicular to the positioning plate 1012 and is fixedly connected to the positioning plate 1012, the first lifting device includes a first supporting platform 105, a first driving motor 106 and a first screw 107, the first supporting platform 105 is disposed at a bottom end of the first supporting plate 104, the first driving motor 106 is disposed inside the first supporting platform 105, one end of the first screw 107 is in transmission connection with the first driving motor 106, the other end of the first screw 107 can sequentially penetrate through the first supporting plate 104, the first rotating plate 102 and the positioning plate 1012 to abut against the silicon steel sheet 6, and the first screw 107 is in threaded connection with the first supporting plate 104; the first rotation driving device 103 is a first rotation motor, and an output shaft of the first rotation motor passes through the first supporting plate 104 and is connected to the bottom end of the first rotation plate 102 to drive the first rotation plate 102 to rotate.
The number of the first positioning devices 101 in the present embodiment is specifically four, but is not limited to four. The number of the first axial positioning columns 1011 is two, but not limited to two. In a specific using process, the four first positioning devices 101 are arranged, two first positioning devices 101 are arranged at a first feeding station, the remaining two first positioning devices 101 are arranged at a first material taking station, the first rotating plate 102 rotates 180 degrees at each time, after the rotation is completed, the two first positioning devices 101 which are arranged at the first feeding station before rotate to the first material taking station to complete material taking operation, and the two first positioning devices 101 which are arranged at the first material taking station before complete material taking rotate to the first feeding station to re-feed. It should be noted that here, feeding refers to disposing the silicon steel sheet 6 on the first axial positioning column 1011, and taking refers to taking down the silicon steel sheet 6 from the first axial positioning column 1011.
In this embodiment, as shown in fig. 5, the fine positioning mechanism 2 includes a first linear driving device 201, a movable positioning block 202, and a plurality of fixed positioning blocks 203, the movable positioning block 202 and the plurality of fixed positioning blocks 203 are uniformly arranged along the circumferential direction of the silicon steel sheet 6, the first linear driving device 201 is connected to the movable positioning block 202, and during fine positioning, the first linear driving device 201 drives the movable positioning block 202 to abut against the silicon steel sheet 6 and pushes the circumferential edge of the silicon steel sheet 6 to abut against each of the fixed positioning blocks 203. In this embodiment, the first linear driving device 201 specifically selects two cylinders, and the number of the fixed positioning blocks 203 is specifically two, but the number of the fixed positioning blocks is not limited to two, and the number of the fixed positioning blocks is determined according to actual needs.
In this embodiment, as shown in fig. 6 to 7, the blanking mechanism 3 further includes a second lifting device, and the second lifting device is configured to drive the second positioning device 301 to move along the axial direction of the central positioning column 3011; the second positioning device 301 further includes a positioning table 3012 and a plurality of second axial positioning columns 3013, the central positioning column 3011 and the positioning table 3012 are coaxially arranged and fixedly connected, the plurality of second axial positioning columns 3013 are arranged along the circumferential direction of the positioning table 3012, each second axial positioning column 3013 is perpendicular to the positioning table 3012 and fixedly connected to the positioning table 3012, the plurality of second axial positioning columns 3013 are arranged along the circumferential direction of the silicon steel sheet 6, and the second lifting device is used for driving the positioning table 3012 to move along the axis direction of the second lifting device.
Further, the blanking mechanism 3 further includes a second rotary driving device 302, a second supporting plate 303, a second rotary plate 304, a second feeding station and a second material taking station, the second rotary plate 304 is supported on the second supporting plate 303, the second rotary driving device 302 is in transmission connection with the second rotary plate 304 to drive the second rotary plate 304 to rotate, the number of the second positioning devices 301 is plural, the plurality of the second positioning devices 301 are arranged on the second rotary plate 304 along the circumferential direction of the second rotary plate 304, the second feeding station and the second material taking station are arranged along the circumferential direction of the second rotary plate 304, and the second lifting device is arranged on the second feeding station, when the second positioning device 301 rotates to the second feeding station, the second lifting device can drive the second positioning device 301 to move along the axial direction of the central positioning column 3011, and the silicon steel sheet 6 is disposed on the central positioning column 3011 of the second positioning device 301.
Further, the second lifting device comprises a second supporting table, a second driving motor 307 and a second screw 308, the second supporting table comprises a fixed table 305 and a movable table 306, the fixed table 305 is arranged at the bottom end of the second supporting plate 303, the movable table 306 penetrates through the second supporting plate 303 and the second rotating plate 304 to abut against the second positioning device 301, the movable table 306 is connected with the fixed table 305 in a sliding manner, the second driving motor 307 is arranged inside the fixed table 305, one end of the second screw 308 is in transmission connection with the second driving motor 307, the other end of the second screw 308 abuts against the movable table 306, and the second screw 308 is in threaded connection with the second supporting plate 303; the second rotation driving device 302 is a second rotation motor, and an output shaft of the second rotation motor passes through the second supporting plate 303 and is connected to the bottom end of the second rotation plate 304 to drive the second rotation plate 304 to rotate.
In the present embodiment, the number of the second positioning devices 301 is specifically four, but not limited to four, and each of the second positioning devices 301 includes four second axial positioning posts 3013, which is also not limited to four. A plurality of second axial positioning posts 3013 of each second positioning device 301 are all disposed along the circumferential edge of the silicon steel sheet 6, and the second axial positioning posts 3013 are used for assisting in positioning the silicon steel sheet 6. In a specific use process, two of the four second positioning devices 301 are located at the second feeding station, the remaining two second positioning devices 301 are located at the second material taking station, the second rotating plate 304 rotates 180 degrees each time, after the rotation is completed, the two second positioning devices 301 located at the second feeding station before rotate to the second material taking station to complete the material taking operation, and the two second positioning devices 301 located at the second material taking station before complete the material taking rotate to the second feeding station to re-feed. It should be noted that here, feeding refers to arranging the silicon steel sheet 6 on the central positioning column 3011, and taking refers to taking down the silicon steel sheet 6 from the central positioning column 3011.
In this embodiment, the central positioning column 3011 is an inflatable shaft, and when in a positioning state, the inflatable shaft inflates and expands, and the cross-sectional shape of the inflatable shaft perpendicular to the axial direction thereof is the same as the shape of the central hole 602.
In this embodiment, as shown in fig. 8, the transferring mechanism 4 includes a mounting frame 401, a second linear driving device 402, a third lifting device 403, and a suction cup 404, wherein the suction cup 404 is disposed on the third lifting device 403, the third lifting device 403 is slidably disposed on the mounting frame 401, and the second linear driving device 402 is connected to the third lifting device 403 to drive the third lifting device 403 to slide. In this embodiment, specifically, the second linear driving device 402 and the third lifting device 403 both use air cylinders, and the number of the transfer mechanisms 4 is specifically two. In the specific use process, the silicon steel sheet 6 is adsorbed and released by the suction cup 404 to complete the movement of the silicon steel sheet 6, and how the suction cup 404 adsorbs and releases the silicon steel sheet 6 belongs to the prior art and is not described herein again.
In the present embodiment, the robot arm 5 is a four-axis robot. The robot arm 5 is not limited to a four-axis robot, and here, only an example is described, and a configuration may be adopted in which the silicon steel sheet 6 provided in the fine positioning mechanism 2 is moved to the center positioning column 3011, and the angle of the silicon steel sheet 6 is adjusted according to the feature of the key groove square opening 603 photographed by the image pickup device. In the present embodiment, the number of the four-axis robots is two, but is not limited to two.
In this embodiment, silicon steel sheet lamination device 100 still includes the PLC controller, and camera device, robotic arm 5 all with PLC controller communication connection, in the concrete use, gather the image through camera device to give the PLC controller for, through the comparison, the PLC controller gives the instruction, and robotic arm 5 compensates angular rotation according to the instruction that the PLC controller sent.
The basic actions of stacking the silicon steel sheets 6 by using the silicon steel sheet stacking device 100 provided by the embodiment are as follows:
a pile of 500 silicon steel sheets 6 is conveyed to a first material taking station through a first feeding station of the feeding mechanism 1;
the sucking disc 404 of the transfer mechanism 4 sucks the single silicon steel sheet 6 to the fine positioning mechanism 2, and the first linear driving device 201 of the fine positioning mechanism 2 acts to push the silicon steel sheet 6 to a precise position;
the four-axis robot sucks the silicon steel sheet 6 from the fine positioning, moves to the position above the CCD photographing device and photographs, and the CCD photographing device commands the four-axis robot to perform compensation angle rotation through the PLC according to the characteristics of the key slot square opening 603 on the silicon steel sheet 6;
the four-axis robot penetrates the silicon steel sheet 6 with good angle compensation into the air expansion shaft, the air expansion shaft is ventilated after being placed, the outer diameter of the air expansion shaft is expanded to a fixed size, and the silicon steel sheet 6 falling into the air expansion shaft at each time is enabled to be located at the same position through appearance extrusion.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. The utility model provides a silicon steel sheet lamination device which characterized in that includes:
the feeding mechanism comprises a first positioning device, the first positioning device comprises a plurality of first axial positioning columns which are used for being matched with circumferential holes in the silicon steel sheet, the first axial positioning columns correspond to the circumferential holes one to one, the first axial positioning columns respectively penetrate through the circumferential holes in different positions to position the silicon steel sheet on the first axial positioning columns, and each first axial positioning column is in sliding connection with the corresponding circumferential hole;
the fine positioning mechanism circumferentially positions the silicon steel sheet so as to realize fine positioning of the silicon steel sheet;
the blanking mechanism comprises a second positioning device, the second positioning device comprises a central positioning column matched with the central hole of the silicon steel sheet, the shape of the cross section of the central positioning column perpendicular to the axis direction is the same as that of the central hole when the central positioning column is in a positioning state, and the central positioning column penetrates through the central hole;
the shifting mechanism is used for moving the silicon steel sheet arranged on the first axial positioning column to the fine positioning mechanism;
the camera device is used for shooting the square opening characteristics of the key groove in the silicon steel sheet arranged on the fine positioning mechanism;
the robot arm, camera device with robot arm communication connection to will clap keyway square-mouth characteristic transmission to the robot arm on the silicon steel sheet, the robot arm basis according to the keyway square-mouth characteristic adjustment that camera device clapped the angle of silicon steel sheet and will set up in fine positioning mechanism the silicon steel sheet remove extremely the center reference column.
2. The silicon steel sheet stacking apparatus according to claim 1, wherein the feeding mechanism further comprises a first lifting device, a first rotary driving device, a first supporting plate, a first rotary plate, a first feeding station and a first material taking station, the first lifting device is configured to lift the silicon steel sheet along an axial direction of the first axial positioning column, the first rotary plate is supported on the first supporting plate, the first rotary driving device is in transmission connection with the first rotary plate to drive the first rotary plate to rotate, the number of the first positioning devices is plural, the plural first positioning devices are disposed on the first rotary plate along a circumferential direction of the first rotary plate, the first feeding station and the first material taking station are disposed along the circumferential direction of the first rotary plate, and the first lifting device is disposed at the first material taking station, when the first positioning device rotates to the first feeding station, the silicon steel sheet is arranged on the first axial positioning column of the first positioning device, and when the first positioning device provided with the silicon steel sheet rotates to the first material taking station, the first lifting device can drive the silicon steel sheet arranged on the first positioning device to slide along the axis direction of the first axial positioning column.
3. The silicon steel sheet laminating apparatus according to claim 2, wherein the first positioning means further comprises a positioning plate, the positioning plate is arranged on the first rotating plate, a plurality of first axial positioning columns are arranged along the circumferential direction of the positioning plate, each first axial positioning column is perpendicular to the positioning plate and is fixedly connected with the positioning plate, the first lifting device comprises a first supporting platform, a first driving motor and a first screw rod, the first supporting platform is arranged at the bottom end of the first supporting plate, the first driving motor is arranged in the first supporting platform, one end of the first screw rod is in transmission connection with the first driving motor, the other end of the first screw rod can sequentially penetrate through the first supporting plate, the first rotating plate and the positioning plate to be abutted against the silicon steel sheet, and the first screw rod is in threaded connection with the first supporting plate; the first rotary driving device is a first rotary motor, and an output shaft of the first rotary motor penetrates through the first supporting plate to be connected with the bottom end of the first rotary plate so as to drive the first rotary plate to rotate.
4. The silicon steel sheet stacking device according to claim 1, wherein the fine positioning mechanism comprises a first linear driving device, a movable positioning block and a plurality of fixed positioning blocks, the movable positioning block and the plurality of fixed positioning blocks are uniformly arranged along the circumferential direction of the silicon steel sheet, the first linear driving device is connected with the movable positioning block, and during fine positioning, the first linear driving device drives the movable positioning block to abut against the silicon steel sheet and pushes the circumferential edge of the silicon steel sheet to abut against each fixed positioning block.
5. The silicon steel sheet stacking apparatus according to claim 1, wherein the blanking mechanism further comprises a second lifting device, and the second lifting device is configured to drive the second positioning device to move along the axial direction of the central positioning column; the second positioning device further comprises a positioning table and a plurality of second axial positioning columns, the central positioning columns are coaxially arranged with the positioning table and fixedly connected with the positioning table, the second axial positioning columns are arranged along the circumferential direction of the positioning table, the second axial positioning columns are perpendicular to the positioning table and fixedly connected with the positioning table, the second axial positioning columns are arranged along the circumferential direction of the silicon steel sheet, and the second lifting device is used for driving the positioning table to move along the axis direction of the second lifting device.
6. The silicon steel sheet stacking apparatus according to claim 5, wherein the blanking mechanism further comprises a second rotary driving device, a second supporting plate, a second rotating plate, a second feeding station and a second material taking station, the second rotating plate is supported on the second supporting plate, the second rotary driving device is in transmission connection with the second rotating plate to drive the second rotating plate to rotate, the number of the second positioning devices is plural, the second positioning devices are arranged on the second rotating plate along the circumferential direction of the second rotating plate, the second feeding station and the second material taking station are arranged along the circumferential direction of the second rotating plate, the second lifting device is arranged at the second feeding station, and when the second positioning device rotates to the second feeding station, the second lifting device can drive the second positioning device to move along the axial direction of the central positioning column, and the silicon steel sheet is arranged on the central positioning column of the second positioning device.
7. The silicon steel sheet laminating apparatus according to claim 6, wherein the second lifting device comprises a second supporting table, a second driving motor and a second screw rod, the second supporting table comprises a fixed table and a movable table, the fixed table is disposed at the bottom end of the second supporting plate, the movable table penetrates through the second supporting plate and the second rotating plate to abut against the second positioning device, the movable table is slidably connected with the fixed table, the second driving motor is disposed inside the fixed table, one end of the second screw rod is in transmission connection with the second driving motor, the other end of the second screw rod abuts against the movable table, and the second screw rod is in threaded connection with the second supporting plate; the second rotary driving device is a second rotary motor, and an output shaft of the second rotary motor penetrates through the second supporting plate to be connected with the bottom end of the second rotary plate so as to drive the second rotary plate to rotate.
8. The silicon steel sheet laminating apparatus according to claim 1, wherein the central positioning column is an air-expansion shaft, and when in a positioning state, the air-expansion shaft is inflated and expanded, and a cross-sectional shape of the air-expansion shaft perpendicular to an axis direction thereof is the same as a shape of the central hole.
9. The silicon steel sheet stacking apparatus according to claim 1, wherein the transfer mechanism comprises a mounting frame, a second linear driving device, a third lifting device and a suction cup, the suction cup is disposed on the third lifting device, the third lifting device is slidably disposed on the mounting frame, and the second linear driving device is connected to the third lifting device to drive the third lifting device to slide.
10. The silicon steel sheet lamination device according to claim 1, wherein the robot arm is a four-axis robot.
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| CN202110782981.XA CN113387190B (en) | 2021-07-12 | 2021-07-12 | Silicon steel sheet lamination device |
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| CN202110782981.XA CN113387190B (en) | 2021-07-12 | 2021-07-12 | Silicon steel sheet lamination device |
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| CN113911761A (en) * | 2021-09-15 | 2022-01-11 | 苏州得一鲜食品科技有限公司 | Automatic tray loading and loading device for food production |
| CN114700723A (en) * | 2022-05-16 | 2022-07-05 | 深圳华数机器人有限公司 | Device for automatically assembling multiple studs on steel sheet at one time |
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| KR20200081903A (en) * | 2018-12-28 | 2020-07-08 | 박준희 | Carrying apparatus for laminating sheets |
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| CN105702445A (en) * | 2016-02-24 | 2016-06-22 | 长沙长泰机器人有限公司 | Automatic laminated sheet assembly method and system |
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|---|---|
| CN113387190B (en) | 2022-11-18 |
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