CN114552903B - Lamination forming method for stator core of high power motor - Google Patents
Lamination forming method for stator core of high power motor Download PDFInfo
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- CN114552903B CN114552903B CN202111622425.2A CN202111622425A CN114552903B CN 114552903 B CN114552903 B CN 114552903B CN 202111622425 A CN202111622425 A CN 202111622425A CN 114552903 B CN114552903 B CN 114552903B
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- 238000003475 lamination Methods 0.000 title claims abstract description 418
- 238000000034 method Methods 0.000 title claims abstract description 73
- 238000004080 punching Methods 0.000 claims abstract description 62
- 230000008569 process Effects 0.000 claims abstract description 45
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 230000007547 defect Effects 0.000 claims description 56
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000007493 shaping process Methods 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 23
- 238000000926 separation method Methods 0.000 claims description 23
- 238000012937 correction Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 230000002950 deficient Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 20
- 238000013316 zoning Methods 0.000 abstract description 3
- 238000012797 qualification Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 14
- 238000010030 laminating Methods 0.000 description 12
- 229910000976 Electrical steel Inorganic materials 0.000 description 5
- 230000008901 benefit Effects 0.000 description 5
- 239000012636 effector Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 239000013072 incoming material Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Processes or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
- H02K15/021—Magnetic cores
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
- Manufacturing Cores, Coils, And Magnets (AREA)
Abstract
According to the high-power motor stator core lamination forming method, the lamination center of the high-power motor stator core is taken as a Z axis, a plurality of automatic lamination and robot lamination devices are arranged around the Z axis of the high-power motor stator core according to the distribution rule of the high-power motor stator core arc lamination, and the ordered automatic lamination and lamination of the high-power motor stator core arc lamination are carried out through the cooperative operation of the plurality of automatic lamination and robot lamination devices, so that the automation operation of the high-power motor stator core lamination process is realized. According to the invention, lamination forming is carried out on the stator core punching sheet of the high-power motor by a plurality of automatic lamination devices and automatic zoning of the robot lamination device, so that the traditional manual lamination production mode is replaced, the production efficiency can be improved, the manual use is reduced, the production cost is reduced, and the production qualification rate is ensured.
Description
Technical Field
The invention relates to a stator core lamination method, in particular to a high-power motor stator core lamination forming method, which can automatically form lamination according to the requirements of motor stator lamination and belongs to the technical field of motor coil manufacture.
Background
The motor manufacturing industry has been developed for over 200 years, and has become an indispensable core and basic industry in modern production and life, is an important ring in national economy, belongs to labor-intensive industry, and has unique advantages for developing motor manufacturing industry in China. In recent years, along with the strong promotion of new energy policies in China, a plurality of domestic motor manufacturers are greatly invested in developing wind power generation and the like, and the motor market and corresponding electromechanical equipment are well developed.
The stator core lamination process is a key process technology in the whole motor manufacturing process, and the production efficiency of the motor is directly determined by the production efficiency of the motor. The conventional manual lamination mode adopted by various manufacturers at present is to manually stack the punched silicon steel sheets on the stator core, and the conventional lamination mode mainly has the following defects:
1. According to different types of motors, a large motor stator is usually stacked by thousands to tens of thousands of silicon steel sheets, and a worker works for tens of hours, so that the efficiency is low, all the silicon steel sheets are conveyed by manpower, the total weight of the silicon steel sheets of the motor stator reaches several tons to tens of tons, and the work labor of the worker is strong;
2. because the types of the motors are various, the types, the sizes and the like of the motor stators are different, so that workers are difficult to control the assembly quality in the lamination process, and defects such as misplacement, multiple sheets, fewer sheets and the like are easy to occur;
3. the silicon steel sheet is easy to collide in the carrying process such as any tool protection, so that various defects are generated;
4. Because workers need to turn around the motor stator core while laminating during lamination, each worker needs a large number of turns and walks for a long distance in a day, and high-intensity labor can damage the health of the workers to a certain extent.
Therefore, aiming at the conditions of high labor intensity and low efficiency at present, each motor production factory hopes to develop a full-automatic lamination machine to replace workers for lamination, and the full-automatic lamination machine has the characteristics of high automation degree, high production efficiency, simplicity and convenience in operation, easiness in maintenance and the like.
Through patent search, no related patent technical literature report has been found, and the closest paper is the related literature, and the related literature has the following several items:
1. The patent number is CN201910858058.2, the name is a full-automatic lamination machine system, and the patent discloses a full-automatic lamination machine system, and belongs to the technical field of full-automatic lamination machines. The utility model provides a full-automatic lamination machine system, get and put system, the spacer is got and is put system, work piece ejection of compact system, robot handling system, stock line body, ion piece equipment system, PLC control box including ion piece feed mechanism, ion piece, get and put system, spacer and get and put system, stock line body, ion piece equipment system quantity and be two sets and link to each other with two PLC control boxes electricity respectively, robot handling system includes two arms and snatchs the frock, snatchs the frock and connects on the arm.
2. The utility model patent number is CN201921600351.0, the name is an automatic lamination robot workstation, this patent discloses an automatic lamination robot workstation, including horizontal joint robot, end effector tongs, unstacking centering platform, location conveyor and electric cabinet, horizontal joint robot install unstacking centering bench on, end effector tongs pass through horizontal joint robot drive, location conveyor and electric cabinet install in one side of unstacking centering platform, this horizontal joint robot, end effector tongs, unstacking centering platform and location conveyor all insert the electric cabinet.
3. The patent number is CN201410823069.4, the name of the patent is an automatic lamination machine and an automatic lamination method, and the patent discloses the automatic lamination machine and the automatic lamination method. The automatic lamination machine comprises an electric control cabinet, a feeding device, a lamination platform, a lamination output device, a lamination robot, a material throwing device, a positioning device and a manipulator system, wherein the lamination output device is arranged around the lamination robot, the lamination platform is arranged on the left side of the lamination robot, the material throwing device is arranged on the left side of the lamination platform, the positioning device is arranged on the left side of the material throwing device, the feeding device is arranged near the positioning device, and the manipulator system is arranged in the middle of the feeding device and the positioning device. The automatic lamination is realized by feeding, taking sheets by a two-axis mechanical arm, positioning by a positioning device, throwing materials and outputting by a lamination output device by a lamination robot.
Through the analysis of the above patent documents, we found that although the lamination machine and lamination method are involved and even some automatic lamination methods and devices are proposed, after careful analysis, it is found that when lamination is performed on large motor electrons, since the lamination is very large, especially around a ring with a very large diameter, these solutions are not applicable, and no improvement is proposed on how to perform automatic lamination on large motor electrons, so the aforementioned problems still exist, and further research is still necessary.
Disclosure of Invention
The invention aims to provide a novel lamination forming method and device for a high-power motor stator core, which aims at overcoming the defect that the lamination forming of the existing high-power motor stator core is lack of automatic lamination and still needs to be completed manually.
In order to achieve the purpose, the invention provides a high-power motor stator core lamination forming method, wherein the lamination center of a high-power motor stator core is taken as a Z axis, a plurality of automatic lamination and robot lamination devices are arranged on the periphery of the Z axis of the high-power motor stator core according to the distribution rule of the high-power motor stator core arc lamination, and the ordered automatic lamination and lamination of the high-power motor stator core arc lamination are carried out through the cooperative operation of the plurality of automatic lamination and robot lamination devices, so that the automation operation of the high-power motor stator core lamination process is realized.
Further, the plurality of automatic slicing and robot lamination devices are arranged on the periphery of the Z axis of the motor stator core, a high-power motor stator core lamination operation bench is manufactured according to the size of the high-power motor stator core, 3-8 automatic slicing and robot lamination devices are uniformly arranged around the periphery of the high-power motor stator core lamination operation bench by taking the Z axis of the high-power motor stator core as the center, each automatic slicing and robot lamination device is respectively responsible for sector area lamination operation of the high-power motor stator core, and the cooperative operation of the plurality of automatic slicing and robot lamination devices is controlled through a control system, so that the automation operation of the whole high-power motor stator core lamination process is completed.
Further, each automatic slicing and robot lamination device is respectively responsible for lamination operation of a sector area of the stator core lamination of the high-power motor, and is in the range of the sector area of the stator core lamination of the high-power motor, and lamination operation technological processes in the stator core lamination process of the high-power motor are automatically completed through a plurality of automatic slicing and robot lamination devices.
Further, the lamination operation process flow in the stator core lamination process automatically completed through the plurality of automatic lamination devices and the robot lamination device is that the automatic lamination devices and the robot of the automatic lamination devices are matched with a high-power motor stator core lamination operation bench together to cooperatively complete all procedures of the automatic lamination devices and the lamination devices in the high-power motor stator core lamination process, including lamination feeding, lamination, visual defect detection, automatic lamination of the robot and shaping of slot sample bars, and the whole automatic operation process of the high-power motor stator core lamination process.
The automatic lamination forming method comprises the steps of sequentially and automatically stacking the punched sheets in an automatic lamination device of the automatic lamination device and the automatic lamination device of a robot according to requirements, conveying the punched sheets to a lamination tool through a feeding device in the automatic lamination device, then conducting lamination by a lamination mechanism of the lamination tool, guaranteeing that the segmented sheets are single sheets, detecting the punched sheets through a detection device in the lamination tool, removing unqualified punched sheets and detection, finally conducting automatic lamination forming on the punched sheets in a determined area through a lamination robot according to requirements and sequences of motor stator lamination by the lamination robot, conducting slot sample rod shaping during lamination, guaranteeing that only one lamination is stacked each time by the lamination robot, and realizing automatic operation of a lamination process of the stator core of the high-power motor.
Further, the detection device in the slicing fixture is used for detecting the punched sheets, a defect visual recognition system is arranged in the slicing device and the robot lamination device, fine defects of the punched sheets are recognized through the defect visual recognition system, the defects of the punched sheets of each piece of the fed material are detected, unqualified punched sheets are picked out, and the defect punched sheets are prevented from being assembled into a motor to influence the quality of the motor.
Further, an automatic teaching system is arranged in the lamination robot, the lamination position of the punching sheets of the lamination robot is adjusted through the automatic teaching system, and the position change caused by the dimensional error of the punching sheets is automatically corrected.
Furthermore, in order to ensure the straightness of the coil inserting groove for shaping the groove sample bar during lamination, the groove sample bar adopts a follow-up structure, the groove sample bar synchronously rises according to the height of the lamination, a vision correction device is added on the robot, the robot automatically adjusts the position and the angle of the lamination according to the placement position of a motor stator, the position is corrected regularly in the lamination process, and the lamination quality of the automatic lamination machine is ensured.
Further, the lamination process flow for automatic lamination forming comprises the following steps of punching sheet feeding, sheet separation, visual defect detection, robot automatic lamination and slot sample rod shaping, wherein the specific operation process steps are as follows:
1) The punching sheet feeding step, namely conveying the stacked punching sheets beside an automatic sheet separation device and a robot sheet separation device, and orderly stacking the punching sheets into a feeding device of the automatic sheet separation device through a carrying device or manually according to requirements;
2) The method comprises the steps of slicing, namely orderly stacking the punched sheets in the feeding device, moving the punched sheets to a slicing tool in an automatic slicing device through a conveying device, performing slicing treatment by a grabbing mechanism of the slicing tool, grabbing the punched sheets from the feeding device by the grabbing mechanism, putting the punched sheets into a lamination positioning device, and detecting the weight of the separated punched sheets through a weight detecting device in the lamination positioning device to ensure that only one punched sheet is sliced each time;
3) The visual defect detection comprises the steps of grabbing a punched sheet from a feeding device by a grabbing mechanism of a slicing fixture, sorting the punched sheet, and then sending the punched sheet to a lamination positioning device at the front end of the slicing fixture, and detecting the punched sheet by a visual defect detection system on the slicing fixture; the visual defect detection system identifies defects based on ultrasonic scanning, when defects appear in scanning, defect punching is removed, and slicing is carried out again by a slicing tool;
4) The robot automatic lamination, namely, the lamination robot automatically performs zoning lamination according to a program according to the placement position of the motor stator core through qualified lamination of visual defect detection;
5) And shaping the slot sample rod, namely correcting the position of the punching sheet in the process of lamination by the slot sample rod at fixed time when the punching sheet is laminated by a robot, so as to ensure the positioning accuracy of the lamination.
The invention also relates to a lamination forming device of the high-power motor stator core, which comprises a stator core lamination operation bench for stacking stator core lamination, wherein the stator core lamination is formed by lamination on the stator core lamination operation bench, a plurality of automatic lamination and robot lamination devices are arranged on the periphery of the stator core lamination operation bench, the plurality of automatic lamination and robot lamination devices surround the lamination center Z axis of the stator core lamination operation bench, are uniformly arranged on the periphery of the stator core lamination operation bench according to the distribution rule of the arc lamination of the stator core lamination, and are used for completing lamination forming of the motor stator core on the stator core lamination operation bench.
Further, the plurality of automatic slicing and robot lamination devices are arranged on the periphery of the stator core lamination operation rack, 3-8 automatic slicing and robot lamination devices are arranged on the periphery of the stator core lamination operation rack of the stator core lamination, 3-8 automatic slicing and robot lamination devices are evenly arranged around the periphery of the stator core lamination operation rack in a ring shape, each automatic slicing and robot lamination device is respectively responsible for one sector area lamination operation of the stator core of the motor, and 3-8 automatic slicing and robot lamination devices are combined to form the whole stator core lamination operation equipment.
The automatic slicing device and the robot lamination device are composed of an automatic slicing device and a robot lamination device, the robot lamination device is located between the automatic slicing device and the stator core lamination operation bench, and stator core punching sheets split by the automatic slicing device are transferred to the stator core lamination operation bench by the robot lamination device to be laminated.
Further, the automatic slicing device comprises a stamping feeding mechanism and an automatic slicing mechanism, wherein the stamping feeding mechanism and the automatic slicing mechanism are arranged on a portal frame type operation platform, the operation platform is arranged on two upright posts of the portal frame, guide rails are arranged on the upright posts, the operation platform is arranged on the guide rails capable of moving up and down, the operation platform can move up and down along the guide rails under the driving of a driving device, and the stamping feeding mechanism and the automatic slicing mechanism are arranged on the operation platform in sequence.
The punching sheet feeding mechanism comprises a feeding plate, the punching sheets to be laminated are stacked on the feeding plate, the feeding plate is arranged on a horizontal guide rail of the operation platform and driven by the driving device to move into the automatic sheet separating device along the horizontal guide rail, and the automatic sheet separating device separates sheets after the punching sheets reach the automatic sheet separating device.
Further, the automatic sheet separating mechanism comprises a sucking disc plate which can move up and down and horizontally, the sucking disc plate is arranged on a sheet separating moving rail of the operation platform through a connecting piece, and after the sucking disc moves up and down to suck the sheet to be laminated, the sucking disc moves horizontally to a sheet positioning device positioned on the inner face of the operation platform, the sheet is placed on a positioning plate of the sheet positioning device, and the sheet is precisely positioned, so that the lamination robot performs lamination.
Further, the sucking disc board on install defect visual identification system, through defect visual identification system discernment to the tiny defect of piece supplied materials, through detecting the defect of every piece supplied materials piece, select unqualified piece, thereby avoid the defect piece to assemble into the motor and influence motor quality.
The robot lamination device is a six-axis operation robot, the front end of the six axes is connected with a punching sucker, the punching sucker picks up the lamination well separated in the automatic lamination mechanism, and the lamination is conveyed to the stator core lamination operation bench for lamination through six-axis rotation.
Further, an automatic teaching system and a vision correction device are arranged in the lamination device of the robot, the lamination position of the lamination robot is adjusted through the automatic teaching system, the position change caused by the dimensional error of the lamination is automatically corrected, the vision correction device guides the robot to automatically adjust the lamination position and angle according to the placement position of the motor stator, and the position can be corrected regularly in the lamination process.
The stator core lamination operation bench comprises a lamination seat, a lamination radial adjusting device and a lamination shaping adjusting device, the lamination diameter of the lamination is adjusted through the lamination radial adjusting device, the lamination position is adjusted through the lamination shaping adjusting device, the lamination accuracy is guaranteed, a plurality of groove sample rod shaping devices are arranged on the stator core lamination operation bench, movable groove sample rods are arranged in the groove sample rod shaping devices, and are synchronously lifted according to the lamination height to guarantee the straightness of an inserting line groove.
Furthermore, the automatic sheet-cutting and robot sheet-stacking device is also provided with a sheet-punching data automatic acquisition device, a statistical device, a sheet-stacking position automatic alignment device, a sheet-falling alarm device, a sheet-sticking alarm device and a material shortage automatic alarm and safety protection device, wherein the sheet-punching data automatic acquisition device, the statistical device, the sheet-stacking position automatic alignment device, the sheet-falling alarm device, the sheet-sticking alarm device, the material shortage automatic alarm and the safety protection device are used for automatically controlling the height of the sheet and realizing intelligent control of the sheet.
The invention has the advantages that:
According to the invention, the conventional manual carrying, lamination, positioning of a placing groove sample rod and other considered operations are changed, when a punching sheet supplier supplies materials, the punching sheets are orderly stacked in a tool according to the requirements, a worker can carry the tool together with the punching sheets to equipment through a labor-saving mechanical arm, then the punching sheets are segmented by a segmentation device of the equipment, so that the possibility of error in manual lamination is avoided when a robot stacks one sheet at a time, the lamination positioning precision of the robot can reach 0.01mm, the lamination positioning precision is greatly higher than that of manual lamination, in order to ensure straightness of a coil inserting groove, the groove sample rod synchronously rises according to the height of the lamination, a vision correction device is added on the robot, the position and the angle of the lamination can be automatically adjusted according to the placement position of a motor stator, the position can be corrected regularly in the lamination process, the lamination quality of an automatic lamination machine is far higher than that of manual lamination by the assurance of the technology, and the manual shaping procedure is saved.
Drawings
FIG. 1 is a schematic diagram of the principles of the present invention;
FIG. 2 is a schematic perspective view of the general structure of one embodiment;
FIG. 3 is a schematic view of a slicing device according to an embodiment of the present invention;
FIG. 4 is a schematic top view of FIG. 4;
FIG. 5 is a schematic side elevational view of FIG. 4;
FIG. 6 is a schematic illustration of a stator stack platform configuration according to an embodiment;
Fig. 7 is a schematic top view of fig. 6.
Detailed Description
The invention will be further elucidated with reference to the drawings and to specific embodiments.
Example 1
A lamination forming device of a high-power motor stator core comprises a stator core lamination operation bench 2 for stacking stator core lamination sheets, wherein the stator core lamination sheets are laminated and formed on the stator core lamination operation bench 2, a plurality of automatic lamination and robot lamination devices 3 are arranged on the periphery of the stator core lamination operation bench 2, the plurality of automatic lamination and robot lamination devices 3 surround a lamination center Z axis 1 of the stator core lamination operation bench, are uniformly arranged on the periphery of the stator core lamination operation bench 2 according to the distribution rule of arc lamination sheets of the stator core lamination sheets, and finish lamination forming of a motor stator core on the stator core lamination operation bench by the plurality of automatic lamination and robot lamination devices 3.
Further, the plurality of automatic sheet-dividing and robot sheet-laminating devices 3 are arranged on the periphery of the stator core sheet-laminating operation bench 2, 3-8 automatic sheet-dividing and robot sheet-laminating devices 3 are evenly arranged around the periphery of the stator core sheet-laminating operation bench 2 in a ring shape, each automatic sheet-dividing and robot sheet-laminating device 3 is respectively responsible for one sector area sheet-laminating operation of a motor stator core, and 3-8 automatic sheet-dividing and robot sheet-laminating devices 3 are combined to form the whole stator core sheet-punching operation equipment.
Further, the automatic slicing and robot lamination device 3 consists of an automatic slicing device 4 and a robot lamination device 5, wherein the robot lamination device 5 is positioned between the automatic slicing device 4 and the stator core lamination operation bench 2, and the robot lamination device 5 transfers stator core punched sheets separated by the automatic slicing device 4 to the stator core lamination operation bench 2 for lamination.
Further, the automatic slicing device 4 comprises a punching sheet feeding mechanism 6 and an automatic slicing mechanism 7, wherein the punching sheet feeding mechanism 6 and the automatic slicing mechanism 7 are arranged on a portal frame type working platform 8, the working platform 8 is arranged on two upright posts 10 of a portal frame 11, guide rails 12 are arranged on the upright posts 10, the working platform 8 is arranged on the guide rails 12 capable of moving up and down, the working platform 8 can move up and down along the guide rails 12 under the driving of a driving device, and the punching sheet feeding mechanism 6 and the automatic slicing mechanism 7 are arranged on the working platform 8 in sequence.
Further, the punching sheet feeding mechanism 6 comprises a feeding plate 13, the punching sheets to be laminated are stacked on the feeding plate 13, the feeding plate 13 is arranged on a horizontal guide rail 14 of the operation platform 8 and driven by a driving device to move into the automatic sheet separating device 4 along the horizontal guide rail 14, and the automatic sheet separating device 4 performs sheet separation after the punching sheets reach the automatic sheet separating device 4.
Further, the automatic sheet separating mechanism 7 comprises a sucking disc plate 15 capable of moving up and down and horizontally, the sucking disc plate 15 is arranged on a sheet separating moving rail 17 of the operation platform 8 through a connecting piece 16, after the sucking disc plate 15 moves up and down to suck sheets to be laminated, the sucking disc plate moves horizontally to a sheet positioning device 18 positioned on the inner surface of the operation platform 8, the sheets are placed on the positioning plate 19 of the sheet positioning device 18, and accurate positioning of the sheets is performed, so that the lamination robot performs lamination.
Further, the suction disc plate 15 is provided with a defect visual recognition system 20, fine defects of the incoming punched sheets are recognized through the defect visual recognition system 20, and unqualified punched sheets are picked out through detecting the defects of the incoming punched sheets of each sheet, so that the defect punched sheets are prevented from being assembled into a motor, and the quality of the motor is prevented from being affected.
Further, the robot lamination device 5 is installed on the inner side surface of the operation platform 8, which is close to the stator core lamination operation bench 2 and is positioned beside the automatic lamination separation mechanism 7, the robot lamination device 5 is a six-axis operation robot, the front end of the six axes is connected with a lamination chuck 21, and the lamination separated in the automatic lamination separation mechanism 7 is picked up by the lamination chuck 21 and is conveyed to the stator core lamination operation bench for lamination through six-axis rotation.
Further, an automatic teaching system and a vision correction device 22 are installed in the lamination device 5 of the robot, the lamination position of the lamination robot is adjusted through the automatic teaching system, the position change caused by the dimensional error of the lamination is automatically corrected, meanwhile, the vision correction device guides the robot to automatically adjust the lamination position and angle according to the placement position of the motor stator, and the position can be corrected regularly in the lamination process.
Further, the stator core lamination operation bench 2 is a circular bench arranged according to the size of a stator core, a plurality of lamination positioning and shaping devices 23 are arranged on the circular bench according to the arc size of a lamination, positioning and shaping are carried out when lamination is carried out through the lamination positioning and shaping devices 23, the stator core lamination operation bench 2 is a circular stator lamination operation platform formed by combining a plurality of arc-shaped sub-platforms, and comprises a lamination seat 24, a lamination radial adjusting device 25 and a lamination positioning and shaping device 23, the lamination diameter size of the lamination is adjusted through the lamination radial adjusting device 25, the position of the lamination when lamination is adjusted through the lamination positioning and shaping device 23, the lamination precision is guaranteed, a plurality of groove sample rod shaping devices 26 are arranged on the stator core lamination operation bench 2, movable groove sample rods 27 are arranged in the groove sample rod shaping devices 26, and can synchronously rise according to the lamination height, and the linearity of a coil inserting groove is guaranteed.
Furthermore, the automatic sheet-dividing and robot sheet-laminating device is also provided with a sheet-punching data automatic acquisition device, a statistics device, a sheet-laminating position automatic alignment device, a sheet-falling alarm device, a sheet-sticking alarm device, a material shortage automatic alarm and a safety protection device (the devices are not shown in the drawing), the sheet-punching data automatic acquisition device, the statistics device, the sheet-laminating position automatic alignment device, the sheet-falling alarm device, the sheet-sticking alarm device, the material shortage automatic alarm and the safety protection device are used for automatically controlling the height of the sheet, and intelligent control of the sheet lamination is realized.
The invention also relates to a forming method of the high-power motor stator core lamination, which is characterized in that the Z axis 1 of the lamination center of the motor stator core is taken as the Z axis, the Z axis of the motor stator core is surrounded according to the distribution rule of the high-power motor stator core arc lamination, a plurality of automatic lamination and robot lamination devices 3 are arranged outside the Z axis of the motor stator core and around the stator core lamination operation bench 2 of the stator core, and the orderly automatic lamination and lamination of the high-power motor stator core arc lamination are carried out through the cooperative operation of the plurality of automatic lamination and robot lamination devices 3, so that the automation operation of the high-power motor stator core lamination process is realized.
The stator core lamination operation bench 2 surrounding the stator core is provided with a plurality of automatic lamination and robot lamination devices 3, wherein the stator core lamination operation bench 2 surrounding the stator core of the high-power motor stator core is manufactured according to the size of the high-power motor stator core, 3-8 automatic lamination and robot lamination devices 3 are uniformly arranged around the periphery of the stator core lamination operation bench 2 surrounding the high-power motor stator core by taking the Z axis of the high-power motor stator core as the center, each automatic lamination and robot lamination device 3 is respectively responsible for lamination operation in a sector area of the high-power motor stator core, and the cooperative operation of the plurality of automatic lamination and robot lamination devices 3 is controlled by a control system to complete the automation operation of the whole lamination process of the high-power motor stator core. Wherein, the cooperative operation and automatic slicing operation of the robot lamination device are controlled by a conventional PLC.
Each automatic slicing and robot lamination device 3 is respectively responsible for lamination operation of a sector area of the stator core of the high-power motor, wherein each automatic slicing and robot lamination device 3 is in the determined sector area range of the stator core lamination of the high-power motor, and lamination operation technological processes in the stator core lamination process are automatically completed through a plurality of automatic slicing and robot lamination devices.
The lamination operation process flow in the stator core lamination process is that the automatic lamination device and the robot of the automatic lamination device 3 are matched with a high-power motor stator core lamination operation bench together to cooperatively complete all procedures of the automatic lamination and lamination in the stator core lamination process, including lamination feeding, lamination, visual defect detection, automatic lamination of the robot and slot sample rod shaping, and the whole stator core lamination process is automated.
The automatic orderly slicing and lamination of the high-power motor stator core arc-shaped stamping sheets are firstly orderly stacked in an automatic slicing device of the automatic slicing and robot lamination device according to requirements, the stamping sheets are conveyed to a slicing tool through a conveying device by a feeding device in the automatic slicing device, then the slicing is carried out by a slicing mechanism of the slicing tool, the sliced sheets are guaranteed to be single sheets, then the stamping sheets are detected by a detecting device in the slicing tool, unqualified stamping sheets and detection are removed, finally the stamping sheets are automatically laminated and formed in a determined area by a lamination robot of the slicing and robot lamination device according to requirements and sequences of motor stator lamination, a sample rod is formed in a slot during lamination, the fact that the lamination robot stacks only one sheet each time is ensured, and the automatic slicing and robot lamination device are cooperated to realize automatic operation of the stator core stamping process.
Further, the detection device in the slicing fixture is used for detecting the punched sheets, a defect visual recognition system is arranged in the slicing device and the robot lamination device, fine defects of the punched sheets are recognized through the defect visual recognition system, the defects of the punched sheets of each piece of the fed material are detected, unqualified punched sheets are picked out, and the defect punched sheets are prevented from being assembled into a motor to influence the quality of the motor.
Further, an automatic teaching system is arranged in the lamination robot, the lamination position of the punching sheets of the lamination robot is adjusted through the automatic teaching system, and the position change caused by the dimensional error of the punching sheets is automatically corrected.
Furthermore, in order to ensure the straightness of the coil inserting groove for shaping the groove sample bar during lamination, the groove sample bar adopts a follow-up structure, the groove sample bar synchronously rises according to the height of the lamination, a vision correction device is added on the robot, the robot automatically adjusts the position and the angle of the lamination according to the placement position of a motor stator, the position is corrected regularly in the lamination process, and the lamination quality of the automatic lamination machine is ensured.
Further, the lamination process flow for automatic lamination forming comprises the following steps of punching sheet feeding, sheet separation, visual defect detection, robot automatic lamination and slot sample rod shaping, wherein the specific operation process steps are as follows:
1) The punching sheet feeding step, namely conveying the stacked punching sheets beside an automatic sheet separation device and a robot sheet separation device, and orderly stacking the punching sheets into a feeding device of the automatic sheet separation device through a carrying device or manually according to requirements;
2) The method comprises the steps of slicing, namely orderly stacking the punched sheets in the feeding device, moving the punched sheets to a slicing tool in an automatic slicing device through a conveying device, performing slicing treatment by a grabbing mechanism of the slicing tool, grabbing the punched sheets from the feeding device by the grabbing mechanism, putting the punched sheets into a lamination positioning device, and detecting the weight of the separated punched sheets through a weight detecting device in the lamination positioning device to ensure that only one punched sheet is sliced each time;
3) The visual defect detection comprises the steps of grabbing a punched sheet from a feeding device by a grabbing mechanism of a slicing fixture, sorting the punched sheet, and then sending the punched sheet to a lamination positioning device at the front end of the slicing fixture, and detecting the punched sheet by a visual defect detection system on the slicing fixture; the visual defect detection system identifies defects based on ultrasonic scanning, when defects appear in scanning, defect punching is removed, and slicing is carried out again by a slicing tool;
4) The robot automatic lamination, namely, the lamination robot automatically performs zoning lamination according to a program according to the placement position of the motor stator core through qualified lamination of visual defect detection;
5) And shaping the slot sample rod, namely correcting the position of the punching sheet in the process of lamination by the slot sample rod at fixed time when the punching sheet is laminated by a robot, so as to ensure the positioning accuracy of the lamination.
The embodiments are described in detail with reference to the drawings, but the embodiments are only a part of embodiments, but not all embodiments, and terms such as "upper", "lower", "front", "rear", "middle", etc. are also used in the description for convenience of description, and are not intended to limit the scope of the invention, but rather to change or adjust the relative relationship without materially changing the technical content. Meanwhile, the structures, proportions, sizes and the like shown in the drawings are only used for being matched with the disclosure of the specification, so that people skilled in the art can know and read the structures, proportions and sizes, and the like, and are not limited by the practical limit conditions of the invention, so that the structure modification, the proportion relation change or the size adjustment do not have any technical significance, and all fall within the scope covered by the technical disclosure of the invention under the condition that the effect and the achieved aim of the invention are not affected. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention has the advantages that:
According to the invention, the conventional manual carrying, lamination, positioning of a placing groove sample rod and other considered operations are changed, when a punching sheet supplier supplies materials, the punching sheets are orderly stacked in a tool according to the requirements, a worker can carry the tool together with the punching sheets to equipment through a labor-saving mechanical arm, then the punching sheets are segmented by a segmentation device of the equipment, so that the possibility of error in manual lamination is avoided when a robot stacks one sheet at a time, the lamination positioning precision of the robot can reach 0.01mm, the lamination positioning precision is greatly higher than that of manual lamination, in order to ensure straightness of a coil inserting groove, the groove sample rod synchronously rises according to the height of the lamination, a vision correction device is added on the robot, the position and the angle of the lamination can be automatically adjusted according to the placing position of a motor stator core, the position can be corrected regularly in the lamination process, the lamination quality of an automatic lamination machine is far higher than that of manual lamination by the assurance of the technology, and the manual shaping procedure is saved. The method has the following advantages:
1) According to the invention, orderly and automatically slicing and laminating are carried out on the arc-shaped stamping sheets of the stator core of the high-power motor by the feeding, slicing, visual defect detection, automatic lamination of a robot and shaping of the slot sample rod, so that the automatic operation of the stamping process of the stator core of the high-power motor is realized.
2) The defect visual recognition system is used for recognizing fine defects of the incoming materials of the punching sheets, and can efficiently and accurately recognize the defects larger than 1.6X1.6mm, and unqualified punching sheets are picked out through defect detection of each piece of incoming materials, so that the defect punching sheets are prevented from being assembled into a motor, and the quality of the motor is prevented from being affected.
3) The robot automatic teaching can save teaching time by a wide margin, owing to the restriction of motor stator structural design and machining precision, the positioning accuracy of motor stator core on hoisting lamination equipment is unlikely to be very high, but the position accuracy requirement of lamination is very high, if relying on manual teaching inefficiency, long time can not satisfy automated production, therefore, I'm company has specially developed robot automatic teaching system, the system includes camera (being equivalent to eyes), control system (being equivalent to brain), robot (being equivalent to hand), whole teaching process is full automatic to be realized, can shorten teaching time to several seconds through research and development automatic teaching system, and can carry out multiple teaching and be used for correcting lamination position in lamination in-process.
4) The slicing mechanism of the full-automatic lamination machine can avoid the phenomenon of adhesion of two slices, and solves the problem of difficult slicing caused by different thicknesses of two sides of the incoming material due to different trimming burrs of the punched slices.
5) Through the design, the groove sample bar of the full-automatic lamination machine can move along with the placement position of the stator, so that the requirement on the positioning precision of the stator is reduced, and the production efficiency is improved.
Meanwhile, along with popularization and application of an automatic production line in motor manufacturing industry, a full-automatic lamination machine gradually replaces a traditional manual lamination production mode, so that the production efficiency can be improved, manual use is reduced, the production cost is reduced, the occupational health of staff is guaranteed, and specific economic benefits are achieved:
1. the full-automatic lamination machine is put into use, the lamination efficiency of 20 workers can be improved by more than one time, the input labor can be reduced to 2 workers from the original 10 workers, and the labor productivity is greatly improved;
2. the error proofing and correcting capability of the full-automatic lamination machine can improve lamination quality, better ensure assembly quality of the large motor and reduce subsequent maintenance and repair cost of the large motor;
3. Reduces the labor intensity of workers and avoids the damage of high-intensity labor to the health of the workers.
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