CN115376815A - Iron core stacking device - Google Patents
Iron core stacking device Download PDFInfo
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- CN115376815A CN115376815A CN202211300458.XA CN202211300458A CN115376815A CN 115376815 A CN115376815 A CN 115376815A CN 202211300458 A CN202211300458 A CN 202211300458A CN 115376815 A CN115376815 A CN 115376815A
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- stacking
- piece
- pneumatic lifting
- guide rail
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
- H01F41/0233—Manufacturing of magnetic circuits made from sheets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/003—Escapement mechanisms used therewith
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/006—Holding or positioning the article in front of the applying tool
Abstract
The invention discloses a stacking device of an iron core, which relates to the technical field of iron core stacking, wherein the three-column stacking comprises side piece A stacking, middle piece stacking and side piece C stacking, and the side piece A stacking and the side piece C stacking are positioned at two sides of the middle piece stacking; the number of the guide rail devices is three, the three guide rail devices are arranged in parallel, the guide rail device positioned in the middle is used for the middle piece stacking, the lower yoke column stacking and the upper yoke column stacking to move, and the guide rail device positioned on one side is used for the side piece A stacking to move. The stacking device can be divided into side piece A stacking, middle piece stacking and side piece C stacking, the traveling mechanisms of the side piece A stacking, the middle piece stacking and the side piece C stacking are independent and can move independently without influencing each other, and the iron cores in the shapes of Chinese character ri, E, I and square can be stacked through an independent operation mode, so that the stacking range of a stacking production line is widened.
Description
Technical Field
The invention relates to the technical field of iron core stacking, in particular to a stacking device for iron cores.
Background
At present, most transformer manufacturers still adopt manual stacking, the workload is large, the labor intensity is high, the quality of a transformer iron core depends on the technical level of workers, and the consistency is poor.
With the continuous improvement of the automation degree of transformer lamination, more and more transformer manufacturers begin to adopt an automatic lamination production line to produce transformer cores. The shapes and the processes of the iron cores are various, the iron cores have a shape like the Chinese character 'ri', an E shape, an I shape and a square shape, and the existing automatic stacking equipment can not meet the production and processing requirements of all transformers, namely the prior art can stack the iron cores in the shapes like the Chinese character 'ri', the E shape and the I shape and can not simultaneously stack the iron cores in the shapes like the square shape, the E shape and the I shape.
Disclosure of Invention
The invention aims to solve the problem that a stacking device in the prior art cannot stack square iron cores simultaneously, and provides the stacking device for the iron cores.
In order to achieve the purpose, the invention adopts the following technical scheme:
a stacking device of iron cores at least comprises a stacking guide rail frame, a guide rail device and a rack which are fixed above the stacking guide rail frame and arranged in parallel, and a three-column stacking device, a lower yoke column stacking device and an upper yoke column stacking device which move along the guide rail device and the rack;
the three-column stacking comprises side piece A stacking, middle piece stacking and side piece C stacking, and the side piece A stacking and the side piece C stacking are positioned on two sides of the middle piece stacking;
the guide rail device's quantity is three, and three guide rail device parallel arrangement, wherein lie in the middle part the guide rail device be used for well piece closed assembly, lower yoke post closed assembly and upper yoke post closed assembly removes, wherein one side the guide rail device is used for the movement of limit piece A closed assembly, the opposite side the guide rail device is used for limit piece C closed assembly removes.
Preferably, the overlapping of the side pieces a comprises:
the traveling mechanism AA is matched with the rack to move along the guide rail device;
the connecting section bar AA is connected below the walking mechanism AA;
the stacking cross beam AA is connected below the connecting section AA;
the moving assembly AA is connected below the stacking cross beam AA;
the pneumatic lifting beam AA moves along with the movement of the moving assembly AA;
the pneumatic lifting assembly AA is connected to the pneumatic lifting cross beam AA;
and the manipulator AA is connected to the output end of the pneumatic lifting assembly AA.
Preferably, the middle sheet stack comprises:
the travelling mechanism BB is matched with the rack to move along the guide rail device;
the connecting section BB is connected below the travelling mechanism BB;
the stacking cross beam BB is connected below the connecting section BB;
the pneumatic lifting assembly BB is connected to the stacking cross beam BB;
and the manipulator BB is connected to the output end of the pneumatic lifting assembly BB.
Preferably, the stacking of the side pieces C comprises:
the traveling mechanism CC is matched with the rack to move along the guide rail device;
the connecting section bar CC is connected below the travelling mechanism CC;
the stacking cross beam CC is connected below the connecting section bar CC;
the moving assembly CC is connected below the stacking cross beam CC;
the pneumatic lifting beam CC moves along with the movement of the moving assembly CC;
the pneumatic lifting assembly CC is connected to the pneumatic lifting cross beam CC;
and the manipulator CC is connected to the output end of the pneumatic lifting assembly CC.
Preferably, three groups of manipulators AA are arranged in the pneumatic lifting beam AA and are arranged in an isosceles triangle shape;
the pneumatic lifting cross beam AA is U-shaped, two of the two ends of the manipulator AA are fixedly connected with a semi-cylindrical protrusion, the two semi-cylindrical protrusions form a whole cylindrical protrusion, a rotating part used for driving the cylindrical protrusion to rotate is arranged on the pneumatic lifting cross beam AA, and the manipulator AA is located at the bottom and is right opposite to the grabbing end of the manipulator AA after the rotating part rotates upwards by an angle.
Preferably, the rotating member includes:
the inverted T-shaped seat is connected into the side wall of the pneumatic lifting cross beam AA in a vertical sliding manner and is connected with the pneumatic lifting cross beam AA through a positioning spring;
the servo rotating motor is fixed on the side wall of the inverted T-shaped seat, the output end of the servo rotating motor is fixedly connected with a cake-shaped guide block, and one side of the semi-cylindrical protrusion is provided with a fitting groove corresponding to the guide block;
the gravity locking pin comprises a block-shaped bulge fixedly connected to two sides of the guide block, a bolt is connected to the block-shaped bulge in a sliding mode, and a locking groove used for inserting the bolt is formed in the inner side wall of the fitting groove.
Preferably, the horizontal end of the inverted-T-shaped seat is close to one side of the semi-cylinder protrusion, a horizontal sliding groove used for the semi-cylinder protrusion to slide is formed in the horizontal sliding groove, two clamping and positioning blocks are connected in the horizontal sliding groove in a sliding mode and located on two sides of the cylinder protrusion, a buffering sliding groove is formed in the side wall of each clamping and positioning block, a sliding block is connected in the buffering sliding groove in a sliding mode, and the sliding block is connected with the manipulator AA located at the top through a connecting piece.
Preferably, the connecting element comprises a connecting rod, and two ends of the connecting rod are respectively located at the end of the manipulator AA at the top and rotatably connected with the outer side wall of the sliding block.
Preferably, the inner side wall of the buffer chute is fixedly connected with an adjusting cylinder, the output end of the adjusting cylinder is fixedly connected with a mounting seat, and a controller is mounted on the mounting seat;
electromagnets are arranged on the inner walls of the two ends of the horizontal sliding groove, and the controller is electrically connected with the electromagnets and the three groups of manipulators AA on the same pneumatic lifting beam AA.
Compared with the prior art, the invention has the beneficial effects that:
1. the stacking device can be divided into side piece A stacking, middle piece stacking and side piece C stacking, the traveling mechanisms of the side piece A stacking, the middle piece stacking and the side piece C stacking are independent and can move independently without influencing each other, and iron cores in a shape like Chinese character ri, an iron core in a shape like Chinese character E, an iron core in a shape like Chinese character I and an iron core in a shape like Chinese character kou can be stacked through an independent operation mode, so that the stacking range of a stacking production line is widened.
2. All be provided with the removal subassembly through side piece A closed assembly, side piece C closed assembly, lower yoke post closed assembly and upper yoke post closed assembly, can adjust to the whole size that stacks the iron core of "day" style of calligraphy, "E" type, "I" type and "mouth" style of calligraphy like this, widened the closed assembly scope of closed assembly production line.
3. The invention also discloses a method for identifying the position state of the grabbed iron core sheet, and the correct state can realize normal stacking; the error state can be corrected by turning 180 degrees, and the corrected iron chip can realize the stacking process, thereby widening the stacking range of the stacking production line.
Drawings
Fig. 1 is a schematic structural diagram of a core stacking apparatus according to the present invention;
fig. 2 is a side view of a stacking apparatus for iron cores according to the present invention;
FIG. 3 is a front view of the edge panel A in a stacked arrangement;
FIG. 4 is a side view of the stack of gussets A;
FIG. 5 is a front view of a center piece stack;
FIG. 6 is a side view of a center piece stack;
FIG. 7 is a front view of the edge panel C in a stacked arrangement;
FIG. 8 is a side view of the stack of side panels C;
FIG. 9 is a schematic view of a connection structure of a pneumatic lifting beam A and three sets of manipulators A;
FIG. 10 is a schematic view of the connection structure of the manipulator A, the connecting rod and the sliding block;
FIG. 11 is a diagram of the positions of infrared receiving points of the iron core edge pieces;
FIG. 12 is a diagram of the position of an infrared receiving point on a side piece of an iron core;
fig. 13 is a schematic structural diagram of the positions of three sets of manipulators a in an initial state;
FIG. 14 is a schematic view of an inverted T-shaped seat and its internal structure in an initial state;
fig. 15 is a schematic structural view of the positions of three sets of manipulators a in a rotating state;
FIG. 16 is a schematic view of an inverted T-shaped seat and its internal structure in a rotating state;
fig. 17 is a schematic view of the position structure of three sets of manipulators a in the gripping state of the top manipulator a;
FIG. 18 is a schematic view of the inverted T-shaped base and its internal structure in the gripping state of the top robot A;
fig. 19 is a schematic view of the position structure of three sets of manipulators a in a state that the two manipulators a at the bottom are separated;
FIG. 20 is a schematic view of an inverted T-shaped seat with two manipulators A at the bottom separated from each other and the internal structure thereof;
fig. 21 is a schematic view of the position structure of three sets of manipulators a in a descending state of the top manipulator a;
FIG. 22 is a schematic view of the inverted T-shaped base and its internal structure of the top robot A in a descending state;
fig. 23 is a schematic structural diagram of the positions of three sets of manipulators a in a state where the top manipulators a are stacked;
fig. 24 is a schematic view of the inverted T-shaped seat and its internal structure in the state where the top robot a is stacked.
In the figure: 1. a stacking guide rail frame; 2. stacking the side pieces A; 3. stacking the middle sheets; 4. stacking the side pieces C; 5A, a traveling mechanism A;5B, a traveling mechanism B;5C, a traveling mechanism C;6A, connecting the section bar A;6B, connecting the section bar B;6C, connecting the section bar C;7A, a stacking cross beam A;7B, a stacking cross beam B;7C, a stacking cross beam C;8A, a moving component A;8C, a moving assembly C;9A, a pneumatic lifting component A;9B, a pneumatic lifting component B;9C, a pneumatic lifting assembly C;10A, a manipulator A;10B, a manipulator B;10C, a manipulator C; 15. a guide rail device; 16. a rack; 17. stacking the lower yoke columns; 18. stacking the upper yoke columns; 19A, a pneumatic lifting beam A;19C, a pneumatic lifting beam C; 20. a semi-cylindrical projection; 21. an inverted T-shaped seat; 22. a positioning spring; 23. a servo rotating motor; 24. a guide block; 25. a fitting groove; 26. a block-shaped bulge; 27. a bolt; 28. a locking groove; 29. a horizontal chute; 30. clamping a positioning block; 31. a buffer chute; 32. a slider; 33. a connecting rod; 34. an adjusting cylinder; 35. a mounting seat; 36. an electromagnet.
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.
Referring to fig. 1 to 24, an iron core stacking apparatus at least includes a stacking rail frame 1, a rail device 15 and a rack 16 fixed above the stacking rail frame 1 and disposed parallel to each other, a three-column stacking, a lower yoke column stacking 17 and an upper yoke column stacking 18 moving along the rail device 15 and the rack 16.
Preferably, the three-column stack comprises a side piece A stack 2, a middle piece stack 3 and a side piece C stack 4, and the side piece A stack 2 and the side piece C stack 4 are positioned at two sides of the middle piece stack 3.
Based on the arrangement of the edge piece a stack 2, the middle piece stack 3 and the edge piece C stack 4, the guide rail arrangement 15 is preferably arranged as follows: the number of the guide rail devices 15 is three, and the three guide rail devices 15 are arranged in parallel, wherein the guide rail device 15 located in the middle is used for moving the middle piece stacking device 3, the lower yoke column stacking device 17 and the upper yoke column stacking device 18, one side guide rail device 15 is used for moving the side piece A stacking device 2, and the other side guide rail device 15 is used for moving the side piece C stacking device 4.
What needs to be supplemented is: the side piece A stack 2, the middle piece stack 3 and the side piece C stack 4 are arranged as follows:
1. the edge piece A stack assembly 2 comprises:
the traveling mechanism A5A and the matching rack 16 move along the guide rail device 15, and the traveling mechanism A5A is preferably set as follows: the walking mechanism comprises a servo motor, a speed reducer connecting plate, a gear, a gasket, a side column stacking cross beam, an adjusting block and the like. The servo motor is connected with a speed reducer, the output shaft end of the speed reducer is connected with a gear, the key bar and the gasket fix the gear, and the gear is meshed with the rack 16. The speed reducer is connected with the speed reducer connecting plate, the speed reducer connecting plate is connected with the adjusting block, the speed reducer connecting plate and the adjusting block are connected with the stacking cross beam, four notches are formed in the speed reducer connecting plate, screws penetrate through the notches and are installed in threaded holes of the stacking cross beam, and gaps between the gears and the racks are adjusted through the screws on the adjusting block. The material stacking cross beam is connected with four sliding blocks, and the sliding blocks slide on the linear guide rail. The stacking cross beam is connected with the anti-collision piece to prevent the stacking cross beam from colliding with other moving parts on the stacking guide rail frame 1;
the connecting section bar A6A is connected below the travelling mechanism A5A;
the stacking cross beam A7A is connected below the connecting section A6A;
the moving assembly A8A is connected below the stacking cross beam A7A, and preferably comprises a servo motor, a motor base, a coupler, a bearing cover, a ball screw, a nut connecting plate, a bearing seat and the like. The stacking cross beam A7A is provided with two linear guide rails which are parallel to each other, and each linear guide rail is provided with a sliding block. The motor cabinet is connected with material crossbeam A7A folds, and servo motor is connected with the motor cabinet, has the bearing in the motor cabinet, and the one end of bearing location ball, bearing cap fixing bearing connect on the motor cabinet, and ball passes through the shaft coupling to be connected with servo motor, and ball's the other end is connected with the bearing frame, and the bearing frame is connected with material crossbeam A7A folds. The screw nut is arranged on the ball screw, and the screw nut connecting plate is connected with the screw nut; the distance between the side pieces can be adjusted through the matching movement of the ball screw and the nut; in addition, the distance between the side pieces can be adjusted by the ball screw and the nut through the linear motor and the single-shaft module;
the pneumatic lifting beam A19A moves along with the movement of the moving assembly A8A, wherein the pneumatic lifting beam A19A, the sliding block and the nut connecting plate are connected through a sliding block connecting piece, the sliding block connecting piece is a T-shaped cylinder with a flange at the end, the flange on the T-shaped cylinder is connected with the pneumatic lifting beam A19A, the sliding block and the nut connecting plate through screws, and the pneumatic lifting beam A19A moves along with the movement of the nut connecting plate;
the pneumatic lifting assembly A9A is connected to the pneumatic lifting beam A19A, wherein the pneumatic lifting assembly A9A preferably consists of an air cylinder;
the manipulator A10A is connected to the output end of the pneumatic lifting assembly A9A, wherein the manipulator A10A preferably adopts a structure of a sucker, and preferably comprises an aluminum profile beam, a guide piece, a sucker connecting piece, a vacuum sucker and the like. Wherein the aluminum profile crossbeam is fixed in on pneumatic lifting unit A9A's the output, and the aluminum profile crossbeam is connected with the guide, and the sucking disc connecting piece is connected with the guide, and vacuum chuck is connected with the sucking disc connecting piece. The suction cup attachment member can slide freely on the guide member and can be quickly secured by a quick locking handle.
2. The middle sheet stack 3 includes:
the traveling mechanism B5B and the matched rack 16 move along the guide rail device 15, wherein the traveling mechanism B5B and the traveling mechanism A5A have the same structure;
the connecting section bar B6B is connected below the travelling mechanism B5B;
the stacking cross beam B7B is connected below the connecting section B6B;
the pneumatic lifting assembly B9B is connected to the stacking cross beam B7B, and the structure of the pneumatic lifting assembly B9B is the same as that of the pneumatic lifting assembly A9A;
and the manipulator B10B is connected to the output end of the pneumatic lifting assembly B9B, wherein the manipulator B10B and the manipulator A10A have the same structure.
3. The edge piece C stack 4 includes:
the traveling mechanism C5C and the matched rack 16 move along the guide rail device 15, wherein the traveling mechanism C5C and the traveling mechanism A5A have the same structure;
the connecting section bar C6C is connected to the lower part of the travelling mechanism C5C;
the stacking cross beam C7C is connected below the connecting section C6C;
the moving assembly C8C is connected below the stacking cross beam C7C, wherein the moving assembly C8C and the moving assembly A8A are identical in structure;
the pneumatic lifting beam C19C moves along with the movement of the moving component C8C, wherein the structure of the pneumatic lifting beam C19C is the same as that of the pneumatic lifting beam A19A;
the pneumatic lifting assembly C9C is connected to the pneumatic lifting beam C19C, and the structure of the pneumatic lifting assembly C9C is the same as that of the pneumatic lifting assembly A9A;
and the manipulator C10C is connected to the output end of the pneumatic lifting assembly C9C, wherein the manipulator C10C has the same structure as the manipulator A10A.
The side piece A stacking device 2, the side piece C stacking device 4, the lower yoke column stacking device 17 and the upper yoke column stacking device 18 are identical in structure, and the difference is that the side piece A stacking device 2, the middle piece stacking device 3 and the side piece C stacking device 4 contained in the three column stacking device are perpendicular to the lower yoke column stacking device 17 and the upper yoke column stacking device 18.
In the invention, the cylinder of the stacking device above the sheet material positioning pushes the same mechanical arm to move downwards, so that the vacuum sucker of the sucker gripper is abutted against the sheet material to form a sealed cavity, the vacuum pump works to form vacuum in the sealed space, and the sheet material is firmly adsorbed on the sucker gripper assembly. The cylinder drives the sucker gripper assembly to ascend. The stacking device moves from the position above the sheet stock to the position above the stacking area through a traveling mechanism. Because the stacking device can be divided into two side piece stacking devices and a middle piece stacking device, the traveling mechanisms of the side piece stacking devices and the middle piece stacking devices are independent and can move independently without mutual influence. Then, the iron core shape stacking process aiming at the shapes of the iron cores in the shapes of Chinese character 'ri', 'E', 'I' and 'square' in the prior art is as follows:
1. aiming at the iron core overlapping of the shape of Chinese character 'ri', when the iron core overlapping is carried out, the traveling mechanisms A5A on the side piece A overlapping 2, the middle piece overlapping 3 and the side piece C overlapping 4 synchronously work at the same speed at the same time, so that two side pieces and a middle piece are overlapped to the position of a material overlapping area at the same time, and then the lower yoke column overlapping 17 and the upper yoke column overlapping 18 synchronously work at the same speed at the same time, so that two side edges are overlapped to the position of the material overlapping area at the same time, and after the overlapping is finished, the iron core overlapping of the shape of Chinese character 'ri' is formed;
2. aiming at the E-shaped iron core stacking, during stacking, the traveling mechanisms A5A on the edge sheet A stacking device 2, the middle sheet stacking device 3 and the edge sheet C stacking device 4 synchronously work at the same speed at the same time, so that two edge sheets and one middle sheet are stacked to the stacking area at the same time, and then one side edge is stacked to the stacking area through any one of the lower yoke column stacking device 17 and the upper yoke column stacking device 18, so that the E-shaped iron core stacking is formed after the stacking is finished;
3. for the I-shaped iron core stacking, during stacking, any one of the side sheet A stacking 2, the middle sheet stacking 3, the side sheet C stacking 4, the lower yoke column stacking 17 and the upper yoke column stacking 18 works. Stacking an iron chip to the position of the stacking area, and forming an I-shaped iron core stack after the iron chip is stacked;
4. aiming at the iron core overlapping of the shape of the Chinese character 'kou', when the iron core overlapping is carried out, the traveling mechanisms A5A on the side piece A overlapping 2 and the side piece C overlapping 4 synchronously work at the same speed at the same time, so that two side pieces are overlapped to the position of the overlapping area at the same time, then the lower yoke column overlapping 17 and the upper yoke column overlapping 18 synchronously work at the same speed at the same time, so that two side edges are overlapped to the position of the overlapping area at the same time, and after the overlapping is finished, the iron core overlapping of the shape of the Chinese character 'kou' is formed, namely the middle piece overlapping 3 is not moved, and the iron core overlapping of the shape of the Chinese character 'kou' is finished.
The three-column stacking device, the lower yoke column stacking device 17 and the upper yoke column stacking device 18 of the device are integrated, and the respective travelling mechanisms are independent and can move independently without influencing each other, so that the iron cores in the shapes of Chinese character ri and E and I can be stacked, the iron cores in the shapes of Chinese character kou can be stacked, and the stacking range of a stacking production line is widened.
In addition, the invention also discloses the preferable arrangement of the pneumatic lifting beam A19A and the manipulator A10A, and the invention also discloses a structural component capable of realizing the position correction of the overlapping position of the side piece or the side piece, wherein the preferable arrangement is as follows:
three groups of manipulators A10A are arranged in the pneumatic lifting beam A19A, and the three groups of manipulators A10A are arranged in an isosceles triangle shape;
pneumatic lifting beam A19A is the setting of U type, and the equal fixedly connected with semicircle column in both ends that is located two manipulator A10A of bottom is protruding 20, and two semicircle column are protruding 20 and are formed whole cylinder arch, are provided with on the pneumatic lifting beam A19A to be used for the protruding pivoted of drive cylinder to rotate the piece, are located two manipulator A10A in bottom and follow the 180 backs of a rotation piece rotation up, just to the manipulator A10A's at top the end of snatching.
Wherein, it is required to be noted that: the output end of the pneumatic lifting assembly A9A is connected with the top of the manipulator A10A at the top.
Based on the setting of pneumatic lifting beam A19AU type, manipulator A10A sets to three groups, and three group's manipulators A10A is isosceles triangle and sets up, then pick the iron core simultaneously when two manipulators that are located the bottom after, and when two protruding 20 formation whole cylinders of semicircle post were protruding, through the bellied rotation of cylinder, the iron core that can realize two manipulators in bottom and snatch simultaneously upwards rotates 180, realize the iron core piece like this and stack the position upset and correct, after the correction is accomplished, realize snatching the iron core piece after correcting through manipulator A10A at top, and two manipulator A10A levels of bottom move back to back mutually, vacate the space for the manipulator downstream at top, can not cause the motion to interfere, the iron core piece that the manipulator A10A at top will correct stacks the completion up.
It needs to be supplemented that, wherein whether the initial position of the iron core piece is wrong is identified, infrared ray induction can be performed, but the mode can only be set for a group of iron cores, namely, two ends of two side pieces are arranged in an inverted eight shape, wherein an infrared emitter is arranged at the bottom of a manipulator A10A positioned at the bottom of the side piece A stacking device 2 and the side piece C stacking device 4, an infrared receiver is arranged on a stacking area, wherein the infrared emitter and the infrared receiver are arranged in an up-down opposite mode, and the infrared receiver is arranged at the end parts of opposite sides of the two side pieces;
the middle-end position of two lateral plates is provided with the V type mouth with the butt joint of middle plate, wherein be located down a manipulator A10A bottom of yoke post closed assembly 17 and 18 bottoms of upper yoke post closed assembly and be provided with infrared transmitter, and be provided with infrared receiver on the material folding district, wherein infrared transmitter and infrared receiver are about just setting up, and infrared receiver sets up in V type mouth position, refer to the figure, then when the lateral plate position is wrong, infrared receiver is sheltered from, lead to the infrared ray that can't receive infrared transmitter and send, and then can drive the protruding rotation of cylinder through the controller.
When stacking to multiunit iron core chip, accessible distance sensor responds to, and specific distance sensor sets up in the bottom of manipulator, and the position that feels apart from position and infrared receiver is the same, then when iron core chip position error, distance sensor will increase the thickness of an iron core, and distance sensor accessible controller control cylinder is protruding to be rotated this moment.
Based on the position structure setting of three group's manipulators A10A and the structure setting of pneumatic lifting beam A, then the rotation piece is preferred to be set up as follows:
the rotating member includes:
the inverted T-shaped seat 21 is connected to the side wall of the pneumatic lifting beam A19A in an up-and-down sliding manner, wherein a sliding opening used for enabling the inverted T-shaped seat 21 to slide up and down is formed in the pneumatic lifting beam A19A, a sliding opening used for penetrating the top of the inverted T-shaped seat 21 is formed in the sliding opening and used for enabling the inverted T-shaped seat 21 to stably slide up and down, the inverted T-shaped seat 21 is connected with the pneumatic lifting beam A19A through a positioning spring 22, namely two ends of the positioning spring 22 are respectively connected with the inner wall of the sliding opening and the top of the inverted T-shaped seat 21, and the positioning spring 22 is preferably sleeved on the vertical end of the top of the inverted T-shaped seat 21;
the servo rotating motor 23 is fixed on the side wall of the inverted T-shaped seat 21, the output end of the servo rotating motor is fixedly connected with a cake-shaped guide block 24, one side of each semi-cylindrical protrusion 20 is provided with a fitting groove 25 corresponding to the guide block 24, and when the two semi-cylindrical protrusions 20 are positioned on the two sides of the guide block 24, the two semi-cylindrical protrusions 20 can be driven to synchronously rotate at the same speed along with the rotation of the guide block 24, namely the whole cylindrical protrusion can be driven to rotate through the rotation of the guide block 24;
gravity locking round pin, including the cubic protruding 26 of fixed connection in 24 both sides of guide block, sliding connection has bolt 27 on the cubic protruding 26, and wherein the both ends of bolt 27 are provided with the stopper, and set up in the cubic protruding 26 and still be used for the gliding through opening of bolt 27, offer on the inside wall in laminating groove 25 and be used for bolt 27 male locking groove 28, wherein the internal diameter of locking groove 28 is the same with the external diameter of stopper, and wherein the motion process of bolt 27 cooperation locking groove 28 is as follows: initially, the pin 27 is forced by gravity into the locking slot 28, which causes the cylindrical projection to rotate as the guide block 24 rotates, thereby causing the two bottom manipulators to rotate synchronously.
In addition, the invention also discloses a composition of the sliding block 32, and the composition of the connecting rod 33, the electromagnet 36 and the controller II is used for driving the two semi-cylindrical protrusions 20 to move back and forth through the sliding block 32 after the grabbing iron cores of the two mechanical hands A10A at the bottom rotate upwards by 180 degrees, and further moving downwards to avoid a space after the grabbing iron cores of the mechanical hands A10A at the top, and the specific settings are as follows:
a horizontal sliding groove 29 for sliding the semi-cylindrical protrusion 20 is formed in one side, close to the semi-cylindrical protrusion 20, of the horizontal end of the inverted T-shaped seat 21, two clamping and positioning blocks 30 are connected in the horizontal sliding groove 29 in a sliding mode, the two clamping and positioning blocks 30 are located on two sides of the cylindrical protrusion, a buffer sliding groove 31 is formed in the side wall of each clamping and positioning block 30, a sliding block 32 is connected in the buffer sliding groove 31 in a sliding mode, and the sliding block 32 is connected with a manipulator A10A located at the top through a connecting piece;
it is necessary to supplement that the outer side wall of the semi-cylindrical protrusion 20 is provided with an embedding arc with a T-shaped section, and one side of the clamping and positioning block 30 close to the semi-cylindrical protrusion 20 is provided with a T-shaped guide rail matched with the embedding arc, so that the synchronous motion of the semi-cylindrical protrusion 20 and the clamping and positioning block 30 is realized;
the connecting piece comprises a connecting rod 33, the two ends of the connecting rod 33 are respectively positioned at the end part of the manipulator A10A at the top and rotatably connected with the outer side wall of the sliding block 32, positioning shafts are respectively arranged at the end part of the manipulator A10A and the outer side wall of the sliding block 32, and the end part of the connecting rod 33 is rotatably sleeved on the positioning shafts;
an adjusting cylinder 34 is fixedly connected to the inner side wall of the buffer chute 31, an output end of the adjusting cylinder 34 is fixedly connected with a mounting seat 35, and a second controller is mounted on the mounting seat 35;
According to the invention, when the iron core sheet error is identified, the processes of correcting the iron core and blanking after correction are realized as follows:
in an initial state, referring to fig. 13 to 14, when the two manipulators a10A at the bottom grasp the iron core, the pins 27 at both sides of the guide block 24 are inserted into the locking grooves 28;
when the position of the iron core is not identified to be wrong, the pneumatic lifting component A9A drives the top manipulator A10A to move downwards, the bolt 27 is inserted into the locking groove 28, the two semi-cylindrical protrusions 20 cannot be separated from the guide block 24, and therefore when the top manipulator A10A moves downwards, the connecting rod 33 cannot counteract the influence of the downward movement of the top manipulator A10A through the horizontal movement of the clamping and positioning block 30, the clamping and positioning block 30 is driven to move downwards along with the downward movement of the top manipulator A10A, the clamping and positioning block 30 presses the inverted T-shaped seat 21 to drive the inverted T-shaped seat 21 to move downwards synchronously until the same iron core piece grabbed by the two bottom manipulators A10A is stacked;
in a rotating state, referring to fig. 15-16, when an error occurs in the position of the iron core, the guide block 24 drives the semi-cylindrical protrusions 20 on both sides to rotate synchronously until the guide block 24 rotates 180 degrees, at this time, the iron core sheet is positioned right below the top manipulator, and the grabbing position of the top manipulator a10A is positioned at the center of the grabbing positions of the bottom two manipulators a 10A; in addition, during the rotation, the latch 27 is separated from the locking groove 28 by gravity, and in this state, the semi-cylindrical protrusion 20 can move horizontally along with the horizontal movement of the clamping and positioning block 30.
A top manipulator a10A is in a grabbing state, based on a rotating state, referring to fig. 17-18, when the top manipulator a10A moves downward along with the driving of the pneumatic lifting assembly A9A, until a vacuum chuck on the top manipulator a10A is attached to the top surface of the iron core plate, the connecting rod 33 can drive the sliding block 32 to slide in the buffer chute 31, and the position of the clamping and positioning block 30 is stable, in order to ensure the stability of the clamping and positioning block 30, a buffer spring can be arranged in the buffer chute 31, two ends of the buffer spring are respectively connected with the inner wall of the buffer chute 31 and the side wall of the clamping and positioning block 30, so that the clamping and positioning block 30 is abutted against two sides of the cylindrical protrusion, until the sliding block 32 touches the second controller, and at this time, the second controller sends an electric signal to the electromagnet 36, so that the electromagnet 36 works to generate magnetism, and it is required to be explained that the clamping and the positioning block 30 is preferably made of a magnetic material; in addition, the controller II
Send the signal of telecommunication for the manipulator A10A at top and two manipulator A10A in bottom for the vacuum chuck work on the manipulator A10A at top, and break off the vacuum chuck on two manipulator A10A in bottom, realize that the vacuum chuck on the manipulator A10A in top realizes snatching the iron core piece, and the vacuum chuck on two manipulator A10A in bottom loses snatching the iron core piece.
The two bottom manipulators a10A are in a separated state, based on the grabbing state of the top manipulator a10A, referring to fig. 19-20, the electromagnet 36 works to generate suction to realize suction to the clamping and positioning block 30, so that the clamping and positioning block 30 moves towards the electromagnet 36, wherein the suction generated by the electromagnet 36 is greater than the elastic force of the buffer spring, at this time, the attaching groove 25 moves in the reverse direction relative to the guide block 24 until the guide block 24 and the attaching groove 25 are attached to the side away from the adjusting cylinder 34, and at this time, the two manipulators a10A located below move in the opposite directions, and the distance of the opposite movement is greater than the length of the iron core piece, so that the downward movement process of the iron core piece cannot be influenced, and in the process, the pneumatic lifting assembly A9A stops driving the top manipulator a10A to move downward;
in a descending state of the top manipulator a10A, based on a separation state of the two bottom manipulators a10A, referring to fig. 21-22, the pneumatic lifting assembly A9A starts to drive the top manipulator a10A to move downward, and the top manipulator a10A drives the iron core pieces grabbed at the bottom to move downward, and in the process, through cooperation of the connecting rod 33 and the electromagnet 36, along with the downward movement of the top manipulator a10A, the two clamping and positioning blocks 30 are continuously increased until the top manipulator a10A stacks the iron core pieces grabbed at the bottom onto the iron core pieces in the stacking area, as shown in fig. 23-24.
After the stacking is completed, the top manipulator a10A starts to move upwards, and the electromagnet 36 stops working until the top manipulator a10A is located at the position in the initial state, and under the action of the buffer spring, the clamping and positioning block 30 is abutted against the two sides of the cylindrical protrusion, that is, the two semi-cylindrical protrusions 20 are located on the two sides of the guide block 24 again, at this time, the guide block 24 can be driven to rotate again, and the state is shifted downwards by 180 degrees, so that the bolt 27 in the gravity locking pin enters the locking groove 28 from the beginning under the action of gravity, and the state is restored to the state shown in fig. 13-14, which is convenient for stacking the iron chip next time.
In addition, in this embodiment, it is still disclosed to be provided with adjust cylinder 34 in buffering spout 31, then the horizontal migration of accessible adjust cylinder 34 drive mount pad 35, the realization is realized adjusting the subsides chip of different length dimensions, the length difference of adjust cylinder 34 horizontal migration mount pad 35 is A promptly, the length difference before and after wherein subsides chip regulation is B, then 2A more than or equal to B, when slider 32 touch mount pad 35 like this, the distance that two bottom manipulators A10A pull open is greater than the length of iron core piece, be convenient for like this that top manipulator A10A can pass smoothly between two bottom manipulators A10A after snatching the iron core piece position.
Finally, it should be noted that, the edge piece a stacking process 2, the edge piece C stacking process 4, the lower yoke column stacking process 17, and the upper yoke column stacking process 18 can all be implemented to correct and stack iron core pieces, the edge piece a stacking process 2 is taken as an example in this embodiment, and the implementation processes of the edge piece C stacking process 4, the lower yoke column stacking process 17, and the upper yoke column stacking process 18 are the same as the implementation process of the edge piece a stacking process 2, and are not described in detail herein.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. A stacking device of iron cores at least comprises a stacking guide rail frame (1), a guide rail device (15) and a rack (16) which are fixed above the stacking guide rail frame (1) and arranged in parallel, a three-column stacking device, a lower yoke column stacking device (17) and an upper yoke column stacking device (18) which move along the guide rail device (15) and the rack (16),
the three-column stacking comprises a side piece A stacking device (2), a middle piece stacking device (3) and a side piece C stacking device (4), and the side piece A stacking device (2) and the side piece C stacking device (4) are positioned on two sides of the middle piece stacking device (3);
the number of the guide rail devices (15) is three, the guide rail devices (15) are arranged in parallel, the guide rail device (15) located in the middle is used for moving the middle piece stacking device (3), the lower yoke column stacking device (17) and the upper yoke column stacking device (18), the guide rail device (15) on one side is used for moving the side piece A stacking device (2), and the guide rail device (15) on the other side is used for moving the side piece C stacking device (4).
2. A core lamination device according to claim 1, wherein the lamination (2) of the side pieces a comprises:
the traveling mechanism A (5A) is matched with the rack (16) to move along the guide rail device (15);
the connecting section bar A (6A) is connected to the lower part of the travelling mechanism A (5A);
the stacking cross beam A (7A) is connected below the connecting section A (6A);
the moving assembly A (8A) is connected below the stacking cross beam A (7A);
a pneumatic lifting beam A (19A) moving along with the movement of the moving component A (8A);
the pneumatic lifting assembly A (9A) is connected to the pneumatic lifting cross beam A (19A);
and the manipulator A (10A) is connected to the output end of the pneumatic lifting assembly A (9A).
3. A lamination device for iron cores according to claim 1, characterized in that said lamination stack (3) comprises:
the traveling mechanism B (5B) is matched with the rack (16) to move along the guide rail device (15);
the connecting section bar B (6B) is connected below the travelling mechanism B (5B);
the stacking cross beam B (7B) is connected below the connecting section B (6B);
the pneumatic lifting assembly B (9B) is connected to the stacking cross beam B (7B);
and the manipulator B (10B) is connected to the output end of the pneumatic lifting assembly B (9B).
4. A core lamination device according to claim 1, wherein said lamination (4) of said side pieces C comprises:
the traveling mechanism C (5C) is matched with the rack (16) to move along the guide rail device (15);
the connecting section bar C (6C) is connected below the travelling mechanism C (5C);
the stacking cross beam C (7C) is connected below the connecting section C (6C);
the moving assembly C (8C) is connected below the stacking cross beam C (7C);
a pneumatic lifting beam C (19C) moving with the movement of the moving assembly C (8C);
the pneumatic lifting assembly C (9C) is connected to the pneumatic lifting beam C (19C);
and the manipulator C (10C) is connected to the output end of the pneumatic lifting assembly C (9C).
5. The iron core stacking device according to claim 2, wherein three groups of manipulators A (10A) are arranged in the pneumatic lifting beam A (19A), and the three groups of manipulators A (10A) are arranged in an isosceles triangle;
pneumatic lifting beam A (19A) is the setting of U type, is located two of bottom the equal fixedly connected with semicircle cylinder protruding (20) in both ends of manipulator A (10A), two semicircle cylinder protruding (20) form whole cylinder protruding, be provided with on pneumatic lifting beam A (19A) and be used for the drive the protruding pivoted of cylinder rotates the piece, is located two bottom manipulator A (10A) is followed rotate piece 180 backs of rotation, just to the top manipulator A (10A) snatch the end.
6. The core stacking apparatus of claim 5, wherein the rotating member comprises:
the inverted T-shaped seat (21) is connected into the side wall of the pneumatic lifting cross beam A (19A) in a vertically sliding manner and is connected with the pneumatic lifting cross beam A (19A) through a positioning spring (22);
the servo rotating motor (23) is fixed on the side wall of the inverted T-shaped seat (21), the output end of the servo rotating motor is fixedly connected with a cake-shaped guide block (24), and one side of the semi-cylindrical protrusion (20) is provided with a fitting groove (25) corresponding to the guide block (24);
gravity locking round pin, including fixed connection in cubic arch (26) of guide block (24) both sides, sliding connection has bolt (27) on cubic arch (26), seted up on the inside wall of laminating groove (25) and be used for bolt (27) male locking groove (28).
7. The iron core stacking device according to claim 6, wherein a horizontal sliding groove (29) for sliding the semi-cylindrical protrusion (20) is formed in one side, close to the semi-cylindrical protrusion (20), of the horizontal end of the inverted T-shaped seat (21), two clamping and positioning blocks (30) are connected in the horizontal sliding groove (29) in a sliding mode, the two clamping and positioning blocks (30) are located on two sides of the cylindrical protrusion, a buffering sliding groove (31) is formed in the side wall of each clamping and positioning block (30), a sliding block (32) is connected in the buffering sliding groove (31) in a sliding mode, and the sliding block (32) is connected with the manipulator A (10A) located at the top through a connecting piece.
8. A core stacking apparatus as claimed in claim 7, wherein said connecting member comprises a connecting rod (33), and the ends of said connecting rod (33) at the top are respectively connected to the end of said manipulator A (10A) and the outer side wall of said sliding block (32) in a rotating manner.
9. The iron core stacking device according to claim 7, wherein an adjusting cylinder (34) is fixedly connected to an inner side wall of the buffer chute (31), an output end of the adjusting cylinder (34) is fixedly connected with a mounting seat (35), and a second controller is mounted on the mounting seat (35);
the inner walls of two ends of the horizontal sliding groove (29) are provided with electromagnets (36), and the second controller is electrically connected with the electromagnets (36) and the three groups of the manipulators A (10A) on the same pneumatic lifting beam A (19A).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211300458.XA CN115376815B (en) | 2022-10-24 | 2022-10-24 | Iron core stacking device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211300458.XA CN115376815B (en) | 2022-10-24 | 2022-10-24 | Iron core stacking device |
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| CN115376815A true CN115376815A (en) | 2022-11-22 |
| CN115376815B CN115376815B (en) | 2023-01-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116013679A (en) * | 2023-03-29 | 2023-04-25 | 雄县兴驰电气设备制造有限公司 | Iron core manufacturing and assembling equipment of three-phase transformer |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106601467A (en) * | 2017-01-24 | 2017-04-26 | 西安启源机电装备股份有限公司 | Full automatic lamination device for Chinese character "Ri" shaped type or E1 type iron core of transformer |
| CN107068381A (en) * | 2017-02-10 | 2017-08-18 | 济南奥图自动化股份有限公司 | A kind of three post piece individual layer automatic overlapping and assembling systems |
| CN112768220A (en) * | 2020-12-25 | 2021-05-07 | 滁州博格韦尔电气有限公司 | Improved generation is reactor iron core closed assembly device for rail transit |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106601467A (en) * | 2017-01-24 | 2017-04-26 | 西安启源机电装备股份有限公司 | Full automatic lamination device for Chinese character "Ri" shaped type or E1 type iron core of transformer |
| CN107068381A (en) * | 2017-02-10 | 2017-08-18 | 济南奥图自动化股份有限公司 | A kind of three post piece individual layer automatic overlapping and assembling systems |
| CN112768220A (en) * | 2020-12-25 | 2021-05-07 | 滁州博格韦尔电气有限公司 | Improved generation is reactor iron core closed assembly device for rail transit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116013679A (en) * | 2023-03-29 | 2023-04-25 | 雄县兴驰电气设备制造有限公司 | Iron core manufacturing and assembling equipment of three-phase transformer |
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| CN115376815B (en) | 2023-01-03 |
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