CN201057633Y - Coil expanding machine of full-servo numerical control electric motor - Google Patents

Coil expanding machine of full-servo numerical control electric motor Download PDF

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Publication number
CN201057633Y
CN201057633Y CNU2007200633688U CN200720063368U CN201057633Y CN 201057633 Y CN201057633 Y CN 201057633Y CN U2007200633688 U CNU2007200633688 U CN U2007200633688U CN 200720063368 U CN200720063368 U CN 200720063368U CN 201057633 Y CN201057633 Y CN 201057633Y
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CN
China
Prior art keywords
mechanical arm
manipulator
servo
combination
motion
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Expired - Lifetime
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CNU2007200633688U
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Chinese (zh)
Inventor
胡桂林
孔锐
朱永隆
胡进
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ZHUZHOU SOUTH ELECTROMECHANICAL MANUFACTURING Co Ltd
ZHUZHOU CSR ELECTRIC MOTOR CO Ltd
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ZHUZHOU SOUTH ELECTROMECHANICAL MANUFACTURING Co Ltd
ZHUZHOU CSR ELECTRIC MOTOR CO Ltd
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Priority to CNU2007200633688U priority Critical patent/CN201057633Y/en
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Publication of CN201057633Y publication Critical patent/CN201057633Y/en
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Abstract

The utility model relates to an automatic once-forming equipment of a motor coil, which comprises a motion driving part and a mechanical part, the mechanical part comprises a basic frame and a combination of a left upper mechanical arm and a mechanical hand, a combination of a left lower mechanical arm and a mechanical hand, a combination of a right upper mechanical arm and a mechanical hand, a combination of a right lower mechanical arm and a mechanical hand, a combination of a led end part mobile frame and a nose end clip and a combination of a right end part mobile frame and a nose end clip; the motions of each part are respectively driven and controlled by an AC servo driving module, an AC servo motor and a logical controller correspondingly. The utility model has rational design structure, and is able to ensure the motion requirement of three dimensional space, 6 positioning points can be freely moved in three dimensional space, the motion part all adopt servo motor driving, the system comprises 25 driving shafts in total, the mechanical arm and the end part frame with accurate and flexible motion are mutually matched to finish the automatic forming work of the coil, thereby realizing high efficient steady once-forming effect.

Description

Full servo digital control motor coil expander type machine
Technical field
The utility model relates to a kind of type device that rises of motor coil.
Background technology
The motor coil expander type is one critical process in the motor manufacture process, be that the motor coil semi-finished product that will turn to the shuttle type rise by type processing to reach and motor stator, the process of the shape that rotor is complementary, usually need carry out the typing processing in the three dimensions, the fusiformis coil that turns to as the hard winding closed type of motor is a planar coil, need be processed into three-dimensional, the shape that is complementary with motor stator, to in the XZ plane, impose the action that stretches in the processing to coil, in the XY plane, end winding imposed and raise action, in the ZY plane, coil is imposed torsion action, the rise operation program design of type has proposed higher requirement to coil like this, the present relevant report of the efficient accurately processing of property fusiformis coil method once not as yet, normally substep machine-shaping, carry out replica with mould again, complex process, accuracy is not high, and in the pattern process easy damaged coil.The existing coil type equipment that rises generally comprises drive part and machinery partly, its driving part adopts the mode of hydraulic pressure and servomotor combination drive mostly, because of hydraulicdriven automaticity and precision relatively low, mechanical composition is simple relatively, coil rise automatization level and the functional diversities of type equipment have been limited greatly, can not finish three-dimensional compound movement, the typing in the above-mentioned three dimensions can not be finished on same equipment automatically, has increased production stage and processing cost.This kind equipment need be equipped with Hydraulic Station simultaneously, and maintenance is complicated, the equipment cost height.In sum, prior art does not provide the one-time formed equipment that can finish the polytype motor coil accurately and fast, the special one-time formed equipment of fusiformis coil that does not turn at hard winding closed type.
The utility model content
For solving the problem of automatic moulding accurately and fast of motor fusiformis coil, the utility model purpose is to provide a kind of full servo digital control motor coil type equipment that rises automatically, its guarantees that coil type that rises automatically finishes accurately and fast, reaches the effect of efficient stable disposal molding.
The technical scheme that its technical problem that solves the utility model adopts is:
Coil after the utility model machine-shaping can be divided into nose, hypotenuse, straight flange and lead portion, and wherein nose and hypotenuse are collectively referred to as the end.It is horizontal plane that its space coordinates is defined as the XY face, and the XZ face is a vertical plane.Coil rises that the type step can be divided into that the fusiformis coil that rises before the type is placed, the automatic clamping of coil and the type that rises, take off three steps of coil after the moulding, and front and back two steps are finished by hand by operating personnel, and intermediate steps is finished by the step of setting automatically by expanding machine.
A kind of full servo digital control motor coil expander type machine, it comprises drive part and mechanical part, described mechanical part comprises basic frame and upper left mechanical arm and manipulator combination, lower-left mechanical arm and manipulator combination, upper right mechanical arm and manipulator combination, bottom right mechanical arm and manipulator combination, left part movable machine frame and the combination of nose clip, right part movable machine frame and nose clip combination composition, and the motion of above-mentioned each parts is respectively by its corresponding AC servo module, servomotor, logic controller driving with control.
As to further improvement of the utility model, described upper left mechanical arm and manipulator combination are fixedly mounted on the left travel(l)ing rest with lower-left mechanical arm and manipulator combination, left side travel(l)ing rest is installed on the basic frame by guide rail, partly makes up X by a left side and makes X to motion to the motion servo module drive; Upper right mechanical arm and manipulator combination are fixedly mounted on the right fixed support with bottom right mechanical arm and manipulator combination, and right fixed support is fixedly mounted on the basic frame; Left part movable machine frame and the combination of nose clip are installed on the left travel(l)ing rest by guide rail, and movable machine frame X makes X to motion to the motion servo module drive by the left part; Right part movable machine frame and the combination of nose clip are installed on the right fixed support by guide rail, and movable machine frame X makes X to motion to the motion servo module drive by the right part.
As to further improvement of the utility model, the structure of described left part movable machine frame and the combination of nose clip is: left part frame X is installed in by guide rail on the left travel(l)ing rest to traversing carriage, and movable machine frame X makes X to motion to the motion servo module drive by the left part; Left part frame Y is installed in left part frame X to traversing carriage on traversing carriage by guide rail, movable machine frame Y makes Y to motion to the motion servo module drive by the left part, described nose clip standing part is installed in left part frame Y on traversing carriage by left nose clip YZ plane rotating shaft, is rotated in the YZ plane by left nose clip YZ plane rotating servo module drive; Left side nose clip movable part is installed on the left nose clip standing part by guide rail, makes Z to motion by left nose clip Z to the clamping servomotor module drive; The structure of described right part movable machine frame and the combination of nose clip is identical with left part movable machine frame and nose clip combining structure, and each moving component is driven by corresponding servo module.
As to further improvement of the utility model, described upper left mechanical arm and manipulator combination and lower-left mechanical arm and manipulator combining structure are: left fixed support plate is fixedly mounted on the left travel(l)ing rest, can be with left travel(l)ing rest X to motion; Upper left mechanical arm postbrachium is installed on the left fixed support plate by rotating shaft, is driven by upper left mechanical arm postbrachium rotation driver module to rotatablely move in the YZ plane; Upper left mechanical arm forearm is installed on the upper left mechanical arm postbrachium by rotating shaft, is driven by upper left mechanical arm forearm rotation driver module to rotatablely move in the YZ plane; Upper left manipulator is installed on the upper left mechanical arm forearm by rotating shaft, is driven by upper left manipulator rotation driver module to rotate in the YZ plane; Be installed with the straight line clip on the described upper left manipulator; Upper left top arc device fixedly mounts on the upper left manipulator, is rotated in the YZ plane by air cylinder driven; Lower-left mechanical arm postbrachium is installed on the left fixed support plate by rotating shaft, is driven by lower-left mechanical arm postbrachium rotation driver module to rotate in the YZ plane; Lower-left mechanical arm forearm is installed on the mechanical arm postbrachium of lower-left by rotating shaft, is driven by lower-left mechanical arm forearm rotation driver module to rotate in the YZ plane; The lower-left manipulator is installed on the mechanical arm forearm of lower-left by rotating shaft, is driven by lower-left manipulator rotation driver module to rotate in the YZ plane; Described lower-left manipulator is installed with the straight line clip; Top, lower-left arc device fixedly mounts on the manipulator of lower-left, is rotated in the YZ plane by air cylinder driven; Described right mechanical arm is identical with the manipulator combining structure with the structure and the left mechanical arm of manipulator combination, and each moving component is driven by corresponding servo module.
As to further improvement of the utility model, the structure of described straight line clip is: the straight line clip comprise fixing Y to, Z to pressing plate, movable Z to pressing plate and Y to pressing plate, described Z is vertical mutually and by same chain soft drive to the direction of motion of pressing plate to pressing plate and Y, cooperate to pressing plate to, Z with fixing Y and to compress coil, drive the screw mandrel rotation by straight line clamp driver module, screw mandrel drives chain movement by sprocket wheel, and the tightness of described chain is regulated by the chain regulating shaft.
As to further improvement of the utility model, described drive part comprises 25 AC servo modules and servomotor corresponding with it and logic controller.
As to further improvement of the utility model, the switching device of servo drive, built-up circuit, electromagnetically operated valve and command reception show that with information the employing flat computer cooperates control with programmable logic controller (PLC) (PLC), and system adopts the Profibus bus communication to connect each servo-driven module; Servo-driven module is divided into left and right sides two parts and is installed in left regulator cubicle and the right regulator cubicle, and logic control partly is installed in the independent electric screen cabinet.
The full servo digital control motor coil of the present utility model type equipment that rises automatically is to use like this: shuttle shaped coil is placed in two end clips, and clip clamps coil and rotation automatically.When shuttle shaped coil rotates to horizontal level, the mechanical arm action makes the straight line clip arrive correct position, and the straight line portion clip successively tightly locks coil clamp automatically, and mechanical arm and end frame are moved simultaneously up and down, draw back the width of coil to technique initialization, the coil oblique line partly forms simultaneously; Top arc device cylinder action then, the arc plate is adjacent to coil oblique line part, and mechanical arm, straight line portion fixture and end fixture rotate synchronously up and down, make limit, upper strata, lower floor limit and nose reach the angle of setting; Mechanical arm and end clips sub-frame interoperation in the whole type process that rises are finished the coil type that rises jointly.After the type that rises coil finished, the straight line portion clip at first unclamped, and coil is left in the mechanical arm rotation then, and last end clip unclamps, and desirable compacted under coil is proceeded the coil type work of rising.
The beneficial effects of the utility model are: the full servo digital control motor coil provided by the utility model features of shape of type equipment according to coil that rise automatically, select 6 characteristic points that can accurately reflect the coil net shape, in the course of processing, accurately locate with these 6 points, 6 anchor point free movements in three dimensions, for the type that rises of coil accurately provides condition, again by rational sequencing action step design, finish the action of coil deformation quantity maximum earlier, carry out the less relatively type action of rising of deformation quantity again, the total deformation quantity of coil is minimized, guarantee that coil is stressed even in the type process that rises, avoid causing the be stretched defective of distortion of part, it is accurate to be of value to shuttle shaped coil, disposal molding apace.
The full servo digital control motor coil provided by the utility model type plant machinery that rises automatically partly has 4 mechanical arms and two end moulding movable machine frames, reasonable in design, can guarantee three-dimensional motion needs, 6 anchor points can free movement in three dimensions, motion parts all adopts driven by servomotor, system comprises 25 driving shafts altogether, and mechanical arm and the action of end frame are accurately flexible, and cooperation is finished the automatic moulding work of coil jointly mutually.Can disposablely accurately and fast finish the final molding that the hard winding closed type of polytype motor turns to fusiformis semi-finished product coil, do not need to carry out replica with mould again, the finished product coil can be directly installed in the stator and rotor groove of interchange or direct current machine, its performance reaches the higher level of this kind equipment, high-precision coil processing has directly promoted the quality of motor product, Automatic Control can realize quick production, has improved production efficiency.This device control network topology adopts flat computer to cooperate control with programmable logic controller (PLC) (PLC), can store plurality of specifications coil parameter and equipment long-time running data, man-machine operation interface adopts configuration software as programming platform, and patterned user program is directly perceived simple; PLC is as core controller, and stable and reliable operation from computer read coil technological parameter, is carried out analytical calculation automatically, is decomposed to form the instruction of equipment sequentially-operating, and system adopts the Profibus bus communication to connect each servo-driven module; Drive mechanical arm by servo drive system and carry out corresponding action with the end gantry motion, the equipment action response is quick, and safe and reliable to operation and wiring simply.Servo-driven module is divided into left and right sides two parts and is installed in left regulator cubicle and the right regulator cubicle, and logic control partly is installed in the independent electric screen cabinet, has effectively shortened servo wiring distance, has reduced the electromagnetic interference between the device simultaneously.
Because driven by servomotor is all adopted in nose clip and the action of straight line clip, stroke can be regulated arbitrarily, and for the coil of different cross section, clamp structure is adjustment stroke automatically, need not to change clip and can clamp coil; So not needing to change clip promptly clamps applicable to the coil of various sectional dimensions; Particularly straight line clip Z is that the polylith pressing plate is intersected with each other to pressing plate and Y to platen design, jointly Z is carried out soft drive to pressing plate and Y to pressing plate by a chain, two pressing plate associated movements, the pressing plate that compresses coil earlier is stressed out of service, another pressing plate continues motion, the coil servomotor is out of service up to compressing, the stroke of servomotor is only long relevant with wide sum with coil section, and have nothing to do with the coil section Aspect Ratio, effectively solved the automatic clamping problem of coil straight line portion of different cross section.
Description of drawings
The utility model is described in further detail below in conjunction with accompanying drawing and example.
Fig. 1 is that the utility model is implemented the Y of the preceding shuttle shaped coil of coil molding to view;
Fig. 2 is that the utility model is implemented the Z of the preceding shuttle shaped coil of coil molding to view;
Fig. 3 is that the utility model is implemented Z after the moulding of external stator typical coil to view;
Fig. 4 is that the utility model is implemented Y after the moulding of external stator typical coil to view;
Fig. 5 is that the utility model is implemented X after the moulding of external stator typical coil to view;
Fig. 6 is that the utility model is implemented Z after the moulding of internal stator typical coil to view;
Fig. 7 is that the utility model is implemented Y after the moulding of internal stator typical coil to view;
Fig. 8 is that the utility model is implemented X after the moulding of internal stator typical coil to view;
Fig. 9 is that the utility model coil rises by the Z of type to the typical action schematic diagram;
Figure 10 is that the utility model coil rises by the Y of type to the typical action schematic diagram;
Figure 11 is that the utility model coil rises by the X of type to the typical action schematic diagram;
Figure 12 is the utility model mechanical structure main assembly of the present utility model schematic diagram;
Figure 13 is that the utility model end movable machine frame and nose clip are formed structure chart;
Figure 14 is the utility model straight line portion stretched mechanical arm and robot manipulator structure figure;
Figure 15 is a straight line portion clip outside drawing of the present utility model;
Figure 16 is the utility model straight line portion clip internal structure schematic diagram;
Figure 17 is control topology theory figure of the present utility model.
Among the figure: 1-left part movable machine frame and the combination of nose clip, 2-right part movable machine frame and the combination of nose clip, upper left mechanical arm of 3-and manipulator combination, upper right mechanical arm of 4-and manipulator combination, 5-lower-left mechanical arm and manipulator combination, 6-bottom right mechanical arm and manipulator combination, 7-base support frame, 8-left side travel(l)ing rest, the right fixed support of 9-, 10-left side servo-driven module regulator cubicle, the right servo-driven module regulator cubicle of 11-, 12-left part frame X is to traversing carriage, 13-left part frame Y is to traversing carriage, nose clip YZ plane, 14-left side rotating shaft, 15-left side nose clip movable part, 16-left side nose clip standing part, 17-nose pin installing hole, 21-left side mechanical arm fixed supported slab, the upper left mechanical arm postbrachium of 22-, the upper left mechanical arm forearm of 23-, upper left manipulator of 24-and straight line clip, the upper left involute of 25-top arc device, 26-lower-left mechanical arm postbrachium, 27-lower-left mechanical arm forearm, 28-lower-left manipulator and straight line clip, involute top, 29-lower-left arc device, 31-straight line clip Z is to pressing plate, 32-straight line clip Y is to pressing plate, 33-straight line clip Y to Z to fixation clip, 34-straight line clip driving shaft, the 35-chain axis of guide, 36-chain regulating shaft, 37-straight line clip upper cover plate, 38-straight line clip supporting bracket, the 39-chain, the 40-programmable logic controller (PLC), 41-multifunctional flat computer, 50-left side servo-drive rectification module, the upper left manipulator rotation of 51-driver module, the upper left mechanical arm forearm rotation of 52-driver module, the upper left mechanical arm postbrachium rotation of 53-driver module, 54-lower-left manipulator rotation driver module, 55-lower-left mechanical arm forearm rotation driver module, 56-lower-left mechanical arm postbrachium rotation driver module, 57-left side nose clip YZ plane rotation driver module, 58-left part movable machine frame X is to the motion driver module, 59-left side nose clip Z is to clamping driver module, 60-left part movable machine frame Y is to the motion driver module, X is partly made up to the motion driver module in a 61-left side, the upper left straight line clamp of 62-driver module, 63-lower-left straight line clamp driver module, the right servo-drive rectification module of 70-, the upper right manipulator rotation of 71-driver module, the upper right mechanical arm forearm rotation of 72-driver module, the upper right mechanical arm postbrachium rotation of 73-driver module, 74-bottom right manipulator rotation driver module, 75-bottom right mechanical arm forearm rotation driver module, 76-bottom right mechanical arm postbrachium rotation driver module, the right nose clip of 77-YZ plane rotation driver module, 78-right part movable machine frame X is to the motion driver module, the right nose clip of 79-Z is to clamping driver module, 80-right part movable machine frame Y is to the motion driver module, the upper right straight line clamp of 81-driver module, 82-bottom right straight line clamp driver module
Embodiment
Embodiment 1:
Adopt apparatus processing of the present utility model plane fusiformis coil as illustrated in fig. 1 and 2, the external stator formed coil that obtain being stretched in the XZ plane shown in Fig. 3,4 and 5, inner end is elevated, is twisted in the ZY plane on the XY plane, its course of processing comprises coil clamping, the coil type that rises automatically, coil rises and comprises that coil straight line with the type of waiting to rise stretches, end winding is raised and distortion of coil straight flange and nose torsion action, the circular arc of each bending part and end involute moulding action in the type step.The coil clamping is that the fusiformis coil with the type of waiting to rise is clamped by 4 straight line portion fixtures and 2 nose fixtures respectively, make it be in length direction in the XY plane, axis direction is positioned at the position on XZ plane, and the bite of the fusiformis coil of the type of waiting to rise is as the rise technological parameter anchor point of type process of coil.The coil type sequence of movement that rises is to make the space out width of technique initialization of the both sides up and down of fusiformis coil earlier, makes the end become oblique line shape; The straight line portion and the nose of coil are rotated synchronously, make limit, upper strata, lower floor limit and nose reach the angle of setting, circular arc that the circular arc of described each bending part of coil and end involute moulding are carried by fixture and top arc arc plate push when above-mentioned action is carried out and form.
Full servo digital control motor coil expander type machine, as shown in figure 12, upper left mechanical arm and manipulator combination 3 are fixedly mounted on the left travel(l)ing rest 8 with lower-left mechanical arm and manipulator combination 5, left side travel(l)ing rest 8 is installed on the basic frame 7 by guide rail, partly makes up X by a left side and makes X to motion to 61 drivings of motion servo module; Upper right mechanical arm and manipulator combination 4 are fixedly mounted on the right fixed support 9 with bottom right mechanical arm and manipulator combination 6, and right fixed support 9 is fixedly mounted on the basic frame 7; Left part movable machine frame and nose clip combination 1 is installed on the left travel(l)ing rest 8 by guide rail, is driven to motion servo module 58 by left part movable machine frame X and makes X to motion; Right part movable machine frame and nose clip combination 2 is installed on the right fixed support 9 by guide rail, is driven to motion servo module 78 by right part movable machine frame X and makes X to motion;
As shown in figure 13, the structure of left part movable machine frame and nose clip combination 1 is: left part frame X is installed in by guide rail on the left travel(l)ing rest 8 to traversing carriage 12, is driven to motion servo module 58 by left part movable machine frame X and makes X to motion; Left part frame Y is installed in left part frame X on traversing carriage 12 to traversing carriage 13 by guide rail, make Y to motion by left part movable machine frame Y to 60 drivings of motion servo module, described nose clip standing part 16 is installed in left part frame Y on traversing carriage 13 by left nose clip YZ plane rotating shaft 14, is driven by left nose clip YZ plane rotating servo module 57 and rotates in the YZ plane; Left side nose clip movable part 15 is installed on the left nose clip standing part 16 by guide rail, is driven to clamping servomotor module 59 by left nose clip Z and makes Z to motion;
The structure of right part movable machine frame and nose clip combination 2 is identical with the structure of left part movable machine frame and nose clip combination 1, and the driving servo module of each moving component correspondence is: the right part movable machine frame is driven to motion servo module 78 by right part movable machine frame X; Right part frame Y is driven to motion driver module 80 by right part movable machine frame Y to traversing carriage; Nose clip standing part is driven by right nose clip YZ plane rotation driver module 77; Right nose clip movable part 15 is driven to clamping driver module 79 by right nose clip Z;
As shown in figure 14, upper left mechanical arm combination 3 is made up 5 structures with the lower-left mechanical arm and is: upper left mechanical arm postbrachium 22 is installed on the left fixed support plate 21 by rotating shaft, is driven by upper left mechanical arm postbrachium servo module 53 to rotatablely move in the YZ plane; Upper left mechanical arm forearm 23 is installed on the upper left mechanical arm postbrachium 22 by rotating shaft, is driven by upper left mechanical arm forearm servo module 52 to rotatablely move in the YZ plane; Upper left manipulator 24 is installed on the upper left mechanical arm forearm 23 by rotating shaft, is driven by upper left manipulator servo module 51 to rotate in the YZ plane; Upper left top arc device 25 is fixedly installed on the upper left manipulator 24, is rotated in the YZ plane by air cylinder driven; Lower-left mechanical arm postbrachium 26 is installed on the left fixed support plate 21 by rotating shaft, is driven by lower-left mechanical arm postbrachium servo module 56 to rotate in the YZ plane; Lower-left mechanical arm forearm 27 is installed on the lower-left mechanical arm postbrachium 26 by rotating shaft, is driven by lower-left mechanical arm servo module 55 to rotate in the YZ plane; Lower-left manipulator 28 is installed on the lower-left mechanical arm forearm 27 by rotating shaft, is driven by lower-left manipulator servo module 54 to rotate in the YZ plane; Top, lower-left arc device 29 is fixedly installed on the upper left manipulator 28, is rotated in the YZ plane by air cylinder driven.
The combination 4 of upper right mechanical arm and bottom right mechanical arm make up 6 structures and upper left mechanical arm make up 3 and the lower-left mechanical arm to make up 5 structures identical, be symmetrical arranged, the driving servo module of each moving component correspondence is: upper right mechanical arm postbrachium 22 is driven by upper right mechanical arm postbrachium servo module 73; Upper right mechanical arm forearm 23 is driven by upper right mechanical arm forearm servo module 72; Upper right manipulator 24 is driven by upper right manipulator servo module 71; Bottom right mechanical arm postbrachium 26 is driven by bottom right mechanical arm postbrachium servo module 76; Bottom right mechanical arm forearm 27 is driven by bottom right mechanical arm servo module 75; Bottom right manipulator 28 is driven by bottom right manipulator servo module 74.
Shown in Figure 15,16, upper left straight line clip is formed 24 structures: the straight line clip Z that is driven clip by axle 34 by chain moves both vertically to pressing plate 32 with straight line clip Y to pressing plate 31, cooperate with clip fixation clip 33 to compress coil, axle 34 is driven by upper left straight line clamp servo module 62; The tightness of chain is regulated by chain regulating shaft 36, and the stroke of the servomotor that the straight line clip is formed is identical with lower platen 32 stroke sums with top board 31;
Lower-left straight line clip form 28 with upper left straight line clip to form 24 structures identical, be symmetrical arranged, corresponding servo module is: structure is: straight line clip driving shaft 34 is by 63 drivings of lower-left straight line clamp servo module; The tightness of described chain is regulated by chain regulating shaft 36, and the stroke of the servomotor that the straight line clip is formed is identical with lower platen 32 stroke sums with top board 31;
Upper right straight line clip is formed 24 structures: drive clip straight line clip Z by axle 34 by chain and move both vertically to pressing plate 32 with straight line clip Y to pressing plate 31, cooperate with clip fixation clip 33 to compress coil, driven by upper right straight line clamp servo module 81; The tightness of described chain is regulated by chain regulating shaft 36, and the stroke of the servomotor that the straight line clip is formed is identical with lower platen 32 stroke sums with top board 31;
Bottom right straight line clip is formed 28 structures: drive clip straight line clip Z by axle 34 by chain and move both vertically to pressing plate 32 with straight line clip Y to pressing plate 31, cooperate with clip fixation clip 33 to compress coil, driven by lower-left straight line clamp servo module 82; The tightness of described chain is regulated by chain regulating shaft 36, and the stroke of the servomotor that the straight line clip is formed is identical with lower platen 32 stroke sums with top board 31;
As shown in figure 17, the configuration of servo drive and major framework network topology adopt flat computer 41 to cooperate control with programmable logic controller (PLC) (PLC) 40, and system adopts the Profibus bus communication to connect each servo-driven module; Servo-driven module is divided into left and right sides two parts and installs, wherein servo-driven module 50 51 52 53 54 55 56 57 5,859 60 61 62 63 is installed in the left regulator cubicle 10, servo-driven module 70 71 72 73 74 75 76 7,778 79 80 81 82 is installed in the right regulator cubicle 11, and logic control partly is installed in the independent electric screen cabinet.
Embodiment 2:
Adopt method and apparatus processing of the present utility model fusiformis coil as depicted in figs. 1 and 2, obtain the inner stator coil shown in Fig. 6,7 and 8, main action is included in the XZ plane and is stretched, raised with the external stator rightabout at XY plane inner end, straight line and nose are twisted in the ZY plane, its course of processing equipment action step is similar to embodiment 1, and difference is that the end raises direction and direction of twist difference.

Claims (7)

1. full servo digital control motor coil expander type machine, it comprises drive part and mechanical part, it is characterized in that: described mechanical part comprises that basic frame and upper left mechanical arm and manipulator combination, lower-left mechanical arm and manipulator combination, upper right mechanical arm and manipulator combination, bottom right mechanical arm and manipulator combination, left part movable machine frame and nose are sandwiched in combination, right part movable machine frame and the combination of nose clip and form, and the motion of above-mentioned each parts is driven and control by its corresponding AC servo driver module, AC servo motor, logic controller respectively.
2. full servo digital control motor coil expander type machine according to claim 1, it is characterized in that: described upper left mechanical arm and manipulator combination are fixedly mounted on the left travel(l)ing rest with lower-left mechanical arm and manipulator combination, left side travel(l)ing rest is installed on the basic frame by guide rail, partly makes up X by a left side and makes X to motion to the motion servo module drive; Upper right mechanical arm and manipulator combination are fixedly mounted on the right fixed support with bottom right mechanical arm and manipulator combination, and right fixed support is fixedly mounted on the basic frame; Left part movable machine frame and the combination of nose clip are installed on the left travel(l)ing rest by guide rail, and movable machine frame X makes X to motion to the motion servo module drive by the left part; Right part movable machine frame and the combination of nose clip are installed on the right fixed support by guide rail, and movable machine frame X makes X to motion to the motion servo module drive by the right part.
3. full servo digital control motor coil expander type machine according to claim 2, it is characterized in that: the structure of described left part movable machine frame and the combination of nose clip is: left part frame X is installed in by guide rail on the left travel(l)ing rest to traversing carriage, and movable machine frame X makes X to motion to the motion servo module drive by the left part; Left part frame Y is installed in left part frame X to traversing carriage on traversing carriage by guide rail, movable machine frame Y makes Y to motion to the motion servo module drive by the left part, described nose clip standing part is installed in left part frame Y on traversing carriage by left nose clip YZ plane rotating shaft, is rotated in the YZ plane by left nose clip YZ plane rotating servo module drive; Left side nose clip movable part is installed on the left nose clip standing part by guide rail, makes Z to motion by left nose clip Z to the clamping servomotor module drive; The structure of described right part movable machine frame and the combination of nose clip is identical with left part movable machine frame and nose clip combining structure, and each moving component is driven by corresponding servo module.
4. full servo digital control motor coil expander type machine according to claim 3, it is characterized in that: described upper left mechanical arm and manipulator combination and lower-left mechanical arm and manipulator combining structure are: left fixed support plate is fixedly mounted on the left travel(l)ing rest, can be with left travel(l)ing rest X to motion; Upper left mechanical arm postbrachium is installed on the left fixed support plate by rotating shaft, is driven by upper left mechanical arm postbrachium rotation driver module to rotatablely move in the YZ plane; Upper left mechanical arm forearm is installed on the upper left mechanical arm postbrachium by rotating shaft, is driven by upper left mechanical arm forearm rotation driver module to rotatablely move in the YZ plane; Upper left manipulator is installed on the upper left mechanical arm forearm by rotating shaft, is driven by upper left manipulator rotation driver module to rotate in the YZ plane; Be installed with the straight line clip on the described upper left manipulator; Upper left top arc device is installed on the upper left manipulator by rotating shaft, is rotated in the YZ plane by air cylinder driven; Lower-left mechanical arm postbrachium is installed on the left fixed support plate by rotating shaft, is driven by lower-left mechanical arm postbrachium rotation driver module to rotate in the YZ plane; Lower-left mechanical arm forearm is installed on the mechanical arm postbrachium of lower-left by rotating shaft, is driven by lower-left mechanical arm forearm rotation driver module to rotate in the YZ plane; The lower-left manipulator is installed on the mechanical arm forearm of lower-left by rotating shaft, is driven by lower-left manipulator rotation driver module to rotate in the YZ plane; Described lower-left manipulator is installed with the straight line clip; Top, lower-left arc device is installed on the manipulator of lower-left by rotating shaft, is rotated in the YZ plane by air cylinder driven; Described right mechanical arm is identical with the manipulator combining structure with the structure and the left mechanical arm of manipulator combination, and each moving component is driven by corresponding servo module.
5. full servo digital control motor coil expander type machine according to claim 4 is characterized in that: described drive part comprises 25 AC servo driver modules and servomotor corresponding with it and logic controller.
6. full servo digital control motor coil expander type machine according to claim 5, it is characterized in that: the structure of described straight line clip is: the straight line clip comprise fixing Y to Z to pressing plate, movable Z to pressing plate and Y to pressing plate, described Z is vertical mutually and by same chain soft drive to the direction of motion of pressing plate to pressing plate and Y, cooperate to pressing plate to, Z with fixing Y and to compress coil, drive the screw mandrel rotation by straight line clamp driver module, screw mandrel drives chain movement by sprocket wheel, and the tightness of described chain is regulated by the chain regulating shaft.
7. full servo digital control motor coil expander type machine according to claim 6, it is characterized in that: devices such as the switching device of described servo drive, built-up circuit, electromagnetically operated valve and command reception and information demonstration adopt flat computer to cooperate control with programmable logic controller (PLC) (PLC), and system's employing Profibus bus communication connects each servo-driven module; Servo-driven module is divided into left and right sides two parts and is installed in left regulator cubicle and the right regulator cubicle, and logic control partly is installed in the independent electric screen cabinet.
CNU2007200633688U 2007-05-29 2007-05-29 Coil expanding machine of full-servo numerical control electric motor Expired - Lifetime CN201057633Y (en)

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CNU2007200633688U CN201057633Y (en) 2007-05-29 2007-05-29 Coil expanding machine of full-servo numerical control electric motor

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Application Number Priority Date Filing Date Title
CNU2007200633688U CN201057633Y (en) 2007-05-29 2007-05-29 Coil expanding machine of full-servo numerical control electric motor

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CN201057633Y true CN201057633Y (en) 2008-05-07

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101777817B (en) * 2009-12-31 2011-11-16 山东齐鲁电机制造有限公司 Full-automatic numerical control rotor coil forming device
CN103208889A (en) * 2012-01-13 2013-07-17 上海闵行机械工程技术研究所 Numerical control roof-arc spreading machine
CN103986287A (en) * 2014-06-04 2014-08-13 济南科亚电子科技有限公司 Wire drawing die

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101777817B (en) * 2009-12-31 2011-11-16 山东齐鲁电机制造有限公司 Full-automatic numerical control rotor coil forming device
CN103208889A (en) * 2012-01-13 2013-07-17 上海闵行机械工程技术研究所 Numerical control roof-arc spreading machine
CN103208889B (en) * 2012-01-13 2015-12-02 上海闵行机械工程技术研究所有限公司 Numerical control top arc expanding machine
CN103986287A (en) * 2014-06-04 2014-08-13 济南科亚电子科技有限公司 Wire drawing die
CN103986287B (en) * 2014-06-04 2016-05-04 济南科亚电子科技有限公司 A kind of bracing wire mould

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