CN208945505U - The automatic rotational alignment charging equipment of iron core - Google Patents

Abstract

The automatic rotational alignment charging equipment of iron core, including equipment base, it is set to the sieve material feeding device of equipment base, feeding track, assembly manipulator and several components to be assembled, the component to be assembled includes core assembly, core assembly is cylindrical, the flange that one end is equipped with " D " font includes straight flange face and rounded face, the core assembly other end is bottom, feeding track includes material receiving end, discharge end, and the sliding groove of discharge end is through to from material receiving end, the sliding groove shape is adapted with core assembly shape, ground terminal and sieve material feeding device connection, the core assembly is placed in sieve material feeding device, core assembly is adjusted to flange towards vertical top by sieve material feeding device, upright state of the bottom under, it is delivered in material receiving end sliding groove, and discharge end is moved to along sliding groove, on the automatic rotational alignment of iron core Material equipment further includes iron core circumferential direction calibrating installation, and the iron core circumferential direction calibrating installation includes resilient clamp seat and fitting rotation adjusted device.

Description

The automatic rotational alignment charging equipment of iron core

Technical field

The utility model relates to electric product assembly equipment field, in particular to breaker magnetic system assembles equipment.

Background technique

Magnetic system is the important component in breaker, generally includes core assembly, wire frame, terminal plate, contact supporting etc. Components composition, contact supporting are equipped with coil, and wire frame is equipped with threaded hole and the movable screw in threaded hole, magnetic system Assembling process be usually first using contact supporting, terminal plate as basis component fix, wire frame is then set in touching On the terminal plate of head bracket, to prevent wire frame from falling off from terminal plate, terminal plate is equipped with width and is greater than wire frame inner wall The Ka Jiao of width, therefore while being arranged wire frame, needs to be rotated by a certain angle, and keeps wiring board angle diagonal along wire frame inner wall Line direction enters, and then replys wire frame rotation angle so that Ka Jiao blocks wire frame and prevents it from falling off, calibration wire frame with Behind the position of terminal plate, the screw in wire frame is tightened, screw is made to rotate into specified position, completes the assembling of wire frame；Again It is accurate to install to the coil of contact supporting by core assembly calibrating position, complete the assembling of magnetic system.

The assembling of core assembly is very difficult in the assembling process of magnetic system in breaker at present, and reason is: one, being The efficiency of the entire production and assembly of quickening uses the auxiliary assembling of a large amount of automation equipments, such as this kind of vibration of vibrating disk is screened Material and the feeding device conveyed, core assembly sheet is as assembled formation component, during vibration, will lead to a part of iron Component is mutually disengaged in core assembly, causes waste material situation.Two, in a large amount of feeder processes, large number of core assembly is each From attitude angle difference, when automation equipment being caused to be packed into core assembly in the coil of contact supporting, angle is difficult to unification.It is general Logical equipment does not have whether confirmation core assembly self structure is loose, when calibration, unified core assembly are packed into coil The functions such as angular pose.

Summary of the invention

The utility model provides one kind and is able to confirm that core assembly self structure is to solve the deficiency of above-mentioned technology It is no loose, the unified automatic rotational alignment charging equipment of iron core for calibrating angular pose when core assembly is packed into coil.

The technical solution of the utility model includes: the automatic rotational alignment charging equipment of iron core, including equipment base, it is set to equipment Sieve material feeding device, feeding track, assembly manipulator and several components to be assembled of pedestal, the component to be assembled include Core assembly, the core assembly is cylindrical, and the flange that one end is equipped with " D " font includes straight flange face and rounded face, the iron core The component other end is bottom, and the feeding track includes material receiving end, discharge end and the sliding that discharge end is through to from material receiving end Slot, the sliding groove shape are adapted with core assembly shape, the ground terminal and sieve material feeding device connection, the core assembly Be placed in sieve material feeding device in, by sieve material feeding device by core assembly be adjusted to flange towards vertical top, bottom towards under Upright state, be delivered in material receiving end sliding groove, and be moved to discharge end along sliding groove,

The automatic rotational alignment charging equipment of iron core further includes iron core circumferential direction calibrating installation, the iron core circumferential direction calibration cartridge It sets and is set to below feeding track discharge end including resilient clamp seat and fitting rotation adjusted device, the resilient clamp seat, packet Including left collet, right collet, collet folding cylinder, base of the carrier head, driving cylinder and tension spring, the left collet is in symmetrically to set with right collet It is placed on base of the carrier head and is slidably matched, the collet folding cylinder is linked with left collet and right collet respectively, drives left folder Head is relatively close or separate with right collet, and the tension spring both ends are fixedly connected with left collet and right collet respectively, drive left collet Close with right collet mutually elasticity, the driving cylinder is linked with base of the carrier head, and driving base of the carrier head enters and leaves feeding track discharging End lower section；

The fitting rotation adjusted device includes stop casing, rotating bezel trap pipe, pre-compressed spring, servo motor, motor Lifting seat, lifting cylinder and motor base, the rotating bezel trap pipe include shaft end and sleeve end, described sleeve pipe end be equipped with The compatible correction convex block in " D " font flange straight flange face, the shaft end, which extends radially through, is provided with slotted hole, the servo motor Including output shaft and lateral pin, which is coaxially socketed with shaft end, and the lateral pin, which is set in slotted hole, does axial sliding fit And with output shaft secure fit, the coaxial rotating that the stop sleeve pipe sleeve does axial restraint on rotating bezel trap pipe cooperates, The stop casing vertical position is lower than rotating bezel trap pipe, which is equipped with flange hole, institute towards the side of sleeve end Stating flange hole is bellmouth, and orifice diameter is greater than flange rounded face diameter, and bottom hole diameter is adapted with rounded face diameter, the electricity Machine pedestal is equipped with vertical rail, the motor lifting seat and vertical rail be slidably matched and with servo motor secure fit, institute It states lifting cylinder to be linked with motor lifting seat, driving motor lifting seat reciprocatingly slides along vertical rail, the pre-compressed spring It is sheathed on shaft end, between servo motor and stop casing, drives rotating bezel trap pipe always far from servo motor；

The resilient clamp seat is pressed from both sides core assembly from discharge end by left collet, right collet open and close movement, is pinched to end Dynamic casing, the coaxial following position directly of rotating bezel trap pipe, the servo motor are equipped with turnover initial position, and the lifting cylinder drives After dynamic stop casing, rotating bezel trap pipe are contacted with core assembly, 360 ° of turnover of servo motor starting are stopped at initial position, described Assembly manipulator after stop casing, rotating bezel trap pipe leave core assembly, install to coil by clamping core assembly.

By adopting the above technical scheme, by the elastic clip headstock of setting, core assembly is being pressed from both sides out from discharge end, is being pinched extremely After stop casing, the coaxial following position directly of rotating bezel trap pipe, fitting rotates the decline of adjusted device driving motor lifting seat, stop Casing, rotating bezel trap pipe successively decline contact core assembly, at this time because stop casing vertical position is lower than rotating bezel trap Pipe, stop casing contact core assembly one step ahead, and core assembly is additionally related to multi-functional passive entry in flange hole, since flange hole is bellmouth, hole Mouth diameter is greater than flange rounded face diameter, and bottom hole diameter is adapted with rounded face diameter, and flange is core assembly diameter again Maximum, the setting in aperture is so that stop casing conveniently entangles core assembly flange end, and the contraction of bottom hole, so that Hp contacts It to after bottom hole, is influenced by the two diameter is compatible, contacts with each other and generate rubbing action, allow core assembly by friction effects, Turnover movement will not occur in the absence of external forces.

Then rotating bezel trap pipe is contacted with core assembly, the tension generated by the pre-compressed spring pre-compressed spring of setting, Drive rotating bezel trap pipe always far from servo motor, i.e. driving correction convex block is squeezed to flange end face, simultaneously as shaft end edge It extends radially through and is provided with slotted hole, servo motor output shaft is coaxially socketed with shaft end, and lateral pin, which is set in slotted hole, does axial cunning Dynamic to match merging and output shaft secure fit, rotating bezel trap pipe and stop casing can be moved axially along the stroke of slotted hole.

Simultaneously during servo motor turnover, correction convex block has enough to meet the need in flange end face therewith to be moved, when correction convex block When being moved to the indentation, there of " D " font flange straight flange face formation, the precompression effect of preloading spring can automatically insert the notch Interior, servo motor still rotates at this time, core assembly turnover will be driven, because watching by the conflict of correction convex block and straight flange face Take motor be set as rotating core assembly one time 360 °, regardless of a large amount of core assemblies respectively fall into the week of resilient clamp seat Be to angle it is how many, i.e., what angle the position in the respective straight flange face of a large amount of core assemblies is in, and servo motor once has enough to meet the need, and all can By the notch in flange straight flange face, convex block is corrected therewith automatically into notch, then unifies for core assembly to be aligned to servo electricity The fixed rest position of machine, has just achieved the purpose that a large amount of core assembly circumferential direction postures are unified.

Simultaneously as the tension spring both ends being arranged in resilient clamp seat are fixedly connected with left collet and right collet respectively, driving is left Collet and right collet mutually elasticity are close so that the strength closed up between left collet and right collet be it is elastic, avoid correction The case where when convex block drives elastic parts turnover, left collet and right collet press from both sides core assembly extremely completely, lead to not correction.

The further setting of the utility model: the automatic rotational alignment charging equipment of iron core further includes being provided with to stop material machine Structure and quality inspection organization, the Ting Liao mechanism include intercepting part and intercepting cylinder, and the interception part is set to feeding track discharge end End face, the interception cylinder are linked with part is intercepted, and driving intercepts part and moves back and forth with respect to discharge end end face, sliding groove of breaking seal Notch；The quality inspection organization includes that guide seat, iron core ejection block, wedge-shaped pushing block and ejection cylinder, the guide seat are set to out Expect below end, which is set to vertical liter with respect to vertical lifting slot, the iron core ejection block is equipped at core assembly position It is slidably matched in drop slot, which includes the press end above vertical and sliding end vertically below, the press End end surface shape is adapted with core assembly bottom shape, and the sliding end is equipped with lozenges, the wedge shape pushing block and sliding end Lozenges is slidably matched, and the ejection cylinder is linked with wedge-shaped pushing block, after Ting Liao mechanism closing discharge end sliding notch, Iron core ejection block is driven to rise press core assembly bottom surface along vertical lifting slot.

By adopting the above technical scheme, when core assembly is acted on mobile to discharge end by sieve material feeding device, it is logical to intercept part It crosses opposite discharge end end face to move back and forth, sliding groove notch of breaking seal, so that the continuous either on or off of sliding groove notch, while intercepting Before part is opened, iron core ejection block can carry out press campaign to the core assembly bottom at notch, press core assembly, it is ensured that iron Core assembly self-assembles are complete, do not scattered by vibration influence.After quality inspection organization running, intercepts part and open sliding groove slot Mouthful, allow the core assembly for completing quality inspection to be pressed from both sides out by resilient clamp seat.

The further setting of the utility model: the assembly manipulator includes robot base, horizontal slide rail, horizontal gas Cylinder, manipulator Mobile base, upright slide rail, vertical cylinder, manipulator lifting seat, manipulator overturning seat, overturning motor, claw piece and Claw opening and closing cylinder, the robot base are equipped with horizontal slide rail, and the manipulator Mobile base is movably set in horizontal slide rail It above and with horizontal air cylinder is linked, the horizontal air cylinder driving manipulator Mobile base does reciprocal sliding motion along horizontal slide rail； The manipulator Mobile base be equipped with upright slide rail, the manipulator lifting seat be movably set on upright slide rail and with vertical gas Cylinder is linked, and the vertical cylinder driving manipulator lifting seat does reciprocal sliding motion along upright slide rail；The machinery handspring The axial posture in horizontal direction of swivel base, is movably set on manipulator lifting seat, and the overturning motor and manipulator overturning seat join Dynamic cooperation, driving manipulator overturning seat relatively horizontal orientation do flip-flop movement；The claw piece is matched with the linkage of claw opening and closing cylinder It closes and is all set on manipulator overturning seat, which drives claw piece open and close movement.

By adopting the above technical scheme, claw piece can complete mobile vertical direction, horizontal direction movement, vertical direction overturning Core assembly is adjusted to the posture being assembled in coil is suitble to, is then assembled by the movement such as movement, open and close movement, realization.

The further setting of the utility model: the claw piece with mechanical handspring turn part overturning path on set there are two limit Position part respectively starting locating part and terminates locating part, and two locating parts and manipulator lifting seat secure fit simultaneously extend to Claw piece is overturn in path, limits claw piece flip angle, and claw piece folding path is equipped with folding limited block.

By adopting the above technical scheme, by the starting locating part of setting and termination locating part limitation overturning range, card is prevented Bluff piece is in a large amount of switching process repeatedly, and by inertia effects, the case where flip angle misalignment, the folding for passing through setting is limited The problem of block prevents claw from excessively opening, and collides other components to be assembled, equipment during the installation process.

The further setting of the utility model: being equipped between the resilient clamp seat and assembly manipulator and pass welding manipulator, The biography welding manipulator includes robot base, X-axis slide rail, X-axis cylinder, X-axis Mobile base, Y-axis sliding rail, Y-axis Mobile base, Y-axis Cylinder, claw piece and claw open and close cylinder, and the robot base is equipped with X-axis slide rail, and the X-axis Mobile base is movably set in It is linked in X-axis slide rail and with X-axis cylinder, the X-axis cylinder driving X-axis Mobile base does reciprocal sliding motion along X-axis slide rail； The X-axis Mobile base is equipped with Y-axis sliding rail, and the Y-axis Mobile base is movably set on Y-axis sliding rail and Y-axis cylinder is linked, The Y-axis cylinder driving Y-axis Mobile base does reciprocal sliding motion along Y-axis sliding rail；The claw piece and claw folding cylinder linkage Cooperate and be all set on Y-axis Mobile base, the claw piece level height is corresponding with resilient clamp seat upper core component height, institute It states and passes welding manipulator by the core assembly in claw piece clamping resilient clamp seat, and be transferred to the claw piece of assembly manipulator just Lower section.

Using above-mentioned technical method, welding manipulator is passed by being equipped between resilient clamp seat and assembly manipulator, it can be with It allows and passes welding manipulator by the core assembly in claw piece clamping resilient clamp seat, and be transferred to the claw piece of assembly manipulator just Lower section.The movement travel for reducing resilient clamp seat and assembly manipulator, plays the role of transmitting, so that transmission efficiency increases, if Standby volume-diminished.

The further setting of the utility model: the servo motor output shaft is equipped with positioning disk, the positioning disk and output The cooperation of axis coaxial rotating, the positioning disk are equipped with polarizing slot, and the motor base is equipped with photoelectric sensor, the photoelectric transfer Sensor is corresponding to be radiated on polarizing slot turnover path, and is connect with servo motor signal, and the servo motor is according to photoelectric transfer Sensor detects that the signal of polarizing slot stops rotating.

By adopting the above technical scheme, detect that the signal of polarizing slot stops rotation according to photoelectric sensor by servo motor Turn, further ensures 360 ° of turnover of accuracy of servo motor, strengthen the unified accuracy of iron core circumferential direction angle.

The further setting of the utility model: the claw piece of the assembly manipulator is in nipper plier shape.

By adopting the above technical scheme, the claw piece of assembly manipulator can reduce the volume of claw piece in nipper plier shape, keep away Exempt from during assembling core assembly, claw piece collides other elements to be assembled.

Detailed description of the invention

Fig. 1 is the structure chart of the utility model embodiment；

Fig. 2 is that the fitting of the utility model embodiment rotates adjusted device structure chart；

Fig. 3 is that the fitting of the utility model embodiment rotates adjusted device explosive view；

Fig. 4 is the resilient clamp seat structure chart of the utility model embodiment；

Fig. 5 is the resilient clamp seat explosive view of the utility model embodiment；

Fig. 6 is the structure chart of the assembly manipulator of the utility model embodiment；

Fig. 7 is that the fitting of the utility model embodiment rotates adjusted device partial sectional view.

Specific embodiment

As shown in figs. 1-7, the automatic rotational alignment charging equipment of iron core including equipment base, is set to the sieve of equipment base Expect feeding device, feeding track, assembly manipulator c7 and several components to be assembled, which includes iron core group Part, the core assembly is cylindrical, and the flange that one end is equipped with " D " font includes straight flange face c11 and rounded face c12, the iron core The component other end is bottom c13, and the feeding track includes material receiving end, discharge end and the cunning that discharge end is through to from material receiving end Dynamic slot c54, sliding groove c54 shape are adapted with core assembly shape, the ground terminal and sieve material feeding device connection, described Core assembly is placed in sieve material feeding device, and core assembly is adjusted to flange towards vertical top, bottom by sieve material feeding device Upright state of the portion c13 under is delivered in material receiving end sliding groove c54, and be moved to discharge end along sliding groove c54, described The automatic rotational alignment charging equipment of iron core further includes iron core circumferential direction calibrating installation c2, and the iron core circumferential direction calibrating installation c2 includes bullet Property grip slipper c3 and fitting rotate adjusted device c4, the resilient clamp seat c3 is set to below feeding track discharge end c53, packet Include left collet c31, right collet c32, collet folding cylinder c33, base of the carrier head c34, driving cylinder c35 and tension spring c36, the left folder Head c31 is symmetrical set with right collet c32 and is slidably matched on base of the carrier head c34, the collet open and close cylinder c33 respectively with a left side Collet c31 and right collet c32 are linked, and drive left collet c31 and right collet c32 relatively close or separate, the tension spring c36 Both ends are fixedly connected with left collet c31 and right collet c32 respectively, drive left collet c31 and right collet c32 mutually elasticity close, The driving cylinder c35 and base of the carrier head c34 is linked, and driving base of the carrier head c34 enters and leaves below feeding track discharge end c53；

The fitting rotation adjusted device c4 includes stop casing c41, rotating bezel trap pipe c42, pre-compressed spring c43, watches Motor c44, motor lifting seat c45, lifting cylinder c46 and motor base c47 are taken, the rotating bezel trap pipe c42 includes shaft end C421 and sleeve end c422, described sleeve pipe end c422 are equipped with correction convex block compatible with " D " font flange straight flange face c11 C423, the shaft end c421, which are extended radially through, is provided with slotted hole c4211, the servo motor c44 include output shaft c441 and Lateral pin c442, output shaft c441 are coaxially socketed with shaft end c421, and the lateral pin c442, which is set in slotted hole c4211, does axial direction Be slidably matched and with output shaft c441 secure fit, the stop casing c41 be sheathed on rotating bezel trap pipe c42 does it is axial solid Fixed coaxial rotating cooperation, the stop casing c41 vertical position are lower than rotating bezel trap pipe c42, the stop casing c41 direction The side of sleeve end c422 is equipped with flange hole c411, and the flange hole c411 is bellmouth, and orifice diameter is greater than flange rounded face C12 diameter, bottom hole diameter are adapted with rounded face c12 diameter, and the motor base c47 is equipped with vertical rail c471, described Motor lifting seat c45 and vertical rail c471 be slidably matched and with servo motor c44 secure fit, the lifting cylinder c46 with Motor lifting seat c45 is linked, and driving motor lifting seat c45 reciprocatingly slides along vertical rail c471, the pre-compressed spring c43 It is sheathed on shaft end c421, between servo motor c44 and stop casing c41, driving rotating bezel trap pipe c42 is separate always to be watched Take motor c44；

The resilient clamp seat c3 is pressed from both sides core assembly from discharge end by left collet c31, right collet c32 open and close movement, It pinches to stop casing c41, the coaxial following position directly of rotating bezel trap pipe c42, the servo motor c44 and is equipped with turnover start bit It sets, after the lifting cylinder c46 driving stop casing c41, rotating bezel trap pipe c42 are contacted with core assembly, servo motor c44 360 ° of starting turnover is stopped at initial position, and the assembly manipulator c7 waits for that stop casing c41, rotating bezel trap pipe c42 leave iron After core assembly, clamping core assembly is installed to coil.

By the elastic clip headstock c34 of setting, core assembly is being pressed from both sides out from discharge end, is being pinched to stop casing c41, rotation After turning the chimeric coaxial following position directly of casing c42, fitting rotates adjusted device c4 driving motor lifting seat c45 decline, stop sleeve Pipe c41, rotating bezel trap pipe c42 successively decline contact core assembly, at this time because stop casing c41 vertical position is lower than rotation Chimeric casing c42, stop casing c41 contact core assembly one step ahead, and core assembly is additionally related to multi-functional passive entry in flange hole c411, due to convex Marginal pore c411 is bellmouth, and orifice diameter is greater than flange rounded face c12 diameter, and bottom hole diameter is adapted with rounded face c12 diameter, And flange is core assembly diameter maximum again, the setting in aperture is so that stop casing c41 conveniently entangles core assembly flange End, and the contraction of bottom hole are influenced by the two diameter is compatible, contact with each other generation friction so that after Hp contacts to bottom hole Effect, allows core assembly by friction effects, and turnover movement will not occur in the absence of external forces.

Then rotating bezel trap pipe c42 is contacted with core assembly, is produced by the pre-compressed spring c43 pre-compressed spring c43 of setting Raw tension, for driving rotating bezel trap pipe c42 always far from servo motor c44, i.e. driving corrects convex block c423 to flange end face It squeezes, simultaneously as shaft end c421, which is extended radially through, is provided with slotted hole c4211, servo motor c44 output shaft c441 and shaft end C421 is coaxially socketed, lateral pin c442 be set in slotted hole c4211 do axial sliding fit and with output shaft c441 secure fit, Rotating bezel trap pipe c42 and stop casing c41 can be moved axially along the stroke of slotted hole c4211.

While during servo motor c44 turnover, correction convex block c423 has enough to meet the need in flange end face therewith to be moved, when strong When positive convex block c423 is moved to the indentation, there of " D " font flange straight flange face c11 formation, the precompression effect of preloading spring c43, It can automatically insert in the notch, servo motor c44 still rotates at this time, will pass through correction convex block c423's and straight flange face c11 Contradict, drive core assembly turnover, because servo motor c44 be set as rotating core assembly one time 360 °, regardless of a large amount of The circumferential angle that core assembly respectively falls into resilient clamp seat c3 is how many, i.e., the position of the respective straight flange face c11 of a large amount of core assemblies What set in angle, servo motor c44 once has enough to meet the need, and can all pass through the notch of flange straight flange face c11, correct convex block therewith Then c423 unifies for core assembly to be aligned to the fixed rest position of servo motor c44, just reach automatically into notch By the purpose that a large amount of core assembly circumferential direction postures are unified.

Simultaneously as the both ends tension spring c36 being arranged in resilient clamp seat c3 are fixed with left collet c31 and right collet c32 respectively Connection drives left collet c31 and right collet c32 mutually elasticity close, so that close up between left collet c31 and right collet c32 Strength be it is elastic, when avoiding correction convex block c423 driving elastic parts turnover, left collet c31 and right collet c32 are by iron core The case where component presss from both sides extremely completely, leads to not correction.

The automatic rotational alignment charging equipment of iron core further includes being provided with Ting Liao mechanism c5 and quality inspection organization c6, described to stop Expecting that mechanism c5 includes intercepting part c51 and intercepting cylinder c52, the interception part c51 is set to the end face feeding track discharge end c53, The interception cylinder c52 is linked with part c51 is intercepted, and driving intercepts part c51 and moves back and forth with respect to discharge end end face, and unpacking is slided Dynamic slot c54 notch；The quality inspection organization c6 includes guide seat c61, iron core ejection block c62, wedge shape pushing block c63 and ejection cylinder C64, the guide seat c61 are set to below discharge end, guide seat c61 it is opposite at core assembly position equipped with vertical lifting Slot, the iron core ejection block c62, which is set in vertical lifting slot, to be slidably matched, and iron core ejection block c62 includes vertical top Press end and sliding end vertically below, the press end end surface shape be adapted with core assembly bottom shape, the cunning Moved end is equipped with lozenges c631, and the wedge shape pushing block c63 and sliding end lozenges c631 is slidably matched, the ejection cylinder c64 It is linked with wedge-shaped pushing block c63, after Ting Liao mechanism c5 closes c54 mouthfuls of discharge end sliding groove, drives the edge iron core ejection block c62 Vertical lifting slot rises press core assembly bottom surface.

When core assembly is acted on mobile to discharge end by sieve material feeding device, intercepts part c51 and pass through opposite discharge end end Face moves back and forth, sliding groove c54 notch of breaking seal, so that the continuous either on or off of sliding groove c54 notch, while being beaten intercepting part c51 Before opening, iron core ejection block c62 can carry out press campaign to the core assembly bottom at notch, press core assembly, it is ensured that iron Core assembly self-assembles are complete, do not scattered by vibration influence.After quality inspection organization c6 running, intercepts part c51 and open cunning Dynamic slot c54 notch, allows the core assembly for completing quality inspection to be pressed from both sides out by resilient clamp seat.

The assembly manipulator c7 includes robot base c71, horizontal slide rail c72, horizontal air cylinder c73, manipulator movement Seat c74, upright slide rail c75, vertical cylinder c76, manipulator lifting seat c77, manipulator overturning seat c78, overturning motor c781, card Bluff piece c79 and claw opening and closing cylinder c791, the robot base c71 are equipped with horizontal slide rail c72, the manipulator Mobile base C74 is movably set on horizontal slide rail c72 and is linked with horizontal air cylinder c73, and the horizontal air cylinder c73 driving manipulator is moved Dynamic seat c74 does reciprocal sliding motion along horizontal slide rail c72；The manipulator Mobile base c74 is equipped with upright slide rail c75, described Manipulator lifting seat c77 is movably set on upright slide rail c75 and is linked with vertical cylinder c76, the vertical cylinder c76 Driving manipulator lifting seat c77 does reciprocal sliding motion along upright slide rail c75；The manipulator overturning seat c78 is axially in horizontal Direction posture is movably set on manipulator lifting seat c77, and the overturning motor c781 and manipulator overturning seat c78 linkage is matched It closes, driving manipulator overturning seat c78 relatively horizontal orientation does flip-flop movement；The claw piece c79 and claw opening and closing cylinder c791 It is linked and is all set on manipulator overturning seat c78, claw opening and closing cylinder c791 drives claw piece c79 open and close movement.

Claw piece c79 can complete vertical direction movement, horizontal direction movement, vertical direction flip-flop movement, open and close movement Deng movement, realization adjusts core assembly to the posture being assembled in coil is suitble to, and then assembles.

The claw piece c79 turns to set there are two locating part c792 on the path of part overturning with mechanical handspring, respectively originates Locating part c792 and locating part c792 is terminated, two locating part c792 and manipulator lifting seat c77 secure fit simultaneously extend to Claw piece c79 is overturn in path, limits claw piece c79 flip angle, and claw piece c79 folding path is equipped with folding limit Block.

By the starting locating part c792 and termination locating part c792 limitation overturning range of setting, prevent claw piece c79 from existing Repeatedly in a large amount of switching process, by inertia effects, the case where flip angle misalignment, by the folding limited block of setting, prevent The problem of only claw excessively opens, and collides other components to be assembled, equipment during the installation process.

It is equipped between the resilient clamp seat and assembly manipulator c7 and passes welding manipulator c8, the biography welding manipulator c8 includes Robot base c71, X-axis slide rail, X-axis cylinder, X-axis Mobile base, Y-axis sliding rail, Y-axis Mobile base, Y-axis cylinder, claw piece c79 and Claw opens and closes cylinder, and the robot base c71 is equipped with X-axis slide rail, and the X-axis Mobile base is movably set in X-axis slide rail And be linked with X-axis cylinder, the X-axis cylinder driving X-axis Mobile base does reciprocal sliding motion along X-axis slide rail；The X-axis is moved Dynamic seat is equipped with Y-axis sliding rail, and the Y-axis Mobile base is movably set on Y-axis sliding rail and Y-axis cylinder is linked, the Y-axis gas Cylinder drives Y-axis Mobile base to do reciprocal sliding motion along Y-axis sliding rail；The claw piece c79 and claw folding cylinder be linked and It is all set on Y-axis Mobile base, claw piece c79 level height is corresponding with resilient clamp seat upper core component height, described Welding manipulator c8 is passed by the core assembly in claw piece c79 clamping resilient clamp seat, and is transferred to the card of assembly manipulator c7 Immediately below bluff piece c79.

Welding manipulator c8 is passed by being equipped between resilient clamp seat and assembly manipulator c7, can allow and pass welding manipulator c8 The core assembly in resilient clamp seat is clamped by claw piece c79, and under being transferred to the claw piece c79 of assembly manipulator c7 just Side.The movement travel for reducing resilient clamp seat and assembly manipulator c7, plays the role of transmitting, so that transmission efficiency increases, if Standby volume-diminished.

The servo motor C44 output shaft C441 is equipped with positioning disk C48, positioning disk C48 and output shaft coaxial rotating Cooperation, the positioning disk C48 are equipped with polarizing slot C481, and the motor base is equipped with photoelectric sensor C49, the photoelectric transfer Sensor C49 is corresponding to be radiated on polarizing slot C481 turnover path, and is connect with servo motor signal, the servo motor according to Photoelectric sensor C49 detects that the signal of polarizing slot C481 stops rotating.

Detect that the signal of polarizing slot C481 stops rotating according to photoelectric sensor C49 by servo motor, further 360 ° of turnover of accuracy for ensuring servo motor, strengthens the unified accuracy of iron core circumferential direction angle.

The claw piece c79 of the assembly manipulator c7 is in nipper plier shape.

The claw piece c79 of assembly manipulator c7 can reduce the volume of claw piece c79 in nipper plier shape, avoid assembly iron core During component, claw piece c79 collides other elements to be assembled.

Claims (7)

1. the automatic rotational alignment charging equipment of iron core, including equipment base, the sieve material feeding device for being set to equipment base, feeding Track, assembly manipulator and several components to be assembled, which includes core assembly, and the core assembly is in Cylindric, the flange that one end is equipped with " D " font includes straight flange face and rounded face, which is bottom, described to send Material track includes material receiving end, discharge end and the sliding groove that discharge end is through to from material receiving end, the sliding groove shape and core assembly Shape is adapted, and the material receiving end and sieve material feeding device connection, the core assembly is placed in sieve material feeding device, by sieving Expect that core assembly is adjusted to upright state of the flange towards vertical top, bottom under by feeding device, it is sliding to be delivered to material receiving end In dynamic slot, and it is moved to discharge end along sliding groove,

It is characterized by: the automatic rotational alignment charging equipment of iron core further includes iron core circumferential direction calibrating installation, the iron core week It include that resilient clamp seat and fitting rotation adjusted device, the resilient clamp seat are set to feeding track discharge end to calibrating installation Lower section, including left collet, right collet, collet folding cylinder, base of the carrier head, driving cylinder and tension spring, the left collet and right collet It being symmetrical set in being slidably matched on base of the carrier head, the collet folding cylinder is linked with left collet and right collet respectively, Drive left collet relatively close or separate with right collet, the tension spring both ends are fixedly connected with left collet and right collet respectively, are driven It moves left collet and right collet mutually elasticity is close, the driving cylinder is linked with base of the carrier head, and driving base of the carrier head enters and leaves feeding Below track discharge end；

The fitting rotation adjusted device includes stop casing, rotating bezel trap pipe, pre-compressed spring, servo motor, motor lifting Seat, lifting cylinder and motor base, the rotating bezel trap pipe include shaft end and sleeve end, and described sleeve pipe end is equipped with and " D " word The compatible correction convex block in type flange straight flange face, the shaft end, which extends radially through, is provided with slotted hole, and the servo motor includes Output shaft and lateral pin, the output shaft are coaxially socketed with shaft end, the lateral pin be set in slotted hole do axial sliding fit and with Output shaft secure fit, the stop sleeve pipe sleeve is set on rotating bezel trap pipe the coaxial rotating cooperation for doing axial restraint, described Stop casing vertical position is lower than rotating bezel trap pipe, which is equipped with flange hole towards the side of sleeve end, described convex Marginal pore is bellmouth, and orifice diameter is greater than flange rounded face diameter, and bottom hole diameter is adapted with rounded face diameter, the motor base Seat is equipped with vertical rail, the motor lifting seat and vertical rail be slidably matched and with servo motor secure fit, the liter Sending down abnormally ascending cylinder is linked with motor lifting seat, and driving motor lifting seat reciprocatingly slides along vertical rail, and the pre-compressed spring is arranged In shaft end, between servo motor and stop casing, drive rotating bezel trap pipe always far from servo motor；

The resilient clamp seat is pressed from both sides core assembly from discharge end by left collet, right collet open and close movement, is pinched to stop sleeve Pipe, the coaxial following position directly of rotating bezel trap pipe, the servo motor are equipped with turnover initial position, and the lifting cylinder driving stops After dynamic casing, rotating bezel trap pipe are contacted with core assembly, 360 ° of turnover of servo motor starting are stopped at initial position, the assembly Manipulator after stop casing, rotating bezel trap pipe leave core assembly, install to coil by clamping core assembly.

2. the automatic rotational alignment charging equipment of a kind of iron core according to claim 1, it is characterised in that: the iron core is automatic Rotational alignment charging equipment further includes being provided with Ting Liao mechanism and quality inspection organization, and the Ting Liao mechanism includes intercepting part and interception gas Cylinder, the interception part are set to feeding track discharge end end face, and the interception cylinder is linked with part is intercepted, and driving intercepts part Opposite discharge end end face moves back and forth, sliding groove notch of breaking seal；The quality inspection organization includes guide seat, iron core ejection block, wedge shape Pushing block and ejection cylinder, the guide seat are set to below discharge end, and the guide seat is vertical with respect to being equipped at core assembly position Lifting groove, the iron core ejection block, which is set in vertical lifting slot, to be slidably matched, which includes vertical top End and sliding end vertically below are pressed, the press end end surface shape is adapted with core assembly bottom shape, the sliding End is equipped with lozenges, and the wedge shape pushing block is slidably matched with sliding end lozenges, and the ejection cylinder is matched with wedge-shaped pushing block linkage It closes, after Ting Liao mechanism closing discharge end sliding notch, driving iron core ejection block rises press core assembly along vertical lifting slot Bottom surface.

3. the automatic rotational alignment charging equipment of iron core according to claim 1 or 2, it is characterised in that: the make-up machinery Hand includes robot base, horizontal slide rail, horizontal air cylinder, manipulator Mobile base, upright slide rail, vertical cylinder, manipulator lifting Seat, manipulator overturning seat, overturning motor, claw piece and claw opening and closing cylinder, the robot base are equipped with horizontal slide rail, institute It states manipulator Mobile base to be movably set on horizontal slide rail and be linked with horizontal air cylinder, the horizontal air cylinder driving manipulator Mobile base does reciprocal sliding motion along horizontal slide rail；The manipulator Mobile base is equipped with upright slide rail, the manipulator lifting Seat is movably set on upright slide rail and is linked with vertical cylinder, and the vertical cylinder driving manipulator lifting seat is along vertical Sliding rail does reciprocal sliding motion；The axial posture in horizontal direction of the manipulator overturning seat, is movably set in manipulator lifting seat On, the overturning motor is linked with manipulator overturning seat, and driving manipulator overturning seat relatively horizontal orientation does flip-flop movement； The claw piece and claw opening and closing cylinder are linked and are all set on manipulator overturning seat, the claw opening and closing cylinder driving card Bluff piece open and close movement.

4. the automatic rotational alignment charging equipment of iron core according to claim 3, it is characterised in that: the claw piece is with machinery Locating part there are two being set on the path of hand flip piece overturning, respectively starting locating part and termination locating part, two locating parts With manipulator lifting seat secure fit and extend to claw piece overturning path in, limit claw piece flip angle, the claw piece It opens and closes path and is equipped with folding limited block.

5. the automatic rotational alignment charging equipment of iron core according to claim 3, it is characterised in that: the resilient clamp seat with It is equipped between assembly manipulator and passes welding manipulator, the biography welding manipulator includes robot base, X-axis slide rail, X-axis cylinder, X-axis Mobile base, Y-axis sliding rail, Y-axis Mobile base, Y-axis cylinder, claw piece and claw open and close cylinder, and the robot base is equipped with X-axis Sliding rail, the X-axis Mobile base are movably set in X-axis slide rail and are linked with X-axis cylinder, and the X-axis cylinder driving X-axis is moved Dynamic seat does reciprocal sliding motion along X-axis slide rail；The X-axis Mobile base is equipped with Y-axis sliding rail, the Y-axis Mobile base activity setting In simultaneously Y-axis cylinder is linked on Y-axis sliding rail, the Y-axis cylinder driving Y-axis Mobile base does reciprocal sliding motion along Y-axis sliding rail； The claw piece and claw folding cylinder are linked and are all set on Y-axis Mobile base, the claw piece level height and elasticity Grip slipper upper core component height is corresponding, and the welding manipulator that passes passes through the iron core group in claw piece clamping resilient clamp seat Part, and be transferred to immediately below the claw piece of assembly manipulator.

6. the automatic rotational alignment charging equipment of iron core according to claim 1 or 2, it is characterised in that: the servo motor Output shaft is equipped with positioning disk, and the positioning disk and output shaft coaxial rotating cooperate, and the positioning disk is equipped with polarizing slot, described Motor base is equipped with photoelectric sensor, and the photoelectric sensor is corresponding to be radiated on polarizing slot turnover path, and electric with servo The connection of machine signal, the servo motor detect that the signal of polarizing slot stops rotating according to photoelectric sensor.

7. the automatic rotational alignment charging equipment of iron core according to claim 5, it is characterised in that: the assembly manipulator Claw piece is in nipper plier shape.