CN209045348U - Transformer core flexible intelligent lamination production system - Google Patents
Transformer core flexible intelligent lamination production system Download PDFInfo
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- CN209045348U CN209045348U CN201820553430.XU CN201820553430U CN209045348U CN 209045348 U CN209045348 U CN 209045348U CN 201820553430 U CN201820553430 U CN 201820553430U CN 209045348 U CN209045348 U CN 209045348U
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Abstract
The utility model discloses a kind of transformer core flexible intelligent lamination production systems, and the storing including being arranged successively being aligned has enough to meet the need the more mechanical arm platforms (2) of stepping delivery platform (1), silicon steel sheet feeding fragment back and forth, silicon steel sheet conveying imports correction locating platform (3), more mechanical arm flexibility collaborations closed assembly platform (4) of silicon steel sheet and silicon steel sheet overturn output stage (5)；The terminal that storing has enough to meet the need stepping delivery platform 1 back and forth is located at the lower section of the more mechanical arm platforms of silicon steel sheet feeding fragment；The more mechanical arm platforms of silicon steel sheet feeding fragment, silicon steel sheet conveying import the more mechanical arm flexibility collaboration closed assembly platforms of correction locating platform, silicon steel sheet and silicon steel sheet overturning output stage is located within a mainframe (6), and mainframe is equipped with outer side track (601) and inner track (602) along long axis direction.The utility model is able to achieve transformer core-lamination stack and expects lamination, electromechanical automatic integratedization of overturning output overall process from above, improves transformer closed assembly precision and closed assembly efficiency.
Description
Technical field
The utility model relates to a kind of transformer core flexible intelligent lamination production systems.
Background technique
Iron core is the main component for constituting transformer magnetic circuit, and quality depends primarily on silicon steel sheet closed assembly precision, closed assembly essence
Degree quality will directly affect the performance indicators such as no-load loss and the noise of transformer, and the production efficiency of iron core then depends primarily on silicon
Steel disc closed assembly efficiency.
Currently, fully relying on manual operations during iron core silicon-steel sheet stacking technique by design requirement and stacking silicon steel sheet.
Closed assembly process feeding is skilled master worker by manually arrive the silicon steel sheet of different storing platform carrying different sizes respectively, then by
One stacks silicon steel sheet.In order to guarantee to reduce the off-seam between silicon steel sheet and guarantee flush edge, after stacking certain silicon steel sheet,
It needs constantly to touch adjustment silicon steel sheet in surrounding by experience.In order to guarantee every grade of closed assembly precision, in the silicon steel for stacking every level-one
It after piece, needs to be gone to measure this grade of closed assembly thickness with micrometer callipers or vernier caliper, silicon steel sheet quantity is adjusted according to measurement result.This
The closed assembly method of sample ensure closed assembly precision and closed assembly efficiency cannot, and this traditional technology mode is cumbersome and time consuming, at
To restrict the bottleneck to improve product quality and production efficiency.
Currently, the domestic equipment in relation to transformer core lamination is in development phase, the relevant technologies achievement is fewer and fewer.
CN10551786A discloses a kind of full-automatic closed assembly production line of transformer E shaped iron core, including feeds, take piece, positioning, lamination, connect
The devices such as material output, overturning solve existing iron core overlapping equipment and are not able to satisfy automatic charging, automatic positioning transmission and automatic adjustment
The requirement of transformer window and stepping-in amount can not be become after meeting the iron core of specification and be exported by design requirement closed assembly.The device
Feeding device is divided into the charging of three columns, yoke column feeds two parts；Transmission silicon steel sheet conveying imports correction locating platform 3
The parallel limit guide rail in direction, the indefinite transfer mechanism in limit guide rail and grabbing at indefinite transfer mechanism feed inlet
Laying mechanism；It transmits and is equipped with the more mechanical arm flexibility collaborations of silicon steel sheet above 3 place plane of silicon steel sheet conveying importing correction locating platform
Closed assembly platform 4, thirdly the more mechanical arm flexibility collaboration closed assembly platforms 4 of column silicon steel sheet are cooperateed with the more mechanical arm flexibilities of column silicon steel sheet are gripped
Closed assembly platform 4 imports the correction 3 same position of place straight line of locating platform, splicing on the same line and with the transmission silicon steel sheet conveying of three columns
Output device side is connected to turnover device.For above scheme although different size core lamination stack can be realized, feed mechanism is too long,
Plane formula integral layout occupied ground is excessive, and lacks lamination quality detection device, and lamination quality is difficult to ensure.
CN10570245A discloses a kind of automatic laminating assembly method and system, and this method is to forming same laminates
Element is grouped, and the element of grouping is transmitted by assembly line call so that lamination assembles respectively, each set of pieces of just crawl grouping
And it is transferred to locating platform, crawl is synchronized to the same set of pieces after fine positioning, and stack in the completion of lamination workbench, followed
Ring stacks until completing lamination assembly.The program realizes primary crawl multi-disc sheet stock, improves processing efficiency, is suitable for transformation
The silicon steel sheet stack piece of device iron core assembles.But program multi-disc sheet stock precise positioning and pre-assembled process are time-consuming, using universal industrial
Mechanical arm is carried, and lamination efficiency is not high；It is difficult to adapt to different size core lamination stack, it is flexible poor.
To sum up, prior art disadvantage is as follows:
1) adaptability, flexibility of the processing of different size iron core are poor: mostly existing lamination equipment is produced for single specification iron core
Product are not able to satisfy the adjustment of different transformer core-lamination stack stepping-in amount and pane size, can not adapt to different size core products
Flexible Production.
2) manual intervention, level of intelligence be not high: existing equipment requires manual intervention more, passes through by product specification requirement artificial
Producing line running parameter is set, and products of different specifications production switching is slow, influences production efficiency.
3) lamination efficiency is not high: existing equipment mostly uses manipulator to carry out carrying closed assembly, and a piece of one is folded, and efficiency is lower；To the greatest extent
It is folded using multi-disc one that pipe has equipment, but a combination thereof positioning mechanism and process are more complicated, inefficient.
4) lamination quality has to be hoisted: existing equipment shortage detects folded beginning piece piece type, every level-one lamination thickness etc.,
Cause transformer core lamination stepping-in amount mistake, lamination thickness not up to standard and other issues.
Utility model content
Technical problem to be solved in the utility model is just to provide a kind of transformer core flexible intelligent lamination production system
System realizes that transformer core-lamination stack expects lamination, electromechanical automatic integratedization of overturning output overall process from above, improves transformer closed assembly
Precision and closed assembly efficiency.
Above-mentioned technical problem is solved, technical solution used by the utility model is as follows.
A kind of transformer core flexible intelligent lamination production system, it is characterized in that: including the storing for being arranged successively being aligned
Round-trip turnover stepping delivery platform 1, the more mechanical arm platforms 2 of silicon steel sheet feeding fragment, silicon steel sheet conveying import correction locating platform
3, the more mechanical arm flexibility collaboration closed assembly platforms 4 of silicon steel sheet and silicon steel sheet overturn output stage 5；It is flat that storing has enough to meet the need stepping conveying back and forth
The terminal of platform is located at the lower section of the more mechanical arm platforms of silicon steel sheet feeding fragment, the more mechanical arm platforms of silicon steel sheet feeding fragment, silicon steel
Piece conveying imports the more mechanical arm flexibility collaboration closed assembly platforms of correction locating platform, silicon steel sheet and silicon steel sheet overturning output stage is located at
Within one mainframe 6；The mainframe is equipped with outer side track 601 and inner track 602 along long axis direction.
The storing has enough to meet the need stepping delivery platform 1 back and forth
Two sets 101,102 points of step-by-step movement points driving for belt conveyor structure are arranged in up and down on conveying mechanism bracket 106, conveying
It takes and is provided with embedded stuff chest 103, outside the rear end of the front end of upper belt type conveying mechanism 101 and lower belt type conveying mechanism 102
Corresponding position, respectively correspond equipped with feeding front end hydraulic verticallifting platform 104 and rear end hydraulic verticallifting platform 105；
The embedded stuff chest 103 sets left column, the center pillar, the right side for being suitable for every grade of transformer of deposit respectively there are four vacancy side by side
Column and lower yoke silicon steel sheet 1001,1002,1003,1004, the feeding front end hydraulic verticallifting platform 104 are located at described
Below the more mechanical arm platforms 2 of silicon steel sheet feeding fragment and it is equipped with magnetic force slicing apparatus.
Chain is correspondingly provided on the feeding front end hydraulic verticallifting platform 104, rear end hydraulic verticallifting platform 105
Transport mechanism 107,108 is taken turns, which is provided with embedded stuff chest 103.
The more mechanical arm platforms 2 of silicon steel sheet feeding fragment include: one in the inner track 601 of the mainframe 6
The mobile framework 201 that can be moved forward and backward, top are set there are four the manipulator 202 that can vertically stretch, and respectively correspond institute
Four of the embedded stuff chest on the hydraulic verticallifting platform of feeding front end vacancy side by side are stated, the lower end of manipulator is that vacuum is inhaled
Disk 203；Photoelectric proximity switch 210 downwards is additionally provided in mobile framework.
The left column for corresponding respectively to the embedded stuff chest, center pillar and the right column silicon steel sheet takes piece manipulator 202
Structure are as follows: 2 transversely arranged hydraulic cylinders are fixed on the crossbeam of the mobile framework 201, and two can downwardly extending tailpiece of the piston rod
It is fixed with a cross bar 204, cross bar has 2 vacuum chucks 203；Lower yoke silicon steel sheet corresponding to the embedded stuff chest takes
Piece robot manipulator structure are as follows: 2 transversely arranged hydraulic cylinders are fixed on a straight-bar 205, can downwardly extending tailpiece of the piston rod be fixed with cross
Bar, cross bar have 2 vacuum chucks, and the rear end of the straight-bar 205 is hinged on a turn sliding block 206, front end is hinged on one
It keeps straight on sliding block 207, turn sliding block turns round along the straight trip of straight trip turn track 208 of frame roof, straight trip sliding block is along frame roof
Front and back straight trip track 209 before and after keep straight on；So realize lower 90 degree of rotations of yoke.
It includes profiling mechanism hand correction portion and measurement and positioning portion that the silicon steel sheet conveying, which imports correction locating platform 3,
Point:
Profiling mechanism hand correction portion includes: that the left column being mounted on fixed bracket 312, center pillar and right column silicon steel sheet share
Pipeline 301 and lower yoke pipeline 302；On the bracket on 302 side of lower yoke pipeline, equipped with respectively before and after lower yoke
The lower long width profiling locating piece 304 of yoke and lower yoke width locating piece 303；On the bracket on 301 side of common transfer line,
Respectively correspond equipped with left column, center pillar and right column silicon steel sheet width locating piece 305,306,307 and length profiling locating piece 308,
309,310, width locating piece 305,306,307 is located at left column, the side of center pillar and right column silicon steel sheet, length profiling locating piece
308,309,310 positioned at the both ends of left column, center pillar and right column silicon steel sheet；Each locating piece is all controllable extensible, works as a left side
When column, center pillar and right column silicon steel sheet and lower yoke convey, each locating piece contraction is given way, and just stretches out positioning later；
Measurement and positioning part includes: to be equipped with left column, center pillar and the right side on the frame under the common transfer line 301
Column silicon steel sheet optoelectronic switch 311 in place, for incuding whether left column, center pillar and right column silicon steel sheet in place and obtain silicon steel sheet longitudinal direction
Central axes physical coordinates.
3 bottom of correction locating platform is distributed with micropore and is connected to air compressor machine, makes silicon steel sheet by certain air pressure
In micro suspension state.
Profiling mechanism hand correction portion realizes silicon steel sheet positioning correcting, and obtains silicon steel sheet longitudinal central axis line physical coordinates；
Measurement and positioning part passes through photoelectric measurement point coordinate, servo motion to survey calculation silicon steel sheet transverse direction central axes physical coordinates
Offset, silicon steel sheet length of a film can extrapolate silicon steel sheet transverse direction central axes physical coordinates.
Fig. 5 is shown in measuring principle signal: grabbing left column, center pillar, right column and lower yoke silicon by the way that collaboration lamination machinery is lower on hand
After steel disc, is controlled to/front and back to displacement, monitored by photosignal and obtain encoded servo device displacement meter rapid pulse momentum, from
And left-hand/forward direction displacement L1 and dextrad/backward displacement L2 is calculated, and acquire silicon steel sheet transverse direction central axes and one of them
The distance L=(S+L1-L2)/2 of photoelectric measurement point P1.
The more mechanical arm flexibility collaboration closed assembly platforms 4 of the silicon steel sheet include collaboration lamination manipulator and tabletting thickness measuring dress
It sets:
The collaboration lamination machinery hand includes: the transversely arranged outer side track for being movably supported on the mainframe 6
On 602 fold left column manipulator 401, folded center pillar manipulator 402 and fold right column manipulator 403 and it is transversely arranged movably
Folded lower yoke manipulator 404 in the inner track 601 of the mainframe 6；
The folded lower yoke manipulator 404 includes a plane frame, is equipped with folded yoke piece electromagnetic assembly 405 among it, also
Equipped with yoke piece lead-screw drive mechanism 406 for keeping folded 405 front and back Y-direction of yoke piece electromagnetic assembly mobile, plane frame both ends are also
Equipped with first straight line transmission mechanism 407 for making plane frame or more Z-direction is mobile folded yoke piece electromagnetic assembly is made to draw yoke piece,
And equipped with the first helical gear rackwork 408 for keeping plane frame left and right directions X-direction mobile；
Described folding left column, folded center pillar and fold right column manipulator includes a folded form frame, is equipped with folded column piece electricity among it
Magnetic assembly 409 is additionally provided with column piece lead-screw drive mechanism 410 for keeping folded 409 front and back Y-direction of column piece electromagnetic assembly mobile, folds
Type frame both ends are additionally provided with second straight line transmission mechanism 411, and for making folded form frame, Z-direction movement makes folded column piece electromagnetism up and down
Component 409 draws column piece, and equipped with the second helical gear rackwork 408 for keeping folded form frame or so X-direction mobile；
The tabletting measuring thickness device includes folding left column, folded center pillar and folding the optical distance being equipped among right column manipulator to examine
It surveys photoelectric proximity switch 413 of the instrument 412 for detecting lamination thickness, being equipped with and is used for detecting lamination and bounce cylinder 414
In buffering lamination.
The tabletting measuring thickness device includes folding left column, folded center pillar and folding the optical distance being additionally provided among right column manipulator
Photoelectric proximity switch 413 of the detector 412 for detecting lamination thickness, being equipped with is used for detecting lamination and bounce cylinder 414
In buffering lamination.
The quick movement of X, Y, Z axis may be implemented in Zuo Zhu, center pillar, right column and lower yoke lamination manipulator, adapts to different size
Lamination demand；Wherein left column, center pillar, right column lamination robot work are in same group of horizontal slide rail, the same stepping of closed assembly process
Row；Lower yoke lamination robot work is in another set horizontal slide rail；
Second part is the tabletting measuring thickness device installed on each manipulator, tabletting measuring thickness device to compress silicon steel sheet,
Measurement error is reduced, sticking patch is carried out according to measurement data, ensures core lamination stack quality.
Manipulator is according to the closed assembly specification of transformer core, and closed assembly process according to being folded from big to small again from small to large
Dress；Zuo Zhu, center pillar, right column lamination manipulator and lower yoke lamination manipulator staggeredly work: whenever having folded left column, center pillar and right column silicon
After steel disc, three manipulators of the group concede closed assembly platform operations space, and it is flat to rapidly move to silicon steel sheet conveying importing correction positioning
Platform carries out taking piece and positioning work；At the same time, lower yoke lamination manipulator completes silicon steel sheet and takes piece and positioning, and quickly moves
To closed assembly platform, the lamination of lower yoke is carried out；So staggeredly repeat, until completing entire lamination work.
Meanwhile it often processing level-one to guarantee quality in transformer core-lamination stack process and requiring to measure simultaneously respectively
Zuo Zhu, center pillar, right column and lower yoke thickness, measurement accuracy 0.1mm.On the basis of mesa base, every completion level-one tabletting is flat
For platform by applying hydraulic pressure after lamination, measured value when being compressed by measurement initial value and lamination can obtain lamination thickness
Degree, by the way that corresponding number of laminations can be compensated compared with setting value, to reach the setting value of system requirements.When the grade
When silicon steel sheet thickness reaches corresponding silicon steel chip level thickness, corresponding lamination manipulator stops the lamination of this grade of silicon steel sheet.
The silicon steel sheet overturning output stage 5 includes that four parts form: first is that adjustable silicon steel sheet stacks platform
507, silicon steel sheet, which stacks platform support construction, can carry out step by step modulating 505 according to iron core model specification；Second is that pneumatic anti-slip movable
Tabletting and Pneumatic tailstock limit part, by the effect of pneumatic anti-skid device and Pneumatic tailstock, the silicon steel sheet folded is by firmly
It is fixed on servo manipulator silicon steel plate plane；Third is that slide glass travelling bogie part, which is located at 507 chassis of platform, works as closed assembly
After good silicon steel sheet is fixed, slide glass travelling bogie removes the good transformer core of closed assembly along conveyor track；Fourth is that pneumatic inclination angle overturning
Platform part, effect are that the good silicon steel sheet that makes closed assembly is turned over and turn 90 degrees, and worker is facilitated to tie up.
The pneumatic inclination angle roll-over table includes: rack 506, is hinged with iron core folder roll-over table 501, iron core folder thereon
Roll-over table 501 is equipped with movable left, center, right main leaf supporting beam 502,503,504, is equipped with lead screw between the main leaf supporting beam of left, center, right
Regulating mechanism 505 adjusts each case bay, and hydraulic station 507 and hydraulic cylinder 508 are additionally provided on rack 506 and is turned over for overturning iron core folder
Turntable 501.
The utility model has the advantages that the utility model lamination speed reaches 10 layers/min or more, lamination error is no more than 0.5mm.
Detailed description of the invention
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Fig. 1 a is the schematic front view of the utility model embodiment；
Fig. 1 b is the schematic top plan view of the utility model embodiment；
Fig. 1 c is the left view schematic diagram of the utility model embodiment；
Fig. 1 d is the stereoscopic schematic diagram of the utility model embodiment (no storing has enough to meet the need stepping delivery platform back and forth)；
Fig. 1 e is mainframe (the siliceous more mechanical arm platforms of steel disc feeding fragment and conveying importing of the utility model embodiment
Correct locating platform) stereoscopic schematic diagram；
Fig. 2 a is that the storing of the utility model embodiment has enough to meet the need stepping delivery platform schematic front view back and forth；
Fig. 2 b is that the storing of the utility model embodiment has enough to meet the need stepping delivery platform schematic top plan view back and forth；
Fig. 2 c is that the storing of the utility model embodiment has enough to meet the need stepping delivery platform left view schematic diagram back and forth；
Fig. 3 a is the more mechanical arm platform stereoscopic schematic diagrams of silicon steel sheet feeding fragment of the utility model embodiment；
Fig. 3 b is the more mechanical arm platform schematic front view of silicon steel sheet feeding fragment of the utility model embodiment；
Fig. 3 c is the more mechanical arm platform schematic top plan views of silicon steel sheet feeding fragment of the utility model embodiment；
Fig. 3 d is the more mechanical arm platform left view schematic diagrams of silicon steel sheet feeding fragment of the utility model embodiment；
Fig. 3 e is the partial enlargement diagram of Fig. 3 d；
Fig. 4 a is that the conveying of the utility model embodiment imports correction locating platform stereoscopic schematic diagram；
Fig. 4 b is that the conveying of the utility model embodiment imports correction locating platform schematic front view；
Fig. 4 c is that the conveying of the utility model embodiment imports correction locating platform schematic top plan view；
Fig. 4 d is that the conveying of the utility model embodiment imports correction locating platform left view schematic diagram；
Fig. 4 e is the long width profiling locating piece enlarged diagram of lower yoke that conveying imports correction locating platform；
Fig. 4 f is the left and right side column length profiling locating piece enlarged diagram that conveying imports correction locating platform；
Fig. 4 g is the lower yoke length profiling locating piece enlarged diagram that conveying imports correction locating platform；
Fig. 5 a is one of positioning closed assembly platform (and conveying imports correction locating platform) stereoscopic schematic diagram；
Fig. 5 b is position closed assembly platform stereoscopic schematic diagram two；
Fig. 5 c is positioning closed assembly platform schematic front view；
Fig. 5 d is the partial enlargement diagram of Fig. 5 c；
Fig. 5 e is the folded column piece manipulator solid and partial enlargement diagram for positioning closed assembly platform；
Fig. 5 f is the folded yoke piece piece manipulator solid enlarged diagram for positioning closed assembly platform；
Fig. 5 g is measuring principle schematic diagram；
Fig. 6 a is one of the stereoscopic schematic diagram that silicon steel sheet overturns output stage (horizontality)；
Fig. 6 b is two (rollover states) of the stereoscopic schematic diagram that silicon steel sheet overturns output stage；
Fig. 7 is the transformer core flexible intelligent lamination production system specific workflow figure of the utility model.
Specific embodiment
Referring to Fig. 1 a to Fig. 1 e, the transformer core flexible intelligent lamination production system embodiment of the utility model, including
The storing for being arranged successively being aligned has enough to meet the need the more mechanical arm platforms 2 of stepping delivery platform 1, silicon steel sheet feeding fragment, silicon steel sheet back and forth
Conveying imports the more mechanical arm flexibility collaboration closed assembly platforms 4 of correction locating platform 3, silicon steel sheet and silicon steel sheet overturns output stage 5；Storage
The terminal of the round-trip turnover stepping delivery platform of material is located at the lower section of the more mechanical arm platforms of silicon steel sheet feeding fragment, silicon steel sheet feeding point
The more mechanical arm platforms of piece, silicon steel sheet conveying import the more mechanical arm flexibility collaboration closed assembly platforms of correction locating platform, silicon steel sheet and silicon
Steel disc overturns output stage and is located within a mainframe 6；The mainframe is equipped with 601 He of outer side track along long axis direction
Inner track 602.
A to Fig. 2 c referring to fig. 2, storing have enough to meet the need stepping delivery platform 1 back and forth and include:
Two sets 101,102 points of step-by-step movement points driving for belt conveyor structure are arranged in up and down on conveying mechanism bracket 106, conveying
It takes and is provided with embedded stuff chest 103, outside the rear end of the front end of upper belt type conveying mechanism 101 and lower belt type conveying mechanism 102
Corresponding position, respectively correspond equipped with feeding front end hydraulic verticallifting platform 104 and rear end hydraulic verticallifting platform 105；
The embedded stuff chest 103 sets left column, the center pillar, the right side for being suitable for every grade of transformer of deposit respectively there are four vacancy side by side
Column and lower yoke silicon steel sheet 1001,1002,1003,1004, the feeding front end hydraulic verticallifting platform 104 are located at described
Below the more mechanical arm platforms 2 of silicon steel sheet feeding fragment and it is equipped with magnetic force slicing apparatus；Feeding front end hydraulic verticallifting platform
104, it is correspondingly provided with sprocket wheel transport mechanism 107,108 on rear end hydraulic verticallifting platform 105, which is provided with embedded stuff chest
103。
Referring to Fig. 3 a to Fig. 3 e, the more mechanical arm platforms 2 of silicon steel sheet feeding fragment include: one mainframe 6 inner track
The mobile framework 201 that can be moved forward and backward on 601, top set there are four the manipulator 202 that can vertically stretch, respectively correspond
Four of embedded stuff chest on the feeding front end hydraulic verticallifting platform vacancy, the lower end of manipulator are true side by side
Suction disk 203；Photoelectric proximity switch 210 downwards is additionally provided in mobile framework.
The left column for corresponding respectively to the embedded stuff chest, center pillar and the right column silicon steel sheet takes piece manipulator 202
Structure are as follows: 2 transversely arranged hydraulic cylinders are fixed on the crossbeam of the mobile framework 201, and two can downwardly extending tailpiece of the piston rod
It is fixed with a cross bar 204, cross bar has 2 vacuum chucks 203；Lower yoke silicon steel sheet corresponding to the embedded stuff chest takes
Piece robot manipulator structure are as follows: 2 transversely arranged hydraulic cylinders are fixed on a straight-bar 205, can downwardly extending tailpiece of the piston rod be fixed with cross
Bar, cross bar have 2 vacuum chucks, and the rear end of the straight-bar 205 is hinged on a turn sliding block 206, front end is hinged on one
It keeps straight on sliding block 207, turn sliding block turns round along the straight trip of straight trip turn track 208 of frame roof, straight trip sliding block is along frame roof
Front and back straight trip track 209 before and after keep straight on；So realize lower 90 degree of rotations of yoke.
A to Fig. 4 g referring to fig. 4, it includes profiling mechanism hand correction portion and survey that silicon steel sheet conveying, which imports correction locating platform 3,
Measure position portion:
Profiling mechanism hand correction portion includes: that the left column being mounted on fixed bracket 312, center pillar and right column silicon steel sheet share
Pipeline 301 and lower yoke pipeline 302；On the bracket on 302 side of lower yoke pipeline, equipped with respectively before and after lower yoke
The lower long width profiling locating piece 304 of yoke and lower yoke width locating piece 303；On the bracket on 301 side of common transfer line,
Respectively correspond equipped with left column, center pillar and right column silicon steel sheet width locating piece 305,306,307 and length profiling locating piece 308,
309,310, width locating piece 305,306,307 is located at left column, the side of center pillar and right column silicon steel sheet, length profiling locating piece
308,309,310 positioned at the both ends of left column, center pillar and right column silicon steel sheet；Each locating piece is all controllable extensible, works as a left side
When column, center pillar and right column silicon steel sheet and lower yoke convey, each locating piece contraction is given way, and just stretches out positioning later.
Measurement and positioning part includes: to be equipped with left column, center pillar and the right side on the frame under the common transfer line 301
Column silicon steel sheet optoelectronic switch 311 in place, for incuding whether left column, center pillar and right column silicon steel sheet in place and obtain silicon steel sheet longitudinal direction
Central axes physical coordinates.
Profiling mechanism hand correction portion realizes silicon steel sheet positioning correcting, and obtains silicon steel sheet longitudinal central axis line physical coordinates；
Measurement and positioning part passes through photoelectric measurement point coordinate, servo motion to survey calculation silicon steel sheet transverse direction central axes physical coordinates
Offset, silicon steel sheet length of a film can extrapolate silicon steel sheet transverse direction central axes physical coordinates.
Fig. 5 g is shown in measuring principle signal: grabbing left column, center pillar, right column and lower yoke silicon by the way that collaboration lamination machinery is lower on hand
After steel disc, is controlled to/front and back to displacement, monitored by photosignal and obtain encoded servo device displacement meter rapid pulse momentum, from
And left-hand/forward direction displacement L1 and dextrad/backward displacement L2 is calculated, and acquire silicon steel sheet transverse direction central axes and one of light
The distance L=(S+L1-L2)/2 of electrical measurement point P1.
Eat A Jin Fig. 5 a to Fig. 5 g, and the more mechanical arm flexibility collaboration closed assembly platforms 4 of the silicon steel sheet include collaboration laminating machine
Tool hand and tabletting measuring thickness device:
The collaboration lamination machinery hand includes: the transversely arranged outer side track for being movably supported on the mainframe 6
On 602 fold left column manipulator 401, folded center pillar manipulator 402 and fold right column manipulator 403 and it is transversely arranged movably
Folded lower yoke manipulator 404 in the inner track 601 of the mainframe 6；
The folded lower yoke manipulator 404 includes a plane frame, is equipped with folded yoke piece electromagnetic assembly 405 among it, also
Equipped with yoke piece lead-screw drive mechanism 406 for keeping folded 405 front and back Y-direction of yoke piece electromagnetic assembly mobile, plane frame both ends are also
Equipped with first straight line transmission mechanism 407 for making plane frame or more Z-direction is mobile folded yoke piece electromagnetic assembly is made to draw yoke piece,
And equipped with the first helical gear rackwork 408 for keeping plane frame left and right directions X-direction mobile；
Described folding left column, folded center pillar and fold right column manipulator includes a folded form frame, is equipped with folded column piece electricity among it
Magnetic assembly 409 is additionally provided with column piece lead-screw drive mechanism 410 for keeping folded 409 front and back Y-direction of column piece electromagnetic assembly mobile, folds
Type frame both ends are additionally provided with second straight line transmission mechanism 411, and for making folded form frame, Z-direction movement makes folded column piece electromagnetism up and down
Component 409 draws column piece, and equipped with the second helical gear rackwork 408 for keeping folded form frame or so X-direction mobile；
The tabletting measuring thickness device includes folding left column, folded center pillar and folding the optical distance being equipped among right column manipulator to examine
It surveys photoelectric proximity switch 413 of the instrument 412 for detecting lamination thickness, being equipped with and is used for detecting lamination and bounce cylinder 414
In buffering lamination.
The tabletting measuring thickness device includes folding left column, folded center pillar and folding the optical distance being additionally provided among right column manipulator
Photoelectric proximity switch 413 of the detector 412 for detecting lamination thickness, being equipped with is used for detecting lamination and bounce cylinder 414
In buffering lamination.
The quick movement of X, Y, Z axis may be implemented in Zuo Zhu, center pillar, right column and lower yoke lamination manipulator, adapts to different size
Lamination demand；Wherein left column, center pillar, right column lamination robot work are in same group of horizontal slide rail, the same stepping of closed assembly process
Row；Lower yoke lamination robot work is in another set horizontal slide rail；
Second part is the tabletting measuring thickness device installed on each manipulator, tabletting measuring thickness device to compress silicon steel sheet,
Measurement error is reduced, sticking patch is carried out according to measurement data, ensures core lamination stack quality.
Manipulator is according to the closed assembly specification of transformer core, and closed assembly process according to being folded from big to small again from small to large
Dress；Zuo Zhu, center pillar, right column lamination manipulator and lower yoke lamination manipulator staggeredly work: whenever having folded left column, center pillar and right column silicon
After steel disc, three manipulators of the group concede closed assembly platform operations space, and it is flat to rapidly move to silicon steel sheet conveying importing correction positioning
Platform carries out taking piece and positioning work；At the same time, lower yoke lamination manipulator completes silicon steel sheet and takes piece and positioning, and quickly moves
To closed assembly platform, the lamination of lower yoke is carried out；So staggeredly repeat, until completing entire lamination work.
Meanwhile it often processing level-one to guarantee quality in transformer core-lamination stack process and requiring to measure simultaneously respectively
Zuo Zhu, center pillar, right column and lower yoke thickness, measurement accuracy 0.1mm.On the basis of mesa base, every completion level-one tabletting is flat
For platform by applying hydraulic pressure after lamination, measured value when being compressed by measurement initial value and lamination can obtain lamination thickness
Degree, by the way that corresponding number of laminations can be compensated compared with setting value, to reach the setting value of system requirements.When the grade
When silicon steel sheet thickness reaches corresponding silicon steel chip level thickness, corresponding lamination manipulator stops the lamination of this grade of silicon steel sheet.
Referring to Fig. 6 a to Fig. 6 b, the silicon steel sheet overturning output stage 5 includes that four parts form: first is that adjustable
Silicon steel sheet stacks platform 507, and silicon steel sheet, which stacks platform support construction, can carry out step by step modulating 505 according to iron core model specification；Second is that
Pneumatic anti-slip movable tabletting and Pneumatic tailstock limit part are folded by the effect of pneumatic anti-skid device and Pneumatic tailstock
Silicon steel sheet is firmly fixed in servo manipulator silicon steel plate plane；Third is that slide glass travelling bogie part, which is located at platform 507
Chassis, after the good silicon steel sheet of closed assembly is fixed, slide glass travelling bogie removes the good transformer core of closed assembly along conveyor track；Fourth is that gas
Angle of dynamical inclination roll-over table part, effect are that the good silicon steel sheet that makes closed assembly is turned over and turn 90 degrees, and worker is facilitated to tie up.
The pneumatic inclination angle roll-over table includes: rack 506, is hinged with iron core folder roll-over table 501, iron core folder thereon
Roll-over table 501 is equipped with movable left, center, right main leaf supporting beam 502,503,504, is equipped with lead screw between the main leaf supporting beam of left, center, right
Regulating mechanism 505 adjusts each case bay, and hydraulic station 507 and hydraulic cylinder 508 are additionally provided on rack 506 and is turned over for overturning iron core folder
Turntable 501.
As shown in fig. 7, the transformer core flexible intelligent lamination production system specific workflow of the utility model design
It is as follows:
Step1: rear end material conveying platform is steadily elevated to bead by hydraulic vertical, facilitates the embedded stuff chest of lifting, insertion
Method is arranged for four groups of chevrons inside formula stuff chest, lays in left column, center pillar, right column and the lower yoke silicon of every grade of present lot transformer respectively
Steel disc is extracted for lamination and sticking patch；The different silicon steel sheet of the material conveying platform embedded length, and multistage silicon steel can be stored in platform
Piece；Worker is put into different silicon steel sheets the embedded stuff chest of rear end material conveying platform, is loaded in the stuff chest process of silicon steel sheet
Between conveyer belt be transported to front end material conveying platform, wait slicing apparatus to carry out a point fragment；When manipulator is the silicon steel sheet in stuff chest
All crawl finishes, and system senses that stuff chest is dummy status, and empty stuff chest will be transmitted by middle carousel automatically
To rear end material conveying platform, recycled；
Step2: by setting up photoelectric travel limit switch or inductive switch, perception vacuum chuck machinery hand is in place or alignment situation
And sheet stock transfers situation；When stuff chest is transported to front end material conveying platform, pulldown manipulator can pick up silicon steel sheet, by magnetic force point
Sheet devices prevent the silicon steel sheet during pulldown to be adhered, and manipulator crawl silicon steel sheet is simultaneously sent to different pipelines, wherein left column,
Center pillar, right column silicon steel sheet are placed in same strip transmission line；Lower yoke catching robot changes silicon steel sheet placement side by arc-shaped guide rail
An other strip transmission line is placed in and by lower yoke；
Step3: correction locating platform is imported when four kinds of different types of silicon steel sheets are put into silicon steel sheet conveying, by four kinds
The frequency control of silicon steel sheet conveyor chain asynchronous machine reaches silicon steel sheet conveying and imports steadily and send before coordinating, by four
The adjustment of profiling mechanism hand stepper motor, Zuo Zhu, center pillar and right column silicon steel sheet are vertical with the holding of system central axes, lower yoke silicon steel sheet
With system central axes keeping parallelism, which realizes silicon steel sheet positioning correcting, and obtains its longitudinal central axis line longitudinal direction physical coordinates；
Some micropores are arranged at means for correcting bottom, so that silicon steel sheet is in micro suspension state by certain air pressure, guarantee in silicon steel sheet position
Axis is adjusted to, reduction silicon steel sheet width control error consistent with system central axes.
To obtain silicon steel sheet transverse direction central axes physical coordinates, correction locating platform is moved to using lamination manipulator and is grabbed
Silicon steel sheet, which carries out photoelectric measurement, can extrapolate silicon in conjunction with photoelectric measurement point coordinate, servo motion offset, silicon steel sheet length of a film
Steel disc transverse direction central axes physical coordinates.
Step4: after the position of four kinds of silicon steel sheets positions successfully, manipulator crawl silicon steel sheet is put into the more mechanical arms of silicon steel sheet
Flexible collaborative platform carries out lamination, and Zuo Zhu, center pillar, right column lamination manipulator are one group moved synchronously, and with lower yoke laminating machine
Tool hand staggeredly works；During lamination, when having folded every level-one design quantity, it is flat that the conveying of laser silicon steel sheet imports correction positioning
Platform 3 issue signal measure, by measurement initial value and lamination compress when measured value can obtain record stacking height, by with
Setting value compares, and can compensate corresponding number of laminations, to reach the setting value of system requirements.When silicon steel sheet height reaches
When corresponding silicon steel sheet height, corresponding lamination manipulator stops lamination；In addition, silicon steel sheet overturns output stage before lamination starts
In adjustable silicon steel sheet stack platform support shockproof structure need to according to iron core model specification carry out step by step modulating.
Step5: after the completion of lamination, silicon steel sheet overturns limit of the output stage by pneumatic anti-skid device and Pneumatic tailstock
And preforming device, the silicon steel sheet folded is secured firmly to adjustable silicon steel sheet and stacks platform, slide glass travelling bogie is folded at this time
The silicon steel sheet installed removes, and starts pneumatic inclination angle roll-over table, turns over lamination and turn 90 degrees, convenient manually to carry out tying up fixation.
Traditional transformer core lamination production technology is cumbersome and time consuming, becomes restriction and improves product quality and production effect
The bottleneck of rate.
The utility model realizes transformer core-lamination stack and expects that lamination, overturning output overall process electromechanics are automatic integrated from above
Change, location control, figure are identified by electromechanical flexible servo, stepping and frequency control, high-acruracy survey sensor, high precision photoelectric
As identification and multithreading linkage controller, realizes transformer core-lamination stack full process automatization, flexibility, can be improved transformer
Closed assembly precision and closed assembly efficiency, adapt to a variety of transformer specification productions, and production system operates intelligence and simple and flexible, improves folded
Fill precision and closed assembly efficiency.It is not high to solve previous level of intelligence, needs manual intervention, by product specification requirement by manually setting
Producing line running parameter is set, products of different specifications production switches slow problem.
The utility model passes through electromechanical flexible servo, stepping and frequency control, high-acruracy survey sensor, high precision photoelectric
It identifies location control, image recognition and multithreading linkage controller, realizes transformer core-lamination stack full process automatization, flexibility
Change, can be improved transformer closed assembly precision and closed assembly efficiency, adapt to the production of a variety of transformer specifications, production system operation intelligence with
Simple and flexible.
The utility model is applicable to different size transformer core product, and unmanned intervention, flexible intelligent metaplasia is supported to produce,
It is laid out using three-dimensional lamination mechanical arm, lamination quality is good, high-efficient.
Claims (3)
1. a kind of transformer core flexible intelligent lamination production system, it is characterized in that: past including the storing for being arranged successively being aligned
Return that turnover stepping delivery platform (1), the more mechanical arm platforms (2) of silicon steel sheet feeding fragment, that silicon steel sheet conveying imports correction positioning is flat
More mechanical arm flexibility collaborations closed assembly platform (4) of platform (3), silicon steel sheet and silicon steel sheet overturning output stage (5)；Storing has enough to meet the need step back and forth
It is located at the lower section of the more mechanical arm platforms of silicon steel sheet feeding fragment into the terminal of delivery platform, the more mechanical arms of silicon steel sheet feeding fragment are flat
Platform, silicon steel sheet conveying import the more mechanical arm flexibility collaboration closed assembly platforms of correction locating platform, silicon steel sheet and silicon steel sheet overturning output
Platform is located within a mainframe (6)；The mainframe is equipped with inner track (601) and outer side track along long axis direction
(602), the storing has enough to meet the need stepping delivery platform (1) equipped with embedded stuff chest (103) back and forth；The embedded storage
Material cabinet (103) sets left column, center pillar, right column and the lower yoke silicon steel sheet that every grade of transformer of deposit is respectively corresponded there are four vacancy side by side
(1001,1002,1003 and 1004).
2. transformer core flexible intelligent lamination production system according to claim 1, it is characterized in that: the silicon steel sheet
The more mechanical arm platforms (2) of feeding fragment include: a shifting that can be moved forward and backward in the inner track (601) of the mainframe (6)
Dynamic frame (201), top are set there are four the manipulator (202) that can vertically stretch, and it is round-trip to respectively correspond the storing
Vacancy, the lower end of manipulator are vacuum chuck to four of embedded stuff chest in turnover stepping delivery platform (1) side by side
(203)；Photoelectric proximity switch (210) downwards is additionally provided in mobile framework；Described corresponding respectively to is described embedded
Left column, center pillar and the right column silicon steel sheet of stuff chest take piece manipulator (202) structure are as follows: 2 transversely arranged hydraulic cylinders are fixed on
On the crossbeam of the mobile framework (201), two can downwardly extending tailpiece of the piston rod be fixed with a cross bar (204), cross bar has 2
Vacuum chuck (203)；Lower yoke silicon steel sheet corresponding to the embedded stuff chest takes piece robot manipulator structure are as follows: transversely arranged 2
A hydraulic cylinder is fixed on a straight-bar (205), can downwardly extending tailpiece of the piston rod be fixed with cross bar, cross bar has 2 vacuum chucks,
The rear end of the straight-bar (205) is hinged on a turn sliding block (206), front end is hinged on a straight trip sliding block (207), is turned round and is slided
Block turns round along straight trip turn track (208) straight trip of frame roof, straight trip sliding block is along the front and back of frame roof straight trip track (209)
Front and back straight trip.
3. transformer core flexible intelligent lamination production system according to claim 2, it is characterized in that: the silicon steel sheet
More mechanical arm flexibility collaborations closed assembly platform (4) include collaboration lamination manipulator and tabletting measuring thickness device:
The collaboration lamination machinery hand includes: the transversely arranged outer side track for being movably supported on the mainframe (6)
(602) folding left column manipulator (401), folded center pillar manipulator (402) and fold right column manipulator (403) and transversely arranged on
The movably folded lower yoke manipulator (404) in the inner track (601) of the mainframe (6)；
The folded lower yoke manipulator (404) includes a plane frame, is equipped with folded yoke piece electromagnetic assembly (405) among it, also
Equipped with yoke piece lead-screw drive mechanism (406) for being moved forward and backward folded yoke piece electromagnetic assembly (405), plane frame both ends are also set
There are first straight line transmission mechanism (407) so that folded yoke piece electromagnetic assembly is drawn yoke piece for moving up and down plane frame, and
Equipped with the first helical gear rackwork (408) for moving left and right plane frame；
Described folding left column, folded center pillar and fold right column manipulator includes a folded form frame, is equipped with folded column piece electromagnetism group among it
Part (409) is additionally provided with column piece lead-screw drive mechanism (410) for making folded column piece electromagnetic assembly (409) back-and-forth motion, folded form frame
Frame both ends, which are additionally provided with second straight line transmission mechanism (411), makes folded column piece electromagnetic assembly for moving up and down folded form frame
(409) column piece is drawn, and is equipped with the second helical gear rackwork (408) for moving left and right folded form frame；
The tabletting measuring thickness device includes folding left column, folded center pillar and folding the optical distance detector being equipped among right column manipulator
(412) photoelectric proximity switch (413) for detecting lamination thickness, being equipped with is used for detecting lamination and bounce cylinder (414)
In buffering lamination.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110415961A (en) * | 2019-07-30 | 2019-11-05 | 南通思瑞机器制造有限公司 | Transformer silicon steel sheet closed assembly system |
| CN110491666A (en) * | 2019-08-28 | 2019-11-22 | 中节能西安启源机电装备有限公司 | Transformer core automatic overlapping and assembling production line center pillar silicon steel sheet Stepping positioning device |
| CN112185674A (en) * | 2020-09-28 | 2021-01-05 | 山东电工电气集团智能电气有限公司 | Manipulator for automatically inserting iron into transformer iron core and using method |
| CN115512958A (en) * | 2022-11-17 | 2022-12-23 | 山东普田电力设备有限公司 | Stacking equipment for transformer iron core |
-
2018
- 2018-04-18 CN CN201820553430.XU patent/CN209045348U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110415961A (en) * | 2019-07-30 | 2019-11-05 | 南通思瑞机器制造有限公司 | Transformer silicon steel sheet closed assembly system |
| CN110491666A (en) * | 2019-08-28 | 2019-11-22 | 中节能西安启源机电装备有限公司 | Transformer core automatic overlapping and assembling production line center pillar silicon steel sheet Stepping positioning device |
| CN110491666B (en) * | 2019-08-28 | 2024-04-12 | 中节能西安启源机电装备有限公司 | Step-by-step positioner of automatic stack production line center pillar silicon steel sheet of transformer iron core |
| CN112185674A (en) * | 2020-09-28 | 2021-01-05 | 山东电工电气集团智能电气有限公司 | Manipulator for automatically inserting iron into transformer iron core and using method |
| CN115512958A (en) * | 2022-11-17 | 2022-12-23 | 山东普田电力设备有限公司 | Stacking equipment for transformer iron core |
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