CN217362845U - Automatic lamination positioner of robot - Google Patents
Automatic lamination positioner of robot Download PDFInfo
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- CN217362845U CN217362845U CN202220477476.4U CN202220477476U CN217362845U CN 217362845 U CN217362845 U CN 217362845U CN 202220477476 U CN202220477476 U CN 202220477476U CN 217362845 U CN217362845 U CN 217362845U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The utility model discloses an automatic lamination positioner of robot belongs to generator stator core preparation technical field, including supporting the base, stacking platform and disc, its characterized in that: the utility model discloses a stacking platform, including stacking platform center, be provided with the central positioning mechanism who runs through stacking platform center on the platform, central positioning mechanism includes positioning disk, support column, guiding axle and sharp lead screw, is connected with the silk braid on the sharp lead screw, is fixed with servo motor on the disc, and the upper end and the servo motor of sharp lead screw are connected, and the positioning disk is connected with the silk braid, the one end and the disc fixed connection of support column, the other end and the support base fixed connection of support column, the one end and the disc fixed connection of guiding axle, the other end and the support base fixed connection of guiding axle. The utility model discloses wholly have stable in structure reliable, the characteristics that positioning accuracy is high can effectively improve the positioning accuracy and the quality of robot lamination operation, guarantees stator core's high accuracy required quality.
Description
Technical Field
The utility model relates to generator stator core prepares technical field, especially relates to an automatic lamination positioner of robot.
Background
The iron core is an important component of the stator of the generator, and the quality of the iron core plays an important role in the performance of the generator, so that very strict requirements are imposed on the manufacturing process of the iron core.
At present, the lamination of the stator core of the domestic large generator is mainly performed by manual operation, and the automatic lamination of a robot is assisted. Due to the high labor intensity of manual operation, tens of thousands of punching sheets are stacked to be 6-7 m high by repeated manual actions, and the punching sheets are easy to fatigue. The single-thread operation, production cycle is long, can not avoid taking place the phenomenon of colliding with, scraping and overlapping piece of towards the piece among the manual lamination operation process, causes the uncontrollable problem of lamination quality.
In order to realize automation of stator core stacking operation of a large-scale generator and ensure stacking quality, a method and a device capable of realizing accurate positioning of a robot stacking position are needed. At present, two main positioning methods for automatic stacking of large generator stator core robots are available: one is to adopt the through screw hole positioning for the stator punching sheet with the through screw hole structure, and the method can meet the use requirement only through manual assistance and shaping. The other method is a method for positioning the groove type of the stator punching sheet by adopting the positioning ribs, and in the method, because the positioning ribs have machining errors and installation errors, the positioning reference debugging and installation processes of the automatic lamination of the robot are complicated and time-consuming, and the high-precision quality requirements of iron core lamination and the requirements of automatic lamination of different machine types are difficult to ensure.
Chinese patent publication No. CN 109887736a, published as 2019, 06, 14, discloses a method for automatically laminating transformer cores, which is characterized by comprising the following steps:
(1) conveying the side column sheet material and the middle column sheet material to a preset position through a side column conveying line, and conveying the yoke column sheet material to the preset position through a yoke column conveying line;
(2) the side column sheet material and the middle column sheet material which reach the preset positions are placed on a first transfer device through a gripper, wherein the first transfer device comprises at least three parallel conveying roller ways, the middle conveying roller way conveys the middle column sheet material, and the conveying roller ways on two sides convey the side column sheet material; the yoke column sheet materials reaching the preset position are placed on a second transfer device through grabbing, and the second transfer device comprises at least two parallel conveying roller ways;
(3) the tail ends of the first transfer device and the second transfer device are respectively provided with a centering device, and the side column sheet material, the middle column sheet material and the yoke column sheet material are respectively conveyed to the centering devices through the first transfer device and the second transfer device to be centered;
(4) respectively grabbing the edge column sheet material, the middle column sheet material and the yoke column sheet material which are already centered by using the edge column lamination robot and the yoke column lamination robot for lamination;
(5) and conveying the laminated transformer core to a specified position through an output device.
Although the method for automatically laminating the transformer core disclosed in the patent document can realize automatic and intelligent lamination of the transformer core, the repetitive labor intensity of workers is reduced, and the efficiency of core lamination is improved. However, the positioning accuracy and quality of the lamination work is poor.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an overcome above-mentioned prior art's defect, provide an automatic lamination positioner of robot, the utility model discloses wholly have stable in structure reliable, positioning accuracy is high characteristics, can effectively improve the positioning accuracy and the quality of robot lamination operation, guarantee stator core's high accuracy required quality.
The utility model discloses a following technical scheme realizes:
the utility model provides an automatic lamination positioner of robot, includes the disc that supports base, sets up the platform that stacks and be located the platform top of stacking on supporting the base, its characterized in that: it stacks the central positioning mechanism that the platform center is run through to be provided with on the platform to stack, central positioning mechanism includes positioning disk, support column, guiding axle and sharp lead screw, and screw drive is connected with the silk braid on the sharp lead screw, be fixed with servo motor on the disc, the upper end of sharp lead screw runs through the disc and is connected with servo motor, the positioning disk is connected with the silk braid on the sharp lead screw, the positioning disk is located the center of stacking the platform, servo motor is through sharp lead screw drive positioning disk reciprocating motion about stacking between platform and the disc, the one end and the disc fixed connection of support column, the other end of support column run through the positioning disk and with support base fixed connection, the one end and the disc fixed connection of guiding axle, the other end of guiding axle run through the positioning disk and with support base fixed connection.
The guide shafts are uniformly arranged between the disc and the supporting base.
The positioning disk is detachably connected with a plurality of adjustable positioning blocks, and the adjustable positioning blocks are uniformly distributed along the circumference of the positioning disk.
The adjustable positioning block comprises a groove-shaped positioning block for circumferential positioning of the positioning disc and an inner circle positioning block for radial positioning of the positioning disc.
The guide shaft is cylindrical.
A fixed seat is fixed on the disc and located in the center of the disc, and a servo motor is fixed on the fixed seat.
The beneficial effects of the utility model mainly show in following aspect:
1. the utility model discloses, stack the central positioning mechanism that is provided with the center that runs through and stacks the platform on the platform, central positioning mechanism includes the positioning disk, the support column, guiding axle and sharp lead screw, the screw drive is connected with the silk braid on the sharp lead screw, the servo motor is fixed with on the disc, the upper end of sharp lead screw runs through the disc and is connected with the servo motor, the positioning disk is connected with the silk braid on the sharp lead screw, the positioning disk is located stacks the center of platform, servo motor drives the positioning disk through sharp lead screw and makes reciprocating motion from top to bottom between stacking platform and disc, one end and the disc fixed connection of support column, the other end of support column runs through the positioning disk and is fixed connection with the support base, one end and the disc fixed connection of guiding axle, the other end of guiding axle runs through the positioning disk and is fixed connection with the support base, can guarantee the bearing gravity and the structure of whole device through the support column, the motion precision of positioning disk can be guaranteed to the guiding axle, and servo motor and linear screw's cooperation can control the direction of motion and the distance of positioning disk, and compared with the prior art, whole has stable in structure reliable, and positioning accuracy is high characteristics, can effectively improve the positioning accuracy and the quality of robot lamination operation, guarantees stator core's high accuracy quality requirement.
2. The utility model discloses, the guiding axle is many, and the guiding axle evenly arranges between disc and support base, can further ensure the motion precision of positioning disk, improves robot lamination operating efficiency.
3. The utility model discloses, the detachable a plurality of adjustable locating pieces that are connected with on the positioning disk, adjustable locating piece along the circumference evenly distributed of positioning disk, can accurate positioning towards the piece in the position that stacks the point, ensure to satisfy iron core assembly quality requirement.
4. The utility model discloses, adjustable locating piece is including the cell type locating piece that is used for positioning disk circumference location and the interior round locating piece that is used for positioning disk radial positioning, can accurate positioning towards the piece in the circumference position and the radial position of stacking the point, guarantees that the interior disc and the cell type of iron core level and smooth and well-being, and the uniformity is better.
5. The utility model discloses, the guiding axle is cylindrical, and the vertical accuracy is high, does benefit to and improves positioning disk elevating movement precision, guarantees that the straightness that hangs down of the interior circle of iron core assembly and cell type satisfies the required quality of high accuracy.
6. The utility model discloses, be fixed with the fixing base on the disc, the fixing base is located the center department of disc, and servo motor fixes on the fixing base, can ensure servo motor job stabilization nature.
Drawings
The invention will be further described with reference to the accompanying drawings and specific embodiments, wherein:
fig. 1 is a schematic structural view of the present invention;
fig. 2 is a cross-sectional view of the present invention;
the labels in the figure are: 1. support base, 2, stack platform, 3, disc, 4, positioning disk, 5, support column, 6, guiding axle, 7, linear screw, 8, servo motor, 9, adjustable locating piece, 10, cell type locating piece, 11, interior circle locating piece, 12, fixing base, 13, the silk braid.
Detailed Description
Example 1
Referring to fig. 1 and 2, an automatic robot lamination positioning device comprises a support base 1, a stacking platform 2 arranged on the support base 1, and a disc 3 positioned above the stacking platform 2, wherein a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a support pillar 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed on the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is positioned at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the support pillar 5 is fixedly connected with the disc 3, the other end of support column 5 runs through positioning disk 4 and with support base 1 fixed connection, the one end and the 3 fixed connection of disc of guiding axle 6, the other end of guiding axle 6 run through positioning disk 4 and with support base 1 fixed connection.
The embodiment is the most basic implementation mode, a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a supporting column 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed to the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is located at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the supporting column 5 is fixedly connected with the disc 3, the other end of the supporting column 5 penetrates through the positioning disc 4 and is fixedly connected with the supporting base 1, one end of the guide shaft 6 is fixedly connected with the disc 3, the other end of the guide shaft 6 penetrates through the positioning disc 4 and is fixedly connected with the supporting base 1, can guarantee bearing weight and structure of whole device through support column 5, the motion accuracy of positioning disk 4 can be guaranteed to guiding axle 6, servo motor 8 and linear screw 7's cooperation, the direction of motion and the distance of positioning disk 4 can be controlled, servo motor 8 is gone up the electricity back, servo motor 8's the rotatory linear screw 7 rotation that drives of motor shaft, positioning disk 4 makes up-and-down reciprocating motion on forward or reverse rotation's linear screw 7 through linear screw 7's silk cover 13. Compared with the prior art, the whole structure has the characteristics of stable and reliable structure and high positioning precision, the positioning precision and the quality of the robot lamination operation can be effectively improved, and the high-precision quality requirement of the stator core is ensured.
Example 2
Referring to fig. 1 and 2, an automatic robot lamination positioning device comprises a support base 1, a stacking platform 2 arranged on the support base 1, and a disc 3 positioned above the stacking platform 2, wherein a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a support pillar 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed on the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is positioned at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the support pillar 5 is fixedly connected with the disc 3, the other end of support column 5 runs through positioning disk 4 and with support base 1 fixed connection, the one end and the disc 3 fixed connection of guiding axle 6, the other end of guiding axle 6 run through positioning disk 4 and with support base 1 fixed connection.
The guide shafts 6 are multiple, and the guide shafts 6 are uniformly arranged between the disc 3 and the support base 1.
This embodiment is a preferred implementation mode, and guiding axle 6 is many, and guiding axle 6 evenly arranges between disc 3 and support base 1, can further ensure positioning disk 4's motion precision, improves robot lamination operating efficiency.
Example 3
Referring to fig. 1 and 2, an automatic robot lamination positioning device comprises a support base 1, a stacking platform 2 arranged on the support base 1, and a disc 3 positioned above the stacking platform 2, wherein a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a support pillar 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed on the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is positioned at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the support pillar 5 is fixedly connected with the disc 3, the other end of support column 5 runs through positioning disk 4 and with support base 1 fixed connection, the one end and the 3 fixed connection of disc of guiding axle 6, the other end of guiding axle 6 run through positioning disk 4 and with support base 1 fixed connection.
The guide shafts 6 are multiple, and the guide shafts 6 are uniformly arranged between the disc 3 and the support base 1.
The positioning disk 4 is detachably connected with a plurality of adjustable positioning blocks 9, and the adjustable positioning blocks 9 are uniformly distributed along the circumference of the positioning disk 4.
In another preferred embodiment, the positioning plate 4 is detachably connected to a plurality of adjustable positioning blocks 9, and the adjustable positioning blocks 9 are uniformly distributed along the circumference of the positioning plate 4, so that the positions of the punching sheets at the stacking points can be accurately positioned, and the requirement of iron core assembly quality is met.
Example 4
Referring to fig. 1 and 2, an automatic robot lamination positioning device comprises a support base 1, a stacking platform 2 arranged on the support base 1, and a disc 3 positioned above the stacking platform 2, wherein a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a support pillar 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed on the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is positioned at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the support pillar 5 is fixedly connected with the disc 3, the other end of support column 5 runs through positioning disk 4 and with support base 1 fixed connection, the one end and the 3 fixed connection of disc of guiding axle 6, the other end of guiding axle 6 run through positioning disk 4 and with support base 1 fixed connection.
The guide shafts 6 are multiple, and the guide shafts 6 are uniformly arranged between the disc 3 and the support base 1.
The positioning disk 4 is detachably connected with a plurality of adjustable positioning blocks 9, and the adjustable positioning blocks 9 are uniformly distributed along the circumference of the positioning disk 4.
The adjustable positioning block 9 comprises a groove-shaped positioning block 10 for circumferential positioning of the positioning disk 4 and an inner circle positioning block 11 for radial positioning of the positioning disk 4.
In another preferred embodiment, the adjustable positioning block 9 includes a groove-shaped positioning block 10 for circumferential positioning of the positioning disk 4 and an inner circle positioning block 11 for radial positioning of the positioning disk 4, and can accurately position the circumferential position and the radial position of the punching sheet at the stacking point, thereby ensuring that the inner circle surface and the groove shape of the iron core are smooth and even, and the consistency is better.
Example 5
Referring to fig. 1 and 2, an automatic robot lamination positioning device comprises a support base 1, a stacking platform 2 arranged on the support base 1, and a disc 3 positioned above the stacking platform 2, wherein a central positioning mechanism penetrating through the center of the stacking platform 2 is arranged on the stacking platform 2, the central positioning mechanism comprises a positioning disc 4, a support pillar 5, a guide shaft 6 and a linear lead screw 7, a screw sleeve 13 is connected to the linear lead screw 7 in a spiral transmission manner, a servo motor 8 is fixed on the disc 3, the upper end of the linear lead screw 7 penetrates through the disc 3 and is connected with the servo motor 8, the positioning disc 4 is connected with the screw sleeve 13 on the linear lead screw 7, the positioning disc 4 is positioned at the center of the stacking platform 2, the servo motor 8 drives the positioning disc 4 to reciprocate up and down between the stacking platform 2 and the disc 3 through the linear lead screw 7, one end of the support pillar 5 is fixedly connected with the disc 3, the other end of support column 5 runs through positioning disk 4 and with support base 1 fixed connection, the one end and the 3 fixed connection of disc of guiding axle 6, the other end of guiding axle 6 run through positioning disk 4 and with support base 1 fixed connection.
The guide shafts 6 are multiple, and the guide shafts 6 are uniformly arranged between the disc 3 and the support base 1.
The positioning disk 4 is detachably connected with a plurality of adjustable positioning blocks 9, and the adjustable positioning blocks 9 are uniformly distributed along the circumference of the positioning disk 4.
The adjustable positioning block 9 comprises a groove-shaped positioning block 10 for circumferential positioning of the positioning disk 4 and an inner circle positioning block 11 for radial positioning of the positioning disk 4.
The guide shaft 6 is cylindrical.
A fixed seat 12 is fixed on the disc 3, the fixed seat 12 is located at the center of the disc 3, and the servo motor 8 is fixed on the fixed seat 12.
The embodiment is the best implementation mode, and guiding axle 6 is cylindrical, and the vertical accuracy is high, does benefit to and improves positioning disk 4 elevating movement precision, guarantees that the straightness that hangs down of the interior circle of iron core assembly and cell type satisfies the quality requirement of high accuracy. Be fixed with fixing base 12 on the disc 3, fixing base 12 is located the center department of disc 3, and servo motor 8 fixes on fixing base 12, can ensure servo motor 8 job stabilization nature.
Claims (6)
1. The utility model provides an automatic lamination positioner of robot, includes supporting base (1), sets up stack platform (2) on supporting base (1) and be located disc (3) that stack platform (2) top, its characterized in that: the stacking platform (2) is provided with a center positioning mechanism penetrating through the center of the stacking platform (2), the center positioning mechanism comprises a positioning disc (4), a supporting column (5), a guide shaft (6) and a linear lead screw (7), the linear lead screw (7) is connected with a screw sleeve (13) in a spiral transmission manner, a servo motor (8) is fixed on the disc (3), the upper end of the linear lead screw (7) penetrates through the disc (3) and is connected with the servo motor (8), the positioning disc (4) is connected with the screw sleeve (13) on the linear lead screw (7), the positioning disc (4) is positioned in the center of the stacking platform (2), the servo motor (8) drives the positioning disc (4) to reciprocate up and down between the stacking platform (2) and the disc (3) through the linear lead screw (7), one end of the supporting column (5) is fixedly connected with the disc (3), the other end of support column (5) runs through positioning disk (4) and with support base (1) fixed connection, the one end and disc (3) fixed connection of guiding axle (6), the other end of guiding axle (6) run through positioning disk (4) and with support base (1) fixed connection.
2. The robotic automatic lamination positioning device of claim 1, wherein: the guide shafts (6) are arranged in a plurality of numbers, and the guide shafts (6) are uniformly arranged between the disc (3) and the supporting base (1).
3. The robotic automatic lamination positioning device of claim 1, wherein: the positioning disc (4) is detachably connected with a plurality of adjustable positioning blocks (9), and the adjustable positioning blocks (9) are uniformly distributed along the circumference of the positioning disc (4).
4. A robotic automatic lamination positioning apparatus according to claim 3, wherein: the adjustable positioning block (9) comprises a groove-shaped positioning block (10) used for circumferential positioning of the positioning disc (4) and an inner circle positioning block (11) used for radial positioning of the positioning disc (4).
5. A robotic automatic lamination positioning device according to claim 1, wherein: the guide shaft (6) is cylindrical.
6. The robotic automatic lamination positioning device of claim 1, wherein: a fixed seat (12) is fixed on the disc (3), the fixed seat (12) is located at the center of the disc (3), and the servo motor (8) is fixed on the fixed seat (12).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021217478707 | 2021-07-29 | ||
| CN202121747870 | 2021-07-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217362845U true CN217362845U (en) | 2022-09-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220477476.4U Active CN217362845U (en) | 2021-07-29 | 2022-03-07 | Automatic lamination positioner of robot |
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| Country | Link |
|---|---|
| CN (1) | CN217362845U (en) |
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2022
- 2022-03-07 CN CN202220477476.4U patent/CN217362845U/en active Active
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