WO2018076256A1 - Motor blanking-plate stacking system - Google Patents

Abstract

Provided is a motor blanking-plate stacking system, comprising a rigid frame (2), a robotic arm (3), a plate-grasping apparatus (4), and a plate-supplying apparatus (5) and a stacking platform (8); said robotic arm (3) is mounted on the rigid frame (2); said plate-grasping apparatus (4) is mounted on the operating end of the robotic arm (3); said stacking platform (8) is mounted beneath the operating end of the robotic arm (3); by means of the plate-grasping apparatus (4), the robotic arm (3) grasps a motor blanking plate prearranged on the plate-supplying apparatus (5), then transports said motor blanking plate onto the stacking platform (8); also comprised is a motor blanking-plate organizing apparatus (6) which may neatly stack and organize the motor blanking plates located on the stacking platform (8); using the motor blanking-plate stacking system, it is possible to grasp, stack, and organize plates; the manual workload in stacking motor blanking plates is significantly reduced, the intensity of labor required by personnel is decreased, and the efficiency and quality of plate-stacking are effectively improved.

Description

Motor punching lamination system Technical field

The invention relates to the technical field of laminations of motor punching sheets, and in particular to a motor punching lamination system for laminating work of a fan-shaped structure motor punching sheet.

Background technique

The current motor punching discs generally have two structures of full circle and fan shape. The motor punching piece of the whole circular structure is suitable for small and medium-sized motors, and the motor punching piece of the fan-shaped structure is shown in Fig. 1, which is generally suitable for large motors. For large motors, the number of single-layer fan-shaped punches distributed around the motor is related to the diameter of the motor. For motors with a diameter of about 2 m, the fan-shaped punches are generally nine pieces for one circumference, and each fan-shaped punch is used. The circumferential angle is 40°. Compared with the full-circular structure of the motor punching piece, the fan-shaped structure of the motor punching sheet has lower requirements for manufacturing the mold, especially for the large-sized motor, the fan-shaped motor punching sheet can greatly reduce the overall cost of manufacturing the mold.

In the motor production process, a plurality of motor punching sheets are processed into a motor core through a lamination process, and the motor punching lamination process is generally divided into stamping, stacking, transporting, laminating, oil pressing, and screw tightening. Solid process. Among them, the lamination process of the motor punching sheet is the most difficult to operate. The conventional operation of the motor chip lamination is generally that two operators stand back and forth in the tooling, and bend the stack of the discharge machine. In order to ensure the quality of the laminations, the fan-shaped positioning rods are usually added. Each time the vent holes on the motor punching sheets need to be aligned with the positioning rods and then stacked down. For each stack of layers, it is necessary to check the inner and outer diameters of the layers. Misplaced, and corrected with a wooden hoe; at the same time, there are two other workers outside the tooling to deliver the motor punches separately to ensure the continuous operation of the laminations. The traditional manual lamination operation method mainly has the following deficiencies:

First, when stacking the discharge machine, it is necessary to align the positioning rods each time, and stacking several layers requires trimming, which is time consuming and laborious, and therefore, the lamination operation efficiency is low.

Secondly, it is necessary to rely on the positioning rod to cooperate with the tooling operation and rely on the operator's work experience to ensure the quality of the lamination. The human influence factors are more and the accuracy is not high, which makes the lamination quality difficult to guarantee.

Third, since the lamination operator needs a long time to bend and continue the operation, the operator's physical energy consumption is large, and it is difficult to maintain concentration of the energy, resulting in a labor intensive, prone to occupational diseases, and thus the lamination operation efficiency and lamination. Quality will be affected.

Fourthly, when the motor punching sheet is delivered, if the motor punching sheet is stuck to each other due to burrs or squeezing oil, manual separation is also required, which is time consuming and affects the stacking work efficiency.

Fifth, because the lamination process of each motor requires 3-4 people to work together, when the production task is busy, more lamination workers need to be configured. Therefore, not only the labor cost is increased, but also the motor production efficiency is also improved. not tall.

Summary of the invention

The technical problem to be solved by the present invention is to provide a motor punching lamination system for the problems existing in the prior art, which reduces the labor intensity of the operator and improves the working efficiency of the lamination and the quality of the lamination.

The technical problem to be solved by the present invention is achieved by the following technical solution: a motor punching lamination system comprising a rigid frame, a robot arm, a gripper device, and a sheet feeding device and a lamination station, wherein the robot arm is installed On the shelf, the gripper device is mounted on the working end of the robot arm, and the stacking table is installed under the working end of the robot arm; the robot arm grabs the motor preset on the feeding device by the gripping device After punching, transfer it to the lamination table.

Preferably, the invention further comprises a motor punch trimming device, wherein the motor punch trimming device superimposes and shapes the motor punch on the stacking table.

Preferably, the motor punch trimming device comprises a first shaping mechanism, the first shaping mechanism comprises a lifting cylinder and a first cylinder, and the lifting cylinder action output end is connected with the first mounting seat and drives the first mounting seat The first cylinder is mounted on the first mounting seat with the action output end connected to the shaping push block, and the first cylinder drives the shaping push block to perform radial movement relative to the lamination table. .

Preferably, the first shaping mechanism further includes a third servo motor and a second screw mechanism, the third servo motor is connected to the first mounting seat, and the second screw mechanism is connected to the first bracket, The third servo motor drives the second screw mechanism and causes the first mount to move in a straight line relative to the stacking table.

Preferably, the motor punching device further includes a second shaping mechanism, the second shaping mechanism includes a second mounting seat, and the first cylinder is fixedly mounted on the second mounting seat, the first cylinder action output end In connection with the shaped push block, the first cylinder drives the shaped push block to move radially relative to the lamination table.

Preferably, the second shaping mechanism further includes a fourth servo motor and a third screw mechanism, the fourth servo motor is coupled to the second mounting seat, and the third screw mechanism is coupled to the second bracket, The fourth servo motor drives the third screw mechanism and causes the second mount to move in a straight line relative to the stacking table.

Preferably, the gripper device comprises a suction cup mounting plate, a pneumatic quick-change joint and a vacuum suction cup, the vacuum suction cup is fixedly mounted on the bottom of the suction cup mounting plate, and the pneumatic quick-change joint is fixedly connected with the suction cup mounting plate, and It forms a pipeline connection with the vacuum chuck.

Preferably, the feeding device comprises a raw material tray placing frame and a raw material tray, wherein the raw material tray placing frame is connected with the first servo motor and the first screw mechanism, and the first screw mechanism is connected with the lifting material. The raw material tray is installed at On the raw material tray placement rack, the first servo motor drives the first screw mechanism and causes the lifting hand to move in a straight line with respect to the raw material tray placement frame.

Preferably, the film feeding device further includes a second servo motor, the second servo motor operating output shaft is fixedly connected with a driving gear, and the rotating plate and the driven gear are disposed on the raw material disk placing frame. The fixed connection forms an meshing transmission between the driving gear and the driven gear.

Preferably, the raw material tray placement frame is fixedly connected to the air tube holder, and the air injection tube is fixedly connected to the air tube holder.

Preferably, the raw material tray comprises an adsorption lifting plate, a support column, and a bottom plate and an eccentric positioning rod. The opposite ends of the support column are respectively fixedly connected with the adsorption lifting plate and the chassis, and the eccentric positioning rod comprises a fixing seat. The opposite sides of the fixing base are respectively fixedly connected to the motor punching positioning rod and the connecting rod, and an eccentric structure is formed between the motor punching positioning rod and the connecting rod, and the connecting rod is fixedly connected with the chassis.

Preferably, the lamination station comprises a base, a top plate, and a plurality of second cylinders and a plurality of fixed pillars. The opposite ends of the fixing pillars are respectively fixedly connected to the base and the top plate, and the plurality of second cylinders are fixedly mounted on the base. The upper and the annular distribution are arranged, and the action output end is connected to the punch positioning slider, and the second cylinder drives the punch positioning slider connected thereto to move radially relative to the base.

Compared with the prior art, the beneficial effects of the present invention are: providing a sufficient number of motor punching pieces for the robot arm grasping action by the feeding device, and grasping the preset feeding device by the robot arm through the grasping device thereon The upper motor is punched and then transported to a designated position above the lamination table for release. On the lamination table, the motor punches continuously released by the robot arm are stacked one by one until the set motor punch is reached. In addition, the motor punching device can also timely trim the laminated motor punch on the lamination table to ensure that the lamination irregularity meets the set requirements. Therefore, the present invention can complete functions such as gripping, lamination, trimming, etc., and realize continuous operation of the lamination, thereby greatly reducing the amount of manual work in the motor lamination stacking operation and reducing the labor intensity of the operator, and The labor cost is saved, and at the same time, the lamination work efficiency and the lamination quality are greatly improved.

DRAWINGS

Figure 1 is a schematic view of a motor chip of a sector structure.

2 is an overall structural view of a motor chip lamination system of the present invention.

Figure 3 is a perspective structural view of the wafer grasping device of Figure 2;

Figure 4 is a front elevational view of the wafer capture device of Figure 2;

Figure 5 is a top plan view of the wafer gripping device of Figure 2.

Figure 6 is a side elevational view of the wafer gripping device of Figure 2.

Fig. 7 is a configuration diagram of the sheet feeding device of Fig. 2;

Figure 8 is a perspective structural view of the stock tray placement rack of Figure 7.

Figure 9 is a front elevational view of the stock tray placement rack of Figure 7.

Figure 10 is a top plan view of the stock tray placement rack of Figure 7.

Figure 11 is a perspective view of the raw material tray of Figure 7 (including a motor punch).

Figure 12 is a perspective view of the raw material tray of Figure 7 (without the motor punch).

Figure 13 is a front elevational view of the stock tray shown in Figure 12;

Fig. 14 is a plan view of the material tray shown in Fig. 12.

Figure 15 is a bottom plan view of the stock tray shown in Figure 12;

Figure 16 is a perspective structural view of the eccentric positioning rod of Figure 12;

Figure 17 is a front elevational view of the eccentric positioning rod shown in Figure 16;

Figure 18 is a bottom plan view of the eccentric positioning rod shown in Figure 16;

Figure 19 is a front elevational view of the baffle of Figure 15.

Figure 20 is a view taken along the line A-A of the baffle shown in Figure 19.

Figure 21 is a front elevational view of the motor blanking device of Figure 2;

Figure 22 is a top plan view of the motor blanking device of Figure 2;

Figure 23 is a side elevational view of the motor blanking device of Figure 2;

Figure 24 is a perspective structural view of the lamination station of Figure 2;

Figure 25 is a front elevational view of the lamination station of Figure 2;

Figure 26 is a top plan view of the lamination station of Figure 2.

Marked in the figure: 1-motor punching, 2-rigid frame, 3-machine arm, 4-grab device, 5-chip device, 6-motor punching device, 7-ground rail sliding device, 8-fold Table, 51-raw material tray, 52-position sensor, 53-feed tray, 54-jet tube, 55-jet tube holder, 56-jet tube holder, 57-piece number detection device, 101-positioning hole, 102 - card slot, 401-connection flange, 402-suction plate mounting plate, 403-photoelectric switch, 404-pneumatic quick-change coupling, 405-vacuum suction cup, 5101-first servo motor, 5102-first screw mechanism, 5103- Driven gear, 5104-rotating disc, 5105-raw material positioning rod, 5106-frame, 5107-foot, 5108-liter hand guide, 5109-liter hand, 5110-drive gear, 5111-second Servo motor, 5301-adsorption lifting plate, 5302-support column, 5303-chassis, 5304-motor punching positioning rod, 5305-hanging lug, 5306-fixing seat, 5307-padding plate, 5308-baffle, 5309-connection Rod, 601-third servo motor, 602-first mount, 603-first cylinder, 604-second screw mechanism, 605-lift cylinder, 606-first bracket, 607-shaping push block, 608- Four servo motor 609- second safety Mounting, 610-Second bracket, 611-sleeve, 612-third screw mechanism, 801-ground rail stage, 802-base, 803-cylinder base, 804-punch positioning slider, 805- Two cylinders, 806-top, 807-electric junction box, 808-positioning mandrel, 809-stop block, 810-sliding rail, 811-fixed post, 812-pad.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The motor punching lamination system shown in FIG. 2 mainly comprises a rigid frame 2, a robot arm 3, a gripper device 4, and a sheet feeding device 5 and a lamination station 8, the rigid frame 2 mainly consisting of four columns and a The top plate is mainly used for installing the robot arm 3 and protecting the lamination table 8 . The robot arm 3 is mounted on the rigid frame 2, which is driven by the servo motor and can be moved within a certain distance and angle range; In actual need, the robot arm 3 can be installed 3-4 so that its working range can cover 360° circumference just enough to ensure the working efficiency of the lamination and the quality of the lamination. The gripper device 4 is mounted at the working end of the robot arm 3, the lamination station 8 is mounted below the working end of the robot arm 3, and the sheet feeding device 5 is placed at a designated position within the working range of the robot arm 3. In the lamination operation, the motor punching piece 1 as shown in FIG. 1 to be laminated is first preset on the film feeding device 5, usually, the motor punching piece 1 preset on the film feeding device 5 The total amount should at least meet the requirements of the punching of one motor core to improve work efficiency. The robot arm 3 grasps the motor punching piece 1 preset on the film feeding device 5 by the gripper device 4 and transports it to the lamination station 8. On the lamination table 8, when the number of laminations of the motor punching piece 1 is increased, the machining error of the motor punching piece 1 itself and the movement error of the robot arm 3 itself are considered, which may result in a stack of stacked motor punching sheets 1. If the degree of uniformity is out of the reasonable range, in order to improve the quality of the lamination of the motor punching piece 1 on the lamination table 8, the motor punching device 6 may be additionally provided, and the motor punching device 6 is installed outside the lamination table 8. The motor punching piece 1 on the lamination station 8 can be folded and shaped by the motor punching device 6, thereby improving the lamination quality of the motor chip 1.

The feeding device 5 can adopt the raw material tray 53 as shown in FIG. 11 , FIG. 12 , FIG. 13 , FIG. 14 and FIG. 15 , and the raw material tray 53 is mainly composed of an adsorption lifting plate 5301 , a supporting column 5302 , and a chassis 5303 . The support column 5302 is formed in a plurality of positions, and the opposite ends of the same support column 5302 are fixedly connected to the adsorption lifting plate 5301 and the bottom plate 5303, respectively, and the motor punching piece is fixedly connected to the chassis 5303. The positioning rod 5304 is further fixed to the top end of the adsorption lifting plate 5301 to facilitate the lifting and moving of the raw material disk 53 as a whole. When the lamination operation is performed, the motor punching piece 1 shown in FIG. 1 is preset on the film feeding device 5, and the motor punching positioning bar 5304 on the film feeding device 5 passes through the positioning hole 101 on the motor punching piece 1. . Usually, said At least two positioning holes 101 on the motor punching piece 1 are disposed, and the motor punching positioning rod 5304 located on the sheet feeding device 5 corresponds to the positioning hole 101 to effectively position the motor punching piece 1.

Since the specifications of the motor punching piece 1 are different, the spacing of the positioning holes 101 on the motor chip 1 is also different. In order to enable the material disk 53 to be adapted to the preset storage of the motor chip 1 of more specifications, it can be set as shown in FIG. 16 and FIG. The eccentric positioning rod includes a disc-shaped fixing base 5306, and the motor punching positioning rod 5304 and the connecting rod 5309 are fixedly connected to the upper and lower opposite sides of the fixing base 5306, respectively. The central axis of the positioning rod 5304 and the central axis of the connecting rod 5309 are parallel to each other but do not coincide, thereby forming an eccentric positioning rod of the eccentric structure. Preferably, the fixing base 5306 is integrated with the motor punch positioning rod 5304 and the connecting rod 5309. The central axis of the fixing base 5306 and the central axis of the connecting rod 5309 coincide with each other, and the motor is punched. The central axes of the positioning bars 5304 are parallel to each other to make the processing of the eccentric positioning rods easier and the mechanical strength is reliable. As shown in FIG. 12 and FIG. 14 , the connecting rod 5309 in the eccentric positioning rod and the bottom plate 5303 are connected to each other, and the eccentric positioning rod is rotatable relative to the chassis 5303. Therefore, when the eccentric positioning rod rotates relative to the chassis 5303, the spacing between the adjacent two motor punch positioning rods 5304 will also change, so that the material tray 53 can be adapted to the preset of the motor punch 1 of different specifications. Storage, thereby correspondingly reducing the application cost of the stock tray 53.

In the process of placing the motor punching piece 1 on the raw material disk 53 or grasping the motor punching piece 1, it is necessary to restrict the free rotation of the eccentric positioning rod relative to the chassis 5303 to improve work efficiency, and at the same time, it is convenient to have two adjacent ones. The spacing between the motor splicing rods 5304 is adjusted. For this purpose, a threaded connection hole can be formed in the connecting rod 5309. Preferably, two connecting holes are formed in the connecting rod 5309, as shown in FIG. A threaded movable connection structure is formed between the chassis 5303 and the connecting rod 5309 by means of a connecting bolt or a screw. Further, in order to ensure the connection reliability between the eccentric positioning rod and the chassis 5303, a countersunk slot may be opened at the bottom of the chassis 5303, and the baffle 5308 shown in FIG. 19 and FIG. 20 is installed in the countersunk slot. Mounting holes are formed in the plate 5308 in one-to-one correspondence with the screw connection holes on the connecting rod 5309. The baffle 5308 is mounted in a countersunk groove at the bottom of the chassis 5303, and the baffle 5308, the chassis 5303, and the connecting rod 5309 are integrally connected by a connecting bolt or a screw. Loosen the connecting bolts or screws to rotate the eccentric positioning rod to the appropriate position relative to the chassis 5303, and then connect the eccentric positioning rod to the chassis 5303 by means of connecting bolts or screws, so that the adjacent two motor punching positions can be easily realized. The spacing between the bars 5304 is adjusted and the eccentric positioning bar is effectively prevented from freely rotating relative to the chassis 5303.

As shown in FIG. 12 and FIG. 14 , a padding plate 5307 is fixedly connected to the chassis 5303. The height of the padding plate 5307 is preferably equal to the height of the fixing base 5306, and is matched with the fixing seat 5306 by providing the padding plate 5307. And supporting the motor punching piece 1 together, can prevent the motor punching piece 1 placed on the material disk 53 from being deformed by lamination, thereby Conducive to the quality of the laminate.

A plurality of motor punching sheets 1 are stacked on the raw material tray 53, and the stacked motor punching sheets 1 are positioned by the motor punching positioning rods 5304. Considering that the movement stroke of the robot arm 3 is relatively fixed, it is to grab the motor punching piece 1 located on the material tray 53 at a set spatial position, and the fan-shaped area of the single-piece motor punching piece 1 is small, in order to raise the robot arm. The grabbing efficiency of 3 requires pre-stacking multiple stacking sheets on the raw material tray 53, and combining the number of motor punching sheets and the space size required for a single motor core, the raw material tray 53 is designed to have three and evenly distributed motors. The cage structure of the stacking space, that is, the material tray 53 can accommodate three stacks of motor punches at the same time, and the three stacks of motor punches form a full circle, as shown in FIG. Therefore, in order to ensure that the robot arm 3 can smoothly grasp the motor punching piece 1 located on the material tray 53, it is required not only that the material tray 53 can be accurately rotated, so that after the previous stack of the motor punching sheets 1 is grasped, the lowering can be performed. A stack of motor punches 1 is precisely rotated to the position of the previous stack of motor punches 1, and is required to be in the same stack of motor punches 1, when the last motor punch 1 is taken away, the next adjacent one The motor punch 1 should automatically reach the position of the last motor punch 1 to facilitate the next grab of the robot arm 3.

In order to better meet the continuous working needs of the robot arm 3 and improve the working efficiency of the lamination, the raw material tray placement frame 51 may be added on the basis of the above-mentioned raw material tray 53, and the raw material tray placement frame 51 and the raw material tray 53 together form a supply sheet. Device 5, as shown in FIG. in particular:

The structure of the material tray placement frame 51 is as shown in FIG. 7, FIG. 8, FIG. 9, FIG. 10, and the foot 5107 is fixedly connected to the bottom of the shelf body 5106 to facilitate the positioning and installation of the material tray placement frame 51; A first servo motor 5101 and a first screw mechanism 5102 are disposed on the placing frame 51. The first screw mechanism 5102 is connected to the lifting hand 5109, and the lifting hand 5109 is a flat plate having a palm-shaped structure, and passes through the first The servo motor 5101 drives the first screw mechanism 5102 to operate, and the first screw mechanism 5102 drives the lifter 5109 to move up and down with respect to the stock tray placement frame 51. A second servo motor 5111 is disposed on the raw material tray placing frame 51. The second servo motor 5111 is fixedly coupled to the driving gear 5110 on the output shaft, and the rotating tray 5104 is further disposed on the material tray placing frame 51. 5104 is fixedly connected with the driven gear 5103, the driving gear 5110 and the driven gear 5103 form an meshing transmission, and three sets of palm-shaped positioning grooves matching the lifting hand 5109 are also formed on the rotating disk 5104, such as As shown in FIG. 8 and FIG. 10, the three sets of palm-shaped positioning grooves are in one-to-one correspondence with the number of stacks of motor punches on the material tray 53. Therefore, by controlling the rotation of the rotary disk 5104, it is possible to make the bottom of each of the entire motor punching sheets on the stock tray 53 have an opportunity to be in contact with the lifter 5109, respectively. Preferably, the connection material positioning rod 5105 can be fixedly connected to the rotating disk 5104. Correspondingly, a corresponding positioning through hole is arranged on the bottom plate 5303 of the raw material disk 53 so that the raw material disk positioning rod 5105 can be separated from the raw material disk 53. Forming the snap-fit structure ensures the synchronous operation of the stock tray 53 and the rotary disk 5104, so that the sheet feeding accuracy of the sheet feeding device 5 can be ensured. Preferably, the top end of the material tray positioning rod 5105 is formed into a tapered structure, so that when the material tray 53 is hoisted to the material tray placing frame 51, the material tray 53 can be guided by the material tray positioning rod 5105. Positioning.

When the sheet feeding operation is performed, the raw material tray 53 is hoisted to the raw material tray placing frame 51, and is positioned by the tapered raw material tray positioning rod 5105, and at the same time, the bottom of one of the plurality of motor punching sheets on the raw material tray 53 is The picking hand 5109 is in contact. Preferably, the material tray 53 can also be fastened to the stock tray placement frame 51 by means of a fixing block, and one of the motor punching sheets on the material tray 53 is located exactly at the gripping position of the robot arm 3. After the robot arm 3 completes a gripper, the first servo motor 5101 drives the first screw mechanism 5102 to operate, and causes the lifter 5109 to rise a certain height relative to the stock tray placement frame 51, and is driven by the lifter 5109. The stack of motor punches also rises to a certain height with respect to the raw material disk 53, so that the uppermost motor punching piece 1 of the stack of the motor can be straightly raised to a designated position for the next time of the robot arm 3. Grab the film. Therefore, in the same stack of motor punches 1, if the last motor punch 1 is taken away, the next motor punch 1 adjacent thereto will automatically reach the position of the last motor punch 1 It is possible to ensure effective gripping of the motor punch 1 by the robot arm 3. In order to improve the stability and reliability of the lifting hand 5109, the lifting hand guide frame 5108 can be fixedly connected to the material tray placing frame 51. As shown in FIG. 8, the lifting hand guiding frame 5108 mainly includes two Upright cylinders disposed parallel to each other, the two upright cylinders extend through the lifter 5109 and form a clearance fit with the lifter 5109, thereby forming an active connection between the lifter 5109 and the lifter guide 5108, and the material is raised. The hand 5109 can move up and down linearly relative to the lift hand guide 5108.

After the stack of the motor punch 1 that can be successfully grasped by the robot arm 3 is grasped, the driving gear 5110 can be driven to rotate by the second servo motor 5111, and the driven gear 5103 is driven by the driving gear 5110 to synchronize the movement, thereby driving The rotating disc 5104 and the material tray 53 rotate synchronously, so that the next stack of motor punches located on the stock tray 53 is accurately rotated to the position of the previous stack of motor punches, and the bottom of the next stack of motor punches can It is in contact with the lifting hand 5109, and therefore, the continuous normal operation of the robot arm 3 is effectively ensured.

During the stamping process of the motor punching piece 1, the punching portion is prone to burrs, and there may be residual oil such as stamping oil, dust, etc. on the surface of the motor punching piece 1. These burrs, stamping oil and the like are likely to cause motor punching. Mutual adhesion occurs between the sheets 1, so that when the robot arm 3 grips the motor punching piece 1, it is possible to take two or more motor punching sheets 1 at a time in the same grasping action. In order to avoid this phenomenon, as shown in FIGS. 7 and 9, the lance tube holder 55 may be fixedly coupled to the frame body 5106, and the lance tube 54 may be fixedly coupled to the lance tube holder 55. Preferably, a lance clamp 56 can also be attached to the lance holder 55, which is held in place by the lance clamp 56. During each gripping process of the robot arm 3, when caught by the robot arm 3 When the motor punching sheets which are mutually adhered are separated from the motor punching positioning rod 5304, compressed air is introduced into the air nozzle tube 54, and the excess motor scraping piece can be blown off by the compressed air, and the blown motor is blown off. The punching piece is returned to its original position on the material tray 53 along the motor punching positioning rod 5304 to wait for the next grab of the robot arm 3, so that the robot arm 3 can be prevented from grasping the excess motor punching sheet to a great extent. The utility model ensures the effectiveness of the gripper of the robot arm 3; at the same time, the compressed air can also remove the rubbing oil, dust and the like remaining on the surface of the motor punching piece 1, thereby facilitating the stacking of the motor punching lamination system. Film quality. By providing the lance tube holder 56, it is also possible to easily adjust the jet height and the direction of the jet of the lance tube 54, and to ensure the surface cleanliness of the single-chip motor sheet 1 itself which is completely separated and separated from each other by the motor chip 1 which is adhered to each other.

The film feeding device 5 controls the operation of the first screw mechanism 5102 by the first servo motor 5101, and controls the meshing transmission between the driving gear 5110 and the driven gear 5103 through the second servo motor 5111, so that the film feeding device can be well ensured. The film feeding efficiency and film feeding accuracy of 5 are beneficial to improve the lamination efficiency and lamination quality of the lamination system. It should be noted that, in the lamination operation, especially when the manual feeding operation is performed manually, the above-mentioned sheet feeding device 5 may also include only the raw material tray 53. In addition, the raw material tray placing frame 51 may be Only the first servo motor 5101, the first screw mechanism 5102 and the raising hand 5109 are provided, so that the material tray 53 can only move up and down linearly with respect to the material tray placement frame 51; of course, only the second servo motor 5111 can be provided. The driving gear 5110, the driven gear 5103, and the rotating disk 5104 are such that the material disk 53 can only be rotated circumferentially with respect to the material disk placing frame 51. The specific settings can be adjusted according to the needs of the site.

As shown in FIG. 3, FIG. 4, FIG. 5 and FIG. 6, the overall structure of the gripper device 4 mainly includes a suction cup mounting plate 402, a pneumatic quick-change joint 404 and a vacuum suction cup 405, and the vacuum suction cup 405 is fixedly mounted on At the bottom of the suction cup mounting plate 402, the pneumatic quick-change joint 404 is fixedly connected to the suction cup mounting plate 402, and is formed in a pipeline communication with the vacuum suction cup 405. In order to facilitate the connection between the gripper device 4 and the robot arm 3, the connecting flange 401 shown in FIGS. 3 and 4 can be fixedly connected to the chuck mounting plate 402.

When the robot arm 3 is used to perform the grasping operation on the motor punching piece 1 preset on the film feeding device 5, the gripping device 4 is first installed at the working end of the robot arm 3, and then the pneumatic quick-change joint 404 is connected to the air pipe. The compressed air is introduced into the pneumatic quick-change joint 404 through the air pipe, so that the vacuum suction cup 405 has a negative pressure state or even a vacuum state. Therefore, the pneumatic suction provided by the vacuum suction cup 405 can grasp the motor punching piece 1 until the robot arm 3 transferring the sucked motor punching piece 1 to the designated falling piece position above the lamination table 8; stopping the introduction of compressed air into the pneumatic quick-change joint 404, and the negative pressure state or the vacuum state in the vacuum chuck 405 disappears. The motor punching piece 1 grasped by the vacuum suction cup 405 can be smoothly separated from the vacuum suction cup 405, and the motor punching piece 1 which is separated from the vacuum suction cup 405 falls directly onto the lamination table 8 under the action of its own gravity, and thus, the gripping device 4 Complete a grab operation.

In order to make the gripping device 4 have sufficient suction force to grasp the motor punching piece 1 when grasping the motor punching piece 1, a plurality of vacuum suction cups 405 and a plurality of pneumatic quick-change joints may be respectively disposed on the same suction cup mounting plate 402. 404, the vacuum chuck 405 and the pneumatic quick change joint 404 have a one-to-one correspondence. Preferably, the vacuum chuck 405 is evenly distributed on the suction cup mounting plate 402 to prevent the motor punching sheet 1 from being partially deformed due to uneven force during transportation. In particular, the vacuum chuck 405 can employ an organ type vacuum chuck to ensure that the vacuum chuck 405 can securely grip the motor chip 1. The suction cup mounting plate 402 adopts a "concave" shape structure, as shown in FIG. 3 and FIG. 5, to realize the weight reduction of the suction cup mounting plate 402, which is beneficial to the energy saving of the robot arm 3.

As shown in FIG. 24, FIG. 25 and FIG. 26, the lamination table 8 mainly includes a base 802, a top plate 806, and a plurality of second cylinders 805 and a plurality of fixed pillars 811. The base 802 and the top plate 806 are both discs. The two ends of each of the fixed struts 811 are respectively fixedly connected to the base 802 and the top plate 806. The plurality of second cylinders 805 are fixedly mounted on the base 802 and are annularly distributed. Preferably, the plurality of The second cylinder 805 is evenly distributed in a ring shape on the base 802. The action output ends of each of the second cylinders 805 are respectively coupled to the die positioning slider 804, and the die positioning slider 804 connected thereto is driven to move radially with respect to the base 802 by the second cylinder 805. Considering that the motor punching piece 1 shown in FIG. 1 is provided with the card slot 102, a convex rib matching the card slot 102 may be disposed at the outermost end of the punching positioning slider 804, so that the motor punching piece 1 can pass the card. The groove 102 is engaged with the rib at the outermost end of the punch positioning slider 804, and is linearly slid along the rib, so that the motor punch 1 falling on the lamination table 8 can be effectively positioned. The lamination deviation between the motor punching sheets 1 on the lamination table 8 is effectively reduced, thereby controlling the lamination unevenness of the motor punching piece 1 on the lamination table 8, which is advantageous for improving the lamination table 8 The overall laminated quality.

In order to prevent the two second cylinders 805 from interfering with each other due to vibration during operation, and ensuring the accuracy of the second cylinder 805, a plurality of second cylinders 805 may be fixedly coupled to the cylinder block 803. The connection with the base 802 is fixed. An electric junction box 807 can also be fixedly mounted on the cylinder block 803, as shown in Figs. 25 and 26, to prevent the telescopic movement of the plurality of second cylinders 805 from being interfered by the electrical wiring.

During operation of the lamination station 8, first, the punch positioning slider 804 connected thereto is driven by the second cylinder 805 to move radially and outwardly relative to the base 802, and the punch positioning slider 804 is moved to the set position. The plurality of punch positioning sliders 804 are all on the same circumference; then, a fan-shaped punch lower pressing ring is placed on the base 802.

When the motor punching piece 1 to be laminated is brought over the lamination table 8, and the card slot 102 on the motor punching piece 1 is aligned with the convex rib at the outermost end of the punching piece positioning slider 804, the motor punching piece 1 is released. The motor punching piece 1 is engaged with the ribs at the outermost ends of the punching positioning sliders 804 through the card slots 102, and then slides down along the ribs on the punching positioning slider 804. Repeatedly, until the total amount of the motor punch 1 on the lamination station 8 reaches the setting The number of overlays. In order to prevent the motor punching piece 1 on the lamination table 8 from being severely deformed and affecting the quality of the lamination, a spacer 812 may be disposed at the bottom of each of the punching positioning sliders 804, as shown in Figs. 24 and 26, the pad Block 812 is preferably of the same height as the fan-shaped punching ring. By the pad 812 and the fan-shaped punching lower pressing ring cooperate with each other and jointly support the motor punching piece 1, the motor punching piece 1 can be effectively prevented from being severely deformed during the lamination operation and affecting the overall quality of the laminated piece.

After the total amount of the motor punching sheets 1 on the lamination table 8 reaches the set lamination number, the second cylinder 805 is operated to drive the punch positioning slider 804 connected thereto to move radially and inwardly relative to the base 802. Thereby, the plurality of punch positioning sliders 804 are all retracted toward the center of the lamination table 8 until the plurality of punch positioning sliders 804 are completely separated from the motor punching sheet 1.

Finally, the motor punching piece 1 on the lamination table 8 is hydraulically operated and locked by a screw. After the lamination table 8 is removed from the hydraulic press, the laminated core can be completely hoisted.

In order to facilitate the moving operation of the lamination table 8 and reduce the labor intensity of the worker, the ground rail stage 801 and the ground rail sliding device 7 may be added to the lamination table 8, and the ground rail sliding device 7 The utility model comprises a sliding ground rail 810, a drag chain and a groove, an anti-offset bracket, a dustproof cover and the like, wherein the sliding ground rail 810 cooperates with the ground rail stage 801, and the ground rail stage 801 can Sliding relative to the sliding ground rail 810. By connecting the ground rail 801 and the hydraulic press by sliding the ground rail 810, the lamination table 8 can be slid back and forth along the sliding ground rail 810 with respect to the hydraulic press, thereby facilitating the movement of the lamination table 8 into or out of the hydraulic press, which greatly reduces the The labor intensity of the workers. A chuck is provided on the ground at both ends of the sliding ground rail 810 to facilitate sliding stroke positioning and stopping of the ground rail stage 801 (along with the lamination station 8).

The ground rail stage 801 is fixedly connected to the positioning mandrel 808, and a positioning hole is formed on the cylinder block 803 to cooperate with the positioning mandrel 808. The cylinder block 803 is positioned and mounted on the ground rail by the positioning mandrel 808. On the stage 801, as shown in FIG. 25, the positioning mandrel 808 therein is also advantageous for ensuring that the center of the lamination stage 8 coincides with the center of the ground rail stage 801. Further, a limiting block 809 is disposed on the ground rail stage 801. The limiting block 809 is preferably an inverted T-shaped block. By providing the limiting block 809, the cylinder block 803 can be effectively prevented from being opposed to the ground rail stage. The rotation of the 801 ensures the lamination efficiency and lamination quality of the lamination station 8.

The lamination table 8 drives a plurality of punch positioning sliders 804 to move radially relative to the base 802 through a plurality of second cylinders 805, so as to accurately position the inner diameter of the fan-shaped structure of the motor punching piece 1, thereby improving the position. The stacking degree of the motor punching sheet 1. Generally, the motor segment 1 of the same sector structure in the same circumferential direction needs to be configured with two punch positioning sliders 804 for inner diameter positioning to ensure that the lamination irregularity satisfies the setting requirements to the utmost extent. For the motor punch 1 of a fan-shaped structure having different inner diameters, the action of the second cylinder 805 can be adjusted. Cheng came to realize.

After the lamination is completed, the second cylinder 805 is operated to make the plurality of punch positioning sliders 804 completely separated from the motor punching piece 1, since the taking of the plurality of punching positioning sliders 804 depends on the pulling force of the second cylinder 805. The problem is realized, thereby avoiding the problem that the positioning groove bar tooling which is located when the positioning groove bar tooling is manually placed for the lamination positioning is difficult to be taken out due to the lamination of the laminations of the motor punching piece 1, which reduces the labor cost and Labor intensity also improves the efficiency of lamination work and the quality of lamination. It should be noted that the lamination table 8 can be used alone or in combination with the robot arm 3. Moreover, the lamination table 8 can also be used for lamination of a circularly wound whole motor punch, but only For the motor punching sheet 1 of the sector structure shown in Fig. 1, the lamination effect is more prominent.

For a complete motor core, the motor punch 1 of the sector structure shown in Fig. 1 is usually used for the lamination operation. For a motor core having a diameter of about 2 m, generally nine motor segments 1 of a fan-shaped structure as shown in Fig. 1 are formed into a circumference, and the motor punch 1 of each sector has a circumferential angle of 40°. However, whether the manual lamination operation is performed manually or the lamination operation is manually assisted by the robot arm 3, as the number of the motor punching sheets 1 falling into the circumferential direction of the lamination table 8 is continuously increased, the motor is punched. The lamination irregularity between them generally exceeds the setting requirement. Therefore, it is necessary to equip the lamination station 8 with a corresponding motor punching trimming device so that the laminations can be stacked in the circumferential direction of the lamination table 8 in time. The motor punch is trimmed to finally ensure that the lamination irregularity of the motor punch lamination system meets the set requirements.

The motor punching device 6 shown in FIG. 21, FIG. 22, and FIG. 23 mainly includes a first shaping mechanism, and the first shaping mechanism mainly includes a lifting cylinder 605 and a first cylinder 603, and the lifting cylinder 605 is outputted. The end is connected to the first mounting base 602 and drives the first mounting seat 602 to move up and down relative to the lamination table 8. The first cylinder 603 is mounted on the first mounting base 602, and the action output end thereof is connected to the shaping push block 607. The outermost end of the shaping push block 607 is a pushing working portion; the first cylinder 603 drives the shaping push block 607 to move radially relative to the lamination table 8. Preferably, the first shaping mechanism further includes a third servo motor 601 and a second screw mechanism 604, the third servo motor 601 is connected to the first mounting seat 602, and the second screw mechanism 604 is The first bracket 606 is coupled, and the third servo motor 601 drives the second screw mechanism 604 and causes the first mount 602 to move up and down relative to the stacking table 8.

When it is necessary to trim the motor punching piece 1 falling in the circumferential direction of the lamination table 8, the lifting cylinder 605 can be activated to drive the first mounting seat 602 to descend relative to the lamination table 8 and to be positioned in the motor to be trimmed. Outside the punching piece 1, the first cylinder 603 is then activated to drive the shaping push block 607 to move radially relative to the center of the lamination station 8, and the pushing work portion on the shaping push block 607 is used to push the motor punching piece to be trimmed. 1, the motor chip 1 to be trimmed can reach the set lamination roundness requirement, so as to ensure that the lamination unevenness between the motor punches does not exceed Set requirements. Since the structure of the motor punching piece 1 itself is a fan-shaped structure as shown in FIG. 1, for this purpose, the first cylinder 603 on the first mounting seat 602 may be provided in a plurality of shapes and arranged in a ring shape; preferably, these several The first cylinder 603 is evenly distributed around the first mounting seat 602, so that the pushing working portion on the shaping push block 607 can push the motor punching piece 1 to be trimmed, and can also make the motor punching piece 1 in the outer circumferential direction. The force is more uniform, which plays a certain protective role on the motor punching piece 1.

Since the stroke of the lift cylinder 605 is generally large and the speed of operation is fast, the accuracy of the lifting position of the first mount 602 with respect to the stacking table 8 is not easily controlled and adjusted. By setting the third servo motor 601 and the second screw mechanism 604, the accuracy of the lifting position of the first mounting seat 602 relative to the lamination table 8 can be finely adjusted. Therefore, it cooperates with the lifting cylinder 605. The lifting position of the first mounting seat 602 relative to the lamination table 8 is coarsely adjusted by the lifting cylinder 605, and then the third screw motor 601 drives the second screw mechanism 604 to the first mounting base 602 relative to the lamination station 8. The lifting position is finely adjusted, so that the lifting position accuracy of the first mounting seat 602 relative to the lamination table 8 can be well controlled and adjusted, thereby facilitating the improvement of the trimming work efficiency and the motor punching of the motor punching device 6 The quality of the trimming between the sheets.

Since the motor punching piece 1 on the lamination table 8 is distributed in the circumferential direction of the ring lamination table 8, in order to be able to properly trim the motor punching piece 1 in the circumferential direction of the lamination table 8, the above-mentioned motor can be punched. The second shaping mechanism is further provided on the basis of the trimming device 6. Preferably, the second shaping mechanism is provided with two, and the two second shaping mechanisms are arranged with the first shaping mechanism ring stacking table 8, as shown in FIG. Shown. The second shaping mechanism mainly includes a second mounting seat 609. The first cylinder 603 is fixedly mounted on the second mounting base 609. The first cylinder 603 is connected to the shaping push block 607, and the first cylinder is connected. The 603 drive shaping push block 607 is moved radially relative to the lamination station 8. Preferably, the second shaping mechanism further includes a fourth servo motor 608 and a third screw mechanism 612, the fourth servo motor 608 is connected to the second mounting seat 609, the third screw mechanism 612 and the second The bracket 610 is coupled, and the fourth servo motor 608 drives the third screw mechanism 612 and causes the second mount 609 to move up and down with respect to the stacking table 8. The connecting sleeve 611 is fixed to the lower portion of the second bracket 610. As shown in FIG. 21 and FIG. 23, the third screw mechanism 612 can be provided with sufficient lifting and lowering space by providing the sleeve 611, and the third screw mechanism 612 is provided. The lifting and moving parts play a certain protective role.

It should be noted that the second shaping mechanism here has the same function as the first shaping mechanism described above, wherein the first cylinder 603, the fourth servo motor 608, and the third screw mechanism 612 are also respectively lifted and raised. The cylinder 605, the third servo motor 601, and the second screw mechanism 604 function the same, and therefore will not be described herein. Similarly, since the structure of the motor punching piece 1 itself is a fan-shaped structure as shown in FIG. 1, for this purpose, the first cylinder 603 on the second mounting seat 609 may be disposed in a plurality of shapes and arranged in a ring shape; preferably, The first ones The cylinder 603 ring second mount 609 is evenly distributed.

In order to ensure that the robot arm 3 has sufficient movable space, generally, the first shaping mechanism is mounted on the rigid frame 2, and the two second shaping mechanisms are all mounted on the ground base and the ring lamination table 8 is distributed. Generally, when a certain number of motor punches 1 are stacked, the first shaping mechanism and the second shaping mechanism can be used to timely adjust the corresponding laminated motor punches in the circumferential direction of the ring stacking table 8. Therefore, the overall roundness after lamination can be well ensured, which is beneficial to improve the working efficiency and lamination quality of the motor lamination lamination system.

The motor punch trimming device 6 is not limited to use with the robot arm 3, and can also be independently applied to the manual manual lamination operation flow by performing the lamination of the motor punching sheet 1 in the circumferential direction of the lamination table 8. Timely trimming can ensure that the lamination unevenness meets the set requirements. Wherein, the pushing working portion on the shaping push block 607 is preferably designed as a circular arc structure to cooperate with the outer circumference of the fan-shaped structure of the motor punching piece 1, so that the motor punching piece 1 can be protected to some extent. Further, the shaping push block 607 can be processed by using a polyester block to avoid damage to the outer edge of the motor punching piece 1 during the trimming process.

For a motor punch lamination system comprising a sheet feeding device 5, a gripper device 4 and a motor punching device 6, the working process is:

In the first step, the motor punching lower pressing ring is placed on the lamination table 8, and the lamination table 8 is slid along the sliding ground rail 810 to a designated position in the rigid frame 2.

In the second step, the single arm punching piece 1 preset on the film feeding device 5 is grasped by the robot arm 3 through the gripper device 4, and is transported to a designated position above the lamination station 8, and then dropped. The sheet is such that the captured motor chip 1 falls onto the lamination station 8.

When the robot arm 3 grasps the sheet, the first screw motor 5102 is driven by the first servo motor 5101 to operate, so that the same motor punch 1 is captured, and when the last motor punch 1 is grasped, adjacent thereto The next motor punch 1 automatically reaches the position of the last motor punch 1 to ensure effective gripping of the motor punch 1 by the robot arm 3. The second servo motor 5111 drives the rotating disc 5104 and the material tray 53 to rotate synchronously, so that the next stack of motor punching sheets 1 located on the stock tray 53 is accurately rotated to the position of the previous stack of motor punching sheets 1 to effectively ensure The continuous operation of the robot arm 3 is normal. If the robot arm 3 grasps two or more motor punches 1 at a time in the same grasping action, the compressed air can be ejected through the air duct 54 to separate the motor chips 1 which are adhered to each other, and are removed. The squeezing oil, dust, and the like remaining on the surface of the motor punching sheet 1.

In the third step, on the lamination table 8, after each stack is completed for a certain number of layers, the robot arm 3 is suspended, and the roundness of the motor punching sheets stacked on the lamination table 8 by the motor punching device 6 is performed. Make a trim.

The upper and lower relative positions between the shaping push block 607 and the lamination table 8 are coarsely adjusted by the lifting cylinder 605. After the third servo motor 601 drives the second screw mechanism 604 and the fourth servo motor 608 drives the third screw mechanism 612, the upper and lower relative positions between the shaping push block 607 and the lamination table 8 can be finely adjusted and then passed. The first cylinder 603 controls the radial movement of the shaping push block 607 relative to the lamination table 8, and the roundness of the motor punching sheets stacked on the lamination table 8 can be well trimmed to ensure the lamination efficiency and Lamination quality.

In the fourth step, the above steps 2 and 3 are repeated until the total number of laminations of the motor punch 1 on the lamination station 8 reaches the set standard.

In the fifth step, the laminated table 8 after the lamination is completed is pulled out of the rigid frame 2 along the sliding ground rail 810, and the upper punching ring of the motor punching piece is placed on the top layer of the laminated piece.

In the sixth step, the lamination station 8 is sent to the hydraulic press for hydraulic operation. After the oil pressure is completed, tighten the locking screw to form a motor core.

In the seventh step, the lamination station 8 is removed from the hydraulic press, and the locked motor core can be directly lifted.

In the eighth step, according to the work flow of the first step - the seventh step, the lamination operation of the next motor core is performed.

It can be seen that the above-mentioned motor punching lamination system can complete the functions of grasping, laminating, trimming, etc., and can realize the continuous operation of the lamination, greatly reducing the manual work volume in the lamination operation of the motor. It reduces the labor intensity of the workers and saves labor costs. At the same time, it greatly improves the lamination efficiency and the quality of the lamination.

In order to further improve the lamination operation efficiency and lamination quality of the motor punch lamination system, and further reduce the labor intensity and labor cost of the operator, the PLC can be used to centrally control the robot arm 3, the sheet feeding device 5, and the gripper device. 4 and the action of the motor punching device 6, correspondingly, the photoelectric switch 403 can be fixedly connected to the chuck mounting plate 402 in the wafer grasping device 4, as shown in FIG. 3 and FIG. 5, and the photoelectric switch 403 and the PLC At the same time, the position sensor 52 and the number-of-piece detecting means 57 can be fixedly disposed on the stock tray placing frame 51 in the sheet feeding device 5, as shown in Fig. 7, the sheet number detecting means 57 includes upper and lower relative The position detecting sensor 52 and the thickness detecting sensor are respectively electrically connected to the PLC; in addition, the PLC is further connected to the robot arm 3, the first servo motor 5101, the second servo motor 5111, and the third servo motor 601. The first cylinder 603, the lifting cylinder 605, the fourth servo motor 608, and the second cylinder 805 are electrically connected, respectively, to construct an automatic motor chip lamination system.

Wherein, the photoelectric switch 403 is controlled by a PLC, and is mainly used for the robot arm 3 to detect whether there is a motor punching piece at the grabbing position before the motor punching piece is grabbed, so as to avoid the robot arm 3 from being caught, and at the same time, The robot arm 3 is capable of automatically transferring the captured motor punch to a designated drop position. When the motor punch taken by the robot arm 3 is taken by the robot arm 3 to the number-of-piece detecting means 57, the robot arm 3 is scanned by the number-of-piece detecting means 57. The number of pieces of the motor punched that are captured and the signal is fed back to the PLC. If the robot arm 3 grabs more than one piece of the motor punching piece, the robot arm 3 will automatically bring the captured motor punching piece to the empty table on the right side of the piece number detecting device 57, and finally perform the piece processing by hand; If the motor punching piece grabbed by the robot arm 3 is exactly one piece, the robot arm 3 brings the captured motor punching piece to the designated falling piece position above the lamination table 8 for automatic release, and therefore, the number of pieces detecting device is set. 57 can effectively detect the number of pieces of motor punched by the robot arm 3, and separate the plurality of stuck motor chips into a special area to prevent the undivided plurality of motor chips from flowing into the subsequent automatic stack In the film work. By controlling the running track of the robot arm 3 by the PLC, the robot arm 3 can ensure that the falling motor chips can be accurately positioned each time the captured motor is punched.

The above-mentioned automatic motor punching lamination system adopting PLC centralized control, wherein the feeding device 5 and the gripping device 4 cooperate with each other, can provide an accurate feeding position for the robot arm 3, realizes the automation of the feeding piece, and greatly improves the The gripper effectiveness of the robot arm 3 and the efficiency of the gripper operation; wherein the lamination table 8 can ensure the lamination unevenness within a reasonable range and reduce the lamination time to improve the lamination efficiency and the lamination quality; The motor punching device 6 and the lamination station 8 cooperate with each other, mainly in the circumferential direction of the lamination table 8 to timely adjust the stack of discharge machines on the lamination table 8, and finally ensure the automatic motor lamination lamination system. The lamination unevenness meets the set requirements. The operator only needs to prepare the total amount of motor punches preset on the material tray 53, and set the total number of laminations of the motor punches required for the lamination operation, and the lamination tempo (that is, the lamination speed or the robot arm) through the PLC. 3 moving speed), and then the lamination command is issued, the automatic motor punching lamination system can complete the functions of automatic gripping, automatic lamination, automatic trimming, etc., and the robot arm 3 can be in every other layer according to the PLC instruction. When the film is dropped, all the falling positions of the robot arm 3 are uniformly shifted in the clockwise or counterclockwise direction by half the punching angle to meet the lamination requirements of different motor cores. The operator can wait for the stacked lamination table 8 (including the stacked motor punching sheets) to be driven by the hydraulic press, hydraulically press the hydraulic press, and tighten the locking screw. Therefore, compared with the manual lamination operation, continuous operation can be realized, the number of operators and labor intensity can be reduced, labor cost can be reduced, and lamination work efficiency and lamination quality can be greatly improved.

The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. It should be noted that any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included. It is within the scope of the invention.

Claims (12)

1. A motor punching lamination system comprising: a rigid frame (2), a robot arm (3), a gripper device (4), and a sheet feeding device (5) and a lamination station (8), said The robot arm (3) is mounted on the rigid frame (2), the gripper device (4) is mounted on the working end of the robot arm (3), and the lamination table (8) is mounted on the robot arm (3). Below the end; the robot arm (3) grasps the motor punch pre-set on the film feeding device (5) through the gripper device (4) and transports it to the lamination station (8).
2. A motor die lamination system according to claim 1, further comprising a motor punch trimming device (6), said motor punch trimming device (6) being located at the lamination station (8) The upper motor chip is stacked and shaped.
3. A motor die lamination system according to claim 2, wherein said motor punch trimming device (6) comprises a first shaping mechanism, said first shaping mechanism comprising a lifting cylinder (605) and a first cylinder (603), the action output end of the lift cylinder (605) is coupled to the first mount (602) and drives the first mount (602) to move up and down relative to the stacking table (8), the first A cylinder (603) is mounted on the first mount (602), the action output end of which is coupled to the shaping push block (607), and the first cylinder (603) drives the shaped push block (607) relative to the stacking table ( 8) Make radial motion.
4. A motor die lamination system according to claim 3, wherein said first shaping mechanism further comprises a third servo motor (601) and a second screw mechanism (604), said third servo The motor (601) is coupled to the first mount (602), the second lead screw mechanism (604) is coupled to the first bracket (606), and the third servo motor (601) drives the second screw mechanism ( 604) causing the first mount (602) to move up and down relative to the stacking table (8).
5. A motor die lamination system according to claim 3, wherein said motor punching device (6) further comprises a second shaping mechanism, and said second shaping mechanism comprises a second mounting seat ( 609), a first cylinder (603) is fixedly mounted on the second mount (609), the first cylinder (603) action output end is connected to the shaping push block (607), and the first cylinder (603) is driven The shaping push block (607) is moved radially relative to the lamination station (8).
6. A motor die lamination system according to claim 5, wherein said second shaping mechanism further comprises a fourth servo motor (608) and a third screw mechanism (612), said fourth servo The motor (608) is coupled to the second mount (609), the third lead screw mechanism (612) is coupled to the second bracket (610), and the fourth servo motor (608) drives the third lead screw mechanism (612) And causing the second mount (609) to move in a straight line with respect to the stacking table (8).
7. A motor punch lamination system according to any one of claims 1 to 6, wherein the gripper device (4) comprises a suction cup mounting plate (402), a pneumatic quick change joint (404), and a vacuum chuck (405), the vacuum chuck (405) is fixedly mounted on the bottom of the chuck mounting plate (402), and the pneumatic quick-change joint (404) is fixedly connected to the suction cup mounting plate (402), and is connected to the vacuum chuck ( 405) form a pipeline connection.
8. A motor die lamination system according to any one of claims 1 to 6, wherein said sheet feeding device (5) comprises a material tray placement frame (51) and a material tray (53). The first servo motor (5101) and the first screw mechanism (5102) are connected to the raw material tray placing frame (51), and the first screw mechanism (5102) is connected with the raising hand (5109), the raw material tray (53) mounted on a stock tray placement frame (51), the first servo motor (5101) driving the first screw mechanism (5102) and making the lifter (5109) relative to the stock tray placement frame (51) Lifting linear motion.
9. A motor die lamination system according to claim 8, wherein said film feeding device (5) further comprises a second servo motor (5111), said second servo motor (5111) action output A driving gear (5110) is fixedly connected to the shaft, and a rotating disk (5104) is disposed on the material disk placing frame (51), and the rotating disk (5104) is fixedly connected with the driven gear (5103), and the driving gear (5110) ) an engagement drive is formed with the driven gear (5103).
10. A motor die lamination system according to claim 8, wherein said material tray placement frame (51) is fixedly coupled to the lance tube holder (55) and fixedly coupled to the lance tube holder (55). Jet tube (54).
11. A motor die lamination system according to claim 8, wherein said material tray (53) comprises an adsorption lifting plate (5301), a support column (5302), and a chassis (5303) and an eccentric positioning rod. The opposite ends of the support column (5302) are respectively fixedly connected to the adsorption lifting plate (5301) and the chassis (5303), and the eccentric positioning rod comprises a fixing seat (5306) on opposite sides of the fixing seat (5306). The motor punching positioning rod (5304) and the connecting rod (5309) are respectively fixedly connected, and an eccentric structure is formed between the motor punching positioning rod (5304) and the connecting rod (5309), and the connecting rod (5309) and the chassis (5303) ) The connection is fixed.
12. A motor die lamination system according to any of claims 1-6, characterized in that the lamination station (8) comprises a base (802), a top plate (806), and a plurality of second cylinders. (805) and a plurality of fixed struts (811), the opposite ends of the fixed struts (811) are respectively fixedly connected to the base (802) and the top plate (806), and the plurality of second cylinders (805) are fixedly mounted on the base ( 802) is annularly distributed, the action output end is coupled to the punch positioning slider (804), and the second cylinder (805) drives the punch positioning slider (804) connected thereto to be opposite to the base (802). Radial motion.

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