WO2020073353A1 - 电机转子的自动装盘机 - Google Patents

电机转子的自动装盘机 Download PDF

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Publication number
WO2020073353A1
WO2020073353A1 PCT/CN2018/110946 CN2018110946W WO2020073353A1 WO 2020073353 A1 WO2020073353 A1 WO 2020073353A1 CN 2018110946 W CN2018110946 W CN 2018110946W WO 2020073353 A1 WO2020073353 A1 WO 2020073353A1
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WO
WIPO (PCT)
Prior art keywords
gripper
horizontal
rail
disk loading
cylinder
Prior art date
Application number
PCT/CN2018/110946
Other languages
English (en)
French (fr)
Inventor
郭小东
梁健文
卢启源
龙紫筠
Original Assignee
李仕奇
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Publication date
Application filed by 李仕奇 filed Critical 李仕奇
Publication of WO2020073353A1 publication Critical patent/WO2020073353A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
    • H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies

Definitions

  • the invention relates to the technical field of motor rotor production equipment, in particular to an automatic turntable machine for a motor rotor.
  • the present invention provides an automatic disk loading machine of a motor device with efficient and reliable disk loading and saving human resources.
  • the automatic disk loading machine of the motor rotor is installed at the end of the feeding belt.
  • the automatic disk loading machine includes a gripping device, a moving device and a disc loading device.
  • the gripping device includes a gripper, and is positioned and horizontally arranged in cooperation with the gripper
  • the positioning plate of the gripper is provided with a telescopic mechanism that drives the linear reciprocating movement of the gripper.
  • One side of the telescopic mechanism is connected with a rotating mechanism that drives the telescopic mechanism and the gripper to rotate synchronously.
  • the telescopic mechanism and the rotating mechanism cooperate to make the gripping
  • the hand has a vertical pickup state and a horizontal holding state
  • the moving device includes a vertical guide assembly, and the vertical guide assembly is provided with a horizontal guide assembly, so that the vertical guide assembly can move on a horizontal plane
  • the straight guide assembly includes a vertical guide rail and a gripper, and the gripper is provided with a vertical ram that cooperates with the vertical guide rail
  • the tray loading device includes a tray with a jack and a conveying fluent feed tray Strip, the end of the conveying fluent strip is provided with an unloading disc fluent strip, the connection point between the conveying fluent strip and the unloading disc fluent strip is provided with a disc loading station, and a positioning turn is provided on the disc loading station Components.
  • the gripper reaches out and grabs the rotor placed horizontally on the feeding belt. After rotating 90 degrees, it cooperates with the positioning plate to fix the rotor so that the rotor is placed vertically.
  • the vertical guide assembly moves horizontally on the horizontal surface through the horizontal guide assembly, so that the gripper Move to the top of the rotor, the gripper descends along the vertical guide rail, clamp the rotor, and at the same time, the gripper retracts and releases.
  • the gripper moves to the top of the tray through the horizontal guide assembly and descends along the vertical guide rail, placing the rotor on the tray In the middle, the loading process is fully automated and intelligently controlled, and the material retrieving, changing direction and loading are all done in one go.
  • the production process has high continuity and effectively improves production efficiency.
  • the telescopic mechanism includes a telescopic guide rail, a telescopic cylinder connected to the gripper is provided on the telescopic rail, a telescopic rod is provided between the telescopic cylinder and the gripper, and the gripper
  • the hand ram is matched with the telescopic guide rail.
  • the telescopic cylinder drives the gripper to extend or retract along the telescopic guide rail.
  • the gripper extends to grab the rotor, and cooperates with the positioning plate to fix the rotor.
  • the gripper retracts to loosen the rotor, which is convenient for the gripper to take out the rotor and install the disk.
  • the rotating mechanism includes a rack and a gear meshing with the rack, the gear is disposed on the telescopic guide rail, and the rack is provided with a rack that drives the rack to reciprocate up and down cylinder.
  • the rack cylinder drives the rack to move up and down, the rack moves downward, and the gear meshing with the rack rotates, so that the telescopic mechanism and the gripper are switched from the vertical state to the horizontal state, the rack moves upward, and the gear rotation makes the telescopic mechanism and the gripper The hand is switched from the horizontal state to the vertical state to complete the state switching of the rotor horizontally placed and vertically clamped.
  • the horizontal guide assembly includes first horizontal rails disposed on both sides of the gripping device, a second horizontal rail is disposed on the first horizontal rail, and a bottom of the second horizontal rail is disposed There is a first horizontal ram that cooperates with the first horizontal rail, the vertical rail is mounted on the second horizontal rail, and a second horizontal ram that cooperates with the second horizontal rail is provided on the back of the vertical rail.
  • the vertical guide rail moves back and forth on the horizontal plane along the second horizontal guide rail, and the second horizontal guide rail drives the vertical guide rail to move left and right on the first horizontal guide rail, so that the gripper can move forward, backward, left and right on the horizontal plane, which is convenient for the gripper to align the material tray On the jack to install the disc.
  • the positioning transfer assembly includes a positioning rod and a discharge plate provided on the side of the loading station, the positioning rod is provided with a positioning cylinder that drives the expansion and contraction of the positioning rod, and the discharge plate
  • a discharge cylinder is arranged on the upper part, and a push rod and a push cylinder are arranged below the loading station.
  • the push cylinder drives the push rod to push the tray to the loading station, and the positioning cylinder drives the positioning rod to extend to fix the tray.
  • the discharge plate pulls the tray to the fluent strip of the tray to complete the tray continuously.
  • a discharge rod is provided between the discharge plate and the discharge cylinder, and the discharge rod is arranged along the direction of the strip flow.
  • the unloading cylinder drives the unloading plate through the unloading pull rod to pull the material tray to the unloading fluent strip.
  • a cylinder mounting plate for fixing a discharge cylinder is provided on one side of the disk loading station, a discharge guide rail is provided on the cylinder mounting plate, and a bottom is provided on the bottom of the discharge plate Discharge ram with material guide rail.
  • an intercepting ejector is provided at the end of the conveying fluent strip, and an intercepting cylinder that drives the intercepting ejector.
  • the intercepting cylinder drives the intercepting ejector rod to extend, intercepting the subsequent tray to be loaded. After the tray in the tray loading station has been loaded and transported to the unloading fluent strip, the intercepting ejector retracts and continues to convey the next Material tray to ensure the orderly delivery of the material tray.
  • a socket for installing a rotor is provided on the feed tray, a clamp arm is connected between the clamp hand and the vertical ram, and a pair of hole columns are provided at the bottom of the clamp arm.
  • the tray is transported to the tray loading station, the clamping arm is lowered so that the pair of holes is inserted into the receptacle of the tray, and the correct orientation of the tray is checked to ensure that the tray is positioned accurately.
  • the automatic disk loading machine of the motor rotor of the invention has a compact structure and ingenious design.
  • the gripper grabs the rotor placed horizontally on the feeding belt, rotates and changes direction, and is positioned in the air. Through the cooperation of the vertical guide assembly and the horizontal guide assembly, the gripper can be horizontal 1. Vertical movement, the rotor is accurately placed in the material tray.
  • the loading process is fully automated and intelligently controlled. The material retrieving, changing direction and loading are all done in one go. The production process has high continuity and effectively improves production efficiency.
  • FIG. 1 is a schematic structural diagram of Embodiment 1 provided by the present invention.
  • FIG. 2 is a schematic structural diagram of a gripping device according to Embodiment 1 provided by the present invention.
  • Embodiment 3 is a schematic structural view of the vertical guide assembly of Embodiment 1 provided by the present invention.
  • Embodiment 4 is a schematic structural view of the horizontal guide assembly of Embodiment 1 provided by the present invention.
  • FIG. 5 is a schematic structural diagram of a positioning transfer assembly according to Embodiment 1 of the present invention.
  • FIG. 6 is a schematic structural diagram of a gripping device according to Embodiment 2 of the present invention.
  • Embodiment 1 of the present invention provides an automatic disk loading machine for a motor rotor, which is installed at the end of a feeding belt 37.
  • the automatic disk loading machine includes a gripping device 1, a moving device, and a disk loading device.
  • the gripping device 1 includes a gripper 2 and a positioning plate 3 that is positioned in cooperation with the gripper 2 and is horizontally provided.
  • the gripper 2 is provided with a telescopic mechanism that drives the gripper 2 to reciprocate linearly.
  • a rotating mechanism that drives the telescopic mechanism and the grip 2 to rotate synchronously is connected to the side.
  • the telescopic mechanism includes a telescopic guide rail 4, a telescopic air cylinder 5 connected to the gripper 2 is provided on the telescopic rail 4, a telescopic rod 6 is provided between the telescopic air cylinder 5 and the gripper 2, the gripper 2 There is a gripper ram 7 matched with the telescopic guide rail 4, the gripper 2 extends along the telescopic guide rail 4 to grab the rotor, and cooperates with the positioning plate 3 to fix the rotor, and the gripper 2 retracts to release the rotor.
  • the rotating mechanism includes a rack 8 and a gear 9 that meshes with the rack 8.
  • the rack 8 is provided with a rack cylinder 11 that drives the rack 8 to reciprocate up and down.
  • the rack cylinder 11 and the gear 9 are installed On the mechanism mounting plate 10, the mechanism mounting plate 10 is provided with a limit groove 101 for mounting the rack 8 to limit the movement range of the rack 8; the gear 9 passes through the mechanism mounting plate 10 and is fixedly connected to the telescopic guide rail 4, The rack 8 moves downward, and the gear 9 meshing with the rack 8 rotates, so that the telescopic mechanism and the gripper 2 are switched from the vertical state to the horizontal state. The rack 8 moves upward, and the gear 9 rotates so that the telescopic mechanism and the gripper 2 are moved from The horizontal state is switched to the vertical state.
  • the telescopic guide 4 is provided with a rotating baffle 12, and the mechanism mounting plate 10 is provided with a positioning stop 13 which cooperates with the rotating baffle 12 to limit the rotation angle of the telescopic guide 4 and the gripper 2. Avoid excessive rotation due to inertia.
  • the moving device includes a vertical guide assembly, the vertical guide assembly is provided with a horizontal guide assembly, the vertical guide assembly includes a vertical guide rail 14 and a gripper 15, and the gripper 15 is provided with a vertical A vertical ram 16 cooperated with the guide rail 14, a clamping arm 17 is connected between the clamping hand 15 and the vertical ram 16, and a pair of hole columns 18 are provided at the bottom of the clamping arm 17.
  • the horizontal guide assembly includes first horizontal guide rails 19 provided on both sides of the gripping device 1, a second horizontal guide rail 20 is provided on the first horizontal guide rail 19, and a bottom of the second horizontal guide rail 20 is provided with a first A first horizontal ram 21 cooperating with the horizontal rail 19, the vertical rail 14 is mounted on the second horizontal rail 20, and a second horizontal ram 22 cooperating with the second horizontal rail 20 is provided on the back of the vertical rail 14;
  • the vertical guide rail 14 moves back and forth along the second horizontal guide rail 20 on the horizontal plane.
  • the second horizontal guide rail 20 drives the vertical guide rail 14 to move left and right on the first horizontal guide rail 19, so that the gripper 15 can move forward, backward, left and right on the horizontal plane.
  • the tray loading device includes a tray 23 with an insertion hole, and a transport fluent strip 24 fed into the tray 23.
  • the end of the transport fluent strip 24 is provided with an unloading tray fluent strip 25.
  • the transport fluent strip 24 and the unloading tray At the connection of the fluent strip 25, a disk loading station 26 is provided, and the disk loading station 26 is provided with a positioning transfer assembly.
  • the positioning transfer assembly includes a positioning rod 27 disposed on the side of the loading station 26, and a positioning cylinder 28 that controls the expansion and contraction of the positioning rod 27.
  • the positioning rod 27 is provided in two groups, which are respectively disposed above the transport fluent strip 24 and unloaded Above the disk flow strip 25, each set of positioning rods 27 includes two positioning rods 27, and a push rod 29 and a push cylinder 30 are provided below the loading station 26.
  • the loading station 26 is fluent along the unloading side.
  • a cylinder mounting plate 31 is provided in the direction of the bar 25, and a discharge cylinder 32 is fixed on the cylinder mounting plate 31, a discharge plate 33 is connected to the discharge cylinder 32, and between the discharge plate 33 and the discharge cylinder 32 A discharge rod 34 is provided, a discharge guide 311 is provided on the cylinder mounting plate 31, and a discharge ram 331 cooperating with the discharge guide 311 is provided at the bottom of the discharge plate 33 to limit the movement direction of the discharge plate 33 .
  • the conveying fluent strip 24 is inclined, the starting end is higher than the end, the end is provided with an intercepting ejector 35, and an intercepting cylinder 36 driving the intercepting ejector 35.
  • the tray 23 is transferred to the tray loading station 26 via the transport fluent 24, the pushing cylinder 30 lifts the tray 23 upward, the positioning rod 27 extends out of the fixed tray 23, and the intercepting rod 35 extends out to intercept the subsequent transfer Of the material tray 23, the clamping arm 17 is lowered, the pair of hole columns 18 at the bottom of the clamping arm 17 are inserted into the sockets of the material tray 23, to detect whether the material tray 23 is placed correctly, the gripper 2 is extended to pick up the feeding belt 37 and placed horizontally The rotor is rotated 90 degrees, the rotor is vertical, the gripper 2 and the positioning plate 3 are positioned in the air, and the rotor is clamped.
  • the gripper 15 Through the movement of the second horizontal rail 20 and the vertical rail 14, the gripper 15 is close to and above the rotor, the gripper 15 descends along the vertical rail 14, grips the rotor, and the second horizontal rail 20 and the vertical rail 14 move again , So that the rotor is aligned with the jack, the gripper 15 inserts the rotor into the jack, and after a tray 23 is installed, the positioning rod 27 retracts to release the tray 23, and the discharge lever 34 pulls the discharge plate 33, The unloading plate 33 pulls the material tray 23 onto the unloading fluent strip 25 and sends it out, and at the same time intercepts the ejector 35 to return, the next material tray 23 enters the tray loading station 26 for loading.
  • the gripper 2 includes a first gripper 201 and a second gripper 202
  • the positioning plate 3 includes a first positioning plate 301 and a second positioning plate 302
  • the first gripper 201 is connected to the telescopic cylinder 5 through a telescopic rod 6, the first gripper 201 is provided with a gripper ram 7 that cooperates with the telescopic guide rail 4, the first gripper 201 and the second gripper 202
  • a grip rail 39 is connected therebetween, an adjustment ram 38 cooperating with the grip rail 39 is provided on the second grip 202, an adjustment cylinder 41 is fixedly disposed on the second grip 202
  • An adjustment lever 40 is provided between 41 and the first gripper 201 so that the second gripper 202 approaches or moves away from the first gripper 201.
  • the first gripper 201 and the second gripper 202 can simultaneously extend and grab the two rotors, and after rotating 90 degrees, cooperate with the first positioning plate 301 and the second positioning plate 302 to position the rotor, each time Grab two rotors to further improve the efficiency of loading.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Power Engineering (AREA)
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Abstract

一种电机转子的自动装盘机，安装在送料带（37）末端，包括抓取装置（1）、移动装置和载盘装置，抓取装置（1）包括抓手（2）和定位板（3），抓手（2）上设置有伸缩机构，伸缩机构一侧连接有旋转机构；移动装置包括竖直导向组件，竖直导向组件上设置有水平导向组件，竖直导向组件包括竖直导轨（14）和夹手（15），夹手（15）上设置有竖直滑枕（16）；载盘装置包括料盘（23）、输送流利条（24）和卸盘流利条（25），输送流利条（24）与卸盘流利条（25）连接处设置有装盘工位（26），装盘工位（26）上设置有定位转送组件。抓手（2）抓取转子，变向定位，通过竖直导向组件和水平导向组件配合，夹手（15）将转子准确放置在料盘（23）中，装盘过程全自动化智能控制，取料、变向和装盘一气呵成，生产工序连贯性高，有效提高生产效率。

Description

电机转子的自动装盘机
技术领域
本发明涉及电机转子生产设备技术领域，尤其涉及一种电机转子的自动转盘机。
背景技术
生产电机转子时，需要将转子一个一个的插放到料盘中，进行装盘排列整理，以便批量运送到下一工序中继续加工，传统的装盘工序均采用人工完成，装盘速度慢，装盘效率低下，装盘时稍有不慎，容易失手或插放不当而导致转子跌落，损伤转子，增加不良品，同时需要大量人员进行装盘，耗费人力资源，增加人工成本，影响企业经济效益。
发明内容
为克服上述问题，本发明提供了一种装盘高效可靠、节约人力资源的电机装置的自动装盘机。
本发明采用的技术方案是：
电机转子的自动装盘机，安装在送料带末端，所述自动装盘机包括抓取装置、移动装置和载盘装置，所述抓取装置包括抓手，以及与抓手配合定位、水平设置的定位板，所述抓手上设置有驱动抓手直线往复运动的伸缩机构，所述伸缩机构一侧连接有驱动伸缩机构和抓手同步转动的旋转机构，伸缩机构和旋转机构配合，使得抓手具有竖直取件状态和水平持件状态；所述移动装置包括竖直导向组件，所述竖直导向组件上设置有水平导向组件，使得竖直导向组件可在水平面上移动，所述竖直导向组件包括竖直导轨和夹手，所述夹手上设置有与竖直导轨配合的竖直滑枕；所述载盘装置包括带插孔的料盘，以及送入料盘的输送流利条，所述输送流利条末端设置有卸盘流利条，所述输送流利条与卸盘流利条连接处设置有装盘工位，所述装盘工位上设置有定位转送组件。抓手伸出抓起送料带上水平放置的转子，旋转90度后，与定位板配合固定转子，使得转子竖直放置，竖直导向组件通过水平导向组件在水平面上前后左右移动，使得夹手移动至转子正上方，夹手沿竖直导轨下降，夹紧转子，同时抓手缩回松开，夹手通过水平导向组件移动到料盘上方，沿竖直导轨下降，将转子放置在料盘中，装盘过程全自动化智能控制，取料、变向和装盘一气呵成，生产工序连贯性高，有效提高生产效率。
作为对上述技术方案的进一步改进，所述伸缩机构包括伸缩导轨，所述伸缩导轨上设置有与抓手连接的伸缩气缸，所述伸缩气缸与抓手之间设置有伸缩杆，所述抓手上设置有与伸缩导轨配合的抓手滑枕。伸缩气缸驱动抓手沿伸缩导轨伸出或缩回，抓手伸出抓取转子，并与定位板配合固定转子，抓手缩回松开转子，便于夹手取出转子进行装盘。
作为对上述技术方案的进一步改进，所述旋转机构包括齿条，以及与齿条啮合的齿轮，所述齿轮设置在伸缩导轨上，所述齿条上设置有驱动齿条上下往复运动的齿条气缸。齿条气缸驱动齿条上下运动，齿条向下运动，与齿条啮合的齿轮转动，使得伸缩机构和抓手从竖直状态切换为水平状态，齿条向上运动，齿轮转动使得伸缩机构和抓手从水平状态切换为竖直状态，完成转子水平放置与竖直夹持的状态切换。
作为对上述技术方案的进一步改进，所述水平导向组件包括设置在抓取装置两侧的第一水平导轨，所述第一水平导轨上设置有第二水平导轨，所述第二水平导轨底部设置有与第一水平导轨配合的第一水平滑枕，所述竖直导轨安装在第二水平导轨上，且竖直导轨背部设置有与第二水平导轨配合的第二水平滑枕。竖直导轨沿第二水平导轨在水平面上前后移动，第二水平导轨带动竖直导轨在第一水平导轨上可左右移动，从而夹手可在水平面上前后左右移动，便于夹手对准料盘上的插孔，进行装盘。
作为对上述技术方案的进一步改进，所述定位转送组件包括设置在装盘工位侧面的定位杆和卸料板，所述定位杆上设置有驱动定位杆伸缩的定位气缸，所述卸料板上设置有卸料气缸，所述装盘工位下方设置有推送杆和推送气缸。推送气缸驱动推送杆将料盘推送到装盘工位，定位气缸驱动定位杆伸出，固定料盘，完成装盘后，卸料板将料盘拉到卸盘流利条上，连贯完成料盘的输送、定位装盘和卸盘工序，提高生产效率。
作为对上述技术方案的进一步改进，所述卸料板与卸料气缸之间设置有卸料拉杆，所述卸料拉杆沿卸盘流利条方向设置。卸料气缸通过卸料拉杆驱动卸料板将料盘拉到卸盘流利条上。
作为对上述技术方案的进一步改进，所述装盘工位一侧设置有固定卸料气缸的气缸安装板，所述气缸安装板上设置有卸料导轨，所述卸料板底部设置有与卸料导轨配合的卸料滑枕。通过卸料导轨与卸料滑枕配合，限定卸料板运动方向，保证动作可靠，料盘顺利转移到卸盘流利条上。
作为对上述技术方案的进一步改进，所述输送流利条末端设置有拦截顶杆，以及驱动拦截顶杆的拦截气缸。拦截气缸驱动拦截顶杆伸出，拦截后续待装盘的料盘，待装盘工位中的料盘完成装盘并输送到卸盘流利条上后，拦截顶杆缩回，继续输送下一料盘，保证料盘输送有序。
作为对上述技术方案的进一步改进，所述料盘上设置有安装转子的插孔所述夹手与竖直滑枕之间连接有夹臂，所述夹臂底部设置有对孔柱。料盘输送到装盘工位中，夹臂下降使得对孔柱插入料盘的插孔中，检查料盘的摆放方向是否正确，以保证装盘定位准确。
本发明的有益效果是：
本发明的电机转子的自动装盘机结构紧凑，设计巧妙，抓手抓取送料带上水平放置的转子，旋转变向，空中定位，通过竖直导向组件和水平导向组件配合，夹手可水平、竖直移动，将转子准确放置在料盘中，装盘过程全自动化智能控制，取料、变向和装盘一气呵成，生产工序连贯性高，有效提高生产效率。
附图说明
以下结合附图和实例对本发明的电机转子的自动装盘机作进一步说明。
图1是本发明提供的实施例1的结构示意图。
图2是本发明提供的实施例1的抓取装置结构示意图。
图3是本发明提供的实施例1的竖直导向组件结构示意图。
图4是本发明提供的实施例1的水平导向组件结构示意图。
图5是本发明提供的实施例1的定位转送组件结构示意图。
图6是本发明提供的实施例2的抓取装置结构示意图。
附图标记说明：1、抓取装置； 2、抓手； 201、第一抓手； 202、第二抓手； 3、定位板； 301、第一定位板； 302、第二定位板； 4、伸缩导轨； 5、伸缩气缸； 6、伸缩杆； 7、抓手滑枕； 8、齿条； 9、齿轮； 10、机构安装板； 101、限位槽； 11、齿条气缸； 12、转动挡板； 13、定位挡杆； 14、竖直导轨； 15、夹手； 16、竖直滑枕； 17、夹臂； 18、对孔柱； 19、第一水平导轨； 20、第二水平导轨； 21、第一水平滑枕； 22、第二水平滑枕； 23、料盘； 24、输送流利条； 25、卸盘流利条； 26、装盘工位； 27、定位杆； 28、定位气缸； 29、推送杆； 30、推送气缸； 31、气缸安装板； 311、卸料导轨； 32、卸料气缸； 33、卸料板； 331、卸料滑枕； 34、卸料拉杆； 35、拦截顶杆； 36、拦截气缸； 37、送料带； 38、调节滑枕； 39、抓手导轨； 40、调节杆； 41、调节气缸。
具体实施方式
实施例1
如图1至图5所示，本发明实施例1提供了电机转子的自动装盘机，安装在送料带37末端，所述自动装盘机包括抓取装置1、移动装置和载盘装置。
所述抓取装置1包括抓手2，以及与抓手2配合定位、水平设置的定位板3，所述抓手2上设置有驱动抓手2直线往复运动的伸缩机构，所述伸缩机构一侧连接有驱动伸缩机构和抓手2同步转动的旋转机构。所述伸缩机构包括伸缩导轨4，所述伸缩导轨4上设置有与抓手2连接的伸缩气缸5，所述伸缩气缸5与抓手2之间设置有伸缩杆6，所述抓手2上设置有与伸缩导轨4配合的抓手滑枕7，抓手2沿伸缩导轨4伸出抓取转子，并与定位板3配合固定转子，抓手2缩回松开转子。所述旋转机构包括齿条8，以及与齿条8啮合的齿轮9，所述齿条8上设置有驱动齿条8上下往复运动的齿条气缸11，所述齿条气缸11和齿轮9安装在机构安装板10上，所述机构安装板10上设置有安装齿条8的限位槽101，限定齿条8移动范围，所述齿轮9穿过机构安装板10与伸缩导轨4固定连接，齿条8向下运动，与齿条8啮合的齿轮9转动，使得伸缩机构和抓手2从竖直状态切换为水平状态，齿条8向上运动，齿轮9转动使得伸缩机构和抓手2从水平状态切换为竖直状态。
所述伸缩导轨4上设置有转动挡板12，所述机构安装板10上设置有定位挡杆13，定位挡杆13与转动挡板12配合，限制伸缩导轨4和抓手2的旋转角度，避免因惯性而转动过度。
所述移动装置包括竖直导向组件，所述竖直导向组件上设置有水平导向组件，所述竖直导向组件包括竖直导轨14和夹手15，所述夹手15上设置有与竖直导轨14配合的竖直滑枕16，所述夹手15与竖直滑枕16之间连接有夹臂17，所述夹臂17底部设置有对孔柱18。所述水平导向组件包括设置在抓取装置1两侧的第一水平导轨19，所述第一水平导轨19上设置有第二水平导轨20，所述第二水平导轨20底部设置有与第一水平导轨19配合的第一水平滑枕21，所述竖直导轨14安装在第二水平导轨20上，且竖直导轨14背部设置有与第二水平导轨20配合的第二水平滑枕22，竖直导轨14沿第二水平导轨20在水平面上前后移动，第二水平导轨20带动竖直导轨14在第一水平导轨19上可左右移动，从而夹手15可在水平面上前后左右移动。
所述载盘装置包括带插孔的料盘23，以及送入料盘23的输送流利条24，所述输送流利条24末端设置有卸盘流利条25，所述输送流利条24与卸盘流利条25连接处设置有装盘工位26，所述装盘工位26上设置有定位转送组件。
所述定位转送组件包括设置在装盘工位26侧面的定位杆27，以及控制定位杆27伸缩的定位气缸28，所述定位杆27设置为两组，分别设置在输送流利条24上方和卸盘流利条25上方，每组定位杆27设置包括两根定位杆27，所述装盘工位26下方设置有推送杆29和推送气缸30，所述装盘工位26一侧沿卸盘流利条25方向设置有气缸安装板31，所述气缸安装板31上固定有卸料气缸32，所述卸料气缸32连接有卸料板33，所述卸料板33与卸料气缸32之间设置有卸料拉杆34，所述气缸安装板31上设置有卸料导轨311，所述卸料板33底部设置有与卸料导轨311配合的卸料滑枕331，限定卸料板33运动方向。
所述输送流利条24倾斜设置，始端高于末端，末端设置有拦截顶杆35，以及驱动拦截顶杆35的拦截气缸36。
生产时，料盘23经过输送流利条24传送到装盘工位26中，推送气缸30将料盘23向上顶起，定位杆27伸出固定料盘23，拦截顶杆35伸出拦截后续传送的料盘23，夹臂17下降，夹臂17底部的对孔柱18插入料盘23的插孔中，检测料盘23摆放是否正确，抓手2伸出抓起送料带37上水平放置的转子，旋转90度后，转子竖直，抓手2与定位板3空中定位、夹持转子， 通过第二水平导轨20和竖直导轨14的移动，夹手15靠近转子并位于转子上方，夹手15沿竖直导轨14下降，夹取转子，第二水平导轨20和竖直导轨14再次移动，使得转子对准插孔，夹手15将转子插放到插孔中，待一个料盘23完成装盘后，定位杆27退回松开料盘23，卸料拉杆34拉动卸料板33，卸料板33将料盘23拉到卸盘流利条25上送出，同时拦截顶杆35退回，下一个料盘23进入装盘工位26进行装盘。
实施例2
如图6所示，和实施例1相比，所述抓手2包括有第一抓手201和第二抓手202，所述定位板3包括第一定位板301和第二定位板302，所述第一抓手201通过伸缩杆6与伸缩气缸5连接，第一抓手201上设置有与伸缩导轨4配合的抓手滑枕7，所述第一抓手201与第二抓手202之间连接有抓手导轨39，所述第二抓手202上设置有与抓手导轨39配合的调节滑枕38，所述第二抓手202上固定设置有调节气缸41，所述调节气缸41与第一抓手201之间设置有调节杆40，使得第二抓手202靠近或远离第一抓手201。
抓取时，第一抓手201和第二抓手202可同时伸出抓取两个转子，并通过旋转90度后，与第一定位板301和第二定位板302配合定位转子，每次抓取两个转子，进一步提高装盘效率。
以上所述，只是本发明的较佳实施例而已，本发明并不局限于上述实施方式，只要其以相同的手段达到本发明的技术效果，都应属于本发明的保护范围。

Claims (9)

  1. 电机转子的自动装盘机，安装在送料带（37）末端，其特征在于：所述自动装盘机包括抓取装置（1）、移动装置和载盘装置，
    所述抓取装置（1）包括抓手（2），以及与抓手（2）配合定位、水平设置的定位板（3），所述抓手（2）上设置有驱动抓手（2）直线往复运动的伸缩机构，所述伸缩机构一侧连接有驱动伸缩机构和抓手（2）同步转动的旋转机构，伸缩机构和旋转机构配合，使得抓手（2）具有竖直取件状态和水平持件状态；
    所述移动装置包括竖直导向组件，所述竖直导向组件上设置有水平导向组件，使得竖直导向组件可在水平面上移动，所述竖直导向组件包括竖直导轨（14）和夹手（15），所述夹手（15）上设置有与竖直导轨（14）配合的竖直滑枕（16）；
    所述载盘装置包括带插孔的料盘（23），以及送入料盘（23）的输送流利条（24），所述输送流利条（24）末端设置有卸盘流利条（25），所述输送流利条（24）与卸盘流利条（25）连接处设置有装盘工位（26），所述装盘工位（26）上设置有定位转送组件。
  2. 根据权利要求1所述的电机转子的自动装盘机，其特征在于：所述伸缩机构包括伸缩导轨（4），所述伸缩导轨（4）上设置有与抓手（2）连接的伸缩气缸（5），所述伸缩气缸（5）与抓手（2）之间设置有伸缩杆（6），所述抓手（2）上设置有与伸缩导轨（4）配合的抓手滑枕（7）。
  3. 根据权利要求2所述的电机转子的自动装盘机，其特征在于：所述旋转机构包括齿条（8），以及与齿条（8）啮合的齿轮（9），所述齿轮（9）设置在伸缩导轨（4）上，所述齿条（8）上设置有驱动齿条（8）上下往复运动的齿条气缸（11）。
  4. 根据权利要求1所述的电机转子的自动装盘机，其特征在于：所述水平导向组件包括设置在抓取装置（1）两侧的第一水平导轨（19），所述第一水平导轨（19）上设置有第二水平导轨（20），所述第二水平导轨（20）底部设置有与第一水平导轨（19）配合的第一水平滑枕（21），所述竖直导轨（14）安装在第二水平导轨（20）上，且竖直导轨（14）背部设置有与第二水平导轨（20）配合的第二水平滑枕（22）。
  5. 根据权利要求1所述的电机转子的自动装盘机，其特征在于：所述定位转送组件包括设置在装盘工位（26）侧面的定位杆（27）和卸料板（33），所述定位杆（27）上设置有驱动定位杆（27）伸缩的定位气缸（28），所述卸料板（33）上设置有卸料气缸（32），所述装盘工位（26）下方设置有推送杆（29）和推送气缸（30）。
  6. 根据权利要求5所述的电机转子的自动装盘机，其特征在于：所述卸料板（33）与卸料气缸（32）之间设置有卸料拉杆（34），所述卸料拉杆（34）沿卸盘流利条（25）方向设置。
  7. 根据权利要求6所述的电机转子的自动装盘机，其特征在于：所述装盘工位（26）一侧设置有固定卸料气缸（32）的气缸安装板（31），所述气缸安装板（31）上设置有卸料导轨（311），所述卸料板（33）底部设置有与卸料导轨（311）配合的卸料滑枕（331）。
  8. 根据权利要求1所述的电机转子的自动装盘机，其特征在于：所述输送流利条（24）末端设置有拦截顶杆（35），以及驱动拦截顶杆（35）的拦截气缸（36）。
  9. 根据权利要求1所述的电机转子的自动装盘机，其特征在于：所述夹手（15）与竖直滑枕（16）之间连接有夹臂（17），所述夹臂（17）底部设置有对孔柱（18）。
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