WO2020134132A1

WO2020134132A1 - Method and device for automatically feeding cut-to-length line from silicon steel coil

Info

Publication number: WO2020134132A1
Application number: PCT/CN2019/102426
Authority: WO
Inventors: 张智臻; 王乐; 高航
Original assignee: 中节能西安启源机电装备有限公司
Priority date: 2018-12-28
Filing date: 2019-08-26
Publication date: 2020-07-02
Also published as: CN109484792A

Abstract

Disclosed are a method and device for automatically feeding a cut-to-length line from a silicon steel coil. The device for automatically feeding a cut-to-length line from a silicon steel coil comprises: a fixed base (2), a revolving arm (1) and a driving mechanism for driving the rotation of the revolving arm (1), wherein the revolving arm (1) is rotatably connected to the fixed base (2) via the driving mechanism; a first guide rail (4) is arranged in a lengthwise direction of the revolving arm (1), the first guide rail (4) is slidably connected to a feeding arm (5), and a first linear transmission device for driving the feeding arm (5) to slide on the first guide rail (4) is further arranged on the revolving arm (1); a second guide rail is arranged on the feeding arm (5), a lengthwise direction of the second guide rail is perpendicular to the lengthwise direction of the first guide rail (4), the second guide rail is slidably connected to a lifting slider (15), and a second linear transmission device for driving the lifting slider (15) to slide on the second guide rail is further arranged on the feeding arm (5); and a front end of the lifting slider (15) is provided with a feeding arm (17) for bearing a silicon steel coil from an inner ring of the silicon steel coil. In the feeding device, a revolving arm that is fixed to a fixed base is used, automatic transportation is realized by means of the process of the revolving arm conveying, to a cut-to-length line decoiling head, a silicon steel coil at a discharge port of a stereoscopic warehouse or a silicon steel coil on an automatically-navigated material receiving trolley, and the silicon steel coil loading accuracy and efficiency of the feeding device are greatly improved.

Description

Automatic feeding method and device of silicon steel coil material transverse shearing line

Technical field

The invention belongs to the field of transformer core production, and in particular relates to an automatic feeding method and device for a silicon steel coil cross-cutting line.

Background technique

In the existing transformer core production workshop, the silicon steel coil material that is opened from the slitting line is often stored in a large amount. The silicon steel coil material is directly laid on the ground. When the cross shear line is loaded, the transfer of the silicon steel coil material basically depends on the crane. Luck.

To this end, our company has applied for a patent: "A three-dimensional warehouse of silicon steel coils for hanging transformers", patent number: 201721087026.X is used to solve the problem of silicon steel coils being laid flat on the ground to occupy the floor of the workshop, but the three-dimensional warehouse and horizontal The transfer problem between thread trimming has not been automated.

During the process of implementing the embodiments of the present invention, the inventor found that there are at least the following defects in the background art:

Lifting and hoisting the silicon steel coil material of the three-dimensional library to the cross-cutting line is quite time-consuming and labor-intensive. Due to its instability, if the silicon steel coil material falls, it may easily cause accidents or damage the equipment. At the same time, its accuracy and efficiency are not High, inconvenient operation.

Summary of the invention

The object of the present invention is to provide an automatic feeding method and device for a silicon steel coil cross-cutting line, which solves the above problems existing in the prior art, and solves the problem of lifting the silicon steel coil in the three-dimensional library in the prior art and lifting it to the horizontal The thread trimming is quite time-consuming and labor-intensive. Due to its instability, if the silicon steel coil is dropped, it may easily cause accidents or damage the equipment. At the same time, its accuracy and efficiency are not high, and the operation is inconvenient.

To achieve the above objectives, the technical solutions adopted by the present invention are as follows:

A silicon steel coil material horizontal shearing line automatic feeding device includes: a fixed base, a swing arm and a driving mechanism for driving the swing arm to rotate, the swing arm is rotationally connected to the fixed base through the driving mechanism; the length direction of the swing arm A first guide rail is provided, a feed arm is slidingly connected to the first guide rail, and a first linear transmission device for driving the feed arm to slide on the first guide rail is also provided on the swing arm; the feed arm has a second guide rail and a second The length direction of the guide rail is perpendicular to the length direction of the first guide rail, the second guide rail is slidingly connected with the lifting slider, and the feeding arm is also provided with a second linear transmission device for driving the lifting slider to slide on the second guide rail; The front end of the lifting slider is provided with a feeding arm for receiving the silicon steel coil in the inner ring of the silicon steel coil.

The rotary arm is provided with a straight through groove along its length direction, the straight through groove communicates up and down, and the first guide rail, the feeding arm and the first straight transmission device are located in the straight through groove.

The straight through groove extends to the front end of the feeding arm, so that the front end of the feeding arm forms a concave groove.

The first linear transmission device includes a first servo motor and a first ball screw. The first ball screw is provided on the swing arm, the first nut of the first ball screw is fixed on the feed arm, and the first servo motor Connect the feeding arm through the first ball screw;

The second linear transmission device includes a second servo motor and a second ball screw, the second ball screw is provided on the feed arm, and the second nut of the second ball screw is fixed on the lifting slider, The second servo motor is connected to the lifting slider through the second ball screw.

A positioning device for determining the relative position of the fixed base and the swing arm is provided between the fixed base and the swing arm;

The positioning device is a proximity switch and a signaling board for cooperating with the detection position of the proximity switch. The proximity switch and the signaling board are respectively provided on the fixed base and the swing arm;

A control module is provided in the fixed base, and the control module is electrically connected to the first servo motor, the second servo motor, and the proximity switch, respectively.

A clamping mechanism for fixing the fixed base and the swing arm at a fixed position is provided between the fixed base and the swing arm;

The clamping mechanism has a cylinder, a wedge block and a V-shaped groove. The wedge block is provided at the end of the cylinder output shaft. The cylinder and the V-shaped groove are respectively fixed on the fixed base and the swing arm. When the proximity switch and the signal board are closest At this time, the wedges used to cooperate with the V-shaped groove face the notch of the V-shaped groove.

A compression pump and an electronic switch mechanism for controlling the opening and closing of the cylinder are provided outside the cylinder. The compression pump is connected to the cylinder through a pipeline. The electronic switch mechanism provided on the cylinder is electrically connected to the control module.

The side of the fixed base is provided with a proximity switch, a control module and a linear driving part. A plurality of grooves are provided on the circumference of the swing arm, and each of the grooves is provided with a signaling board. The circumference of the swing arm is provided with a lower end A proximity switch fixed to the fixed base and the linear driving part, a clamping block cooperating with the groove is provided at the output end of the linear driving part, and a side for identifying the signal transmitting board is provided on one side of the clamping block The proximity switch, the proximity switch, the linear drive part, the first servo motor, the second servo motor and the control module are electrically connected.

The linear drive part has a ball screw nut pair, a motor and an encoder, a drive shaft of the motor, a rotary shaft of the encoder and a screw of the ball screw nut pair are coaxially connected, and the ball screw The nut is provided on the nut of the bar nut pair.

An automatic feeding method for silicon steel coil transverse shearing line, the method includes:

Step 1: The material calling module controls the unwinding head of the horizontal shearing line uncoiler to the feeding state and sends a material calling request;

Step 2: After receiving the material request, the three-dimensional library control module controls the three-dimensional library to transport the silicon steel coil to its preset discharge position. The three-dimensional library control module sends out the silicon steel coil material discharge position information, the three-dimensional library is for storage Multiple sets of silicon steel coil material and can call any controllable storage library of any silicon steel coil material stored in it;

Step 3: After the feeding module receives the information of the discharge in-position, it controls the mechanical arm to move to the preset position of the three-dimensional library to discharge the material. After the completion of the feeding, the mechanical arm maintains the stability of the silicon steel coil and the silicon steel coil The material is moved to the unwinding head for feeding;

Step 4: The loading module sends the material receiving completion information to the three-dimensional library control module.

The cross-cutting line automatic feeding module controls the mechanical arm to receive and feed the material, the specific steps are as follows:

a. The robot arm rotates to the receiving direction. The feeding arm on the robot arm for receiving silicon steel coils adjusts the height and is close to the discharging position of the three-dimensional library to reach the receiving position. The receiving direction is the discharging of the three-dimensional library. Direction, the feeding position of the feeding arm is the position of the center of gravity of the inner circle of the silicon steel coil material from the three-dimensional library;

b. The feeding arm raises its position after reaching the receiving position. The feeding arm passes through the transport arm used to carry the silicon steel coil in the three-dimensional library. The feeding arm continues to raise the silicon steel coil and exits the transport arm after the silicon steel coil is received. Range, the feed arm and the transport arm are used to transfer silicon steel coils, and the feed arm and the transport arm can pass through each other in a vertical direction when they are in a vertical direction;

c. The mechanical arm rotates to the feeding direction, the feeding arm adjusts the height to reach the top of the unwinding head in the loading state, the feeding arm carries the silicon steel coil close to and deep into the unwinding head in the loading state, when the silicon steel coil reaches the unwinding head After the assembly position, the feeding arm lowers its position to place the silicon steel coil on the unwinding head, and the feeding direction is the center line direction of the unwinding head in the loading state;

d. The mechanical arm withdraws from the feeding arm to beyond the reach of the unwinding head.

The beneficial effect of the present invention is that the present invention adopts a swing arm fixed on a fixed base, through which the silicon steel coil material at the discharge port of the three-dimensional library is transported to the unwinding head of the horizontal shear line to realize automatic transportation, and its stability The increase greatly reduces the damage caused by silicon steel coils to personnel or equipment, and the precision and loading efficiency of the silicon steel coils are greatly improved.

BRIEF DESCRIPTION

Figure 1 is a side view of the invention when feeding;

FIG. 2 is an enlarged view at A of FIG. 1;

Figure 3 is a perspective structural view of a swing arm;

4 is a perspective structural view of the present invention;

Figure 5 is a perspective structural view of the feeding arm;

Fig. 6 is a schematic diagram of the unwinding head of an unwinding machine that can use a single-head feeding arm;

7 is a schematic diagram of an unwinding head of an unwinding machine that can use a double-headed feeding arm;

8 is a structural diagram of a single-head slewing arm;

9 is a structural diagram of a double-headed swing arm;

Fig. 10 is a structural diagram of a four-head swing arm.

The marks in the picture are: 1. Swivel arm; 2. Fixed base; 3. Wedge guide rail; 4. First rail; 5. Feeding arm; 6. Silicon steel coil material; 7. V-groove; 8. Wedge; 9. Air cylinder; 10. Signaling board; 11. Proximity switch; 12. First servo motor; 13. First ball screw; 14. Second servo motor; 15. Lifting slider; 16. First nut; 17 1. Feeding arm; 18. Unwinding head.

detailed description

In order to further illustrate the technical means and effects of the present invention to achieve the intended purpose of the invention, the specific implementation, structure, features and functions of the application according to the present invention will be described in detail below in conjunction with the drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" does not necessarily refer to the same embodiment, and in addition, specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form.

In the present invention, the driving mechanism is a driving device that can rotate and determine a specific position, such as a servo motor, a motor positioned with a limit switch, a proximity switch, or a photoelectric switch, which changes the kinetic energy of the motor through a gear mechanism and has a measuring gear mechanism The angle of rotation or a complete set of drive device equipped with an encoder or absolute encoder is used to drive the mechanism to be driven to the position to be driven.

The first linear transmission device is a device that can output linear power, which can be a motor, a reducer, a clutch, and a transmission component that are coaxially connected in sequence, and the transmission component includes a ball screw connected to the clutch, and is connected to the ball screw The matched ball nut and ball screw can drive the ball nut to move linearly. Furthermore, the first linear transmission device outputs the linear power as a ball nut;

The first linear transmission device may also be a linear transmission device consisting of a gear, a rack, and a servo motor, where the servo motor drives the gear to rotate, and the gear drives the rack to output linear power.

The second linear transmission device may be a motor, a reducer, a clutch and a transmission component that are coaxially connected in sequence. The transmission assembly includes a ball screw coupled to the clutch, a ball nut adapted to the ball screw, and a ball screw It can drive the ball nut for linear movement. Furthermore, the first linear transmission device outputs the linear power as a ball nut;

The second linear transmission device may also be a linear transmission device composed of a gear, a rack, and a servo motor, wherein the servo motor drives the gear to rotate, and the gear drives the rack to output linear power.

The transport arm is a three-dimensional library patent "A Three-dimensional Warehouse of Suspended Transformer Silicon Steel Sheet Coiled Materials" Patent No. 201721087026.X. The three-dimensional library mechanical arm used to grasp and transport silicon steel coiled materials in the three-dimensional library.

The lifting slider 15 is used to lift the silicon steel coil. The shape of the feed arm 17 of the lifting slider 15 crosses the shape of the mechanical arm that transferred and carried the silicon steel coil in the previous step. To smoothly receive the silicon steel coil and not damage the silicon steel The outside of the coil, when transferring silicon steel coil or receiving silicon steel coil, the robot arm is loaded and received on the inner ring of the silicon steel coil. Because the inner ring of the silicon steel coil is circular, the stable acceptance of the silicon steel coil must be Consider its center of gravity, so that when the loaded silicon steel coil is received, the center of gravity can be stably received without changing, so the feeding arm 17 can pass through the conveying arm from the silicon steel coil being carried, pass through the conveying arm when receiving, and select the silicon steel when carrying The center of gravity of the coil or the two sides of the center of gravity can make the center of gravity of the silicon steel coil not change at two points or more.

The straight through groove is a strip-shaped groove that communicates at both ends of the swing arm 1.

The concave groove is the hollow swing arm 1 in the middle of the swing arm 1 in FIGS. 3 and 4.

The positioning device is a component that determines the relative position of the fixed base and the swing arm. It can be a code wheel provided between the fixed base and the swing arm. The encoder can be a contact encoder, an optical encoder, or an absolute encoder. Positioning device composed of bit switch, photoelectric switch and proximity switch.

The locking mechanism is a locking mechanism that fixes the fixed base 2 and the swing arm 1 to relative positions, and may be a bolt-type controllable fixing and an electromagnetic type controllable fixing.

The electronic switch mechanism is a control device that controls the compression pump to deliver high-pressure air to the cylinder 9 or release high-pressure air, which may be electromagnetic control or electric control.

The linear drive part can be a motor, a reducer, a clutch and a transmission component that are coaxially connected in sequence. The transmission component includes a ball screw connected to the clutch, a ball nut adapted to the ball screw, and the ball screw can be driven The ball nut moves linearly. Furthermore, the first linear transmission device outputs the linear power as a ball nut;

The linear driving part may also be a linear transmission device composed of a gear, a rack, and a servo motor, wherein the servo motor drives the gear to rotate, and the gear drives the rack to output linear power.

As shown in FIGS. 1 to 5, an automatic feeding device for a silicon steel coil transverse shearing line according to an embodiment of the present invention includes a fixed base 2, a swing arm 1 and a driving mechanism for driving the swing arm to rotate, The swing arm 1 is rotatably connected to the fixed base 2 through the driving mechanism; a first guide rail 4 is provided in the length direction of the swing arm 1, a feed arm 5 is slidingly connected to the first guide rail 4, and a swing arm 1 is also provided for driving The first linear transmission device of the feeding arm 5 sliding on the first guide rail 4; the feeding arm 5 has a second guide rail, the length direction of the second guide rail is perpendicular to the length direction of the first guide rail 4, and the second guide rail is slidingly connected The lifting slider 15 is provided, and the feeding arm 5 is also provided with a second linear transmission device for driving the lifting slider 15 to slide on the second guide rail; the front end of the lifting slider 15 is provided for receiving silicon steel in the inner ring of the silicon steel coil Coiled feed arm 17.

In the above embodiment, the swing arm 1 can rotate on the fixed base 2 to transfer the silicon steel coil transferred to the cross shear line through the swing arm 1 to the cross shear line. The swing arm 1 is provided with a length along the swing arm 1 The feed arm 5 that moves back and forth in the direction, and the lift slider 15 that moves up or down along the feed arm 15 are used to raise the silicon steel coil 6 and lower the silicon steel coil 6. The feed arm 17 transports the silicon steel coil 6 to the cross shear Online material position.

The driving mechanism that drives the fixed base 2 and the swing arm 1 is a driving device that can rotate and determine a specific position, such as a servo motor, a motor that is positioned with a limit switch, a proximity switch, or a photoelectric switch, and changes the kinetic energy of the motor through a gear mechanism It also has a complete set of drive device for measuring the rotation angle of the gear mechanism or equipped with an encoder or absolute encoder, which is used to drive the mechanism to be driven to the position to be driven.

The first linear transmission device may also be a linear transmission device composed of a gear, a rack, and a servo motor, wherein the servo motor drives the gear to rotate, and the gear drives the rack to output linear power.

The rotary arm 1, the feeding arm 5 and the lifting slider 15 driven by the driving mechanism, the first linear transmission device and the second linear transmission device can realize the control of the rotation of the silicon steel coil and the up, down, left, right and back, so that the silicon steel coil can Accurately transported to the cross-cutting line.

The above-mentioned embodiment has a simple structure, low cost and reduced control components, which can realize more efficient and accurate control.

Further, the above embodiment further includes a control module, which is electrically connected to the driving part, the first linear transmission device and the second linear transmission device, respectively;

In one embodiment, the present invention realizes automatic transfer between the "stereoscopic warehouse" and the "cross-cutting line". The "stereoscopic warehouse" can be a patent "A Three-dimensional Warehouse of Suspended Transformer Silicon Steel Sheet Coiled Materials" Patent Number: 201721087026 .X three-dimensional library;

The control method of the control module is as follows:

When the horizontal shear line needs to be loaded, the control module sends a request to the three-dimensional library, and the three-dimensional library immediately discharges the material. After the material is in place, the three-dimensional library returns a discharge completion signal, and then the control module controls the feeding arm 5 of the present invention to rotate to three-dimensional The position of the silicon steel coil in the library, and then control the feeding arm 5 and the lifting slider 15 to accept the silicon steel coil and transport it to the cross-cutting line for assembly; when the silicon steel coil is finally hung on the cross-cutting line decoiler, control The module controls the feeding arm 5 to retract, and then the swing arm 1 turns back to the initial position.

Further, as shown in FIGS. 3 to 4, the rotary arm 1 is provided with a straight through groove along its length, the straight through groove communicates up and down, the first guide rail 4, the feeding arm 5 and the first straight The linear transmission device is located in the straight through groove.

In the above embodiment, the rotary arm 1 is provided with a straight through groove, and the straight through groove communicates up and down, and the first guide rail 4, the feeding arm 5 and the first linear transmission device can be provided in the straight through groove, this design can be convenient Install the first guide rail 4, feeding arm 5 and the first linear transmission device, and reduce the mass of the slewing arm 1 in the case of stably transporting the silicon steel coil. Its design is covered by the national standard, and it can get a higher Accuracy.

Further, as shown in FIGS. 3 to 4, the linear through groove extends to the front end of the feeding arm 5 so that the front end of the feeding arm forms a concave groove.

In the above embodiment, in order to facilitate the docking of the transport arm and the feed arm 17, a concave groove is formed at the front end of the feed arm to allow the transport arm to be inserted into the concave groove, and the feed arm 17 then receives the silicon steel coil through the transport arm through the second linear transmission device, The structural design of this embodiment is reasonable, so that when receiving the silicon steel coil, the distance of the feeding arm 17 extending outward is reduced, and the operating efficiency of transferring the silicon steel coil is increased.

Further, as shown in FIGS. 3 to 5, the first linear transmission device includes a first servo motor 12 and a first ball screw 13. The first ball screw 13 is provided on the swing arm 1 and the first ball The first nut 16 of the screw 13 is fixed on the feed arm 5, and the first servo motor 12 is connected to the feed arm 5 through the first ball screw 13; the second linear transmission device includes a second servo motor 14 and a second ball screw The second ball screw is provided on the feeding arm 5, the second nut of the second ball screw is fixed on the lifting slider 15, and the second servo motor 14 is connected to the lifting slider through the second ball screw 15.

In the above embodiment, the first linear transmission device is composed of the first servo motor 12 and the first ball screw 13, the second linear transmission device is composed of the second servo motor 14 and the second ball screw, the servo motor and the ball screw The bar is a classic machine tool transmission combination, and its transmission efficiency and accuracy are quite high, and due to its low price, it is suitable for the simple structure of the present invention.

Further, there is a positioning device between the fixed base 2 and the swing arm 1 for determining the relative position of the fixed base and the swing arm.

In the above embodiment, the positioning device is a component that determines the relative position of the fixed base and the swing arm. It can be a code wheel provided between the fixed base and the swing arm. The encoder can be a contact encoder, an optical encoder, or an absolute encoder. It can also be a positioning device composed of limit switches, photoelectric switches and proximity switches. It can set the two positions of the silicon steel coil and the silicon steel coil to a specific angle, so as to quickly connect the silicon steel coil and the silicon steel coil, and improve the operating efficiency of the present invention.

Further, the positioning device is a proximity switch 11 and a signaling board 10 for cooperating with the detection position of the proximity switch. The proximity switch 11 and the signaling board 10 are respectively disposed on the fixed base 2 and the swing arm 1.

In the above embodiment, the positioning device adopts the proximity switch 11 and the signaling board 10 that provides the detection area for the proximity switch 11. When the signaling board 10 rotates to the detection position of the proximity switch 11, the proximity switch 11 outputs a signal for the control module to control The module controls the slewing arm 1 to stop rotating. At this time, the slewing arm 1 reaches the preset position to perform the operation of loading or unloading the silicon steel coil 6; optionally, the signaling board 10 can be provided in multiple numbers, which is the slewing arm 1 Multiple loading positions are provided, and the swing arm 1 can load the silicon steel coil 6 at the multiple loading positions.

Further, a control module is provided in the fixed base, and the control module is electrically connected to the first servo motor 12, the second servo motor 14, and the proximity switch 11, respectively.

In the above embodiment, the control module is used to control the following transfer steps: the swing arm 1 is driven by the motor to reach the direction of the silicon steel coil 6 on the transport arm, and the feed arm 5 is driven outward by the first servo motor 12 to the Material position, then lifted by the second servo motor 14 to lift the silicon steel coil away from the transport arm, and then the feed arm 5 is driven back to the inside of the swing arm 1 by the first servo motor 12, and the swing arm 1 rotates When it reaches the position aligned with the material level on the cross-cut line, the proximity switch 11 reaches the detection position of the signal board 10, the swing arm 1 stops rotating, and the feed arm 5 continues to extend under the drive of the first servo motor 12 to pick The silicon steel coil 6 is sent to the material level of the cross-cutting line, and then driven by the second servo motor 14 to lower the silicon steel coil 6 to the unwinding head of the cross-cutting line, and the feeding arm 5 is finally retracted into the inside of the swing arm 1 , Complete the whole material receiving, turning and feeding actions. The use of the proximity switch 11 in this embodiment can effectively improve the accuracy of positioning. Since the proximity switch 11 is a non-contact switch, it can work more permanently.

Further, as shown in FIGS. 1 to 2, a clamping mechanism for fixing the fixed base and the swing arm at a fixed position is provided between the fixed base 2 and the swing arm 1.

In the above embodiment, in order to more accurately make the swing arm 1 connect the silicon steel coil and install the silicon steel coil to the unwinding head 18 of the unwinder of the cross-cutting line, so after the swing arm 1 rotates to a predetermined position, again The clamping mechanism is used to locate the position of the silicon steel coil and the installation of the silicon steel coil of the rotary arm 1, and to fix the silicon steel coil to the specific position when the rotary arm 1 is connected to the silicon steel coil and in a more accurate manner.

Further, as shown in FIG. 2, the clamping mechanism has a cylinder 9, a wedge 8 and a V-shaped groove 7. The wedge 8 is provided at the end of the output shaft of the cylinder 9, and the cylinder 9 and the V-shaped groove 7 are fixed at On the fixed base 2 and the swing arm 1, when the proximity switch 11 and the signaling board 10 are closest to each other, the wedge 8 for cooperating with the V-shaped groove faces the notch of the V-shaped groove 7.

In the above embodiment, a clamping structure composed of a cylinder 9, a wedge 8 and a V-shaped groove 7 is provided between the fixed base 2 and the swing arm 1, which can effectively fix the swing arm 1 and the fixed base 2 on the preload Set the position, the V-groove is inverted V-shaped structure, when the wedge 8 is stuck in the inverted V-shaped V-shaped groove, the greater the pressure between the V-shaped groove and the wedge 8, the more the wedge 8 is stuck in the V-shaped groove The more accurate the positioning of the top of the trough, due to the heavy weight of the silicon steel coil 6, the silicon steel coil 6 may deflect the swing arm 1 during loading and unloading. Therefore, the installation of this clamping structure during loading and unloading can effectively solve this problem, making The loading and unloading is more stable, which enhances the safety when loading and unloading the silicon steel coil 6, and avoids the overall misalignment problem caused by the balance problem when the swivel arm 1 carries the silicon steel coil 6, and the installation of the cylinder 9 can be further shared The weight of the silicon steel coil 6 carried by the swing arm 1 increases the life of the rotary connection between the swing arm 1 and the fixed base 2. The wedge block 8 is provided with a wedge block guide rail 3, and the wedge block guide rail 3 is fixed on the fixed base 2 and is used to provide the wedge block 8 with a guiding function when the wedge block 8 is snapped into the V-shaped groove 7.

Further, a compression pump and an electronic switch mechanism for controlling the opening and closing of the cylinder are provided outside the cylinder. The compression pump is connected to the cylinder 9 through a pipeline. The electronic switch mechanism provided on the cylinder 9 is electrically connected to the control module.

In the above embodiment, the cylinder 9 needs to be supplied with high-pressure air by the compression pump, and then used as power; the cylinder 9 is controlled by the electronic switching mechanism to charge and deflate, and the control module controls the opening or closing of the electronic switching mechanism.

Further, the side of the fixed base 2 has a proximity switch 11, a control module and a linear driving part, and the swing arm 1 is provided with a plurality of grooves in a circle, and each of the grooves is provided with a signaling board 10, and the swing arm At the lower end of 1, a proximity switch 11 fixed to the fixed base 2 and the linear driving part are provided at the lower end, and the output end of the linear driving part is provided with a clamping block that is engaged with the groove, and the clamping block One side is provided with a proximity switch 11 for identifying the signaling board. The proximity switch 11, the linear drive part, the first servo motor 12, the second servo motor 14 and the control module are electrically connected.

In the above embodiment, a groove and a clamping block driven and extended by the linear drive part are provided between the fixed base 2 and the swing arm 1, and the groove and the block are used to fix the relative position between the fixed base 2 and the swing arm 1 , And the bottom of the swing arm is provided with a number of grooves in a circumferential direction, the block can be stuck in any groove, to achieve the fixed base 2 and the swing arm 1 is fixed, and each groove is provided with a signal board 10 , So that the proximity switch 11 can determine the groove by determining the position of the signaling board 10, and thereby fix the position between the fixed base 2 and the swing arm 1 in multiple positions.

Further, the linear drive part has a ball screw nut pair, a motor and an encoder, and the drive shaft of the motor, the encoder shaft and the screw of the ball screw nut pair are coaxially connected, so The nut is provided on the nut of the ball screw nut pair.

In the above embodiment, the linear drive unit uses a ball screw nut pair, a motor, and an encoder for accurate transmission. The encoder knows the position of the card block in real time and sends it to the control module. When the card reaches the predetermined position, the control module Control the ball screw nut pair to drive the card into the groove quickly to achieve fixed positioning.

In an embodiment, as shown in FIGS. 8 to 10, FIG. 8 is a single-headed swing arm 1, FIG. 9 is a double-headed swing arm 1, and FIG. 10 is a four-headed swing arm 1; the swing arm 1 is provided with multiple heads At the same time, one of them can balance the center of gravity of the swing arm 1. Second, if in some cases, for example, in order to improve the efficiency of loading silicon steel coils to the unwinding head of the decoiler, the silicon steel coils can be installed on the swing arm 1 in advance, and Pre-feed the silicon steel coil to the unwinding head of the uncoiler. When the unwinding head needs to load the silicon steel coil, the swing arm 1 directly drops the silicon steel coil to the unwinding head; avoiding the AGV (automatic navigation) trolley to the destination Wait, the swivel arm 1 must first connect the silicon steel coil, and then rotate to the time near the unwinding head; the multi-head of the swivel arm 1 can be pre-installed with multiple silicon steel coils, which can complete the rapid loading of silicon steel coils for the multiple unwinding heads of the unwinder purpose.

Further, as shown in FIGS. 3 to 5, the lifting slider 15 is provided with a feed arm 17 that extends outward, so that the lifting slider 15 can penetrate into the inner ring of the silicon steel coil and receive the silicon steel coil, and The feeding arm 17 can pass through another transport arm that is carrying silicon steel coil material when receiving the silicon steel coil material.

In this embodiment, when the silicon steel coil material is transferred, the lifting slider 15 needs to receive the silicon steel coil material from the conveying arm for carrying the silicon steel coil material. In order to smoothly receive the silicon steel coil material, the feeding material on the lifting slider 15 When the arm 17 and the conveying arm carrying the silicon steel coil are transferred, the feeding arm 17 and the conveying arm need to be in continuous contact with the silicon steel coil, and the center of gravity of the silicon steel coil is not changed before and after the acceptance, so the feed arm 17 of the slider is raised and lowered When taking over, it is necessary to have the property of passing through the conveying arm carrying the silicon steel coil material. The continuous contact between the feeding arm 17 and the conveying arm has been achieved, so that the undertaking process can be completed. This embodiment ensures the stability of the silicon steel coil material transfer, and avoids the personal casualties and machine damage caused by the roll-off and other events of the silicon steel coil material due to unstable receiving.

Further, as shown in FIGS. 3 to 5, when the conveying arm from another silicon steel coil is carrying silicon steel coil along both sides of the center of gravity of the silicon steel coil, the feed arm 17 of the lifting slider 15 is used When receiving the silicon steel coil in the inner ring of the silicon steel coil and in the direction of the center of gravity; when the conveying arm from another silicon steel coil is carrying the silicon steel coil along the center of gravity of the silicon steel coil, the feed arm of the lifting slider 15 17 has a plurality of outward extensions for receiving silicon steel coils on the inner ring of the silicon steel coil and on both sides of the center of gravity.

In the above embodiment, in order to stably receive the silicon steel coil from the transport arm used to carry the silicon steel coil, and considering that the inner ring of the silicon steel coil is circular, if the transport arm carries the silicon steel coil along both sides of the center of gravity of the silicon steel coil The feed arm is composed of two parts. The center of gravity of the silicon steel coil in the center of the transfer arm allows the feed arm 17 to pass through. The feed arm 17 directly receives the silicon steel coil at the center of gravity of the inner ring of the silicon steel coil.

If the transport arm carries the silicon steel coil along the center of gravity of the silicon steel coil, the transport arm is a part. The feeding arm 17 can be arranged to pass through both sides of the transport arm. Although the feeding arm 17 does not have the center of gravity of the inner circle of the silicon steel coil The position is stable to receive the silicon steel coil, but since the feeding arm 17 is two parts or more, the combination of the above multiple parts can stably receive the silicon steel coil. In the above embodiment, the feed arm 17 is designed to cooperate with the transport arm, so the feed arm 17 achieves the purpose of stably receiving the silicon steel coil, avoiding the casualty and personal injury caused by the fall of the silicon steel coil when the silicon steel coil is unstable. Equipment damage.

Further, as shown in FIGS. 6 to 7, FIG. 6 is an embodiment of the unwinding head 18 of the unwinding machine. In this embodiment, the shape of the unwinding head 18 is as shown in FIG. 6. The sectioned unwinding head 18 The gap of the unwinding head 18 can allow the feed arm 17 of a single head to penetrate. At this time, the feed arm 17 selects a single head, and the transport arm selects multiple heads.

FIG. 7 is another embodiment of the decoiler 18 of the decoiler. In this embodiment, the shape of the decoiler 18 is as shown in FIG. 7. The segmented decoiler 18, the gap of the decoiler 18 can allow double heads Or the feed arm 17 larger than the double head penetrates, at this time the feed arm 17 selects the double head or larger than the double head.

An embodiment of the invention provides a method for automatically feeding a silicon steel coil transverse shearing line. The method includes:

In the above embodiment, the "stereoscopic library" may be a three-dimensional library of the patent "A Three-dimensional Warehouse of Suspended Transformer Silicon Steel Sheet Coil" Patent No.: 201721087026.X, or it may be near the unwinding head of the horizontal shearing line unwinder Provide AGV (Automatic Navigation) trolleys for silicon steel coils at specific locations, or hoisting devices, etc.

Since the three-dimensional library or the above device can provide the silicon steel coil material at a specific position for the robot arm, when the horizontal shear line needs to be loaded, the robot arm can run to the silicon steel coil material at the specific position to pick up the silicon steel coil material, and because the cross shear line After running to the loading state, the loading position is determined, so the robot arm transports the silicon steel coil to the determined loading position to perform the loading and loading operation, and the transverse shear line is automatically loaded after the loading is completed or after the feeding is completed. The module sends the material receiving completion information to the three-dimensional library, prompting the three-dimensional library to complete the material receiving. The steps in this embodiment are simple and reasonable, and the material receiving step can be greatly optimized to realize a stable and continuous automatic feeding function.

Further, it also includes step five: the three-dimensional library control module sends the material receiving completion information to the material calling module for control.

In the above-mentioned embodiment, the material receiving completion information is sent to the material-receiving module to control, and the material-receiving module can understand the loading situation of the unwinding head of the cross-cutting line decoiler; in one embodiment, the material-receiving module is the overall system of the entire workshop, The information of the completion of material feeding is sent to the control of the feeding module to allow the overall system to clearly understand the loading situation of the unwinding head of the cross-cutting line unwinding machine, which provides a guarantee for the smooth progress of the entire production.

Further, the automatic feeding module of the cross-cutting line controls the mechanical arm to perform the feeding and feeding. The specific steps are as follows:

In the above embodiments, the stable transfer of silicon steel coils and the protection of silicon steel coils are fully taken into consideration. The feeding arm 17 uses the inner ring of silicon steel coils as the loading point to transfer silicon steel coils without touching the outside of the silicon steel coils; For the stable transportation of silicon steel coils, the transfer is carried out without changing the center of gravity of the silicon steel coils. Therefore, the transport arm carrying the silicon steel coils and the feeding arm 17 that receives the silicon steel coils on the three-dimensional library can receive the silicon steel coils. Cross each other, this kind of refueling method can not change the center of gravity of the silicon steel coil, and only need to overlap the silicon steel coil material transport method, you can complete the refueling work, this structure design is novel, so that the mechanical arm structure can be designed Is relatively simple, reducing production costs.

In summary, the transfer steps are as follows: In an embodiment in which the AGV (automatic navigation) cart transfers, the silicon steel coil 6 is transported by the AGV (automatic navigation) cart to the automatic loading device, and the swing arm 1 is driven by the motor Down, reaching the direction of the silicon steel coil 6 on the AGV trolley, the feeding arm 5 is driven outward by the first servo motor 12 to the receiving position, and then raised by the second servo motor 14 to lift the silicon steel coil from The AGV trolley is disengaged, and then the feeding arm 5 is driven back to the inside of the swing arm 1 by the first servo motor 12, when the swing arm 1 rotates to the position aligned with the material level of the cross-cutting line, the proximity switch 11 reaches the signaling board At the detection position of 10, the swing arm 1 stops rotating, and the feeding arm 5 continues to extend out under the drive of the first servo motor 12 to send the lifted silicon steel coil 6 to the level of the cross-cutting line, and then at the second servo motor 14 Drive down to place the silicon steel coil 6 on the unwinding head of the cross-cutting line. The feeding arm 5 is finally retracted into the inside of the swing arm 1 to complete the entire feeding, steering and feeding actions. The use of the proximity switch 11 in this embodiment can effectively improve the accuracy of positioning. Since the proximity switch 11 is a non-contact switch, it can work more permanently.

When the V-groove 7 has multiple groups, the two groups will be used as an example for detailed description. After the material cutting operation is completed, the wedge 8 is pulled away from the V-shaped groove 7 under the action of the cylinder 9, and then the swing arm 5 rotates to the next connection direction with the AGV cart and a proximity switch 11 is installed at this position to be fixed On the base 2, in this state, another V-shaped groove 7 is provided at the position corresponding to the swing arm 5 and the wedge block 8. When the proximity switch 11 detects the in-position signal, it sends a signal to continue the action of the cylinder 9 to drive the wedge block 8 into this V The swivel arm 1 is locked in the groove to perform the material receiving operation. Subsequent repetition of the loading and unloading into the silicon steel coil material 6 and the cross-cutting line automation of the feeding process.

It should be noted that all directional indicators (such as up, down, left, right, front, back...) in this embodiment are only used to explain the relative between the components in a certain posture (as shown in the drawings) If the specific posture changes, such as positional relationship, movement, etc., the directional indication changes accordingly.

In addition, the descriptions related to "first", "second", etc. are for descriptive purposes only, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may include at least one of the features explicitly or implicitly.

The technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to realize. When the combination of technical solutions contradicts or cannot be achieved, it should be considered that the combination of such technical solutions does not exist, and It is not within the protection scope claimed by the present invention.

Claims

A silicon steel coil material horizontal shearing line automatic feeding device is characterized by comprising: a fixed base (2), a swing arm (1) and a driving mechanism for driving the swing arm to rotate, the swing arm (1) is driven by the drive The mechanism is rotatably connected to the fixed base (2); a first guide rail (4) is provided in the longitudinal direction of the swing arm (1), a feed arm (5) and a swing arm (1) are slidingly connected to the first guide rail (4) A first linear transmission device for driving the feed arm (5) to slide on the first guide rail (4) is also provided; the feed arm (5) has a second guide rail, and the length direction of the second guide rail is the same as that of the first guide rail (4) ) Is perpendicular to the length direction, the second guide rail is slidingly connected with the lifting slider (15), and the feeding arm (5) is also provided with a second linear transmission device for driving the lifting slider (15) to slide on the second guide rail ; The front end of the lifting slider (15) is provided with a feeding arm (17) for receiving the silicon steel coil in the inner ring of the silicon steel coil.
An automatic feeding device for a silicon steel coil transverse shearing line according to claim 1, characterized in that the rotary arm (1) is provided with a straight through groove along its length, and the straight through groove communicates up and down. A guide rail (4), a feeding arm (5) and the first linear transmission device are located in the linear through groove.
The automatic feeding device for a silicon steel coil transverse shearing line according to claim 2, characterized in that the linear through groove extends to the front end of the feeding arm (5), and a concave groove is formed at the front end of the feeding arm.
An automatic feeding device for a silicon steel coil transverse shearing line according to claim 1, wherein the first linear transmission device includes a first servo motor (12) and a first ball screw (13), A ball screw (13) is provided on the swing arm (1), the first nut (16) of the first ball screw (13) is fixed on the feed arm (5), and the first servo motor (12) passes through the first The ball screw (13) is connected to the feeding arm (5);

The second linear transmission device includes a second servo motor (14) and a second ball screw, the second ball screw is provided on the feeding arm (5), and the second nut of the second ball screw is fixed On the lifting slider (15), the second servo motor (14) is connected to the lifting slider (15) through the second ball screw.
An automatic feeding device for a silicon steel coil transverse shearing line according to claim 1, characterized in that there is a fixed position between the fixed base (2) and the swing arm (1) for determining the relative position of the fixed base and the swing arm Positioning means;

The positioning device is a proximity switch (11) and a signaling board (10) for cooperating with the detection position of the proximity switch. The proximity switch (11) and the signaling board (10) are respectively disposed on a fixed base (2) and a swing arm ( 1) On;

The fixed base (2) is provided with a control module which is electrically connected to the first servo motor (12), the second servo motor (14) and the proximity switch (11), respectively.
An automatic feeding device for a silicon steel coil cross-cutting line according to claim 7, characterized in that, between the fixed base (2) and the swing arm (1), there is a device for fixing the fixed base and the swing arm at a fixed position Location card mechanism;

The clamping mechanism has a cylinder (9), a wedge (8) and a V-shaped groove (7), the wedge (8) is provided at the end of the output shaft of the cylinder (9), the cylinder (9) and the V-shaped groove ( 7) It is fixed on the fixed base (2) and the swing arm (1) respectively. When the proximity switch (11) and the signal board (10) are closest, the wedge (8) used to cooperate with the V-shaped groove is directly opposite Notch of V-groove (7).

The cylinder (9) is provided with a compression pump and an electronic switch mechanism for controlling the opening and closing of the cylinder. The compression pump is connected to the cylinder (9) through a pipeline. The electronic switch mechanism provided on the cylinder (9) and the control The module is electrically connected.
An automatic feeding device for a silicon steel coil transverse shearing line according to claim 1, characterized in that the side of the fixed base (2) has a proximity switch (11), a control module and a linear drive part, and a swing arm (1) A plurality of grooves are provided upwards in a circle, and each of the grooves is provided with a signaling board (10), and a proximity switch (11) fixed on a fixed base (2) is provided at the lower end of the circumference of the rotary arm (1) ) And the linear drive part, the output end of the linear drive part is provided with a clamping block cooperating with the groove, and a proximity switch (11) for identifying a signal sending board is provided on one side of the clamping block, The proximity switch (11), the linear drive part, the first servo motor (12), the second servo motor (14) and the control module are electrically connected.
An automatic feeding device for a silicon steel coil transverse shearing line according to claim 7, characterized in that the linear driving part has a ball screw nut pair, a motor and an encoder, a transmission shaft of the motor, and the encoding The rotation shaft of the device is coaxially connected with the screw of the ball screw nut pair, and the nut is provided on the nut of the ball screw nut pair.
An automatic feeding method for silicon steel coil transverse shearing line, characterized in that the method comprises:

Step 1: The material calling module controls the unwinding head of the horizontal shearing line uncoiler to the feeding state and sends a material calling request;

Step 2: After receiving the material request, the three-dimensional library control module controls the three-dimensional library to transport the silicon steel coil to its preset discharge position. The three-dimensional library control module sends out the silicon steel coil material discharge position information, the three-dimensional library is for storage Multiple sets of silicon steel coil material and can call any controllable storage library of any silicon steel coil material stored in it;

Step 3: After the feeding module receives the information of the discharge in-position, it controls the mechanical arm to move to the preset position of the three-dimensional library to discharge the material. After the completion of the feeding, the mechanical arm maintains the stability of the silicon steel coil and the silicon steel coil The material is moved to the unwinding head for feeding;

Step 4: The loading module sends the material receiving completion information to the three-dimensional library control module.
The automatic feeding method of a silicon steel coil material transverse shearing line according to claim 9, wherein the transverse shearing line automatic feeding module controls the mechanical arm to perform material feeding and material feeding, and the specific steps are as follows:

a. The robot arm rotates to the receiving direction. The feeding arm on the robot arm for receiving silicon steel coils adjusts the height and is close to the discharging position of the three-dimensional library to reach the receiving position. The receiving direction is the discharging of the three-dimensional library. Direction, the feeding position of the feeding arm is the position of the center of gravity of the inner circle of the silicon steel coil material from the three-dimensional library;

b. The feeding arm raises its position after reaching the receiving position. The feeding arm passes through the transport arm used to carry the silicon steel coil in the three-dimensional library. The feeding arm continues to raise the silicon steel coil and exits the transport arm after the silicon steel coil is received. Range, the feed arm and the transport arm are used to transfer silicon steel coils, and the feed arm and the transport arm can pass through each other in a vertical direction when they are in a vertical direction;

c. The mechanical arm rotates to the feeding direction, the feeding arm adjusts the height to reach the top of the unwinding head in the loading state, the feeding arm carries the silicon steel coil close to and deep into the unwinding head in the loading state, when the silicon steel coil reaches the unwinding head After the assembly position, the feeding arm lowers its position to place the silicon steel coil on the unwinding head, and the feeding direction is the center line direction of the unwinding head in the loading state;

d. The mechanical arm withdraws from the feeding arm to beyond the reach of the unwinding head.