本发明的实施方式Embodiments of the invention
如图9至图12所示,本实施例提供了一种电机定子铁芯的松动机构500用于对电机定子铁芯900的连接部906进行松动,包括松动牵引板511、松动驱动装置及松动治具510,松动驱动装置用于驱动松动牵引板511在X-Y平面移动,松动牵引板511与松动治具510转动连接;松动治具510包括松动治具底座519、松动治具定位固定块515、松动治具活动块512和松动治具关节轴513,松动治具活动块512上设有分割铁芯固定机构;松动治具活动块512、分割铁芯固定机构和电机定子铁芯900中的分割铁芯903数量相同,分割铁芯固定机构用于将电机定子铁芯900中的一个分割铁芯903固定在对应的松动治具活动块512上;相邻松动治具活动块512通过松动治具关节轴513转动连接,松动治具定位固定块515用于将一个松动治具活动块512定位安装于松动治具底座519上;其中两个相邻松动治具活动块512为非连接,且松动牵引板511与非连接的两个相邻松动治具活动块512中的一个转动连接。As shown in Figures 9 to 12, this embodiment provides a motor stator core loosening mechanism 500 for loosening the connecting portion 906 of the motor stator core 900, including a loosening traction plate 511, a loosening drive device, and a loosening mechanism. The jig 510, the loosening driving device is used to drive the loosening traction plate 511 to move in the XY plane, and the loosening traction plate 511 is rotatably connected with the loosening jig 510; the loosening jig 510 includes a loosening jig base 519, a loosening jig positioning and fixing block 515, The loosening jig movable block 512 and the loosening jig joint shaft 513. The loosening jig movable block 512 is provided with a split iron core fixing mechanism; the loosening jig movable block 512, the split iron core fixing mechanism and the split in the motor stator iron core 900 The number of iron cores 903 is the same, and the split iron core fixing mechanism is used to fix one of the split iron cores 903 of the motor stator iron core 900 on the corresponding loosening jig movable block 512; adjacent loosening jig movable blocks 512 pass the loosening jig The joint shaft 513 is rotatably connected, and the loosening jig positioning and fixing block 515 is used to position and install a loosening jig movable block 512 on the loosening jig base 519; two adjacent loosening jig movable blocks 512 are not connected and loose The traction plate 511 is rotatably connected with one of the two adjacent loosening jig movable blocks 512 that are not connected.
本实施例中,松动牵引板511和松动驱动装置可为对称设置的两套,两松动牵引板511分别与非连接的两个相邻松动治具活动块512转动连接。这样可提高松动作业效率。In this embodiment, the loosening traction plate 511 and the loosening driving device can be two sets symmetrically arranged, and the two loosening traction plates 511 are respectively rotatably connected with two non-connected adjacent loosening jig movable blocks 512. This can improve the efficiency of loosening operations.
其中,松动治具定位固定块515用于将一个松动治具活动块512定位安装于松动治具底座519上,一般是将位于中间位置处的松动治具活动块512定位安装于松动治具底座519上,这样正好对应中间位置处的分割铁芯903,便于两边同时开始松动作业。Among them, the loosening jig positioning and fixing block 515 is used for positioning and installing a loosening jig movable block 512 on the loosening jig base 519, and generally positioning and installing the loosening jig movable block 512 at the middle position on the loosening jig base On 519, this corresponds exactly to the split core 903 at the middle position, which is convenient for both sides to start loosening operations at the same time.
本发明中,将电机定子铁芯900安装于松动治具510上,当松动驱动装置驱动松动牵引板511在X-Y平面移动时,松动牵引板511移动并带动松动治具活动块512转动,松动治具活动块512转动时绕松动治具关节轴513转动并带动对应的分割铁芯903绕连结部906转动,以自动完成松动作业,节省人力,提高作业效率。In the present invention, the motor stator core 900 is installed on the loosening jig 510. When the loosening driving device drives the loosening traction plate 511 to move in the XY plane, the loosening traction plate 511 moves and drives the loosening jig movable block 512 to rotate, and the loosening control When the movable block 512 rotates, it rotates around the loosening jig joint shaft 513 and drives the corresponding split iron core 903 to rotate around the connecting portion 906, so as to automatically complete the loosening operation, saving manpower and improving work efficiency.
另外,分割铁芯固定机构包括分别设于松动治具活动块512外内两侧的松动治具活动外爪514和松动治具活动内爪517。松动治具活动外爪514、松动治具活动内爪517和对应的松动治具活动块512配套以将一个分割铁芯903牢固固定在该松动治具活动块512上,当该松动治具活动块512绕松动治具关节轴513转动时,则带动对应的分割铁芯903绕相邻分割铁芯之间的连结部906转动,以完成松动作业。In addition, the split iron core fixing mechanism includes loosening jig movable outer claws 514 and loosening jig movable inner claws 517 which are respectively arranged on the outer and inner sides of the loosening jig movable block 512. The loosening jig movable outer claw 514, the loosening jig movable inner claw 517 and the corresponding loosening jig movable block 512 are matched to fix a split iron core 903 firmly on the loosening jig movable block 512, when the loosening jig moves When the block 512 rotates around the joint shaft 513 of the loosening jig, it drives the corresponding split iron core 903 to rotate around the connecting portion 906 between the adjacent split iron cores to complete the loosening operation.
本实施例中,松动治具活动外爪514正对电机定子铁芯900的一面设有能插入分割铁芯903凹槽905内的松动治具定位凸块。这样设置能将该分割铁芯903牢固地固定在该松动治具定位凸块上,实现分割铁芯固定机构与电机定子铁芯900的牢固固定,保证松动治具活动块512与分割铁芯903的同步转动,进而保证松动机构作业效果。In this embodiment, the side of the movable outer claw 514 of the loosening jig facing the stator iron core 900 of the motor is provided with a loosening jig positioning protrusion that can be inserted into the groove 905 of the split iron core 903. This arrangement can firmly fix the split iron core 903 on the positioning protrusion of the loosening jig, realize the firm fixation of the split iron core fixing mechanism and the motor stator iron core 900, and ensure the loose jig movable block 512 and the split iron core 903 Synchronous rotation of the machine to ensure the working effect of the loosening mechanism.
其中,松动治具定位固定块515包括分别设于其所在的松动治具活动块512外内两侧的松动治具外定位固定块及松动治具内定位固定块,且松动治具定位固定块515及与其对应的松动治具活动块512均固定于松动治具底座519上。这样设置保证松动治具定位固定块515和一个松动治具活动块512牢固固定在松动治具底座519上,进而保证松动作业效率及松动效果。Among them, the loosening jig positioning and fixing block 515 includes loosening jig outer positioning fixing blocks and loosening jig inner positioning fixing blocks respectively provided on the outer and inner sides of the loosening jig movable block 512 where it is located, and the loosening jig positioning fixing block 515 and the corresponding loosening jig movable block 512 are fixed on the loosening jig base 519. This arrangement ensures that the loosening jig positioning and fixing block 515 and a loosening jig movable block 512 are firmly fixed on the loosening jig base 519, thereby ensuring the loosening operation efficiency and the loosening effect.
本实施例中,松动治具外定位固定块正对电机定子铁芯900的一面设有能插入分割铁芯903凹槽905内的松动治具定位凸块。这样设置能将该分割铁芯903牢固地固定在该松动治具定位凸块上,实现分割铁芯固定机构与电机定子铁芯900的牢固固定,进而便于松动机构900作业。In this embodiment, the side of the outer positioning and fixing block of the loosening jig facing the stator core 900 of the motor is provided with a loosening jig positioning protrusion that can be inserted into the groove 905 of the split iron core 903. This arrangement can firmly fix the split iron core 903 on the positioning protrusion of the loosening jig, realize the firm fixation of the split iron core fixing mechanism and the motor stator iron core 900, thereby facilitating the operation of the loosening mechanism 900.
另外,在电机定子铁芯900轴向上松动治具定位固定块515的高度大于分割铁芯固定机构的高度。这样便于作业人员快速识别松动治具定位固定块515的位置,不但便于人工手动将电机定子铁芯900准确安装于松动治具510上,也便于自动将电机定子铁芯900安装于松动治具510后确认安装的准确度。In addition, the height of the loosening jig positioning and fixing block 515 in the axial direction of the motor stator iron core 900 is greater than the height of the split iron core fixing mechanism. This facilitates the operator to quickly identify the position of the loosening fixture positioning and fixing block 515, not only for manually manually installing the motor stator core 900 on the loosening fixture 510, but also for automatically installing the motor stator core 900 on the loosening fixture 510 After confirming the accuracy of the installation.
本实施例中,松动驱动装置包括X轴驱动装置521、转接平台522及Y轴驱动装置523,X轴驱动装置521用于驱动转接平台522在X轴移动,Y轴驱动装置523设于转接平台522上并与松动牵引板511连接以驱动松动牵引板511在Y轴移动。X轴驱动装置521和Y轴驱动装置523为电机。In this embodiment, the loosening drive device includes an X-axis drive device 521, an adapter platform 522, and a Y-axis drive device 523. The X-axis drive device 521 is used to drive the adapter platform 522 to move on the X-axis, and the Y-axis drive device 523 is located at The adapter platform 522 is connected to the loose pulling plate 511 to drive the loose pulling plate 511 to move along the Y axis. The X-axis driving device 521 and the Y-axis driving device 523 are motors.
可将该松动机构500使用于一种电机定子铁芯的注油松动系统中,以进一步节省人力,提高作业效率,所述电机定子铁芯的注油松动系统除了包括该松动机构500外,如图1至图8所示,还包括控制单元及与控制单元连接的定位输送工装机构100、注油机构300及移载机构400;所述松动机构500中的松动驱动装置也与控制单元连接;定位输送工装机构100用于定位安装并输送电机定子铁芯900,注油机构300用于对电机定子铁芯900的连接部906加注润滑防锈油,移载机构400用于移载电机定子铁芯900,松动机构500用于对加注润滑防锈油后的电机定子铁芯900的连接部906进行松动。The loosening mechanism 500 can be used in an oil injection loosening system of a motor stator iron core to further save manpower and improve work efficiency. The oil injection loosening system of the motor stator iron core includes the loosening mechanism 500, as shown in FIG. 1 As shown in Figure 8, it also includes a control unit and a positioning and conveying tooling mechanism 100, an oil injection mechanism 300, and a transfer mechanism 400 connected to the control unit; the loosening drive device in the loosening mechanism 500 is also connected to the control unit; and the positioning and conveying tooling The mechanism 100 is used for positioning, installing and conveying the motor stator core 900, the oiling mechanism 300 is used for filling the connecting portion 906 of the motor stator core 900 with lubricating and antirust oil, and the transfer mechanism 400 is used for transferring the motor stator core 900, The loosening mechanism 500 is used to loosen the connecting portion 906 of the stator iron core 900 of the motor after being filled with lubricating anti-rust oil.
将电机定子铁芯900定位安装于定位输送工装机构100上,能保证电机定子铁芯900在周向上的开口角度,不但使得注油机构300能精准对需要松动的电机定子铁芯900的连接部906进行注油,而且使得松动机构500能从非连接的两个分割铁芯903处开始依次对连接部进行松动,保证松动机构500成功作业。Positioning and installing the motor stator core 900 on the positioning and conveying tooling mechanism 100 can ensure the opening angle of the motor stator core 900 in the circumferential direction, which not only enables the oil injection mechanism 300 to accurately align the connecting portion 906 of the motor stator core 900 that needs to be loosened The oil is injected, and the loosening mechanism 500 can loosen the connecting part sequentially from the two non-connected split cores 903 to ensure the successful operation of the loosening mechanism 500.
在所述电机定子铁芯的注油松动系统中,定位输送工装机构100将定位安装于其上的电机定子铁芯900输送至注油机构300处,注油机构300对电机定子铁芯900的连接部906加注润滑防锈油,移载机构400将加注润滑防锈油后的电机定子铁芯900移载至松动机构500作业面,松动机构500对电机定子铁芯900的连接部906进行松动,该注油松动系统能自动对电机定子铁芯900进行松动,进一步节省人力,提高作业效率,且移载机构400移载过程中润滑防锈油慢慢渗透电机定子铁芯900的连接部906便于松动机构500对其进行松动。In the oil injection loosening system of the motor stator iron core, the positioning and conveying tooling mechanism 100 transports the motor stator iron core 900 positioned and installed thereon to the oil injection mechanism 300, and the oil injection mechanism 300 connects the motor stator iron core 900 to the connecting portion 906 Filling with lubricating and anti-rust oil, the transfer mechanism 400 transfers the motor stator core 900 after being filled with the lubricating and anti-rust oil to the working surface of the loosening mechanism 500, and the loosening mechanism 500 loosens the connecting portion 906 of the motor stator core 900, The oil injection loosening system can automatically loosen the motor stator core 900, which further saves manpower and improves work efficiency. During the transfer process of the transfer mechanism 400, the lubricating and anti-rust oil slowly penetrates the connecting part 906 of the motor stator core 900 to facilitate loosening The mechanism 500 loosens it.
其中,如图1所示,所述电机定子铁芯的注油松动系统还包括与控制单元连接的相位检测机构200,用于检测安装于定位输送工装机构100上的电机定子铁芯900的角度。这样设置能确保电机定子铁芯900在定位输送工装机构100上的定位安装角度,保证电机定子铁芯900在周向上的开口角度。定位输送工装机构100将定位安装于其上的电机定子铁芯900输送至相位检测机构200,经过相位检测机构200的检测后,定位输送工装机构100将定位安装于其上的电机定子铁芯900输送至注油机构300处,由注油机构300加注润滑防锈油,使得润滑防锈油被精准注入电机定子铁芯900的连接部906。As shown in FIG. 1, the oil injection loosening system of the motor stator core further includes a phase detection mechanism 200 connected to the control unit for detecting the angle of the motor stator core 900 installed on the positioning and conveying tooling mechanism 100. This arrangement can ensure the positioning and installation angle of the motor stator core 900 on the positioning and conveying tooling mechanism 100, and ensure the opening angle of the motor stator core 900 in the circumferential direction. The positioning and conveying tooling mechanism 100 conveys the motor stator core 900 positioned and mounted on it to the phase detection mechanism 200. After the phase detection mechanism 200 detects it, the positioning and conveying tooling mechanism 100 will position the motor stator core 900 mounted on it. It is conveyed to the oil injection mechanism 300, and the lubricating and anti-rust oil is filled by the oil injection mechanism 300, so that the lubricating and anti-rust oil is accurately injected into the connecting portion 906 of the stator iron core 900 of the motor.
另外,如图3所示,相位检测机构200包括第一驱动装置201及相位检测测定头204,第一驱动装置201与控制单元连接并用于驱动相位检测测定头204做升降运动;相位检测测定头204与电机定子铁芯900上的定位缺口901相匹配。第一驱动装置201驱动相位检测测定头204下降,相位检测测定头204插入电机定子铁芯900上的定位缺口901,则表示电机定子铁芯900在定位输送工装机构100上的定位安装角度正确,若相位检测测定头204无法插入电机定子铁芯900上的定位缺口901,则表示电机定子铁芯900在定位输送工装机构100上的定位安装角度错误,此时作业人员则需更正电机定子铁芯900在定位输送工装机构100上的定位安装角度才能保证该注油松动系统顺利工作;当相位检测机构200检测安装于定位输送工装机构100上的电机定子铁芯900的角度完毕后,第一驱动装置201驱动相位检测测定头204上升,定位输送工装机构100将电机定子铁芯900输送至注油机构300处。In addition, as shown in FIG. 3, the phase detection mechanism 200 includes a first drive device 201 and a phase detection measurement head 204. The first drive device 201 is connected to the control unit and is used to drive the phase detection measurement head 204 to move up and down; the phase detection measurement head 204 matches the positioning notch 901 on the stator core 900 of the motor. The first driving device 201 drives the phase detection measuring head 204 down, and the phase detection measuring head 204 is inserted into the positioning gap 901 on the motor stator core 900, which indicates that the positioning and installation angle of the motor stator core 900 on the positioning and conveying tooling mechanism 100 is correct. If the phase detection head 204 cannot be inserted into the positioning gap 901 on the motor stator core 900, it means that the motor stator core 900 has a wrong positioning and installation angle on the positioning and conveying tooling mechanism 100. At this time, the operator needs to correct the motor stator core The positioning and installation angle of 900 on the positioning and conveying tooling mechanism 100 can ensure the smooth operation of the oil injection loosening system; when the phase detection mechanism 200 detects the angle of the motor stator core 900 installed on the positioning and conveying tooling mechanism 100, the first driving device 201 drives the phase detection measuring head 204 up, and the positioning and conveying tooling mechanism 100 conveys the motor stator core 900 to the oil injection mechanism 300.
本实施例中,如图3所示,所述相位检测机构200还包括圆周定位件203,圆周定位件203上设有插杆205,插杆205与电机定子铁芯900上相邻分割铁芯903的相邻齿904之间的缝隙902匹配;所述相位检测测定头204设于圆周定位件203上,第一驱动装置201用于驱动圆周定位件203做升降运动。插杆205与相邻齿904之间的缝隙902的匹配能对到达相位检测机构200位置处的电机定子铁芯900进行再次定位,确保相位检测测定头204能精准检测安装于定位输送工装机构100上的电机定子铁芯900的角度,避免误判。In this embodiment, as shown in FIG. 3, the phase detection mechanism 200 further includes a circumferential positioning member 203. The circumferential positioning member 203 is provided with a plunger 205, and the plunger 205 is adjacent to the split iron core of the motor stator core 900. The gap 902 between the adjacent teeth 904 of 903 matches; the phase detection measuring head 204 is arranged on the circumferential positioning member 203, and the first driving device 201 is used to drive the circumferential positioning member 203 to perform a lifting movement. The matching of the gap 902 between the plunger 205 and the adjacent teeth 904 can reposition the motor stator core 900 that reaches the position of the phase detection mechanism 200, ensuring that the phase detection measuring head 204 can accurately detect and install on the positioning and conveying tooling mechanism 100 The angle of the upper motor stator core 900 is to avoid misjudgment.
其中,第一驱动装置201为气缸,相位检测机构200还包括用于引导相位检测测定头204升降方向的相位检测升降导向部件202。相位检测升降导向部件202可为导向杆加导向套的结构,导向杆在导向套内滑动实现导向。Wherein, the first driving device 201 is an air cylinder, and the phase detection mechanism 200 further includes a phase detection lifting guide member 202 for guiding the lifting direction of the phase detection measuring head 204. The phase detection lifting guide component 202 may be a structure of a guide rod and a guide sleeve, and the guide rod slides in the guide sleeve to achieve guidance.
本实施例中,所述电机定子铁芯的注油松动系统还包括与控制单元连接的警报装置。当相位检测机构200检测到电机定子铁芯900在定位输送工装机构100上的安装角度错误时,控制单元控制警报装置发出警报,以提醒作业人员更正电机定子铁芯900在定位输送工装机构100上的安装角度。In this embodiment, the oil injection loosening system of the motor stator iron core further includes an alarm device connected to the control unit. When the phase detection mechanism 200 detects the wrong installation angle of the motor stator core 900 on the positioning and conveying tooling mechanism 100, the control unit controls the alarm device to issue an alarm to remind the operator to correct the motor stator core 900 on the positioning and conveying tooling mechanism 100 The installation angle.
另外,如图2所示,所述定位输送工装机构100包括输送板101及用于驱动输送板101运动的第二驱动装置104,第二驱动装置104与控制单元连接;输送板101上设有圆周定位工装部102,用于在圆周方向上定位并安装电机定子铁芯900;圆周定位工装部102上设有角度定位块103,用于定位电机定子铁芯900的角度;角度定位块103上设有定位凸起105,定位凸起105与电机定子铁芯900上分割铁芯903上的凹槽905相匹配。第二驱动装置104为传动链条结构,链条上设有用于安装输送板101的输送板安装部,输送板101与链条同步运动;圆周定位工装部102、角度定位块103及定位凸起105用于精确定位电机定子铁芯900在定位输送工装机构100上的安装位置;输送板101为多个以实现多工位作业,提高该注油松动系统的作业效率。In addition, as shown in FIG. 2, the positioning and conveying tooling mechanism 100 includes a conveying plate 101 and a second driving device 104 for driving the conveying plate 101 to move. The second driving device 104 is connected to a control unit; the conveying plate 101 is provided with The circumferential positioning tooling part 102 is used for positioning and installing the motor stator core 900 in the circumferential direction; the circumferential positioning tooling part 102 is provided with an angle positioning block 103 for positioning the angle of the motor stator core 900; on the angle positioning block 103 A positioning protrusion 105 is provided, and the positioning protrusion 105 matches the groove 905 on the split core 903 on the stator core 900 of the motor. The second driving device 104 is a transmission chain structure. The chain is provided with a conveyor plate installation part for installing the conveyor plate 101. The conveyor plate 101 moves synchronously with the chain; the circumferential positioning tooling part 102, the angle positioning block 103 and the positioning protrusion 105 are used for Precisely locate the installation position of the motor stator core 900 on the positioning and conveying tooling mechanism 100; multiple conveying plates 101 are used to realize multi-station operation and improve the working efficiency of the oil injection loosening system.
其中,如图4至图6所示,所述注油机构300包括第三驱动装置301、注油松紧动力机构303、注油夹爪304、注油缝隙板306及注油缝307;第三驱动装置301与控制单元连接并用于驱动注油松紧动力机构303做升降运动,注油松紧动力机构303与控制单元连接并用于驱动注油夹爪304做夹紧和松放运动,注油夹爪304用于夹紧和松放电机定子铁芯900的连接部906,注油缝隙板306设于注油夹爪304内,注油缝隙板306与注油夹爪304之间形成用于储放润滑防锈油的腔体,注油缝307设于注油缝隙板306上并用于向电机定子铁芯900的连接部906渗油。当电机定子铁芯900被输送至注油机构300处,第三驱动装置301驱动注油松紧动力机构303下降,注油松紧动力机构303驱动注油夹爪304夹紧电机定子铁芯900,润滑防锈油从注油缝307渗入电机定子铁芯900的连接部906,注油结束后,注油松紧动力机构303驱动注油夹爪304松放电机定子铁芯900,第三驱动装置301驱动注油松紧动力机构303上升;注油松紧动力机构303驱动注油夹爪304做夹紧和松放运动常见于工业上使用的机械手夹爪,为现有技术,不再详述。注油缝隙板306上设有用于向注油缝隙板306与注油夹爪304之间的腔体注油的孔,孔优选设在注油缝隙板306顶部。第三驱动装置301为气缸,所述注油机构300还包括用于引导注油夹爪304升降方向的注油升降导向部件302。注油升降导向部件302可为导向杆加导向套的结构,导向杆在导向套内滑动实现导向。Wherein, as shown in Figures 4 to 6, the oil injection mechanism 300 includes a third driving device 301, an oil injection tightening power mechanism 303, an oil injection jaw 304, an oil injection gap plate 306, and an oil injection slit 307; a third driving device 301 and control The unit is connected and used to drive the oil filling and tightening power mechanism 303 for lifting motion. The oil filling and tightening power mechanism 303 is connected to the control unit and used to drive the oil filling jaw 304 for clamping and releasing movement. The oil filling jaw 304 is used for clamping and loosening the discharge machine. In the connecting part 906 of the stator core 900, the oil injection gap plate 306 is provided in the oil injection jaw 304. A cavity for storing lubricating and antirust oil is formed between the oil injection slit plate 306 and the oil injection jaw 304, and the oil injection slit 307 is provided in The oil injection slit plate 306 is used to leak oil to the connecting portion 906 of the stator iron core 900 of the motor. When the motor stator core 900 is transported to the oiling mechanism 300, the third driving device 301 drives the oiling and tightening power mechanism 303 to descend, and the oiling and tightening power mechanism 303 drives the oiling jaws 304 to clamp the motor stator core 900, and the lubricating and antirust oil is from The oil injection seam 307 penetrates into the connecting part 906 of the motor stator iron core 900. After the oil injection is completed, the oil injection tightening power mechanism 303 drives the oil filling jaw 304 to loosen the electric motor stator iron core 900, and the third driving device 301 drives the oil injection tightening power mechanism 303 to rise; The tightening power mechanism 303 drives the oil filling jaw 304 to perform clamping and releasing movements, which are commonly used in industrial manipulator jaws, which are the prior art and will not be described in detail. The oil injection slit plate 306 is provided with a hole for injecting oil into the cavity between the oil injection slit plate 306 and the oil injection jaw 304, and the hole is preferably provided at the top of the oil injection slit plate 306. The third driving device 301 is an air cylinder, and the oil filling mechanism 300 further includes an oil filling lifting guide 302 for guiding the lifting direction of the filling jaw 304. The oil-filled lifting guide member 302 may be a structure of a guide rod and a guide sleeve, and the guide rod slides in the guide sleeve to achieve guidance.
本实施例中,注油夹爪304和注油缝隙板306之间设有导油棉条305。这样设置使得润滑防锈油经过导油棉条305后从注油缝307中均匀渗出,进而均匀渗入电机定子铁芯900的连接部906,便于松动机构500对电机定子铁芯900的连接部906进行松动。In this embodiment, an oil guiding tampon 305 is provided between the oil injection jaw 304 and the oil injection gap plate 306. This arrangement allows the lubricating and rust-preventing oil to evenly seep out from the oil injection slit 307 after passing through the oil guide sliver 305, and then evenly penetrate into the connecting portion 906 of the motor stator core 900, which facilitates the loosening mechanism 500 to the motor stator core 900 connecting portion 906 Perform loosening.
另外,如图7至图8所示,所述移载机构400包括第四驱动装置401及移载夹爪装置402,第四驱动装置401与控制单元连接并用于驱动移载夹爪装置402做平面直线运动;所述移载夹爪装置402包括移载升降驱动装置405、移载夹紧松放动力机构406及移载夹爪407,移载升降驱动装置405与控制单元连接并用于驱动移载夹紧松放动力机构406做升降运动,移载夹紧松放动力机构406与控制单元连接并用于驱动移载夹爪407做夹紧和松放运动,移载夹爪407用于夹紧和松放电机定子铁芯900。当需要移载电机定子铁芯900时,第四驱动装置401驱动移载夹爪装置402做平面直线运动至电机定子铁芯900正上方,移载升降驱动装置405驱动移载夹紧松放动力机构406下降,移载夹紧松放动力机构406驱动移载夹爪407做夹紧动作以将电机定子铁芯900紧紧夹住,移载升降驱动装置405驱动移载夹紧松放动力机构406上升,第四驱动装置401再次驱动移载夹爪装置402做平面直线运动直至电机定子铁芯900到达目标位置正上方,移载升降驱动装置405驱动移载夹紧松放动力机构406下降,移载夹紧松放动力机构406驱动移载夹爪407做松放动作以将电机定子铁芯900松开。移载夹爪装置402为两个,第四驱动装置401驱动一个移载夹爪装置402做平面直线运动,以将待松动的电机定子铁芯900从定位输送工装机构100上移载至松动机构500作业面,第四驱动装置401驱动另一个移载夹爪装置402做平面直线运动,以将松动完成的电机定子铁芯900从松动机构500作业面移载至出料装置600上,出料装置600为带轮带动皮带传输以完成自动出料,为现有技术,在此不再详述。第四驱动装置401为电机;移载升降驱动装置405为气缸,所述移载夹爪装置402还包括用于引导移载夹爪407升降方向的移载升降导向部件404。移载升降导向部件404可为导向杆加导向套的结构,导向杆在导向套内滑动实现导向。移载夹紧松放动力机构406驱动移载夹爪407做夹紧和松放运动常见于工业上使用的机械手夹爪,为现有技术,不再详述。In addition, as shown in FIGS. 7 to 8, the transfer mechanism 400 includes a fourth driving device 401 and a transfer clamping jaw device 402. The fourth driving device 401 is connected to the control unit and used to drive the transfer clamping jaw device 402. Plane linear motion; the transfer clamping jaw device 402 includes a transfer lifting driving device 405, a transfer clamping release power mechanism 406 and a transfer clamping jaw 407. The transfer lifting driving device 405 is connected to the control unit and used to drive the transfer The load clamping release power mechanism 406 is used for lifting motion, the transfer clamping release power mechanism 406 is connected with the control unit and used to drive the transfer clamping jaw 407 for clamping and releasing movement, and the transfer clamping jaw 407 is used for clamping Hesong electric discharge machine stator core 900. When the motor stator core 900 needs to be transferred, the fourth driving device 401 drives the transfer clamping jaw device 402 to move in a plane linear motion to directly above the motor stator core 900, and the transfer lifting driving device 405 drives the transfer, clamping, and releasing power The mechanism 406 descends, the transfer clamping release power mechanism 406 drives the transfer clamping jaw 407 to perform a clamping action to tightly clamp the motor stator core 900, and the transfer lifting driving device 405 drives the transfer clamping release power mechanism 406 rises, the fourth driving device 401 again drives the transfer clamping jaw device 402 to move in a plane linear motion until the motor stator core 900 reaches directly above the target position, the transfer lifting driving device 405 drives the transfer, clamping and releasing power mechanism 406 to descend, The transfer, clamping and releasing power mechanism 406 drives the transfer jaw 407 to perform a releasing action to release the motor stator core 900. There are two transfer clamping claw devices 402, and the fourth driving device 401 drives one transfer clamping claw device 402 to make a planar linear motion to transfer the motor stator core 900 to be loosened from the positioning and conveying tooling mechanism 100 to the loosening mechanism 500 working surface, the fourth driving device 401 drives another transfer and clamping jaw device 402 to make a plane linear motion to transfer the motor stator core 900 that has been loosened from the working surface of the loosening mechanism 500 to the discharging device 600, and discharge the material The device 600 is a belt pulley driven by a belt to complete automatic discharging, which is a prior art and will not be described in detail here. The fourth driving device 401 is a motor; the transfer lifting driving device 405 is an air cylinder, and the transfer clamping jaw device 402 further includes a transfer lifting guide 404 for guiding the lifting direction of the transfer clamping jaw 407. The transfer lifting guide component 404 may be a structure of a guide rod and a guide sleeve, and the guide rod slides in the guide sleeve to achieve guidance. The transfer clamping and releasing power mechanism 406 drives the transfer clamping jaw 407 to perform clamping and releasing motions, which are commonly used in industrial manipulator clamping jaws, which are the prior art and will not be described in detail.
本实施例中,移载夹爪407与电机定子铁芯900的接触面设有软胶结构。这样设置能防止夹伤电机定子铁芯900。In this embodiment, the contact surface between the transfer jaw 407 and the motor stator core 900 is provided with a soft rubber structure. This arrangement can prevent the motor stator core 900 from being pinched.
显然,本发明的上述实施例仅仅是为清楚地说明本发明技术方案所作的举例,而并非是对本发明的具体实施方式的限定。凡在本发明权利要求书的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本发明权利要求的保护范围之内。Obviously, the above-mentioned embodiments of the present invention are merely examples to clearly illustrate the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the claims of the present invention shall be included in the protection scope of the claims of the present invention.