CN110193835A - A kind of transformer core automatic laminating machine is manually stood - Google Patents
A kind of transformer core automatic laminating machine is manually stood Download PDFInfo
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- CN110193835A CN110193835A CN201910418383.7A CN201910418383A CN110193835A CN 110193835 A CN110193835 A CN 110193835A CN 201910418383 A CN201910418383 A CN 201910418383A CN 110193835 A CN110193835 A CN 110193835A
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- Prior art keywords
- lamination
- transformer core
- automatic laminating
- laminating machine
- core automatic
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- 238000010030 laminating Methods 0.000 title claims abstract description 48
- 238000003475 lamination Methods 0.000 claims abstract description 106
- 239000000463 material Substances 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 239000011159 matrix material Substances 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 2
- 238000007689 inspection Methods 0.000 claims 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 12
- 241000817702 Acetabula Species 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 9
- 229910000976 Electrical steel Inorganic materials 0.000 description 6
- 239000012634 fragment Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 229910000952 Be alloy Inorganic materials 0.000 description 1
- 208000005168 Intussusception Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000012237 artificial material Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
- H01F41/0233—Manufacturing of magnetic circuits made from sheets
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Manufacturing & Machinery (AREA)
- Manufacturing Cores, Coils, And Magnets (AREA)
Abstract
The invention discloses a kind of transformer core automatic laminating machines manually to stand, and two-dimentional gantry girder device installation on the ground, forms job relations with corresponding roll-over table device；Lamination robot is mounted on two-dimentional gantry girder device；It picks and places piece Acetabula device and is mounted on corresponding lamination robot end；Feeding flatcar is installed on the ground, falls within the outside of two-dimentional gantry girder device respectively；Safety device is mounted on around equipment.Lamination robot is identified to the iron core sheet stock on supplied materials frame by special-purpose taking putting device and is positioned crawl, is combined two-dimentional gantry truss movement that sheet stock is accurately put on corresponding folder by itself Working motion, is realized automatic laminating.The present invention can be realized the automatic laminating of medium-and-large-sized transformer core, be suitable for the transformer core of different type and different size, has very high flexible and intelligence degree, significantly reduces the working strength of operator, achieved the effect that increase efficiency by downsizing payrolls.
Description
Technical field
The present invention relates to medium-and-large-sized technical field of transformer manufacturing, especially a kind of transformer core automatic laminating machine people
Work station.
Background technique
With the continuous propulsion of modernization of the country construction and deep, the demand of power infrastructures is constantly added both at home and abroad
Greatly, transformer will necessarily be growing as the important equipment during power Transmission, demand.The manufacturing process of transformer
In, the production of transformer core is particularly critical, and craft precision and performance directly influence the overall performance of transformer.Transformer
Iron core is formed by the silicon steel sheet stack of 0,3mm left and right thickness, and there are multiple structural forms (single-phase three columns, three-phase three-column, list
Xiang Sizhu, three-phase and five-pole etc.), and different product specification is not of uniform size, belongs to typical Discrete Manufacturing Process.
Currently, major transformer factory commercial city is the stack process for completing silicon steel sheet by the way of artificial lamination, the process
It needs 6-10 operative employees while carrying out operation, it is desirable that operative employee keeps mechanical operational motion and take to close at quarter for a long time
Infuse lamination precision, large labor intensity and lamination consistency is difficult to ensure.So it is manually complete to design a kind of automatic laminating equipment replacement
At mechanical duplicate operation, the production process of different type different size iron core is realized, guarantee Product Precision, reduce personnel demand
While improve production efficiency, become the Grand Equipments demand of industry urgent need to resolve.Medium-and-large-sized transformer core automatic laminating is set
For at home and abroad all in conceptual phase.
In the prior art, patent CN104670937A discloses a kind of automatic laminating machine and automatic laminating method, lamination
Method are as follows: supplied materials silicon steel sheet is successively passed through into feeding device progress feeding, two-dimentional machinery hand carries out that piece, Material thrower is taken to be divided
Piece, positioning device positioned, lamination robot carries out lamination, and stack is at finished product iron core, finally by output device by finished product
Iron core removes lamination platform.Patent CN105702445A discloses a kind of automatic laminating assembly method and system, laminating method
Are as follows: supplied materials silicon steel sheet is grouped according to the structure and shape of same laminates, then passes sequentially through the element of grouping just
Positioning and fine positioning realize the high accuracy positioning with set of pieces, carry out the same set of pieces after positioning finally by lamination robot
Synchronous to grab and complete to stack on lamination workbench, circulation stacks until completing lamination assembly.Patent CN103559999B is public
A kind of transformer core automatic washer robot device, laminating method are opened are as follows: different works are passed sequentially through to supplied materials silicon steel sheet
Truss manipulator and positioning device on position carried, positioned, lamination, is looped back and forth like this and is finally realized whole finished product
The closed assembly of iron core works.
Above-mentioned existing patented technology all uses the wire type layout of the multistation such as feeding, positioning, pulldown, lamination, Mei Gegong
Corresponding function is realized using respective device in position, divides the work apparent.Wherein, preceding two patented technologies are only applicable to miniature transformer iron
The lamination of core works, and proposes very high request to the supplied materials feeding of front end.Section 3 patented technology is suitable for medium-and-large-sized transformation
The lamination of device iron core works, but each station, using truss manipulator, there are system configuration complexity, and equipment is more, and place occupies
Big disadvantage, and large-scale truss will also result in influence to the vehicling operation in workshop, practice of construction difficulty is big.Meanwhile compared to industry
All there is gap, therefore the party in terms of rigidity, the speed of service and positioning accuracy in robot, the design of large-scale truss manipulator
The difficulty in engineering realization and risk of method are all very big.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of frame framves that can will be obtained by cut-to-length blanking
Silicon steel sheet sheet stock is identified by robot, is positioned, taking piece, fragment, lamination, and stack is at meeting corresponding product shape and rule
The transformer core of high-precision, high quality that lattice require.There is the transformer for adapting to different product type, different size simultaneously
The transformer core automatic laminating machine of the flexible production ability of iron core is manually stood.
The purpose of the present invention is achieved through the following technical solutions.A kind of transformer core automatic laminating machine is manually stood,
It is characterized by comprising two-dimentional gantry girder device, feeding flat wagon device, lamination folder support device, safety device, institutes
It states two-dimentional gantry girder device installation on the ground, lamination robot, institute is installed on the crossbeam of described two dimension gantry girder device
The end installation special-purpose taking film releasing tool device of lamination robot is stated, vision positioning is installed on the special-purpose taking film releasing tool device
Device, on the ground, the feeding flat wagon device is located at the crossbeam of two-dimentional gantry girder device for the feeding flat wagon device installation
Outside, the feeding flat wagon device is input terminal of the lamination at platform, and the lamination folder support device is mounted on roll-over table
On table top, the lamination folder support device is located at the inside of the crossbeam of two-dimentional gantry girder device, the lamination folder support
For device to support folder completion to begin a theatrical performance, the lamination folder support device is output end of the lamination at platform.
The quantity of described two dimension gantry girder device is two sets, wherein mounting post piece is folded on the girder device of a set of two dimension gantry
Piece robot, mounting yoke piece lamination robot on another set of two dimension gantry girder device.
Described two dimension gantry girder device is all made of two stringers and a crossbeam.
Two stringers are fixedly mounted on the ground in parallel, and two stringers pass through one group of slide block guide rail pair respectively
The both ends of crossbeam are mounted on, the beam vertical is in two stringers, and described two dimension gantry truss is at H-type.
The slide block guide rail pair is driven by one group of servomechanism installation.
The servomechanism installation includes servo motor, reduction gearbox, rack-and-pinion.
The quantity of the lamination robot is five sets, three sets of middle column sheet lamination robot, two sets of E Pian lamination robot.
The lamination robot includes robot control cabinet and robot body.
The lamination robot body successively arranges the cross for being mounted on corresponding two-dimentional gantry girder device by support base
Liang Shang, the robot control cabinet are mounted on the two ends of the crossbeam of corresponding two-dimentional gantry girder device.
The support base is mounted on the crossbeam of corresponding two-dimentional gantry girder device by one group of slide block guide rail pair.
The slide block guide rail pair is driven by one group of servomechanism installation.
The servomechanism installation includes the 7th axis servo motor, the reduction gearbox, rack-and-pinion of robot.
In conjunction with crossbeam along the locomotivity in stringer direction, lamination robot body along the locomotivity in crossbeam direction and folded
The six degree of freedom stationkeeping ability of piece robot body itself, the end of the lamination robot have flexible covering and take piece operation
The stationkeeping ability in space and lamination working space.
The special-purpose taking film releasing tool device is mounted on the end of lamination robot body, a set of lamination robot corresponding one
Cover special-purpose taking film releasing tool device.
The pick-and-place piece tool device includes matrix form air cylinder group, matrix form vacuum chuck, single Double-sheet detection device and right
Control assembly is answered, the matrix form air cylinder group and matrix form vacuum chuck are used cooperatively, and one of matrix form vacuum is inhaled
Disk and an individual cylinder constitute a matrix form pick-and-place and execute combination, and independent control simultaneously executes respective action, the matrix form
It picks and places and executes combination according to the actual conditions of products of different specifications, realize accurate to the sheet stock realization on different levels different station
It picks and places, the list Double-sheet detection device carries out single double sheet detection for realizing to the sheet stock got, when detecting individual non-sheet stock
When, wave shake movement is executed by matrix form air cylinder group, to realize that the artificial material that gets rid of of simulation acts.
The vision positioning device is mounted on special-purpose taking film releasing tool device, and a set of special-purpose taking film releasing tool device is corresponding
A set of vision positioning device.
The vision positioning device includes industrial camera group, secondary light source group, the network switch and visual processes industrial personal computer.
Including safety device, the safety device includes safe fence, safety lock, safe light curtain, the peace
Full protection device is located at transformer core automatic laminating machine and manually stands around.
The special-purpose taking film releasing tool device is divided into column piece and picks and places piece tool device and yoke piece pick-and-place piece tool device,
Its middle column sheet is rectangle with the shape for picking and placing piece tool device, and the shape that yoke piece picks and places piece tool device is trapezoidal.
Compared with the prior art, the present invention has the advantages that transformer core automatic laminating machine people of the present invention
The lamination robot that work station mainly passes through 5 nonstandard custom designs realizes core lamination stack, and each lamination robot can be only
Vertical to realize that sheet stock is identified, positioned, taking the technological actions such as piece, fragment, lamination, master control system dispatches five lamination robots and cooperates with work
Make to realize adapt to different product type, different size transformer core flexible production ability, intelligence degree is high.This work
Station structure is reliable, and layout is apparent, and place occupies rationally, and easy to operate, operational safety, substitution manually realizes automation lamination,
Core lamination stack workshop section operator's number and labor intensity are greatly reduced, while lamination consistency is high, it is stable and reliable for performance.
Detailed description of the invention
Fig. 1 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees the structural representation stood
Figure；
Fig. 2 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees the top view stood；
Fig. 3 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees the front view stood；
Fig. 4 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees the side view stood；
Fig. 5 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees middle column sheet pick-and-place of standing
The structural schematic diagram (front) of piece tool device；
Fig. 6 is that a kind of transformer core automatic laminating machine provided in an embodiment of the present invention manually makees middle column sheet pick-and-place of standing
The structural schematic diagram (reverse side) of piece tool device；
Fig. 7 is that yoke piece picks and places during a kind of transformer core automatic laminating machine provided in an embodiment of the present invention is manually stood
The structural schematic diagram (front) of piece tool device；
Fig. 8 is that yoke piece picks and places during a kind of transformer core automatic laminating machine provided in an embodiment of the present invention is manually stood
The structural schematic diagram (reverse side) of piece tool device.
Specific embodiment
With reference to the accompanying drawings of the specification and specific embodiment, the present invention is described in detail.
As shown in Figures 1 to 8, a kind of transformer core automatic laminating machine provided in this embodiment is manually stood,
Including two-dimentional gantry girder device 1, lamination robot 2, special-purpose taking film releasing tool device 3, vision positioning device 4, feeding flatcar
Device 5, lamination folder support device 6, safety device 7 etc..Two-dimentional gantry girder device 1 is installed on the ground, quantity
It is 2 sets, respectively to mounting post piece lamination robot and E Pian lamination robot.Two sets of two-dimentional gantry girder devices are all by two
Stringer 11 and a crossbeam 12 form.Stringer 11 is fixedly mounted on the ground in parallel by certain span, the both ends point of crossbeam 12
Not Tong Guo one group of slide block guide rail pair 13 across on stringer 11, constitute " H-type " two-dimentional gantry truss.Lamination robot 2 is mounted on
On the crossbeam 12 of two-dimentional gantry girder device 1, quantity is 5 sets, 3 sets of middle column sheet lamination robot, E Pian lamination robot 2
Set, lamination robot 2 are made of robot control cabinet 21 and robot body 22.Special-purpose taking film releasing tool device 3 is mounted on folded
The end of piece robot body, a set of lamination robot correspond to a set of special-purpose taking film releasing tool device.It is main to pick and place piece tool device 3
It to be made of matrix form air cylinder group 31, matrix form vacuum chuck 32, single Double-sheet detection device 33 and corresponding control assembly 34.Vision
Positioning device 4 is mounted on special-purpose taking film releasing tool device 3, the corresponding a set of vision positioning of a set of special-purpose taking film releasing tool device 3
Device 4.Vision positioning device 4 is mainly by industrial camera group 41, secondary light source group 42, the network switch 43 and visual processes work
Control machine 44 forms.Feeding flat wagon device 5 is installed on the ground, and the outside of the crossbeam 12 of two-dimentional gantry girder device 1 is fallen within, to
Supplied materials material frame 8 is put, is input terminal of the lamination at platform.Feeding flat wagon device 5 is installed on the ground by track, may be implemented
Positioning on 11 direction of stringer is mobile, to realize the initial supplied materials positioning for adapting to different size iron core.The form of supplied materials material frame 8
It is the material frame adapted to after existing cut-to-length blanking, so direct transition and docking may be implemented to front end supplied materials.
The lamination folder support device 6 with begin a theatrical performance when current artificial lamination using device be consistent, may be implemented
Realize that transformer core automatic laminating machine manually makees the engineering construction stood on existing artificial lamination roll-over table.Lamination folder
Support device 6 is mounted on the table top of roll-over table 9, the inside of the crossbeam 12 of two-dimentional gantry girder device 1 is fallen within, to support
Folder completion is begined a theatrical performance, and is output end of the lamination at platform.Safety device 7 is by safe fence 71, safety lock 72, safe light curtain 73
Composition, falls within the periphery of equipment.
As shown in Fig. 2, two-dimentional gantry girder device 1 in left side, three important actor piece lamination robots 2 are flat with column piece supplied materials feeding
Vehicle device 5 and column sheet stock frame 8 above constitute the operating area that column piece sheet stock is identified, positioned, taking piece, fragment.Right side
Two-dimentional gantry girder device 1,2 yoke piece supplied materials feeding flat wagon device 5 of Liang Taiepian lamination robot and yoke sheet stock above
Frame 8 constitutes the operating area that yoke piece sheet stock identified, and positioned, taking piece, fragment.Intermediate roll-over table 9 and lamination folder thereon
Support device 6 constitutes the operating area of lamination robot lamination.5 lamination robot work compounds, will take piece operating area
Sheet stock accurate positioning on upper corresponding station supplied materials material frame is stacked to the stack that iron core is completed in lamination region after taking piece.
As shown in Figures 2 to 4, two-dimentional gantry girder device 1 is all made of two stringers 11 and a crossbeam 12, stringer 11
It is fixedly mounted in parallel on the ground by certain span, the both ends of crossbeam 12 pass through one group of slide block guide rail pair 13 with stringer 11 respectively
It establishes a connection, slide block guide rail pair 13 is driven by one group of servomechanism installation 14, to realize crossbeam 12 along 11 side of stringer
To move back and forth.
As shown in Figures 2 to 4, lamination robot 2 is made of robot control cabinet 21 and robot body 22, lamination machine
Human body 22 is successively arranged by support base 23 to be mounted on the crossbeam 12 of corresponding two-dimentional gantry girder device 1, robot control
Cabinet 21 processed is mounted on the two ends of the crossbeam 12 of corresponding two-dimentional gantry girder device 1, and support base 23 passes through one group of slide block guide rail
Pair 24 establishes a connection with the crossbeam 12 of two-dimentional gantry girder device 1, slide block guide rail pair 24 by one group of servomechanism installation 25 into
Row driving, to realize that lamination robot body 22 can moving back and forth along 12 direction of crossbeam.In conjunction with crossbeam 12 along stringer 11
The locomotivity in direction, lamination robot body 22 along 12 direction of crossbeam locomotivity and lamination robot body 22 from
The six degree of freedom stationkeeping ability of body, the end of lamination robot 2 have flexible covering and take piece working space and lamination operation empty
Between stationkeeping ability.
As shown in Figures 2 to 4, special-purpose taking film releasing tool device 3 is mounted on the end of lamination robot body 22, an intussusception
Piece robot corresponds to a set of special-purpose taking film releasing tool device, is divided into column piece and picks and places piece tool device and yoke piece pick-and-place piece tool
Device.
As shown in Fig. 5 to Fig. 8, column piece is rectangle, yoke piece pick-and-place piece tool device with the shape for picking and placing piece tool device
Shape be it is trapezoidal, main frame structure part be alloy steel material, reduced as far as possible in the case where guaranteeing profile rigidity
The weight of single unit system.
As shown in Fig. 5 to Fig. 8, special-purpose taking film releasing tool device 3 is mainly by matrix form air cylinder group 31, matrix form vacuum chuck
32, single Double-sheet detection device 33 and corresponding control assembly 34 are constituted.Wherein, matrix form air cylinder group 31, matrix form vacuum chuck 32,
Single Double-sheet detection device 33 is the reverse side that executing agency is mounted on device, and corresponding control assembly 34 includes valve island, vacuum generation
The composition such as device, solenoid valve, I/O control unit, relay and terminal module, is mounted on the front of device.Special-purpose taking film releasing tool dress
3 are set to be attached by ring flange with the end of lamination robot body 22.
As shown in Fig. 5 to Fig. 8, matrix form air cylinder group 31 and matrix form vacuum chuck 32 are used cooperatively, one of them
Vacuum chuck and individual cylinder constitute a pick-and-place and execute combination, are all that with independent control and can execute respective action, square
Configuration picks and places to execute and combines and can adaptively be realized according to the actual conditions of products of different specifications to different levels different station
On sheet stock realize precisely pick and place.Single Double-sheet detection device 33, which can be realized, carries out single double sheet detection to the sheet stock got, and works as detection
When to individual non-sheet stock, wave shake movement is executed by matrix form air cylinder group, thus realize simulation it is artificial get rid of material movement.
As shown in Fig. 5 to Fig. 8, vision positioning device 4 is mounted on special-purpose taking film releasing tool device 3, a set of dedicated pick-and-place
Piece tool device corresponds to a set of vision positioning device.Vision positioning device 4 mainly by industrial camera group 41, secondary light source group 42,
The network switch 43 and visual processes industrial personal computer 44 form.Industrial camera group 41 is all mounted in together with matrix form air cylinder group 31
Pick and place the reverse side of piece tool device 3.Secondary light source group 42 is strip source, is mounted on picks and places piece tool device 3 at a certain angle
End face, provide reliable illumination condition for industrial camera group 41.The network switch 43, which is mounted on, is picking and placing piece tool device 3 just
Face.Visual processes industrial personal computer 44 is mounted near robot control cabinet 21.The identification to supplied materials may be implemented in vision positioning system
And positioning, and obtained identification information and location information are passed into robot control system, guidance machine people realizes to sheet stock
Accurate positioning, while when supplied materials is deposited and executes corresponding abnormality processing motion flow when abnormal.
Manually making station owner using transformer core automatic laminating machine of the present invention will be by 5 nonstandard custom design
Lamination robot realize core lamination stack, each lamination robot can independently realize sheet stock identify, position, take piece, fragment,
The technological actions such as lamination, master control system dispatch five lamination machine person cooperative works and realize adaptation different product type, different rule
The flexible production ability of the transformer core of lattice, intelligence degree are high.This work station structure is reliable, is laid out apparent, place occupancy
Rationally, easy to operate, operational safety, substitution manually realizes automation lamination, greatly reduces core lamination stack workshop section operator
Number and labor intensity, while lamination consistency is high, it is stable and reliable for performance.
Claims (19)
1. a kind of transformer core automatic laminating machine is manually stood, it is characterised in that including two-dimentional gantry girder device (1), on
Expect flat wagon device (5), lamination folder support device (6), safety device (7), two dimension gantry girder device (1) is installed
On the ground, lamination robot (2) are installed on the crossbeam (12) of two-dimentional gantry girder device (1), the lamination robot
(2) special-purpose taking film releasing tool device (3) are installed in end, installation vision positioning dress on the special-purpose taking film releasing tool device (3)
It sets (4), on the ground, the feeding flat wagon device (5) is located at two-dimentional gantry girder device for feeding flat wagon device (5) installation
(1) outside of crossbeam (12), the feeding flat wagon device (5) are input terminal of the lamination at platform, the lamination folder support dress
It sets (6) to be mounted on the table top of roll-over table (9), the lamination folder support device (6) is located at two-dimentional gantry girder device (1)
The inside of crossbeam (12), the lamination folder support device (6) is to support folder completion to begin a theatrical performance, the lamination folder support dress
Setting (6) is output end of the lamination at platform.
2. a kind of transformer core automatic laminating machine according to claim 1 is manually stood, it is characterised in that described two
The quantity for tieing up gantry girder device (1) is two sets, wherein mounting post piece lamination machine on a set of two dimension gantry girder device (1)
People, mounting yoke piece lamination robot on another set of two dimension gantry girder device (1).
3. a kind of transformer core automatic laminating machine according to claim 1 or 2 is manually stood, it is characterised in that described
Two-dimentional gantry girder device (1) is all made of two stringer (11) He Yigen crossbeams (12).
4. a kind of transformer core automatic laminating machine according to claim 3 is manually stood, it is characterised in that described two
Root stringer (11) is fixedly mounted on the ground in parallel, and two stringers (11) pass through one group of slide block guide rail secondary (13) peace respectively
Mounted in the both ends of crossbeam (12), the crossbeam (12) is perpendicular to two stringers (11), and described two dimension gantry truss is at H-type.
5. a kind of transformer core automatic laminating machine according to claim 4 is manually stood, it is characterised in that the cunning
Block guideway (13) is driven by one group of servomechanism installation (14).
6. a kind of transformer core automatic laminating machine according to claim 5 is manually stood, it is characterised in that described to watch
It includes servo motor, reduction gearbox, rack-and-pinion that clothes, which set (14),.
7. a kind of transformer core automatic laminating machine according to claim 1 or 2 is manually stood, it is characterised in that described
The quantity of lamination robot (2) is five sets, three sets of middle column sheet lamination robot, two sets of E Pian lamination robot.
8. a kind of transformer core automatic laminating machine according to claim 1 or claim 7 is manually stood, it is characterised in that described
Lamination robot (2) includes robot control cabinet (21) and robot body (22).
9. a kind of transformer core automatic laminating machine according to claim 8 is manually stood, it is characterised in that described folded
Piece robot body (22) successively arranges the crossbeam for being mounted on corresponding two-dimentional gantry girder device (1) by support base (23)
(12) on, the robot control cabinet (21) is mounted on the two ends of the crossbeam (12) of corresponding two-dimentional gantry girder device (1).
10. a kind of transformer core automatic laminating machine according to claim 9 is manually stood, it is characterised in that the branch
Support pedestal (23) is mounted on the crossbeam (12) of corresponding two-dimentional gantry girder device (1) by one group of slide block guide rail secondary (24).
11. a kind of transformer core automatic laminating machine according to claim 10 is manually stood, it is characterised in that described
Slide block guide rail pair (24) is driven by one group of servomechanism installation (25).
12. a kind of transformer core automatic laminating machine according to claim 11 is manually stood, it is characterised in that described
Servomechanism installation (25) includes the 7th axis servo motor, the reduction gearbox, rack-and-pinion of robot.
13. a kind of transformer core automatic laminating machine according to claim 7 is manually stood, it is characterised in that in conjunction with cross
Beam (12) along the locomotivity in stringer (11) direction, lamination robot body (22) along crossbeam (12) direction locomotivity and
The six degree of freedom stationkeeping ability of lamination robot body (22) itself, the end of the lamination robot (2) have flexibility and cover
Lid takes the stationkeeping ability of piece working space and lamination working space.
14. a kind of transformer core automatic laminating machine according to claim 8 is manually stood, it is characterised in that described special
The end for being mounted on lamination robot body (22) with piece tool device (3) are picked and placed, a set of lamination robot (2) are corresponding a set of special
With pick-and-place piece tool device (3).
15. a kind of transformer core automatic laminating machine according to claim 14 is manually stood, it is characterised in that described
Pick and place piece tool device (3) include matrix form air cylinder group (31), matrix form vacuum chuck (32), single Double-sheet detection device (33) and
Corresponding control assembly (34), the matrix form air cylinder group (31) and matrix form vacuum chuck (32) are used cooperatively, wherein one
A matrix form vacuum chuck (32) and an individual cylinder constitute a matrix form pick-and-place and execute combination, independent control and execution pair
It should act, the matrix form, which picks and places, executes combination according to the actual conditions of products of different specifications, realizes to different levels difference work
Sheet stock on position realizes and precisely picks and places that the list Double-sheet detection device (33) carries out single double sheet inspection for realizing to the sheet stock got
It surveys, when detecting individual non-sheet stock, wave shake movement is executed by matrix form air cylinder group, is simulated manually to realize
Get rid of material movement.
16. a kind of transformer core automatic laminating machine according to claim 1 is manually stood, it is characterised in that the view
Feel that positioning device (4) are mounted on special-purpose taking film releasing tool device (3), a set of special-purpose taking film releasing tool device (3) correspondence is a set of
Vision positioning device (4).
17. a kind of transformer core automatic laminating machine is manually stood according to claim 1 or described in 16, it is characterised in that institute
Stating vision positioning device (4) includes industrial camera group (41), secondary light source group (42), the network switch (43) and visual processes work
Control machine (44).
18. a kind of transformer core automatic laminating machine according to claim 1 is manually stood, it is characterised in that including peace
Full protection device (7), the safety device (7) include safe fence (71), safety lock (72), safe light curtain (73), institute
Safety device (7) is stated to be located at around transformer core automatic laminating machine manually stands.
19. a kind of transformer core automatic laminating machine according to claim 1 is manually stood, it is characterised in that described special
It is divided into column piece pick-and-place piece tool device and yoke piece pick-and-place piece tool device with piece tool device (3) are picked and placed, middle column sheet is used
The shape for picking and placing piece tool device is rectangle, and the shape that yoke piece picks and places piece tool device is trapezoidal.
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| CN201910418383.7A CN110193835A (en) | 2019-05-20 | 2019-05-20 | A kind of transformer core automatic laminating machine is manually stood |
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| CN201910418383.7A CN110193835A (en) | 2019-05-20 | 2019-05-20 | A kind of transformer core automatic laminating machine is manually stood |
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| CN115512956A (en) * | 2022-10-24 | 2022-12-23 | 哈工科讯(沈阳)智能工业技术有限公司 | Rotor silicon steel sheet lamination device and method, control device, lamination and stable structure thereof |
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Application publication date: 20190903 |