CN209796489U - automatic feeding device for silicon steel coil stock transverse shearing line - Google Patents
automatic feeding device for silicon steel coil stock transverse shearing line Download PDFInfo
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- CN209796489U CN209796489U CN201822226735.2U CN201822226735U CN209796489U CN 209796489 U CN209796489 U CN 209796489U CN 201822226735 U CN201822226735 U CN 201822226735U CN 209796489 U CN209796489 U CN 209796489U
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Abstract
the utility model relates to a silicon steel coil stock violently cuts line automatic feeding device belongs to transformer core preparation field, this silicon steel coil stock violently cuts line automatic feeding device, include: the method comprises the following steps: the rotary arm is rotationally connected to the fixed base through the driving mechanism; the length direction of the rotary arm is provided with a first guide rail, the first guide rail is connected with a horizontal sliding block in a sliding manner, and the rotary arm is also provided with a first linear transmission device for driving the horizontal sliding block to slide on the first guide rail; the utility model discloses a fix the pivoted arm at unable adjustment base, the silicon steel coil stock or the automatic navigation that will three-dimensional storehouse discharge gate department connects the silicon steel coil stock on the material dolly through this pivoted arm and transports the process realization automatic conveying that the head was opened to the cross-cut line, and its dress silicon steel coil stock's precision and loading efficiency improve greatly.
Description
Technical Field
The utility model belongs to transformer core preparation field, in particular to silicon steel coil stock crosscut line automatic feeding device.
Background
the silicon steel coil stock that current transformer core workshop was opened from indulging the trimming often the stock is more, and the silicon steel coil stock is directly tiled on the ground and is placed, and during horizontal trimming department material loading, the transportation of silicon steel coil stock is basically by the driving handling.
To this end my company has applied for a patent: a hanging transformer silicon steel sheet coil stock stereoscopic warehouse, patent number: 201721087026.X is used for solving the problem that the silicon steel coil stock is laid flat on the ground to occupy the workshop ground, but the transfer problem between a stereoscopic warehouse and a transverse shearing line is not realized automatically.
In the process of implementing the embodiments of the present invention, the inventor finds that at least the following defects exist in the background art:
The silicon steel coil stock of three-dimensional storehouse is moved and handling extremely is wasted time and energy to cross-cut line department quite, and manual hoisting operation because its instability, if the silicon steel coil stock drops and arouses the accident easily or damage equipment, its precision and efficiency are not high simultaneously, the operation is inconvenient.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a silicon steel coil stock crosscut line automatic feeding device solves the above-mentioned problem that exists among the prior art, solves the silicon steel coil stock of the three-dimensional storehouse in the prior art and has moved and the handling is fairly wasted time and energy to crosscut line department, and manual hoisting operation is because its instability, if the silicon steel coil stock drops and arouses the accident easily or damage equipment, and its precision and efficiency are not high simultaneously, the inconvenient problem of operation.
In order to achieve the above object, the utility model adopts the following technical scheme:
The utility model provides a horizontal trimming automatic feeding device of silicon steel coil stock, includes: the rotary arm is rotationally connected to the fixed base through the driving mechanism; the length direction of the rotary arm is provided with a first guide rail, the first guide rail is connected with a horizontal sliding block in a sliding manner, and the rotary arm is also provided with a first linear transmission device for driving the horizontal sliding block to slide on the first guide rail; the horizontal sliding block is provided with a second guide rail, the length direction of the second guide rail is vertical to the length direction of the first guide rail, the second guide rail is connected with a lifting sliding block in a sliding manner, and the horizontal sliding block is also provided with a second linear transmission device for driving the lifting sliding block to slide on the second guide rail; and the front end of the lifting slide block is provided with a feeding arm for receiving the silicon steel coil in the silicon steel coil inner ring.
The rotary arm is provided with a linear through groove along the length direction, the linear through groove is communicated up and down, and the first guide rail, the horizontal sliding block and the first linear transmission device are positioned in the linear through groove.
the straight through groove extends to the front end of the horizontal sliding block, and a concave groove is formed at the front end of the feeding arm.
the first linear transmission device comprises a first servo motor and a first ball screw, the first ball screw is arranged on the rotary arm, a first nut of the first ball screw is fixed on the horizontal sliding block, and the first servo motor is connected with the horizontal sliding block through the first ball screw;
The second linear transmission device comprises a second servo motor and a second ball screw, the second ball screw is arranged on the horizontal sliding block, a second nut of the second ball screw is fixed on the lifting sliding block, and the second servo motor is connected with the lifting sliding block through the second ball screw.
A positioning device for determining the relative positions of the fixed base and the rotary arm is arranged between the fixed base and the rotary arm;
The positioning device comprises a proximity switch and a signaling plate used for matching the detection position of the proximity switch, and the proximity switch and the signaling plate are respectively arranged on the fixed base and the rotary arm;
A control module is arranged in the fixed base and is electrically connected with the first servo motor, the second servo motor and the proximity switch respectively.
A clamping mechanism used for fixing the fixed base and the rotary arm at fixed positions is arranged between the fixed base and the rotary arm;
The clamping mechanism is provided with an air cylinder, a wedge block and a V-shaped groove, the wedge block is arranged at the end part of an output shaft of the air cylinder, the air cylinder and the V-shaped groove are respectively fixed on the fixed base and the rotary arm, and when the proximity switch and the signaling plate are closest, the wedge block matched with the V-shaped groove is over against the notch of the V-shaped groove;
The air cylinder is externally provided with a compression pump and an electronic switch mechanism for controlling the opening and closing of the air cylinder, the compression pump is connected with the air cylinder through a pipeline, and the electronic switch mechanism arranged on the air cylinder is electrically connected with the control module.
the fixture base side has proximity switch, control module and linear drive portion, and a rotation arm week upwards is provided with a plurality of recesses, every recess one side all is equipped with the news panel, this circumference lower extreme of rotation arm be provided with fix the fixture base proximity switch with linear drive portion, linear drive portion's output be equipped with the fixture block of recess cooperation joint, fixture block one side is provided with the proximity switch who is used for discerning the news panel, proximity switch linear drive portion, first servo motor, second servo motor and control module electricity are connected.
The linear driving part is provided with a ball screw nut pair, a motor and an encoder, a transmission shaft of the motor, a rotating shaft of the encoder and a lead screw of the ball screw nut pair are in coaxial transmission connection, and a clamping block is arranged on a nut of the ball screw nut pair.
the beneficial effects of the utility model are that, the utility model discloses a fix the revolving arm at unable adjustment base, transport the silicon steel coil stock of three-dimensional storehouse discharge gate department to the process of cross-cut line decoiling head through this revolving arm and realize automatic transportation, make its stability improve, greatly reduced the damage that the silicon steel coil stock caused personnel or equipment, its dress silicon steel coil stock's precision and loading efficiency improve greatly.
Drawings
FIG. 1 is a side view of the utility model when feeding;
FIG. 2 is an enlarged view at A of FIG. 1;
FIG. 3 is a perspective view of the swivel arm;
FIG. 4 is a perspective view of the present invention;
FIG. 5 is a perspective view of the feed arm;
FIG. 6 is a schematic view of an uncoiler head of an uncoiler capable of using a single-head feed arm;
FIG. 7 is a schematic view of an uncoiler head of an uncoiler that can use a double-headed feed arm;
FIG. 8 is a block diagram of a single head swing arm;
FIG. 9 is a block diagram of the double-ended swivel arm;
Fig. 10 is a structural view of a four-head swing arm.
Labeled as: 1. a swivel arm; 2. a fixed base; 3. a wedge guide rail; 4. a first guide rail; 5. a horizontal slider; 6. silicon steel coil stock; 7. a V-shaped groove; 8. a wedge block; 9. a cylinder; 10. a message sending board; 11. a proximity switch; 12. a first servo motor; 13. a first ball screw; 14. a second servo motor; 15. a lifting slide block; 16. a first nut; 17. a feeding arm; 18. and (4) unwinding the head.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the detailed description of the embodiments, structures, features and effects according to the present invention will be given below with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "an embodiment" may not necessarily refer to the same embodiment, and furthermore, particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
The utility model discloses in, actuating mechanism is for can rotary drive and can confirm the drive arrangement of specific position, like servo motor to limit switch, proximity switch or photoelectric switch location's motor, pass through the gear mechanism variable speed and have the rotation angle of measuring gear mechanism or be furnished with the complete set drive arrangement of encoder or absolute formula encoder with the kinetic energy of motor for with the driven mechanism rotary drive to the driven position of wanting.
The first linear transmission device is a device capable of outputting linear power, and can be a motor, a speed reducer, a clutch and a transmission component which are coaxially connected in sequence, the transmission component comprises a ball screw connected with the clutch and a ball nut matched with the ball screw, and the ball screw can drive the ball nut to do linear motion. The first linear transmission device outputs linear power through the ball nut;
The first linear transmission device can also be a linear transmission device consisting 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 second linear transmission device can be a motor, a speed reducer, a clutch and a transmission component which are coaxially connected in sequence, the transmission component comprises a ball screw connected with the clutch and a ball nut matched with the ball screw, and the ball screw can drive the ball nut to do linear motion. The first linear transmission device outputs linear power through the ball nut;
The second linear transmission device can also be a linear transmission device consisting 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 conveying arm is a patent number of 'three-dimensional warehouse' patent 'a hanging type transformer silicon steel sheet coil stock' comprising: 201721087026.X, and a stereoscopic warehouse mechanical arm for grabbing and conveying silicon steel coils in the stereoscopic warehouse.
the lifting slide block 15 is used for lifting the silicon steel coil stock, the shape of the feeding arm 17 of the lifting slide block 15 is crossed with that of the mechanical arm for switching and bearing the silicon steel coil stock in the previous step, in order to stably bear the silicon steel coil stock without damaging the outside of the silicon steel coil stock, when the silicon steel coil stock is switched or borne, the mechanical arm is borne and borne on the inner ring of the silicon steel coil stock, because the inner ring of the silicon steel coil stock is circular, the gravity center of the silicon steel coil stock must be considered stably, when the borne silicon steel coil stock is borne, the gravity center can be stably borne without changing, therefore, the feeding arm 17 can penetrate through the conveying arm which bears the silicon steel coil stock, when the bearing, the conveying arm penetrates through the conveying arm, and two points or more than two points which can make the gravity center of the silicon steel coil stock not change by selecting the gravity center or the positions at two sides of the.
The straight through groove is a strip-shaped groove and is communicated with the two ends of the rotary arm 1.
the hollow groove is a hollow swivel arm 1 in the middle of the swivel arm 1 in fig. 3 and 4.
the positioning device is a component for determining the relative position of the fixed base and the rotary arm, and can be a coded disc arranged between the fixed base and the rotary arm, the encoder can be a contact encoder, an optical encoder or an absolute encoder, and can also be a positioning device consisting of a limit switch, a photoelectric switch and a proximity switch.
The clamping mechanism is a locking mechanism for fixing the fixed base 2 and the rotary arm 1 to relative positions, and can be bolt type controllable fixing and electromagnetic type controllable fixing.
The electronic switch mechanism is a control device for controlling the compression pump to deliver high-pressure air to the cylinder 9 or release high-pressure air, and can be controlled electromagnetically or electrically.
The linear driving part can be a motor, a speed reducer, a clutch and a transmission part assembly which are coaxially connected in sequence, the transmission part comprises a ball screw connected with the clutch and a ball nut matched with the ball screw, and the ball screw can drive the ball nut to do linear motion. The first linear transmission device outputs linear power through the ball nut;
The linear driving part can also be a linear transmission device consisting 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 fig. 1 to 5, an embodiment of the utility model provides a horizontal trimming automatic feeding device of silicon steel coil stock, include: the device comprises a fixed base 2, a rotary arm 1 and a driving mechanism for driving the rotary arm to rotate, wherein the rotary arm 1 is rotationally connected to the fixed base 2 through the driving mechanism; a first guide rail 4 is arranged in the length direction of the rotary arm 1, a horizontal sliding block 5 is connected onto the first guide rail 4 in a sliding manner, and a first linear transmission device for driving the horizontal sliding block 5 to slide on the first guide rail 4 is further arranged on the rotary arm 1; the horizontal sliding block 5 is provided with a second guide rail, the length direction of the second guide rail is vertical to the length direction of the first guide rail 4, the second guide rail is connected with a lifting sliding block 15 in a sliding manner, and the horizontal sliding block 5 is also provided with a second linear transmission device for driving the lifting sliding block 15 to slide on the second guide rail; and a feeding arm 17 for receiving the silicon steel coil in the silicon steel coil is arranged at the front end of the lifting slide block 15.
in the above embodiment, the rotary arm 1 can rotate on the fixed base 2, and the silicon steel coil stock transferred to the vicinity of the crosscut line is transferred to the crosscut line through the rotary arm 1, and the horizontal slider 5 capable of moving back and forth along the length direction of the rotary arm 1 and the lifting slider 15 capable of moving up or down along the feeding arm 15 are arranged on the rotary arm 1, so that the feeding arm 17 for lifting up the silicon steel coil stock 6 and putting down the silicon steel coil stock 6 conveys the silicon steel coil stock 6 to the crosscut line feeding position.
the drive mechanism for driving the fixed base 2 and the swivel arm 1 is a drive device which can be driven in rotation and can determine a specific position, such as a servomotor, a motor positioned with a limit switch, a proximity switch or a photoelectric switch, a motor which changes the speed of the kinetic energy of the motor by means of a gear mechanism and has a set of drive devices which measure the rotation angle of the gear mechanism or are equipped with encoders or absolute encoders for driving the mechanism to be driven in rotation to the position to be driven.
The first linear transmission device is a device capable of outputting linear power, and can be a motor, a speed reducer, a clutch and a transmission component which are coaxially connected in sequence, the transmission component comprises a ball screw connected with the clutch and a ball nut matched with the ball screw, and the ball screw can drive the ball nut to do linear motion. The first linear transmission device outputs linear power through the ball nut;
the first linear transmission device can also be a linear transmission device consisting 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 second linear transmission device can be a motor, a speed reducer, a clutch and a transmission component which are coaxially connected in sequence, the transmission component comprises a ball screw connected with the clutch and a ball nut matched with the ball screw, and the ball screw can drive the ball nut to do linear motion. The first linear transmission device outputs linear power through the ball nut;
The second linear transmission device can also be a linear transmission device consisting 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 revolving arm 1, the horizontal sliding block 5 and the lifting sliding block 15 driven by the driving mechanism, the first linear transmission device and the second linear transmission device can realize the control of the rotation, the up-down, the left-right, the front-back and the like of the silicon steel coil stock, so that the silicon steel coil stock can be accurately conveyed to a transverse shearing line.
The embodiment has the advantages of simple structure, low cost, reduction of control components and realization of efficient and accurate control.
Further, the embodiment of the invention also comprises a control module, wherein the control module is respectively electrically connected with the driving part, the first linear transmission device and the second linear transmission device;
in an embodiment, the utility model discloses the realization is located the automatic transfer between "stereoscopic warehouse" and "crosscut line", and "stereoscopic warehouse" can be patent "a suspension type transformer silicon steel sheet coil stock stereoscopic warehouse" patent number: 201721087026. X;
The control method of the control module comprises the following steps:
when the cross shearing line needs to be fed, a request is sent to the three-dimensional warehouse through the control module, the three-dimensional warehouse immediately discharges materials, the three-dimensional warehouse returns a discharging completion signal after the discharging is in place, then the control module controls the feeding arm 17 of the utility model to rotate to the position of the silicon steel coil stock in place in the three-dimensional warehouse, and then the horizontal slide block 5 and the lifting slide block 15 are respectively controlled to drive the feeding arm 17 to receive the silicon steel coil stock and convey the silicon steel coil stock to the cross shearing line for assembly; after the silicon steel coil stock is hung on the transverse shearing line uncoiler, the control module controls the horizontal sliding block 5 to drive the feeding arm 17 to retract, and then the rotary arm 1 rotates back to the initial position.
Further, as shown in fig. 3 to 4, a linear through groove is formed in the revolving arm 1 along the length direction thereof, the linear through groove is communicated with each other up and down, and the first guide rail 4, the horizontal slider 5 and the first linear transmission device are located in the linear through groove.
In the above embodiment, the rotary arm 1 is provided with the straight through groove, the straight through groove is communicated with each other up and down, the straight through groove can be provided with the first guide rail 4, the horizontal slider 5 and the first linear transmission device, the first guide rail 4, the horizontal slider 5 and the first linear transmission device can be conveniently installed, the quality of the rotary arm 1 is reduced under the condition of stably conveying silicon steel coils, the design is related to national standard, and higher precision can be obtained.
Further, as shown in fig. 3 to 4, the straight through groove extends to the front end of the horizontal slider 5, so that the front end of the feeding arm forms a concave groove.
In the above-mentioned embodiment, for the convenience transport the arm and dock with pay-off arm 17, the concave groove is formed to the pay-off arm front end, can allow to transport the arm and insert the concave inslot, and pay-off arm 17 rethread second linear transmission passes and transports the arm and accept the silicon steel coil stock, and this embodiment structural design is reasonable for when accepting the silicon steel coil stock, the distance that the outward transmission of pay-off arm 17 extends reduces, has increased the operating efficiency who forwards the silicon steel coil stock.
Further, as shown in fig. 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 disposed on the revolving arm 1, a first nut 16 of the first ball screw 13 is fixed on the horizontal slider 5, and the first servo motor 12 is connected to the horizontal slider 5 through the first ball screw 13; the second linear transmission device comprises a second servo motor 14 and a second ball screw, the second ball screw is arranged on the horizontal sliding block 5, a second nut of the second ball screw is fixed on the lifting sliding block 15, and the second servo motor 14 is connected with the lifting sliding block 15 through the second ball screw.
In the above embodiment, the first linear actuator is composed of the first servo motor 12 and the first ball screw 13, the second linear actuator is composed of the second servo motor 14 and the second ball screw, the servo motor and the ball screw are classical machine tool transmission combination, the transmission efficiency and accuracy are both quite high, and the development of the first linear actuator is low in price, so that the first linear actuator is suitable for the characteristic of simple structure of the present invention.
Furthermore, a positioning device for determining the relative position of the fixed base and the rotary arm is arranged between the fixed base 2 and the rotary arm 1.
In the above embodiments, the positioning device is a component for determining the relative position of the fixed base and the rotary arm, and may be a code disc arranged between the fixed base and the rotary arm, and the encoder may be a contact encoder, an optical encoder or an absolute encoder, or may be a positioning device composed of a limit switch, an optoelectronic switch and a proximity switch. It can establish two positions that connect the silicon steel coil stock and adorn the silicon steel coil stock into specific angle, and then quick connect the silicon steel coil stock and adorn the silicon steel coil stock, improve the utility model discloses an operating efficiency.
Furthermore, the positioning device comprises a proximity switch 11 and a signaling board 10 for matching the detection position of the proximity switch, and the proximity switch 11 and the signaling board 10 are respectively arranged on the fixed base 2 and the rotary arm 1.
in the above embodiment, the positioning device employs the proximity switch 11 and the signaling plate 10 providing the detection area for the proximity switch 11, when the signaling plate 10 rotates to the detection position of the proximity switch 11, the proximity switch 11 outputs a signal to the control module, the control module controls the revolving arm 1 to stop rotating, and at this time, the revolving arm 1 reaches a preset position, and the operation of loading the silicon steel coil 6 or unloading the silicon steel coil 6 is performed; alternatively, the signalling plates 10 may be provided in plurality, providing a plurality of loading positions for the rotary arm 1, at which the rotary arm 1 can load the coil of silicon steel 6, respectively.
Further, a control module is arranged in the fixed base and is electrically connected with the first servo motor 12, the second servo motor 14 and the proximity switch 11 respectively.
in the above embodiment, the following transfer steps are performed under the control of the control module: the rotary arm 1 is driven by a motor to reach the direction of a silicon steel coil stock 6 on the conveying arm, the horizontal sliding block 5 is driven by a first servo motor 12 to move outwards to a material receiving position, then driven by a second servo motor 14 to lift up to lift the silicon steel coil stock and separate from the conveying arm, then the horizontal sliding block 5 is driven by the first servo motor 12 to return back to the inside of the rotary arm 1, when the rotary arm 1 rotates to a position aligned with the material loading position of the transverse shearing line, the proximity switch 11 reaches the detection position of the signaling plate 10, the rotary arm 1 stops rotating, the horizontal sliding block 5 continues to extend outwards under the drive of the first servo motor 12 to send the lifted silicon steel coil stock 6 to the material loading position of the transverse shearing line, then driven by the second servo motor 14 to descend to place the silicon steel coil stock 6 on the wire uncoiling head of the transverse shearing line, and finally the horizontal sliding block 5 is retracted into the rotary arm 1 to complete material receiving, steering, And (6) loading. This implementation adopts proximity switch 11 can effectively improve the accuracy of location, because proximity switch 11 is non-contact switch, can be more lasting carry out work.
further, as shown in fig. 1 to 2, a locking mechanism for locking the fixed base and the rotary arm at a fixed position is provided between the fixed base 2 and the rotary arm 1.
In the above embodiment, for more accurate messenger's revolving arm 1 when connecing the silicon steel coil stock with install the silicon steel coil stock to the horizontal line of cutting on the decoiling head 18 of decoiler, consequently after revolving arm 1 rotated to predetermined position, reuse clamping mechanism fixes a position revolving arm 1 connect the silicon steel coil stock with installation silicon steel coil stock position to when connecing the silicon steel coil stock with revolving arm 1 with installation silicon steel coil stock fixed to its specific position with more accurate mode.
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 arranged at the end of the output shaft of the cylinder 9, the cylinder 9 and the V-shaped groove 7 are respectively fixed on the fixed base 2 and the rotary arm 1, and when the proximity switch 11 and the signaling plate 10 are closest, the wedge 8 matched with the V-shaped groove is opposite to 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 arranged between the fixed base 2 and the rotary arm 1, so that the rotary arm 1 and the fixed base 2 can be effectively fixed at the preset loading position, the V-shaped groove is of an inverted V-shaped structure, when the wedge 8 is clamped in the inverted V-shaped groove, the larger the pressure between the V-shaped groove and the wedge 8 is, the more the wedge 8 is clamped at the top of the V-shaped groove, the more accurate the positioning is, because the silicon steel coil 6 has a heavy weight, the rotary arm 1 may deflect when loading and unloading, and therefore, the clamping structure is arranged when loading and unloading, so that the problem can be effectively solved, the loading and unloading are more stable, the safety when loading and unloading the silicon steel coil 6 is enhanced, the problem of dislocation caused by the balance problem when the rotary arm 1 carries the silicon steel coil 6 is avoided, in addition, the arrangement of the cylinder 9 can further share the weight of the silicon steel coil 6 born by the rotary arm 1, the service life of the rotary connection between the rotary arm 1 and the fixed base 2 is prolonged. The wedge 8 is externally provided with a wedge guide rail 3, the wedge guide rail 3 is fixed on the fixed base 2 and used for providing a guide function for the wedge 8 when the wedge 8 is clamped 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 arranged outside the cylinder, the compression pump is connected with the cylinder 9 through a pipeline, and the electronic switch mechanism arranged on the cylinder 9 is electrically connected with the control module.
In the above embodiment, the cylinder 9 needs to be powered by high-pressure air supplied by a compression pump; the air cylinder 9 is controlled to be inflated and deflated by the electronic switch mechanism, and the control module controls the electronic switch mechanism to be opened or closed.
Further, 2 sides of unable adjustment base have proximity switch 11, control module and linear drive portion, 1 week of slewing arm is provided with a plurality of recesses, every recess one side all is equipped with news-sending board 10, this circumference lower extreme of slewing arm 1 be provided with fix unable adjustment base 2 proximity switch 11 with linear drive portion, linear drive portion's output be equipped with the fixture block of recess cooperation joint, fixture block one side is provided with proximity switch 11 that is used for discerning news-sending board, proximity switch 11 linear drive portion, first servo motor 12, second servo motor 14 and control module electricity are connected.
In the above embodiment, be provided with the recess between unable adjustment base 2 and the gyration arm 1 and by the flexible fixture block of linear drive portion drive, recess and fixture block are used for the relative position between unable adjustment base 2 and the gyration arm 1, and be provided with a plurality of recesses on the week of gyration arm bottom, the fixture block can block in arbitrary recess, the realization is fixed 2 and the gyration arm 1, and every recess side all is provided with the news transmitting plate 10, make proximity switch 11 can be through the position determination recess of confirming news transmitting plate 10, and then the unable adjustment base 2 of fixed a plurality of positions and the position between the gyration arm 1.
furthermore, the linear driving part is provided with a ball screw nut pair, a motor and an encoder, a transmission shaft of the motor, a rotating shaft of the encoder and a lead screw of the ball screw nut pair are in coaxial transmission connection, and a clamping block is arranged on a nut of the ball screw nut pair.
In the above embodiment, linear drive portion uses ball screw nut pair, motor and encoder for accurate transmission, the position of fixture block is known in real time and is sent for the control module to the encoder, when the card reachs preset position, control module control ball screw nut pair drive the card fast insert the recess in, realize fixed position.
In one embodiment, as shown in fig. 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; when the revolving arm 1 is provided with a plurality of heads, one of the revolving arm 1 can balance the gravity center of the revolving arm 1, and the other revolving arm 1 can directly lower the silicon steel coil to load the uncoiling head if the silicon steel coil can be loaded on the revolving arm 1 in advance under some conditions, for example, in order to improve the efficiency of loading the silicon steel coil on the uncoiling head of the uncoiler, and the silicon steel coil can be delivered to the vicinity of the uncoiling head of the uncoiler in advance; the time that the rotary arm 1 firstly receives the silicon steel coil and then rotates to the position near the uncoiling head is avoided if an AGV (automatic navigation) trolley is conveyed to a destination to wait; a plurality of silicon steel coil stocks can be preassembled to 1 bull of gyration arm, can accomplish the purpose of loading the silicon steel coil stock fast for a plurality of heads of opening a book of decoiler.
Further, as shown in fig. 3 to 5, the lifting slider 15 is provided with a feeding arm 17 extending outward, so that the lifting slider 15 can go deep into the inner ring of the silicon steel coil and receive the silicon steel coil, and the feeding arm 17 can pass through a conveying arm from another coil which is receiving the silicon steel coil when receiving the silicon steel coil.
In this embodiment, the silicon steel coil stock is when transporting, the silicon steel coil stock has been connect from the arm that transports that is used for bearing the silicon steel coil stock to lift slider 15, for steady connecing the silicon steel coil stock, when the arm handing-over of transporting of the arm 17 and being bearing the silicon steel coil stock on the lift slider 15, the arm 17 needs to contact with the silicon steel coil stock with transporting, and accept before and not change the focus of silicon steel coil stock after accepting, therefore when the arm 17 that feeds of lift slider accepts, need possess and pass this attribute of the arm that transports that bears the silicon steel coil stock, reach the arm 17 and transport arm continuous contact, make and accept the process and go on completely. The stability that the silicon steel coil stock was transported has been guaranteed to this embodiment, has avoided the silicon steel coil stock because unstable personnel's injures and deaths and the machine damage that the incident such as the roll that results in of accepting is caused.
Further, as shown in fig. 3 to 5, when the other conveying arm carrying the silicon steel coil carries the silicon steel coil along two sides of the center of gravity of the silicon steel coil, the feeding arm 17 of the lifting slider 15 is used for receiving the silicon steel coil at the inner ring of the silicon steel coil and in the direction of the center of gravity; when the other conveying arm carrying the silicon steel coil carries the silicon steel coil along the center of gravity of the silicon steel coil, the feeding arm 17 of the lifting slider 15 has a plurality of outward extensions for receiving the silicon steel coil at the inner ring of the silicon steel coil and at both sides of the center of gravity.
In the above embodiment, in order to stably receive the silicon steel coil from the conveying arm for carrying the silicon steel coil, and considering that the inner ring of the silicon steel coil is circular, if the conveying arm carries the silicon steel coil along two sides of the center of gravity of the silicon steel coil, the conveying arm is divided into two parts, the center of gravity of the silicon steel coil in the center of the conveying arm can allow the feeding arm 17 to pass through, and the feeding arm 17 directly and stably carries the silicon steel coil at the center of gravity of the inner ring of the silicon steel coil.
If the conveying arm bears the silicon steel coil along the gravity center of the silicon steel coil, the conveying arm is a part, the feeding arm 17 can penetrate through two sides of the conveying arm, although the feeding arm 17 does not stably receive the silicon steel coil at the gravity center position of the inner ring of the silicon steel coil, the feeding arm 17 is two parts or more, and therefore the silicon steel coil can be stably received by the combination of the parts. In the above embodiment, because the design cooperation of pay-off arm 17 transports the arm, consequently pay-off arm 17 has reached the purpose of stably accepting the silicon steel coil stock, when avoiding unstable accepting the silicon steel coil stock, the silicon steel coil stock drops the casualties and the damage of equipment that arouses.
Further, as shown in fig. 6 to 7, fig. 6 shows an embodiment of the decoiling head 18 of the decoiler, in this embodiment, the decoiling head 18 is shaped as shown in fig. 6, and the gap of the decoiling head 18 is segmented to allow the feeding arm 17 of a single head to penetrate, in this case, the feeding arm 17 is a single head, and the conveying arm is a multi-head.
Fig. 7 shows another embodiment of the decoiling head 18 of the decoiler, in which the decoiling head 18 is shaped as shown in fig. 7, and the decoiling head 18 is segmented and has a gap allowing the penetration of a double-ended or more-than-double-ended feed arm 17, in which case the feed arm 17 is double-ended or more-than-double-ended.
The utility model discloses a silicon steel coil stock violently trimming automatic feeding method that an embodiment provided, the method includes:
The method comprises the following steps: the material calling module controls an uncoiling head of the transverse shearing line uncoiler to operate in a material loading state and sends a material calling request;
step two: the three-dimensional warehouse control module receives the material calling request and then controls the three-dimensional warehouse to convey the silicon steel coil stock to a preset discharging position, the three-dimensional warehouse control module sends out discharging and positioning information of the silicon steel coil stock, and the three-dimensional warehouse is a controllable storage warehouse which stores a plurality of groups of silicon steel coil stocks and can use any stored silicon steel coil stock;
Step three: after the feeding module receives the discharging in-place information, the mechanical arm is controlled to move to a preset discharging position of the three-dimensional warehouse for receiving materials, and after receiving the materials, the mechanical arm keeps the stability of the silicon steel coil and moves the silicon steel coil to the coil opening head for feeding;
Step four: the material loading module sends material receiving completion information to the three-dimensional warehouse control module.
in the above embodiment, the "stereoscopic warehouse" may be a patent number of "a stereoscopic warehouse for suspended transformer silicon steel sheet coil stock": 201721087026.X, or an AGV (automatic navigation) trolley or a hoisting device and the like which can provide silicon steel coils at specific positions near the uncoiling head of the transverse shearing line uncoiler.
because three-dimensional storehouse or above-mentioned device can provide the silicon steel coil stock of specific position for the arm, therefore when horizontal trimming needs the material loading, the arm can move the silicon steel coil stock department of specific position and connect and get the silicon steel coil stock, and because horizontal trimming moves to the material loading state after, its material loading position is definite, therefore the arm transports the silicon steel coil stock to definite material loading position and carries out the material loading and accomplish the material loading action, after the material loading is accomplished or connect the material to accomplish the back horizontal trimming automatic feeding module and send for three-dimensional storehouse and connect the material and accomplish information, the suggestion three-dimensional storehouse connects the material to accomplish. The steps of the embodiment are simple and reasonable, the material receiving steps can be greatly optimized, and the stable and continuous automatic feeding function is realized.
Further, the method also comprises the following step five: the three-dimensional library control module sends the material receiving completion information to the material calling module for control.
In the embodiment, the material receiving completion information is sent to the material calling module for control, and the material calling module can know the material loading condition of the uncoiling head of the transverse trimming uncoiler; in one embodiment, the material calling module is a main system of the whole workshop, and the material receiving completion information is sent to the material calling module for control, so that the main system can clearly know the material loading condition of the uncoiling head of the transverse shearing line uncoiler, and the smooth production is guaranteed.
further, horizontal trimming automatic feeding module control arm connects material and material loading, and concrete step is as follows:
a. the mechanical arm rotates to a material receiving direction, the height of a feeding arm used for receiving the silicon steel coil on the mechanical arm is adjusted, the discharging position close to the three-dimensional warehouse reaches a material receiving position, the material receiving direction is the discharging direction of the three-dimensional warehouse, and the material receiving position of the feeding arm is the gravity center position of an inner ring of the silicon steel coil discharged from the three-dimensional warehouse;
b. The feeding arm rises after reaching the material receiving position, penetrates through a conveying arm used for bearing the silicon steel coil in the three-dimensional warehouse, continues to rise and receives the silicon steel coil, and then exits the silicon steel coil out of the contact range of the conveying arm, the feeding arm and the conveying arm are used for transferring the silicon steel coil, and the feeding arm and the conveying arm can penetrate through each other along a vertical direction when being positioned on the vertical direction;
c. The mechanical arm rotates to the feeding direction, the height of the feeding arm reaches the top of the uncoiling head in the feeding state, the feeding arm carries a silicon steel coil to approach and extend into the uncoiling head in the feeding state, after the silicon steel coil reaches the position of the uncoiling head device, the feeding arm descends to place the silicon steel coil on the uncoiling head, and the feeding direction is the direction of the central line of the uncoiling head in the feeding state;
d. The mechanical arm withdraws from the feeding arm to the outside of the contact range of the uncoiling head.
In the above embodiment, the stable transfer of the silicon steel coil and the protection of the silicon steel coil are fully considered, the feeding arm 17 uses the inner ring of the silicon steel coil as a loading point, and transfers the silicon steel coil without touching the outside of the silicon steel coil; to the stable delivery of silicon steel coil stock, adopt and not change transporting under the circumstances of silicon steel coil stock focus, consequently, the three-dimensional storehouse bears the weight of the arm of transporting of silicon steel coil stock and the arm on accept the pay-off arm 17 of silicon steel coil stock and can pass each other when connecing the reloading, this kind of reloading mode can not change the focus of silicon steel coil stock, and only need the mode of transporting of simple overlap joint silicon steel coil stock, can accomplish the work of reloading, this structural design is novel, but make the design of arm structure comparatively simple, and the production cost is reduced.
in summary, the transfer steps are as follows: in an embodiment when an AGV (automatic navigation) trolley is transported, a silicon steel coil 6 is transported to an automatic feeding device by the AGV (automatic navigation) trolley, a rotary arm 1 reaches the direction of the silicon steel coil 6 on the AGV trolley under the driving of a motor, a horizontal slide block 5 is driven by a first servo motor 12 to move outwards to a material receiving position, then is driven by a second servo motor 14 to lift up to lift the silicon steel coil to separate from the AGV trolley, then the horizontal slide block 5 is driven by the first servo motor 12 to return back to the inside of the rotary arm 1, when the rotary arm 1 rotates to a position aligned with the material loading position of a transverse shearing line, a proximity switch 11 reaches the detection position of a signaling plate 10, the rotary arm 1 stops rotating, the horizontal slide block 5 continuously extends outwards under the driving of the first servo motor 12 to convey the lifted silicon steel coil 6 to the material loading position of the transverse shearing line, then is driven by the second servo motor 14 to descend to place the silicon steel coil 6 on a transverse shearing line uncoiling head, and the horizontal sliding block 5 is finally retracted into the rotary arm 1 to complete the whole actions of material receiving, turning and feeding. This implementation adopts proximity switch 11 can effectively improve the accuracy of location, because proximity switch 11 is non-contact switch, can be more lasting carry out work.
when there are a plurality of V-grooves 7, two groups will be described in detail. After finishing the horizontal shearing line feeding action, the wedge block 8 is pulled away from the V-shaped groove 7 under the action of the cylinder 9, then the revolving arm 5 rotates to the next connection direction with the AGV trolley, and a proximity switch 11 is arranged at the position and is arranged on the fixed base 2, another V-shaped groove 7 is arranged at the position, corresponding to the wedge block 8, of the revolving arm 5 in the state, when the proximity switch 11 detects a signal in place, a signal is sent to enable the cylinder 9 to continue to act to drive the wedge block 8 to be clamped into the V-shaped groove to lock the revolving arm 1, and the material receiving action is carried out. And the subsequent feeding process between the loading and unloading of the finished silicon steel coil stock 6 and the transverse shearing line is continuously and repeatedly carried out.
It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the present embodiment are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
In addition, descriptions related to "first", "second", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Technical solutions between various embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Claims (8)
1. the utility model provides a horizontal trimming automatic feeding device of silicon steel coil stock which characterized in that includes: the device comprises a fixed base (2), a rotary arm (1) and a driving mechanism for driving the rotary arm to rotate, wherein the rotary arm (1) is rotatably connected to the fixed base (2) through the driving mechanism; a first guide rail (4) is arranged in the length direction of the rotary arm (1), a horizontal sliding block (5) is connected onto the first guide rail (4) in a sliding manner, and a first linear transmission device for driving the horizontal sliding block (5) to slide on the first guide rail (4) is further arranged on the rotary arm (1); the horizontal sliding block (5) is provided with a second guide rail, the length direction of the second guide rail is vertical to the length direction of the first guide rail (4), the second guide rail is connected with a lifting sliding block (15) in a sliding manner, and the horizontal sliding block (5) is also provided with a second linear transmission device for driving the lifting sliding block (15) to slide on the second guide rail; and a feeding arm (17) used for bearing the silicon steel coil in the silicon steel coil is arranged at the front end of the lifting slide block (15).
2. The automatic feeding device for the cross cutting line of the silicon steel coil stock is characterized in that a linear through groove is formed in the rotary arm (1) along the length direction of the rotary arm, the linear through groove is communicated up and down, and the first guide rail (4), the horizontal sliding block (5) and the first linear transmission device are positioned in the linear through groove.
3. The automatic feeding device of the silicon steel coil crosscut line, according to claim 2, characterized in that the straight through groove extends to the front end of the horizontal slider (5), and the front end of the feeding arm (17) forms a concave groove.
4. The automatic feeding device of the silicon steel coil cross cutting line of claim 1, characterized in that the first linear transmission device comprises a first servo motor (12) and a first ball screw (13), the first ball screw (13) is arranged on the rotary arm (1), a first nut (16) of the first ball screw (13) is fixed on the horizontal slider (5), and the first servo motor (12) is connected with the horizontal slider (5) through the first ball screw (13);
The second linear transmission device comprises a second servo motor (14) and a second ball screw, the second ball screw is arranged on the horizontal sliding block (5), a second nut of the second ball screw is fixed on the lifting sliding block (15), and the second servo motor (14) is connected with the lifting sliding block (15) through the second ball screw.
5. the automatic feeding device of the silicon steel coil cross cutting line of claim 1, characterized in that a positioning device for determining the relative position of the fixed base and the rotary arm is arranged between the fixed base (2) and the rotary arm (1);
The positioning device comprises a proximity switch (11) and a signaling plate (10) used for being matched with the proximity switch to detect the position, and the proximity switch (11) and the signaling plate (10) are respectively arranged on the fixed base (2) and the rotary arm (1);
a control module is arranged in the fixed base (2), and the control module is electrically connected with the first servo motor (12), the second servo motor (14) and the proximity switch (11) respectively.
6. The automatic feeding device of the silicon steel coil cross cutting line as claimed in claim 5, characterized in that a clamping mechanism for fixing the fixed base and the rotary arm at fixed positions is arranged between the fixed base (2) and the rotary arm (1);
The clamping mechanism is provided with a cylinder (9), a wedge block (8) and a V-shaped groove (7), the wedge block (8) is arranged at the end part of an output shaft of the cylinder (9), the cylinder (9) and the V-shaped groove (7) are respectively fixed on the fixed base (2) and the rotary arm (1), and when the proximity switch (11) and the signaling plate (10) are closest, the wedge block (8) matched with the V-shaped groove is over against the notch of the V-shaped groove (7);
The air cylinder (9) is externally provided with a compression pump and an electronic switch mechanism for controlling the opening and closing of the air cylinder, the compression pump is connected with the air cylinder (9) through a pipeline, and the electronic switch mechanism arranged on the air cylinder (9) is electrically connected with the control module.
7. The automatic feeding device for the transverse shearing line of the silicon steel coil stock is characterized in that a proximity switch (11), a control module and a linear driving part are arranged on the side surface of the fixed base (2), a plurality of grooves are formed in the circumferential direction of the rotary arm (1), a signaling plate (10) is arranged on one side of each groove, the proximity switch (11) fixed on the fixed base (2) and the linear driving part are arranged at the lower end of the rotary arm (1) in the circumferential direction, a clamping block matched and clamped with the grooves is arranged at the output end of the linear driving part, the proximity switch (11) used for identifying the signaling plate is arranged on one side of the clamping block, and the proximity switch (11), the linear driving part, the first servo motor (12), the second servo motor (14) and the control module are electrically connected.
8. the automatic feeding device of the silicon steel coil cross cutting line of claim 7, wherein the linear driving part comprises a ball screw nut pair, a motor and an encoder, a transmission shaft of the motor, a rotating shaft of the encoder and a screw of the ball screw nut pair are coaxially connected in a transmission manner, and the nut of the ball screw nut pair is provided with the fixture block.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822226735.2U CN209796489U (en) | 2018-12-28 | 2018-12-28 | automatic feeding device for silicon steel coil stock transverse shearing line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822226735.2U CN209796489U (en) | 2018-12-28 | 2018-12-28 | automatic feeding device for silicon steel coil stock transverse shearing line |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484792A (en) * | 2018-12-28 | 2019-03-19 | 中节能西安启源机电装备有限公司 | A kind of silicon steel coiled strip cut-to-length automatic charging method and device |
| CN112045660A (en) * | 2020-08-26 | 2020-12-08 | 孙浩 | SCARA high-speed parallel manipulator |
| CN112427725A (en) * | 2020-10-15 | 2021-03-02 | 苏州冠科工业设备有限公司 | Feeding and discharging machine for transverse shearing line |
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2018
- 2018-12-28 CN CN201822226735.2U patent/CN209796489U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484792A (en) * | 2018-12-28 | 2019-03-19 | 中节能西安启源机电装备有限公司 | A kind of silicon steel coiled strip cut-to-length automatic charging method and device |
| CN109484792B (en) * | 2018-12-28 | 2024-06-18 | 中节能西安启源机电装备有限公司 | Automatic feeding method and device for transverse shearing line of silicon steel coil stock |
| CN112045660A (en) * | 2020-08-26 | 2020-12-08 | 孙浩 | SCARA high-speed parallel manipulator |
| CN112427725A (en) * | 2020-10-15 | 2021-03-02 | 苏州冠科工业设备有限公司 | Feeding and discharging machine for transverse shearing line |
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