CN106357065B - A kind of motor stamping lamination system - Google Patents
A kind of motor stamping lamination system Download PDFInfo
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- CN106357065B CN106357065B CN201610973514.4A CN201610973514A CN106357065B CN 106357065 B CN106357065 B CN 106357065B CN 201610973514 A CN201610973514 A CN 201610973514A CN 106357065 B CN106357065 B CN 106357065B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
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Abstract
The present invention provides a kind of motor stamping lamination system, including rigid frame (2), robotic arm (3), pulldown device (4) and film feeding apparatus (5) and lamination stacking table (8), the robotic arm (3) is mounted on rigid frame (2), the pulldown device (4) is mounted on robotic arm (3) working end, and the lamination stacking table (8) is mounted on the lower section of robotic arm (3) working end；After the motor stamping being preset on film feeding apparatus (5) by pulldown device (4) crawl by robotic arm (3) and it is transported on lamination stacking table (8).Preferably, further include that can carry out the motor stamping trimming device (6) for being stacked shaping to the motor stamping that stacks being located on lamination stacking table (8).The operations such as pulldown, lamination, finishing can be completed using the present invention, the handwork amount in motor stamping lamination operation is considerably reduced, reduces the labor intensity of operating personnel, lamination operating efficiency and lamination quality is also made to be effectively improved.
Description
Technical field
The present invention relates to the lamination techniques fields of motor stamping, are folded more particularly, to for sector structure motor stamping
A kind of motor stamping lamination system of piece operation.
Background technology
Current motor stamping generally has full circle and fan-shaped two kinds of structures, and the motor stamping of completely circular structure is suitable for middle-size and small-size
Motor, the motor stamping of sector structure is as shown in Figure 1, it applies in general to large-size machine.For large-size machine, motor
The quantity of the single layer segmental punching of circle distribution has relationship with motor diameter, and diameter is in the motor of 2m or so, fan-shaped punching therein
It is a circumference that piece, which is usually nine, and circumferential angle shared by every segmental punching is 40 °.Compared with the motor stamping of completely circular structure
Compared with the motor stamping of sector structure is lower for the requirement for manufacturing mold, especially for large-size machine, using sector structure
The overall expenses of manufacture mold can be greatly reduced in motor stamping.
It is to be processed into electric machine iron core by laminating technical process by several motor stampings in motor production process, it is described
Motor stamping laminate technological process be generally divided into punching press, stacking, transport, lamination, oil pressure, screw rod fastening etc. processes.Wherein, electric
The lamination process of machine punching is most difficult to operate.Traditional motor stamping lamination operating type is usually that two operators are back-to-back
It stands in tooling, bends over to stack motor stamping.In order to ensure lamination quality, it will usually increase fan-shaped locating bar, need every time by
After ventilation hole alignment locating bar on motor stamping, stack down again；Often stack several layers, need check interlayer internal-and external diameter whether there is or not
Dislocation, is used in combination wooden mallet to be corrected；It is also desirable to there are other two coordinating operation personnel to deliver motor respectively outside tooling
Punching, to ensure being carried out continuously for lamination.Traditional artificial lamination operating type, is primarily present following shortcoming：
First, it when stacking motor stamping, needs to be directed at locating bar every time, and stack several layers and just modified, grasp
It makes comparisons time-consuming, laborious, therefore, lamination operating efficiency is relatively low.
Second, it needs to coordinate tooling operation by locating bar and ensures lamination quality by the working experience of operator,
Artifical influence factor is more, and accuracy is not high, and lamination quality is caused actually to be difficult to ensure.
Third, since lamination person needs to bend over to work continuously for a long time, the physical consumption of operator is big, and energy is difficult
To keep concentrating, causes its labor intensity larger, also easy to produce occupational disease, and then keep lamination operating efficiency and lamination quality equal
It can be affected.
4th, when delivering motor stamping, if it is mutually viscous caused by burr or punching oil etc. to encounter motor stamping
Even, it is also necessary to carry out manual separation, it is more time-consuming in operation, to affect lamination operating efficiency.
5th, since the lamination process of every motor needs 3-4 people's cooperating, when production task is more busy, just
More lamination operating personnels are needed to configure, therefore, not only increase human cost, and motor production efficiency is not also high.
Invention content
The technical problem to be solved by the present invention is to：In view of the problems of the existing technology, a kind of motor stamping lamination is provided
System, reduces the labor intensity of operating personnel, and improves lamination operating efficiency and lamination quality.
The technical problem to be solved in the present invention is realized using following technical scheme：A kind of motor stamping lamination system, packet
Rigid frame, robotic arm, pulldown device and film feeding apparatus and lamination stacking table are included, the robotic arm is mounted on rigid frame, and described grabs
Sheet devices are mounted on robotic arm working end, and the lamination stacking table is mounted on the lower section of robotic arm working end；The robotic arm is logical
It crosses after the motor stamping that the crawl of pulldown device is preset on film feeding apparatus and is transported on lamination stacking table.
Preferably, further include motor stamping trimming device, the motor stamping trimming device is on lamination stacking table
Motor stamping carries out being stacked shaping.
Preferably, the motor stamping trimming device includes the first reshaping device, and first reshaping device includes rising
Sending down abnormally ascending cylinder and the first cylinder, lifting cylinder action output end connect with the first mounting base and drive the first mounting base relative to
Lamination stacking table makees elevating movement, and first cylinder is mounted in the first mounting base, and action output end is connect with shaping pushing block, institute
It states the first cylinder driving shaping pushing block and makees radial motion relative to lamination stacking table.
Preferably, first reshaping device further includes third servo motor and the second screw body, the third servo
Motor is connected in the first mounting base, and second screw body is connect with first support, third servo motor driving the
Two screw bodies simultaneously make the first mounting base make lifting linear motion relative to lamination stacking table.
Preferably, the motor stamping trimming device further includes the second reshaping device, and second reshaping device includes
Second mounting base, is fixedly mounted the first cylinder in the second mounting base, and the first cylinder movement output end connects with shaping pushing block
It connects, the first cylinder driving shaping pushing block makees radial motion relative to lamination stacking table.
Preferably, second reshaping device further includes the 4th servo motor and third screw body, the 4th servo
Motor is connect with the second mounting base, and the third screw body is connect with second support, and the 4th servo motor drives third
Screw body simultaneously makes the second mounting base make lifting linear motion relative to lamination stacking table.
Preferably, the pulldown device includes sucker mounting plate, pneumatic quick-change coupler and vacuum cup, the vacuum
Sucker is fixedly mounted on sucker mounting plate bottom, and the pneumatic quick-change coupler is connected and fixed with sucker mounting plate, and and vacuum
Pipeline is formed between sucker to communicate.
Preferably, the film feeding apparatus includes raw material disk rack and raw material disk, is connected on the raw material disk rack
First servo motor and the first screw body, first screw body are connect with material hand is risen, and the raw material disk is mounted on raw material
On disk rack, the first servo motor drives the first screw body and a liter material palmistry is made to lift raw material disk rack
Linear motion.
Preferably, the film feeding apparatus further includes the second servo motor, on the second servo motor action output shaft
It is fixedly connected with driving gear, rotating disk is set on the raw material disk rack, the rotating disk is fixedly connected with driven gear, institute
It states and forms engaged transmission between driving gear and driven gear.
Preferably, the lamination stacking table includes pedestal, top plate and several second cylinders and several fixed pillars, described
The opposite end of fixed pillar is connected and fixed with pedestal, top plate respectively, several second cylinders be fixedly mounted on pedestal and
It is distributed in a ring, action output end is connect with punching positioning sliding block, and second cylinder drives punching positioning connected to it
Sliding block makees radial motion relative to pedestal.
Compared with prior art, the beneficial effects of the invention are as follows：By film feeding apparatus foot is provided for robotic arm pulldown action
The motor stamping of enough amounts is preset at the motor stamping on film feeding apparatus, so by robotic arm by pulldown device crawl thereon
It is transported to the designated position above lamination stacking table afterwards to be discharged, on lamination stacking table, is rushed by the motor that robotic arm constantly discharges
Piece is successively stacked, until reaching the motor stamping total amount of setting；In addition, can also be to lamination by motor stamping trimming device
The motor stamping that laminates on platform is modified in due course, ensures that lamination unevenness degree meets sets requirement.Therefore, the present invention can complete
The functions such as pulldown, lamination, finishing, and realize the continuous operation of lamination, so as to greatly reduce motor stamping lamination operation
In handwork amount, reduce the labor intensity of operating personnel, and save human cost, meanwhile, also greatly improve
Lamination operating efficiency and lamination quality.
Description of the drawings
Fig. 1 is the motor stamping schematic diagram of sector structure.
Fig. 2 is a kind of overall structure diagram of motor stamping lamination system of the present invention.
Fig. 3 is the D structure figure of the pulldown device in Fig. 2.
Fig. 4 is the front view of the pulldown device in Fig. 2.
Fig. 5 is the vertical view of the pulldown device in Fig. 2.
Fig. 6 is the side view of the pulldown device in Fig. 2.
Fig. 7 is the structural map of the film feeding apparatus in Fig. 2.
Fig. 8 is the D structure figure of the raw material disk rack in Fig. 7.
Fig. 9 is the front view of the raw material disk rack in Fig. 7.
Figure 10 is the vertical view of the raw material disk rack in Fig. 7.
Figure 11 is the D structure figure (containing motor stamping) of the raw material disk in Fig. 7.
Figure 12 is the D structure figure (being free of motor stamping) of the raw material disk in Fig. 7.
Figure 13 is the front view of raw material disk shown in Figure 12.
Figure 14 is the vertical view of raw material disk shown in Figure 12.
Figure 15 is the upward view of raw material disk shown in Figure 12.
Figure 16 is the D structure figure of the eccentric locating rod in Figure 12.
Figure 17 is the front view of eccentric locating rod shown in Figure 16.
Figure 18 is the upward view of eccentric locating rod shown in Figure 16.
Figure 19 is the front view of the baffle in Figure 15.
Figure 20 is the A-A direction views of baffle shown in Figure 19.
Figure 21 is the front view of the motor stamping trimming device in Fig. 2.
Figure 22 is the vertical view of the motor stamping trimming device in Fig. 2.
Figure 23 is the side view of the motor stamping trimming device in Fig. 2.
Figure 24 is the D structure figure of the lamination stacking table in Fig. 2.
Figure 25 is the front view of the lamination stacking table in Fig. 2.
Figure 26 is the vertical view of the lamination stacking table in Fig. 2.
It is marked in figure：1- motor stampings, 2- rigid frames, 3- robotic arms, 4- pulldown devices, 5- film feeding apparatus, 6- motor stampings
Trimming device, 7- track carriages, 8- lamination stacking tables, 51- raw material disk racks, 52- position sensors, 53- raw material disks, 54-
Air jet pipe, 55- lance holders, 56- jet pipe clamps, 57- the piece number detection devices, 101- location holes, 102- card slots, 401- connect
Acting flange, 402- sucker mounting plates, 403- optoelectronic switches, 404- pneumatic quick-change couplers, 405- vacuum cups, 5101- first are watched
Take motor, the first screw bodies of 5102-, 5103- driven gears, 5104- rotating disks, 5105- raw material disk locating bars, 5106- framves
Babinet, 5107- lower margins, 5108- rise material hand-guided frame, and 5109-, which rises, expects hand, 5110- driving gears, the second servo motors of 5111-,
5301- absorption lifting plates, 5302- support columns, the chassis 5303-, 5304- motor stamping locating bars, 5305- lifting lugs, 5306- are fixed
Seat, the padded plates of 5307-, 5308- baffles, 5309- connecting rods, 601- third servo motors, the first mounting bases of 602-, 603- first
Cylinder, the second screw bodies of 604-, 605- lifting cylinders, 606- first supports, 607- shaping pushing blocks, 608- the 4th servo electricity
Machine, the second mounting bases of 609-, 610- second supports, 611- sleeves, 612- third screw bodies, 801- track objective tables, 802-
Pedestal, 803- cylinder blocks, 804- punching positioning sliding blocks, the second cylinders of 805-, 806- top plates, 807- electric circuit connection containers, 808- are fixed
Position mandrel, 809- limited blocks, 810- slide track, and 811- fixes pillar, 812- cushion blocks.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with the accompanying drawings and specific implementation
The present invention is described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
Motor stamping lamination system as shown in Figure 2 includes mainly rigid frame 2, robotic arm 3, pulldown device 4 and is supplied on chip
5 and lamination stacking table 8 are set, the rigid frame 2 is mainly made of four columns and a top plate, is mainly used for installing robotic arm 3, and protect
8 safety of lamination stacking table is protected, the robotic arm 3 is mounted on rigid frame 2, is driven by servo motor, and can be in certain distance and angle
Spend movement in range；According to actual needs, the robotic arm 3 can install 3-4, so that its working range can just be covered
360 ° of circumference of lid, to ensure lamination working efficiency and lamination quality.The pulldown device 4 is mounted on 3 working end of robotic arm, described
Lamination stacking table 8 is mounted on the lower section of 3 working end of robotic arm, and the film feeding apparatus 5 is placed on the specific bit in 3 working range of robotic arm
It sets.When carrying out lamination operation, first by wait for lamination operation, motor stamping 1 as shown in Figure 1 be preset on film feeding apparatus 5, lead to
Often, the total amount for the motor stamping 1 being preset on film feeding apparatus 5 should at least meet the punching demand of an electric machine iron core, to improve
Working efficiency.After the robotic arm 3 captures the motor stamping 1 that is preset on film feeding apparatus 5 by pulldown device 4, and by its turn
It is transported on lamination stacking table 8.On lamination stacking table 8, when motor stamping 1 laminate quantity increase when, consider further that motor stamping 1 itself
Mismachining tolerance and robotic arm 3 kinematic error of itself may cause the degree of being stacked of the motor stamping laminated 1 to exceed reasonable model
It encloses, in order to improve lamination quality of the motor stamping 1 on lamination stacking table 8, setting motor stamping trimming device 6 can be increased, it is described
Motor stamping trimming device 6 be mounted on the outside of lamination stacking table 8, can be to being located on lamination stacking table 8 by motor stamping trimming device 6
Motor stamping 1 carry out being stacked shaping, to improve the lamination quality of motor stamping 1.
The film feeding apparatus 5 may be used such as Figure 11, Figure 12, Figure 13, Figure 14, raw material disk 53 shown in figure 15, described
Mainly cage structure is collectively formed by absorption lifting plate 5301, support column 5302, chassis 5303 in raw material disk 53, wherein described
Support column 5302 be arranged several, and the opposite end of same root support column 5302 respectively with absorption lifting plate 5301, chassis
5303 are fixedly connected, and motor stamping locating bar 5304 is also fixedly connected on chassis 5303；In addition, being pushed up in absorption lifting plate 5301
End is also fixedly connected with lifting lug 5305, to facilitate the Integral lifting of raw material disk 53, move.It, will be such as Fig. 1 institutes when carrying out lamination operation
The motor stamping 1 shown is preset on film feeding apparatus 5, and the motor stamping locating bar 5304 on film feeding apparatus 5 runs through motor stamping 1
On location hole 101.In general, at least two is arranged in the location hole 101 on the motor stamping 1, the electricity being located on film feeding apparatus 5
Machine punching locating bar 5304 is corresponding with location hole 101, to carry out effective position to motor stamping 1.
Since the specification of motor stamping 1 is different, the spacing of location hole 101 thereon is also variant, in order to make raw material disk 53
Eccentric locating rod, institute as shown in Figure 16, Figure 17 can be arranged in the preset storage that can adapt to the motor stamping 1 of more specifications
The eccentric locating rod stated includes discoidal fixed seat 5306, is respectively fixedly connected in the upper and lower opposite sides of fixed seat 5306
Motor stamping locating bar 5304 and connecting rod 5309, central axis and the connecting rod 5309 of the motor stamping locating bar 5304
It is mutually parallel between central axis but misaligned, thus forms the eccentric locating rod of eccentric structure.Preferably, the fixed seat
It is integrated molding structure, the center of the fixed seat 5306 between 5306 and motor stamping locating bar 5304, connecting rod 5309
Axis and the central axis of connecting rod 5309 overlap, and are mutually parallel with the central axis of motor stamping locating bar 5304,
So that the processing of eccentric locating rod is more prone to, and mechanical strength is reliable.As shown in Figure 12, Figure 14, the bias locating rod
In connecting rod 5309 and chassis 5303 be connected with each other, and eccentric locating rod can be rotated relative to chassis 5303.Therefore, when inclined
When heart locating rod is rotated relative to chassis 5303, the spacing between adjacent two motor stamping locating bars 5304 will also change therewith
Become, so that raw material disk 53 is adapted to the preset storage of the motor stamping 1 of different size, to correspondingly reduce raw material disk 53
Application cost.
During placing motor stamping 1 or crawl motor stamping 1 on raw material disk 53, it is necessary to the eccentric positioning of limitation
Bar is freely rotated relative to chassis 5303, to improve operating efficiency, meanwhile, facilitate two adjacent motor stampings fixed again
The adjustment of spacing between the stick 5304 of position, for this purpose, threaded connection hole can be opened up in connecting rod 5309, it is preferable that the company
Two threaded connection holes are opened up on extension bar 5309, as shown in figure 18, to make chassis 5303 using connection bolt or screw
Screw thread movable connection structure is formed between connecting rod 5309.Further, in order to ensure eccentric locating rod and chassis 5303 it
Between connection reliability, countersunk head slot can be opened up in 5303 bottom of chassis, installation is as shown in Figure 19, Figure 20 in the countersunk head slot
Baffle 5308 opens up and the one-to-one mounting hole of threaded connection hole in connecting rod 5309 on baffle 5308.The gear
Plate 5308 is mounted in the countersunk head slot of 5303 bottom of chassis, and passes through connection between baffle 5308, chassis 5303, connecting rod 5309
Bolt or screw link into an integrated entity.Connection bolt or screw are unclamped, eccentric locating rod is made to be turned to relative to chassis 5303
Suitable position recycles connection bolt or screw that eccentric locating rod is made to be connected and fixed with chassis 5303, you can easily to realize
Spacing adjustment between two adjacent motor stamping locating bars 5304, and eccentric locating rod is effectively prevented relative to chassis
5303 are freely rotated.
As shown in Figure 12, Figure 14, padded plate 5307 is fixedly connected on chassis 5303, the height of the padded plate 5307 is most
It is contour with fixed seat 5306 well, is cooperated with fixed seat 5306 by the way that padded plate 5307 is arranged, and support motor punching jointly
Piece 1 can prevent the motor stamping being placed on raw material disk 53 1 from laminating deformation, to advantageously ensure that lamination quality.
Stack several motor stampings 1 on the raw material disk 53, and by motor stamping locating bar 5304 to the electricity that stacks
Machine punching 1 is positioned.It is that crawl is located in the spatial position of setting in view of the movement travel of robotic arm 3 is relatively more fixed
Motor stamping 1 on raw material disk 53, and the sectorial area of the motor stamping 1 of monolithic is smaller, is imitated for the pulldown of hoisting machine arm 3
Rate needs the preset multiple pileup piece on raw material disk 53, the motor stamping quantity in conjunction with needed for single motor iron core and site space
Raw material disk 53 is designed to stack the cage structure in space with 3 and uniformly distributed motor stamping by size, i.e. raw material disk 53 can be with
3 heap motor stampings are accommodated simultaneously, and this 3 heap motor stamping surrounds a full circle, as shown in figure 11.Therefore, in order to ensure machine
Arm 3 can smoothly grab the motor stamping 1 on raw material disk 53, and not requiring nothing more than raw material disk 53 can accurately rotate, so as to
After upper a pile motor stamping 1 has been crawled, next heap motor stamping 1 can be made accurately to rotate to a pile motor stamping 1
Position, and require in same a pile motor stamping 1, after a upper motor stamping 1 is caught away, next electricity adjacent thereto
Machine punching 1 should be able to reach the position of a motor stamping 1 automatically, in order to crawl next time of robotic arm 3.
In order to preferably meet the continuous work needs of robotic arm 3, raising lamination working efficiency can be in above-mentioned raw materials disk
Increase setting raw material disk rack 51 on the basis of 53, film feeding apparatus 5 collectively constituted by raw material disk rack 51 and raw material disk 53,
As shown in Figure 7.Specifically：
The construction of the raw material disk rack 51 is fixed in 5106 bottom of frame babinet and is connected as shown in Fig. 7, Fig. 8, Fig. 9, Figure 10
Grounding leg 5107, to facilitate the location and installation of raw material disk rack 51；First servo motor is set on raw material disk rack 51
5101 and first screw body 5102, first screw body 5102 connect with material hand 5109 is risen, the liter expects that hand 5109 is
In the tablet of palm shaped structure, the action of the first screw body 5102 is driven by first servo motor 5101, by the first lead screw machine
The driving of structure 5102 rises material hand 5109 and makees lifting linear motion relative to raw material disk rack 51.It is arranged on raw material disk rack 51
There is the second servo motor 5111, second servo motor 5111 acts and is fixedly connected with driving gear 5110 on output shaft, described
Rotating disk 5104 is also set up on raw material disk rack 51, the rotating disk 5104 is fixedly connected with driven gear 5103, described
Engaged transmission is formed between driving gear 5110 and driven gear 5103, is also opened up in rotating disk 5104 and rises material 5109 phase of hand
Matched 3 groups of palm shaped positioning grooves, as shown in Fig. 8, Figure 10, this 3 groups of palm shaped positioning grooves be on raw material disk 53
Motor stamping heap number correspond.Therefore, pass through the rotation of control rotating disk 5104, so that it may so that on raw material disk 53
Every a pile motor stamping entirety bottom can have an opportunity respectively with liter material a hand 5109 be in contact.Preferably, in rotating disk
It can be fixedly connected with raw material disk locating bar 5105 on 5104, correspondingly, be arranged on the chassis of raw material disk 53 5303 corresponding
Positioning through hole so that raw material disk locating bar 5105 can form clamping structure between raw material disk 53, ensure that raw material disk 53 with
The synchronization action of rotating disk 5104, so as to ensure the feed accuracy of film feeding apparatus 5.Wherein, the raw material disk locating bar
5105 tops preferably form pyramidal structure, when raw material disk 53 to be lifted on raw material disk rack 51, to pass through
Raw material disk locating bar 5105 plays certain guiding, positioning action to raw material disk 53.
When carrying out feed operation, raw material disk 53 is lifted on raw material disk rack 51, and fixed by taper raw material disk
Position stick 5105 is positioned, meanwhile, so that the bottom of the wherein a pile motor stamping on raw material disk 53 is expected 5109 phase of hand with liter
Contact.Preferably, raw material disk 53 can also be fastenedly connected on raw material disk rack 51 using fixed block, and makes raw material disk 53
On wherein a pile motor stamping be placed exactly in the pulldown position of robotic arm 3.After robotic arm 3 completes a pulldown, first watches
It takes motor 5101 and drives the action of the first screw body 5102, and so that rise material hand 5109 rises one relative to raw material disk rack 51
Fixed height drives that a pile motor stamping in contact is whole similarly to rise relative to raw material disk 53 by a liter material hand 5109
Certain altitude, to allow that uppermost motor stamping 1 of the heap motor stamping to ramp to designated position, for machine
The pulldown next time of device arm 3.Therefore, in same a pile motor stamping 1, if after a upper motor stamping 1 is caught away, with its phase
Next adjacent motor stamping 1 will reach the position of a motor stamping 1 automatically, thereby may be ensured that robotic arm 3 to electricity
Effective crawl of machine punching 1.It, can be in raw material disk rack 51 in order to improve liter kinetic stability, a reliability for material hand 5109
On be fixedly connected with liter a material hand-guided frame 5108, as shown in figure 8, the liter material hand-guided frame 5108 includes mainly two mutually flat
The right circular cylinder of row setting, this two right circular cylinders form clearance fit through liter material hand 5109 and respectively with a liter material hand 5109,
It is flexibly connected to make to be formed between liter material hand 5109 and liter material hand-guided frame 5108, and rising material hand 5109 can be relative to a liter material
About 5108 hand-guided frame moves along a straight line.
After that a pile motor stamping 1 that robotic arm 3 can be grabbed smoothly is crawled, the second servo can be passed through
Motor 5111 drives driving gear 5110 to rotate, and 5103 synchronization action of driven gear is driven by driving gear 5110, to drive
Rotating disk 5104 and raw material disk 53 rotate synchronously so that the lower a pile motor stamping on raw material disk 53 is accurately rotated to
The position of upper a pile motor stamping, also, the bottom of the lower a pile motor stamping entirety can be in contact with a liter material hand 5109, because
This, is effectively guaranteed the continuous normal work of robotic arm 3.
In the Punching Process of motor stamping 1, punching press position easy tos produce burr, also, in 1 table of motor stamping
It is also possible to remain punching oil, dust and other impurities on face, the factors such as these burrs, punching oil are be easy to cause between motor stamping 1
Stick to each other phenomenon occurs, it, may be primary in a grasping movement so as to cause robotic arm 3 when capturing motor stamping 1
Property catches away two or two or more motor stampings 1.It can be in frame case as shown in Fig. 7, Fig. 9 in order to avoid this phenomenon occurs
It is fixedly connected with lance holder 55 on body 5106, air jet pipe 54 is fixedly connected on lance holder 55.It preferably, can also be
Jet pipe clamp 56 is connected on lance holder 55, the air jet pipe 54 is gripped by jet pipe clamp 56.In robotic arm 3
During each pulldown, when being captured by robotic arm 3 but there is the motor stamping of stick to each other being detached from motor stamping locating bar 5304
When, it is passed through compressed air into air jet pipe 54, the motor stamping that adhesion therein can be made extra using compressed air is blown off, should
The motor stamping blown off drops back into its original position on raw material disk 53 along motor stamping locating bar 5304, to wait for robotic arm
3 crawl next time ensure that robotic arm 3 so as to dramatically avoid robotic arm 3 from capturing extra motor stamping
Pulldown validity；Meanwhile compressed air can also enable to remain in punching oil on 1 surface of motor stamping, dust and other impurities
It removes, to be conducive to improve the lamination quality of motor stamping lamination system.By the way that jet pipe clamp 56 is arranged, can also facilitate
Adjust jet height and the jet direction of air jet pipe 54, it is ensured that the list after the motor stamping 1 of stick to each other is completely separable and separated
The surface cleanness of itself of piece motor stamping 1.
Above-mentioned film feeding apparatus 5 controls the action of the first screw body 5102 by first servo motor 5101, passes through second
Servo motor 5111 controls the engaged transmission between driving gear 5110 and driven gear 5103, can ensure to supply well on chip
Feed efficiency and the feed accuracy for setting 5, to be conducive to improve the lamination efficiency and lamination quality of lamination system.It needs to illustrate
, when carrying out lamination operation, especially by manually carrying out manual feed operation when, above-mentioned film feeding apparatus 5 can also only
Including raw material disk 53；In addition, in the raw material disk rack 51, first servo motor 5101, the first lead screw can be only set
Mechanism 5102 and liter material hand 5109, so that raw material disk 53 can only be made to move along a straight line up and down relative to raw material disk rack 51；Certainly,
Second servo motor 5111, driving gear 5110, driven gear 5103 and rotating disk 5104 can also be only set, so that raw material disk
53 can only circumferentially rotate relative to raw material disk rack 51.Specific setting can rationally be adjusted according to scene needs.
The overall construction of the pulldown device 4 includes mainly sucker mounting plate 402, gas as shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6
Dynamic quick-release connector 404 and vacuum cup 405, the vacuum cup 405 is fixedly mounted on 402 bottom of sucker mounting plate, described
Pneumatic quick-change coupler 404 be connected and fixed with sucker mounting plate 402, and between vacuum cup 405 formed pipeline communicate.In order to
Facilitate the connection between pulldown device 4 and robotic arm 3 to install, can be fixedly connected on sucker mounting plate 402 such as Fig. 3, Fig. 4 institute
The connecting flange 401 shown.
When carrying out pulldown operation to the motor stamping 1 being preset on film feeding apparatus 5 using robotic arm 3, first in robotic arm 3
Working end installs pulldown device 4, then connects pneumatic quick-change coupler 404 and tracheae, by tracheae to pneumatic quick-change coupler
404 are passed through compressed air, make to occur negative pressure state in vacuum cup 405 or even therefore vacuum state passes through vacuum cup 405
The aerodynamic suction of offer just can make it firmly grasp motor stamping 1, until the motor stamping being drawn 1 is transported to by robotic arm 3
The specified off-chip position of 8 top of lamination stacking table；Stop being passed through compressed air to pneumatic quick-change coupler 404, it is negative in vacuum cup 405
Pressure condition or vacuum state disappear, at this point, the motor stamping 1 firmly grasped by vacuum cup 405 can be smooth with vacuum cup 405
It separates, and is detached from the motor stamping 1 after vacuum cup 405 and is fallen directly under self gravitation effect on lamination stacking table 8, so far, grab
Sheet devices 4 complete pulldown operation.
In order to make pulldown device 4 to firmly grasp motor punching securely with sufficient absorption dynamics when capturing motor stamping 1
Several vacuum cups 405 and several pneumatic quick-change couplers can be respectively set in piece 1 on same sucker mounting plate 402
404, it is corresponded between the vacuum cup 405 and pneumatic quick-change coupler 404.Preferably, the vacuum cup 405 is being inhaled
It is uniformly distributed on disk mounting plate 402, is locally deformed with because of unbalance stress in transport process to avoid motor stamping 1.It is special
Not, organ-shaped vacuum cup may be used in the vacuum cup 405, to ensure that vacuum cup 405 can be firmly grasped securely
Motor stamping 1.The sucker mounting plate 402 uses concave structure, as shown in figs. 3 and 5, to realize sucker mounting plate
402 loss of weight is conducive to the energy-saving of robotic arm 3.
As shown in Figure 24, Figure 25, Figure 26, the lamination stacking table 8 includes mainly pedestal 802, top plate 806 and several second
Cylinder 805 and several fixed pillars 811, the pedestal 802, top plate 806 are disc-shaped structure, each fixed pillar
811 opposite end is connected and fixed with pedestal 802, top plate 806 respectively, several described second cylinders 805 are fixedly mounted on
It is distributed on pedestal 802 and in a ring, it is preferable that several second cylinders 805 are uniformly distributed in a ring on pedestal 802.
The action output end of each the second cylinder 805 is connect with punching positioning sliding block 804 respectively, by the driving of the second cylinder 805 and its
The punching positioning sliding block 804 of connection makees radial motion relative to pedestal 802.In view of being arranged on motor stamping 1 as shown in Figure 1
There is card slot 102, it can be in the setting of the outermost end of punching positioning sliding block 804 and 102 matched convex ribs of card slot, so as to motor stamping
1 can be mutually engaged by clamping by card slot 102 and the convex ribs positioned at 804 outermost end of punching positioning sliding block, and along convex ribs straight line
It glides, so as to so that the motor stamping 1 fallen on lamination stacking table 8 is achieved and efficiently locates, therefore, efficiently reduce folded
The lamination deviation between motor stamping 1 on piece platform 8, to control the lamination unevenness degree of the motor stamping 1 on lamination stacking table 8,
Be conducive to improve the entire laminations quality of lamination stacking table 8.
In order to avoid several second cylinders 805 cause to interfere with each other in action because of vibration, ensure the second cylinder 805
Action precision, several the second cylinders 805 can be fixedly connected on cylinder block 803, the cylinder block 803 and bottom
It is connected and fixed between seat 802.An electric circuit connection container 807 can also be fixedly mounted on cylinder block 803, such as Figure 25, Tu26Suo
Show, to prevent the expanding-contracting action of several the second cylinders 805 from being interfered by electrical wiring.
In 8 course of work of lamination stacking table, first, 804 phase of punching positioning sliding block connected to it is driven by the second cylinder 805
It for 802 radial direction of pedestal and moves out, and punching positioning sliding block 804 is made to be moved to setting position, several punchings are fixed
Position sliding block 804 is on same circumference；Then, segmental punching lower clamping ring is placed on pedestal 802.
Determine when the card slot 102 that motor stamping 1 to be laminated is taken on 8 top of lamination stacking table and motor stamping 1 is directed at punching
When the convex ribs of position 804 outermost end of sliding block, motor stamping 1 is discharged, the motor stamping 1 will be determined by card slot 102 with positioned at punching
The convex ribs of position 804 outermost end of sliding block are mutually engaged by clamping, and then the convex ribs on punching positioning sliding block 804 slip down.Such as
This is operated repeatedly, until the total amount of the motor stamping 1 on the lamination stacking table 8 reach setting laminate quantity.It is in order to prevent
Motor stamping 1 on lamination stacking table 8 occurs gross distortion and influences lamination quality, can be in each 804 bottom of punching positioning sliding block
Cushion block 812 is set, and as shown in Figure 24, Figure 26, the cushion block 812 is preferably contour with segmental punching lower clamping ring.Pass through cushion block 812
It cooperates with segmental punching lower clamping ring, and supports motor stamping 1 jointly, motor stamping 1 can be effectively prevented and made in lamination
Gross distortion occurs during industry and influences lamination total quality.
After the total amount of the motor stamping 1 on lamination stacking table 8, which reaches setting, laminates quantity, then the second cylinder 805 is operated to drive
Punching positioning sliding block 804 connected to it is moved relative to 802 radial direction of pedestal and inwardly movement, so that several punchings positioning is slided
Block 804 is shunk back towards 8 center of lamination stacking table, until several punching positioning sliding blocks 804 are completely separable with motor stamping 1.
Finally, oil pressure operation is carried out to the motor stamping 1 on lamination stacking table 8, is used in combination screw rod to lock, is removed by lamination stacking table 8
After hydraulic press, so that it may integrally to hang out the iron core for laminating completion.
In order to facilitate the moving operation of lamination stacking table 8, and the labor intensity of operating personnel is reduced, it can be in above-mentioned lamination stacking table 8
On the basis of increase setting track objective table 801 and track carriage 7, the track carriage 7 includes sliding track
810, drag chain and kerve, anti-offset holder, dust cover etc., wherein the sliding track 810 and 801 phase of track objective table
Cooperation, and track objective table 801 can be slided relative to sliding track 810.Track objective table is connected by sliding track 810
801 and hydraulic press, so that lamination stacking table 8 is slidably reciprocated along sliding track 810 relative to hydraulic press, to facilitate lamination stacking table
8 shift-ins remove hydraulic press, significantly reduce the labor intensity of operating personnel.Ground at 810 both ends of sliding track is equal
Equipped with chuck, sliding stroke positioning and backstop are carried out to track objective table 801 to facilitate (together with lamination stacking table 8).
It is fixedly connected with positioning core axle 808 on the track objective table 801, is opened up on cylinder block 803 and positioning core axle
808 matched location holes, the cylinder block 803 on track objective table 801, are such as schemed by 808 location and installation of positioning core axle
Shown in 25, positioning core axle 808 therein, which also helps, ensures that the center of lamination stacking table 8 is overlapped with the center of track objective table 801.Into
One step, limited block 809 is set on track objective table 801, and 809 preferred inversion T-shaped block of the limited block is limited by being arranged
Block 809 can be effectively prevented cylinder block 803 and rotate relative to track objective table 801, ensure the lamination effect of lamination stacking table 8
Rate and lamination quality.
The lamination stacking table 8 is to drive several punching positioning sliding blocks 804 relative to pedestal by several second cylinders 805
802 make radial motion, and the internal diameter of the motor stamping 1 of sector structure is accurately positioned with realizing, to improve motor punching
The degree of being stacked of piece 1.In general, the motor stamping 1 of the same sector structure on same circumferencial direction needs to configure two punchings
Piece positioning sliding block 804 carries out internal diameter positioning, to ensure that lamination unevenness degree meets sets requirement to the maximum extent.For different inner diameters
Sector structure motor stamping 1, can be realized by adjusting the actuating length of second cylinder 805.
After the completion of lamination, then by operate the second cylinder 805 so that several punching positioning sliding blocks 804 and motor stamping
1 is completely separable, since the taking-up of several punching positioning sliding blocks 804 is realized by the pulling force of the second cylinder 805, to
Avoid the lamination that artificial placement positioning slot stick tooling carries out locating slot stick tooling existing when lamination positioning because of motor stamping 1
Uneven the problem of causing to be clamped and be difficult to take out, cost of labor and labor intensity were both reduced, lamination operating efficiency is also improved
And lamination quality.It should be noted that the lamination stacking table 8 can be used alone, can also be used cooperatively with robotic arm 3, and
And this lamination stacking table 8 can also be used for the lamination operation of the motor stamping of circular ring shape full wafer, be tied only for sector as shown in Figure 1
For the motor stamping 1 of structure, lamination effect is more prominent.
For complete electric machine iron core, typically folded using the motor stamping 1 of sector structure as shown in Figure 1
Press operation.For diameter in the electric machine iron core of 2m or so, the motor stamping 1 of usually nine sector structures as shown in Figure 1 encloses
As a circumference, the circumferential angle shared by the motor stamping 1 of every sector structure is 40 °.But either use artificial side
Formula carries out manual lamination operation, or carries out lamination operation using 3 indirect labor of robotic arm, with dropping into 8 circumference of lamination stacking table
The quantity of motor stamping 1 on direction is continuously increased, and the lamination unevenness degree between motor stamping generally all can be more than sets requirement,
Therefore, it is necessary to which corresponding motor stamping trimming device is arranged for lamination stacking table 8, so as in due course in the circumferencial direction of lamination stacking table 8
On the motor stamping overlapped together is modified, set with finally ensureing that the lamination unevenness degree of motor stamping lamination system meets
Provisioning request.
The motor stamping trimming device 6 as shown in Figure 21, Figure 22, Figure 23 includes mainly the first reshaping device, and described the
One reshaping device includes mainly lifting cylinder 605 and the first cylinder 603, and the lifting cylinder 605 acts output end and the first peace
Dress seat 602 connection and the first mounting base 602 of driving makees elevating movement relative to lamination stacking table 8, first cylinder 603 are mounted on the
In one mounting base 602, action output end is connect with shaping pushing block 607, and the outermost end of the shaping pushing block 607 is to push work
Portion；First cylinder 603 drives shaping pushing block 607 to make radial motion relative to lamination stacking table 8.Preferably, described first is whole
Shape mechanism further includes third servo motor 601 and the second screw body 604, and the third servo motor 601 is connected to the first peace
It fills on seat 602, second screw body 604 is connect with first support 606, and the third servo motor 601 drives second
Linkage 604 simultaneously makes the first mounting base 602 make lifting linear motion relative to lamination stacking table 8.
When needing to modify to dropping into the motor stamping 1 on 8 circumferencial direction of lamination stacking table, it can first start lifting air
Cylinder 605, to drive the first mounting base 602 to decline relative to lamination stacking table 8 and be located in 1 outside of motor stamping to be trimmed, then
Start the first cylinder 603, to drive shaping pushing block 607 to make radial motion relative to the center of lamination stacking table 8, utilizes shaping pushing block
Pushing work department on 607 pushes motor stamping 1 to be trimmed, you can the motor stamping 1 for keeping this to be trimmed reaches the folded of setting
Piece circularity requirement, to which the lamination unevenness degree ensured between motor stamping does not exceed sets requirement.Due to motor stamping 1 itself
Structure be sector structure as shown in Figure 1, for this purpose, the first cylinder 603 in first mounting base 602 can be arranged it is several
It is a, and be distributed in a ring；Preferably, this several 603 first mounting base of ring 602 of the first cylinder is uniformly distributed, so that shaping pushes away
Pushing work department on block 607 can also make 1 outer circle circumferential direction of motor stamping while pushing motor stamping 1 to be trimmed
On be more uniformly stressed, to being played a certain protective role to motor stamping 1.
Since the actuating length of lifting cylinder 605 is usually larger, and movement speed is very fast, therefore, 602 phase of the first mounting base
The lifting position precision of lamination stacking table 8 is difficult to control and is adjusted.By the way that third servo motor 601, the second screw body is arranged
604, lifting position precision that can be well to the first mounting base 602 relative to lamination stacking table 8 carries out accurate adjustment, therefore, with liter
Sending down abnormally ascending cylinder 605 cooperates, and is first carried out relative to the lifting position of lamination stacking table 8 to the first mounting base 602 by lifting cylinder 605 thick
It adjusts, then lifting position of second screw body 604 to the first mounting base 602 relative to lamination stacking table 8 is driven by third servo motor 601
Carry out accurate adjustment is set, lifting position precision that thus can be well to the first mounting base 602 relative to lamination stacking table 8 controls
And adjustment, degree of being stacked repaiies between the finishing working efficiency and motor stamping to be conducive to improve motor stamping trimming device 6
Whole quality.
Since the motor stamping 1 on lamination stacking table 8 is the distribution of 8 circumferencial direction of ring lamination stacking table, in order to well to lamination
Motor stamping 1 on 8 circumferencial direction of platform is modified in due course, can be increased on the basis of above-mentioned motor stamping trimming device 6
It adds and sets the second reshaping device, it is preferable that second reshaping device is arranged two, and the two second reshaping devices and the
One reshaping device ring lamination stacking table 8 is arranged, as shown in figure 22.Second reshaping device includes mainly the second mounting base 609,
The first cylinder 603 is fixedly mounted in second mounting base 609, first cylinder 603 acts output end and connects with shaping pushing block 607
It connects, first cylinder 603 drives shaping pushing block 607 to make radial motion relative to lamination stacking table 8.Preferably, second shaping
Mechanism further includes the 4th servo motor 608 and third screw body 612, the 4th servo motor 608 and the second mounting base 609
Connection, the third screw body 612 are connect with second support 610, and the 4th servo motor 608 drives third lead screw machine
Structure 612 simultaneously makes the second mounting base 609 make lifting linear motion relative to lamination stacking table 8.In 610 lower part fixed operating sleeve of second support
Cylinder 611 can be that third screw body 612 provides sufficient lifting activity by the way that sleeve 611 is arranged as shown in Figure 21, Figure 23
Space, and the lifting movable part on third screw body 612 is played a certain protective role.
It should be noted that the second reshaping device herein is identical as the first above-mentioned reshaping device role,
In the first cylinder 603, the 4th servo motor 608, third screw body 612 also respectively with above-mentioned lifting cylinder 605, third
Servo motor 601,604 role of the second screw body are identical, and therefore, details are not described herein again.Similarly, since motor rushes
Piece 1 structure of itself is sector structure as shown in Figure 1, for this purpose, the first cylinder 603 in second mounting base 609 can be with
Several are set, and is distributed in a ring；Preferably, several described 603 second mounting bases of ring 609 of the first cylinder are uniformly distributed.
In order to ensure that robotic arm 3 has enough activity spaces, in general, first reshaping device is mounted in rigid frame
On 2, two the second reshaping devices are installed in pedestal and ring lamination stacking table 8 is distributed.In general, in the electricity for often stacking certain number of plies
When machine punching 1, you can using the first reshaping device, the second reshaping device to corresponding on 8 circumferencial direction of ring lamination stacking table
It laminates motor stamping to be modified in due course, so as to ensure the whole circularity after lamination well, is conducive to improve motor punching
The operating efficiency and lamination quality of piece lamination system.
The motor stamping trimming device 6 is not limited to be used cooperatively with robotic arm 3, can also be applied independently in artificial
It, can be with by being modified to the motor stamping 1 laminated on 8 circumferencial direction of lamination stacking table in due course in manual lamination work flow
Ensure that lamination unevenness degree meets sets requirement.Wherein, the pushing work department on the shaping pushing block 607 is preferably designed as circular arc
Shape structure, to be matched with 1 excircle of motor stamping of sector structure, so as to play certain protection to motor stamping 1
Effect；Further, the shaping pushing block 607 may be used polyester block and be process, to avoid shaping pushing block 607 to exist as possible
1 outer edge of motor stamping is caused to damage in dressing process.
For including the motor stamping lamination system of film feeding apparatus 5, pulldown device 4 and motor stamping trimming device 6 and
Speech, the course of work are：
1st step places motor stamping lower clamping ring on lamination stacking table 8, then lamination stacking table 8 is slided along sliding track 810
To the designated position in rigid frame 2.
2nd step is captured by pulldown device 4 by robotic arm 3 and is preset at individual motor stamping 1 on film feeding apparatus 5, and
After being transported to the designated position of 8 top of lamination stacking table, then off-chip is carried out, the motor stamping being crawled 1 is made to drop into lamination stacking table 8
On.
In 3 pulldown operation of robotic arm, the action of the first screw body 5102 is driven by first servo motor 5101, is made same
In a pile motor stamping 1, after a upper motor stamping 1 is caught away, next motor stamping 1 adjacent thereto is automatically in arrival
The position of one motor stamping 1, to ensure effective crawl of the robotic arm 3 to motor stamping 1.It is driven by the second servo motor 5111
Dynamic rotating disk 5104 and raw material disk 53 rotate synchronously, and the lower a pile motor stamping 1 being located on raw material disk 53 is made accurately to be rotated
To the position of upper a pile motor stamping 1, effectively to ensure the continuous normal work of robotic arm 3.If robotic arm 3 is same primary
Two or two or more motor stampings 1 are disposably caught away in grasping movement, can by air jet pipe 54 spray compressed air come
So that the motor stamping 1 of stick to each other separates, and dispose the punching oil remained on 1 surface of motor stamping, dust and other impurities.
3rd step often stacks after completing certain number of plies on lamination stacking table 8, makes 3 break-off of robotic arm, pass through motor stamping
Trimming device 6 modifies the circularity for overlaying the motor stamping on lamination stacking table 8.
Coarse adjustment is carried out by up and down relative position of the lifting cylinder 605 between shaping pushing block 607 and lamination stacking table 8, is passed through
Third servo motor 601 drives the second screw body 604, the 4th servo motor 608 driving third screw body 612, can be right
Relative position up and down between shaping pushing block 607 and lamination stacking table 8 carries out accurate adjustment, then controls shaping pushing block by the first cylinder 603
607 make radial motion relative to lamination stacking table 8, can complete well to overlay the circularity of the motor stamping on lamination stacking table 8 into
Row finishing in due course, it is ensured that lamination efficiency and lamination quality.
4th step recycles above 2nd step, the 3rd step workflow, until the lamination sum of the motor stamping 1 on lamination stacking table 8
Amount reaches established standards.
Lamination stacking table 8 after the completion of lamination is pulled out rigid frame 2 along sliding track 810, and is put on lamination top layer by the 5th step
Trim ring on motor stamping is set.
Lamination stacking table 8 is sent to hydraulic press and carries out oil pressure operation by the 6th step.After the completion of oil pressure, tie down screw, i.e. shape are tightened
Cheng Yitai electric machine iron cores.
Lamination stacking table 8 is removed hydraulic press, directly hangs out the electric machine iron core after locking by the 7th step.
8th step carries out the lamination operation of next electric machine iron core according to the 1st step the-the 7 step workflow cycle operation.
It can be seen that using above-mentioned motor stamping lamination system, the functions such as pulldown, lamination, finishing, and energy can be completed
The continuous operation for realizing lamination, considerably reduces the handwork amount in motor stamping lamination operation, reduces operating personnel
Labor intensity, and save human cost, meanwhile, also greatly improve lamination operating efficiency and lamination quality.
In order to further improve the lamination operating efficiency and lamination quality of motor stamping lamination system, and further decrease
Operating personnel's labor intensity and saving human cost may be used PLC and come centralized control robotic arm 3, film feeding apparatus 5, pulldown dress
Set the action of 4 and motor stamping trimming device 6, correspondingly, can on the sucker mounting plate 402 in pulldown device 4 company of fixation
Optoelectronic switch 403 is connect, as shown in figs. 3 and 5, and the optoelectronic switch 403 is electrically connected with PLC；Meanwhile it can be in film feeding apparatus 5
In raw material disk rack 51 on fixed setting position sensor 52 and the piece number detection device 57, as shown in fig. 7, the piece number
Detection device 57 includes upper and lower opposite thirty years of age of thickness detecting sensor, the position sensor 52, thickness detecting sensor point
It is not electrically connected with PLC；In addition, the PLC also with robotic arm 3, first servo motor 5101, the second servo motor 5111,
Three servo motors 601, the first cylinder 603, lifting cylinder 605, the 4th servo motor 608, the second cylinder 805 are electrically connected,
To be built into a kind of automation motor stamping lamination system.
Wherein, the optoelectronic switch 403 is controlled by PLC, and being mainly used for robotic arm 3 can examine before capturing motor stamping
It whether surveys on its crawl position with the presence of motor stamping, uses leisure moments to avoid robotic arm 3, meanwhile, enable robotic arm 3 that will be captured
To motor stamping be transported to behind specified off-chip position and discharged automatically again.When the motor stamping that robotic arm 3 captures is by machine
When device arm 3 takes the piece number detection device 57 to, by the piece number for the motor stamping that 57 scanning machine arm 3 of the piece number detection device is captured,
And signal is fed back into PLC.If it is more than a piece of, the electricity that robotic arm 3 will automatically be captured this that robotic arm 3, which captures motor stamping,
Machine punching is taken in the empty station on 57 the right of the piece number detection device, finally unifies by manually carrying out fragment processing；If robotic arm 3 is grabbed
The motor stamping taken is just a piece of, then the motor stamping that this is grabbed is taken to the specified off-chip of 8 top of lamination stacking table by robotic arm 3
Position is discharged automatically, and therefore, the motor stamping that robotic arm 3 is captured can be effectively detected in setting the piece number detection device 57
The piece number, and multiple motor stampings of adhesion are separated into specific regions, to prevent multiple motor stampings not detached from flowing into
Into subsequent automatic laminating operation.The running orbit that robotic arm 3 is controlled by PLC, can make robotic arm 3 put off institute every time
When the motor stamping of crawl, ensure that the motor stamping put off can be accurately positioned.
It is above-mentioned to use the central controlled automation motor stamping lamination systems of PLC, film feeding apparatus 5 therein and pulldown device
4 cooperate, can be that robotic arm 3 provide accurate feed position, realize the automation of feed, significant increase robotic arm 3
Pulldown validity and pulldown operating efficiency；Lamination stacking table 8 therein can ensure lamination unevenness degree in the reasonable scope, and reduce
The lamination time, to improve lamination efficiency and lamination quality；Motor stamping trimming device 6 therein cooperates with lamination stacking table 8, main
It is final to ensure automation electricity if modified to the motor stamping that stacks on lamination stacking table 8 on 8 circumferencial direction of lamination stacking table in due course
The lamination unevenness degree of machine punching lamination system meets sets requirement.Operator only needs to get out motor preset on raw material disk 53
Punching total amount, and the lamination total quantity of motor stamping needed for lamination operation, lamination beat (namely lamination speed are set by PLC
The movement speed of degree or robotic arm 3), lamination order is then assigned, which can be completed automatically
The functions such as pulldown, automatic laminating, automatic dressing, also, robotic arm 3 can be instructed according to PLC in every alternating floor off-chip, be owned
Robotic arm 3 the unified half punching angle that misplace clockwise or counterclockwise in off-chip position, to meet different motor iron
The lamination requirement of core.Operator can wait for the lamination stacking table stacked 8 (including the motor stamping stacked) to pass by hydraulic press
It moves, oil pressure is carried out by hydraulic press and tightens tie down screw.Therefore, it compared with artificial lamination operation, may be implemented
It works continuously, and reduces operator's number and labor intensity, reduce human cost, moreover, greatly improving lamination operation
Efficiency and lamination quality.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, it is noted that all
All any modification, equivalent and improvement made by within the spirit and principles in the present invention etc. should be included in the guarantor of the present invention
Within the scope of shield.
Claims (9)
1. a kind of motor stamping lamination system, it is characterised in that：Including rigid frame (2), robotic arm (3), pulldown device (4) and supply
Sheet devices (5) and lamination stacking table (8), the robotic arm (3) are mounted on rigid frame (2), and the pulldown device (4) is mounted on machine
Device arm (3) working end, the lamination stacking table (8) include pedestal (802), top plate (806) and several second cylinders (805) and
The opposite end of several fixed pillars (811), the fixed pillar (811) is connect with pedestal (802), top plate (806) admittedly respectively
Fixed, several second cylinders (805) are fixedly mounted on pedestal (802) and are distributed in a ring, act output end and punching
Positioning sliding block (804) connects, and second cylinder (805) drives punching positioning sliding block (804) connected to it relative to pedestal
(802) make radial motion；The lamination stacking table (8) is mounted on the lower section of robotic arm (3) working end, and the robotic arm (3) is logical
It crosses after the motor stamping that pulldown device (4) crawl is preset on film feeding apparatus (5) and is transported on lamination stacking table (8).
2. a kind of motor stamping lamination system according to claim 1, it is characterised in that：It further include motor stamping finishing dress
It sets (6), the motor stamping trimming device (6) carries out being stacked shaping to being located at the motor stamping on lamination stacking table (8).
3. a kind of motor stamping lamination system according to claim 2, it is characterised in that：The motor stamping finishing dress
It includes the first reshaping device to set (6), and first reshaping device includes lifting cylinder (605) and the first cylinder (603), the liter
Sending down abnormally ascending cylinder (605) action output end connect with the first mounting base (602) and drives the first mounting base (602) relative to lamination stacking table
(8) make elevating movement, first cylinder (603) is mounted in the first mounting base (602), action output end and shaping pushing block
(607) it connects, the first cylinder (603) driving shaping pushing block (607) makees radial motion relative to lamination stacking table (8).
4. a kind of motor stamping lamination system according to claim 3, it is characterised in that：First reshaping device also wraps
Third servo motor (601) and the second screw body (604) are included, the third servo motor (601) is connected to the first mounting base
(602) on, second screw body (604) connect with first support (606), the third servo motor (601) driving the
Two screw bodies (604) simultaneously make the first mounting base (602) make lifting linear motion relative to lamination stacking table (8).
5. a kind of motor stamping lamination system according to claim 3, it is characterised in that：The motor stamping trimming device
(6) further include the second reshaping device, second reshaping device includes the second mounting base (609), in the second mounting base (609)
The first cylinder of upper fixed installation (603), first cylinder (603) action output end are connect with shaping pushing block (607), and described the
One cylinder (603) driving shaping pushing block (607) makees radial motion relative to lamination stacking table (8).
6. a kind of motor stamping lamination system according to claim 5, it is characterised in that：Second reshaping device also wraps
Include the 4th servo motor (608) and third screw body (612), the 4th servo motor (608) and the second mounting base (609)
Connection, the third screw body (612) connect with second support (610), and the 4th servo motor (608) drives third silk
Linkage (612) simultaneously makes the second mounting base (609) make lifting linear motion relative to lamination stacking table (8).
7. according to a kind of motor stamping lamination system of claim 1-6 any one of them, it is characterised in that：The pulldown dress
It includes sucker mounting plate (402), pneumatic quick-change coupler (404) and vacuum cup (405), the vacuum cup (405) to set (4)
It is fixedly mounted on sucker mounting plate (402) bottom, the pneumatic quick-change coupler (404) connect solid with sucker mounting plate (402)
It is fixed, and form pipeline between vacuum cup (405) and communicate.
8. according to a kind of motor stamping lamination system of claim 1-6 any one of them, it is characterised in that：The confession is on chip
It includes raw material disk rack (51) and raw material disk (53) to set (5), and first servo motor is connected on the raw material disk rack (51)
(5101) it is connect with the first screw body (5102), first screw body (5102) with material hand (5109) is risen, the raw material
Disk (53) is mounted on raw material disk rack (51), and the first servo motor (5101) drives the first screw body (5102) simultaneously
Liter material hand (5109) is set to make lifting linear motion relative to raw material disk rack (51).
9. a kind of motor stamping lamination system according to claim 8, it is characterised in that：The film feeding apparatus (5) is also
Including the second servo motor (5111), driving gear is fixedly connected on the second servo motor (5111) action output shaft
(5110), rotating disk (5104), the rotating disk (5104) and driven gear are set on the raw material disk rack (51)
(5103) it is fixedly connected, forms engaged transmission between the driving gear (5110) and driven gear (5103).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076256A1 (en) * | 2016-10-28 | 2018-05-03 | 成都中车电机有限公司 | Motor blanking-plate stacking system |
| CN108418362B (en) * | 2018-05-11 | 2024-04-12 | 中节能西安启源机电装备有限公司 | Lamination device of automatic lamination machine for direct-drive wind power stator core |
| CN108512372B (en) * | 2018-05-11 | 2024-04-05 | 中节能西安启源机电装备有限公司 | Automatic lamination machine composition device for direct-drive wind power stator core |
| JP7073551B1 (en) * | 2021-02-12 | 2022-05-23 | 株式会社日本製鋼所 | Laminate molding system and laminating molding method |
| CN113843361B (en) * | 2021-05-24 | 2024-05-14 | 靖江市天勤电机科技有限公司 | Special machine for rotor lamination |
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