Automatic submersible motor stator core penetrating lamination system and method

Abstract

The invention discloses an automatic submersible motor stator core penetrating and laminating system and method. The system comprises two parallel travelling crane rails, two sets of numerical control travelling cranes are arranged on the two travelling crane rails in a parallel sliding mode, hook bodies are arranged below the numerical control travelling cranes, the hook bodies hook mandrels, and a mandrel frame, a laminating machine table and a mechanical arm are arranged between the two travelling crane rails in parallel. A workpiece stretching and lifting assembly, a limiting guide mechanism and a centering clamping mechanism are arranged on the laminating machine table, the workpiece stretching and lifting assembly adjusts the lifting position according to the size of a mandrel and is used for containing the mandrel, the limiting guide mechanism adjusts the position of the mandrel, the centering clamping mechanism clamps the mandrel, a material distributing station is arranged on one side of the mechanical arm, and a lamination is placed on the material distributing station. And the manipulator grabs the lamination for penetration. Intelligent equipment is used, manual direct operation is not needed, an operator only needs to prepare the lamination and select a corresponding product on an industrial control screen, and the system can brake to complete lamination penetrating work, so that the working intensity of the operator is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of submersible motors, and in particular relates to an automatic submersible motor stator core lamination threading system and method. Background Art

[0002] Submersible motors are widely used in the oil and gas industries. They are special motors used for underground oil collection. They are connected to submersible electric pumps to drive the electric pumps to suck oil from below a kilometer to the ground. Since the diameter of general oil wells is small, the outer diameter of the motor is limited. The motor capacity can only be increased by increasing the length of the motor. Therefore, all submersible motors are made into slender ones. The stator threading of submersible motors is an important process in the production of submersible motors. It is also a relatively cumbersome and labor-intensive step.

[0003] In the prior art, the stator core of a submersible motor is manufactured by manually threading the laminations. The general operation process is as follows:

[0004] First, the operator prepares the corresponding product drawings according to the production task, puts the mandrel on the mandrel bracket using a manual crane, then puts the stator punching sheet on the tool cart and pushes it to one end of the mandrel. Use the punching sheet inserter to penetrate the iron punching sheet and install it on the mandrel, and push the punching sheet by hand to pre-press it, measure the length of the stacking sheet to avoid the size after pre-pressing being less than the drawing requirements. Iron punching sheets are divided into two types: silicon steel sheets and copper sheets. A copper sheet is sandwiched between two sections of silicon steel sheets. When inserting silicon steel sheets, it is necessary to follow the requirements of the drawings to ensure that the notches of the iron punching sheets are placed one section upward and one section downward, staggered. Once the placement is wrong, the rear end of the wrong sheet needs to be pulled out and re-inserted, which is time-consuming and laborious. When the stacking sheet passes through the fulcrum of the mandrel bracket, it is necessary to manually use a crane to lift one end of the mandrel each time before it can pass, so it requires two people to work together to perform the operation. After threading a whole mandrel, it is necessary to use a manual crane to lift the mandrel onto the manual laminating machine, place the mandrel bearing seat on the sliding saddle of the laminating machine, adjust the saddle position to keep the mandrel and the hydraulic press cylinder concentric, and then pre-press the entire stator core, measure the size, and then compare it with the drawing. Because the pre-pressure of each section is only measured by hand pressing during the threading process, there is a large difference from the specified hydraulic press laminating pressure, which leads to unstable length of each section and troublesome subsequent modifications.

[0005] As can be seen from the above, when using traditional submersible motors to wear laminated sheets, the operating efficiency is low and the manual labor intensity is high. Therefore, a better way is needed to change the existing situation. Summary of the invention

[0006] The problem to be solved by the present invention is to provide an automatic submersible motor stator core lamination threading system and method, the method uses intelligent equipment, does not require direct manual operation, has a high degree of automation, reduces the work intensity of workers, and improves work efficiency.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic submersible motor stator core lamination system, comprising two parallel traveling tracks, two sets of CNC traveling cranes are arranged on the two traveling tracks for parallel sliding, the two sets of CNC traveling cranes are respectively arranged perpendicular to the two traveling tracks, the two ends of the two sets of CNC traveling cranes are respectively placed on the two traveling tracks, a hook body is arranged under the traveling track, the hook body hooks up the core shaft, a core shaft frame, a laminating machine and a manipulator are arranged in parallel between the two traveling tracks, and the core shaft is placed on the core shaft frame. On the axis frame, the stacking machine is provided with a workpiece lifting assembly, a limit guide mechanism and a middle clamping mechanism. The workpiece lifting assembly adjusts the lifting position according to the size of the mandrel and is used to place the mandrel. The limit guide mechanism adjusts the position of the mandrel. The middle clamping mechanism clamps the mandrel. A material distribution station is provided on one side of the manipulator. The stacking station is placed on the material distribution station. The manipulator grabs the stacking for insertion. The two groups of the CNC crane, the workpiece lifting assembly, the limit guide mechanism, the middle clamping mechanism and the manipulator are respectively connected to the controller.

[0008] Furthermore, it also includes a control screen, which is connected to the controller.

[0009] Furthermore, the workpiece lifting components are divided into multiple groups, and the multiple groups of workpiece lifting components are set according to different spindle lengths. When the formula is confirmed, the controller raises the corresponding workpiece lifting components according to the formula.

[0010] Furthermore, a photoelectric sensor is provided on the travel track near the end of the robot, and the photoelectric sensor detects whether the mandrel is placed in place.

[0011] Furthermore, the present invention also provides a method for automatically inserting laminations into the stator core of a submersible motor, using the above-mentioned automatic submersible motor stator core inserting lamination system, comprising the following steps:

[0012] S1: placing the stack on the turntable of the material distribution station;

[0013] S2: Select the formula corresponding to the desired product through the control screen;

[0014] S3: The system raises the required workpiece lifting assembly according to the recipe;

[0015] S4: The CNC crane takes away the mandrel and places the mandrel on the workpiece lifting assembly;

[0016] S5: the system drives the photoelectric sensor 13 to detect the mandrel above;

[0017] S6: Adjust the direction of the mandrel and clamp the mandrel by a centering clamping mechanism;

[0018] S7: The robot grabs the laminate, aligns it with the mandrel, and allows the laminate to pass through the front end of the mandrel;

[0019] S8: The robot grabs the laminate according to the set program and inserts the laminate into the mandrel according to the drawing requirements.

[0020] Furthermore, in S1, the stack includes silicon steel sheets and copper sheets, and a limit fixture is provided on the turntable, and the limit fixture restricts manual material placement to prevent the stack from being placed upside down.

[0021] Furthermore, in S5, when the photoelectric sensor detects that there is no core shaft above it, the controller drives the slide assembly to move forward, and the workpiece lifting assembly and the centering clamping mechanism in front of the slide assembly descend to avoid it, and the slide assembly moves forward against the core shaft until the photoelectric sensor detects the core shaft and stops.

[0022] Furthermore, in S6, the workpiece lifting assembly is slowly lowered to the same height as the hydraulic cylinder, the limiting guide mechanism in front of the stacking machine is raised, inserted into the flat groove at the front end of the mandrel, the direction of the mandrel is corrected so that the key on the mandrel faces directly upwards, and the centering clamping mechanism is raised to clamp the mandrel.

[0023] Furthermore, in S7, the robot grasps the stack on the material distribution station, adjusts the posture of the robot, aligns the stack grasped by the gripper of the robot with the core shaft, aligns the inner hole positioning groove of the stack with the key of the core shaft, inserts the stack into the front end of the core shaft, and releases the gripper and moves away.

[0024] Furthermore, in S8, the protruding part of the hydraulic cylinder is a hollow tube, and the hollow tube passes through the core shaft. When the hollow tube passes through the front end of the core shaft, the limit guide mechanism descends, and the hydraulic cylinder moves backward against the stack, and the two rollers of the centering clamping mechanism passing the position open and descend. When the hydraulic cylinder reaches the maximum stroke and retreats, the centering clamping mechanism and the limit guide mechanism descend and then rise in sequence to align the core shaft support.

[0025] The advantages and positive effects of the present invention are:

[0026] The present invention uses intelligent equipment and does not require direct manual operation. The operator only needs to prepare the stacking sheets and select the corresponding product on the industrial control screen, and the system can brake to complete the stacking work, thereby reducing the operator's work intensity and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0028] Figure 2 It is a schematic diagram of the local structure of a laminating machine according to an embodiment of the present invention.

[0029] Figure 3 It is a schematic diagram of the core axis direction adjustment state of an embodiment of the present invention.

[0030] Figure 4 It is a schematic diagram of the structure of a workpiece lifting assembly according to an embodiment of the present invention.

[0031] Figure 5 Schematic diagram of the working state of the photoelectric sensor according to the embodiment of the present invention.

[0032] Figure 6 It is a schematic diagram of the overall process of an embodiment of the present invention.

[0033] In the figure:

[0034] 1. CNC crane; 2. Mandrel rack; 3. Material distribution station;

[0035] 4. Robotic arm; 5. Hydraulic cylinder; 6. Laminating machine;

[0036] 7. Hook body; 8. Workpiece lifting assembly; 9. Centering clamping mechanism;

[0037] 10. Limiting guide mechanism; 11. Mandrel; 12. Control screen;

[0038] 13. Photoelectric sensor; 14. Gripper; 15. Slide assembly. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The embodiments of the present invention are further described below in conjunction with the accompanying drawings:

[0043] like Figure 1-5 As shown, an automatic submersible motor stator core lamination threading system includes two parallel traveling tracks, two sets of CNC traveling cranes 1 are parallelly slidably arranged on the two traveling tracks, the two sets of CNC traveling cranes 1 are respectively arranged perpendicular to the two traveling tracks, and the two ends of the two sets of CNC traveling cranes 1 are respectively placed on the two traveling tracks. A hook body 7 is arranged below the CNC traveling crane 1, and the hook body 7 can hook up the mandrel 11 after adjustment. A mandrel frame 2, a laminating machine table 6 and a manipulator 4 are arranged in parallel between the two traveling tracks, and the mandrel 11 is placed on the mandrel frame 2. The laminating machine table 6 is provided with a workpiece lifting assembly 8, a limit guide mechanism 10 and a centering clamping mechanism 9. The workpiece lifting assembly 8 adjusts the lifting position according to the size of the mandrel 11 and is used to place the mandrel 11. The limit guide mechanism 10 adjusts the position of the mandrel 11, and the centering clamping mechanism 9 clamps the mandrel 11. A material distribution station 3 is provided on one side of the manipulator 4, and laminations are placed on the material distribution station 3. The manipulator 4 grabs the laminations for insertion. The two sets of CNC cranes 1, the workpiece lifting assembly 8, the limit guide mechanism 10, the centering clamping mechanism 9 and the manipulator 4 are respectively connected to the controller. Specifically, a control screen 12 is also included, and the control screen 12 is connected to the controller.

[0044] The above system can use a variety of signals and technologies to achieve the above functions. These signals and technologies include: orthogonal signals, CDMA, TDMA, FDMA, OFDMA, ultra-wideband signals, chirp signals, laser signals and many other signals. The signals between the controller and the components can be modulated (AM, FM, PSK, FSK, MSK, QAM or any other possible modulation can be used) or can be encoded or configured in other ways to contain timing, synchronization, control, data, multi-path signal component identification, security code, information to ensure proper operation and redundancy. The signals between the controller and the components can include Gold code, PN code, M-Sequence code, Walsh code, Walsh-Hadamard code or any other coding. The controller can be a conventional chip, single-chip microcomputer or microprocessor and other devices, with modules with corresponding functions, driving the above components to achieve the above functions, which will not be repeated here.

[0045] The connection between the controller and each component includes wired connection and wireless connection. Wired connection can be connected through serial bus, P1394, Thunderbolt, etc. The wires in the wired connection are not in the Figure 1 The wireless connection method can be connected through Bluetooth, Bluetooth Low Energy, WIFI, Zigbee, etc.

[0046] like Figure 4 As shown, there are multiple groups of workpiece lifting assemblies 8, and the multiple groups of workpiece lifting assemblies 8 are set according to different lengths of the core shafts 11. When the recipe is confirmed, the controller raises the corresponding workpiece lifting assemblies 8 according to the recipe.

[0047] like Figure 5 As shown, a photoelectric sensor 13 is provided on the driving track near the end of the manipulator 4, and the photoelectric sensor 13 detects whether the core shaft 11 is placed in place.

[0048] like Figure 6 As shown, the present invention also provides a method for automatically inserting laminations into the stator core of a submersible motor, using the above-mentioned automatic submersible motor stator core inserting lamination system, comprising the following steps:

[0049] S1: The operator places the stack on the turntable of the material distribution station 3. Preferably, the stack includes silicon steel sheets and copper sheets. The turntable is provided with a limit fixture, which limits manual material placement to avoid stacking upside down.

[0050] S2: The operator selects the formula corresponding to the desired product through the control screen 12 according to the desired product model.

[0051] S3: Figure 2 As shown, the workpiece lifting assembly 8, the centering clamping mechanism 9, and the limiting guide mechanism 10 on the stacking machine 6 are all set according to different product lengths. When the operator confirms the recipe, the system will raise the corresponding number of workpiece lifting assemblies 8 according to the recipe.

[0052] S4: When the workpiece lifting assembly 8 is raised, the two hooks 7 of the CNC crane 1 automatically change the spacing, go to the spindle rack 2, take out the corresponding spindle 11, and place it on the workpiece lifting assembly 8.

[0053] S5: The system drives the photoelectric sensor 13 to detect the upper mandrel 11. Specifically, Figure 5As shown, when the CNC crane 1 is placed back to the origin, the system will receive its completion signal. Since there will be certain errors in the movement and placement of the CNC crane 1, in order to ensure that the mandrel 11 is placed in place, the photoelectric sensor 13 detects whether there is a mandrel 11 above. If not, the system sends a command to the slide assembly 15 to move forward, and the workpiece lifting assembly 8 and the centering clamping mechanism 9 in front of the slide descend to avoid it. When the slide assembly presses against the mandrel 11 and moves forward, it stops until the photoelectric sensor 13 detects the mandrel 11.

[0054] S6: The workpiece lifting assembly 8 is slowly lowered to the same height as the hydraulic cylinder body 5, and then the limit guide mechanism 10 at the front of the stacking machine table 6 is raised and inserted into the flat groove at the front end of the mandrel 11, and the direction of the mandrel 11 is corrected so that the key on the mandrel 11 faces upward, and the centering clamping mechanism 9 is raised to clamp the mandrel 11. Figure 3 shown.

[0055] S7: The robot 4 grabs the stack on the material position of the material distribution station 3, adjusts the posture of the robot 4, aligns the stack grabbed by the clamp 14 of the robot 4 with the core shaft 11, aligns the inner hole positioning groove of the stack with the key of the core shaft 11, inserts into the front end of the core shaft 11, releases the clamp, and moves away.

[0056] The extended part of the hydraulic cylinder 5 is a hollow tube, which can be inserted into the core shaft 11. When the front end of the core shaft 11 is inserted, the limit guide mechanism 10 descends, and the hydraulic cylinder body 5 moves backward against the stack. The two rollers of the centering clamping mechanism 9 that passes the position open and descend to avoid it. When the hydraulic cylinder body 5 reaches the maximum stroke and retreats, the centering clamping mechanism 9 and the limit guide mechanism 10 descend and then rise in turn to support and align the core shaft 11.

[0057] S8: The robot grabs the copper sheet and the silicon steel sheet in sequence according to the set program, and then inserts them into the mandrel 11 according to the positive and negative order of the stack on the drawing, until the set number of stacks are inserted, and the process is completed.

[0058] The advantages and positive effects of the present invention are:

[0059] The present invention uses intelligent equipment and does not require direct manual operation. The operator only needs to prepare the stacking sheets and select the corresponding product on the industrial control screen, and the system can brake to complete the stacking work, thereby reducing the operator's work intensity and improving work efficiency.

[0060] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic submersible motor stator core lamination system, characterized by: The present invention relates to a method for arranging a plurality of axial lifts according to the present invention, wherein the plurality of axial lifts have the plurality of axial lifts and ...

2. The automatic submersible motor stator core lamination system according to claim 1, characterized in that: It also includes a control screen, which is connected to the controller.

3. The automatic submersible motor stator core lamination system according to claim 1 or 2, characterized in that: There are multiple groups of workpiece lifting assemblies, and the multiple groups of workpiece lifting assemblies are set according to different spindle lengths. When the formula is confirmed, the controller raises the corresponding workpiece lifting assemblies according to the formula.

4. The automatic submersible motor stator core lamination system according to claim 1 or 2, characterized in that: A photoelectric sensor is provided on the driving track near the end of the manipulator, and the photoelectric sensor detects whether the mandrel is placed in place.

5. A method for threading laminations in the stator core of an automatic submersible motor, using the automatic stator core threading lamination system of any one of claims 1 to 4, characterized in that: The following steps are included: S1: placing the stack on the turntable of the material distribution station; S2: Select the formula corresponding to the desired product through the control screen; S3: The system raises the required workpiece lifting assembly according to the recipe; S4: The CNC crane takes away the mandrel and places the mandrel on the workpiece lifting assembly; S5: the system drives the photoelectric sensor 13 to detect the mandrel above; S6: adjusting the direction of the mandrel and clamping the mandrel by a centering clamping mechanism; S7: The robot grabs the laminate, aligns it with the mandrel, and allows the laminate to pass through the front end of the mandrel; S8: The robot grabs the laminate according to the set program and inserts the laminate into the mandrel according to the drawing requirements.

6. The method for laminating the stator core of an automatic submersible motor according to claim 5, characterized in that: In S1, the stack includes silicon steel sheets and copper sheets, and a limit fixture is provided on the turntable. The limit fixture limits manual material placement to prevent the stack from being placed upside down.

7. A method for laminating the stator core of an automatic submersible motor according to claim 5 or 6, characterized in that: In S5, when the photoelectric sensor detects that there is no core shaft above it, the controller drives the slide assembly to move forward, and the workpiece lifting assembly and the centering clamping mechanism in front of the slide assembly descend to avoid it, and the slide assembly moves forward against the core shaft until the photoelectric sensor detects the core shaft and stops.

8. A method for laminating the stator core of an automatic submersible motor according to claim 5 or 6, characterized in that: In S6, the workpiece lifting assembly is slowly lowered to the same height as the hydraulic cylinder, the limit guide mechanism in front of the stacking machine is raised, inserted into the flat groove at the front end of the mandrel, the direction of the mandrel is corrected so that the key on the mandrel faces directly upward, and the centering clamping mechanism is raised to clamp the mandrel.

9. A method for laminating the stator core of an automatic submersible motor according to claim 5 or 6, characterized in that: In S7, the robot grabs the stack on the material distribution station, adjusts the posture of the robot, aligns the stack grabbed by the robot's claws with the core shaft, aligns the inner hole positioning groove of the stack with the key of the core shaft, inserts the stack into the front end of the core shaft, and releases the claws and moves away.

10. The method for laminating the stator core of an automatic submersible motor according to claim 8, characterized in that: In S8, the protruding part of the hydraulic cylinder is a hollow tube, and the hollow tube passes through the core shaft. When the hollow tube passes through the front end of the core shaft, the limit guide mechanism descends, and the hydraulic cylinder moves backward against the stack, and the two rollers of the centering clamping mechanism passing the position open and descend. When the hydraulic cylinder reaches the maximum stroke and retreats, the centering clamping mechanism and the limit guide mechanism descend and then rise in sequence to align the core shaft support.

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