A rotor silicon steel sheet stacking device and method

Abstract

The present invention belongs to the field of cast aluminum production of rotor silicon steel sheets, and particularly relates to a rotor silicon steel sheet stacking device and method, which includes a robotic arm and a silicon steel sheet conveying mechanism; the silicon steel sheet conveying mechanism includes a housing, on one side surface inside the housing, there is an upper transport disk driving device, and on the opposite side surface, there is a lower transport disk driving device; the upper transport disk driving device drives the upper transport disk to move linearly, the lower transport disk driving device drives the lower transport disk to move linearly, the upper transport disk and the lower transport disk are arranged opposite to each other up and down, and the upper transport disk has an adsorption function; and a lower transport disk flipping device is arranged inside the housing, and the lower transport disk flipping device drives the lower transport disk to flip, leaving a passage for the downward movement of the upper transport disk. The rotor silicon steel sheet stacking device proposed by the present invention can achieve full-automatic stacking of silicon steel sheets through the mutual cooperation and coordination among the robotic arm, the upper transport disk driving device, the lower transport disk driving device, and the lower transport disk flipping device.

Description

Technical Field

[0001] The present invention belongs to the field of aluminum casting production for rotor silicon steel sheets, and particularly relates to a stacking device and method for rotor silicon steel sheets. Background Art

[0002] In the current aluminum casting process of motor silicon steel sheets, the automatic alignment and counting of silicon steel sheets followed by automatic feeding still face many challenges and rely on a large amount of manual participation. Although some equipment already has the function of automatically aligning silicon steel sheets, there is still a risk of offset during the transportation stage, which usually requires manual assistance for adjustment. Summary of the Invention

[0003] In order to solve the technical problems existing in the prior art, the present invention provides a stacking device and method for rotor silicon steel sheets, which can achieve automatic clamping, automatic alignment, accurate counting, etc. of rotor silicon steel sheets.

[0004] In order to achieve the above object, the technical solutions adopted by the present invention are as follows:

[0005] In a first aspect, the present invention provides a stacking device for rotor silicon steel sheets, including a robotic arm and a silicon steel sheet conveying mechanism; the silicon steel sheet conveying mechanism includes a housing, on one side surface inside the housing, there is an upper transport disk driving device, and on the opposite side surface, there is a lower transport disk driving device; the upper transport disk driving device drives the upper transport disk to perform a linear motion, the lower transport disk driving device drives the lower transport disk to perform a linear motion, the upper transport disk and the lower transport disk are arranged opposite to each other up and down, and the upper transport disk has an adsorption function; and a lower transport disk flipping device is arranged inside the housing, and the lower transport disk flipping device drives the lower transport disk to flip to leave a passage for the downward movement of the upper transport disk.

[0006] As a further technical solution, an upper limit rod is arranged on the upper transport disk, and the upper limit rod is made of magnetic metal and has an adsorption effect.

[0007] As a further technical solution, a lower limit rod is arranged on the lower transport disk.

[0008] As a further technical solution, a gravity sensor is also arranged on the lower transport disk.

[0009] As a further technical solution, the lower transport disk driving device is replaced by a lower transport disk fixing device.

[0010] As a further technical solution, the lower transport disk driving device includes a first driving motor, a first lead screw, a first optical rod, a first moving slider, a first lead screw nut, and a first connecting member; the first driving motor drives the first lead screw, the first lead screw nut is connected to the first moving slider, and the first moving slider is sleeved on the first optical rod; the first moving slider is hinged to the lower transport disk.

[0011] As a further technical solution, the upper transport tray driving device includes a second driving motor, a second lead screw, a second optical rod, a second moving slider, a second lead screw nut, and a second connecting member; the second driving motor drives the second lead screw, the second lead screw nut is connected to the second moving slider, and the second moving slider is sleeved on the second optical rod; the second moving slider is connected to the upper transport tray.

[0012] As a further technical solution, the lower transport tray flipping device includes a cylinder, a rack, and a gear; a slideway is vertically arranged on the housing, and the cylinder body part of the cylinder is connected to the slideway through a slide plate; the piston rod of the cylinder is connected to the rack; the rack is arranged in the limit groove, and the cylinder pushes the rack to move linearly, and the rack meshes with the gear; the central axis of the gear is fixed to the side surface of the lower transport tray.

[0013] As a further technical solution, a driving device is installed at the end of the robotic arm, and the driving device drives the front end electromagnet to expand and contract, sucking the silicon steel sheet and feeding it into the silicon steel sheet conveying mechanism.

[0014] As a further technical solution, the silicon steel sheet conveying mechanism is arranged on an X / Y / Z three-axis driving structure.

[0015] Second, the present invention also provides a stacking method for a rotor silicon steel sheet stacking device, as follows:

[0016] The robotic arm places the silicon steel sheets on the silicon steel sheet stacking tray onto the lower transport tray.

[0017] When the gravity sensor on the lower transport tray detects the weight, counting is performed, the upper transport tray starts to move downward, and the lower transport tray starts to move upward; when the distance between the lower transport tray and the upper transport tray reaches a preset distance; the upper transport tray sucks the silicon steel sheet from the lower transport tray to its bottom.

[0018] Then, the lower transport tray flipping device drives the lower transport tray to flip downward or upward to leave a passage for the upper transport tray to continue moving downward; at this time, the upper transport tray continues to move downward, stops after reaching the preset position, and the lower transport tray loses magnetism, and the silicon steel sheet drops to the designated position.

[0019] The beneficial effects of the present invention are as follows:

[0020] The rotor silicon steel sheet stacking device proposed by the present invention can realize the full-automatic stacking of silicon steel sheets through the mutual cooperation and coordination among the robotic arm, the upper transport tray driving device, the lower transport tray driving device, and the lower transport tray flipping device. Description of the Drawings

[0021] Figure 1 It is a complete schematic diagram of the rotor silicon steel sheet stacking device;

[0022] Figure 2 Schematic diagram of the silicon steel sheet conveying mechanism Figure 1 ;

[0023] Figure 3 Schematic diagram of the silicon steel sheet conveying mechanism Figure 2 ;

[0024] In the figure: 1-1. robotic arm, 1-2. electromagnet housing, 1-3. electromagnet, 1-4. steel frame, 1-5. silicon steel sheet conveying mechanism, 1-6. lead screw motor, 1-7. second drive motor, 1-8. second moving slider, 1-9. upper transport plate, 1-10. upper limit rod, 1-11. first drive motor, 1-12. reduction gearbox, 1-13. first connecting piece, 1-14. first lead screw, 1-15. first optical rod, 1-16. first lead screw nut, 1-17. gear, 1-18. limit groove, 1-19. rack, 1-20. cylinder, 1-21. slide plate, 1-22. second optical rod, 1-23. second lead screw, 1-24. second connecting piece, 1-25. lower limit rod, 1-26. gravity sensor, 1-27. hinge, 1-28. lower base, 1-29. cylinder slideway, 1-30. lower transport plate, 1-31. housing, 1-32. first moving slider, 1-33. second lead screw nut. Detailed implementation mode

[0025] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes according to the present invention. As used herein, unless the present invention clearly states otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof;

[0027] For the convenience of narration, if the words "upper", "lower", "left", and "right" appear in the present invention, they only indicate the same direction as the upper, lower, left, and right directions of the accompanying drawings themselves, and do not limit the structure. It is 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 a limitation of the present invention.

[0028] Glossary: Terms such as "installation", "connection", "linkage", and "fixation" in the present invention should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection, a direct connection or an indirect connection through an intermediate medium, an internal connection between two components, or an interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] As Figure 1 shown, this embodiment provides a rotor silicon steel sheet stacking device, which includes a robotic arm 1-1 and a silicon steel sheet conveying mechanism 1-5. Among them, the robotic arm 1-1 drives the front end electromagnet 1-3 to expand and contract through a lead screw motor 1-6. The electromagnet 1-3 is surrounded by an electromagnet housing 1-2. The electromagnet 1-3 driven by the lead screw motor 1-6 extends from the front section of the electromagnet housing 1-2. The number of silicon steel sheets is adjusted by the extended length of the electromagnet 1-3, so that as many silicon steel sheets as possible can be grabbed for some motors with multiple silicon steel sheets. Moreover, the length limit avoids inaccurate grasping of the number of silicon steel sheets, making the grasping of silicon steel sheets more accurate. The electromagnet 1-3 sucks the silicon steel sheets and sends them into the silicon steel sheet conveying mechanism 1-5 supported by a steel frame 1-4. The steel frame 1-4 spans above the conveyor rollers of the lower die conveying device, so that the silicon steel sheet conveying mechanism 1-5 is located above the conveyor rollers of the lower die conveying device; further, the steel frame 1-4 can also be designed as a support frame structure with adjustable height.

[0030] Specifically, as Figure 2 、 Figure 3As shown in the figure, the silicon steel sheet conveying mechanism 1-5 is integrally installed on an X / Y driving device, and the X / Y driving device is installed on the steel frame 1-4; the silicon steel sheet conveying mechanism 1-5 can be adjusted in position in the X / Y directions as a whole, and the steel frame 1-4 itself can also be adjusted in height. Among them, the silicon steel sheet conveying mechanism 1-5 includes a housing 1-31, in which an upper transport disk driving device, a lower transport disk driving device and a lower transport disk flipping device are arranged; the upper transport disk driving device and the lower transport disk driving device are located on two opposite side surfaces inside the housing 1-31; the upper transport disk driving device drives the upper transport disk to move in a straight line up and down, and the lower transport disk driving device drives the lower transport disk to move in a straight line up and down. The upper transport disk 1-9 and the lower transport disk 1-30 are arranged opposite to each other up and down, and they can move relatively or away from each other to realize the position exchange of the silicon steel sheets on the upper transport disk 1-9 and the lower transport disk 1-30; when the upper transport disk 1-9 adsorbs the silicon steel sheets on it, the lower transport disk flipping device drives the lower transport disk 1-30 to flip, leaving a passage for the downward movement of the upper transport disk 1-9, thereby realizing the transmission of the silicon steel sheets; the rotor silicon steel sheet stacking device proposed by the present invention can realize the full-automatic stacking of silicon steel sheets through the mutual cooperation and coordination among the robotic arm, the upper transport disk driving device, the lower transport disk driving device and the lower transport disk flipping device.

[0031] Among them, the lower transport disk driving device includes a first driving motor 1-11, a first lead screw 1-14, a first optical rod 1-15, a first moving slider 1-32, a first lead screw nut 1-16 and a first connecting member 1-13; the first driving motor 1-11 drives the first lead screw 1-14, the first lead screw nut 1-16 of the first lead screw 1-14 is connected to the first moving slider 1-32, and the first moving slider 1-32 is sleeved on the first optical rod 1-15; and the top of the first optical rod 1-15 is connected to the first lead screw 1-14 through the first connecting member 1-13; the first moving slider 1-32 is connected to the lower transport disk 1-30; the first driving motor 1-11 drives the first lead screw 1-14 to rotate, the first lead screw 1-14 drives the first moving slider 1-32 to move along the first optical rod through the first lead screw nut 1-16, and the first moving slider 1-32 drives the lower transport disk 1-30 to move downward; the lower transport disk 1-30 is connected to the first moving slider 1-32 through a hinge 1-27, that is, under the action of an external force, the lower transport disk 1-30 can be flipped relative to the first moving slider 1-32.

[0032] The above-mentioned first driving motor 1-11 drives the first lead screw 1-14 after being decelerated by a speed reducer 1-12.

[0033] The above-mentioned upper transport tray driving device includes a second driving motor 1-7, a second lead screw 1-23, a second optical rod 1-22, a second moving slider 1-8, a second lead screw nut 1-33, and a second connecting member 1-24; the second driving motor 1-7 drives the second lead screw 1-23, the second lead screw nut of the second lead screw 1-23 is connected to the second moving slider 1-8, and the second moving slider 1-8 is sleeved on the second optical rod 1-22; and the top of the second optical rod 1-22 is connected to the second lead screw 1-23 through the second connecting member 1-24; the second moving slider 1-8 is connected to the upper transport tray; the second driving motor 1-7 drives the second lead screw 1-23 to rotate, the second lead screw 1-23 drives the second moving slider 1-8 to move along the second optical rod 1-22 through the second lead screw nut 1-33, and the second moving slider 1-8 drives the upper transport tray 1-9 to drive the steel sheet to move downward together.

[0034] After the above-mentioned second driving motor 1-7 is decelerated by a speed reducer, it drives the second lead screw 1-23.

[0035] The lower transport tray flipping device in this embodiment includes a cylinder 1-20, a rack 1-19, and a gear 1-17; a cylinder slideway 1-29 is vertically arranged on the outer shell, and the cylinder body part of the cylinder 1-20 is connected to the cylinder slideway 1-29 through a slide plate 1-21; the piston rod of the cylinder 1-20 is connected to a rack 1-19; the rack 1-19 is arranged in the limit groove 1-18, and the cylinder 1-20 can push the rack 1-19 to move linearly. The rack 1-19 meshes with the gear 1-17. When the rack moves linearly, the gear 1-17 will rotate; the central axis of the gear 1-17 is fixed in the connecting plate fixedly connected to the lower transport tray. When the rack 1-19 drives the gear 1-17 to rotate, the gear 1-17 can realize the synchronous rotation of the connecting plate, and further realize the flipping of the lower transport tray 1-30; the limit groove 1-18 is connected to the above-mentioned first moving slider 1-32; through the connection between the limit groove 1-18 and the above-mentioned first moving slider 1-32, when the lower transport tray driving device drives the lower transport tray to move up and down, the entire lower transport tray flipping device can move up and down with the lower transport tray, and further realize the flipping of the lower transport tray at any height position.

[0036] Furthermore, a plurality of upper limit rods 1-10 are arranged at the bottom of the upper transport tray 1-9; a plurality of lower limit rods 1-25 are arranged at the top of the lower transport tray 1-30; by arranging the upper limit rods 1-10 and the lower limit rods 1-25, the silicon steel sheets will be aligned up and down on the upper transport tray 1-9 and the lower transport tray 1-30.

[0037] Further, a gravity sensor 1-26 is also provided on the lower transport tray 1-30; by measuring the mass of the silicon steel sheets, the number of silicon steel sheets is calculated based on the mass of a single silicon steel sheet, and the accumulation of different numbers of silicon steel sheets is determined under different magnetic force requirements for different motors, so as to achieve subsequent automatic aluminum casting.

[0038] Further, the upper limit rod 1-10 is made of magnetic metal and has an adsorption effect. It can directly adsorb the silicon steel sheets to the bottom of the upper transport tray 1-9, and the upper limit rod 1-10 can be magnetically controlled by energizing or de-energizing, so as to realize the adsorption or release of the silicon steel sheets.

[0039] Based on the above stacking device, this embodiment also provides a stacking method, and the specific working process is as follows:

[0040] The electromagnet 1-3 on the robotic arm 1-1 places the silicon steel sheets on the silicon steel sheet stacking tray onto the lower transport tray 1-30;

[0041] When the gravity sensor 1-26 on the lower transport tray 1-30 detects the weight, counting is performed. At this time, the upper transport tray 1-9 starts to move downward, and the lower transport tray 1-30 starts to move upward;

[0042] During the transportation process, when the upper transport tray 1-9 moves to the top position of the lower transport tray 1-30, since the upper limit rod 1-10 is provided at the bottom of the upper transport tray 1-9 and the upper limit rod 1-10 has a certain magnetic force, the upper transport tray 1-9 can suck the silicon steel sheets from the lower transport tray 1-30 to its bottom and align them through the upper limit rod 1-10 with an in-built electromagnet;

[0043] Then, the lower transport tray flipping device controls the lower transport tray 1-30 to flip downward or upward to vacate a passage for the upper transport tray 1-9 to continue moving downward;

[0044] After the upper transport tray 1-9 is transported to the position where the lower base 1-28 is located, it stops moving. At this time, the upper limit rod 1-10 is controlled to lose magnetic force, and the silicon steel sheets fall downward to the designated position, and the whole work is completed.

[0045] It should be further noted that when the lower transport tray 1-30 flips upward, the upper transport tray 1-9 needs to move upward (recede) a certain distance before the lower transport tray 1-30 flips upward; when flipping downward, the lower transport tray 1-30 can directly flip downward, but it is necessary to ensure that after the lower transport tray 1-30 flips downward, it does not affect the dropping distance of the silicon steel sheets.

[0046] Embodiment 2

[0047] In this embodiment, another rotor silicon steel sheet stacking device is proposed. The difference from Embodiment 1 is that the lower transport disk driving device in this embodiment can be changed to a lower transport disk fixing device, that is, the lower transport disk does not move up and down, and only the upper transport disk moves up and down; at this time, the lower transport disk can be directly hinged to the side wall of the housing, or a connecting plate can be provided on the side wall, and the lower transport disk is hinged to the connecting plate, and then the lower transport disk flipping device is connected to the lower transport disk to drive the lower transport disk to flip downward, and the function of stacking silicon steel sheets can still be realized.

[0048] The rotor silicon steel sheet stacking devices proposed in the above two embodiments, which can realize the functions of automatic alignment, counting and precise placement of silicon steel sheets, will greatly improve the efficiency of this process, reduce the dependence on manpower, and reduce the risk of human error, thereby promoting the intelligence and automation of the production process. This not only helps to improve production efficiency, but also effectively reduces production costs and improves the overall production safety and reliability.

Claims

1. A rotor silicon steel sheet stacking device, characterized in that, It includes a robotic arm and a silicon steel sheet conveying mechanism; the silicon steel sheet conveying mechanism includes a housing, on one side surface inside the housing, there is an upper transport disk driving device, and on the opposite side surface, there is a lower transport disk driving device; the upper transport disk driving device drives the upper transport disk to perform a linear motion, the lower transport disk driving device drives the lower transport disk to perform a linear motion, the upper transport disk and the lower transport disk are arranged vertically opposite to each other, and the upper transport disk has an adsorption function; and a lower transport disk flipping device is arranged inside the housing, the lower transport disk flipping device drives the lower transport disk to flip, so as to leave a passage for the downward movement of the upper transport disk; on the lower transport disk, there are a lower limit rod and a gravity sensor; the lower transport disk driving device includes a first driving motor, a first lead screw, a first optical rod, a first moving slider, a first lead screw nut, and a first connecting piece; the first driving motor drives the first lead screw, the first lead screw nut is connected to the first moving slider, and the first moving slider is sleeved on the first optical rod; the first moving slider is hinged to the lower transport disk; the upper transport disk driving device includes a second driving motor, a second lead screw, a second optical rod, a second moving slider, a second lead screw nut, and a second connecting piece; the second driving motor drives the second lead screw, the second lead screw nut is connected to the second moving slider, and the second moving slider is sleeved on the second optical rod; the second moving slider is connected to the upper transport disk; the lower transport disk flipping device includes a cylinder, a rack, and a gear; on the outer shell, there is a vertical slideway, the cylinder body part of the cylinder is connected to the slideway through a slide plate; the piston rod of the cylinder is connected to the rack; the rack is arranged in a limit groove, the cylinder pushes the rack to perform a linear motion, and the rack meshes with the gear; the central axis of the gear is fixed to the side surface of the lower transport disk.

2. The rotor silicon steel sheet stacking device according to claim 1, wherein On the upper transport disk, there is an upper limit rod, and the upper limit rod is a magnetic metal and has an adsorption effect.

3. The rotor silicon steel sheet stacking device according to claim 1, characterized in that, At the end of the robotic arm, there is a driving device, and the driving device drives the front end electromagnet to expand and contract, so as to suck the silicon steel sheet and send it into the silicon steel sheet conveying mechanism.

4. The rotor silicon steel sheet stacking device according to claim 1, wherein The silicon steel sheet conveying mechanism is arranged on an X / Y / Z three-axis driving structure.

5. The stacking method of the rotor silicon steel sheet stacking device according to any one of claims 1-4, characterized in that, As follows: The robotic arm places the silicon steel sheets on the pallet onto the lower transport disk. When the gravity sensor on the lower transport disk detects the weight, it counts, the upper transport disk starts to move downward, and the lower transport disk starts to move upward. When the distance between the lower transport disk and the upper transport disk reaches a preset distance; The upper transport disk sucks the silicon steel sheet from the lower transport disk to its bottom. Then, the lower transport disk flipping device drives the lower transport disk to flip downward or upward, so as to leave a passage for the continuous downward movement of the upper transport disk; at this time, the upper transport disk continues to move downward, stops after reaching the preset position, the lower transport disk loses magnetism, and the silicon steel sheet drops to the designated position.

Images