Iron core silicon steel sheet gripper

Abstract

The utility model provides an iron core silicon steel sheet gripper. The iron core silicon steel sheet gripper comprises a manipulator body, a walking mechanism, a magnetic attraction mechanism, a lifting mechanism and a positioning mechanism. The walking mechanism is arranged on the side face of the manipulator body and used for driving the manipulator body to move horizontally. The magnetic attraction mechanism is arranged below the manipulator body and is used for attracting an iron core silicon steel sheet; the lifting mechanism is connected with the magnetic attraction mechanism and used for driving the magnetic attraction mechanism to vertically ascend and descend. The positioning mechanism is arranged on the magnetic attraction mechanism and is used for positioning iron core silicon steel sheets adsorbed on the magnetic attraction mechanism, the magnetic attraction mechanism adopts rectangular strong electromagnets, and a plurality of electromagnets are connected in parallel to form a composite electromagnetic chuck of the magnetic attraction mechanism, so that stable multi-layer adsorption of the silicon steel sheets can be realized; and the grabbing and transferring efficiency of the manipulator is improved.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment, and in particular to a gripper made of silicon steel sheet with iron core. Background Technology

[0002] With the increasing global demand for electricity, transformer manufacturers are facing ever-increasing production capacity requirements. Core stacking is one of the most important and time-consuming processes in transformer manufacturing. Previously, silicon steel sheets in core stacking equipment were typically handled by vacuum or electromagnetic adsorption robotic arms for single-layer transport, which was inefficient and greatly limited core production capacity. Through continuous research and development and iteration by a large number of technical personnel, more efficient stacking equipment has emerged. This type of equipment improves core production efficiency by using a one-time transport method for multi-layer silicon steel sheets. However, it is necessary to solve the problem of how to stably adsorb multi-layer sheets of different sizes and thicknesses. Currently, similar electromagnetic chucks on the market have weak suction force and can only transport single-layer sheets at a time, which cannot effectively improve the production efficiency of core stacking equipment. Utility Model Content

[0003] To address the aforementioned technical problems, the technical solution adopted by this utility model is as follows:

[0004] According to one aspect of this application, a gripper for iron-core silicon steel sheets is provided, comprising:

[0005] The robotic arm itself;

[0006] The walking mechanism is located on the side of the robot body and is used to drive the robot body to move horizontally.

[0007] A magnetic attraction mechanism, located below the robot arm body, is used to attract silicon steel sheets with iron cores.

[0008] The lifting mechanism, connected to the magnetic attraction mechanism, is used to drive the magnetic attraction mechanism to move vertically up and down;

[0009] The positioning mechanism, located on the magnetic attraction mechanism, is used to position the iron core silicon steel sheet that is adsorbed onto the magnetic attraction mechanism.

[0010] In one exemplary embodiment of this application, the robotic arm body includes:

[0011] The main frame is used to cooperate with the walking mechanism, lifting mechanism, magnetic attraction mechanism and positioning mechanism.

[0012] In one exemplary embodiment of this application, the body frame is made of aluminum alloy.

[0013] In one exemplary embodiment of this application, the body frame includes two side plates, two end plates, and several connecting plates;

[0014] Two side panels are arranged opposite each other, two end panels are arranged opposite each other, and the two side panels and two end panels are connected to each other to form the four sides of the main frame. The length of the side panels is greater than the length of the end panels.

[0015] Several connecting plates are arranged in parallel between the two side plates, and each connecting plate is parallel to either end plate.

[0016] In one exemplary embodiment of this application, the side panel is a hollowed-out triangular truss structure.

[0017] In one exemplary embodiment of this application, the walking mechanism includes:

[0018] The first silicon steel sheet robotic arm travel guide rail is set on the end plate of the main body frame;

[0019] The first traveling roller is set on the end plate of the main frame and cooperates with the first silicon steel sheet robotic arm traveling guide rail;

[0020] The first silicon steel sheet robotic arm's walking motor is connected to the first walking roller and is used to drive the first walking roller to rotate.

[0021] In one exemplary embodiment of this application, the walking mechanism further includes:

[0022] The second silicon steel sheet robotic arm travel guide rail is set on the end plate of the main frame, and is not on the same end plate as the first silicon steel sheet robotic arm travel guide rail, but is on the same horizontal plane as the first silicon steel sheet robotic arm travel guide rail.

[0023] The second traveling roller is set on the end plate where the second silicon steel sheet robot's traveling guide rail is located, and cooperates with the second silicon steel sheet robot's traveling guide rail;

[0024] The second silicon steel sheet robotic arm's walking motor is connected to the second walking roller and is used to drive the second walking roller to rotate.

[0025] In one exemplary embodiment of this application, the magnetic attraction mechanism includes:

[0026] A magnetic base plate is located below the main frame.

[0027] A silicon steel sheet electromagnet, mounted on a magnetic base plate, provides an upward attraction when energized, causing the silicon steel sheet with the core located below the silicon steel sheet gripper to adhere to the lower surface of the silicon steel sheet electromagnet.

[0028] In one exemplary embodiment of this application, the lifting mechanism includes:

[0029] The lifting cylinder for the robotic arm is mounted on the side plate of the main frame, and the piston rod of the lifting cylinder is perpendicular to the horizontal plane where the magnetic base plate is located.

[0030] The lifting belt of the robotic arm is connected at one end to the piston rod of the lifting electric cylinder of the robotic arm, and at the other end to the magnetic base plate.

[0031] In one exemplary embodiment of this application, the positioning mechanism includes:

[0032] The positioning pin adjustment rail is set on the magnetic base plate and is parallel to the side plate of the main frame;

[0033] Silicon steel sheet positioning pins are set on positioning pin adjustment rails and are used to position the iron core silicon steel sheet that is attracted to the silicon steel sheet electromagnet. There are holes on the iron core silicon steel sheet that are compatible with the silicon steel sheet positioning pins.

[0034] The positioning pin adjustment motor is connected to the silicon steel sheet positioning pin and is used to control the movement of the silicon steel sheet positioning pin on the positioning pin adjustment guide rail;

[0035] The positioning pin lifting cylinder is connected to the silicon steel sheet positioning pin and is used to control the lifting and lowering of the silicon steel sheet positioning pin.

[0036] The silicon steel sheet positioning pin solenoid valve assembly is connected to the positioning pin lifting cylinder and is used to control the movement of the extension rod of the positioning pin lifting cylinder.

[0037] This utility model has at least the following beneficial effects:

[0038] This utility model discloses a gripper for iron-core silicon steel sheets, comprising a robotic arm body, a walking mechanism, a magnetic attraction mechanism, a lifting mechanism, and a positioning mechanism. The walking mechanism is located on the side of the robotic arm body and is used to drive the robotic arm body to move horizontally. The magnetic attraction mechanism is located below the robotic arm body and is used to attract iron-core silicon steel sheets. The lifting mechanism is connected to the magnetic attraction mechanism and is used to drive the magnetic attraction mechanism to move vertically. The positioning mechanism is located on the magnetic attraction mechanism and is used to position the iron-core silicon steel sheets attracted on the magnetic attraction mechanism. The magnetic attraction mechanism uses rectangular high-strength electromagnets, and multiple electromagnets are connected in parallel to form a composite electromagnetic chuck, which can achieve stable multi-layer adsorption of silicon steel sheets and improve the gripping and transfer efficiency of the robotic arm. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 A schematic diagram of the structure of the iron-core silicon steel sheet gripper provided in this embodiment of the utility model;

[0041] Figure 2 for Figure 1 A magnified view of part F in the middle.

[0042] In the picture:

[0043] 1. First silicon steel sheet robotic arm walking motor; 2. Second silicon steel sheet robotic arm walking motor; 3. Silicon steel sheet electromagnet; 4. Silicon steel sheet positioning pin solenoid valve assembly; 5. Robotic arm lifting cylinder; 6. Silicon steel sheet positioning pin; 7. First silicon steel sheet robotic arm walking guide rail; 8. Second silicon steel sheet robotic arm walking guide rail; 9. Body frame; 10. Robotic arm lifting belt; 11. First walking roller; 12. Second walking roller; 13. Magnetic base plate. Detailed Implementation

[0044] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0045] This application proposes a gripper with a silicon steel core, comprising a robotic arm body, a walking mechanism, a magnetic attraction mechanism, a lifting mechanism, and a positioning mechanism.

[0046] The main body of the robotic arm is a gripper made of iron-core silicon steel sheets, such as... Figure 1 As shown, the robot body includes a body frame 9, which is used to cooperate with the walking mechanism, lifting mechanism, magnetic attraction mechanism and positioning mechanism, that is, it is the main body for configuring the walking mechanism, lifting mechanism, magnetic attraction mechanism and positioning mechanism. The body frame 9 includes two side plates, two end plates and several connecting plates. The two side plates are arranged opposite each other, the two end plates are arranged opposite each other, and the two side plates and two end plates are connected to each other to form the four sides of the body frame 9. The length of the side plates is greater than the length of the end plates. Several connecting plates are arranged parallel between the two side plates, and each connecting plate is parallel to any end plate.

[0047] The main frame 9 is made of aluminum alloy, and the side panels are hollow triangular truss structures.

[0048] The walking mechanism is located on the side of the robot arm body and is used to drive the robot arm body to move horizontally, such as... Figure 1As shown, the walking mechanism includes a first silicon steel sheet robotic arm walking guide rail 7, a first walking roller 11, a first silicon steel sheet robotic arm walking motor 1, a second silicon steel sheet robotic arm walking guide rail 8, a second walking roller 12, and a second silicon steel sheet robotic arm walking motor 2. The first silicon steel sheet robotic arm walking guide rail 7 is mounted on the end plate of the main body frame 9. The first walking roller 11 is mounted on the end plate of the main body frame 9 and cooperates with the first silicon steel sheet robotic arm walking guide rail 7. The first silicon steel sheet robotic arm walking motor 1 is connected to the first walking roller 11 and is used to drive... The first traveling roller 11 rotates; the second silicon steel sheet robot traveling guide rail 8 is set on the end plate of the main frame 9, and is not on the same end plate as the first silicon steel sheet robot traveling guide rail 7, but is on the same horizontal plane as the first silicon steel sheet robot traveling guide rail 7; the second traveling roller 12 is set on the end plate where the second silicon steel sheet robot traveling guide rail 8 is located, and cooperates with the second silicon steel sheet robot traveling guide rail 8; the second silicon steel sheet robot traveling motor 2 is connected to the second traveling roller 12 and is used to drive the second traveling roller 12 to rotate.

[0049] The magnetic attraction mechanism is located below the robot arm body and is used to attract the iron-core silicon steel sheets, such as... Figure 1 As shown, the magnetic attraction mechanism includes a magnetic base plate 13 and a silicon steel sheet electromagnet 3; the magnetic base plate 13 is located below the main body frame 9; the silicon steel sheet electromagnet 3 is located on the magnetic base plate 13 and is used to provide an upward attraction when energized, so that the silicon steel sheet located below the silicon steel sheet gripper is attracted to the lower surface of the silicon steel sheet electromagnet 3.

[0050] The lifting mechanism is connected to the magnetic attraction mechanism and is used to drive the magnetic attraction mechanism to move vertically up and down, such as... Figure 1 As shown, the lifting mechanism includes a robotic lifting cylinder 5 and a robotic lifting belt 10; the robotic lifting cylinder 5 is mounted on the side plate of the main frame 9, and the piston rod of the robotic lifting cylinder 5 is perpendicular to the horizontal plane where the magnetic base plate 13 is located; one end of the robotic lifting belt 10 is connected to the piston rod of the robotic lifting cylinder 5, and the other end is connected to the magnetic base plate 13.

[0051] The positioning mechanism is mounted on the magnetic attraction mechanism and is used to position the iron core silicon steel sheet that is adsorbed onto the magnetic attraction mechanism, such as... Figure 1 and Figure 2As shown, the positioning mechanism includes a positioning pin adjustment guide rail, a silicon steel sheet positioning pin 6, a positioning pin adjustment motor, a positioning pin lifting cylinder, and a silicon steel sheet positioning pin solenoid valve assembly 4. The positioning pin adjustment guide rail is set on the magnetic base plate 13 and is parallel to the side plate of the main frame 9. The silicon steel sheet positioning pin 6 is set on the positioning pin adjustment guide rail and is used to position the iron core silicon steel sheet adsorbed on the silicon steel sheet electromagnet 3. The iron core silicon steel sheet has holes that are compatible with the silicon steel sheet positioning pin 6. The positioning pin adjustment motor is connected to the silicon steel sheet positioning pin 6 and is used to control the movement of the silicon steel sheet positioning pin 6 on the positioning pin adjustment guide rail. The positioning pin lifting cylinder is connected to the silicon steel sheet positioning pin 6 and is used to control the lifting and lowering of the silicon steel sheet positioning pin 6. The silicon steel sheet positioning pin solenoid valve assembly 4 is connected to the positioning pin lifting cylinder and is used to control the movement of the telescopic rod of the positioning pin lifting cylinder.

[0052] Furthermore, a corresponding demagnetizer can be configured according to the number of silicon steel sheet electromagnets 3 installed on the magnetic attraction mechanism to ensure that the silicon steel sheet electromagnets 3 are quickly demagnetized after power is cut off, and to prevent residual magnetism from affecting the stacking of silicon steel sheet materials.

[0053] This utility model discloses a gripper for iron-core silicon steel sheets, comprising a robotic arm body, a walking mechanism, a magnetic attraction mechanism, a lifting mechanism, and a positioning mechanism. The walking mechanism is located on the side of the robotic arm body and is used to drive the robotic arm body to move horizontally. The magnetic attraction mechanism is located below the robotic arm body and is used to attract iron-core silicon steel sheets. The lifting mechanism is connected to the magnetic attraction mechanism and is used to drive the magnetic attraction mechanism to move vertically. The positioning mechanism is located on the magnetic attraction mechanism and is used to position the iron-core silicon steel sheets attracted on the magnetic attraction mechanism. The magnetic attraction mechanism uses rectangular high-strength electromagnets, and multiple electromagnets are connected in parallel to form a composite electromagnetic chuck, which can achieve stable multi-layer adsorption of silicon steel sheets and improve the gripping and transfer efficiency of the robotic arm.

[0054] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A core silicon steel sheet gripper characterized by, The utility model relates to a kind of mechanical arm, including: Mechanical arm body; Walking mechanism, be provided on the side of the mechanical arm body, for driving the horizontal movement of the mechanical arm body; Magnetic attraction mechanism, be provided below the mechanical arm body, for adsorbing iron core silicon steel sheet; Lifting mechanism, with the magnetic attraction mechanism is connected, for driving the vertical lifting of the magnetic attraction mechanism; Positioning mechanism, be provided on the magnetic attraction mechanism, for the positioning of iron core silicon steel sheet adsorbed on the magnetic attraction mechanism.

2. The core silicon steel gripper of claim 1, wherein, The mechanical arm body includes: Body frame (9), for cooperating with the walking mechanism, the lifting mechanism, the magnetic attraction mechanism and the positioning mechanism.

3. The core silicon steel sheet gripper of claim 2, wherein, The material of the body frame (9) is aluminum alloy.

4. The core silicon steel gripper of claim 2, wherein, The body frame (9) includes two side plates, two end plates, several connecting plates; Two the side plates are oppositely arranged, two the end plates are oppositely arranged, and two the side plates and two the end plates are connected to each other to form four sides of the body frame (9), the length of the side plate is greater than the length of the end plate; Several the connecting plates are parallelly arranged between two the side plates, and each the connecting plate is parallel to any the end plate.

5. The core silicon steel sheet gripper of claim 4, wherein, The side plate is a hollow triangular truss structure.

6. The core silicon steel gripper of claim 5, wherein, The walking mechanism includes: First silicon steel sheet mechanical arm walking guide rail (7), be provided on the end plate of the body frame (9); First walking roller (11), be provided on the end plate of the body frame (9), and cooperate with the first silicon steel sheet mechanical arm walking guide rail (7); First silicon steel sheet mechanical arm walking motor (1), with the first walking roller (11) is connected, for driving the rotation of the first walking roller (11).

7. The core silicon steel gripper of claim 6, wherein, The walking mechanism also includes: Second silicon steel sheet mechanical arm walking guide rail (8), be provided on the end plate of the body frame (9), and with the First silicon steel sheet mechanical arm walking guide rail (7) is not in the same end plate, and with the first silicon steel sheet mechanical arm walking guide rail (7) is in the same horizontal plane; Second walking roller (12), be provided on the end plate where the second silicon steel sheet mechanical arm walking guide rail (8) is, and cooperate with the second silicon steel sheet mechanical arm walking guide rail (8); Second silicon steel sheet mechanical arm walking motor (2), with the second walking roller (12) is connected, for driving the rotation of the second walking roller (12).

8. The core silicon steel gripper of claim 7, wherein, The magnetic attraction mechanism includes: Magnetic attraction bottom plate (13), be provided below the body frame (9); Silicon steel sheet electromagnet (3), be provided on the magnetic attraction bottom plate (13), for providing upward suction force when energized, so that the iron core silicon steel sheet below the iron core silicon steel sheet gripper is adsorbed on the lower surface of the silicon steel sheet electromagnet (3).

9. The core silicon steel sheet gripper of claim 8, wherein, The lifting mechanism includes: Mechanical arm lifting electric cylinder (5), be provided on the side plate of the body frame (9), and the piston rod of the mechanical arm lifting electric cylinder (5) is perpendicular to the horizontal plane where the magnetic attraction bottom plate (13) is; Mechanical arm lifting belt (10), one end with the piston rod of the mechanical arm lifting electric cylinder (5) is connected, one end with the magnetic attraction bottom plate (13) is connected.

10. The core silicon steel sheet gripper of claim 9, wherein, The positioning mechanism includes: Positioning pin adjusting guide rail, arranged on the magnetic bottom plate (13) and parallel to the side plate of the body frame (9); Silicon steel sheet positioning pin (6), arranged on the positioning pin adjusting guide rail, used for positioning the iron core silicon steel sheet adsorbed on the silicon steel sheet electromagnet (3), and the iron core silicon steel sheet has a hole matched with the silicon steel sheet positioning pin (6); Positioning pin adjusting motor, connected with the silicon steel sheet positioning pin (6), used for controlling the movement of the silicon steel sheet positioning pin (6) on the positioning pin adjusting guide rail; Positioning pin lifting cylinder, connected with the silicon steel sheet positioning pin (6), used for controlling the lifting of the silicon steel sheet positioning pin (6); Silicon steel sheet positioning pin solenoid valve group (4), connected with the positioning pin lifting cylinder, used for controlling the action of the telescopic rod of the positioning pin lifting cylinder.

Images