Automatic lamination shearing device and method for transformer core

Abstract

The present invention discloses an automatic shearing and lamination device and method for transformer iron core, including a silicon steel sheet transverse shearing line, comprising: an uncoiler for conveying flattened silicon steel sheets; a shearing table, the upper end of which is provided with a shearing track and a first feeding device; the first feeding device is used to convey the flattened silicon steel sheets to the shearing track; the shearing track is provided with a width detection mechanism, a first limiting mechanism, and a second limiting mechanism; the width detection mechanism detects the width of the silicon steel sheets conveyed by the uncoiler, generates a width detection data, and sends it to a drive controller; the drive controller generates a drive adjustment instruction based on the width detection data; the first limiting mechanism and the second limiting mechanism both synchronously adjust the limiting width of the silicon steel sheets according to the drive adjustment instruction. The present invention can shear silicon steel sheets with randomly varying widths, effectively improving the filling rate of the iron core, and simultaneously using two sets of robotic arms and three grippers to grasp and stack silicon steel sheets, effectively improving the grasping and placement speed of silicon steel sheets and improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of transformer core preparation, and in particular to an automatic lamination shearing device and method for transformer core. Background Art

[0002] A transformer is a device that uses the principle of electromagnetic induction to change AC voltage. Its main components are the primary coil, the secondary coil, and the iron core. The iron core is the main magnetic circuit part of the transformer. It is usually made of hot-rolled or cold-rolled silicon steel sheets with a high silicon content and coated with insulating paint. Silicon steel sheets are a kind of ferrosilicon soft magnetic alloy with an extremely low carbon content. The silicon content is generally 0.5-4.5%. The addition of silicon can increase the resistivity and maximum magnetic permeability of iron, and reduce coercive force, core loss and magnetic aging. At present, in the production process of silicon steel sheets, it is necessary to use a cross-cutting line to cross-cut the silicon steel plates to form silicon steel sheets. In the existing silicon steel sheet cross-cutting lines, the mechanisms for limiting the width of the silicon steel sheets are fixed and can only cut silicon steel sheets of one width at a time. The iron core made by stacking such silicon steel sheets has steps, resulting in a low filling rate of the iron core.

[0003] At the same time, the existing transformer core automatic core manipulator generally has only one or two manipulators to grab the silicon steel sheets, which has low efficiency. At the same time, the shearing mechanism will stop when the manipulator stacks the silicon steel sheets, affecting speed and efficiency. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the first technical problem to be solved by the present invention is to provide an automatic shearing and lamination device for transformer cores, which improves the core filling rate and the gripping efficiency of silicon steel sheets.

[0005] The second technical problem to be solved by the present invention is to provide a method for automatically shearing laminations using the automatic shearing lamination device of the transformer core, so as to improve the core filling rate and the grabbing efficiency of the silicon steel sheets.

[0006] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is:

[0007] An automatic lamination shearing device for a transformer core includes a silicon steel sheet transverse shearing line, wherein the silicon steel sheet transverse shearing line includes:

[0008] Uncoiler, used to transport the flattened silicon steel sheets;

[0009] A shearing table, the upper end of which is provided with a shearing track and a first feeding device;

[0010] Drive controller;

[0011] The first feeding device is located between the uncoiler and the shearing track and is used to transport the flattened silicon steel sheet to the shearing track;

[0012] The shearing track is provided with a width detection mechanism, a first limiting mechanism, a second limiting mechanism and two mutually perpendicularly placed oblique shears;

[0013] The oblique shearing machine is used to shear the silicon steel sheets on the shearing track;

[0014] The first feeding device, the width detection mechanism, the first limiting mechanism, and the second limiting mechanism are all connected to the drive controller by signal;

[0015] The width detection mechanism detects the width of the silicon steel sheet conveyed by the uncoiler, generates width detection data, and sends it to the drive controller;

[0016] The drive controller generates a drive adjustment instruction according to the width detection data, and sends the instruction to the first limiting mechanism and the second limiting mechanism at the same time;

[0017] The first limiting mechanism and the second limiting mechanism both synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction.

[0018] Also includes:

[0019] A workbench, with a conveyor belt provided on the upper end, the conveyor belt is used to transport the silicon steel sheets that have been sheared on the shearing track;

[0020] A second feeding device is further provided at the upper end of the shearing table, the second feeding device being located between the shearing track and the conveyor belt and being used to convey the silicon steel sheets sheared on the shearing track to the conveyor belt;

[0021] A lamination table, used for laminating the sheared silicon steel sheets;

[0022] The robotic arm comprises a rotating assembly, a cross arm, a lifting assembly, a first cross beam, and a gripping mechanism, wherein the rotating assembly is rotatably disposed on both sides of the workbench, the ends of the cross arm are respectively connected to the rotating assembly and the lifting assembly, the lifting assembly is liftably disposed at the lower end of the cross arm, and the first cross beam is fixedly connected to the lower end of the lifting assembly;

[0023] The grabbing mechanism is arranged at the lower end of the first beam, and the grabbing mechanism includes a sliding platform, a first driving assembly, a rotating platform, a second driving assembly, a first grabbing member, a second grabbing member, a third grabbing member and a third driving assembly;

[0024] The sliding platform is slidably arranged at the lower end of the first crossbeam;

[0025] The first driving assembly is fixedly arranged at the lower end of the first crossbeam, the driving output end of the first driving assembly is connected to the sliding platform, and the first driving assembly is used to drive the sliding platform to slide along the first crossbeam;

[0026] The rotating platform is rotatably arranged at the lower end of the sliding platform;

[0027] The second driving assembly is fixedly arranged at the lower end of the sliding platform, the driving output end of the second driving assembly is connected to the rotating platform, and the second driving assembly is used to drive the rotating platform to rotate;

[0028] The first grabbing member, the second grabbing member and the third grabbing member are slidably connected in parallel at the lower end of the sliding platform, the third driving assembly is fixedly arranged at the lower end of the sliding platform, the third driving assembly is transmission-connected to the first grabbing member, the second grabbing member and the third grabbing member, and is used to drive the first grabbing member, the second grabbing member and the third grabbing member to slide at the lower end of the sliding platform to approach or move away from each other;

[0029] The first grabbing member, the second grabbing member and the third grabbing member are all used to stack and grab at least three silicon steel sheets of the same sheet shape on the conveyor belt, and release them on the stacking table;

[0030] The robotic arm includes a first robotic arm and a second robotic arm.

[0031] Furthermore, when the first limiting mechanism and the second limiting mechanism synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction, a preset deviation distance is reserved for the silicon steel sheet.

[0032] Furthermore, the preset deviation distance is 0.2 mm.

[0033] Furthermore, the first grasping member, the second grasping member and the third grasping member are all magnetic suction cups.

[0034] Furthermore, a vertical distance between the first grabbing member, the second grabbing member, the third grabbing member and the conveyor belt is 1.5 to 3.5 cm.

[0035] Furthermore, the magnetic suction cup has a magnetic suction force of at least 4 kg to continuously absorb a plurality of silicon steel sheets of the same sheet shape.

[0036] Furthermore, the shear track is provided with two relatively obliquely placed V-shaped punches and two mutually parallel punching devices;

[0037] The V-shaped punch is used to punch notches in the silicon steel sheets on the shear rail;

[0038] The punching device is used to punch holes in the silicon steel sheets on the shearing track.

[0039] The technical solution adopted by the present invention to solve the above second technical problem is:

[0040] A method for automatically shearing and laminating a transformer core, providing the above-mentioned automatic shearing and laminating device for the transformer core, the method for automatically shearing and laminating a transformer core comprising an automatic shearing step, the automatic shearing step comprising:

[0041] Step S1: The first feeding device conveys the flattened silicon steel sheet to the shearing track;

[0042] Step S2: The width detection mechanism detects the width of the silicon steel sheet transported on the shear track, generates width detection data, and sends it to the drive controller;

[0043] Step S3: The drive controller generates a drive adjustment instruction according to the width detection data and sends it to the first limit mechanism and the second limit mechanism at the same time;

[0044] In step S4 , the first limiting mechanism and the second limiting mechanism both synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction.

[0045] Furthermore, the method further includes a first-level iron core manufacturing step, wherein the first-level iron core manufacturing step includes:

[0046] In step A1, a conveyor belt transports the sheared upper yoke silicon steel sheet to a preset position, a first drive assembly drives the sliding platform to slide, and a second drive assembly drives the rotating platform to rotate, so that a first grabbing member on the rotating platform is located above the upper yoke silicon steel sheet, and the first grabbing member grabs the upper yoke silicon steel sheet;

[0047] In step A2, the conveyor belt transports the sheared lower yoke silicon steel sheet to a preset position, the first drive assembly drives the sliding platform to slide, and the second drive assembly drives the rotating platform to rotate, so that the second grabbing member on the rotating platform is located above the upper yoke silicon steel sheet, and the second grabbing member grabs the lower yoke silicon steel sheet;

[0048] Step A3, according to the rules of the above steps A1 and A2, the first grasping member and the second grasping member alternately grasp at least three upper yoke silicon steel sheets and lower yoke silicon steel sheets in sequence, and then the third driving assembly drives the first grasping member and the second grasping member to move on the sliding platform to the required spacing distance between each other and rotate 90° through the rotating platform. The first driving assembly drives the sliding platform to move above the first stacking table, and then the first grasping member and the second grasping member respectively release the upper yoke silicon steel sheet and the lower yoke silicon steel sheet, so that the upper yoke silicon steel sheet and the lower yoke silicon steel sheet respectively fall on the corresponding positions of the first stacking table, completing the stacking of the upper yoke silicon steel sheet and the lower yoke silicon steel sheet in the primary iron core;

[0049] Step A4: The conveyor belt transports the sheared left column silicon steel sheets to a preset position. The first driving component drives the sliding platform to slide, and at the same time, the second driving component drives the rotating platform to rotate, so that the first gripper on the rotating platform is located above the left column silicon steel sheets, and the first gripper grabs the left column silicon steel sheets.

[0050] Step A5: The conveyor belt transports the sheared middle column silicon steel sheets to a preset position. The first driving component drives the sliding platform to slide, and at the same time, the second driving component drives the rotating platform to rotate, so that the second gripper on the rotating platform is located above the middle column silicon steel sheets, and the second gripper grabs the middle column silicon steel sheets.

[0051] Step A6: The conveyor belt transports the sheared right column silicon steel sheets to a preset position. The first driving component drives the sliding platform to slide, and at the same time, the second driving component drives the rotating platform to rotate, so that the third gripper on the rotating platform is located above the right column silicon steel sheets, and the third gripper grabs the right column silicon steel sheets.

[0052] Step A7: After the first gripper, the second gripper, and the third gripper alternately grab at least three left column silicon steel sheets, middle column silicon steel sheets, and right column silicon steel sheets in sequence according to the rules of the above steps A4, A5, and A6, the third driving component drives the first gripper, the second gripper, and the third gripper to move on the sliding platform to the required interval distance from each other. Then, the first driving component drives the sliding platform to move above the first lamination table. Then, the first gripper, the second gripper, and the third gripper release the left column silicon steel sheets, middle column silicon steel sheets, and right column silicon steel sheets respectively, so that the left column silicon steel sheets, middle column silicon steel sheets, and right column silicon steel sheets fall on the corresponding positions of the first lamination table respectively, completing the stacking of the left column silicon steel sheets, middle column silicon steel sheets, and right column silicon steel sheets in the primary iron core.

[0053] Further, the lamination table includes a first lamination table, a second lamination table, a third lamination table, and a fourth lamination table. This method further includes the manufacturing steps of the remaining levels of iron cores. The manufacturing steps of the remaining levels of iron cores include:

[0054] Step B1: According to the rules of the above steps A1 - A7, manufacture the subsequent levels of iron cores to obtain a complete E-shaped transformer iron core. The first gripper grabs all the upper yoke silicon steel sheets on the first lamination table and forms an open E-shaped iron core after moving at least 1 cm away from the other silicon steel sheets.

[0055] Step B2: According to the rules of the above steps A1 - B1, control the first robotic arm to complete the stacking of the iron core on the second lamination table, and control the second robotic arm to complete the stacking of the iron cores on the third lamination table and the fourth lamination table. The operations of the first robotic arm and the second robotic arm are carried out alternately.

[0056] Beneficial effects of the present invention:

[0057] The present invention sequentially arranges a width detection mechanism, a first limiting mechanism, and a second limiting mechanism on the shearing track, and detects the width of the rolled silicon steel sheet by the width detection mechanism to obtain width detection data, and sends the width detection data to the drive controller, so that the drive controller generates a drive adjustment instruction, and the first mechanism and the second limiting mechanism synchronously adjust the limit width of the silicon steel sheet on the shearing track according to the drive adjustment instruction, so that silicon steel sheets with randomly varying widths can be sheared on the shearing track, effectively improving the filling rate of the iron core; at the same time, the present invention arranges mechanical arms on both sides of the workbench, and the lifting and rotation of each mechanical arm facilitates the grasping mechanism to grasp and release the silicon steel sheet, effectively improving the efficiency of the grasping mechanism to grasp and release the silicon steel sheet; the present invention also provides a first grasping member, a second grasping member and a third grasping member, and enables the first grasping member, the second grasping member and the third grasping member to slide and adjust the distance between each other according to the spacing between each silicon steel sheet, effectively improving the accuracy of stacking the iron core with silicon steel sheets, and at the same time improving the efficiency of iron core stacking, which is conducive to promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is a top view of the first embodiment of the present invention;

[0059] Figure 2 is a side view of the robotic arm in embodiment 1 of the present invention;

[0060] Figure 3 is a top view of the second embodiment of the present invention;

[0061] Figure 4 is a flow chart of the automatic shearing steps in the present invention;

[0062] Figure 5 It is a flow chart of the steps for making a primary iron core in the present invention;

[0063] Figure 6 It is a flow chart of the steps for making the remaining cores at various levels in the present invention.

[0064] Reference numerals: 1, silicon steel sheet shearing line; 11, uncoiler; 12, shearing table; 13, drive controller; 14, shearing track; 15, first feeding device; 16, width detection mechanism; 17, first limiting mechanism; 18, second limiting mechanism; 19, second feeding device; 10, oblique shear; 101, V-type punch; 102, punching device; 2, workbench; 3, conveyor belt; 41, first lamination table; 42, second lamination table; 43, third lamination table; 44. Fourth stacking platform; 5A. First robotic arm; 5B. First robotic arm; 51. Rotating assembly; 52. Cross arm; 53. Lifting assembly; 54. First beam; 55. Grabbing mechanism; 551. Sliding platform; 552. First drive assembly; 553. Rotating platform; 554. Second drive assembly; 555. First grabbing member; 556. Second grabbing member; 557. Third grabbing member; 558. Third drive assembly; 6. Bracket; 61. Second beam. DETAILED DESCRIPTION

[0065] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom," "top," "inner," and "outer" refer to directions toward or away from the geometric center of a particular component, respectively.

[0066] Example 1:

[0067] like Figure 1 and Figure 2 As shown, an automatic lamination shearing device for transformer cores according to this embodiment includes a silicon steel sheet transverse shearing line 1, which includes:

[0068] The uncoiler 11 is used to transport the flattened silicon steel sheets;

[0069] The shearing table 12 has a shearing track 14 and a first feeding device 15 at its upper end;

[0070] Drive controller 13;

[0071] The first feeding device 15 is located between the uncoiler 11 and the shearing track 14 and is used to transport the flattened silicon steel sheets to the shearing track 14;

[0072] The shearing track 14 is provided with a width detection mechanism 16, a first limiting mechanism 17, a second limiting mechanism 18 and two mutually perpendicularly placed oblique shears 10;

[0073] The oblique shearing machine 10 is used to shear the silicon steel sheets on the shearing track 14;

[0074] The width detection mechanism 16, the first limiting mechanism 17 and the second limiting mechanism 18 are all connected to the drive controller 13 by signal;

[0075] The width detection mechanism 16 detects the width of the silicon steel sheet conveyed on the shearing track 14, generates a width detection data, and sends it to the drive controller 13;

[0076] The drive controller 13 generates a drive adjustment instruction based on the width detection data and sends it to the first limit mechanism 17 and the second limit mechanism 18 at the same time;

[0077] The first limiting mechanism 17 and the second limiting mechanism 18 both synchronously adjust the limiting width of the silicon steel sheet according to the driving adjustment instruction.

[0078] The automatic lamination shearing device for transformer core also includes:

[0079] The workbench 2 has a conveyor belt 3 at its upper end, which is used to transport the silicon steel sheets that have been sheared on the shearing track 14;

[0080] A second feeding device 19 is further provided at the upper end of the shearing table 12. The second feeding device 19 is located between the shearing track 14 and the conveyor belt 3 and is used to transport the silicon steel sheets sheared on the shearing track 14 to the conveyor belt 3.

[0081] Lamination table, used for stacking sheared silicon steel sheets;

[0082] The robotic arm includes a rotating assembly 51, a cross arm 52, a lifting assembly 53, a first cross beam 54, and a gripping mechanism 55. The rotating assembly 51 is rotatably arranged on both sides of the workbench 2. The two ends of the cross arm 52 are respectively connected to the rotating assembly 51 and the lifting assembly 53. The lifting assembly 53 is escalably arranged at the lower end of the cross arm 52. The first cross beam 54 is fixedly connected to the lower end of the lifting assembly 53.

[0083] The grabbing mechanism 55 is disposed at the lower end of the first crossbeam 54 , and includes a sliding platform 551 , a first driving assembly 552 , a rotating platform 553 , a second driving assembly 554 , a first grabbing member 555 , a second grabbing member 556 , a third grabbing member 557 and a third driving assembly 558 ;

[0084] The sliding platform 551 is slidably disposed at the lower end of the first crossbeam 54;

[0085] The first driving assembly 552 is fixedly disposed at the lower end of the first crossbeam 54 . The driving output end of the first driving assembly 552 is connected to the sliding platform 551 . The first driving assembly 552 is used to drive the sliding platform 551 to slide along the first crossbeam 54 .

[0086] The rotating platform 553 is rotatably disposed at the lower end of the sliding platform 551;

[0087] The second driving assembly 554 is fixedly disposed at the lower end of the sliding platform 551 , and the driving output end of the second driving assembly 554 is connected to the rotating platform 553 , and the second driving assembly 554 is used to drive the rotating platform 553 to rotate;

[0088] The first grabbing member 555, the second grabbing member 556, and the third grabbing member 557 are slidably connected in parallel at the lower end of the sliding platform 551. The third driving assembly 558 is fixedly provided at the lower end of the sliding platform 551. The third driving assembly 558 is transmission-connected to the first grabbing member 555, the second grabbing member 556, and the third grabbing member 557, and is used to drive the first grabbing member 555, the second grabbing member 556, and the third grabbing member 557 to slide at the lower end of the sliding platform 551 to move closer to or away from each other.

[0089] The first grabbing member 555 , the second grabbing member 556 and the third grabbing member 557 are all used to stack and grab at least three silicon steel sheets of the same sheet shape on the conveyor belt 3 and release them onto the stacking table.

[0090] In this embodiment, the width detection mechanism 16, the first limiting mechanism 17 and the second limiting mechanism 18 are all composed of a servo motor drive mechanism, which includes a servo motor, a screw coaxially connected to the output shaft of the servo motor, a slider threadedly sleeved on the screw, a limit block provided on the outer side of the screw, a limit groove provided in the limit block, and the slider slidably connected in the limit groove. The servo motor drives the screw to rotate, causing the slider to slide on the screw. When the slider slides to abut against the silicon steel sheet, the drive current of the servo motor will become abnormal, and the width detection mechanism 16 sends the abnormal drive current to the drive controller 13. The drive controller 13 generates a corresponding drive adjustment instruction based on the abnormal drive current and simultaneously sends it to the first limiting mechanism 17 and the second limiting mechanism 18, so that the servo motors of the first limiting mechanism 17 and the second limiting mechanism 18 adjust the operating state, thereby synchronously adjusting the limit width between the sliders of the first limiting mechanism 17 and the second limiting mechanism 18 and the silicon steel sheet, ensuring that the limit width of the silicon steel sheet is consistent after the first limiting mechanism 17 and the second limiting mechanism 18 are adjusted.

[0091] Specifically, in this embodiment, a width detection mechanism 16, a first limiting mechanism 17, and a second limiting mechanism 18 are sequentially arranged on the shear track 14, and the width of the rolled silicon steel sheet is detected by the width detection mechanism 16 to obtain width detection data, and the width detection data is sent to the drive controller 13, so that the drive controller 13 generates a drive adjustment instruction, and the first mechanism and the second limiting mechanism 18 synchronously adjust the limit width of the silicon steel sheet on the shear track 14 according to the drive adjustment instruction, so that silicon steel sheets with randomly varying widths can be sheared on the shear track 14, thereby effectively improving the filling rate of the iron core.

[0092] In this embodiment, the rotation angle of the rotating assembly 51 is at least 240°. By rotating 240°, the first robot arm 5A can simultaneously grab the silicon steel sheets on the first lamination platform 41 and the second lamination platform 42 .

[0093] The drive controller 13 is connected to the first drive assembly 552, the second drive assembly 554, and the third drive assembly 554 by signals to drive the first drive assembly 552, the second drive assembly 554, and the third drive assembly 554 to operate normally. The first drive assembly 552, the second drive assembly 554, and the third drive assembly 558 each include a drive motor and a transmission assembly, which is connected to the output shaft of the drive motor. The transmission assembly can be a chain and a gear set.

[0094] The first lamination platform 41 and the second lamination platform 42 are arranged on the same side of the workbench 2 , and the third lamination platform 43 and the fourth lamination platform 44 are arranged on the other side of the workbench 2 .

[0095] Specifically, in this embodiment, robotic arms are arranged on both sides of the workbench 2, and the lifting and rotation of each robotic arm facilitate the grasping mechanism 55 to grasp and release the silicon steel sheets, thereby effectively improving the efficiency of the grasping mechanism 55 in grasping and releasing the silicon steel sheets; the present invention is also provided with a first grasping member 555, a second grasping member 556 and a third grasping member 557, and the first grasping member 555, the second grasping member 556 and the third grasping member 557 can slide and adjust the distance between each other according to the spacing between each silicon steel sheet, thereby effectively improving the accuracy of stacking the iron core with silicon steel sheets, and at the same time improving the efficiency of the iron core stacking, which is conducive to promotion.

[0096] Preferably, when the first limiting mechanism 17 and the second limiting mechanism 18 synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction, a preset deviation distance is reserved for the silicon steel sheet.

[0097] Preferably, the preset deviation distance is 0.2 mm.

[0098] Preferably, the first grabbing member 555 , the second grabbing member 556 and the third grabbing member 557 are all magnetic suction cups.

[0099] Preferably, the vertical distance between the first grabbing member 555 , the second grabbing member 556 , and the third grabbing member 557 and the conveyor belt 3 is 1.5 to 3.5 cm.

[0100] Preferably, the magnetic chuck has a magnetic attraction force of at least 4 kg to continuously absorb several silicon steel sheets of the same sheet shape.

[0101] Preferably, the shearing track 14 is further provided with two relatively obliquely placed V-shaped punches 101 and two mutually parallel punching devices 102;

[0102] The V - type punching machine 101 is used to notch the silicon steel sheets on the shearing track 14;

[0103] The punching device 102 is used to punch the silicon steel sheets on the shearing track 14.

[0104] Specifically, in this embodiment, it is necessary to stack the Japanese - character - shaped iron cores and E - shaped iron cores, and five types of silicon steel sheets are required. Each silicon steel sheet needs to be punched with at least two positioning holes. At least ten positioning rods that match the positioning holes are convexly provided on each stacking table. The positioning rods are used to position the positioning holes on the silicon steel sheets.

[0105] An automatic shearing and stacking method for a transformer iron core provides the above - mentioned automatic shearing and stacking device for a transformer iron core. The automatic shearing and stacking method for a transformer iron core includes an automatic shearing step, as Figure 4 shown, the automatic shearing step includes:

[0106] Step S1, the first feeding device 15 transports the flattened silicon steel sheet to the shearing track 14;

[0107] Step S2, the width detection mechanism 16 detects the width of the silicon steel sheet transported on the shearing track 14, generates a width detection data, and sends it to the drive controller 13;

[0108] Step S3, the drive controller 13 generates a drive adjustment instruction according to the width detection data, and simultaneously sends it to the first limiting mechanism 17 and the second limiting mechanism 18;

[0109] Step S4, both the first limiting mechanism 17 and the second limiting mechanism 18 synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction.

[0110] Preferably, it further includes a first - level iron core manufacturing step, as Figure 5 shown, the first - level iron core manufacturing step includes:

[0111] Step A1, the conveyor belt 3 transports the sheared upper yoke silicon steel sheet to a preset position. The first driving component 552 drives the sliding platform 551 to slide, and at the same time, the second driving component 554 drives the rotating platform 553 to rotate, so that the first gripper 555 on the rotating platform 553 is located above the upper yoke silicon steel sheet, and the first gripper 555 grabs the upper yoke silicon steel sheet;

[0112] Step A2, the conveyor belt 3 transports the sheared lower yoke silicon steel sheet to a preset position. The first driving component 552 drives the sliding platform 551 to slide, and at the same time, the second driving component 554 drives the rotating platform 553 to rotate, so that the second gripper 556 on the rotating platform 553 is located above the lower yoke silicon steel sheet, and the second gripper 556 grabs the lower yoke silicon steel sheet;

[0113] Step A3: After the first grabbing member 555 and the second grabbing member 556 alternately grab at least three upper yoke silicon steel sheets and lower yoke silicon steel sheets in sequence according to the rules of the above steps A1 and A2, the third driving assembly 558 drives the first grabbing member 555 and the second grabbing member 556 to move to the required distance between each other on the sliding platform 551 and rotate 90° through the rotating platform 553. The first driving assembly 552 drives the sliding platform 551 to move above the first lamination table 41, and then the first grabbing member 555 and the second grabbing member 556 respectively release the upper yoke silicon steel sheet and the lower yoke silicon steel sheet, so that the upper yoke silicon steel sheet and the lower yoke silicon steel sheet respectively fall on the corresponding positions of the first lamination table 41, completing the stacking of the upper yoke silicon steel sheet and the lower yoke silicon steel sheet in the primary iron core;

[0114] In step A4, the conveyor belt 3 transports the sheared left column silicon steel sheet to a preset position. The first drive assembly 552 drives the sliding platform 551 to slide, while the second drive assembly 554 drives the rotating platform 553 to rotate, so that the first grabbing member 555 on the rotating platform 553 is located above the left column silicon steel sheet. The first grabbing member 555 grabs the left column silicon steel sheet.

[0115] In step A5, the conveyor belt 3 transports the sheared middle column silicon steel sheet to a preset position. The first drive assembly 552 drives the sliding platform 551 to slide, while the second drive assembly 554 drives the rotating platform 553 to rotate, so that the second grabbing member 556 on the rotating platform 553 is located above the middle column silicon steel sheet. The second grabbing member 556 grabs the middle column silicon steel sheet.

[0116] In step A6, the conveyor belt 3 transports the sheared right column silicon steel sheet to a preset position. The first drive assembly 552 drives the sliding platform 551 to slide, while the second drive assembly 554 drives the rotating platform 553 to rotate, so that the third grabbing member 557 on the rotating platform 553 is located above the right column silicon steel sheet. The third grabbing member 557 grabs the right column silicon steel sheet.

[0117] Step A7, according to the rules of the above steps A4, A5, and A6, the first grabbing member 555, the second grabbing member 556, and the third grabbing member 557 alternately grab at least three left column silicon steel sheets, middle column silicon steel sheets, and right column silicon steel sheets in turn, and then the third driving component 558 drives the first grabbing member 555, the second grabbing member 556, and the third grabbing member 557 to move on the sliding platform 551 to the required distance between each other, and then the first driving component 552 drives the sliding platform 551 to move above the first stacking platform 41, and then the first grabbing member 555, the second grabbing member 556, and the third grabbing member 557 release the left column silicon steel sheet, the middle column silicon steel sheet, and the right column silicon steel sheet respectively, so that the left column silicon steel sheet, the middle column silicon steel sheet, and the right column silicon steel sheet respectively fall on the corresponding positions of the first stacking platform 41, completing the stacking of the left column silicon steel sheet, the middle column silicon steel sheet, and the right column silicon steel sheet in the primary iron core.

[0118] Preferably, the lamination platform includes a first lamination platform 41, a second lamination platform 42, a third lamination platform 43 and a fourth lamination platform 44, and the robotic arm includes a first robotic arm 5A and a second robotic arm 5B. The method also includes the remaining core production steps, such as Figure 6 As shown, the remaining steps for making the cores at each level include:

[0119] Step B1: Produce subsequent iron cores at various levels according to the rules of steps A1-A7 above to obtain a complete "S"-shaped transformer iron core. The first grabbing member 555 grabs all the upper yoke silicon steel sheets on the first lamination table 41 and moves them at least 1 cm away from the remaining silicon steel sheets to form an open E-shaped iron core.

[0120] Step B2, according to the rules of the above steps A1-B1, control the first robot arm 5A to complete the stacking of the iron cores on the second stacking table 42, and control the second robot arm 5B to complete the stacking of the iron cores on the third stacking table 43 and the fourth stacking table 44. The operation of the first robot arm 5A and the operation of the second robot arm 5B are performed alternately.

[0121] Example 2:

[0122] It is basically the same as the first embodiment, except that Figure 3 As shown, two brackets 6 are horizontally mounted on the upper ends of the workbench 2 and each stacking station. Each bracket is equipped with a second crossbeam 61, and a gripping mechanism 55 is disposed at the lower end of the second crossbeam 61. A sliding platform 551 is slidably disposed at the lower end of the second crossbeam 61; a first drive assembly 552 is fixedly disposed at the lower end of the second crossbeam 61, with the drive output end of the first drive assembly 552 connected to the sliding platform 551. The first drive assembly 552 is used to drive the sliding platform 551 to slide along the second crossbeam 61. The drive mechanism slides left and right at the lower end of the second crossbeam 61, and uses the first gripping member 555, the second gripping member 556, and the third gripping member 557 to stack and grip at least three silicon steel sheets of the same sheet shape on the conveyor belt 3 and release them on each stacking station.

[0123] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. An automatic lamination shearing device for transformer core, characterized in that: The invention comprises a silicon steel sheet cut-to-length line (1), wherein the silicon steel sheet cut-to-length line (1) comprises: An uncoiler (11) is used to transport the flattened silicon steel sheets; A shearing table (12) is provided with a shearing track (14) and a first feeding device (15) at the upper end; Drive controller (13); The first feeding device (15) is located between the uncoiler (11) and the shearing track (14), and is used to transport the flattened silicon steel sheet to the shearing track (14); The shearing track (14) is provided with a width detection mechanism (16), a first limiting mechanism (17), a second limiting mechanism (18) and two oblique shears (10) placed perpendicular to each other; The oblique shearing machine (10) is used to shear the silicon steel sheets on the shearing track (14); The width detection mechanism (16), the first limiting mechanism (17), and the second limiting mechanism (18) are all connected to the drive controller (13) by signals; The width detection mechanism (16) detects the width of the silicon steel sheet transported on the shearing track (14), generates width detection data, and sends it to the drive controller (13); The drive controller (13) generates a drive adjustment instruction based on the width detection data, and simultaneously sends the instruction to the first limiting mechanism (17) and the second limiting mechanism (18); The first limiting mechanism (17) and the second limiting mechanism (18) both synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction; The automatic lamination shearing device for the transformer core further comprises: A workbench (2) is provided with a conveyor belt (3) at the upper end thereof, and the conveyor belt (3) is used to transport the silicon steel sheets sheared on the shearing track (14); A second feeding device (19) is also provided at the upper end of the shearing table (12), and the second feeding device (19) is located between the shearing track (14) and the conveyor belt (3), and is used to transport the silicon steel sheets sheared on the shearing track (14) to the conveyor belt (3); A lamination table, used for laminating the sheared silicon steel sheets; A mechanical arm comprises a rotating assembly (51), a cross arm (52), a lifting assembly (53), a first cross beam (54) and a grasping mechanism (55), wherein the rotating assembly (51) is rotatably arranged on both sides of the workbench (2), the two ends of the cross arm (52) are respectively connected to the rotating assembly (51) and the lifting assembly (53), the lifting assembly (53) is escalably arranged at the lower end of the cross arm (52), and the first cross beam (54) is fixedly connected to the lower end of the lifting assembly (53); The grabbing mechanism (55) is arranged at the lower end of the first crossbeam (54), and the grabbing mechanism (55) includes a sliding platform (551), a first driving assembly (552), a rotating platform (553), a second driving assembly (554), a first grabbing member (555), a second grabbing member (556), a third grabbing member (557) and a third driving assembly (558); The sliding platform (551) is slidably arranged at the lower end of the first crossbeam (54); The first driving component (552) is fixedly arranged at the lower end of the first crossbeam (54), the driving output end of the first driving component (552) is connected to the sliding platform (551), and the first driving component (552) is used to drive the sliding platform (551) to slide along the first crossbeam (54); The rotating platform (553) is rotatably arranged at the lower end of the sliding platform (551); The second driving component (554) is fixedly arranged at the lower end of the sliding platform (551), the driving output end of the second driving component (554) is connected to the rotating platform (553), and the second driving component (554) is used to drive the rotating platform (553) to rotate; The first grabbing member (555), the second grabbing member (556) and the third grabbing member (557) are slidably connected in parallel at the lower end of the sliding platform (551), and the third driving component (558) is fixedly arranged at the lower end of the sliding platform (551). The third driving component (558) is transmission-connected to the first grabbing member (555), the second grabbing member (556) and the third grabbing member (557), and is used to drive the first grabbing member (555), the second grabbing member (556) and the third grabbing member (557) to slide at the lower end of the sliding platform (551) to approach or move away from each other; The first grabbing member (555), the second grabbing member (556) and the third grabbing member (557) are all used to stack and grab at least three silicon steel sheets of the same sheet type on the conveyor belt (3), and release them on the stacking table. The rotation angle of the rotating assembly is at least 240°, so that the first robot arm can grab the silicon steel sheets on the first stacking table and the second stacking table at the same time. The automatic shearing lamination method of the transformer core includes an automatic shearing step, and the automatic shearing step includes: Step S1, the first feeding device (15) conveys the flattened silicon steel sheet to the shearing track (14); Step S2, the width detection mechanism (16) detects the width of the silicon steel sheet transported on the shearing track (14), generates width detection data, and sends it to the drive controller (13); Step S3, the drive controller (13) generates a drive adjustment instruction based on the width detection data, and simultaneously sends it to the first limiting mechanism (17) and the second limiting mechanism (18); In step S4, the first limiting mechanism (17) and the second limiting mechanism (18) both synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction.

2. The automatic lamination shearing device for transformer core according to claim 1, characterized in that: When the first limiting mechanism (17) and the second limiting mechanism (18) synchronously adjust the limiting width of the silicon steel sheet according to the drive adjustment instruction, a preset deviation distance is left for the silicon steel sheet.

3. The automatic lamination shearing device for transformer core according to claim 2, characterized in that: The preset deviation distance is 0.2 mm.

4. The automatic lamination shearing device for transformer core according to claim 2, characterized in that: The first grasping member (555), the second grasping member (556) and the third grasping member (557) are all magnetic suction cups.

5. The automatic lamination shearing device for transformer core according to claim 4, characterized in that: The vertical distances between the first grabbing member (555), the second grabbing member (556) and the third grabbing member (557) and the conveyor belt (3) are 1.5 to 3.5 cm.

6. The automatic lamination shearing device for transformer core according to claim 4, characterized in that: The magnetic chuck has a magnetic attraction force of at least 4 kg to continuously absorb a plurality of silicon steel sheets of the same sheet shape.

7. The automatic lamination shearing device for transformer core according to claim 1, characterized in that: The shearing track (14) is further provided with two relatively obliquely placed V-shaped punches (101) and two mutually parallel punching devices (102); The V-shaped punching machine (101) is used to punch notches in the silicon steel sheets on the shearing track (14); The punching device (102) is used for punching the silicon steel sheet on the shearing track (14).

8. The automatic lamination shearing device for transformer core according to claim 1, characterized in that: The invention also includes a first-level iron core manufacturing step, wherein the first-level iron core manufacturing step includes: In step A1, the conveyor belt (3) transports the sheared upper yoke silicon steel sheet to a preset position, the first drive component (552) drives the sliding platform (551) to slide, and the second drive component (554) drives the rotating platform (553) to rotate, so that the first grabbing member (555) on the rotating platform (553) is located above the upper yoke silicon steel sheet, and the first grabbing member (555) grabs the upper yoke silicon steel sheet; In step A2, the conveyor belt (3) transports the sheared lower yoke silicon steel sheet to a preset position, the first drive component (552) drives the sliding platform (551) to slide, and the second drive component (554) drives the rotating platform (553) to rotate, so that the second grabbing member (556) on the rotating platform (553) is located above the upper yoke silicon steel sheet, and the second grabbing member (556) grabs the lower yoke silicon steel sheet; Step A3, according to the rules of the above steps A1 and A2, the first grabbing member (555) and the second grabbing member (556) are alternately grabbing at least three upper yoke silicon steel sheets and lower yoke silicon steel sheets in sequence, and then the third driving component (558) drives the first grabbing member (555) and the second grabbing member (556) to move to the required distance between each other on the sliding platform (551) and rotate 90 degrees through the rotating platform (553), and the first driving component (552) drives the sliding platform (551) to move above the first lamination platform (41), and then the first grabbing member (555) and the second grabbing member (556) release the upper yoke silicon steel sheet and the lower yoke silicon steel sheet respectively, so that the upper yoke silicon steel sheet and the lower yoke silicon steel sheet fall on the corresponding positions of the first lamination platform (41), thereby completing the stacking of the upper yoke silicon steel sheet and the lower yoke silicon steel sheet in the primary iron core; In step A4, the conveyor belt (3) transports the sheared left column silicon steel sheet to a preset position, the first drive assembly (552) drives the sliding platform (551) to slide, and the second drive assembly (554) drives the rotating platform (553) to rotate, so that the first grabbing member (555) on the rotating platform (553) is located above the left column silicon steel sheet, and the first grabbing member (555) grabs the left column silicon steel sheet; Step A5, the conveyor belt (3) conveys the sheared middle column silicon steel sheets to a preset position. The first driving component (552) drives the sliding platform (551) to slide, and at the same time, the second driving component (554) drives the rotating platform (553) to rotate, so that the second gripping member (556) on the rotating platform (553) is located above the middle column silicon steel sheet, and the second gripping member (556) grips the middle column silicon steel sheet; Step A6, the conveyor belt (3) conveys the sheared right column silicon steel sheets to a preset position. The first driving component (552) drives the sliding platform (551) to slide, and at the same time, the second driving component (554) drives the rotating platform (553) to rotate, so that the third gripping member (557) on the rotating platform (553) is located above the right column silicon steel sheet, and the third gripping member (557) grips the right column silicon steel sheet; Step A7, after the first gripping member (555), the second gripping member (556) and the third gripping member (557) alternately grip at least three left column silicon steel sheets, middle column silicon steel sheets and right column silicon steel sheets in sequence according to the rules of the above steps A4, A5, and A6, the third driving component (558) drives the first gripping member (555), the second gripping member (556) and the third gripping member (557) to move on the sliding platform (551) to the required interval distance from each other. Then, the first driving component (552) drives the sliding platform (551) to move above the first lamination table (41). Then, the first gripping member (555), the second gripping member (556) and the third gripping member (557) release the left column silicon steel sheet, the middle column silicon steel sheet and the right column silicon steel sheet respectively, so that the left column silicon steel sheet, the middle column silicon steel sheet and the right column silicon steel sheet fall on the corresponding positions of the first lamination table (41), completing the lamination of the left column silicon steel sheet, the middle column silicon steel sheet and the right column silicon steel sheet in the primary iron core.

9. The automatic lamination shearing device for transformer core according to claim 8, characterized in that: The lamination table includes a first lamination table (41), a second lamination table (42), a third lamination table (43) and a fourth lamination table (44). The robotic arm includes a first robotic arm (5A) and a second robotic arm (5B). The method further includes the manufacturing steps of the remaining levels of the iron core. The manufacturing steps of the remaining levels of the iron core include: Step B1, manufacture the subsequent levels of the iron core according to the rules of the above steps A1 - A7 to obtain a complete E-shaped transformer iron core. The first gripping member (555) grips all the upper yoke silicon steel sheets on the first lamination table (41) to be at least 1 cm away from the other silicon steel sheets to form an open E-shaped iron core; Step B2, control the first robotic arm (5A) to complete the lamination of the iron core on the second lamination table (42) and control the second robotic arm (5B) to complete the lamination of the iron core on the third lamination table (43) and the fourth lamination table (44) according to the rules of the above steps A1 - B1. The operations of the first robotic arm (5A) and the second robotic arm (5B) are carried out alternately.

Images