A high-precision automatic lamination method for a transformer core and an automatic lamination system thereof

Abstract

The application discloses a high-precision automatic lamination method for a transformer core and an automatic lamination system thereof. The automatic lamination system is used to realize high-precision lamination of the transformer core, mainly relies on cooperation of multiple lamination machine groups and a lamination platform, sequentially completes core center column lamination, core long-side column lamination and core short-side column lamination steps in a single operation surface, and performs overlapping of partial steps in adjacent operation surfaces, and mutually assists between adjacent lamination steps, thereby ensuring lamination precision. The application controls cooperation of the multiple lamination machine groups and the lamination platform by arranging a plurality of sensing devices, realizes an orderly and accurate lamination process, and guarantees high-efficiency and high-precision lamination production of the transformer core.

Description

Technical Field

[0001] This invention relates to the field of transformer core lamination technology, and in particular to a high-precision automatic lamination method and automatic lamination system for transformer cores. Background Technology

[0002] Transformer cores are often made by laminating oriented silicon steel sheets. Due to the high precision requirements of lamination, workers need extensive experience. To ensure a certain level of production efficiency, a significant investment in personnel is required. Furthermore, lamination is labor-intensive and requires prolonged operation, making it difficult to guarantee stable efficiency. Replacing manual labor with machinery to achieve high-efficiency single-stage production is a common method to improve production efficiency. Currently, some automatic lamination machines exist, but their drawbacks are that although multiple stations operate simultaneously, the actions of each station are independent. They only follow the common lamination sequence used to maintain precision, and lack protection for the already formed parts. Therefore, while ensuring that the precision error is within the allowable range, the improvement in lamination efficiency is limited. As the operating frequency increases, the possibility of errors also increases. Therefore, it is necessary to design a method to effectively combine high precision and high efficiency in automatic lamination. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a high-precision automatic lamination method and automatic lamination system for transformer cores. By setting up several sensing devices, multiple lamination units and lamination platforms are controlled to cooperate in a coordinated manner to achieve an orderly and precise lamination process, ensuring high-efficiency and high-precision production of transformer core laminations.

[0004] Technical Solution: To achieve the above objectives, the present invention provides a high-precision automatic lamination method and system for transformer cores. The automatic lamination system achieves high-precision lamination of transformer cores, primarily relying on the coordinated operation of multiple lamination machines and a lamination platform. Specifically, it includes the following steps:

[0005] Step 1, Lamination of the core center column: First, the induction device A senses the status signal a1 and sends the center column lamination placement signal to the center lamination machine unit. Then, the center lamination machine unit completes the placement action. Finally, the induction device C senses the status signal c4 and the induction device A senses the status signal a2 to jointly confirm that the placement is in place.

[0006] Step II, Lamination of long side columns of iron core: First, the sensing device A senses the status signal a2 and sends the long side column lamination placement signal to the long side lamination unit. Then, the long side lamination unit completes the placement action. Finally, the sensing device C senses the status signal c5 and the sensing device B senses the status signal b1 to jointly confirm that the placement is in place.

[0007] As the device is placed in place, it senses state a3 through sensor A and drives the long side column to raise the placement platform by one unit height h, so that sensor A senses state a1 again.

[0008] Step III, stacking of short side columns of iron core: First, the sensing device B senses the status signal b1 and sends the short side column stacking placement signal to the short side stacking unit. Then, the short side stacking unit completes the placement action. Finally, the sensing device B senses the status signal b2 to confirm that the placement is in place. At the same time, it drives the short side column auxiliary placement platform to rise by one unit height h, so that the sensing device B senses the status b1 again.

[0009] Furthermore, by sensing the status signal d1 through the sensing device D, a material preparation signal is sent to the material preparation mechanism in the stacking unit, and the material preparation mechanism transports a single silicon steel sheet to the designated material preparation position to complete the material preparation action;

[0010] The sensor D senses the status signal d2 and sends a pick-up signal to the robotic arm in the stacking unit. The robotic arm then completes the pick-up action. After the pick-up is completed, the robotic arm waits to receive the stacking placement signal.

[0011] Furthermore, the specific steps of the material preparation action are as follows: First, after receiving the material preparation signal, the material preparation mechanism drives the material rack to rise by one unit height h, so that the uppermost silicon steel sheet of the material stack contacts the feeding roller group, and then the feeding roller group transports the uppermost silicon steel sheet to the designated material preparation position to complete the material preparation action.

[0012] Furthermore, the specific steps of the central column stacking wafer picking and placing actions are as follows: After receiving the picking signal, the lifting and placing device is first driven by the central column stacking wafer robotic arm to the designated material preparation position. Then, the lowering action is executed by sensing the status signal c1 through the sensor C, so that the pressure block is pressed on the silicon steel sheet to be picked up. Next, the suction action is executed by sensing the status signal c2 through the sensor C, so that the suction cup assembly is adsorbed on the upper surface of the silicon steel sheet to be picked up. Finally, the lifting and placing device is driven by the central column stacking wafer robotic arm to remove the silicon steel sheet from the designated material preparation position, completing the picking action, and waiting to receive the central column stacking wafer placing signal.

[0013] Furthermore, the specific steps of the central column stacking action are as follows: After receiving the central column stacking action signal, the state signal c3 is sensed by the sensing device C first, and the stacking action is executed. Then, the state signal c4 is sensed by the sensing device C, and the suction cup assembly is detached from the upper surface of the silicon steel sheet. Finally, the state signal c5 is sensed by the sensing device C, and the pressure block is detached from the upper surface of the silicon steel sheet, thus completing the central column stacking action and waiting to receive the pick-up signal.

[0014] Furthermore, the specific steps of the long-side column stacking action are as follows: After receiving the long-side column stacking action signal, the long-side column stacking robot arm first pushes the silicon steel sheet to slide along the long-side column auxiliary placement platform until it is in place with the central column. Then, the suction cup assembly detaches from the upper surface of the silicon steel sheet through the sensing device C sensing the status signal c5 and the sensing device B sensing the status signal b1. Finally, the pressure block detaches from the upper surface of the silicon steel sheet through the sensing device B sensing the status signal b2, completing the long-side column stacking action and waiting to receive the pick-up signal.

[0015] Furthermore, the specific steps of the short-side column stacking action are as follows: After receiving the short-side column stacking action signal, the short-side column stacking robot arm first pushes the silicon steel sheet to slide along the short-side column auxiliary placement platform until it is spliced ​​with the long-side columns on both sides. Then, the sensor device B senses the status signal b2, and the suction cup assembly and the pressure block detach from the upper surface of the silicon steel sheet one after another, completing the short-side column stacking action and waiting to receive the pick-up signal.

[0016] Furthermore, the sensing device A is disposed at the middle of the upper edge of the inner side of the long side column auxiliary placement platform, corresponding to the end position of the iron core center column;

[0017] The sensing device B is located on both sides of the upper edge of the inner side of the short side column auxiliary placement platform, corresponding to the end position of the long side column of the iron core.

[0018] Furthermore, the material preparation mechanism includes a material rack on which a stack of material sheets is placed, and the material rack is located at one end of the feeding roller assembly;

[0019] The feeding roller assembly includes a feeding roller located above the material rack. The feeding roller is horizontally arranged with a clamping roller assembly and a preparation roller track. The tail end of the preparation roller track is provided with a rotating and opening baffle. The sensing device D is provided on the front side of the baffle.

[0020] Furthermore, the lifting and placing device includes a pressure block and a suction cup assembly. The suction cup assembly is fixedly connected to the end of the robotic arm, and the pressure block is elastically connected to the bottom side of the suction cup assembly. The bottom surface of the pressure block is provided with the sensing device C.

[0021] Beneficial effects: The high-precision automatic lamination method and automatic lamination system for transformer cores of the present invention have at least the following advantages:

[0022] (1) Relying on multiple sensors, multiple stacking units and stacking platforms work together to achieve an orderly stacking process. Each stacking action complements the others, resulting in higher stacking accuracy.

[0023] (2) In general, the work is carried out in the order of medium, long and short in each working surface, and then the pieces are assembled and stacked layer by layer from bottom to top. In addition, there are overlapping actions between adjacent working surfaces, which improves the stacking efficiency; and the overlapping actions can also play an auxiliary limiting role, further improving the stacking accuracy. Attached Figure Description

[0024] Appendix Figure 1 This is a block diagram of a high-precision automatic lamination method for transformer cores according to this scheme;

[0025] Appendix Figure 2 This is a schematic diagram of the structural distribution of the automatic stacking system in this scheme;

[0026] Appendix Figure 3 This is a schematic diagram showing the relative position and structure of the laminating unit in the direction of the short-side column auxiliary placement platform in this scheme;

[0027] Appendix Figure 4 This is a structural diagram of one embodiment of the lifting and lowering device of this solution;

[0028] Appendix Figure 5 This is a schematic diagram showing the distribution of one embodiment of the sensing device C in this solution. Detailed Implementation

[0029] The invention will now be further described with reference to the accompanying drawings.

[0030] As attached Figure 1-5 The method and system for high-precision automatic lamination of transformer cores described herein achieve high-precision lamination of transformer cores through the automatic lamination system. The automatic lamination system includes a lamination platform 2, and the lamination platform 2 is provided with a long side post auxiliary placement platform 21 and a short side post auxiliary placement platform 22 corresponding to the long side post 6 and the short side post 7 of the core, respectively.

[0031] The auxiliary placement platforms 21 for the long side columns on both sides are synchronously raised and lowered by a sensor A. The sensor A is located at the middle of the upper edge of the inner side of the auxiliary placement platform 21 for the long side columns, corresponding to the end position of the iron core center column 8.

[0032] The short side column auxiliary placement platforms 22 on both sides are synchronously raised and lowered by the sensing device B. The sensing device B is set on both sides of the upper edge of the inner side of the short side column auxiliary placement platform 22, corresponding to the end position of the iron core long side column 6.

[0033] In addition, stacking machine units 1 are respectively provided for the long side column 6, the short side column 7 and the center column 8 of the iron core. Each stacking machine unit 1 is provided with a material preparation mechanism 3 and a robotic arm 4. The robotic arm 4 is located between the material preparation mechanism 3 and the stacking platform 2. The end of the robotic arm 4 is provided with a lifting and placing device 5.

[0034] Based on the above system architecture, multiple sensors are mainly used to enable multiple stacking units 1 and stacking platform 2 to cooperate in achieving high-precision stacking. The specific process includes the following steps:

[0035] First, the preparation and retrieval actions are carried out in the respective stacking units of the three types of silicon steel sheets, so that the placement action can be quickly responded to when the corresponding placement action signal is received, thereby improving the stacking efficiency. This is achieved by the following structure.

[0036] The material preparation mechanism 3 includes a material rack 31, on which a stack of material sheets 32 is placed, and the material rack 31 is located at one end of the feeding roller group 33;

[0037] The feeding roller group 33 includes a feeding roller 311 located above the material rack 31. The feeding roller 311 is horizontally arranged with a clamping roller group 312 and a preparation roller track 313. The tail end of the preparation roller track 313 is provided with a rotating and opening baffle 314. The sensing device D is provided on the front side of the baffle 314.

[0038] The lifting and placing device 5 includes a pressing block 51 and a suction cup assembly 52. ​​The suction cup assembly 52 is fixedly connected to the end of the robotic arm 4. The pressing block 51 is elastically connected to the bottom side of the suction cup assembly 52. ​​The bottom surface of the pressing block 51 is provided with the sensing device C.

[0039] Based on the above structure, the specific steps for material preparation and retrieval are as follows:

[0040] The sensor D senses the status signal d1 and sends a material preparation signal to the material preparation mechanism 3 in the stacking unit 1. The material preparation mechanism 3 then transports a single silicon steel sheet to the designated material preparation position to complete the material preparation action.

[0041] First, after receiving the material preparation signal, the material preparation mechanism 3 drives the material rack 31 to rise by one unit height h, so that the uppermost silicon steel sheet of the material stack 32 contacts the feeding roller group 33, and then the feeding roller group 33 transports the uppermost silicon steel sheet to the designated material preparation position to complete the material preparation action.

[0042] in:

[0043] Status signal d1 is the feedback signal that the sensing device D has detected no prepared silicon steel sheets at the designated material preparation location. Status signal d2 is the feedback signal that the sensing device D has detected prepared silicon steel sheets at the designated material preparation location.

[0044] The sensor D senses the status signal d2 and sends a pick-up signal to the robotic arm 4 in the stacking unit 1. The robotic arm 4 then completes the pick-up action. After the pick-up is completed, the robotic arm 4 waits to receive the stacking placement signal.

[0045] After receiving the pick-up signal, the lifting and placing device 5 is first driven by the central column stacking robot arm 41 to the designated material preparation position. Then, the state signal c1 is sensed by the sensor C, and the lowering action is executed, so that the pressure block 51 is pressed on the silicon steel sheet to be picked up. Next, the state signal c2 is sensed by the sensor C, and the suction action is executed, so that the suction cup assembly 52 is adsorbed on the upper surface of the silicon steel sheet to be picked up. Finally, the lifting and placing device 5 is driven by the central column stacking robot arm 41 to remove the silicon steel sheet from the designated material preparation position, completing the pick-up action, and waiting to receive the central column stacking placement signal.

[0046] in;

[0047] Status signal c1 is a feedback signal indicating that the sensing device C has detected that the shape and size of the silicon steel sheet to be picked up meet the stacking requirements.

[0048] Status signal c2 is a feedback signal from sensing device C indicating that the thickness of the silicon steel sheet to be picked up meets the stacking requirements.

[0049] Secondly, the stacking process is completed in a specific order until the iron core laminations are finished. The specific stacking process includes the following steps:

[0050] Step 1, Lamination of the core center column: First, the sensing device A senses the status signal a1 and sends the center column lamination placement signal to the center lamination machine 11. Then, the center lamination machine 11 completes the placement action. Finally, the sensing device C senses the status signal c4 and the sensing device A senses the status signal a2 to jointly confirm that the placement is in place.

[0051] The specific steps of the central column stacking action are as follows: After receiving the central column stacking action signal, the state signal c3 is sensed by the sensing device C first, and the stacking action is executed. Then, the state signal c4 is sensed by the sensing device C, and the suction cup assembly 52 is detached from the upper surface of the silicon steel sheet. Finally, the state signal c5 is sensed by the sensing device C, and the pressure block 51 is detached from the upper surface of the silicon steel sheet, thus completing the central column stacking action and waiting to receive the pick-up signal.

[0052] Step II, Lamination of long side columns of iron core: First, the sensing device A senses the status signal a2 and sends the long side column lamination placement signal to the long side lamination unit 12. Then, the long side lamination unit 12 completes the placement action. Finally, the sensing device C senses the status signal c5 and the sensing device B senses the status signal b1 to jointly confirm that the placement is in place.

[0053] The specific steps of the long-side column stacking action are as follows: After receiving the long-side column stacking action signal, the long-side column stacking robot arm 42 first pushes the silicon steel sheet along the long-side column auxiliary placement platform 21 until it is in place with the central column. Then, the suction cup assembly 52 detaches from the upper surface of the silicon steel sheet by sensing the status signal c5 by the sensing device C and the status signal b1 by the sensing device B. Finally, the pressure block 51 detaches from the upper surface of the silicon steel sheet by sensing the status signal b2 by the sensing device B, thus completing the long-side column stacking action and waiting to receive the pick-up signal.

[0054] As the object is placed in place, the sensor A senses state a3 and drives the long-side column auxiliary placement platform 21 to rise by one unit height h, so that the sensor A senses state a1 again.

[0055] Step III, stacking of short side columns of iron core: First, the sensing device B senses the status signal b1 and sends the short side column stacking placement signal to the short side stacking unit 13. Then, the short side stacking unit 13 completes the placement action. Finally, the sensing device B senses the status signal b2 to confirm that the placement is in place. At the same time, it drives the short side column auxiliary placement platform 22 to rise by one unit height h, so that the sensing device B senses the status b1 again.

[0056] The specific steps of the short-side column stacking action are as follows: After receiving the short-side column stacking action signal, the short-side column stacking robot arm 43 first pushes the silicon steel sheet along the short-side column auxiliary placement platform 22 until it is spliced ​​with the long-side columns on both sides. Then, the sensor device B senses the status signal b2, and the suction cup assembly 52 and the pressure block 51 successively detach from the upper surface of the silicon steel sheet, completing the short-side column stacking action and waiting to receive the pick-up signal.

[0057] in:

[0058] The status signal a1 is the feedback signal of the sensing device A detecting that there is no placed central column silicon steel sheet in the plane.

[0059] The status signal a2 is the feedback signal of the sensing device A detecting the presence of a placed central column silicon steel sheet in its plane.

[0060] Status signal a3 is a feedback signal indicating that sensing device A has detected the presence of a placed long-sided column silicon steel sheet in its plane.

[0061] Status signal b1 is a feedback signal indicating that the sensing device B has detected the presence of a placed long-sided column silicon steel sheet in its plane.

[0062] Status signal b2 is a feedback signal indicating that the sensing device B has detected the presence of a short-sided column silicon steel sheet that has been placed in its plane.

[0063] Status signal c3 is the feedback signal that the sensing device C has detected that the silicon steel sheet to be placed in the center column is aligned with the end face of the already formed center column.

[0064] Status signal c4 is the feedback signal that the sensing device C has detected that the silicon steel sheet to be placed in the center column is in contact with the end face of the already formed center column.

[0065] Status signal c5 is a feedback signal indicating that the sensing device C has detected that the silicon steel sheet to be placed on the long side column of the current stacking working surface has been spliced ​​into place with the silicon steel sheet of the already placed center column.

[0066] The unit height h represents the thickness of a single silicon steel sheet.

[0067] To achieve the multiple functions of the aforementioned sensing device C, such as Figure 5 As shown, a preferred embodiment of a sensing device C may consist of multiple sensors arranged according to the outline of a silicon steel sheet.

[0068] Based on the above steps, the principle is analyzed as follows:

[0069] During normal stacking operation, each corresponding stacking unit is mainly in two stages: one is the material preparation and retrieval stage, and the other is the stacking stage. There is a very small standby gap between the two stages. The stacking stage includes two parts: the placement step and the auxiliary pressing step.

[0070] Initially, no silicon steel sheets were placed on the stacking platform, and each stacking unit was in the material preparation and retrieval stage or in standby mode; at this time, both the long-side column auxiliary placement platform 21 and the short-side column auxiliary placement platform 22 were one unit height h higher than the placement reference plane of the placement platform.

[0071] The stacking process begins. Sensor A detects that there are no placed center column silicon steel sheets in the plane. Therefore, the center column stacking unit is immediately controlled to enter the stacking stage. During placement, the center column reference block on the placement platform is used as a reference standard. Sensor C ensures that the center column can be placed in accordance with the reference block. After confirming that it is in place, the center column stacking unit is placed and pressed. This completes the placement step of the center column stacking unit.

[0072] Once the central column lamination is placed in place, the sensing device A immediately senses the presence of the placed central column silicon steel sheet in its plane. Therefore, it immediately controls the two long-side column lamination units to enter the stacking stage. At the same time, the central column lamination unit enters the auxiliary pressing stage to assist the long-side column lamination unit in completing the placement step.

[0073] When placing the long-side column silicon steel sheet, the end of the central column silicon steel sheet in the plane is used as the reference standard. The outer auxiliary platform and the inner splicing seam limit are used to achieve double limit to ensure that the long-side column silicon steel sheet is placed in place. The splicing seam position is detected by the sensor C to determine whether the splicing is in place. After it is confirmed to be in place, the central column stacking unit completes the entire stacking process and re-enters the material preparation and picking process.

[0074] Once the long-side column stacking unit completes the placement step, sensor B immediately detects the presence of the placed long-side column silicon steel sheet in its plane. Therefore, it immediately controls the short-side column stacking units on both sides to enter the stacking stage. Simultaneously, the long-side column stacking unit enters the auxiliary clamping step to assist the short-side column stacking unit in completing the placement step. At the same time, sensor A immediately detects the presence of the placed long-side column silicon steel sheet in its plane and immediately controls the long-side column auxiliary placement platform to be raised to the next stacking working surface. This allows the lower-layer short-side column stacking to occur simultaneously with the upper-layer center column stacking, thereby improving stacking efficiency.

[0075] When placing the short-side column silicon steel sheet, the end of the long-side column silicon steel sheet in the same plane is used as a reference standard. The short-side column silicon steel sheet is placed in place by double limiting through the outer auxiliary platform and the inner splicing seam. After the short-side column silicon steel sheet is confirmed to be placed in place by the sensing device B, both the long-side column stacking unit and the short-side column stacking unit re-enter the material preparation and picking stage. At the same time, the short-side column auxiliary placement platform is raised to the next stacking operation surface.

[0076] The above steps are repeated until the stacking is completed. In general, the stacking is carried out in the order of medium, long and short in each working surface, and then layer by layer from bottom to top. In addition, there are steps that are performed simultaneously between adjacent working surfaces, thereby improving the stacking efficiency. Furthermore, there are mutual assistance between adjacent steps to ensure assembly accuracy.

[0077] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the above principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A high-precision automatic lamination method for transformer cores, characterized in that, High-precision lamination of transformer cores is achieved through an automatic lamination system, which relies on the coordinated operation of multiple lamination units (1) and a lamination platform (2). Specifically, the following steps are included: Step 1, stacking of core center column laminations: First, the sensing device A senses the status signal a1 and sends the center column lamination placement signal to the center lamination machine (11). Then, the center lamination machine (11) completes the placement action. Finally, the sensing device C senses the status signal c4 and the sensing device A senses the status signal a2 to jointly confirm that the placement is in place. Step II, stacking of long side columns of iron core: First, the sensing device A senses the status signal a2 and sends the long side column stacking placement signal to the long side stacking machine (12). Then, the long side stacking machine (12) completes the placement action. Finally, the sensing device C senses the status signal c5 and the sensing device B senses the status signal b1 to jointly confirm that the placement is in place. While the device is in place, the sensor A senses state a3 and drives the long side column auxiliary placement platform (21) to rise by one unit height h, so that the sensor A senses state a1 again. Step III, stacking of short side columns of iron core: First, the sensing device B senses the status signal b1 and sends the short side column stacking placement signal to the short side stacking unit (13). Then, the short side stacking unit (13) completes the placement action. Finally, the sensing device B senses the status signal b2 to confirm that the placement is in place. At the same time, the short side column auxiliary placement platform (22) is driven to rise by one unit height h, so that the sensing device B senses the status b1 again. Steps I to III are repeated until the stacking is completed. In each working surface, the order is first the middle, then the long, then the short. Then, the stacking is carried out layer by layer from bottom to top. The sensor D senses the status signal d1 and sends a material preparation signal to the material preparation mechanism (3) in the stacking unit (1). The material preparation mechanism (3) then transports a single silicon steel sheet to the designated material preparation position to complete the material preparation action. The sensor D senses the state signal d2 and sends a pick-up signal to the robotic arm (4) in the stacking unit (1). The robotic arm (4) then completes the pick-up action. After the pick-up is completed, the robotic arm (4) waits to receive the stacking placement signal. The status signal a1 is the feedback signal that the sensing device A has detected that there is no placed central column silicon steel sheet in the plane. The status signal a2 is the feedback signal of the sensing device A detecting the presence of the placed central column silicon steel sheet in the plane. Status signal a3 is the feedback signal of the sensing device A detecting the presence of a placed long-sided column silicon steel sheet in the plane. Status signal b1 is the feedback signal of the sensing device B detecting the presence of a placed long-sided column silicon steel sheet in the plane. Status signal b2 is the feedback signal of the sensing device B detecting the presence of a placed short-sided column silicon steel sheet in its plane; The unit height h represents the thickness of a single silicon steel sheet.

2. The high-precision automatic lamination method for transformer cores according to claim 1, characterized in that: The specific steps of the material preparation action are as follows: First, after receiving the material preparation signal, the material preparation mechanism (3) drives the material rack (31) to rise by a unit height h, so that the uppermost silicon steel sheet of the material sheet pile (32) contacts the feeding roller group (33), and then the uppermost silicon steel sheet is transported to the designated material preparation position through the feeding roller group (33) to complete the material preparation action.

3. The high-precision automatic lamination method for transformer cores according to claim 2, characterized in that: The specific steps of the central column stacking wafer picking and placing actions are as follows: After receiving the picking signal, the lifting and placing device (5) is first driven by the central column stacking wafer robotic arm (41) to the designated material preparation position. Then, the state signal c1 is sensed by the sensing device C, and the lowering action is performed so that the pressure block (51) is pressed on the silicon steel sheet to be picked up. Next, the state signal c2 is sensed by the sensing device C, and the adsorption action is performed so that the suction cup assembly (52) is adsorbed on the upper surface of the silicon steel sheet to be picked up. Finally, the lifting and placing device (5) is driven by the central column stacking wafer robotic arm (41) to remove the silicon steel sheet from the designated material preparation position, and the picking action is completed. Waiting to receive the central column stacking wafer placing signal; Status signal c1 is a feedback signal from sensing device C that the shape and size of the silicon steel sheet to be picked up meet the stacking requirements; Status signal c2 is a feedback signal from sensing device C indicating that the thickness of the silicon steel sheet to be picked up meets the stacking requirements.

4. The high-precision automatic lamination method for transformer cores according to claim 3, characterized in that: The specific steps of the central column stacking action are as follows: After receiving the central column stacking action signal, the state signal c3 is sensed by the sensing device C first, and the stacking action is executed. Then, the state signal c4 is sensed by the sensing device C, and the suction cup assembly (52) is removed from the upper surface of the silicon steel sheet. Finally, the state signal c5 is sensed by the sensing device C, and the pressure block (51) is removed from the upper surface of the silicon steel sheet, thus completing the central column stacking action and waiting to receive the pick-up signal. Status signal c3 is the feedback signal that the sensing device C has detected that the silicon steel sheet to be placed in the center column is aligned with the end face of the already formed center column. Status signal c4 is the feedback signal that the sensing device C has detected that the silicon steel sheet to be placed in the center column is in contact with the end face of the already formed center column. Status signal c5 is a feedback signal indicating that the sensing device C has detected that the silicon steel sheet to be placed on the long side column of the current stacking working surface has been spliced ​​into place with the silicon steel sheet of the already placed center column.

5. The high-precision automatic lamination method for transformer cores according to claim 4, characterized in that: The specific steps of the long-side column stacking action are as follows: After receiving the long-side column stacking action signal, the long-side column stacking robot arm (42) pushes the silicon steel sheet along the long-side column auxiliary placement platform (21) to be spliced ​​with the center column. Then, the suction cup assembly (52) detaches from the upper surface of the silicon steel sheet by sensing the status signal c5 by sensing device C and the status signal b1 by sensing device B. Finally, the pressure block (51) detaches from the upper surface of the silicon steel sheet by sensing the status signal b2 by sensing device B, thus completing the long-side column stacking action and waiting to receive the pick-up signal.

6. The high-precision automatic lamination method for transformer cores according to claim 5, characterized in that: The specific steps of the short side column stacking action are as follows: After receiving the short side column stacking action signal, the short side column stacking robot arm (43) pushes the silicon steel sheet along the short side column auxiliary placement platform (22) until it is spliced ​​with the long side columns on both sides. Then, the sensor device B senses the status signal b2, and the suction cup assembly (52) and the pressure block (51) detach from the upper surface of the silicon steel sheet one after another, completing the short side column stacking action and waiting to receive the pick-up signal.

7. A high-precision automatic lamination method and automatic lamination system for transformer cores according to any one of claims 3-6, characterized in that: The sensing device A is located at the middle of the upper edge of the inner side of the long side column auxiliary placement platform (21), corresponding to the end position of the iron core center column (8); The sensing device B is located on both sides of the upper edge of the inner side of the short side column auxiliary placement platform (22), corresponding to the end position of the long side column (6) of the iron core.

8. The high-precision automatic lamination method and automatic lamination system for transformer cores according to claim 7, characterized in that: The material preparation mechanism (3) includes a material rack (31), on which a stack of material sheets (32) is placed, and the material rack (31) is located at one end of the feeding roller group (33); The feeding roller group (33) includes a feeding roller (311) located above the material rack (31). The feeding roller (311) is horizontally arranged with a clamping roller group (312) and a preparation roller track (313). The tail end of the preparation roller track (313) is provided with a rotating and opening baffle (314). The front side of the baffle (314) is provided with the sensing device D.

9. The high-precision automatic lamination method and automatic lamination system for transformer cores according to claim 8, characterized in that: The lifting and placing device (5) includes a pressure block (51) and a suction cup assembly (52). The suction cup assembly (52) is fixedly connected to the end of the robotic arm (4). The pressure block (51) is elastically connected to the bottom side of the suction cup assembly (52). The bottom surface of the pressure block (51) is provided with the sensing device C.

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