A double-station transformer core automatic stacking production line

Abstract

The present invention relates to a dual-station automatic transformer core stacking production line, comprising a first station and a second station, at least one of which is arranged in a U-shaped configuration. The two stations operate independently to complete the stacking of cores of the same or different specifications. The two stations have identical structures and are arranged in a mirror-image configuration. Each station includes a yoke loading device, a yoke pre-positioning area, a three-post loading device, a three-post pre-positioning area, a core stacking station, and a stacking center. The present invention arranges the yoke loading device, the yoke pre-positioning area, the core stacking station, the three-post pre-positioning area, and the three-post loading device in a U-shaped configuration. This configuration not only allows the two stations to operate simultaneously, improving production efficiency, but also allows for the stacking of transformer cores of various specifications without any restrictions on the core specifications within the two stations. Furthermore, compared to traditional linear (or inline) layouts, the U-shaped configuration reduces floor space, is compact, and meets the requirements for the capture and stacking of cores.

Description

Technical Field

[0001] The invention belongs to the field of transformer manufacturing, and in particular relates to a double-station transformer iron core automatic stacking production line. Background Art

[0002] At present, with the rapid development of the power industry and the continuous updating of transformer technology, the domestic transformer "Japanese" type core manufacturing through manual lamination has low efficiency, high error rate and large workload. In recent years, more and more transformer core manufacturers have begun to use automatic stacking equipment to complete transformer core lamination. The production efficiency of automatic stacking equipment has always been the focus of manufacturers. However, the existing automatic core stacking equipment is arranged in a linear shape, which not only takes up a large space, but also has the problem of low production efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a double-station transformer core automatic stacking production line to overcome the above technical defects.

[0004] In order to solve the above technical problems, the present invention provides a double-station transformer core automatic stacking production line, comprising a first station and a second station, at least one of the two stations being in a U-shaped layout;

[0005] The two workstations operate independently to complete the stacking of cores of the same or different specifications.

[0006] In some embodiments, the two workstations have the same structure and are arranged in a mirror image, and the first workstation or the second workstation includes:

[0007] A yoke column loading device is suitable for receiving yoke column sheets from a loading trolley;

[0008] A yoke pre-positioning area is adjacent to the yoke loading device and the two are arranged in a straight line to form the first vertical arm of the U-shaped layout;

[0009] Three-column loading device, suitable for receiving three-column sheets from the loading trolley;

[0010] The three-column pre-positioning area is adjacent to the three-column loading device and the two are arranged in a straight line to serve as the second vertical arm of the U-shaped layout;

[0011] The core stacking position is arranged between the yoke column pre-positioning area and the three-column pre-positioning area to connect the first vertical arm and the second vertical arm and form a U-shaped layout;

[0012] The lamination center is suitable for grabbing the sheet material and moving it first along the Y direction and then along the X direction, and stacking the sheet material to the core stacking position.

[0013] In some embodiments, the lamination center comprises:

[0014] The yoke column grabbing robot uses a truss structure to grab the yoke column sheet from the yoke column loading device and moves along the Y direction, and places the yoke column sheet in the yoke column pre-positioning area;

[0015] The yoke column stacking robot grabs the yoke column sheet from the yoke column pre-positioning area and moves along the X direction, and stacks the yoke column sheet to the core stacking position;

[0016] The three-column grabbing robot uses a truss structure to grab the three-column sheet from the three-column loading device and moves along the Y direction, and places the three-column sheet in the three-column pre-positioning area;

[0017] The three-column stacking robot grabs the three-column sheet from the three-column pre-positioning area and moves along the X direction, and stacks the three-column sheet to the core stacking position;

[0018] The X direction and the Y direction are perpendicular to each other and the movement path is in the same plane.

[0019] In some embodiments, the yoke column grabbing robot and the three-column grabbing robot are respectively installed on the truss, and the truss is slidably installed on the basic chassis to achieve movement along the Y direction.

[0020] In some embodiments, the yoke column stacking robot and the three-column stacking robot are both slidably mounted on the top frame to achieve movement along the X direction.

[0021] In some embodiments, the yoke column grabbing robot, the yoke column stacking robot, the three-column grabbing robot, and the three-column stacking robot each include at least:

[0022] The material grabbing support frame is installed on the truss or top frame, and two parallel and spaced magnetic plates suitable for grabbing yoke column sheets or three-column sheets are fixed on the material grabbing support frame;

[0023] The grabbing arm is arranged in the grabbing support frame, and a plurality of vacuum suction cup assemblies suitable for grabbing yoke column sheets or three-column sheets are installed along the arm length direction of the grabbing arm. All vacuum suction cup assemblies are arranged between two magnetic plates;

[0024] The first cylinder is installed on the material gripping support frame to connect the vacuum suction cup assembly;

[0025] The first guide device is arranged on the material grabbing support frame and connected to the material grabbing arm.

[0026] In some embodiments, in a yoke-column stacking robot and a three-column stacking robot, all vacuum suction cup assemblies on the same grabbing arm are connected by a hinge structure, and the position adjustment of all vacuum suction cup assemblies on the same grabbing arm is achieved by pushing, pulling and folding the hinge structure.

[0027] In some embodiments, the yoke-column loading device and the three-column loading device each include at least the following components mounted in the chassis:

[0028] The conveying frame is suitable for conveying yoke column material column or three-column material column;

[0029] The rotary mechanism is arranged below the conveying frame to drive it to rotate;

[0030] The lifting mechanism is installed below the slewing mechanism.

[0031] In some embodiments, a pushing device is further provided at the sheeting position of the yoke column loading device and the three-column loading device, and the pushing device at least includes:

[0032] The second cylinder is mounted on the base frame via a fixing bracket;

[0033] A floating joint, one end of which is mounted on the piston rod end of the second cylinder and the other end of which is fixedly connected to the pusher block base;

[0034] A pusher block is mounted on the pusher block base, so that the pusher block pushes the yoke column sheet in the yoke column or the three-column sheet in the three-column column under the power of the second cylinder;

[0035] The linear guide pair is installed on the lower surface of the pusher block;

[0036] The slider is fixed on the base frame through a slider fixing seat, and the linear guide pair slides along the slider.

[0037] In some embodiments, two small-grade material storage devices are further included adjacent to the yoke column pre-positioning area and the three-column pre-positioning area in any one station;

[0038] Two small-grade material storage devices and each workstation form an H-shaped layout;

[0039] The small-grade material storage device at least includes:

[0040] Small-grade material installation frame;

[0041] A small-grade material storage box is slidably or fixedly mounted on the small-grade material mounting frame, suitable for storing yoke column small-grade materials or three-column small-grade materials, and a positioning block is provided in the small-grade material storage box;

[0042] When the small-grade material storage device is adjacent to the yoke column pre-positioning area, two sets of small-grade material storage boxes are slidably installed on the small-grade material installation frame to allow two yoke column grabbing manipulators in the same workstation to grab a pair of yoke column small-grade materials at the same time;

[0043] When the small-grade material storage device is adjacent to the three-column pre-positioning area, three sets of small-grade material storage boxes are fixedly installed on the small-grade material installation frame to allow two three-column material grabbing manipulators in the same workstation to grab three pieces of three-column small-grade materials at the same time.

[0044] The double-station transformer core automatic stacking production line provided in the embodiment of the present application arranges the yoke column loading device, the yoke column pre-positioning area, the core stacking position, the three-column pre-positioning area and the three-column loading device into a U-shaped structure. On the one hand, it can meet the simultaneous operation of two stations and improve production efficiency. There is no restriction on the specifications of the cores in the two stations, and it can adapt to the stacking of transformer core materials of multiple specifications. On the other hand, compared with the traditional linear (or one-line) layout, the U-shaped layout reduces the floor space, has a compact structure, and meets the rhythm of grabbing and stacking of core materials.

[0045] In order to make the above contents of the present invention more clearly understood, preferred embodiments are given below with reference to the accompanying drawings for detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is the layout diagram of a double-station automatic transformer core stacking production line (the stacking center is not shown).

[0047] Figure 2 It is a structural diagram of the robot.

[0048] Figure 3 It is a structural diagram of the yoke column grabbing robot and the three-column grabbing robot (with trusses and basic chassis).

[0049] Figure 4 This is a structural diagram of the yoke column stacking robot.

[0050] Figure 5 This is the structural diagram of the three-column stacking robot.

[0051] Figure 6 This is an assembly drawing of the yoke column stacking robot and the three-column stacking robot assembled on the top frame.

[0052] Figure 7 It is a top view of a yoke column loading device or a three-column loading device.

[0053] Figure 8 It is a front view of a yoke column loading device or a three-column loading device.

[0054] Figure 9 yes Figure 7 AA section view.

[0055] Figure 10 yes Figure 7 BB cross-sectional view.

[0056] Figure 11 It is a structural diagram of the pushing device.

[0057] Figure 12 It is a structural diagram of a small-grade material storage device.

[0058] Figure 13This is the layout diagram of a double-station automatic transformer core stacking production line (including a small-grade material storage device).

[0059] Description of reference numerals:

[0060] 100. First workstation;

[0061] 200. Second workstation;

[0062] 310. Yoke loading device; 320. Yoke pre-positioning area; 330. Three-column loading device; 340. Three-column pre-positioning area; 350. Yoke grabbing manipulator; 360. Yoke stacking manipulator; 370. Three-column grabbing manipulator; 380. Three-column stacking manipulator;

[0063] 410. Grabbing arm; 420. Grabbing support frame; 430. Magnetic plate; 440. Vacuum suction cup assembly; 441. Suction cup connecting rod; 442. Vacuum suction cup; 443. Suction cup joint; 450. First cylinder; 460. First guide device; 461. Guide rod; 462. Guide bearing; 470. Hinge structure;

[0064] 500. Top rack;

[0065] 610. Conveyor frame; 611. Sprocket support; 612. Tensioning support; 613. Conveyor sprocket; 614. Tensioning sprocket; 615. Conveyor shaft; 616. Tensioning shaft; 620. Rotary mechanism; 621. Slewing bearing; 622. Slewing gear; 623. Slewing bearing mounting bracket; 624. Slewing reducer; 625. Slewing motor; 630. Lifting mechanism; 631. Lifter; 632. Fixed base;

[0066] 700. Pushing device; 710. Second cylinder; 720. Floating joint; 730. Pushing block base; 740. Pushing block; 750. Linear guide pair; 760. Slider;

[0067] 800. Small-grade material storage device; 810. Small-grade material mounting frame; 820. Small-grade material storage box; 830. Positioning block; 840. Magnet mounting rack; 850. Magnet; 860. Rack connecting plate; 870. Rack fixing plate; 880. Base. DETAILED DESCRIPTION

[0068] The following describes the embodiments of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0069] It should be noted that, in the present invention, the upper, lower, left and right in the figure are deemed to be the upper, lower, left and right of the double-station transformer core automatic stacking production line described in this specification.

[0070] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so as to provide a thorough and complete disclosure of the present invention and fully convey the scope of the present invention to those skilled in the art. The terminology used in the exemplary embodiments shown in the accompanying drawings is not intended to limit the present invention. In the accompanying drawings, identical elements are denoted by the same reference numerals.

[0071] Unless otherwise specified, the terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have meanings consistent with the context of their relevant fields and should not be interpreted as idealized or overly formal.

[0072] The "sun" type iron core is a sun-shaped iron core column composed of two yoke columns and three columns. The yoke column is made of several yoke column sheets stacked layer by layer. The three columns are a general term for the upper column, middle column and lower column, which are also made of several three-column sheets stacked layer by layer.

[0073] This embodiment relates to a dual-station transformer core automatic stacking production line, see Figure 1 , which includes a first workstation 100 and a second workstation 200, at least one of the two workstations is in a U-shaped layout, Figure 1 The two workstations are U-shaped.

[0074] Conventional automatic transformer core stacking production lines are linear, which not only takes up a large area but also increases the travel path of each robot, resulting in low work efficiency. The U-shaped stacking stations provided in this embodiment change the traditional model of robots loading and stacking along a straight line, improving production efficiency. In particular, the two stations can operate independently to complete the stacking of cores of the same or different specifications. That is, the two stations can independently stack cores of different or the same specifications, further improving the production efficiency of transformer cores.

[0075] In some embodiments, as Figure 1 As shown, the two workstations have the same structure and are arranged in a mirror image, that is, both are U-shaped. The first workstation 100 or the second workstation 200 includes a yoke column loading device 310, a yoke column pre-positioning area 320, a three-column loading device 330, a three-column pre-positioning area 340, a core stacking position and a lamination center.

[0076] About the workstation structure:

[0077] The yoke column loading device 310 is suitable for receiving the yoke column sheet from the loading trolley, and the three-column loading device 330 is suitable for receiving the three-column sheet from the loading trolley. Figure 1The box-shaped structures on the three mutually parallel virtual lines are the loading trolleys. As can be seen here, all the loading trolleys are located on the same side. Compared with the traditional stacked production line layout, the centralized loading in the same-side loading area of this embodiment reduces the floor area.

[0078] The yoke post pre-positioning area 320 is adjacent to the yoke post loading device 310, and the two are arranged in a straight line to serve as the first vertical arm of the U-shaped layout. A yoke post pre-positioning device is arranged in the yoke post pre-positioning area 320. The manipulator at the center of the laminations grabs the yoke post sheet material from the yoke post loading device 310 and moves it along the Y direction to fall into the yoke post pre-positioning area 320 (or the yoke post pre-positioning device).

[0079] The three-post pre-positioning area 340 is adjacent to the three-post loading device 330, and the two are arranged in a straight line to serve as the second vertical arm of the U-shaped layout. A three-post pre-positioning device is arranged in the three-post pre-positioning area 340. The manipulator at the center of the laminations grabs the three-post sheet material from the three-post loading device 330 and moves it along the Y direction to fall into the three-post pre-positioning area 340 (or the three-post pre-positioning device).

[0080] It should be noted that both the yoke post pre-positioning device and the three-post pre-positioning device are existing structures.

[0081] The iron core stacking position is arranged between the yoke post pre-positioning area 320 and the three-post pre-positioning area 340 to connect the first vertical arm and the second vertical arm and form a U-shaped layout. The iron core stacking position is Figure 1 the structure in the shape of a Chinese character "ri" in. The grabbed yoke post sheet material and three-post sheet material are finally stacked at the iron core stacking position.

[0082] The lamination center is adapted to grab the sheet material, first move it along the Y direction and then along the X direction, and stack the sheet material at the iron core stacking position. Figure 1 The solid large arrow in is the moving direction of the sheet material, Figure 1 The coordinates in the upper left corner are the pointing marks of the X direction and the Y direction.

[0083] The lamination center is located at Figure 1 the upper layer of the structure shown in, Figure 1 not shown.

[0084] Specifically, the lamination center includes:

[0085] (1) The yoke post material grabbing manipulator 350, which grabs the yoke post sheet material from the yoke post loading device 310 in a truss structure and moves it along the Y direction, and places the yoke post sheet material in the yoke post pre-positioning area 320. Figure 3 The structure on the right side is the two yoke post material grabbing manipulators 350. The two yoke post material grabbing manipulators 350 can grab two yoke post sheet materials simultaneously.

[0086] (2) The yoke column stacking robot 360 grabs the yoke column sheet from the yoke column pre-positioning area 320 and moves along the X direction, and stacks the yoke column sheet to the core stacking position. Figure 4 Schematic diagram of the structure of the yoke column stacking robot 360.

[0087] (3) The three-column grabbing manipulator 370 grabs the three-column sheet from the three-column loading device 330 with a truss structure and moves along the Y direction, and places the three-column sheet in the three-column pre-positioning area 340. Figure 3 The structure on the left side is three three-column material grabbing robots 370, which can grab the sheets of the upper column, middle column and lower column at the same time.

[0088] (4) The three-column stacking robot 380 grabs the three-column sheet from the three-column pre-positioning area 340 and moves along the X direction, and stacks the three-column sheet to the core stacking position. Figure 5 Schematic diagram of the structure of the three-column stacking robot 380.

[0089] The X-direction and the Y-direction are perpendicular to each other, and the movement paths are in the same plane. Taking the movement path of the yoke column sheet as an example, the yoke column grabbing robot 350 grabs the yoke column sheet from the yoke column loading device 310 and moves along the Y-direction, and places the yoke column sheet in the yoke column pre-positioning area 320. Then, the yoke column stacking robot 360 grabs the yoke column sheet from the yoke column pre-positioning area 320 and moves along the X-direction, and stacks the yoke column sheet to the iron core stacking position. It should be noted here that the movement path (Y-direction) of the yoke column grabbing robot 350 when grabbing the yoke column sheet and the movement path (X-direction) of the yoke column stacking robot 360 during the sheet stacking process are in the same plane and are perpendicular to each other.

[0090] The movement path of the three-column sheet is similar to the movement path of the yoke-column sheet mentioned above.

[0091] The movement paths for grabbing and stacking are located in the same plane and are perpendicular to each other, which meets the rhythm of grabbing and stacking of iron sheet materials, has a compact structure, and is efficient and fast.

[0092] See also Figure 3 The yoke-column grabbing robot 350 and the three-column grabbing robot 370 are each mounted on a truss, which is slidably mounted on the base frame to enable movement in the Y direction. In other words, the yoke-column grabbing robot 350 and the three-column grabbing robot 370 use a truss structure for movement, with the motor driving the truss to slide along the base frame, ensuring accurate and reliable positioning of material grabbing and dropping.

[0093] In some embodiments, the truss slides along the base frame using a transmission mechanism and a second guide device. The transmission mechanism can be composed of a servo motor, a reducer, a rack, and a gear. The output end of the servo motor is mounted to the input end of the reducer, and a gear is mounted on the output end of the reducer. The gear engages with the rack. The servo motor drives the truss to move along the base frame in the Y direction. The second guide device can be a linear guide pair. The linear guide can be mounted on the base frame, and the slider can be mounted on the truss. The linear guide pair provides directional guidance for the truss's sliding.

[0094] See also Figure 6 , Yoke column stacking robot 360 (see Figure 4 ) and three-column stacking robot 380 (see Figure 5 ) are slidably mounted on the top frame 500 to enable movement in the X direction. That is, the yoke column stacking robot 360 and the three-column stacking robot 380 are hoisted on the top frame 500, and the top frame 500 can be erected in the form of a gantry above the core stacking position.

[0095] In some embodiments, driven by a motor, the yoke column stacking robot 360 and the three-column stacking robot 380 move in the X-direction via a third guide device. The third guide device can be a linear guide pair, wherein the linear guide is fixed to the top frame 500, and the slider is fixed to the yoke column stacking robot 360 or the three-column stacking robot 380. The motor drives the sliders of the yoke column stacking robot 360 and the three-column stacking robot 380 to move along the linear guide on the top frame 500.

[0096] The truss-type yoke column grabbing robot 350 and the three-column grabbing robot 370 automatically stack the materials after grabbing them through the yoke column stacking robot 360 and the three-column stacking robot 380, replacing the manual stacking after the original stacking is completed. This can not only improve the stacking efficiency and the shearing efficiency of small-grade materials on the cross-cutting line, but also avoid the risk of collapse during the transportation of the entire level of core column materials.

[0097] like Figure 3 and Figure 5 As shown, in the same lamination center, there are three three-column grabbing robots 370 and three-column stacking robots 380, and the three grabbing robots (three-column grabbing robots 370 or three-column stacking robots 380) are connected by fixed beams. The three grabbing robots can grab the upper column, middle column, and lower column of the "sun" type iron core at one time.

[0098] See also Figure 3 In the same lamination center, there are two yoke column grabbing robots 350 and two yoke column stacking robots 360. The two grabbing robots can grab the upper yoke column and the lower yoke column of the "sun" type iron core at one time, that is, the distance between the two grabbing robots is the distance between the upper yoke column and the lower yoke column.

[0099] See also Figure 3-Figure 5 The structures of the yoke column grabbing robot 350, the yoke column stacking robot 360, the three-column grabbing robot 370 and the three-column stacking robot 380 are similar. Figure 2 The manipulators at least include a material grabbing support frame 420, a material grabbing arm 410, a first cylinder 450 and a first guide device 460.

[0100] The robots hereinafter are collectively referred to as the yoke column grabbing robot 350 , the yoke column stacking robot 360 , the three-column grabbing robot 370 and the three-column stacking robot 380 .

[0101] About the structure of the robot:

[0102] (I) The material grabbing support frame 420 is installed on the truss or top frame 500. Two parallel and spaced magnetic plates 430 suitable for grabbing yoke-column sheets or three-column sheets are fixed on the material grabbing support frame 420. The magnetic plates 430 can increase the contact area between the robot arm and the sheet, thereby improving the stability during the transportation process.

[0103] In some embodiments, the two magnetic plates 430 may be connected by providing tie rods at both ends.

[0104] (II) If Figure 2 As shown, the grab arm 410 is arranged in the grab support frame 420, and several vacuum suction cup assemblies 440 suitable for grabbing yoke column sheets or three-column sheets are installed along the arm length direction of the grab arm 410. All vacuum suction cup assemblies 440 are arranged between two magnetic plates 430.

[0105] In some embodiments, the grabbing arm 410 is located directly above between the two magnetic plates 430, and a number of vacuum suction cup assemblies 440 are installed on the lower surface of the grabbing arm 410. The vacuum suction cup assembly 440 and the magnetic plate 430 are both used to grab the sheet material, wherein the vacuum suction cup assembly 440 sucks the sheet material in the middle along the length direction of the sheet material, and the two magnetic plates 430 grab the sheet material on both sides along the length direction of the sheet material to ensure that the sheet material is fully covered.

[0106] Please continue reading Figure 2 The vacuum suction cup assembly 440 includes a suction cup connecting rod 441, a vacuum suction cup 442 and a suction cup joint 443. The suction cup joint 443 is fixed to the suction cup connecting rod 441, the lower end of the suction cup connecting rod 441 is fixed with the vacuum suction cup 443, and the suction cup joint 443 is used to receive gas from the gas source.

[0107] (III) The first cylinder 450 is installed on the material grabbing support frame 420 to connect with the material grabbing arm 410 .

[0108] The telescopic end of the first cylinder 450 is connected to the grabbing arm 410, and the distance between the grabbing arm 410 and the sheet is changed by telescoping. That is, when the sheet needs to be grabbed, the first cylinder 450 controls the grabbing arm 410 to move down close to the sheet so that the vacuum suction cup assembly 440 absorbs the sheet; when the sheet is lowered, the first cylinder 450 controls the grabbing arm 410 to move up away from the sheet so that the vacuum suction cup assembly 440 is separated from the sheet.

[0109] In addition, the extension and retraction of the first cylinder 450 can also adjust the position of the grabbing arm 410.

[0110] (IV) The first guide device 460 is disposed on the material grabbing support frame 420 and connected to the material grabbing arm 410 .

[0111] In some embodiments, the first guide device 460 includes a guide rod 461, which passes through and is installed on the grabbing support frame 420. A guide bearing 462 is installed in the through hole. The guide rod 461 passes through the guide bearing 462 and is connected to the grabbing arm 410. During the grabbing process, the first guide device 460 can absorb the shaking force caused by unbalanced grabbing.

[0112] When the first cylinder 450 drives the grabbing arm 410 to move closer to or away from the sheet, the guide rod 461 in the first guide device 460 can move synchronously to adjust the grabbing arm 410 to balance. Therefore, in some embodiments, two first guide devices 460 are provided, and the two first guide devices 460 are symmetrically arranged on the grabbing support frame 420 with respect to the first cylinder 450, so as to ensure that the grabbing arm 410 is subjected to balanced force.

[0113] It should be noted that if Figure 4 and Figure 5 As shown, within the yoke-column stacking robot 360 and the three-column stacking robot 380, all vacuum cup assemblies 440 on the same gripping arm 410 are connected by a hinge structure 470. The position of all vacuum cup assemblies 440 on the same gripping arm 410 can be adjusted by pushing, pulling, or folding the hinge structure 470. Specifically, by loosening or pulling the locking nut at one end of the hinge structure 470, the position of the vacuum cup assemblies 440 can be quickly adjusted, accommodating the stacking of transformer core materials of various specifications.

[0114] See also Figure 7 and Figure 8 The yoke column loading device 310 and the three-column loading device 330 adopt a rotary structure, which both include at least the following components installed in the base frame: a conveying frame 610, a rotating mechanism 620 and a lifting mechanism 630.

[0115] The conveying frame 610 is suitable for conveying yoke column material column or three-column material column. The conveying frame 610 is placed on the top layer of the yoke column loading device 310 and the three-column loading device 330, and is driven by a motor to complete the material column conveying. Specifically, a chain guide is installed on the conveying frame 610. Please combine Figure 9 and Figure 10 A sprocket support 611 and a tensioning support 612 are fixed to both ends of the conveying frame 610. A conveying shaft 613 is mounted on the sprocket support 611, and a conveying sprocket 613 is mounted on the conveying shaft 613. Similarly, a tensioning shaft 616 is mounted on the tensioning support 612, and a tensioning sprocket 614 is mounted on the tensioning shaft 616. A chain is mounted on the conveying sprocket 613 and the tensioning sprocket 614. The chain is placed in a chain guide and is driven by a motor to rotate the chain, forming a material column conveying channel on the chain. Conveying guide plates are fixed to both sides of the material column conveying channel. Conveying position detection switches are fixed above both ends of the conveying frame 610, and a hard limit switch is fixed to one end of the conveying frame 610.

[0116] The rotating mechanism 620 is disposed below the conveying frame 610 to drive the conveying frame 610 to rotate. Figure 8 The rotary mechanism 620 includes a rotary support 621, a rotary gear 622, a rotary support fixing frame 623, a rotary reducer 624, a rotary motor 625, etc. The rotary support 621 can realize the rotation function. The upper part of the middle layer of the rotary support 621 is fixed to the conveying frame 610, and the bottom of the rotary support 621 is connected to the rotary support fixing frame 623. The rotary support fixing frame 623 is provided with a reducer mounting seat, the rotary gear 622 is fixed on the reducer output shaft, the rotary motor 625 is connected to the rotary reducer 624, and the rotary motor 625 drives the rotary gear 622 to drive the rotary support 621 to rotate, thereby realizing the rotary loading of the three-column loading device 330.

[0117] In some embodiments, the yoke loading device 310 can be equipped with a rotary mechanism 620 .

[0118] The lifting mechanism 630 is installed below the rotating mechanism 620. Figure 8 The lifting mechanism 630 includes an elevator 631 and a fixed base 632. The bottom of the slewing support fixed frame 623 is connected to the elevator 631. The elevator 631 is connected to the fixed base 632. The motor drive can realize the lifting and lowering of the material column. Through one-time rotation docking, three-column loading or yoke column loading of two iron cores of the same or different specifications can be completed.

[0119] During three-column loading, by calling the loading request, the three-column loading device 330 automatically rotates 90° and triggers the rotation in place detection switch, the loading trolley docks the material column to the loading port of the three-column loading device 330, completing the docking, and after the docking switch sends a signal, the motor of the conveying frame 610 of the three-column loading device 330 starts to start, completing the three-column loading of the double-station automatic stacking production line at one time, the material column is conveyed into place detection switch sends a signal, the three-column loading device 330 rotates 90° in the opposite direction and triggers the rotation in place detection switch to send a signal, the motor of the lifting mechanism 630 rotates, driving the three-column material column to rise to the specified position, the height in place detection sends a signal, and the three-column loading is completed.

[0120] When loading the yoke column, it is similar to loading the three columns. After the call for loading is issued, the yoke column material column is docked with the conveying frame 610 of the two yoke column loading ports in turn through the loading trolley. After the docking switch sends a signal, the motor of the conveying frame 610 of the yoke column loading device 310 starts to start, and the loading of two yoke columns of the same or different specifications of iron cores is completed in turn. The yoke column material column is delivered to the position detection switch and the motor of the lifting mechanism 630 rotates to drive the yoke column material column to rise to the specified position. The height in-position detection sends a signal, and the yoke column loading is completed.

[0121] After the call for loading is issued and the stacking platform of the core stacking position is confirmed to be in place, the yoke column grabbing robot 350 and the three-column grabbing robot 370 grab the yoke column sheet and the three-column sheet from the yoke column loading position and the three-column loading position respectively along the Y direction, and place them in the yoke column pre-positioning area 320 and the three-column pre-positioning area 340 respectively. After the sheet detection switch sends a signal, the yoke column stacking robot 360 and the three-column stacking robot 380 grab the yoke column sheet and the three-column sheet from the yoke column pre-positioning area 320 and the three-column pre-positioning area 340 respectively along the X direction, stack them to the stacking position, and complete a stacking cycle.

[0122] See also Figure 11 The double-station transformer core automatic stacking production line further includes a pushing device 700 provided at the segmentation position of the yoke column loading device 310 and the three-column loading device 330. The pushing device 700 includes at least:

[0123] The second cylinder 710 is mounted on the base frame through a fixed frame; the floating joint 720 has one end mounted on the piston rod end of the second cylinder 710 and the other end fixedly connected to the pusher block base 730; the pusher block 740 is mounted on the pusher block base 730, so that under the power of the second cylinder 710, the pusher block 740 pushes the yoke column sheet in the yoke column or the three-column sheet in the three-column column; the linear guide pair 750 is mounted on the lower surface of the pusher block 740; the slider 760 is fixed to the base frame through a slider fixing seat, and the linear guide pair 750 slides along the slider 760.

[0124] The slicing positions of the yoke column loading device 310 and the three-column loading device 330 are both provided with yoke column slicing devices and three-column slicing devices. The yoke column slicing devices and the three-column slicing devices are existing conventional technologies, and reference can be made to the patent publications CN109192496 A and CN 112038081 A.

[0125] When the sheet is at the splitting position, in order to compensate and adjust the incoming material position, the second cylinder 710 pushes the pushing block 740 through the floating joint 720, and the pushing block 740 pushes the yoke column sheet in the yoke column or the three-column sheet in the three-column column to ensure that the yoke column grabbing robot 350 and the three-column grabbing robot 370 grab the silicon steel sheet and drop it into the yoke column pre-positioning area 320 and the three-column pre-positioning area 340.

[0126] The linear guide pair 750 and the slider 760 cooperate to provide guidance for the movement of the pusher block 740 .

[0127] See also Figure 12 and Figure 13 The double-station transformer core automatic stacking production line also includes two small-grade material storage devices 800 adjacent to the yoke column pre-positioning area 320 and the three-column pre-positioning area 340 in any station. The two small-grade material storage devices 800 and each station form an H-shaped layout to achieve the stacking of iron core materials of different specifications at the same station.

[0128] The small-grade material storage device 800 includes at least a small-grade material installation frame 810 and a small-grade material storage box 820 .

[0129] Small-grade materials refer to sheets with smaller core specifications, such as sheets with a width of less than 70mm.

[0130] The small-grade material storage box 820 is mounted on the small-grade material mounting frame 810 in a sliding or fixed manner, and is suitable for storing yoke column small-grade materials or three-column small-grade materials. A positioning block 830 is provided in the small-grade material storage box 820. Specifically:

[0131] a. When the small-grade material storage device 800 is adjacent to the yoke column pre-positioning area 320, two sets of small-grade material storage boxes 820 are slidably installed on the small-grade material installation frame 810 to allow two yoke column grabbing manipulators 350 in the same workstation to grab a pair of yoke column small-grade materials at the same time.

[0132] In some embodiments, as Figure 12As shown, two groups of small-level material storage boxes 820 are arranged at intervals, and each group is provided with three small-level material storage boxes 820, which are numbered from left to right as left one, left two, left three, and right one, right two, right three, respectively. Among them, the distance between left one and right one is the distance between the upper yoke column and the lower yoke column of the "sun" type iron core. Therefore, the two yoke column grabbing robots 350 in the same workstation can simultaneously grab the yoke column small-level material sheets in the left one and right one small-level material storage boxes 820 and move along the Y direction, and place the yoke column small-level material sheets in the yoke column pre-positioning area 320. Then, the yoke column stacking robot 360 grabs the yoke column small-level material sheets from the yoke column pre-positioning area 320, moves along the X direction, and stacks the yoke column small-level material sheets to the iron core stacking position.

[0133] It is worth mentioning that when the small-grade material storage device 800 is adjacent to the yoke column pre-positioning area 320, that is, the small-grade material storage box 820 stores the yoke column small-grade material, and the specifications of the yoke column small-grade material are different, the position of the small-grade material storage box 820 can be automatically adjusted. The purpose is to automatically adjust the position of yoke column small-grade materials of different specifications according to the stacking needs, so as to meet the needs of the yoke column grabbing robot 350 to grab suitable sheet materials.

[0134] b. When the small-grade material storage device 800 is adjacent to the three-column pre-positioning area 340, three sets of small-grade material storage boxes 820 are fixedly installed on the small-grade material installation frame 810, so that two three-column material grabbing manipulators 370 in the same workstation can grab three pieces of three-column small-grade materials at the same time.

[0135] In some embodiments, as Figure 12 As shown, the small-grade material storage device 800 includes at least a magnet mounting frame 840, a magnet 850, a positioning block 830, a small-grade material storage box 820, a frame connecting plate 860, a frame fixing plate 870 and a base 880. The magnet 850 is fixed on the magnet mounting frame 840, the positioning block 830 is fixed in the small-grade material storage box 820, and the frame fixing plate 870 is used to connect multiple magnet mounting frames 840 together, and adjacent magnet mounting frames 840 are connected through the frame connecting plate 860.

[0136] The position adjustment device of the small material storage box 820 is realized by a cylinder and a linear guide pair. The linear guide is installed on the base 880, the slider is connected to the frame fixing plate 870, one end of the cylinder is fixed by the cylinder support, and the other end is fixed to the magnet mounting frame 840.

[0137] The double-station automatic stacking production line for transformer cores provided in this embodiment can independently complete the stacking of two transformer cores of the same or different specifications, and complete the output of two finished cores through two independent finished core output channels, thereby ensuring one-time accurate and efficient stacking of transformer cores in automatic stacking production.

[0138] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A double-station transformer core automatic stacking production line, characterized in that: It comprises a first workstation (100) and a second workstation (200), wherein at least one of the two workstations is arranged in a U-shape; The two workstations operate independently of each other to complete the stacking of cores of the same or different specifications; The two workstations have the same structure and are arranged in a mirror image. The first workstation (100) or the second workstation (200) comprises: A yoke column loading device (310) is adapted to receive yoke column sheets from a loading trolley; A yoke post pre-positioning area (320) is adjacent to the yoke post loading device (310), and the two are arranged in a straight line to serve as a first vertical arm of a U-shaped layout; A three-column loading device (330) adapted to receive three-column sheets from a loading trolley; A three-column pre-positioning area (340) is adjacent to the three-column loading device (330) and the two are arranged in a straight line to serve as the second vertical arm of the U-shaped layout; An iron core stacking position is arranged between the yoke column pre-positioning area (320) and the three-column pre-positioning area (340) to connect the first vertical arm and the second vertical arm and form a U-shaped layout; The lamination center is adapted to grab the sheet material, move it first in the Y direction and then in the X direction, and stack the sheet material to the core stacking position; The lamination center comprises: A yoke column grabbing manipulator (350) grabs the yoke column sheet material from the yoke column loading device (310) in a truss structure, moves along the Y direction, and places the yoke column sheet material in the yoke column pre-positioning area (320); A yoke column stacking robot (360) grabs the yoke column sheet from the yoke column pre-positioning area (320), moves along the X direction, and stacks the yoke column sheet to the iron core stacking position; A three-column material grabbing manipulator (370) uses a truss structure to grab the three-column sheet material from the three-column loading device (330), moves along the Y direction, and places the three-column sheet material in the three-column pre-positioning area (340); A three-column stacking robot (380) grabs the three-column sheet material from the three-column pre-positioning area (340), moves along the X direction, and stacks the three-column sheet material to the iron core stacking position; The X and Y directions are perpendicular to each other and the movement paths are in the same plane; It also includes two small-grade material storage devices (800) adjacent to the yoke column pre-positioning area (320) and the three-column pre-positioning area (340) in any work station; Two small-grade material storage devices (800) and each workstation form an H-shaped layout; The small-grade material storage device (800) comprises at least: A small-grade material installation frame (810), a small-grade material storage box (820), a positioning block (830), a magnet installation frame (840), a magnet (850), a frame connecting plate (860), a frame fixing plate (870) and a base (880), wherein the magnet (850) is fixed on the magnet installation frame (840), a frame fixing plate (870) is used to connect multiple magnet installation frames (840), and adjacent magnet installation frames (840) are connected via the frame connecting plate (860); a position adjustment device for the small-grade material storage box (820) is realized by a cylinder and a linear guide pair; a linear guide is installed on the base (880), a slider is connected to the frame fixing plate (870), one end of the cylinder is fixed via a cylinder support, and the other end is fixed to the magnet installation frame (840); A small-grade material storage box (820) is slidably or fixedly mounted on the small-grade material mounting frame (810), suitable for storing yoke column small-grade materials or three-column small-grade materials, and a positioning block (830) is provided in the small-grade material storage box (820); When the small-grade material storage device (800) is adjacent to the yoke column pre-positioning area (320), two sets of small-grade material storage boxes (820) are slidably mounted on the small-grade material mounting frame (810) to allow two yoke column grabbing manipulators (350) in the same workstation to simultaneously grab a pair of yoke column small-grade materials; When the small-grade material storage device (800) is adjacent to the three-column pre-positioning area (340), three sets of small-grade material storage boxes (820) are fixedly mounted on the small-grade material mounting frame (810) to allow two three-column material grabbing manipulators (370) in the same workstation to grab three pieces of three-column small-grade materials at the same time; Small-grade material refers to sheet material with a core width of less than 70mm; The double-station transformer core automatic stacking production line can independently complete the stacking of two transformer cores of the same or different specifications, and output two finished cores through two independent finished core output channels.

2. The double-station transformer core automatic stacking production line according to claim 1 is characterized in that: The yoke column material grabbing manipulator (350) and the three-column material grabbing manipulator (370) are respectively mounted on a truss, and the truss is slidably mounted on a base frame to achieve movement along the Y direction.

3. The double-station transformer core automatic stacking production line according to claim 2 is characterized in that: The yoke column stacking robot (360) and the three-column stacking robot (380) are both slidably mounted on the top frame (500) to achieve movement along the X direction.

4. The double-station transformer core automatic stacking production line according to claim 3 is characterized in that: The yoke column material grabbing manipulator (350), the yoke column stacking manipulator (360), the three-column material grabbing manipulator (370), and the three-column stacking manipulator (380) all include at least: A material grabbing support frame (420) is mounted on a truss or a top frame (500), and two magnetic plates (430) are fixed on the material grabbing support frame (420) and are arranged parallel to each other and spaced apart and are suitable for grabbing yoke column sheets or three-column sheets. A material grabbing arm (410) is disposed in the material grabbing support frame (420), and a plurality of vacuum suction cup assemblies (440) suitable for grabbing yoke column sheets or three-column sheets are installed along the arm length direction of the material grabbing arm (410), and all the vacuum suction cup assemblies (440) are disposed between the two magnetic plates (430); A first cylinder (450) is mounted on the material grabbing support frame (420) to connect to the material grabbing arm (410); A first guide device (460) is provided on the material grabbing support frame (420) and connected to the material grabbing arm (410).

5. The double-station transformer core automatic stacking production line according to claim 4 is characterized in that: In the yoke column stacking robot (360) and the three-column stacking robot (380), all vacuum suction cup assemblies (440) on the same grabbing arm (410) are connected by a hinge structure (470), and the position adjustment of all vacuum suction cup assemblies (440) on the same grabbing arm (410) is achieved by pushing, pulling and folding the hinge structure (470).

6. The double-station transformer core automatic stacking production line according to claim 1 is characterized in that: The yoke column loading device (310) and / or the three-column loading device (330) each include at least the following components installed in the chassis: A conveying frame (610) is suitable for conveying a yoke column material column or a three-column material column; A rotating mechanism (620) is provided below the conveying frame (610) to drive the conveying frame (610) to rotate; The lifting mechanism (630) is installed below the rotating mechanism (620).

7. The double-station transformer core automatic stacking production line according to claim 6 is characterized in that: It also includes a pushing device (700) arranged at the slice positions of the yoke column loading device (310) and the three-column loading device (330), and the pushing device (700) includes at least: A second cylinder (710) is mounted on the base frame via a fixing frame; A floating joint (720), one end of which is mounted on the piston rod end of the second cylinder (710), and the other end of which is fixedly connected to a pusher block base (730); a pusher block (740) mounted on the pusher block base (730) so that the pusher block (740) pushes the yoke column sheet material in the yoke column or the three-column sheet material in the three-column column under the power of the second cylinder (710); A linear guide pair (750) is mounted on the lower surface of the pusher block (740); The slider (760) is fixed to the base frame via a slider fixing seat, and the linear guide rail pair (750) slides along the slider (760).

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