Automatic material receiving equipment and automatic material receiving method for triangular transformer core

Abstract

The present invention provides an automatic material receiving device and an automatic material receiving method for a triangular transformer core, wherein the automatic material receiving device for a triangular transformer core comprises: a bending machine having a material outlet, through which an upper half-frame iron sheet and a lower half-frame iron sheet are alternately output; a blanking device, comprising a support platform and a posture adjustment mechanism for adjusting the posture of the lower half-frame iron sheet; an upper half-frame material receiving assembly having a first receiving platform; a first picking device, which picks up the upper half-frame iron sheet from the material outlet and stacks the upper half-frame iron sheet on the first receiving platform; a lower half-frame material receiving assembly having a second receiving platform; a second picking device, which picks up the lower half-frame iron sheet from the support platform and stacks the lower half-frame iron sheet on the second receiving platform; and a control device, wherein the bending machine, the first picking device, and the second picking device are all electrically connected to the control device. The application of the technical solution of the present invention can effectively solve the problem of low material receiving efficiency of triangular transformer cores in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of transformer core processing equipment, and in particular to automatic material receiving equipment and an automatic material receiving method for triangular transformer cores. Background Art

[0002] At present, the existing three-dimensional triangular transformer open-wound core in China mainly includes the following structures:

[0003] like Figures 1 to 6 As shown, the triangular transformer core is surrounded by three plug-in units 100, and the plug-in unit 100 includes an upper half frame 1 and a lower half frame 2 that are plugged into each other. The upper half frame 1 is formed by stacking multiple upper half frame iron sheets 3, and the lower half frame 2 is formed by stacking multiple lower half frame iron sheets 4. The length of the lower half frame 2 is greater than that of the upper half frame 1. The upper half frame iron sheet 3 and the lower half frame iron sheet 4 opposite to it form an iron ring unit 5.

[0004] When processing the above-mentioned triangular transformer core, the upper and lower half-frame iron sheets are generally bent by a bending machine, and then stacked and collected manually, which results in low efficiency in collecting the triangular transformer core. Summary of the Invention

[0005] The main purpose of the present invention is to provide an automatic material receiving device and an automatic material receiving method for a triangular transformer core, so as to solve the problem of low material receiving efficiency of the triangular transformer core in the prior art.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided an automatic material receiving device for a triangular transformer core, wherein the triangular transformer core is surrounded by three plug-in units, the plug-in unit comprises an upper half frame and a lower half frame plugged into each other, the upper half frame is formed by stacking a plurality of upper half frame iron sheets, the lower half frame is formed by stacking a plurality of lower half frame iron sheets, the length of the lower half frame is greater than the length of the upper half frame, the upper half frame iron sheets and the lower half frame iron sheets opposite thereto form an iron ring unit, the automatic material receiving device for the triangular transformer core comprises: a bending machine having a material outlet for outputting the upper half frame iron sheets and the lower half frame iron sheets, the bending machine sequentially produces a plurality of iron ring units, and the upper half frame iron sheets and the lower half frame iron sheets are output alternately; a blanking device , arranged below the discharge port, the blanking device includes a support platform and a posture adjustment mechanism for adjusting the posture of the lower half-frame iron sheet; the upper half-frame receiving assembly has a first storage platform for stacking the upper half-frame; the first picking device picks up the upper half-frame iron sheet from the discharge port and stacks the upper half-frame iron sheet on the first storage platform; the lower half-frame receiving assembly has a second storage platform for storing the lower half-frame; the second picking device picks up the lower half-frame iron sheet from the support platform and stacks the lower half-frame iron sheet on the second storage platform; the control device, the bending machine, the first picking device and the second picking device are all electrically connected to the control device, and the control device controls the first picking device and the second picking device to pick up materials according to the sheet discharge sequence of the bending machine.

[0007] In one embodiment, the lower half frame iron sheet includes two opposite first frame edges and a first connecting edge connected between the two first frame edges, and the second picking device includes a horizontally arranged base, a clamping device arranged at the bottom of the base for clamping the two first frame edges, and a first driving mechanism for driving the base to move in the three-dimensional direction of space.

[0008] In one embodiment, the automatic material receiving equipment for triangular transformer cores also includes: a visual module, which is electrically connected to the control device, and the visual module sends the acquired position information of the lower half frame iron sheet on the support table to the control device, and the control device controls the action of the second picking device to move the base to a preset position and complete the grabbing.

[0009] In one embodiment, the first driving mechanism is a first robotic arm, the base is rotatably arranged on the first robotic arm in a horizontal plane, and the control device controls the rotation of the base according to the position information sent by the vision module.

[0010] In one embodiment, the clamping device includes at least one group of clamping components arranged at intervals along a first direction, the clamping components include two clamping mechanisms arranged at intervals along a second direction perpendicular to the first direction, the clamping mechanism includes a horizontal module extending along the second direction and a clamping claw arranged on the horizontal module, and the control device controls each clamping claw to move to a preset position through the horizontal module according to the position information sent by the visual module.

[0011] In one embodiment, the posture adjustment mechanism includes an inclined platform having an inclined surface, the inclined surface is located directly below the discharge port, and the support platform is connected to the bottom edge of the inclined surface.

[0012] In one embodiment, the posture adjustment mechanism further includes at least one pushing structure, which is electrically connected to the control device. The control device controls the pushing structure to push the lower half frame iron sheet so that the lower half frame iron sheet is located in the middle of the support platform.

[0013] In one embodiment, the posture adjustment mechanism also includes: a movably arranged baffle and a second driving mechanism, the baffle having a stop position for stopping in the middle of the inclined surface and a avoidance position for avoiding the lower half frame iron sheet on the inclined surface, the second driving mechanism drives the baffle to switch between the stop position and the avoidance position, and the second driving mechanism is electrically connected to the control device.

[0014] In one embodiment, the upper half frame iron sheet includes two opposite second frame edges and a second connecting edge connected between the two second frame edges, and the first picking device includes a suction cup for sucking the second connecting edge and a second robotic arm that drives the suction cup to move in a three-dimensional direction in space.

[0015] According to another aspect of the present invention, an automatic material receiving method for a triangular transformer core is provided, which adopts the above-mentioned automatic material receiving equipment for the triangular transformer core. The automatic material receiving method includes multiple repetitions of a unit material receiving method, and the unit material receiving method includes: a bending machine of the automatic material receiving equipment for the triangular transformer core outputs an upper half-frame iron sheet; a control device of the automatic material receiving equipment controls a first picking device of the automatic material receiving equipment to pick up the upper half-frame iron sheet; the control device controls the first picking device to move so as to stack the upper half-frame iron sheet onto a first receiving platform of the automatic material receiving equipment; the bending machine outputs a lower half-frame iron sheet; the control device controls the second picking device of the automatic material receiving equipment to pick up the lower half-frame iron sheet; the control device controls the second picking device to move so as to stack the lower half-frame iron sheet onto a second receiving platform of the automatic material receiving equipment.

[0016] In one embodiment, in addition to the subsequent unit material collecting method of the first unit material collecting method, the method further includes: before the bending machine outputs the lower half frame iron sheet, it is judged in real time whether there is a lower half frame iron sheet on the blanking device. If the judgment result is yes, the output of the lower half frame iron sheet is stopped; if the judgment result is no, the lower half frame iron sheet is output.

[0017] By applying the technical solution of the present invention, in the actual production process, the control device controls the bending machine to first produce the lower half-frame iron sheet in the first iron ring unit. After the bending machine cuts off the lower half-frame iron sheet, the lower half-frame iron sheet falls onto the blanking device. The posture adjustment mechanism on the blanking device can adjust the posture of the lower half-frame iron sheet so that the lower half-frame iron sheet can be placed on the support table in a predetermined posture. Since the posture of the lower half-frame iron sheet on the support table is uniform, the second picking device can smoothly pick up the lower half-frame iron sheet and place the lower half-frame iron sheet on the second storage platform in a predetermined posture. Since each piece of the lower half-frame iron sheet is placed on the second storage platform in a predetermined posture, the smooth stacking of the lower half-frame can be achieved. At the same time, after the bending machine cuts off the lower half-frame iron sheet, the bending machine starts to produce the upper half-frame iron sheet in the iron ring unit. Since the upper half-frame iron sheet is shorter, the first picking device is directly used to pick up the upper half-frame iron sheet, which can ensure that each upper half-frame iron sheet is placed on the first storage platform in a predetermined posture, so that the upper half-frame can be stacked smoothly. The iron ring units are produced and stacked one by one, and the production of the upper half-frame and the lower half-frame is finally completed. After the production of the upper half-frame and the lower half-frame is completed, the two are plugged in, and the processing and assembly of the iron core are finally completed. In the above structure, both the upper half-frame and the lower half-frame can be collected by automated machinery, without the need for manual collection, thereby greatly improving the collection efficiency of the triangular transformer iron core.

[0018] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a triangular transformer core in the prior art is shown;

[0021] Figure 2 Shown Figure 1 Schematic diagram of the three-dimensional structure of the upper half frame of the triangular transformer core;

[0022] Figure 3 Shown Figure 2 A top view of the upper half frame iron sheet;

[0023] Figure 4 Shown Figure 1 Schematic diagram of the three-dimensional structure of the lower half frame of the triangular transformer core;

[0024] Figure 5 Shown Figure 4A top view of the lower half frame iron sheet of the lower half frame;

[0025] Figure 6 Shown Figure 1 A top view of an iron ring unit of a triangular transformer core;

[0026] Figure 7 A schematic diagram of the three-dimensional structure of an embodiment of the automatic material receiving device for triangular transformer core according to the present invention is shown at one angle;

[0027] Figure 8 Shown Figure 7 An enlarged structural diagram of the automatic material receiving device at A;

[0028] Figure 9 A schematic diagram of the three-dimensional structure of an embodiment of the automatic material receiving device for triangular transformer core according to the present invention is shown from another angle;

[0029] Figure 10 Shown Figure 9 An enlarged structural diagram of the automatic material receiving device at C;

[0030] Figure 11 Shown Figure 7 A schematic diagram of the top view of the automatic material receiving equipment;

[0031] Figure 12 Shown Figure 11 A partially enlarged structural diagram of the automatic material receiving equipment;

[0032] Figure 13 Shown Figure 12 An enlarged structural diagram of the automatic material receiving device at D; and

[0033] Figure 14 The top view of the lower half iron frame falling onto the support platform is shown, wherein: Figure 14 The perpendicular bisector n, the reference line L1 and the reference line L2 are shown.

[0034] The above drawings include the following reference numerals:

[0035] 1. Upper half frame; 2. Lower half frame; 3. Upper half frame iron sheet; 4. Lower half frame iron sheet; 5. Iron ring unit; 6. First frame edge; 7. First connecting edge; 8. Second frame edge; 9. Second connecting edge; 10. Press brake; 11. Discharge port; 20. Blanking device; 21. Support platform; 22. Posture adjustment mechanism; 221. Inclined slope; 222. Push-up structure; 223. Baffle; 224. Second driving mechanism; 30. Upper half frame receiving assembly; 31. First receiving platform; 40. First receiving device Device; 41. Suction cup; 42. Second robotic arm; 50. Lower half frame material receiving assembly; 51. Second storage platform; 52. Material receiving platform; 53. Pushing device; 60. Second picking device; 61. Base; 62. Clamping device; 621. Clamping assembly; 622. Clamping mechanism; 623. Horizontal module; 624. Clamping jaw; 6241. Claw body; 6242. Third driving mechanism; 63. First driving mechanism; 70. Control device; 80. Visual module; 100. Plug-in unit. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0037] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0038] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate to facilitate the embodiments of the present invention described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatuses.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] The triangular transformer core is surrounded by three plug-in units 100, which include an upper half frame 1 and a lower half frame 2 that are plugged into each other. The upper half frame 1 is formed by stacking multiple upper half frame iron sheets 3, and the lower half frame 2 is formed by stacking multiple lower half frame iron sheets 4. The length of the lower half frame 2 is greater than that of the upper half frame 1. The upper half frame iron sheet 3 and the lower half frame iron sheet 4 opposite to it form an iron ring unit 5.

[0041] After a long period of research, the inventor found that since the lower half of the frame iron sheet is a flexible iron sheet and is very long, when the bending machine outputs the lower half of the frame iron sheet, the postures of the lower half of the frame iron sheet after falling are different, making it impossible to realize automatic material collection, resulting in low production efficiency. In order to solve the above problems, Figures 7 to 11 As shown, in this embodiment, the automatic material receiving equipment for triangular transformer core includes: a bending machine 10, a blanking device 20, an upper half frame material receiving assembly 30, a first picking device 40, a lower half frame material receiving assembly 50, a second picking device 60 and a control device 70. Among them, the bending machine 10 has a discharge port 11 for outputting the upper half frame iron sheet 3 and the lower half frame iron sheet 4. The bending machine 10 produces multiple iron ring units 5 in sequence, and the upper half frame iron sheet 3 and the lower half frame iron sheet 4 are output alternately. The blanking device 20 is arranged below the discharge port 11. The blanking device 20 includes a support platform 21 and a posture adjustment mechanism 22 for adjusting the posture of the lower half frame iron sheet 4. The upper half frame material receiving assembly 30 has a first receiving platform 31 for stacking the upper half frame 1. The first picking device 40 picks up the upper half frame iron sheet 3 from the discharge port 11 and stacks the upper half frame iron sheet 3 on the first receiving platform 31. The lower half frame receiving assembly 50 has a second receiving platform 51 for receiving the lower half frame 2. The second picking device 60 picks up the lower half frame iron sheets 4 from the support platform 21 and stacks them on the second receiving platform 51. The bending machine 10, the first picking device 40, and the second picking device 60 are all electrically connected to the control device 70, which controls the first picking device 40 and the second picking device 60 to pick up materials according to the sheet discharge sequence of the bending machine 10.

[0042] Applying the technical solution of this embodiment, in the actual production process, the bending machine 10 first produces the lower half-frame iron sheet 4 in the first iron ring unit 5. After the bending machine 10 cuts off the lower half-frame iron sheet 4, the lower half-frame iron sheet 4 falls onto the blanking device 20. The posture adjustment mechanism 22 on the blanking device 20 can adjust the posture of the lower half-frame iron sheet 4 so that the lower half-frame iron sheet 4 can be placed on the support table 21 in a predetermined posture. Since the posture of the lower half-frame iron sheet 4 on the support table 21 is uniform, the second picking device 60 can smoothly pick up the lower half-frame iron sheet 4 and place the lower half-frame iron sheet 4 on the second storage platform 51 in a predetermined posture. Since each lower half-frame iron sheet 4 is placed on the second storage platform 51 in a predetermined posture, the smooth stacking of the lower half frame 2 can be achieved. At the same time, after the bending machine 10 cuts off the lower half frame iron sheet 4, the bending machine 10 starts to produce the upper half frame iron sheet 3 in the iron ring unit 5. Since the upper half frame iron sheet 3 is shorter, the first picking device 40 is directly used to pick up the upper half frame iron sheet 3, which can ensure that each upper half frame iron sheet 3 is placed on the first receiving platform 31 in a predetermined posture, thereby enabling the smooth stacking of the upper half frame 1. The iron ring units 5 are produced and stacked one by one, and the production of the upper half frame 1 and the lower half frame 2 is finally completed. After the upper half frame 1 and the lower half frame 2 are produced, they are plugged in, and the processing and assembly of the iron core are finally completed. In the above structure, both the upper half frame 1 and the lower half frame 2 can be collected by automated machinery, without having to collect materials manually, thereby greatly improving the collection efficiency of the triangular transformer iron core.

[0043] In order to further make the posture of the lower half frame iron sheet 4 when it is put down basically consistent with that when it is taken up, Figure 7 and Figure 8 、 Figure 11 and Figure 12 As shown, in this embodiment, the lower half frame iron sheet 4 includes two opposite first frame edges 6 and a first connecting edge 7 connected between the two first frame edges 6, and the second picking device 60 includes a horizontally arranged base 61, a clamping device 62 arranged at the bottom of the base 61 for clamping the two first frame edges 6, and a first driving mechanism 63 that drives the base 61 to move in a three-dimensional spatial direction. Specifically, when picking up the lower half frame iron sheet 4, the first driving mechanism 63 is first used to drive the base 61 to move above the lower half frame iron sheet 4, and then the two clamping devices 62 are used to clamp the two longer first frame edges 6 of the lower half frame iron sheet 4. Because the easily deformable first frame edges 6 are limited, the posture of the lower half frame iron sheet 4 remains substantially unchanged during the transportation process of the second picking device 60. When putting down the lower half frame iron sheet 4, the base 61 is brought close to the second receiving platform 51, and then the clamping device 62 releases the lower half frame iron sheet 4, and the lower half frame iron sheet 4 can be gently placed on the second receiving platform 51. The above structure allows the lower half frame iron sheet 4 to remain in a basically unobstructed position when it is put down, making it easier to stack subsequent lower half frame iron sheets 4.

[0044] Since the position of the lower half frame iron sheet 4 dropped by the blanking device 20 is different each time, in order to ensure that the lower half frame iron sheet 4 is taken away smoothly, the second taking device 60 needs to be provided with a complex structure of the clamping device 62 to ensure that the two first frame edges 6 can be clamped smoothly. Figure 7 、 Figure 9 and Figure 11 As shown, in this embodiment, the automatic material receiving equipment for the triangular transformer core also includes: a visual module 80, the visual module 80 is electrically connected to the control device 70, the visual module 80 sends the acquired position information of the lower half-frame iron sheet 4 on the support table 21 to the control device 70, and the control device 70 controls the second picking device 60 to move the base 61 to the preset position and complete the grabbing. Specifically, after the lower half-frame iron sheet 4 falls onto the support table 21 of the blanking device 20 and is adjusted by the posture adjustment mechanism 22, the control device 70 controls the visual module 80 to work, and the visual module 80 sends the acquired position information of the lower half-frame iron sheet 4 to the control device 70, and the control device 70 adjusts the position of the base 61 according to the position information to ensure that the base 61 can be accurately moved to the top of the lower half-frame iron sheet 4, thereby simplifying the structure of the clamping device 62 and reducing costs. In addition, it should be noted that, as Figure 11 As shown, the control device 70 includes two control modules.

[0045] The clamping device 62 includes a clamping jaw 624, which has a clamping opening. The first frame edge 6 of the lower half frame iron sheet 4 is extended into the clamping opening, and then the clamping jaw 624 is closed to clamp the lower half frame iron sheet 4. Since the angle between the first frame edge 6 of the lower half frame iron sheet 4 dropped by the blanking device 20 and the opening of the clamping jaw 624 is different each time, if the angle is too large, the success rate of clamping may be affected. In order to solve the above problem, as Figure 7 、 Figure 8 、 Figure 11 and Figure 12 As shown, in this embodiment, the first driving mechanism 63 is a first robotic arm, and the base 61 is rotatably disposed on the first robotic arm in a horizontal plane. The control device 70 controls the rotation of the base 61 based on the position information transmitted by the vision module 80. Specifically, the vision module 80 transmits the deflection angle of the lower half frame iron sheet 4 after it falls to the control device 70. The control device 70 controls the rotation of the base 61 based on this angle so that the opening portion of the clamping jaw 624 is approximately parallel to the first frame edge 6. This allows the first frame edge 6 to smoothly extend into the clamping opening, thereby ensuring the success rate of the clamping device 62 in clamping.

[0046] like Figure 8 and Figure 12As shown, in this embodiment, the clamping device 62 includes at least one set of clamping components 621 spaced apart along a first direction. The clamping components 621 include two clamping mechanisms 622 spaced apart along a second direction perpendicular to the first direction. The clamping mechanisms 622 include a horizontal module 623 extending along the second direction and a clamping claw 624 disposed on the horizontal module 623. The control device 70 controls each clamping claw 624 to move to a preset position via the horizontal module 623 based on position information transmitted by the vision module 80. The above structure enables each clamping claw 624 to move to a position where it can accurately clamp the first frame edge 6, thereby ensuring the success rate of clamping by the clamping device 62.

[0047] It should be noted that for the production of triangular transformer cores, the width of the iron sheets is actually getting smaller and smaller when the bending machine is discharging the material, that is, the width of the latter iron sheet is smaller than that of the former iron sheet, and for each iron sheet, the width of the end first output by the bending machine (hereinafter referred to as the first end) is greater than the width of the end later output by the bending machine (hereinafter referred to as the second end). When stacking the iron sheets, it is necessary to ensure that the first end of each iron sheet is located on the same side of the assembly, and the second end of each iron sheet is located on the same side of the assembly, that is, each iron sheet has a certain directionality when stacked. However, since the posture of the iron sheet is not controlled after the bending machine outputs it, it cannot be guaranteed that the iron sheets are picked up and stacked in the correct direction, so the automated picking of the lower half frame iron sheets has not yet been realized.

[0048] In order to solve the above problems, Figure 7 、 Figure 9 and Figure 10 As shown, in this embodiment, the posture adjustment mechanism 22 includes a tilting platform with an inclined surface 221, the inclined surface 221 is located directly below the discharge port 11, and the support platform 21 is connected to the bottom edge of the inclined surface 221. Applying the technical solution of this embodiment, as the lower half-frame iron sheet 4 is gradually discharged from the discharge port of the bending machine, the free end of the lower half-frame iron sheet 4 first falls on a high position near the discharge port on the inclined surface 221. As the discharge port continues to be discharged, the first first frame edge 6, the first connecting edge 7 and the second first frame edge 6 of the lower half-frame iron sheet 4 gradually fall onto the inclined surface 221. After the lower half-frame iron sheet 4 completely falls onto the inclined surface 221, the lower half-frame iron sheet 4 gradually slides toward the support platform 21 under the guidance of the inclined surface 221 until the lower half-frame iron sheet 4 stops on the support platform 21. The above structure enables each lower half frame iron sheet 4 output by the bending machine to rotate in a predetermined direction under the guidance of the tilting table, so that the wide (narrow) end of each lower half frame iron sheet 4 is located on the same side of the support table 21, thus ensuring that the iron sheets can be picked up and stacked in the correct direction each time. Therefore, automatic picking of the lower half frame iron sheets can be achieved, which improves the efficiency of the triangular transformer core when receiving the material. Figure 7 、 Figures 9 to 11As shown, in this embodiment, the posture adjustment mechanism 22 further includes at least one pushing structure 222, which is electrically connected to the control device 70. The control device 70 controls the pushing structure 222 to push the lower half-frame iron sheet 4 so that the lower half-frame iron sheet 4 is located in the middle of the support platform 21. This structure keeps the lower half-frame iron sheet 4 away from the edge of the support platform 21, which not only facilitates recognition by the visual module 80 but also facilitates gripping by the gripping device 62.

[0049] like Figure 7 、 Figures 9 to 11 As shown, in this embodiment, the posture adjustment mechanism 22 also includes: a movably arranged baffle 223 and a second driving mechanism 224, the baffle 223 has a stop position for stopping at the middle of the inclined surface 221 and a avoidance position for avoiding the lower half frame iron sheet 4 on the inclined surface 221, the second driving mechanism 224 drives the baffle 223 to switch between the stop position and the avoidance position, and the second driving mechanism 224 is electrically connected to the control device 70. The above-mentioned baffle 223 has two functions: first, when there is a lower half-frame iron sheet 4 on the support platform 21, the baffle 223 is located in the stop position, so that the next lower half-frame iron sheet 4 output from the discharge port 11 can be blocked at the baffle 223, while improving production efficiency, ensuring that only one lower half-frame iron sheet 4 enters the support platform 21 at a time, which is convenient for visual identification and grasping; second, before the lower half-frame iron sheet 4 is cut off by the bending machine 10, the baffle 223 is located in the stop position, and the baffle 223 also plays a certain buffering and transition role, so that after the baffle 223 is opened, the lower half-frame iron sheet 4 can gradually slide onto the support platform 21 in a predetermined posture, which is convenient for subsequent clamping.

[0050] Since the upper half frame iron sheet 3 is shorter, the upper half frame iron sheet 3 is not easily deformed during the process of taking the upper half frame iron sheet 3. In order to improve the efficiency of taking the upper half frame iron sheet 3, Figure 3 、 Figure 7 and Figure 11 As shown, in this embodiment, the upper half-frame iron sheet 3 includes two opposing second frame edges 8 and a second connecting edge 9 connected between the two second frame edges 8. The first picking device 40 includes a suction cup 41 for sucking the second connecting edge 9 and a second robotic arm 42 that drives the suction cup 41 to move in three dimensions. The above structure uses the suction cup 41 to suck the upper half-frame iron sheet 3, which improves the efficiency of collecting the upper half-frame iron sheet 3.

[0051] It should be noted that if Figures 7 to 12As shown, in this embodiment, the automatic material removal equipment for the lower half frame of the triangular transformer core includes: a second picking device 60, a visual module 80, and a control device 70. Among them, the second picking device 60 includes a base 61, two clamps 624 arranged at the bottom of the base 61 for picking up the two first frame edges 6, a first driving mechanism 63 that drives the base 61 to move in the three-dimensional direction of space, and a fourth driving mechanism that drives the clamps 624 to move on the bottom surface of the base 61; the visual module 80 obtains the position information of the lower half frame iron sheet 4; the second picking device 60 and the visual module 80 are both electrically connected to the control device 70, and the control device 70 controls the first driving mechanism 63 and the fourth driving mechanism according to the position information of the lower half frame iron sheet 4, so that the base 61 and the two clamps 624 are respectively moved to the preset positions and complete the picking.

[0052] Applying the technical solution of this embodiment, when picking up materials, the control device 70 first controls the visual module 80 to work, and the visual module 80 sends the acquired position information of the lower half frame iron sheet 4 to the control device 70, wherein the position information includes the position information of the centering point on the first connecting edge 7 of the lower half frame iron sheet 4 and the position information of the points to be picked up on the two first frame edges 6. The control device 70 obtains the moving coordinates of the base 61 of the automatic material picking device based on the position information of the centering point, and obtains the moving coordinates of each clamping jaw 624 of the automatic material picking device based on the position information of the points to be picked up. The control device 70 then drives the base 61 and the clamping jaw 624 to move to the preset position and complete the picking up according to the moving coordinates of the base 61 and the moving coordinates of each clamping jaw 624. The above structure enables each flexible lower half frame iron sheet 4 with slightly different positions and postures to be accurately picked up, and realizes the mechanical automation of the lower half frame iron sheet picking, thereby improving the efficiency of the triangular transformer core when receiving materials.

[0053] It should be noted that if Figure 14 As shown, in this embodiment, the midpoint of the first connecting edge 7 is the above-mentioned centering point, and a reference line L1 parallel to the first connecting edge 7 is set at a preset position on the perpendicular bisector of the first connecting edge 7. The intersection of the reference line L1 and the two first frame edges 6 constitutes the position information of the point to be taken.

[0054] The clamping claw 624 includes a claw body 6241. The two claw bodies 6241 are spaced apart along the first direction of the base 61. The claw body 6241 has a clamping opening. The two first frame edges 6 of the lower half frame iron sheet 4 are respectively extended into the clamping openings of the two claw bodies 6241. Then, the claw body 6241 is closed to clamp the lower half frame iron sheet 4. Since the angle between the first frame edge 6 of the lower half frame iron sheet 4 and the opening of the claw body 6241 is different each time it falls, if the angle is too large, the success rate of clamping may be affected. In order to solve the above problem, as Figure 7 、 Figure 8 、 Figure 11 and Figure 12 As shown, in this embodiment, the first driving mechanism 63 is a first robotic arm, and the base 61 is rotatably disposed on the first robotic arm in a horizontal plane. The control device 70 controls the rotation of the base 61 based on the position information sent by the visual module 80, so that the first direction of the base 61 is parallel to the first connecting edge 7. In the above structure, the control device 70 controls the rotation of the base 61 based on the deflection angle of the lower half frame iron sheet 4 after it falls, so that the opening portion of the claw body 6241 is approximately parallel to the first frame edge 6. In this way, the first frame edge 6 can smoothly extend into the clamping opening, thereby ensuring the success rate of the clamping of the clamping claw 624.

[0055] like Figure 12 As shown, in this embodiment, the fourth driving mechanism is a horizontal module that moves the claw body 6241 along the first direction of the base 61. The above structure is simple, high in precision, and easy to control.

[0056] like Figure 12 As shown, in this embodiment, the second picking device 60 includes two sets of gripping assemblies 621 spaced apart along a second direction (perpendicular to the first direction) of the base 61. The gripping assemblies 621 include two gripping mechanisms 622 spaced apart along the first direction. The gripping mechanisms 622 include gripping jaws 624 and corresponding fourth drive mechanisms. This structure increases the number of gripping points (the aforementioned waiting points) for gripping the first frame edge 6, thereby allowing the flexible, longer lower half iron sheet 4 to be transported in a predetermined posture, facilitating subsequent stacking.

[0057] like Figure 12 and Figure 13 As shown, in this embodiment, the clamping jaw 624 includes a jaw body 6241 and a third driving mechanism 6242 for driving the jaw body 6241 to open and close. The third driving mechanism 6242 is electrically connected to the control device 70. The above structure is simple and easy to control.

[0058] like Figures 7 to 13 As shown, the present application also provides an automatic material receiving device for the lower half frame of a triangular transformer core. According to an embodiment of the triangular transformer core of the present application, it includes: an automatic material picking device and a lower half frame material receiving assembly 50. Among them, the automatic material picking device is the above-mentioned automatic material picking device. The lower half frame material receiving assembly 50 has a second storage platform 51 for storing the lower half frame 2. The control module of the automatic material picking device controls the action of the second picking device 60 to place the lower half frame iron sheet 4 to the preset position of the second storage platform 51. Since the above-mentioned automatic material picking device can realize the automatic material picking of the lower half frame iron sheet and improve the material picking efficiency, the automatic material receiving device for the lower half frame of the triangular transformer core having it has a high degree of automation and can improve the material receiving efficiency.

[0059] like Figure 7 and Figure 9 As shown, in this embodiment, the lower half frame material receiving assembly 50 includes a material receiving platform 52 having a second receiving platform 51 and a pushing device 53. The pushing device 53 pushes the first connecting edge 7 of the lower half frame iron sheet 4 to push the lower half frame iron sheet 4 to the middle of the second receiving platform 51. The above structure, on the one hand, keeps the lower half frame iron sheet 4 away from the edge of the second receiving platform 51, so as to facilitate the subsequent lowering of the lower half frame iron sheet 4; on the other hand, it can push the lowered lower half frame iron sheet 4 toward the previous lower half frame iron sheet 4, thereby facilitating the stacking of the lower half frame 2.

[0060] like Figures 7 to 13 As shown, in this embodiment, the automatic material receiving equipment for the lower half frame of the triangular transformer core also includes: a bending machine 10 and a blanking device 20. Among them, the bending machine 10 has a discharge port 11 for outputting the lower half frame iron sheet 4, and the bending machine 10 is electrically connected to the control device 70. The blanking device 20 is arranged below the discharge port 11, and the blanking device 20 includes a support table 21 and a sensor for detecting whether there is a lower half frame iron sheet 4 on the support table 21. The sensor is electrically connected to the control device 70, and the control device 70 controls the visual module 80 to work according to the signal of the sensor to obtain the position information of the lower half frame iron sheet 4. Specifically, in the actual production process, the bending machine 10 produces the lower half frame iron sheet 4. After the bending machine 10 cuts off the lower half frame iron sheet 4, the lower half frame iron sheet 4 falls onto the blanking device 20. When the lower half of the iron sheet 4 falls onto the support platform 21, the sensor transmits a signal indicating the presence of the lower half of the iron sheet 4 on the support platform 21 to the control device 70. The control device 70 then controls the vision module 80 to obtain the position information of the lower half of the iron sheet 4. This structure enables the vision module 80 to take pictures at the appropriate time, reducing the number of pictures and the amount of data to be processed.

[0061] The present application also provides an automatic material collection method for triangular transformer cores, which uses the above-mentioned automatic material collection equipment for triangular transformer cores. The automatic material collection method includes multiple repetitions of a unit material collection method, which includes: the bending machine 10 of the automatic material collection equipment for triangular transformer cores outputs an upper half-frame iron sheet 3; the control device 70 controls the first picking device 40 of the automatic material collection equipment to pick up the upper half-frame iron sheet 3; the control device 70 controls the first picking device 40 to operate so as to stack the upper half-frame iron sheet 3 onto the first receiving platform 31 of the automatic material collection equipment; the bending machine 10 outputs a lower half-frame iron sheet 4; the control device 70 controls the second picking device 60 of the automatic material collection equipment to pick up the lower half-frame iron sheet 4; the control device 70 controls the second picking device 60 to operate so as to stack the lower half-frame iron sheet 4 onto the second receiving platform 51 of the automatic material collection equipment. The above-mentioned material collection method allows both the upper half-frame 1 and the lower half-frame 2 to be collected by automated machinery, eliminating the need for manual collection, thereby greatly improving the material collection efficiency of the triangular transformer core.

[0062] It should be noted that, while the control device 70 controls the action of the first picking device 40 , it does not affect the output of the lower half frame iron sheet 4 by the bending machine 10 . The two steps can be performed simultaneously to improve production efficiency.

[0063] In this embodiment, in addition to the first unit material collection method, the subsequent unit material collection method further includes: before the bending machine 10 outputs the lower half frame iron sheet 4, it is determined in real time whether the blanking device 20 has the lower half frame iron sheet 4. If the judgment result is yes, the output of the lower half frame iron sheet 4 is stopped, and if the judgment result is no, the lower half frame iron sheet 4 is output. The above method ensures that there is only one lower half frame iron sheet 4 at the baffle 223, and prevents multiple lower half frame iron sheets 4 from accumulating at the baffle 223, so as not to affect the subsequent operation of the visual module 80 and the second picking device 60.

[0064] In this embodiment, the automatic material collection method for the lower half frame of the triangular transformer core includes: the control device 70 controls the visual module 80 to work to obtain the position information of the lower half frame iron sheet 4, the above position information includes the angle information between the first connecting edge 7 of the lower half frame iron sheet 4 and the edge of the support table 21 of the automatic material collection device, the position information of the midpoint of the first connecting edge 7, and the position information of the points to be collected on the two first frame edges 6. The angle information is obtained by the perpendicular midline n of the first connecting edge 7 (such as Figure 14 The angle α between the edge of the support platform 21 (as shown) Figure 14 Set a reference line L1 (as shown) parallel to the first connecting edge 7 at a preset position on the perpendicular midline n of the first connecting edge 7; Figure 14 As shown) and the baseline L2 (as Figure 14As shown), both the baseline L1 and the baseline L2 have a preset distance from the first connecting edge 7, the intersection of the baseline L1 and the two first frame edges 6 constitutes the position information of the first group of points to be picked up, and the intersection of the baseline L2 and the two first frame edges 6 constitutes the position information of the second group of points to be picked up; the control device 70 obtains the moving coordinates of the base 61 of the automatic material picking equipment according to the position information of the midpoint; the control device 70 obtains the rotation angle of the base 61 of the automatic material picking equipment according to the angle information; the control device 70 obtains the moving coordinates of each clamping claw 624 of the automatic material picking equipment according to the position information of the points to be picked up; the control device 70 drives the base 61 to move to the preset position according to the moving coordinates and the rotation angle of the base 61, and the control device 70 obtains the moving coordinates of the two clamping claws 624 of one group of clamping components 621 according to the position information of the first group of points to be picked up; the control device 70 obtains the moving coordinates of the two clamping claws 624 of the other group of clamping components 621 according to the position information of the second group of points to be picked up. The movement of each horizontal module 623 is controlled based on the coordinates of the movement of each clamping jaw 624. The control device 70 controls the clamping jaws 624 to pick up the lower half frame sheet 4. The control device 70 controls the second picking device 60 to place the lower half frame sheet 4 on the second receiving platform 51 of the lower half frame receiving assembly 50 of the automatic receiving device. This structure enables each clamping jaw 624 to move to a position where it can accurately grip the first frame edge 6, thereby ensuring the success rate of the clamping jaws 624.

[0065] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0068] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An automatic material receiving device for a triangular transformer core, wherein the triangular transformer core is surrounded by three plug-in units (100), the plug-in unit (100) comprises an upper half frame (1) and a lower half frame (2) plugged into each other, the upper half frame (1) is formed by stacking a plurality of upper half frame iron sheets (3), the lower half frame (2) is formed by stacking a plurality of lower half frame iron sheets (4), the length of the lower half frame (2) is greater than the length of the upper half frame (1), the upper half frame iron sheet (3) and the lower half frame iron sheet (4) opposite thereto form an iron ring unit (5), characterized in that: The automatic material receiving equipment for the triangular transformer core comprises: A bending machine (10) having a discharge port (11) for outputting the upper half-frame iron sheet (3) and the lower half-frame iron sheet (4), wherein the bending machine (10) sequentially produces a plurality of the iron ring units (5), and the upper half-frame iron sheet (3) and the lower half-frame iron sheet (4) are output alternately; A blanking device (20) is arranged below the discharge port (11), and the blanking device (20) includes a support platform (21) and a posture adjustment mechanism (22) for adjusting the posture of the lower half frame iron sheet (4); An upper half frame receiving assembly (30) having a first receiving platform (31) for stacking the upper half frames (1); A first taking device (40) takes the upper half frame iron sheet (3) from the discharge port (11) and stacks the upper half frame iron sheet (3) on the first receiving platform (31); A lower half frame receiving assembly (50) having a second receiving platform (51) for receiving the lower half frame (2); A second taking device (60) takes the lower half frame iron sheet (4) from the support platform (21) and stacks the lower half frame iron sheet (4) on the second receiving platform (51); A control device (70), the bending machine (10), the first picking device (40) and the second picking device (60) are all electrically connected to the control device (70), and the control device (70) controls the first picking device (40) and the second picking device (60) to pick up materials according to the sheet output sequence of the bending machine (10).

2. The automatic material receiving equipment for triangular transformer core according to claim 1, characterized in that: The lower half frame iron sheet (4) includes two opposite first frame edges (6) and a first connecting edge (7) connected between the two first frame edges (6); the second picking device (60) includes a horizontally arranged base (61), a clamping device (62) arranged at the bottom of the base (61) for clamping the two first frame edges (6), and a first driving mechanism (63) for driving the base (61) to move in a three-dimensional spatial direction.

3. The automatic material receiving equipment for triangular transformer core according to claim 2, characterized in that: The automatic material receiving equipment of the triangular transformer core also includes: A visual module (80) is electrically connected to the control device (70), and the visual module (80) sends the acquired position information of the lower half frame iron sheet (4) on the support platform (21) to the control device (70), and the control device (70) controls the second picking device (60) to move the base platform (61) to a preset position and complete the grabbing.

4. The automatic material receiving equipment for triangular transformer core according to claim 3, characterized in that: The first driving mechanism (63) is a first robotic arm, the base (61) is rotatably arranged on the first robotic arm in a horizontal plane, and the control device (70) controls the rotation of the base (61) according to the position information sent by the visual module (80).

5. The automatic material receiving equipment for triangular transformer core according to claim 3 or 4, characterized in that: The clamping device (62) includes at least one group of clamping components (621) arranged at intervals along a first direction, the clamping component (621) includes two clamping mechanisms (622) arranged at intervals along a second direction perpendicular to the first direction, the clamping mechanism (622) includes a horizontal module (623) extending along the second direction and a clamping claw (624) arranged on the horizontal module (623), and the control device (70) controls each of the clamping claws (624) to move to a preset position through the horizontal module (623) according to the position information sent by the visual module (80).

6. The automatic material receiving equipment for triangular transformer core according to claim 1, characterized in that: The posture adjustment mechanism (22) comprises an inclined platform having an inclined surface (221), wherein the inclined surface (221) is located directly below the discharge port (11), and the support platform (21) is connected to the bottom edge of the inclined surface (221).

7. The automatic material receiving equipment for triangular transformer core according to claim 6, characterized in that: The posture adjustment mechanism (22) further includes at least one pushing structure (222), wherein the pushing structure (222) is electrically connected to the control device (70), and the control device (70) controls the pushing structure (222) to push the lower half frame iron sheet (4) so ​​that the lower half frame iron sheet (4) is located in the middle of the support platform (21).

8. The automatic material receiving equipment for triangular transformer core according to claim 6 or 7, characterized in that: The posture adjustment mechanism (22) further comprises: a movable baffle (223) and a second drive mechanism (224); the baffle (223) has a stop position for stopping at the middle of the inclined surface (221) and a clearance position for avoiding the lower half frame iron sheet (4) on the inclined surface (221); the second drive mechanism (224) drives the baffle (223) to switch between the stop position and the clearance position; and the second drive mechanism (224) is electrically connected to the control device (70).

9. The automatic material receiving equipment for triangular transformer core according to claim 1, characterized in that: The upper half frame iron sheet (3) includes two opposite second frame edges (8) and a second connecting edge (9) connected between the two second frame edges (8); the first picking device (40) includes a suction cup (41) for sucking the second connecting edge (9) and a second mechanical arm (42) for driving the suction cup (41) to move in a three-dimensional spatial direction.

10. An automatic material collection method for triangular transformer core, characterized in that: The automatic material receiving device for the triangular transformer core according to any one of claims 1 to 9 is used, wherein the automatic material receiving method comprises repeating a unit material receiving method multiple times, and the unit material receiving method comprises: The bending machine (10) of the automatic material receiving equipment for the triangular transformer iron core outputs the upper half frame iron sheet (3); The control device (70) of the automatic material receiving device controls the first picking device (40) of the automatic material receiving device to pick up the upper half frame iron sheet (3); The control device (70) controls the first picking device (40) to operate so as to stack the upper half frame iron sheet (3) onto the first receiving platform (31) of the automatic material receiving device; The bending machine (10) outputs the lower half frame iron sheet (4); The control device (70) controls the second picking device (60) of the automatic material receiving device to pick up the lower half frame iron sheet (4); The control device (70) controls the second picking device (60) to operate so as to stack the lower half frame iron sheet (4) onto the second receiving platform (51) of the automatic material receiving equipment.

11. The automatic material collecting method of triangular transformer core according to claim 10, characterized in that: In addition to the first unit material collection method, the subsequent unit material collection method further includes: Before the bending machine (10) outputs the lower half frame iron sheet (4), it is judged in real time whether the blanking device (20) has the lower half frame iron sheet (4); if the judgment result is yes, the output of the lower half frame iron sheet (4) is stopped; if the judgment result is no, the lower half frame iron sheet (4) is output.

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