An automatic stacking system for silicon steel sheets of transformer core

Abstract

The present invention relates to the technical field of silicon steel sheets for transformer cores, and in particular to an automatic stacking system for silicon steel sheets for transformer cores, which comprises: obtaining the stacking data of silicon steel sheets for transformer cores during the stacking process; analyzing to obtain the online stacking value of each layer of silicon steel sheets; judging whether the stacking of each layer of silicon steel sheets is qualified, and then analyzing to obtain the stacking structure evaluation value, judging whether the stacking process changes stably; obtaining the stacking rhythm data, and constructing the stacking rhythm curve, analyzing with the stacking curve to obtain the influence judgment value, judging the influence degree of the rhythm on the stability of the stacking; and regulating the current stacking rhythm based on the rhythm high influence signal. The automatic stacking system for silicon steel sheets for transformer cores of the present invention not only realizes the simultaneous online monitoring of the stacked silicon steel sheet monomers and the overall structure, which can effectively improve the stability of the stacking, but also effectively ensures the stability of the silicon steel sheet stacking structure during the stacking process by timely regulating the stacking rhythm on the basis of the monitoring.

Description

Technical Field

[0001] The invention relates to the technical field of transformer iron core silicon steel sheet production, in particular to an automatic stacking system for transformer iron core silicon steel sheets. Background Art

[0002] Transformer core silicon steel sheet is a material specially used for transformer core in electrical equipment. It is usually made by adding a small amount of silicon (generally less than 4.5%) to pure iron. This iron-silicon alloy is called silicon steel, also known as ferrosilicon. Silicon steel sheet occupies a dominant position in transformer core manufacturing due to its excellent electrical and magnetic properties.

[0003] In the prior art, a patent with publication number CN114420434A records an automated stacking system for silicon steel sheets for transformer core manufacturing, including a stacking system, a storage module, and a positioning module. The stacking system is connected to a clamping module via a signal line, a detection module is installed inside the clamping module, and an alarm module is installed outside the clamping module. The alarm module is connected to the stacking system via a signal line. The stacking system is manually edited according to actual production needs. The silicon steel sheets in the storage module are automatically stacked onto the positioning module by controlling the clamping module. The clamping module includes a suction cup, which stably clamps the silicon steel sheets through negative pressure.

[0004] The prior art pays more attention to that, during the stacking process, the clamping module is automatically detected by the detection module to determine the clamping condition of the silicon steel sheet, thereby achieving the effect of automatic alarm when the silicon steel sheet is tilted or falls; however, during the stacking process of the silicon steel sheets, due to the unstable change of the stacking rhythm, the stacked silicon steel sheets are at high risk, the stacking structure is not stable enough, and the preset standard height cannot be reached. Summary of the invention

[0005] The object of the present invention is to provide an automatic stacking system for transformer core silicon steel sheets, which can monitor the stacked silicon steel sheets and the entire structure in real time to effectively improve the stacking stability.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] An automatic stacking system for transformer core silicon steel sheets, comprising:

[0008] Acquisition module: obtains the stacking data of silicon steel sheets of transformer core during the stacking process;

[0009] Analysis module: Based on the stacking data of silicon steel sheets during the stacking process, the online value of the stacking of each layer of silicon steel sheets is analyzed;

[0010] Evaluation module: According to the online value of stacking of each layer of silicon steel sheets, judge whether the stacking of each layer of silicon steel sheets is qualified, and then analyze the stacking structure evaluation value to judge whether the stacking process change is stable;

[0011] Among them, whether the change of the palletizing process is stable includes the large signal of stable change of palletizing;

[0012] Influence module: Based on the large signal of stable change of palletizing, the palletizing rhythm data is obtained, and the palletizing rhythm curve is constructed. The influence judgment value is obtained by analyzing the palletizing curve to judge the influence degree of the rhythm on the stability of palletizing;

[0013] Among them, the impact degree of palletizing stability includes rhythm high impact signal and rhythm low impact signal;

[0014] Control module: When a high-impact rhythm signal is received, the current palletizing rhythm is regulated;

[0015] When a rhythm low impact signal is obtained, a fault check is performed on the palletizing robot.

[0016] As a further solution of the present invention: the silicon steel sheet stacking data includes the number of layers of the silicon steel sheet stacking structure and the center point position of each layer of silicon steel sheet, which are marked as the stacking layer value and the stacking layer midpoint value respectively.

[0017] As a further solution of the present invention: the online value analysis process of stacking each layer of silicon steel sheets is as follows:

[0018] By formula , calculate the stacking analysis value ZM of each layer of silicon steel sheet, where BG is the stacking layer ratio and ZX is the stacking online value.

[0019] As a further solution of the present invention: the process of obtaining the stacking layer ratio is:

[0020] The ratio of the stacking layer value to the stacking layer value preset in the process is calculated to obtain the stacking layer ratio.

[0021] As a further solution of the present invention: the process of obtaining the online value of palletizing is:

[0022] Obtain the midpoint value of the stacking layer located at the top layer of the silicon steel sheet stacking structure, recorded as the midpoint value of the top layer of the stacking; calculate the difference in the horizontal direction between the midpoint value of the top layer of the stacking and the midpoint value of the stacking layer preset in the process, and obtain the first deviation value of the stacking of the silicon steel sheet;

[0023] And obtaining the center of gravity position of the silicon steel sheet stacking structure, calculating the difference between the midpoint value of the top layer of the stacking and the center of gravity position of the silicon steel sheet stacking structure in the horizontal direction, and obtaining the second deviation value of the stacking of the silicon steel sheet;

[0024] The first deviation value of the stacking of the silicon steel sheets and the second deviation value of the stacking of the silicon steel sheets are summed and calculated to obtain the stacking online value.

[0025] As a further solution of the present invention: the judgment process of whether each layer of silicon steel sheet stacking is qualified is as follows:

[0026] If the palletizing online value is greater than or equal to the palletizing stability threshold, a palletizing failure signal for this layer is generated.

[0027] As a further solution of the present invention: the analysis process of the evaluation value of the stacking structure is:

[0028] Based on the palletizing curve of the palletizing structure, obtain the adjacent crest points and trough points of the palletizing curve, calculate the slope between the adjacent crest points and trough points, and mark the slopes of the adjacent trough points;

[0029] Compare the adjacent wave point slopes with the adjacent wave point slope threshold;

[0030] If the slope of the adjacent wave points is greater than or equal to the adjacent wave point slope threshold, the silicon steel sheet between the wave peak point and the wave valley point is marked as a stacking fast-changing silicon steel sheet;

[0031] The number of stacked fast-changing silicon steel sheets is obtained and the ratio of the total number of silicon steel sheets in the silicon steel sheet stacking structure is calculated to obtain an evaluation value of the stacking structure.

[0032] As a further solution of the present invention: if the stacking structure evaluation value is greater than or equal to the stacking structure evaluation threshold, a large signal of stable change of stacking is generated.

[0033] As a further solution of the present invention: the process of judging the influence of rhythm on the stability of palletizing is as follows:

[0034] Obtain the number of silicon steel sheet layers corresponding to the wave points of the stacking curve and the number of silicon steel sheet layers corresponding to the wave points of the rhythm curve, and mark them as the number of stacking wave points and the number of rhythm wave points respectively;

[0035] In order from small to large, the number of palletizing wave points is calculated by difference with the number of rhythm wave points to obtain an impact judgment value, and the impact judgment value is compared with the impact judgment threshold;

[0036] If the impact judgment value is greater than or equal to the impact judgment threshold, a rhythm high impact signal is generated.

[0037] As a further solution of the present invention: the process of regulating the current palletizing rhythm is as follows:

[0038] Obtaining a palletizing rhythm control coefficient, performing a multiplication operation on the palletizing rhythm control coefficient and the transmission speed of the silicon steel sheet, and obtaining a palletizing rhythm adjustment value;

[0039] Specifically, the process of obtaining the palletizing rhythm control coefficient is as follows:

[0040] Obtain the stacking structure evaluation value, perform difference calculation on the stacking structure evaluation value and the stacking structure evaluation threshold to obtain the stacking structure evaluation deviation value, perform ratio calculation on the stacking structure evaluation deviation value and the stacking structure evaluation threshold to obtain the stacking rhythm control coefficient.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] (1) In the present invention, the acquisition module: obtains the stacking data of the silicon steel sheets of the transformer core during the stacking process; the analysis module: based on the stacking data of the silicon steel sheets during the stacking process, analyzes and obtains the stacking online value of each layer of silicon steel sheets; the evaluation module: judges whether the stacking of each layer of silicon steel sheets is qualified according to the stacking online value of each layer of silicon steel sheets, and then analyzes and obtains the stacking structure evaluation value to judge whether the stacking structure changes and whether it is stable; the present invention performs online real-time analysis on the stacking quality of each layer of silicon steel sheets, thereby judging the stability of the currently stacked silicon steel sheets, and then performs online real-time analysis based on the stability change of the overall structure obtained by stacking, thereby judging the overall structural stability of the currently stacked silicon steel sheets; therefore, the stacking system of the present invention realizes the simultaneous online monitoring of the stacked silicon steel sheets and the overall structure, which can effectively improve the stability of the stacking;

[0043] (2) In the present invention, the influencing module: based on the large signal of stable change of stacking, obtains the data of stacking rhythm, constructs the stacking rhythm curve, analyzes it with the stacking curve to obtain the influence judgment value, and judges the influence degree of the rhythm on the stability of stacking; the control module: based on the high rhythm influence signal or the low rhythm influence signal, regulates the current stacking rhythm; the present invention timely judges and analyzes the influence of poor stability of stacking quality, and timely regulates the stacking rhythm based on the influence of the stacking rhythm, so that the stability of the silicon steel sheet stacking structure is effectively guaranteed during the stacking process, and avoids the problems that the stacking structure is not stable enough due to the unstable change of the stacking rhythm during the stacking process of the silicon steel sheets, the stacked silicon steel sheets have a high risk, and the height cannot reach the preset standard.

[0044] (3) In summary, the automatic stacking system for transformer core silicon steel sheets of the present invention not only realizes the simultaneous online monitoring of the stacked silicon steel sheets and the overall structure, which can effectively improve the stability of the stacking, but also effectively ensures the stability of the silicon steel sheet stacking structure during the stacking process by timely regulating the stacking rhythm based on the monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a system block diagram of Embodiment 1 of the present invention;

[0046] Figure 2It is a system block diagram of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments.

[0048] Example 1

[0049] like Figure 1 As shown, the present invention is an automatic stacking system for transformer core silicon steel sheets, comprising:

[0050] Acquisition module: obtains the stacking data of silicon steel sheets of transformer core during the stacking process;

[0051] In some embodiments, during the production process of transformer core silicon steel sheets, formed silicon steel sheets are prepared, and the silicon steel sheets need to be transported to the position of a stacking robot through a transmission mechanism, and the silicon steel sheets are stacked and placed in a designated area to obtain a silicon steel sheet stacking structure;

[0052] The silicon steel sheet stacking structure is formed by stacking a plurality of silicon steel sheets in a layer-by-layer manner;

[0053] According to the stacking structure of silicon steel sheets, the stacking data of silicon steel sheets is obtained, and the stacking data of silicon steel sheets includes the number of layers of the stacking structure of silicon steel sheets and the center point position of each layer of silicon steel sheets, which are marked as the stacking layer value and the stacking layer midpoint value respectively;

[0054] Analysis module: Based on the stacking data of silicon steel sheets during the stacking process, the online value of the stacking of each layer of silicon steel sheets is analyzed;

[0055] In some implementation schemes, during the stacking process of silicon steel sheets, the stacking layer ratio and stacking online value corresponding to each completion of a layer of silicon chip stacking work are obtained according to the silicon steel sheet stacking data, and the stacking layer ratio and stacking online value are marked as BG and ZX respectively, and the formula is used to calculate the stacking layer ratio and the stacking online value. , calculate and obtain the stacking analysis value ZM of each layer of silicon steel sheet;

[0056] First, specifically, the process of obtaining the stacking layer ratio is:

[0057] According to the stacking layer value obtained by the acquisition module, the stacking layer value is calculated with the stacking layer value preset in the process to obtain the stacking layer ratio;

[0058] Second, specifically, the process of obtaining the online value of palletizing is:

[0059] According to the midpoint value of the stacking layer obtained by the acquisition module, the midpoint value of the stacking layer located at the top layer of the silicon steel sheet stacking structure is obtained, which is recorded as the midpoint value of the top layer of the stacking; the difference between the midpoint value of the top layer of the stacking and the midpoint value of the stacking layer preset in the process is calculated in the horizontal direction to obtain the first deviation value of the stacking of the silicon steel sheet;

[0060] And obtain the center of gravity position of the silicon steel sheet stacking structure, calculate the difference between the midpoint value of the top layer of the stacking and the center of gravity position of the silicon steel sheet stacking structure in the horizontal direction, and obtain the second deviation value of the stacking of the silicon steel sheet; sum the first deviation value of the stacking of the silicon steel sheet and the second deviation value of the stacking of the silicon steel sheet to obtain the online value of the stacking;

[0061] Exemplarily, the calculation process of the first deviation value and the second deviation value may be: establishing a three-dimensional model for the silicon steel sheet stacking structure, obtaining the corresponding midpoint value of the top stacking layer, the midpoint value of the stacking layer preset by the process, obtaining the coordinate point of the center of gravity position of the silicon steel sheet stacking structure, and obtaining the corresponding deviation value through the coordinate point calculation;

[0062] It needs to be explained that the online value ZM of the stacking of each layer of silicon steel sheets is obtained during the stacking process of each layer by obtaining the data related to the number of layers and the center data of the silicon steel sheets (the center data of the silicon steel sheets includes the degree of center difference between the preset standard and the degree of center difference between the stacking structure) to specifically quantify the stacking quality of each layer of silicon steel sheets when the stacking of the silicon steel sheets is completed;

[0063] That is, the smaller the stacking layer ratio is, the larger the corresponding stacking online value ZM is, and the higher the stacking quality of the silicon steel sheet of this layer is; the smaller the stacking online value is, the larger the corresponding stacking online value ZM is, and the higher the stacking quality of the silicon steel sheet of this layer is;

[0064] Evaluation module: According to the online value of stacking of each layer of silicon steel sheets, judge whether the stacking of each layer of silicon steel sheets is qualified, and then analyze the stacking structure evaluation value to judge whether the stacking process change is stable;

[0065] In some implementation schemes, firstly, the online value of the stacking of each layer of silicon steel sheets is obtained, and the online value of the stacking of each layer of silicon steel sheets is compared with the stacking stability threshold;

[0066] If the palletizing online value is greater than or equal to the palletizing stability threshold, a palletizing failure signal for this layer is generated;

[0067] If the palletizing online value is less than the palletizing stability threshold, a palletizing qualified signal for this layer is generated;

[0068] When a signal indicating that the stacking of the layer is unqualified is obtained, the silicon steel sheets on the top layer of the stacking structure can be re-stackered;

[0069] When the stacking pass signal of the layer is obtained, the stacking of silicon steel sheets is continued according to the current production rhythm;

[0070] Then, with the number of stacking layers as the X-axis and the stacking online value as the Y-axis, a two-dimensional stacking stable coordinate system is constructed, and the stacking online value of each layer of silicon steel sheet is substituted into the two-dimensional stacking stable coordinate system to obtain multiple stacking stable coordinate points, and a trace line is drawn to obtain a stacking curve of the stacking structure;

[0071] Based on the palletizing curve of the palletizing structure, the palletizing structure evaluation value is analyzed and compared with the palletizing structure evaluation threshold;

[0072] If the stacking structure evaluation value is greater than or equal to the stacking structure evaluation threshold, it means that the stacking structure of silicon steel sheets obtained based on the current stacking work has large differences in the stability quality of each layer of silicon steel sheets, and the current stacking structure has unstable stacking stability quality, then a large stacking stability change signal is generated;

[0073] If the stacking structure evaluation value is less than the stacking structure evaluation threshold, it means that the stacking structure of silicon steel sheets obtained based on the current stacking work has small differences in the stable quality of each layer of silicon steel sheets, and the current stacking structure does not have unstable stacking quality, then a small signal of stacking stability change is generated;

[0074] More specifically, the analysis process of the palletizing structure evaluation value is as follows:

[0075] Based on the palletizing curve of the palletizing structure, obtain the adjacent crest points and trough points of the palletizing curve, calculate the slope between the adjacent crest points and trough points, and mark the slopes of the adjacent trough points;

[0076] Compare the adjacent wave point slopes with the adjacent wave point slope threshold;

[0077] If the slope of the adjacent wave points is greater than or equal to the adjacent wave point slope threshold, the silicon steel sheet corresponding to the wave peak point and the wave valley point is marked as a stacking fast-changing silicon steel sheet;

[0078] If the slope of the adjacent wave points is less than the adjacent wave point slope threshold, the silicon steel sheet corresponding to the wave peak point and the wave valley point is marked as a stacked slow-changing silicon steel sheet;

[0079] For example: if there is a wave peak point on the 6th layer and a wave trough point on the 11th layer, and the slope between the 6th and 11th layers is greater than the adjacent wave point slope threshold, the silicon steel sheets corresponding to the 6th to 11th layers are marked as stacking fast-changing silicon steel sheets;

[0080] The number of stacked fast-changing silicon steel sheets is obtained and the ratio of the total number of silicon steel sheets in the silicon steel sheet stacking structure is calculated to obtain a stacking structure evaluation value;

[0081] It should be explained that the evaluation value of the stacking structure indicates that: first, the degree of change in the stability of each silicon steel sheet within a certain interval is used to determine the degree of change in the stability of the overall stacking structure;

[0082] The technical solution of the embodiment of the present invention is as follows: an acquisition module: acquiring the stacking data of silicon steel sheets of transformer core silicon steel sheets during the stacking process; an analysis module: analyzing and obtaining the online stacking value of each layer of silicon steel sheets based on the stacking data of the silicon steel sheets during the stacking process; an evaluation module: judging whether the stacking of each layer of silicon steel sheets is qualified according to the online stacking value of each layer of silicon steel sheets, and then analyzing and obtaining the stacking structure evaluation value to judge whether the stacking structure changes or is stable; the present invention performs online real-time analysis on the stacking quality of each layer of silicon steel sheets, thereby judging the stability of the currently stacked silicon steel sheets, and then performs online real-time analysis based on the stable change of the overall structure obtained by the stacking, thereby judging the overall structural stability of the currently stacked silicon steel sheets. Therefore, the stacking system of the present invention realizes the simultaneous online monitoring of the stacked silicon steel sheet monomers and the overall structure, which can effectively improve the stability of the stacking.

[0083] Example 2

[0084] like Figure 2 As shown, the present invention is an automatic stacking system for transformer core silicon steel sheets, which also includes:

[0085] Influence module: Based on the large signal of stable change of palletizing, the palletizing rhythm data is obtained, and the palletizing rhythm curve is constructed. The influence judgment value is obtained by analyzing the palletizing curve to judge the influence degree of the rhythm on the stability of palletizing;

[0086] Among them, the impact degree of palletizing stability includes rhythm high impact signal and rhythm low impact signal;

[0087] In some implementation schemes, when a large signal of stable stacking change is obtained, the stacking rhythm value of the silicon steel sheet is obtained (the stacking rhythm value represents the time required to complete the stacking of one silicon steel sheet); a two-dimensional stacking rhythm coordinate system is constructed with the number of stacking layers as the X-axis and the stacking rhythm value as the Y-axis, and the stacking rhythm value of each layer of silicon steel sheet is substituted into the two-dimensional stacking rhythm coordinate system to obtain multiple stacking rhythm coordinate points, and a trace line is drawn to obtain a rhythm curve of the stacking structure;

[0088] Obtain the number of silicon steel sheet layers corresponding to the wave points of the stacking curve (the wave points include the peak points and the trough points), and the number of silicon steel sheet layers corresponding to the wave points of the rhythm curve, including: the number of layers of the stacking peak points, the number of layers of the stacking trough points, the number of layers of the rhythm peak points, and the number of layers of the rhythm trough points;

[0089] Arrange the layers in order from small to large to obtain a stacking peak point layer number set and a rhythm peak point layer number set, perform difference calculations on the subsets in the stacking peak point layer number set and the corresponding rhythm peak point layers (the corresponding relationship is: the peak point layers with the same set sequence number are calculated by difference), obtain the peak influence judgment sub-value, and sum up all the peak influence judgment sub-values ​​to obtain the peak influence judgment value;

[0090] Arrange the layers in order from small to large to obtain a stacking trough point layer number set and a rhythm trough point layer number set, perform difference calculations on the subsets in the stacking trough point layer number set and the corresponding rhythm trough point layers (the corresponding relationship is: the trough point layers with the same set sequence number are calculated by difference), obtain the trough influence judgment sub-value, and sum up all the trough influence judgment sub-values ​​to obtain the trough influence judgment value;

[0091] The peak impact judgment value and the trough impact judgment value are summed to obtain an impact judgment value, and the impact judgment value is compared with an impact judgment threshold;

[0092] For example, if the number of silicon steel sheets corresponding to the wave points of the stacking curve includes: the number of layers of the stacking wave peak points is 6 and 21, and the number of layers of the stacking wave valley points is 11 and 24;

[0093] If the number of silicon steel sheets corresponding to the wave points of the rhythm curve includes: the number of layers of the stacking wave peak point is 6 and 22, and the number of layers of the stacking wave valley point is 11 and 24;

[0094] Through its The calculation method obtains the impact judgment value of 1;

[0095] If the impact judgment value is greater than or equal to the impact judgment threshold, it means that the wave points of the palletizing curve and the wave points of the rhythm curve are highly consistent, that is, the change of the rhythm during palletizing has a greater impact on the change of palletizing stability, and a high rhythm impact signal is generated;

[0096] If the impact judgment value is greater than or equal to the impact judgment threshold, it means that the wave points of the palletizing curve and the wave points of the rhythm curve have a low fit, that is, the change of the rhythm during palletizing has a low impact on the change of palletizing stability, and a rhythm low impact signal is generated;

[0097] Control module: Based on the rhythm high impact signal or the rhythm low impact signal, the current palletizing rhythm is regulated;

[0098] In some embodiments, when a rhythm low impact signal is obtained, a fault check is performed on the palletizing robot, such as a check of the mechanical structure, software program, etc.;

[0099] When a high-impact rhythm signal is obtained, the palletizing rhythm control coefficient is obtained, and the palletizing rhythm control coefficient is multiplied by the silicon steel sheet transmission speed to obtain the palletizing rhythm adjustment value;

[0100] Specifically, the process of obtaining the palletizing rhythm control coefficient is as follows:

[0101] Obtain a stacking structure evaluation value, perform difference calculation between the stacking structure evaluation value and the stacking structure evaluation threshold value to obtain a stacking structure evaluation deviation value, perform ratio calculation between the stacking structure evaluation deviation value and the stacking structure evaluation threshold value to obtain a stacking rhythm control coefficient;

[0102] The obtained stacking rhythm adjustment value is sent to the transmission mechanism of the silicon steel sheet. By controlling the speed of the transmission mechanism, the transmission speed of the transmission mechanism is reduced, which will extend the time for the silicon steel sheet to reach the designated position for stacking, thereby realizing the control of the stacking rhythm and ensuring that the stacking robot can adjust the stacking rhythm in time according to the current stacking feedback to ensure the quality of stacking.

[0103] The technical solution of the embodiment of the present invention is as follows: Influence module: based on the large signal of stable change of stacking, the stacking rhythm data is obtained, and the stacking rhythm curve is constructed, and the influence judgment value is obtained by analyzing with the stacking curve to judge the influence degree of the rhythm on the stability of stacking; Control module: based on the rhythm high influence signal or the rhythm low influence signal, the current stacking rhythm is regulated; The present invention timely judges and analyzes the influence of poor stability of stacking quality, and based on the influence of the stacking rhythm, timely regulates the stacking rhythm, so that the stability of the silicon steel sheet stacking structure is effectively guaranteed during the stacking process, and avoids the problem that during the stacking process of silicon steel sheets, due to the unstable change of the stacking rhythm, the stacked silicon steel sheets are at high risk, the stacking structure is not stable enough, and the height of the preset standard will not be reached.

[0104] The working principle of the present invention is as follows: obtaining the stacking data of silicon steel sheets of transformer core during the stacking process; based on the stacking data of silicon steel sheets during the stacking process, analyzing and obtaining the online stacking value of each layer of silicon steel sheets; judging whether the stacking of each layer of silicon steel sheets is qualified according to the online stacking value of each layer of silicon steel sheets, and then analyzing and obtaining the stacking structure evaluation value to judge whether the stacking structure changes or is stable; based on the large signal of stable stacking change, obtaining the stacking rhythm data, and constructing the stacking rhythm curve, analyzing with the stacking curve to obtain the influence judgment value, and judging the influence degree of the rhythm on the stability of stacking; based on the rhythm high influence signal or the rhythm low influence signal, regulating and controlling the current stacking rhythm. The preset parameters in the formula of this application are set by technicians in this field according to actual conditions.

[0105] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An automatic stacking system for transformer core silicon steel sheets, characterized in that: include: Acquisition module: obtains the stacking data of silicon steel sheets of transformer core during the stacking process; Analysis module: Based on the stacking data of silicon steel sheets during the stacking process, the online value of the stacking of each layer of silicon steel sheets is analyzed; Evaluation module: According to the online value of stacking of each layer of silicon steel sheets, judge whether the stacking of each layer of silicon steel sheets is qualified, and then analyze the stacking structure evaluation value to judge whether the stacking process change is stable; Among them, whether the change of the palletizing process is stable includes the large signal of stable change of palletizing; Influence module: Based on the large signal of stable change of palletizing, the palletizing rhythm data is obtained, and the palletizing rhythm curve is constructed. The influence judgment value is obtained by analyzing the palletizing curve to judge the influence degree of the rhythm on the stability of palletizing; Among them, the impact degree of palletizing stability includes rhythm high impact signal and rhythm low impact signal; Control module: When a high-impact rhythm signal is received, the current palletizing rhythm is regulated; When a rhythm low impact signal is obtained, the palletizing robot is checked for faults; The silicon steel sheet stacking data includes the number of layers of the silicon steel sheet stacking structure and the center point position of each layer of silicon steel sheet, which are marked as the stacking layer value and the stacking layer midpoint value respectively; The process of obtaining the online value of palletizing is as follows: Obtain the midpoint value of the stacking layer located at the top layer of the silicon steel sheet stacking structure, recorded as the midpoint value of the top layer of the stacking; calculate the difference in the horizontal direction between the midpoint value of the top layer of the stacking and the midpoint value of the stacking layer preset in the process, and obtain the first deviation value of the stacking of the silicon steel sheet; And obtaining the center of gravity position of the silicon steel sheet stacking structure, calculating the difference between the midpoint value of the top layer of the stacking and the center of gravity position of the silicon steel sheet stacking structure in the horizontal direction, and obtaining the second deviation value of the stacking of the silicon steel sheet; The first deviation value of the stacking of the silicon steel sheets and the second deviation value of the stacking of the silicon steel sheets are summed and calculated to obtain the stacking online value; The analysis process of the evaluation value of the palletizing structure is as follows: Based on the palletizing curve of the palletizing structure, obtain the adjacent crest points and trough points of the palletizing curve, calculate the slope between the adjacent crest points and trough points, and mark the slopes of the adjacent trough points; Compare the adjacent wave point slopes with the adjacent wave point slope threshold; If the slope of the adjacent wave points is greater than or equal to the adjacent wave point slope threshold, the silicon steel sheet corresponding to the wave peak point and the wave valley point is marked as a stacking fast-changing silicon steel sheet; The number of stacked fast-changing silicon steel sheets is obtained and the ratio of the total number of silicon steel sheets in the silicon steel sheet stacking structure is calculated to obtain a stacking structure evaluation value; The process of judging the influence of rhythm on palletizing stability is as follows: Obtain the number of silicon steel sheet layers corresponding to the wave points of the stacking curve and the number of silicon steel sheet layers corresponding to the wave points of the rhythm curve, and mark them as the number of stacking wave points and the number of rhythm wave points respectively; In order from small to large, the number of palletizing wave points is calculated by difference with the number of rhythm wave points to obtain an impact judgment value, and the impact judgment value is compared with the impact judgment threshold; If the impact judgment value is greater than or equal to the impact judgment threshold, a rhythm high impact signal is generated.

2. The automatic stacking system for transformer core silicon steel sheets according to claim 1 is characterized in that: The judgment process of whether each layer of silicon steel sheet stacking is qualified is as follows: If the palletizing online value is greater than or equal to the palletizing stability threshold, a palletizing failure signal for this layer is generated.

3. The automatic stacking system for transformer core silicon steel sheets according to claim 1 is characterized in that: If the stacking structure evaluation value is greater than or equal to the stacking structure evaluation threshold, a large signal of stable stacking change is generated.

4. The automatic stacking system for transformer core silicon steel sheets according to claim 1 is characterized in that: The process of regulating the current palletizing rhythm is as follows: Obtaining a palletizing rhythm control coefficient, performing a multiplication operation on the palletizing rhythm control coefficient and the transmission speed of the silicon steel sheet to obtain a palletizing rhythm adjustment value; Specifically, the process of obtaining the palletizing rhythm control coefficient is as follows: Obtain the stacking structure evaluation value, perform difference calculation on the stacking structure evaluation value and the stacking structure evaluation threshold to obtain the stacking structure evaluation deviation value, perform ratio calculation on the stacking structure evaluation deviation value and the stacking structure evaluation threshold to obtain the stacking rhythm control coefficient.

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