A transformer core silicon steel sheet lamination method

Abstract

The application provides a transformer core silicon steel sheet stacking method, which comprises the following steps: a column piece conveying flow line assembly transports core column silicon steel sheets to a column piece receiving platform assembly, and a yoke piece conveying flow line assembly transports yoke silicon steel sheets to a yoke piece receiving platform assembly; the column piece receiving platform assembly moves to the lower side of a column piece mechanical hand assembly, lifts the core column silicon steel sheets to the lower surface of the column piece mechanical hand assembly; the yoke piece receiving platform assembly moves to the lower side of a yoke piece mechanical hand assembly, and rotates the yoke silicon steel sheets to a position parallel to the yoke piece mechanical hand assembly; the column piece mechanical hand assembly adsorbs the core column silicon steel sheets and moves to be placed on a lifting roller line assembly; the yoke piece mechanical hand assembly descends, adsorbs the yoke silicon steel sheets and moves to be placed on the lifting roller line assembly; the lifting roller line assembly and a conveying trolley assembly transport to the outside, the core column silicon steel sheets and the yoke silicon steel sheets are transported in parallel flow lines, and the silicon steel sheets are stacked, so that the transportation efficiency and the stacking efficiency of the silicon steel sheets are improved.

Description

Technical Field

[0001] This invention relates to the field of machining, and in particular to a method for stacking silicon steel sheets for transformer cores. Background Technology

[0002] During the production of transformer cores, silicon steel coils need to be cut into silicon steel sheets of different specifications using a cross-cutting device. Depending on the product process, silicon steel sheets of different lengths are stacked together according to process requirements (the stacking order and shape vary considerably between different products). After a certain number are stacked, the core preparation is completed, and then it is transferred to the next process for further processing. Depending on the product specifications, up to four or five thousand silicon steel sheets may be stacked. However, most mainstream equipment on the market currently uses single-sheet gripping for stacking. This stacking method involves a high frequency of robotic arm movement, resulting in wasted stacking time and low stacking efficiency. Therefore, the stacking equipment currently on the market cannot meet the production capacity requirements. Furthermore, when customers need to produce mountain-shaped (E-shaped) and sun-shaped cores, it is necessary to customize corresponding stacking machines to meet the requirements, which will undoubtedly also lead to cost waste. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0004] According to one aspect of this application, a method for stacking silicon steel sheets for transformer cores is provided, which is applied to a silicon steel sheet stacking machine for transformer cores. The silicon steel sheet stacking machine for transformer cores includes a shearing machine, a column sheet conveying assembly, a yoke sheet conveying assembly, a column sheet receiving platform assembly, a yoke sheet receiving platform assembly, a lifting roller assembly, a column sheet manipulator assembly, a yoke sheet manipulator assembly, and a conveying trolley assembly.

[0005] The method for stacking silicon steel sheets for transformer cores includes the following steps:

[0006] Step S100: The shearing machine cuts the silicon steel coil to obtain cross-extracted silicon steel sheets for the core column and silicon steel sheets for the yoke.

[0007] Step S200: The silicon steel sheets of the core column after being sheared by the cross-cutting machine are transported to the column sheet conveying assembly, and the silicon steel sheets of the yoke after being sheared by the cross-cutting machine are transported to the yoke sheet conveying assembly.

[0008] Step S300: The core column conveyor assembly transports the silicon steel sheets of the core column to the core column receiving platform assembly, and the yoke conveyor assembly transports the silicon steel sheets of the yoke to the yoke receiving platform assembly.

[0009] Step S400: When the number of silicon steel sheets of the core column received on the column receiving platform assembly meets the preset core column quantity condition, the column receiving platform assembly moves to the bottom of the column robot assembly and lifts the silicon steel sheets of the core column to the lower surface of the column robot assembly.

[0010] Step S500: When the number of iron yoke silicon steel sheets received on the yoke receiving platform assembly meets the preset iron yoke quantity condition, the yoke receiving platform assembly moves to below the yoke robot assembly, and rotates the iron yoke silicon steel sheets to a position parallel to the yoke robot assembly while moving.

[0011] Step S600: When the lower surface of the column robot assembly contacts the silicon steel sheet of the core column, it adsorbs all the silicon steel sheets of the core column carried on the column receiving platform assembly and moves the silicon steel sheets of the core column to the preset core column position on the lifting roller line assembly.

[0012] Step S700: When the yoke receiving platform assembly moves to below the yoke robotic arm assembly, the yoke robotic arm assembly descends to the position where its lower surface is in contact with the uppermost iron yoke silicon steel sheet carried on the yoke receiving platform assembly. The yoke robotic arm assembly then adsorbs all the iron yoke silicon steel sheets on the yoke receiving platform assembly and moves them to the preset iron yoke position on the lifting roller assembly.

[0013] Step S800: When there is a preset number of core steel sheets at the preset core column position on the lifting roller assembly, and a preset number of yoke steel sheets at the preset yoke position, the lifting roller assembly will transport the core steel sheets and yoke steel sheets that satisfy the stacking position relationship of the preset core column position and the preset yoke position to the conveying trolley assembly.

[0014] Step S900: The conveying trolley assembly transports the received core silicon steel sheets and yoke silicon steel sheets to the outside of the transformer core silicon steel sheet stacking machine according to the preset stacking position relationship of the core and yoke.

[0015] The present invention has at least the following beneficial effects:

[0016] In the transformer core silicon steel sheet stacking method of the present invention, the cross-cutting machine first cuts the silicon steel sheets to obtain cross-extracted core column silicon steel sheets and yoke silicon steel sheets. Then, the core column silicon steel sheets are transported to the core receiving platform assembly by the core sheet conveying assembly, and the yoke conveying assembly transports the yoke silicon steel sheets to the yoke receiving platform assembly. After receiving the core column silicon steel sheets, the core receiving platform assembly moves to below the core sheet robot assembly and lifts the core column silicon steel sheets to the lower surface of the core sheet robot assembly. After receiving the yoke silicon steel sheets, the yoke receiving platform assembly moves to below the yoke robot assembly and rotates the yoke silicon steel sheets to a position parallel to the yoke robot assembly while moving. The core silicon steel sheet assembly picks up the core silicon steel sheet and moves it onto the lifting roller assembly. At the same time, the yoke silicon steel sheet assembly descends, picks up the yoke silicon steel sheet, and moves it onto the lifting roller assembly. The lifting roller assembly then transports the transformer core obtained after stacking the core silicon steel sheet and the yoke silicon steel sheet to the conveying trolley assembly, which then transports it to the outside. By transporting and stacking the core silicon steel sheet and the yoke silicon steel sheet separately, and by executing the transport flow lines of the core silicon steel sheet and the yoke silicon steel sheet in parallel, the corresponding robot grabs the material on the receiving platform at once, reducing the walking frequency of the robot and improving the transport efficiency and stacking efficiency of the core silicon steel sheet and the yoke silicon steel sheet. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the frame assembly of a transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the right column manipulator of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0021] Figure 4 for Figure 3 A magnified view of part E in the middle;

[0022] Figure 5 This is a schematic diagram of the upper yoke manipulator of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0023] Figure 6 for Figure 5 A magnified view of part F in the middle;

[0024] Figure 7 This is a schematic diagram of the lamination conveying streamline assembly of the transformer core silicon steel lamination machine provided in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the yoke conveyor assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0026] Figure 9 An isometric view of the lamination receiving platform assembly of the transformer core silicon steel lamination machine provided in an embodiment of the present invention;

[0027] Figure 10 A side view of the lamination receiving platform assembly of the transformer core silicon steel lamination machine provided in an embodiment of the present invention;

[0028] Figure 11 for Figure 9 A magnified view of part A in the middle;

[0029] Figure 12 An isometric view of the yoke receiving platform assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0030] Figure 13 A side view of the yoke receiving platform assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0031] Figure 14 for Figure 12 A magnified view of part B in the middle section;

[0032] Figure 15 A schematic diagram of the conveying trolley assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0033] Figure 16 This is a schematic diagram of the lifting roller line assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0034] Figure 17 A schematic diagram of the upper yoke receiving platform assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0035] Figure 18 for Figure 17 A magnified view of part C in the middle;

[0036] Figure 19 This is a schematic diagram of a spare yoke loading robot for a transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention;

[0037] Figure 20 for Figure 19 A magnified view of part D in the middle;

[0038] Figure 21 This is a schematic diagram of the upper yoke conveying trolley assembly of the transformer core silicon steel sheet stacking machine provided in an embodiment of the present invention.

[0039] In the picture:

[0040] 1. Rack assembly;

[0041] 2. Right column robotic arm; 201. Column positioning pin pneumatic pressure regulating valve; 202. First column robotic arm travel motor; 203. Second column robotic arm travel motor; 204. Column electromagnet; 205. Column positioning pin; 206. First column robotic arm travel guide rail; 207. Second column robotic arm travel guide rail;

[0042] 3. Upper yoke manipulator; 301. First yoke manipulator motor; 302. Second yoke manipulator motor; 303. Yoke electromagnet; 304. Yoke positioning pin solenoid valve assembly; 305. Manipulator lifting guide mechanism; 306. Yoke positioning pin; 307. First yoke manipulator guide rail; 308. Second yoke manipulator guide rail;

[0043] 4. Column conveyor assembly; 401. Column fiber amplifier; 402. Column demagnetizing and feeding solenoid valve assembly; 403. Column conveyor permanent magnet; 404. Column feeding cylinder; 405. Column demagnetizing cylinder; 406. Column conveyor motor; 407. Column demagnetizing linkage mechanism; 408. Column conveyor belt;

[0044] 5. Yoke conveyor assembly; 501. Yoke conveyor motor; 502. Yoke demagnetizing and feeding solenoid valve assembly; 503. Yoke demagnetizing cylinder; 504. Yoke feeding cylinder; 505. Yoke demagnetizing linkage mechanism; 506. Yoke conveying permanent magnet; 507. Yoke conveyor belt;

[0045] 6. Column receiving platform assembly; 601. Column platform moving slide rail; 602. Column platform; 603. Column platform positioning pin; 604. Column detection sensor; 605. Column platform moving chain; 606. Column platform moving motor; 607. Column platform positioning pin lifting cylinder; 608. Column platform positioning pin cylinder solenoid valve assembly; 609. Column platform lifting mechanism; 6021. Left column receiving area; 6022. Middle column receiving area; 6023. Right column receiving area;

[0046] 7. Yoke receiving platform assembly; 701. Yoke platform; 702. Yoke platform moving motor; 703. Yoke platform moving slide rail; 704. Yoke platform positioning pin; 705. Yoke detection sensor; 706. Yoke platform moving chain; 707. Yoke platform positioning pin lifting cylinder; 708. Yoke platform positioning pin cylinder solenoid valve assembly; 709. Yoke platform rotating mechanism; 7011. Upper yoke receiving area; 7012. Lower yoke receiving area;

[0047] 8. Conveying trolley assembly; 801. Trolley conveying roller; 802. First guide bearing; 803. Second guide bearing; 804. Metal detection sensor; 805. Traveling track; 806. Trolley positioning device; 807. Metal sensing sheet; 808. Conveying trolley; 809. Trolley roller motor; 8010. Trolley travel motor; 8011. Trolley positioning pin motor;

[0048] 9. Lifting roller assembly; 901. Adjustable limit mechanism; 902. Roller lifting motor; 903. Lifting conveyor roller; 904. Lifting connecting rod; 905. Roller rotation motor; 906. Third guide bearing; 907. Fourth guide bearing;

[0049] 10. Spare upper yoke manipulator; 1001. Manipulator lifting motor; 1002. Spare manipulator body; 1003. Manipulator lifting chain; 1004. Spare upper yoke electromagnet; 1005. Upper yoke manipulator moving slide rail;

[0050] 11. Upper yoke receiving platform assembly; 1101. Upper yoke platform; 1102. Upper yoke platform positioning pin; 1103. Upper yoke detection sensor; 1104. Upper yoke platform moving motor; 1105. Upper yoke platform moving chain; 1106. Upper yoke platform moving slide rail;

[0051] 12. Upper yoke conveyor trolley assembly; 1201. Trolley controller; 1202. Upper yoke conveyor roller; 1203. Upper yoke conveyor track; 1204. Upper yoke conveyor trolley; 1205. Trolley moving chain;

[0052] 13. Cross-cutting shearing machine equipment;

[0053] 14. Lower yoke robotic arm;

[0054] 15. Left-side cylindrical robotic arm;

[0055] 16. Central column robotic arm. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] The method for laminating silicon steel sheets for transformer cores proposed in this application is applied to a silicon steel sheet laminating machine for transformer cores, such as... Figure 1 As shown, the transformer core silicon steel sheet stacking machine includes a frame assembly 1, a cross-cutting machine 13, a column sheet conveying assembly 4, a yoke sheet conveying assembly 5, a column sheet receiving platform assembly 6, a yoke sheet receiving platform assembly 7, a lifting roller assembly 9, a column sheet robot assembly, a yoke sheet robot assembly, a conveying trolley assembly 8, a spare yoke sheet loading robot 10, an upper yoke sheet receiving table assembly 11, and an upper yoke sheet conveying trolley assembly 12.

[0058] like Figure 1 As shown, the column sheet conveying streamline assembly 4 is connected to the cross-cutting machine 13, the yoke sheet conveying streamline assembly 5 is connected to the cross-cutting machine 13 and is located above the column sheet conveying streamline assembly 4, the column sheet receiving platform assembly 6 is located below the column sheet conveying streamline assembly 4, the yoke sheet receiving platform assembly 7 is located below the yoke sheet conveying streamline assembly 5, the conveying trolley assembly 8 is located on one side of the exit end of the lifting roller line assembly 9, the upper yoke sheet receiving platform assembly 11 is located below the yoke sheet conveying belt 507, the spare upper yoke sheet robot 10 is located above the upper yoke sheet receiving platform assembly 11, and the upper yoke sheet conveying trolley assembly 12 is located below the spare upper yoke sheet robot 10.

[0059] The cylindrical robotic arm assembly includes a right cylindrical robotic arm 2, a left cylindrical robotic arm 15, a middle cylindrical robotic arm 16, a first cylindrical robotic arm travel guide rail 206, and a second cylindrical robotic arm travel guide rail 207. The right cylindrical robotic arm 2, the left cylindrical robotic arm 15, and the middle cylindrical robotic arm 16 are arranged in parallel between the first cylindrical robotic arm travel guide rail 206 and the second cylindrical robotic arm travel guide rail 207. Located on the same horizontal plane and above the column receiving platform assembly 6 and the lifting roller line assembly 9, the right column robot 2 is used to transport the right column carried by the right column receiving area 6023 to the lifting roller line assembly 9, the left column robot 15 is used to transport the left column carried by the left column receiving area 6021 to the lifting roller line assembly 9, and the middle column robot 16 is used to transport the middle column carried by the middle column receiving area 6022 to the lifting roller line assembly 9.

[0060] The yoke manipulator assembly includes an upper yoke manipulator 3, a lower yoke manipulator 14, a first yoke manipulator travel guide rail 307, and a second yoke manipulator travel guide rail 308. The upper yoke manipulator 3 and the lower yoke manipulator 14 are arranged in parallel between the first yoke manipulator travel guide rail 307 and the second yoke manipulator travel guide rail 308. The first yoke manipulator travel guide rail 307 and the second yoke manipulator travel guide rail 308 are located on the same horizontal plane and above the yoke receiving platform assembly 7 and the lifting roller line assembly 9. The upper yoke manipulator 3 is used to transport the upper yoke carried in the upper yoke receiving area 7011 to the lifting roller line assembly 9, and the lower yoke manipulator 14 is used to transport the lower yoke carried in the lower yoke receiving area 7012 to the lifting roller line assembly 9.

[0061] The column sheet conveyor assembly 4 is used to receive the silicon steel sheets of the core column exported from the shearing machine 13; the yoke sheet conveyor assembly 5 is used to receive the silicon steel sheets of the yoke exported from the shearing machine 13; the column sheet receiving platform assembly 6 is used to receive the silicon steel sheets of the core column descending from the column sheet conveyor assembly 4; the column sheet robot assembly is used to transport the silicon steel sheets of the core column on the column sheet receiving platform assembly 6 to the lifting roller assembly 9; the yoke sheet robot assembly is used to transport the silicon steel sheets of the yoke on the yoke receiving platform assembly 7 to the lifting roller assembly 9; the lifting roller assembly 9 is used to receive the silicon steel sheets of the core column on the column sheet receiving platform assembly 6 and the silicon steel sheets of the yoke on the yoke receiving platform assembly 7, and to process the silicon steel sheets of the core column and... The iron yoke silicon steel sheets are stacked. The yoke receiving platform assembly 7 is used to receive the iron yoke silicon steel sheets falling from the yoke conveyor assembly 5. The conveyor trolley assembly 8 is used to transport the core silicon steel sheets and iron yoke silicon steel sheets after being stacked on the lifting roller assembly 9 to the outside. The upper yoke receiving platform assembly 11 is used to carry the upper yoke sheets falling from the yoke conveyor belt 507 when preparing a core of a preset shape (such as a mountain shape). The standby upper yoke robot 10 is used to transport the upper yoke sheets on the upper yoke receiving platform assembly 11 to the upper yoke conveyor trolley assembly 12. The upper yoke conveyor trolley assembly 12 is used to transport the upper yoke sheets transported by the standby upper yoke robot 10 to the outside of the transformer core silicon steel sheet stacking machine.

[0062] like Figure 2 The diagram shown is a schematic of the frame assembly 1, which is used to provide hardware support for the transformer core silicon steel sheet stacking machine.

[0063] like Figure 3 and Figure 4As shown, the right column robot 2, the left column robot 15, and the middle column robot 16 have the same structure. Any one of the right column robot 2, the left column robot 15, and the middle column robot 16 includes a first column robot walking motor 202, a second column robot walking motor 203, a column electromagnet 204, a column positioning pin 205, and a column positioning pin pneumatic pressure regulating valve 201.

[0064] The first column robot arm walking motor 202 is used to drive the corresponding robot arm to move on the first column robot arm walking guide rail 206. The second column robot arm walking motor 203 is used to drive the corresponding robot arm to move on the second column robot arm walking guide rail 207. The column electromagnet 204 is set on the lower surface of the corresponding robot arm to provide an upward suction force so that the corresponding iron core column silicon steel sheet is attracted to the lower surface of the corresponding robot arm. The column positioning pin 205 is set on the lower surface of the corresponding robot arm to position the iron core column silicon steel sheet. The column positioning pin pneumatic pressure regulating valve 201 is connected to the column positioning pin 205 to control the lifting and lowering of the column positioning pin 205.

[0065] like Figure 5 and Figure 6 As shown, the upper yoke manipulator 3 and the lower yoke manipulator 14 have the same structure. Each of the upper yoke manipulator 3 and the lower yoke manipulator 14 includes a first yoke manipulator walking motor 301, a second yoke manipulator walking motor 302, a yoke electromagnet 303, a yoke positioning pin 306, a yoke positioning pin solenoid valve group 304, and a manipulator lifting guide mechanism 305.

[0066] The first yoke manipulator motor 301 drives the corresponding manipulator to move on the first yoke manipulator guide rail 307. The second yoke manipulator motor 302 drives the corresponding manipulator to move on the second yoke manipulator guide rail 308. The yoke electromagnet 303 is disposed on the lower surface of the corresponding manipulator to provide an upward suction force so that the corresponding iron yoke silicon steel sheet is adsorbed on the lower surface of the corresponding manipulator. The yoke positioning pin 306 is disposed on the lower surface of the corresponding manipulator to position the iron yoke silicon steel sheet. The yoke positioning pin solenoid valve group 304 is connected to the yoke positioning pin 306 to control the lifting and lowering of the yoke positioning pin 306. The manipulator lifting guide mechanism 305 drives the corresponding manipulator to lift and lower.

[0067] like Figure 7 As shown, the column conveyor assembly 4 includes a column conveyor belt 408, a column conveyor motor 406, a column conveyor permanent magnet 403, a column demagnetizing linkage mechanism 407, a column demagnetizing cylinder 405, a column feeding cylinder 404, a column demagnetizing feeding solenoid valve group 402, and a column fiber optic amplifier 401.

[0068] The lower surface of the column conveyor belt 408 is connected to the output end of the shearing machine 13 for conveying the silicon steel sheets of the iron core column exported by the shearing machine 13. The column conveyor motor 406 is connected to the column conveyor belt 408 for controlling the rolling of the column conveyor belt 408. The column conveyor permanent magnet 403 is disposed on the upper surface of the column conveyor belt 408 for providing an upward attraction so that the silicon steel sheets of the iron core column are attracted to the lower surface of the column conveyor belt 408. The column demagnetizing linkage mechanism 407 is connected to the upper surface of the column conveyor belt 408 for driving the column conveyor belt 408 to move up and down along the horizontal plane. The column demagnetizing cylinder 405 is connected to the column demagnetizing linkage mechanism 407 for controlling the demagnetization of the column. The linkage mechanism 407 performs the lifting action. The core silicon steel sheet feeding cylinder 404 is connected to the upper surface of the core silicon steel sheet conveyor belt 408. When the core silicon steel sheet is adsorbed on the lower surface of the core silicon steel sheet conveyor belt 408, it knocks the core silicon steel sheet off the core silicon steel sheet through the core silicon steel sheet conveyor belt 408 so that the core silicon steel sheet is detached from the core silicon steel sheet conveyor belt 408. The core silicon steel sheet demagnetizing and feeding solenoid valve group 402 is connected to the core silicon steel sheet demagnetizing cylinder 405 and the core silicon steel sheet feeding cylinder 404. It is used to control the extension rods of the core silicon steel sheet demagnetizing cylinder 405 and the core silicon steel sheet feeding cylinder 404 to perform extension and retraction actions. The core silicon fiber amplifier 401 is set at the feeding end of the core silicon steel sheet conveyor belt 408. It is used to detect whether there is a core silicon steel sheet at the feeding end of the core silicon steel sheet conveyor belt 408.

[0069] like Figure 8 As shown, the yoke conveyor assembly 5 includes a yoke conveyor belt 507, a yoke conveyor motor 501, a yoke conveyor permanent magnet 506, a yoke demagnetizing linkage mechanism 505, a yoke demagnetizing cylinder 503, a yoke feeding cylinder 504, a yoke demagnetizing feeding solenoid valve group 502, and a yoke fiber optic amplifier.

[0070] The lower surface of the yoke conveyor belt 507 is connected to the output end of the shearing machine 13 and is located above the column conveyor belt 408, used to convey the iron yoke silicon steel sheets output by the shearing machine 13; the yoke conveyor motor 501 is connected to the yoke conveyor belt 507 and is used to control the rolling of the yoke conveyor belt 507; the yoke conveyor permanent magnet 506 is disposed on the upper surface of the yoke conveyor belt 507 and is used to provide an upward attraction so that the iron yoke silicon steel sheets are attracted to the lower surface of the yoke conveyor belt 507; the yoke demagnetizing linkage mechanism 505 is connected to the upper surface of the yoke conveyor belt 507 and is used to drive the yoke conveyor belt 507 to move up and down along the horizontal plane; the yoke demagnetizing cylinder 503 is connected to the yoke demagnetizing linkage mechanism 505. The system includes a connection for controlling the lifting action of the yoke demagnetizing linkage mechanism 505; a yoke feeding cylinder 504 connected to the upper surface of the yoke conveyor belt 507, used to knock the yoke silicon steel sheet off the yoke conveyor belt 507 when it is adsorbed on the lower surface of the yoke conveyor belt 507; a yoke demagnetizing feeding solenoid valve group 502 connected to the yoke demagnetizing cylinder 503 and the yoke feeding cylinder 504, used to control the extension and retraction actions of the extension rods of the yoke demagnetizing cylinder 503 and the yoke feeding cylinder 504; and a yoke fiber optic amplifier located at the feed end of the yoke conveyor belt 507, used to detect whether there is a yoke silicon steel sheet at the feed end of the yoke conveyor belt 507.

[0071] like Figures 9-11 As shown, the column receiving platform assembly 6 includes a column platform 602, a column platform moving slide rail 601, a column platform moving chain 605, a column platform moving motor 606, a column platform lifting mechanism 609, a column detection sensor 604, a column platform positioning pin 603, a column platform positioning pin lifting cylinder 607, and a column platform positioning pin cylinder solenoid valve group 608.

[0072] The column plate platform 602 is located below the column plate conveyor belt 408. The column plate platform 602 is equipped with a left column plate receiving area 6021, a middle column plate receiving area 6022, and a right column plate receiving area 6023. The left column plate receiving area 6021 is used to carry the left column plate of the core column silicon steel sheet descending from the column plate conveyor belt 408; the middle column plate receiving area 6022 is used to carry the middle column plate of the core column silicon steel sheet descending from the column plate conveyor belt 408; and the right column plate receiving area 6023 is used to carry the right column plate of the core column silicon steel sheet descending from the column plate conveyor belt 408. A column plate platform moving slide rail 601 is installed on the column plate. Below the plate platform 602, a support is provided for the movement of the plate platform 602; the plate platform moving chain 605 is connected to the plate platform 602 and is used to drive the plate platform 602 to move on the plate platform moving slide rail 601; the plate platform moving motor 606 is connected to the plate platform moving chain 605 and is used to control the plate platform moving chain 605 to perform extension and retraction actions; the plate platform lifting mechanism 609 is connected to the plate platform 602 and is used to drive the plate platform 602 to lift and lower; the plate detection sensor 604 is set in the left plate receiving area 6021, the middle plate receiving area 6022 and the right plate receiving area. Within 6023, the column piece detection sensor 604 in the left column piece receiving area 6021 is used to detect whether a left column piece exists in the left column piece receiving area 6021; the column piece detection sensor 604 in the middle column piece receiving area 6022 is used to detect whether a middle column piece exists in the middle column piece receiving area 6022; and the column piece detection sensor 604 in the right column piece receiving area 6023 is used to detect whether a right column piece exists in the right column piece receiving area 6023. A column piece platform positioning pin 603 is located within the left column piece receiving area 6021, the middle column piece receiving area 6022, and the right column piece receiving area 6023. The column platform positioning pin 603 in 6021 is used to position the left column, the column platform positioning pin 603 in the middle column receiving area 6022 is used to position the middle column, and the column platform positioning pin 603 in the right column receiving area 6023 is used to position the right column; the column platform positioning pin lifting cylinder 607 is connected to the column platform positioning pin 603 and is used to drive the column platform positioning pin 603 to lift; the column platform positioning pin cylinder solenoid valve group 608 is connected to the column platform positioning pin lifting cylinder 607 and is used to control the extension rod of the column platform positioning pin lifting cylinder 607 to perform extension and retraction actions.

[0073] like Figures 12-14 As shown, the yoke receiving platform assembly 7 includes a yoke platform 701, a yoke platform moving slide rail 703, a yoke platform moving chain 706, a yoke platform moving motor 702, a yoke platform rotating mechanism 709, a yoke detection sensor 705, a yoke platform positioning pin 704, a yoke platform positioning pin lifting cylinder 707, and a yoke platform positioning pin cylinder solenoid valve group 708.

[0074] The yoke platform 701 is located below the yoke conveyor belt 507. The yoke platform 701 is provided with an upper yoke receiving area 7011 and a lower yoke receiving area 7012. The upper yoke receiving area 7011 is used to receive the upper yoke of the iron yoke silicon steel sheet descending from the yoke conveyor belt 507, and the lower yoke receiving area 7012 is used to receive the lower yoke of the iron yoke silicon steel sheet descending from the yoke conveyor belt 507. A yoke platform moving slide rail 703 is located below the yoke platform 701 to support it. The movement of the yoke platform 701 includes: a yoke platform moving chain 706 connected to the yoke platform 701, used to drive the yoke platform 701 to move on the yoke platform moving slide rail 703; a yoke platform moving motor 702 connected to the yoke platform moving chain 706, used to control the yoke platform moving chain 706 to perform extension and retraction actions; a yoke platform rotating mechanism 709 connected to the yoke platform 701, used to drive the yoke platform 701 to rotate; and a yoke detection sensor 705 located in the upper yoke receiving area. Within the upper yoke receiving area 7011 and the lower yoke receiving area 7012, a yoke detection sensor 705 in the upper yoke receiving area 7011 is used to detect whether an upper yoke piece exists in the upper yoke receiving area 7011, and a yoke detection sensor 705 in the lower yoke receiving area 7012 is used to detect whether a lower yoke piece exists in the lower yoke receiving area 7012; a yoke platform positioning pin 704 is disposed within the upper yoke receiving area 7011 and the lower yoke receiving area 7012, within the upper yoke receiving area 7011... The yoke platform positioning pin 704 is used to position the upper yoke piece, and the yoke platform positioning pin 704 in the lower yoke piece receiving area 7012 is used to position the lower yoke piece; the yoke platform positioning pin lifting cylinder 707 is connected to the yoke platform positioning pin 704 and is used to drive the yoke platform positioning pin 704 to lift; the yoke platform positioning pin cylinder solenoid valve group 708 is connected to the yoke platform positioning pin lifting cylinder 707 and is used to control the extension rod of the yoke platform positioning pin lifting cylinder 707 to perform extension and retraction actions.

[0075] like Figure 15 As shown, the conveying trolley assembly 8 includes a conveying trolley 808, a traveling track 805, a trolley travel motor 8010, a trolley conveying roller 801, a trolley roller motor 809, a trolley positioning device 806, a trolley positioning pin, a trolley positioning pin motor 8011, a metal sensing sheet 807, a metal detection sensor 804, a first guide bearing 802, and a second guide bearing 803.

[0076] The conveying trolley 808 is used to transport the iron core trays led out by the lifting roller line assembly 9 to the outside of the transformer core silicon steel sheet stacking machine; the traveling track 805 is set below the conveying trolley 808 to support the movement of the conveying trolley 808; the trolley travel motor 8010 is connected to the power end of the conveying trolley 808 to provide power to the conveying trolley 808 so that the conveying trolley 808 moves along the traveling track 805; the trolley conveying roller 801 is set on the upper surface of the conveying trolley 808 to carry the iron core trays led out by the lifting roller line assembly 9; the trolley roller motor 809 is connected to the trolley conveying roller 801 to control the rotation of the trolley conveying roller 801; the trolley positioning device 806 is set on one side of the moving end of the traveling track 805 to position the conveying trolley 808; the trolley positioning pin is set on the conveying trolley 808. The lower surface of the trolley 808 is equipped with a trolley positioning device 806; a trolley positioning pin motor 8011 is connected to the trolley positioning pin and is used to control the trolley positioning pin to extend and insert into the trolley positioning device 806 when the trolley positioning pin moves to the position where it is in engagement with the trolley positioning device 806; a sensing metal sheet 807 is disposed on one side of the moving terminal of the traveling track 805; a metal detection sensor 804 is disposed on the lower surface of the conveying trolley 808 and is used to detect the relative position of the sensing metal sheet 807; a first guide bearing 802 is disposed on the side of the upper surface of the conveying trolley 808 and is used to provide guidance when a preset first-size type of iron core tray enters and exits the conveying trolley 808; a second guide bearing 803 is disposed on the upper surface of the conveying trolley 808 and is used to provide guidance when a preset second-size type of iron core tray enters and exits the conveying trolley 808.

[0077] like Figure 16 As shown, the lifting roller line assembly 9 includes a lifting conveying roller 903, a roller rotation motor 905, a lifting connecting rod 904, a roller lifting motor 902, an adjustable limit mechanism 901, a third guide bearing 906, and a fourth guide bearing 907.

[0078] A lifting conveyor roller 903 is disposed on the upper surface of the lifting roller line assembly 9 and is used to support the iron core tray. The iron core tray is used to place the iron core column silicon steel sheets and iron yoke silicon steel sheets after being stacked according to a preset shape. A roller rotation motor 905 is connected to the lifting conveyor roller 903 and is used to control the rotation of the lifting conveyor roller 903. A lifting connecting rod 904 is disposed below the lifting conveyor roller 903 and is used to drive the lifting conveyor roller 903 to move up and down. A roller lifting motor 902 is connected to the lifting connecting rod 904 and is used to... The extension and retraction of the lifting linkage 904 are controlled; an adjustable limit mechanism 901 is disposed above the lifting conveyor roller 903 to limit the iron core tray; a third guide bearing 906 is disposed on the side of the upper surface of the lifting roller line assembly 9 to provide guidance when the iron core tray of the first preset size type enters and exits the lifting roller line assembly 9; a fourth guide bearing 907 is disposed on the upper surface of the lifting roller line assembly 9 to provide guidance when the iron core tray of the second preset size type enters and exits the lifting roller line assembly 9.

[0079] like Figures 17-18 As shown, the upper yoke receiving platform assembly 11 includes an upper yoke platform 1101, an upper yoke platform moving slide rail 1106, an upper yoke platform moving chain 1105, an upper yoke platform moving motor 1104, an upper yoke detection sensor 1103, and an upper yoke platform positioning pin 1102.

[0080] The upper yoke platform 1101 is used to carry the upper yokes that descend from the yoke conveyor belt 507; the upper yoke platform moving slide rail 1106 is located below the upper yoke platform 1101 to support the movement of the upper yoke platform 1101; the upper yoke platform moving chain 1105 is connected to the upper yoke platform 1101 to drive the upper yoke platform 1101 to move on the upper yoke platform moving slide rail 1106; the upper yoke platform moving motor 1104 is connected to the upper yoke platform moving chain 1105 to control the upper yoke platform moving chain 1105 to perform extension and retraction actions; the upper yoke detection sensor 1103 is located on the upper surface of the upper yoke platform 1101 to detect whether there are upper yokes on the upper yoke platform 1101; the upper yoke platform positioning pin 1102 is located on the upper surface of the upper yoke platform 1101 to position the upper yokes placed on the upper yoke platform 1101.

[0081] like Figures 19-20 As shown, the spare upper yoke manipulator 10 includes a spare manipulator body 1002, an upper yoke manipulator moving slide rail 1005, a manipulator lifting chain 1003, a manipulator lifting motor 1001, and a spare upper yoke electromagnet 1004.

[0082] A spare robotic arm body 1002 is positioned above the upper yoke platform 1101; an upper yoke robotic arm moving slide rail 1005 is positioned on one side of the spare robotic arm body 1002 to support its movement; a robotic arm lifting chain 1003 is connected to the spare robotic arm body 1002 to drive it to move on the upper yoke robotic arm moving slide rail 1005; a robotic arm lifting motor 1001 is connected to the robotic arm lifting chain 1003 to control its extension and retraction; a spare upper yoke electromagnet 1004 is positioned on the lower surface of the spare robotic arm body 1002 to provide upward suction so that the upper yoke adheres to the lower surface of the spare robotic arm body 1002.

[0083] like Figure 21 As shown, the upper yoke conveyor trolley assembly 12 includes an upper yoke conveyor trolley 1204, an upper yoke conveyor track 1203, a trolley moving chain 1205, an upper yoke conveyor roller 1202, and a trolley controller 1201.

[0084] The upper yoke sheet conveying trolley 1204 is used to convey the upper yoke sheets transported by the spare upper yoke sheet manipulator 10 to the outside of the transformer core silicon steel sheet stacking machine; the upper yoke sheet conveying track 1203 is set below the upper yoke sheet conveying trolley 1204 to support the movement of the upper yoke sheet conveying trolley 1204; the trolley moving chain 1205 is connected to the upper yoke sheet conveying trolley 1204 to drive the upper yoke sheet conveying trolley 1204 to move on the upper yoke sheet conveying track 1203; the upper yoke sheet conveying roller 1202 is set on the upper surface of the upper yoke sheet conveying trolley 1204 to carry the upper yoke sheets; the trolley controller 1201 is connected to the trolley moving chain 1205 and the upper yoke sheet conveying roller 1202 to control the trolley moving chain 1205 to perform telescopic movements and to control the upper yoke sheet conveying roller 1202 to perform rotational movements.

[0085] In the specific implementation of the transformer core silicon steel sheet stacking machine, the transformer core silicon steel sheet stacking method includes the following steps:

[0086] Step S100: The shearing machine 13 cuts the silicon steel coil to obtain cross-extracted core silicon steel sheets and yoke silicon steel sheets.

[0087] The number of silicon steel sheets exported by the shearing machine 13 can be determined by the number gripped by the robotic arm at one time. The number gripped by the robotic arm is determined by the magnetic attraction mechanism. For example, if the magnetic attraction mechanism of the robotic arm can attract five silicon steel sheets at one time, it means that the robotic arm can stack five silicon steel sheets at a time. Taking stacking five silicon steel sheets at a time as an example, the silicon steel sheets exported by the shearing machine 13 are as follows: center column sheet, center column sheet, center column sheet, center column sheet, center column sheet, side column sheet (which can be left column sheet or right column sheet), yoke sheet (which can be upper yoke sheet or lower yoke sheet), side column sheet, yoke sheet. The process of cutting the core silicon steel sheet, the yoke sheet, the side column sheet, the yoke sheet, the side column sheet, the yoke sheet, the side column sheet, and the yoke sheet constitutes one cutting cycle. After the last yoke sheet of the previous cutting cycle is cut, the first core sheet of the next cutting cycle begins, and so on. This cutting method can effectively improve the gripping efficiency of the robot arm. By cross-cutting the core silicon steel sheet and the yoke silicon steel sheet, the flow lines of gripping and stacking the core silicon steel sheet and the yoke silicon steel sheet are ensured to be executed in parallel, and the gripping frequency and total moving distance of the robot arm can be reduced, thereby improving the stacking efficiency.

[0088] Step S200: The silicon steel sheets of the core column after being sheared by the cross-cutting machine 13 are transported to the column sheet conveying assembly 4, and the silicon steel sheets of the yoke after being sheared by the cross-cutting machine 13 are transported to the yoke sheet conveying assembly 5.

[0089] The transport of core steel sheets is parallel to that of yoke steel sheets. Core steel sheets are transported from core steel sheets to yoke steel sheets to yoke steel sheets to yoke steel sheets.

[0090] Step S210: If the transformer core being prepared is of the first specification, then proceed to step S300; if the transformer core being prepared is of the second specification, then proceed to steps S220-S260.

[0091] The second specification of transformer core lacks the upper yoke lamination of the silicon steel yoke lamination compared to the first specification of transformer core. The second specification can be a mountain-shaped transformer core, while the first specification can be a sun-shaped transformer core. Since the mountain-shaped transformer core has one less upper yoke lamination than the sun-shaped transformer core, the upper yoke lamination needs to be removed when manufacturing the mountain-shaped transformer core.

[0092] Step S220: The core column silicon steel sheet is transported to the core column receiving platform assembly 6 by the column sheet conveying assembly 4.

[0093] Step S230: The yoke conveyor assembly 5 transports the lower yoke of the iron yoke silicon steel sheet to the yoke receiving platform assembly 7, and the yoke conveyor assembly 5 transports the upper yoke of the iron yoke silicon steel sheet to the upper yoke receiving platform assembly 11.

[0094] Step S240: When the number of upper yoke pieces received on the upper yoke receiving platform assembly 11 meets the preset upper yoke piece quantity condition, the upper yoke receiving platform assembly 11 moves to below the upper yoke piece robot arm 10.

[0095] In step S250, when the lower surface of the upper yoke manipulator 10 contacts the upper yoke receiving platform assembly 11, it adsorbs all the upper yokes carried on the upper yoke receiving platform assembly 11 and moves the upper yokes to be placed on the upper yoke conveying trolley assembly 12.

[0096] Step S260: The upper yoke conveyor trolley assembly 12 transports the upper yoke to the outside of the transformer core silicon steel sheet stacking machine.

[0097] In step S300, the core column silicon steel sheet conveying assembly 4 transports the core column silicon steel sheet to the core column receiving platform assembly 6, and the yoke sheet conveying assembly 5 transports the yoke silicon steel sheet to the yoke sheet receiving platform assembly 7.

[0098] Since the column receiving platform assembly 6 needs to receive left, right, and middle column sheets, the receiving logic of the column receiving platform assembly 6 needs to be synchronized with the slicing logic of the cross-cutting machine 13. That is, when the slicing order of the silicon steel sheets of the core column of the cross-cutting machine 13 is left column sheet, right column sheet, and middle column sheet, the left column sheet receiving area 6021 of the column receiving platform assembly 6 is initially located below the column sheet conveying flow line assembly 4. When the left column sheet receiving area 6021 is full of left column sheets, the next silicon steel sheet of the core column of the column sheet conveying flow line assembly 4 is the right column sheet. The sheet receiving platform assembly 6 then moves to the right column sheet receiving area 6023, which is located below the column sheet conveying flow line assembly 4. The right column sheet is received by the right column sheet receiving area 6023. When the right column sheet receiving area 6023 is full of right column sheets, the column sheet receiving platform assembly 6 then moves to the middle column sheet receiving area 6022, which is located below the column sheet conveying flow line assembly 4. The middle column sheet is received by the middle column sheet receiving area 6022. Correspondingly, the receiving logic of the yoke sheet receiving platform assembly 7 must also be synchronized with the slicing logic of the iron yoke silicon steel sheet of the cross-cutting machine equipment 13, which will not be elaborated here.

[0099] Step S400: When the number of silicon steel sheets of the core column received on the column receiving platform assembly 6 meets the preset core column number condition, the column receiving platform assembly 6 moves to the bottom of the column robot assembly and lifts the silicon steel sheets of the core column to the lower surface of the column robot assembly.

[0100] Step S500: When the number of iron yoke silicon steel sheets received on the yoke receiving platform assembly 7 meets the preset iron yoke quantity condition, the yoke receiving platform assembly 7 moves to below the yoke robot assembly, and rotates the iron yoke silicon steel sheets to a position parallel to the yoke robot assembly while moving.

[0101] Since the silicon steel sheets of the yoke and the silicon steel sheets of the core are vertically positioned within the core, and the core sheet conveying assembly 4 and the yoke sheet conveying assembly 5 are parallel, the silicon steel sheets of the yoke need to be rotated 90 degrees. This allows the robotic arm to pick up the silicon steel sheets of the yoke for core stacking without needing to adjust the placement angle. Furthermore, the rotation process of the silicon steel sheets of the yoke and the movement process of the yoke sheet receiving platform assembly 7 are synchronized. That is, the yoke sheet receiving platform assembly 7 rotates the silicon steel sheets of the yoke while moving, thus avoiding wasted rotation time and further shortening the stacking time.

[0102] Step S600: When the lower surface of the column robot arm assembly contacts the silicon steel sheet of the iron core column, it adsorbs all the silicon steel sheets of the iron core column carried on the column receiving platform assembly 6 and moves the silicon steel sheets of the iron core column to the preset iron core column position on the lifting roller line assembly 9.

[0103] When the wafer slab robot assembly removes all the silicon steel sheets from the wafer slab receiving platform assembly 6 in one go, the wafer slab receiving platform assembly 6 returns to its initial position to receive the silicon steel sheets from the next wafer slab cycle.

[0104] Step S700: When the yoke receiving platform assembly 7 moves to below the yoke robot assembly, the yoke robot assembly descends to the position where its lower surface is in contact with the uppermost iron yoke silicon steel sheet carried on the yoke receiving platform assembly 7. The yoke robot assembly then adsorbs all the iron yoke silicon steel sheets on the yoke receiving platform assembly 7 and moves them to the preset iron yoke position on the lifting roller line assembly 9.

[0105] When the yoke robotic arm assembly removes all the iron yoke silicon steel sheets carried on the yoke receiving platform assembly 7 in one go, the yoke receiving platform assembly 7 returns to its initial position to receive the iron yoke silicon steel sheets for the next slicing cycle.

[0106] After the core silicon steel sheet and the yoke silicon steel sheet are gripped and placed on the lifting roller assembly 9, the core and yoke robotic arms return to their initial positions to prepare for the next gripping operation.

[0107] Step S800: When there is a preset number of core steel sheets at the preset core column position on the lifting roller assembly 9, and a preset number of yoke steel sheets at the preset yoke position, the lifting roller assembly 9 will transport the core steel sheets and yoke steel sheets that satisfy the stacking position relationship of the preset core column position and the preset yoke position to the conveying trolley assembly 8.

[0108] The lifting roller assembly 9 has an iron core tray on it. The iron core column silicon steel sheet and the iron yoke silicon steel sheet are placed in the iron core tray. The lifting roller assembly 9 transports the iron core tray filled with iron core column silicon steel sheet and iron yoke silicon steel sheet to the conveying trolley assembly 8.

[0109] In step S900, the conveying trolley assembly 8 transports the received core silicon steel sheets and yoke silicon steel sheets to the outside of the transformer core silicon steel sheet stacking machine according to the preset stacking position relationship of the core and yoke.

[0110] In the transformer core silicon steel sheet stacking method of the present invention, the cross-cutting machine first cuts the silicon steel sheets to obtain cross-extracted core column silicon steel sheets and yoke silicon steel sheets. Then, the core column silicon steel sheets are transported to the core receiving platform assembly by the core sheet conveying assembly, and the yoke conveying assembly transports the yoke silicon steel sheets to the yoke receiving platform assembly. After receiving the core column silicon steel sheets, the core receiving platform assembly moves to below the core sheet robot assembly and lifts the core column silicon steel sheets to the lower surface of the core sheet robot assembly. After receiving the yoke silicon steel sheets, the yoke receiving platform assembly moves to below the yoke robot assembly and rotates the yoke silicon steel sheets to a position parallel to the yoke robot assembly while moving. The core silicon steel sheet assembly picks up the core silicon steel sheet and moves it onto the lifting roller assembly. At the same time, the yoke silicon steel sheet assembly descends, picks up the yoke silicon steel sheet, and moves it onto the lifting roller assembly. The lifting roller assembly then transports the transformer core obtained after stacking the core silicon steel sheet and the yoke silicon steel sheet to the conveying trolley assembly, which then transports it to the outside. By transporting and stacking the core silicon steel sheet and the yoke silicon steel sheet separately, and by executing the transport flow lines of the core silicon steel sheet and the yoke silicon steel sheet in parallel, the corresponding robot grabs the material on the receiving platform at once, reducing the walking frequency of the robot and improving the transport efficiency and stacking efficiency of the core silicon steel sheet and the yoke silicon steel sheet.

[0111] The transformer core silicon steel lamination method of this invention significantly improves the overall efficiency of the lamination machine by buffering multiple silicon steel sheets on the receiving platform. The column lamination conveying assembly and the yoke lamination conveying assembly are arranged in upper and lower layers. To maximize feeding efficiency, the silicon steel sheets at the column lamination position and the yoke lamination position are cyclically conveyed, achieving parallel operation of the upper and lower layers and maximizing the saving of equipment operation time. Furthermore, the robotic arm's walking mechanism uses a V-shaped track with a rack and pinion mechanism, achieving high speed and high precision, improving equipment efficiency and lamination position accuracy. The layout design of the spare upper yoke lamination robotic arm 10, the upper yoke lamination receiving platform assembly 11, and the upper yoke lamination conveying trolley assembly 12 can solve the automatic switching between H-shaped and H-shaped cores and automatically move excess silicon steel sheets from the upper yoke position. Moving the wafers to the next workstation solves the problem of simultaneous compatibility of stacking processes (mountain-shaped / sun-shaped). It can automatically switch according to the production capacity plan, meeting the needs of customers who use only one product to prepare diverse products. Moreover, the transformer core silicon steel sheet stacking machine can pick up the current number of silicon steel sheets for stacking at one time according to the product step level. The number of steps to be picked up can also be automatically switched and sorted through a pre-set program. This greatly improves the efficiency of the equipment by picking up multiple sheets at once. The equipment uses a receiving platform for transfer. The cut silicon steel sheets are thrown onto the receiving platform by a conveyor belt. After multiple layers are filled, the robotic arm picks them up at once. The frequency of the robotic arm's movement is only 1 / 5 of that of traditional equipment (calculated based on 5 sheets per level). While the robotic arm is stacking, the receiving platform can continue to receive materials. All actions are executed in parallel, improving the stacking efficiency.

[0112] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for stacking silicon steel sheets for a transformer core, characterized in that, The equipment is applied to the silicon steel sheet stacking machine for transformer cores. The silicon steel sheet stacking machine for transformer cores includes a cross-cutting machine (13), a column sheet conveying flow line assembly (4), a yoke sheet conveying flow line assembly (5), a column sheet receiving platform assembly (6), a yoke sheet receiving platform assembly (7), a lifting roller line assembly (9), a column sheet robot assembly, a yoke sheet robot assembly, and a conveying trolley assembly (8). The method for stacking silicon steel sheets for the transformer core includes the following steps: Step S100: The shearing machine (13) shears the silicon steel coil to obtain cross-extracted core silicon steel sheets and yoke silicon steel sheets. Step S200: The silicon steel sheets of the core column after being sheared by the shearing machine (13) are transported to the column sheet conveying assembly (4), and the silicon steel sheets of the yoke after being sheared by the shearing machine (13) are transported to the yoke sheet conveying assembly (5). Step S300: The core column conveying streamline assembly (4) transports the silicon steel sheet of the core column to the core column receiving platform assembly (6), and the yoke conveying streamline assembly (5) transports the silicon steel sheet of the yoke to the yoke receiving platform assembly (7). Step S400: When the number of silicon steel sheets of the core column received on the column receiving platform assembly (6) meets the preset core column number condition, the column receiving platform assembly (6) moves to the bottom of the column manipulator assembly and lifts the silicon steel sheets of the core column to the lower surface of the column manipulator assembly. Step S500: When the number of iron yoke silicon steel sheets received on the yoke receiving platform assembly (7) meets the preset iron yoke quantity condition, the yoke receiving platform assembly (7) moves to below the yoke robot assembly, and rotates the iron yoke silicon steel sheets to a position parallel to the yoke robot assembly while moving. Step S600: When the lower surface of the column robot arm assembly contacts the silicon steel sheet of the core column, it adsorbs all the silicon steel sheets of the core column carried on the column receiving platform assembly (6) and moves the silicon steel sheets of the core column to the preset core column position on the lifting roller line assembly (9). Step S700: When the yoke receiving platform assembly (7) moves to below the yoke manipulator assembly, the yoke manipulator assembly descends to a position where its lower surface is in contact with the uppermost iron yoke silicon steel sheet carried on the yoke receiving platform assembly (7). The yoke manipulator assembly then adsorbs all the iron yoke silicon steel sheets on the yoke receiving platform assembly (7) and moves them to a preset iron yoke position on the lifting roller assembly (9). Step S800: When there is a preset number of core steel sheets at the preset core column position on the lifting roller assembly (9) and a preset number of yoke steel sheets at the preset yoke position, the lifting roller assembly (9) will transport the core steel sheets and yoke steel sheets that satisfy the stacking position relationship of the preset core column position and the preset yoke position to the conveying trolley assembly (8). Step S900: The conveying trolley assembly (8) transports the received core silicon steel sheets and yoke silicon steel sheets to the outside of the transformer core silicon steel sheet stacking machine according to the preset stacking position relationship of the core and yoke.

2. The method for stacking silicon steel sheets for transformer cores according to claim 1, characterized in that, The transformer core silicon steel sheet stacking machine also includes a spare yoke loading robot (10), a yoke loading receiving platform assembly (11), and a yoke loading conveyor trolley assembly (12); The method for stacking silicon steel sheets for the transformer core, following step S200, further includes: Step S210: If the transformer core being prepared is of the first specification, then proceed to step S300; if the transformer core being prepared is of the second specification, then proceed to step S220; the transformer core of the second specification lacks the upper yoke of the silicon steel yoke sheet compared to the transformer core of the first specification. Step S220: The core column silicon steel sheet is transported to the core column receiving platform assembly (6) by the column sheet conveying assembly (4). Step S230: The yoke conveyor assembly (5) transports the lower yoke of the iron yoke silicon steel sheet to the yoke receiving platform assembly (7), and the yoke conveyor assembly (5) transports the upper yoke of the iron yoke silicon steel sheet to the upper yoke receiving platform assembly (11). Step S240: When the number of upper yoke pieces received on the upper yoke receiving platform assembly (11) meets the preset upper yoke piece quantity condition, the upper yoke receiving platform assembly (11) moves to below the spare upper yoke piece robot (10). Step S250: When the lower surface of the spare upper yoke manipulator (10) contacts the upper yoke received by the upper yoke receiving platform assembly (11), it adsorbs all the upper yokes carried on the upper yoke receiving platform assembly (11) and moves the upper yokes to be placed on the upper yoke conveying trolley assembly (12). Step S260: The upper yoke conveying trolley assembly (12) transports the upper yoke to the outside of the transformer core silicon steel sheet stacking machine.

3. The method for stacking silicon steel sheets for transformer cores according to claim 2, characterized in that, The column sheet conveying streamline assembly (4) is connected to the shearing machine (13) and is used to receive the silicon steel sheets of the core column exported by the shearing machine (13). The column conveyor assembly (4) includes: A core steel sheet conveyor belt (408) is provided, the lower surface of which is connected to the outlet end of the shearing machine (13) for conveying the silicon steel sheets of the core steel sheet exported by the shearing machine (13). A column conveyor motor (406) is connected to the column conveyor belt (408) and is used to control the rolling of the column conveyor belt (408); A column conveying permanent magnet (403) is disposed on the upper surface of the column conveying belt (408) to provide an upward attraction so that the silicon steel sheet of the iron core column is adsorbed on the lower surface of the column conveying belt (408). The column demagnetizing linkage mechanism (407) is connected to the upper surface of the column conveyor belt (408) and is used to drive the column conveyor belt (408) to move up and down along the horizontal plane; A demagnetizing cylinder (405) is connected to the demagnetizing linkage mechanism (407) and is used to control the demagnetizing linkage mechanism (407) to perform lifting and lowering actions. The core silicon steel sheet discharge cylinder (404) is connected to the upper surface of the core silicon steel sheet conveyor belt (408) and is used to knock the core silicon steel sheet off the core silicon steel sheet through the core silicon steel sheet conveyor belt (408) when the core silicon steel sheet is adsorbed on the lower surface of the core silicon steel sheet conveyor belt (408) so that the core silicon steel sheet is detached from the core silicon steel sheet conveyor belt (408). The column demagnetizing and feeding solenoid valve assembly (402) is connected to the column demagnetizing cylinder (405) and the column feeding cylinder (404) and is used to control the telescopic rods of the column demagnetizing cylinder (405) and the column feeding cylinder (404) to perform telescopic actions. A column fiber amplifier (401) is disposed at the feed end of the column conveyor belt (408) and is used to detect whether there are silicon steel sheets with iron cores at the feed end of the column conveyor belt (408).

4. The method for stacking silicon steel sheets for transformer cores according to claim 3, characterized in that, The yoke sheet conveying streamline assembly (5) is connected to the shearing machine (13) and is located above the column sheet conveying streamline assembly (4) for receiving the iron yoke silicon steel sheets exported by the shearing machine (13). The yoke conveyor streamline assembly (5) includes: A yoke conveyor belt (507) is provided, the lower surface of which is connected to the output end of the shearing machine (13) and located above the column conveyor belt (408), for conveying the iron yoke silicon steel sheets output by the shearing machine (13). A yoke conveyor motor (501) is connected to the yoke conveyor belt (507) and is used to control the rolling of the yoke conveyor belt (507); A yoke conveyor permanent magnet (506) is disposed on the upper surface of the yoke conveyor belt (507) to provide an upward attraction so that the iron yoke silicon steel sheet is adsorbed on the lower surface of the yoke conveyor belt (507). The yoke demagnetizing linkage mechanism (505) is connected to the upper surface of the yoke conveyor belt (507) and is used to drive the yoke conveyor belt (507) to move up and down along the horizontal plane; A yoke demagnetizing cylinder (503) is connected to the yoke demagnetizing linkage mechanism (505) and is used to control the yoke demagnetizing linkage mechanism (505) to perform lifting and lowering actions. A yoke feeding cylinder (504) is connected to the upper surface of the yoke conveyor belt (507) and is used to knock the iron yoke silicon steel sheet off the yoke conveyor belt (507) through the yoke conveyor belt (507) when the iron yoke silicon steel sheet is adsorbed on the lower surface of the yoke conveyor belt (507). The yoke demagnetizing and feeding solenoid valve assembly (502) is connected to the yoke demagnetizing cylinder (503) and the yoke feeding cylinder (504) and is used to control the extension rods of the yoke demagnetizing cylinder (503) and the yoke feeding cylinder (504) to perform extension and retraction actions. A yoke fiber amplifier is installed at the feed end of the yoke conveyor belt (507) to detect whether there are iron yoke silicon steel sheets at the feed end of the yoke conveyor belt (507).

5. The method for stacking silicon steel sheets for transformer cores according to claim 4, characterized in that, The column receiving platform assembly (6) is located below the column conveying streamline assembly (4) and is used to receive the silicon steel sheets of the core column that fall from the column conveying streamline assembly (4). The column receiving platform assembly (6) includes: A column plate platform (602) is located below the column plate conveyor belt (408). The column plate platform (602) is provided with a left column plate receiving area (6021), a middle column plate receiving area (6022), and a right column plate receiving area (6023). The left column plate receiving area (6021) is used to carry the left column plate of the core column silicon steel sheet descending from the column plate conveyor belt (408). The middle column plate receiving area (6022) is used to carry the middle column plate of the core column silicon steel sheet descending from the column plate conveyor belt (408). The right column plate receiving area (6023) is used to carry the right column plate of the core column silicon steel sheet descending from the column plate conveyor belt (408). A slide rail (601) for moving the cylindrical plate platform is disposed below the cylindrical plate platform (602) and is used to support the movement of the cylindrical plate platform (602); A column plate platform moving chain (605) is connected to the column plate platform (602) and is used to drive the column plate platform (602) to move on the column plate platform moving slide rail (601); A column platform moving motor (606) is connected to the column platform moving chain (605) and is used to control the column platform moving chain (605) to perform extension and retraction actions; A column platform lifting mechanism (609) is connected to the column platform (602) and is used to drive the column platform (602) to lift. A column sheet detection sensor (604) is disposed in the left column sheet receiving area (6021), the middle column sheet receiving area (6022), and the right column sheet receiving area (6023). The column sheet detection sensor (604) in the left column sheet receiving area (6021) is used to detect whether there is a left column sheet in the left column sheet receiving area (6021), the column sheet detection sensor (604) in the middle column sheet receiving area (6022) is used to detect whether there is a middle column sheet in the middle column sheet receiving area (6022), and the column sheet detection sensor (604) in the right column sheet receiving area (6023) is used to detect whether there is a right column sheet in the right column sheet receiving area (6023). A column platform positioning pin (603) is provided in the left column receiving area (6021), the middle column receiving area (6022), and the right column receiving area (6023). The column platform positioning pin (603) in the left column receiving area (6021) is used to position the left column, the column platform positioning pin (603) in the middle column receiving area (6022) is used to position the middle column, and the column platform positioning pin (603) in the right column receiving area (6023) is used to position the right column. The column platform positioning pin lifting cylinder (607) is connected to the column platform positioning pin (603) and is used to drive the column platform positioning pin (603) to lift. The column platform positioning pin cylinder solenoid valve assembly (608) is connected to the column platform positioning pin lifting cylinder (607) and is used to control the extension rod of the column platform positioning pin lifting cylinder (607) to perform extension and retraction actions.

6. The method for stacking silicon steel sheets for transformer cores according to claim 5, characterized in that, The yoke receiving platform assembly (7) is located below the yoke conveyor assembly (5) and is used to receive the iron yoke silicon steel sheets falling from the yoke conveyor assembly (5). The yoke receiving platform assembly (7) includes: A yoke platform (701) is located below the yoke conveyor belt (507). The yoke platform (701) is provided with an upper yoke receiving area (7011) and a lower yoke receiving area (7012). The upper yoke receiving area (7011) is used to carry the upper yoke of the iron yoke silicon steel sheet falling from the yoke conveyor belt (507), and the lower yoke receiving area (7012) is used to carry the lower yoke of the iron yoke silicon steel sheet falling from the yoke conveyor belt (507). A sliding rail (703) for moving the yoke platform is disposed below the yoke platform (701) and is used to support the movement of the yoke platform (701); A yoke platform moving chain (706) is connected to the yoke platform (701) and is used to drive the yoke platform (701) to move on the yoke platform moving slide rail (703); A yoke platform moving motor (702) is connected to the yoke platform moving chain (706) and is used to control the yoke platform moving chain (706) to perform extension and retraction actions; A yoke platform rotation mechanism (709) is connected to the yoke platform (701) and is used to drive the yoke platform (701) to rotate; A yoke piece detection sensor (705) is disposed in the upper yoke piece receiving area (7011) and the lower yoke piece receiving area (7012). The yoke piece detection sensor (705) in the upper yoke piece receiving area (7011) is used to detect whether there is an upper yoke piece in the upper yoke piece receiving area (7011), and the yoke piece detection sensor (705) in the lower yoke piece receiving area (7012) is used to detect whether there is a lower yoke piece in the lower yoke piece receiving area (7012). A yoke platform positioning pin (704) is provided in the upper yoke receiving area (7011) and the lower yoke receiving area (7012). The yoke platform positioning pin (704) in the upper yoke receiving area (7011) is used to position the upper yoke, and the yoke platform positioning pin (704) in the lower yoke receiving area (7012) is used to position the lower yoke. A lifting cylinder (707) for lifting the yoke platform positioning pin is connected to the yoke platform positioning pin (704) and is used to drive the yoke platform positioning pin (704) to lift. The solenoid valve assembly (708) for the yoke platform positioning pin cylinder is connected to the yoke platform positioning pin lifting cylinder (707) and is used to control the extension and retraction of the extension rod of the yoke platform positioning pin lifting cylinder (707).

7. The method for stacking silicon steel sheets for transformer cores according to claim 6, characterized in that, The column-shaped manipulator assembly is used to transport the silicon steel sheets of the core column on the column-shaped receiving platform assembly (6) to the lifting roller assembly (9); The cylindrical robotic arm assembly includes a right cylindrical robotic arm (2), a left cylindrical robotic arm (15), a middle cylindrical robotic arm (16), a first cylindrical robotic arm travel guide rail (206), and a second cylindrical robotic arm travel guide rail (207). The right cylindrical robotic arm (2), the left cylindrical robotic arm (15), and the middle cylindrical robotic arm (16) are arranged in parallel between the first cylindrical robotic arm travel guide rail (206) and the second cylindrical robotic arm travel guide rail (207). Located on the same horizontal plane and above the column receiving platform assembly (6) and the lifting roller line assembly (9), the right column manipulator (2) is used to transport the right column carried by the right column receiving area (6023) to the lifting roller line assembly (9), the left column manipulator (15) is used to transport the left column carried by the left column receiving area (6021) to the lifting roller line assembly (9), and the middle column manipulator (16) is used to transport the middle column carried by the middle column receiving area (6022) to the lifting roller line assembly (9); Among them, any one of the right columnar manipulator (2), the left columnar manipulator (15), and the middle columnar manipulator (16) includes: The first column-shaped manipulator walking motor (202) is used to drive the corresponding manipulator to move on the first column-shaped manipulator walking guide rail (206); The second column robot arm walking motor (203) is used to drive the corresponding robot arm to move on the second column robot arm walking guide rail (207); A column electromagnet (204) is disposed on the lower surface of the corresponding robot arm to provide an upward attraction so that the corresponding iron core column silicon steel sheet is attracted to the lower surface of the corresponding robot arm; The column positioning pin (205) is set on the lower surface of the corresponding robot arm and is used to position the silicon steel sheet of the iron core column; A pneumatic pressure regulating valve (201) for positioning pin is connected to the positioning pin (205) and is used to control the lifting and lowering of the positioning pin (205).

8. The method for stacking silicon steel sheets for transformer cores according to claim 7, characterized in that, The yoke manipulator assembly is used to transport the iron yoke silicon steel sheets on the yoke receiving platform assembly (7) to the lifting roller assembly (9); The yoke manipulator assembly includes an upper yoke manipulator (3), a lower yoke manipulator (14), a first yoke manipulator guide rail (307), and a second yoke manipulator guide rail (308). The upper yoke manipulator (3) and the lower yoke manipulator (14) are arranged parallel to each other between the first yoke manipulator guide rail (307) and the second yoke manipulator guide rail (308). The yoke manipulator travel guide rail (308) is located on the same horizontal plane and above the yoke receiving platform assembly (7) and the lifting roller line assembly (9). The upper yoke manipulator (3) is used to transport the upper yoke carried in the upper yoke receiving area (7011) to the lifting roller line assembly (9). The lower yoke manipulator (14) is used to transport the lower yoke carried in the lower yoke receiving area (7012) to the lifting roller line assembly (9). Among them, either the upper yoke manipulator (3) or the lower yoke manipulator (14) includes: The first yoke manipulator walking motor (301) is used to drive the corresponding manipulator to move on the first yoke manipulator walking guide rail (307); The second yoke manipulator motor (302) is used to drive the corresponding manipulator to move on the second yoke manipulator guide rail (308); A yoke electromagnet (303) is disposed on the lower surface of the corresponding robot arm to provide an upward attraction so that the corresponding iron yoke silicon steel sheet is attracted to the lower surface of the corresponding robot arm. The yoke positioning pin (306) is set on the lower surface of the corresponding robot arm and is used to position the iron yoke silicon steel sheet; A solenoid valve assembly (304) for yoke positioning pin is connected to the yoke positioning pin (306) and is used to control the lifting and lowering of the yoke positioning pin (306). The robotic arm lifting guide mechanism (305) is used to drive the corresponding robotic arm to lift.

9. The method for stacking silicon steel sheets for transformer cores according to claim 8, characterized in that, The lifting roller line assembly (9) is used to receive the silicon steel sheets of the core column on the column receiving platform assembly (6) and the silicon steel sheets of the yoke on the yoke receiving platform assembly (7), and to stack the silicon steel sheets of the core column and the silicon steel sheets of the yoke. The lifting roller assembly (9) includes: A lifting conveyor roller (903) is disposed on the upper surface of the lifting roller line assembly (9) for carrying the iron core tray, which is used to place the iron core column silicon steel sheets and iron yoke silicon steel sheets after being stacked according to a preset shape. A roller rotation motor (905) is connected to the lifting conveyor roller (903) and is used to control the rotation of the lifting conveyor roller (903); A lifting linkage (904) is disposed below the lifting conveyor roller (903) and is used to drive the lifting conveyor roller (903) to move up and down; A roller lifting motor (902) is connected to the lifting link (904) and is used to control the extension and retraction of the lifting link (904); An adjustable limiting mechanism (901) is disposed above the lifting conveying roller (903) and is used to limit the iron core tray; A third guide bearing (906) is disposed on the side of the upper surface of the lifting roller line assembly (9) for providing guidance when a core tray of a preset first size type enters or exits the lifting roller line assembly (9); A fourth guide bearing (907) is disposed on the upper surface of the lifting roller line assembly (9) for providing guidance when a pre-set second-size type iron core tray enters or exits the lifting roller line assembly (9).

10. The method for stacking silicon steel sheets for transformer cores according to claim 9, characterized in that, The conveying trolley assembly (8) is located on one side of the outlet end of the lifting roller line assembly (9) and is used to transport the core silicon steel sheet and the yoke silicon steel sheet after being stacked on the lifting roller line assembly (9) to the outside. The conveying trolley assembly (8) includes: A conveying trolley (808) is used to transport the iron core pallet exported from the lifting roller line assembly (9) to the outside of the transformer core silicon steel sheet stacking machine; A travel track (805) is provided below the conveying trolley (808) to support the movement of the conveying trolley (808); The trolley travel motor (8010) is connected to the power end of the conveying trolley (808) and is used to provide power to the conveying trolley (808) so that the conveying trolley (808) moves along the travel track (805); The trolley conveying roller (801) is disposed on the upper surface of the conveying trolley (808) and is used to carry the iron core tray led out by the lifting roller line assembly (9). The trolley roller motor (809) is connected to the trolley conveying roller (801) and is used to control the rotation of the trolley conveying roller (801); The trolley positioning device (806) is disposed on one side of the mobile terminal of the walking track (805) and is used to position the conveying trolley (808). The trolley positioning pin is set on the lower surface of the conveying trolley (808) and cooperates with the trolley positioning device (806); The trolley positioning pin motor (8011) is connected to the trolley positioning pin and is used to control the trolley positioning pin to extend and insert into the trolley positioning device (806) when the trolley positioning pin moves to a mating position with the trolley positioning device (806). A sensing metal sheet (807) is disposed on one side of the mobile terminal of the walking track (805); A metal detection sensor (804) is disposed on the lower surface of the conveying trolley (808) and is used to detect the relative position of the sensing metal sheet (807); A first guide bearing (802) is disposed on the side of the upper surface of the conveying trolley (808) for providing guidance when a pre-set first-size type of iron core tray enters or exits the conveying trolley (808); A second guide bearing (803) is disposed on the upper surface of the conveying trolley (808) for providing guidance when a pre-set second-size type iron core tray enters or exits the conveying trolley (808).

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