Transformer iron core silicon steel sheet lamination machine

Abstract

The invention provides a transformer iron core silicon steel sheet lamination machine which comprises a column sheet conveying streamline assembly, a yoke sheet conveying streamline assembly, a column sheet receiving platform assembly, a yoke sheet receiving platform assembly, a lifting roller line assembly, a column sheet manipulator assembly and a yoke sheet manipulator assembly. The column sheet receiving platform assembly is used for receiving the iron core column silicon steel sheets falling from the column sheet conveying streamline assembly; the yoke piece receiving platform assembly is used for receiving iron yoke silicon steel sheets falling from the yoke piece conveying streamline assembly; the column sheet manipulator assembly is used for transporting the iron core column silicon steel sheets on the column sheet receiving platform assembly to the lifting roller line assembly; the yoke piece mechanical arm assembly is used for transporting iron yoke silicon steel sheets on the yoke piece receiving platform assembly to the lifting roller line assembly, iron core column silicon steel sheets and the iron yoke silicon steel sheets are transported and stacked respectively, and transportation streamlines of the iron core column silicon steel sheets and the iron yoke silicon steel sheets are executed in parallel. And the transportation efficiency and lamination efficiency of the iron core column silicon steel sheets and the iron yoke silicon steel sheets are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of material preparation, in particular to a transformer core silicon steel sheet stacking machine. BACKGROUND

[0002] In the production process of a transformer core, a silicon steel coil is cut into silicon steel sheets of different specifications by a cross-cutting device. According to the product process, silicon steel sheets of different lengths are stacked together according to process requirements (the stacking order and shape of different products may differ greatly). After a certain number of silicon steel sheets are stacked, the preparation of the core is completed, and then the core is transferred to the next process for processing. The number of silicon steel sheets stacked according to the specifications of the product can be up to four or five thousand. The mainstream equipment on the market currently mostly uses a single piece of silicon steel sheet to be grabbed for stacking. This stacking method has a high frequency of movement of the mechanical hand, resulting in a waste of stacking time and low stacking efficiency. Therefore, the stacking equipment on the market currently cannot meet the demand for production capacity, and when a customer needs to prepare a mountain-shaped (i.e., E-shaped) core and a sun-shaped core, a corresponding stacking machine needs to be customized to meet the use, which undoubtedly also causes a waste of cost. SUMMARY

[0003] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0004] According to one aspect of the present application, a transformer core silicon steel sheet stacking machine is provided, comprising:

[0005] A column piece conveying flow line assembly is connected with the cross-cutting machine device and is used to receive the core column silicon steel sheets guided by the cross-cutting machine device.

[0006] A yoke piece conveying flow line assembly is connected with the cross-cutting machine device and is located above the column piece conveying flow line assembly, and is used to receive the core yoke silicon steel sheets guided by the cross-cutting machine device.

[0007] A column piece receiving platform assembly is located below the column piece conveying flow line assembly and is used to receive the core column silicon steel sheets dropped from the column piece conveying flow line assembly.

[0008] A yoke piece receiving platform assembly is located below the yoke piece conveying flow line assembly and is used to receive the core yoke silicon steel sheets dropped from the yoke piece conveying flow line assembly.

[0009] A lifting roller cylinder line assembly is used to receive the core column silicon steel sheets on the column piece receiving platform assembly and the core yoke silicon steel sheets on the yoke piece receiving platform assembly, and to stack the core column silicon steel sheets and the core yoke silicon steel sheets.

[0010] A column piece mechanical hand assembly is used to transport the core column silicon steel sheets on the column piece receiving platform assembly to the lifting roller cylinder line assembly.

[0011] The yoke piece mechanical arm assembly is used for transporting the iron yoke silicon steel sheet on the yoke piece receiving platform assembly to the lifting roller line assembly.

[0012] The conveying trolley assembly is arranged on one side of the leading end of the lifting roller line assembly, and is used for transporting the iron core column silicon steel sheet and the iron yoke silicon steel sheet after lamination on the lifting roller line assembly to the outside.

[0013] The transformer core silicon steel sheet laminating machine provided by the present application has at least the following beneficial effects:

[0014] The transformer core silicon steel sheet laminating machine provided by the present application has at least the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0016] Figure 1 The schematic view of the transformer core silicon steel sheet laminating machine provided by the present application is shown in the figure.

[0017] Figure 2 The schematic view of the transformer core silicon steel sheet laminating machine provided by the present application is shown in the figure.

[0018] Figure 3 The schematic view of the transformer core silicon steel sheet laminating machine provided by the present application is shown in the figure.

[0019] Figure 4 Fig. 4 is a partial enlarged view of the middle E part of Fig. 1; Figure 3

[0020] Figure 5 Fig. 5 is a schematic view of an upper yoke sheet mechanical arm of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0021] Figure 6 Fig. 6 is a partial enlarged view of the middle F part of Fig. 5; Figure 5

[0022] Figure 7 Fig. 7 is a schematic view of a column sheet conveying streamline assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0023] Figure 8 Fig. 8 is a schematic view of a yoke sheet conveying streamline assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0024] Figure 9 Fig. 9 is an axial side view of a column sheet receiving platform assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0025] Figure 10 Fig. 10 is a side view of a column sheet receiving platform assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0026] Figure 11 Fig. 11 is a partial enlarged view of the middle A part of Fig. 1; Figure 9

[0027] Figure 12 Fig. 12 is an axial side view of a yoke sheet receiving platform assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0028] Figure 13 Fig. 13 is a side view of a yoke sheet receiving platform assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0029] Figure 14 Fig. 14 is a partial enlarged view of the middle B part of Fig. 1; Figure 12

[0030] Figure 15 Fig. 15 is a schematic view of a conveying trolley assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0031] Figure 16 Fig. 16 is a schematic view of a lifting roller line assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0032] Figure 17 Fig. 17 is a schematic view of an upper yoke sheet receiving table assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0033] ​​​​Figure 18 Fig. 1 is a schematic view of a transformer core silicon steel sheet stacking machine according to an embodiment of the present application; Figure 17 Fig. 2 is a partial enlarged view of part C in Fig. 1;

[0034] Figure 19 Fig. 3 is a schematic view of a spare upper yoke sheet mechanical arm of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application;

[0035] Figure 20 Fig. 4 is a partial enlarged view of part D in Fig. 3; Figure 19

[0036] Figure 21 Fig. 5 is a schematic view of an upper yoke sheet conveying trolley assembly of a transformer core silicon steel sheet stacking machine provided by an embodiment of the present application.

[0037] In the figure:

[0038] 1, rack assembly;

[0039] 2, right column sheet mechanical arm; 201, column sheet positioning pin pneumatic pressure regulating valve; 202, first column sheet mechanical arm walking motor; 203, second column sheet mechanical arm walking motor; 204, column sheet electromagnet; 205, column sheet positioning pin; 206, first column sheet mechanical arm walking guide rail; 207, second column sheet mechanical arm walking guide rail;

[0040] 3, upper yoke sheet mechanical arm; 301, first yoke sheet mechanical arm walking motor; 302, second yoke sheet mechanical arm walking motor; 303, yoke sheet electromagnet; 304, yoke sheet positioning pin solenoid valve group; 305, mechanical arm lifting guide mechanism; 306, yoke sheet positioning pin; 307, first yoke sheet mechanical arm walking guide rail; 308, second yoke sheet mechanical arm walking guide rail;

[0041] 4, column sheet conveying streamline assembly; 401, column sheet optical fiber amplifier; 402, column sheet demagnetization and material removal solenoid valve group; 403, column sheet conveying permanent magnet; 404, column sheet material removal air cylinder; 405, column sheet demagnetization air cylinder; 406, column sheet conveying motor; 407, column sheet demagnetization connecting rod mechanism; 408, column sheet conveying belt;

[0042] 5, yoke sheet conveying streamline assembly; 501, yoke sheet conveying motor; 502, yoke sheet demagnetization and material removal solenoid valve group; 503, yoke sheet demagnetization air cylinder; 504, yoke sheet material removal air cylinder; 505, yoke sheet demagnetization connecting rod mechanism; 506, yoke sheet conveying permanent magnet; 507, yoke sheet conveying belt;

[0043] ​6, Column piece receiving platform assembly; 601, Column piece platform moving slide rail; 602, Column piece platform; 603, Column piece platform positioning pin; 604, Column piece detection sensor; 605, Column piece platform moving chain; 606, Column piece platform moving motor; 607, Column piece platform positioning pin lifting cylinder; 608, Column piece platform positioning pin cylinder solenoid valve group; 609, Column piece platform lifting mechanism; 6021, Left column piece receiving area; 6022, Middle column piece receiving area; 6023, Right column piece receiving area;

[0044] 7, Yoke piece receiving platform assembly; 701, Yoke piece platform; 702, Yoke piece platform moving motor; 703, Yoke piece platform moving slide rail; 704, Yoke piece platform positioning pin; 705, Yoke piece detection sensor; 706, Yoke piece platform moving chain; 707, Yoke piece platform positioning pin lifting cylinder; 708, Yoke piece platform positioning pin cylinder solenoid valve group; 709, Yoke piece platform rotating mechanism; 7011, Upper yoke piece receiving area; 7012, Lower yoke piece receiving area;

[0045] 8, Delivery trolley assembly; 801, Trolley delivery roller; 802, First guide bearing; 803, Second guide bearing; 804, Metal detection sensor; 805, Running track; 806, Trolley positioning device; 807, Inductive metal piece; 808, Delivery trolley; 809, Trolley roller motor; 8010, Trolley running motor; 8011, Trolley positioning pin motor;

[0046] 9, Lifting roller line assembly; 901, Adjustable limiting mechanism; 902, Roller lifting motor; 903, Lifting delivery roller; 904, Lifting connecting rod; 905, Roller rotating motor; 906, Third guide bearing; 907, Fourth guide bearing;

[0047] 10, Backup upper yoke piece manipulator; 1001, Manipulator lifting motor; 1002, Backup manipulator body; 1003, Manipulator lifting chain; 1004, Backup upper yoke piece electromagnet; 1005, Upper yoke piece manipulator moving slide rail;

[0048] 11, Upper yoke piece receiving table assembly; 1101, Upper yoke piece platform; 1102, Upper yoke piece platform positioning pin; 1103, Upper yoke piece detection sensor; 1104, Upper yoke piece platform moving motor; 1105, Upper yoke piece platform moving chain; 1106, Upper yoke piece platform moving slide rail;

[0049] 12, Upper yoke piece delivery trolley assembly; 1201, Trolley controller; 1202, Upper yoke piece delivery roller; 1203, Upper yoke piece delivery track; 1204, Upper yoke piece delivery trolley; 1205, Trolley moving chain;

[0050] 13, Cross-cut machine equipment;

[0051] 14. Lower yoke piece manipulator;

[0052] 15. Left column piece manipulator;

[0053] 16. Middle column piece manipulator. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0055] The transformer core silicon steel sheet stacking method proposed in the present application is applied to a transformer core silicon steel sheet stacking machine, as shown in the accompanying drawings, which comprises a rack assembly 1, a cross-cutting machine device 13, a column piece conveying streamline assembly 4, a yoke piece conveying streamline assembly 5, a column piece receiving platform assembly 6, a yoke piece receiving platform assembly 7, a lifting roller line assembly 9, a column piece manipulator assembly, a yoke piece manipulator assembly, a conveying trolley assembly 8, a standby upper yoke piece manipulator 10, an upper yoke piece receiving table assembly 11 and an upper yoke piece conveying trolley assembly 12. Figure 1 As shown in the accompanying drawings, the column piece conveying streamline assembly 4 is connected with the cross-cutting machine device 13, the yoke piece conveying streamline assembly 5 is connected with the cross-cutting machine device 13 and located above the column piece conveying streamline assembly 4, the column piece receiving platform assembly 6 is located below the column piece conveying streamline assembly 4, the yoke piece receiving platform assembly 7 is located below the yoke piece conveying streamline assembly 5, the conveying trolley assembly 8 is arranged at one side of the leading end of the lifting roller line assembly 9, the upper yoke piece receiving table assembly 11 is arranged below the yoke piece conveying belt 507, the standby upper yoke piece manipulator 10 is arranged above the upper yoke piece receiving table assembly 11, and the upper yoke piece conveying trolley assembly 12 is arranged below the standby upper yoke piece manipulator 10.

[0056] Figure 1

[0057] ​​The column piece manipulator assembly comprises a right column piece manipulator 2, a left column piece manipulator 15, a middle column piece manipulator 16, a first column piece manipulator walking rail 206 and a second column piece manipulator walking rail 207. The right column piece manipulator 2, the left column piece manipulator 15 and the middle column piece manipulator 16 are arranged in parallel between the first column piece manipulator walking rail 206 and the second column piece manipulator walking rail 207. The first column piece manipulator walking rail 206 and the second column piece manipulator walking rail 207 are located on the same horizontal plane and above the column piece receiving platform assembly 6 and the lifting roller line assembly 9. The right column piece manipulator 2 is used to transport the right column piece carried by the right column piece receiving area 6023 to the lifting roller line assembly 9. The left column piece manipulator 15 is used to transport the left column piece carried by the left column piece receiving area 6021 to the lifting roller line assembly 9. The middle column piece manipulator 16 is used to transport the middle column piece carried by the middle column piece receiving area 6022 to the lifting roller line assembly 9.

[0058] The yoke piece manipulator assembly comprises an upper yoke piece manipulator 3, a lower yoke piece manipulator 14, a first yoke piece manipulator walking rail 307 and a second yoke piece manipulator walking rail 308. The upper yoke piece manipulator 3 and the lower yoke piece manipulator 14 are arranged in parallel between the first yoke piece manipulator walking rail 307 and the second yoke piece manipulator walking rail 308. The first yoke piece manipulator walking rail 307 and the second yoke piece manipulator walking rail 308 are located on the same horizontal plane and above the yoke piece receiving platform assembly 7 and the lifting roller line assembly 9. The upper yoke piece manipulator 3 is used to transport the upper yoke piece carried by the upper yoke piece receiving area 7011 to the lifting roller line assembly 9. The lower yoke piece manipulator 14 is used to transport the lower yoke piece carried by the lower yoke piece receiving area 7012 to the lifting roller line assembly 9.

[0059] The column piece conveying flow line assembly 4 is used to receive the core column silicon steel sheets guided by the transverse shearing machine device 13, the yoke piece conveying flow line assembly 5 is used to receive the yoke silicon steel sheets guided by the transverse shearing machine device 13, the column piece receiving platform assembly 6 is used to receive the core column silicon steel sheets dropped from the column piece conveying flow line assembly 4, the column piece mechanical arm assembly is used to transport the core column silicon steel sheets on the column piece receiving platform assembly 6 to the lifting roller line assembly 9, the yoke piece mechanical arm assembly is used to transport the yoke silicon steel sheets on the yoke piece receiving platform assembly 7 to the lifting roller line assembly 9, the lifting roller line assembly 9 is used to receive the core column silicon steel sheets on the column piece receiving platform assembly 6 and the yoke silicon steel sheets on the yoke piece receiving platform assembly 7, and to stack the core column silicon steel sheets and the yoke silicon steel sheets, the yoke piece receiving platform assembly 7 is used to receive the yoke silicon steel sheets dropped from the yoke piece conveying flow line assembly 5, the conveying trolley assembly 8 is used to transport the core column silicon steel sheets and the yoke silicon steel sheets stacked on the lifting roller line assembly 9 to the outside, the upper yoke piece receiving platform assembly 11 is used to carry the upper yoke pieces dropped from the yoke piece conveying belt 507 when preparing a preset shape (such as a mountain shape) of the core, the standby upper yoke piece mechanical arm 10 is used to transport the upper yoke pieces on the upper yoke piece receiving platform assembly 11 to the upper yoke piece conveying trolley assembly 12, and the upper yoke piece conveying trolley assembly 12 is used to convey the upper yoke pieces transported by the standby upper yoke piece mechanical arm 10 to the outside of the transformer core silicon steel sheet stacking machine.

[0060] As shown in FIG. 1, it is a schematic diagram of the rack assembly 1, which is used to ensure the hardware support of the transformer core silicon steel sheet stacking machine. Figure 2

[0061] As shown in FIG. 2, the right column piece mechanical arm 2, the left column piece mechanical arm 15 and the middle column piece mechanical arm 16 have the same structure, and any one of the right column piece mechanical arm 2, the left column piece mechanical arm 15 and the middle column piece mechanical arm 16 comprises a first column piece mechanical arm walking motor 202, a second column piece mechanical arm walking motor 203, a column piece electromagnet 204, a column piece positioning pin 205 and a column piece positioning pin pneumatic pressure regulating valve 201. Figure 3 Figure 4 The first column piece mechanical arm walking motor 202 is used to drive the corresponding mechanical arm to move on the first column piece mechanical arm walking guide rail 206, the second column piece mechanical arm walking motor 203 is used to drive the corresponding mechanical arm to move on the second column piece mechanical arm walking guide rail 207, the column piece electromagnet 204 is arranged on the lower surface of the corresponding mechanical arm, and is used to provide upward suction force to enable the corresponding core column silicon steel sheet to be adsorbed on the lower surface of the corresponding mechanical arm, the column piece positioning pin 205 is arranged on the lower surface of the corresponding mechanical arm, and is used to position the core column silicon steel sheet, and the column piece positioning pin pneumatic pressure regulating valve 201 is connected with the column piece positioning pin 205, and is used to control the lifting of the column piece positioning pin 205.

[0062] As shown in FIG. 3, the first column piece mechanical arm walking motor 202 is used to drive the corresponding mechanical arm to move on the first column piece mechanical arm walking guide rail 206, the second column piece mechanical arm walking motor 203 is used to drive the corresponding mechanical arm to move on the second column piece mechanical arm walking guide rail 207, the column piece electromagnet 204 is arranged on the lower surface of the corresponding mechanical arm, and is used to provide upward suction force to enable the corresponding core column silicon steel sheet to be adsorbed on the lower surface of the corresponding mechanical arm, the column piece positioning pin 205 is arranged on the lower surface of the corresponding mechanical arm, and is used to position the core column silicon steel sheet, and the column piece positioning pin pneumatic pressure regulating valve 201 is connected with the column piece positioning pin 205, and is used to control the lifting of the column piece positioning pin 205.

[0063] As shown in FIG. 4, the first column piece mechanical arm walking motor 202 is used to drive the corresponding mechanical arm to move on the first column piece mechanical arm walking guide rail 206, the second column piece mechanical arm walking motor 203 is used to drive the corresponding mechanical arm to move on the second column piece mechanical arm walking guide rail 207, the column piece electromagnet 204 is arranged on the lower surface of the corresponding mechanical arm, and is used to provide upward suction force to enable the corresponding core column silicon steel sheet to be adsorbed on the lower surface of the corresponding mechanical arm, the column piece positioning pin 205 is arranged on the lower surface of the corresponding mechanical arm, and is used to position the core column silicon steel sheet, and the column piece positioning pin pneumatic pressure regulating valve 201 is connected with the column piece positioning pin 205, and is used to control the lifting of the column piece positioning pin 205.​​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.

[0064] 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.

[0065] 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.

[0066] The lower surface of the column piece conveying belt 408 is connected with the leading-out end of the transverse shearing machine device 13, for conveying the core column silicon steel sheet led out by the transverse shearing machine device 13. The column piece conveying motor 406 is connected with the column piece conveying belt 408, for controlling the rolling of the column piece conveying belt 408. The column piece demagnetization link mechanism 407 is connected with the upper surface of the column piece conveying belt 408, for driving the column piece conveying belt 408 to ascend and descend along the horizontal plane. The column piece demagnetization cylinder 405 is connected with the column piece demagnetization link mechanism 407, for controlling the column piece demagnetization link mechanism 407 to perform the ascending and descending action. The column piece material knocking cylinder 404 is connected with the upper surface of the column piece conveying belt 408, for knocking the core column silicon steel sheet off the column piece conveying belt 408 through the column piece conveying belt 408 when the core column silicon steel sheet is adsorbed on the lower surface of the column piece conveying belt 408. The column piece demagnetization material knocking solenoid valve group 402 is connected with the column piece demagnetization cylinder 405 and the column piece material knocking cylinder 404, for controlling the telescopic rod of the column piece demagnetization cylinder 405 and the column piece material knocking cylinder 404 to perform the telescopic action. The column piece fiber amplifier 401 is arranged at the feeding end of the column piece conveying belt 408, for detecting whether there is the core column silicon steel sheet at the feeding end of the column piece conveying belt 408.

[0067] As shown in Figure 8 The yoke piece conveying flow line assembly 5 includes a yoke piece conveying belt 507, a yoke piece conveying motor 501, a yoke piece conveying permanent magnet 506, a yoke piece demagnetization link mechanism 505, a yoke piece demagnetization cylinder 503, a yoke piece material knocking cylinder 504, a yoke piece demagnetization material knocking solenoid valve group 502, and a yoke piece fiber amplifier.

[0068] The lower surface of the yoke piece conveying belt 507 is connected with the leading end of the transverse shearing machine device 13 and is located above the column piece conveying belt 408, for conveying the iron yoke silicon steel sheet led out by the transverse shearing machine device 13; the yoke piece conveying motor 501 is connected with the yoke piece conveying belt 507, for controlling the rolling of the yoke piece conveying belt 507; the yoke piece conveying permanent magnet 506 is arranged on the upper surface of the yoke piece conveying belt 507, for providing upward suction force to make the iron yoke silicon steel sheet adsorbed on the lower surface of the yoke piece conveying belt 507; the yoke piece demagnetization connecting rod mechanism 505 is connected with the upper surface of the yoke piece conveying belt 507, for driving the yoke piece conveying belt 507 to ascend and descend along the horizontal plane; the yoke piece demagnetization air cylinder 503 is connected with the yoke piece demagnetization connecting rod mechanism 505, for controlling the yoke piece demagnetization connecting rod mechanism 505 to perform the ascending and descending action; the yoke piece material knocking air cylinder 504 is connected with the upper surface of the yoke piece conveying belt 507, for knocking the iron yoke silicon steel sheet to make the iron yoke silicon steel sheet separate from the yoke piece conveying belt 507 when the iron yoke silicon steel sheet is adsorbed on the lower surface of the yoke piece conveying belt 507; the yoke piece demagnetization and material knocking electromagnetic valve group 502 is connected with the yoke piece demagnetization air cylinder 503 and the yoke piece material knocking air cylinder 504, for controlling the telescopic rod of the yoke piece demagnetization air cylinder 503 and the yoke piece material knocking air cylinder 504 to perform the telescopic action; the yoke piece fiber amplifier is arranged on the feeding end of the yoke piece conveying belt 507, for detecting whether there is the iron yoke silicon steel sheet at the feeding end of the yoke piece conveying belt 507.

[0069] As shown in Figures 9-11 The column piece receiving platform assembly 6 includes a column piece platform 602, a column piece platform moving slide rail 601, a column piece platform moving chain 605, a column piece platform moving motor 606, a column piece platform lifting mechanism 609, a column piece detection sensor 604, a column piece platform positioning pin 603, a column piece platform positioning pin lifting air cylinder 607, and a column piece platform positioning pin air cylinder electromagnetic valve group 608.

[0070] The column piece platform 602 is located below the column piece conveying belt 408, and the column piece platform 602 is provided with a left column piece receiving area 6021, a middle column piece receiving area 6022 and a right column piece receiving area 6023. The left column piece receiving area 6021 is used to carry the left column piece of the core column silicon steel sheet dropped from the column piece conveying belt 408. The middle column piece receiving area 6022 is used to carry the middle column piece of the core column silicon steel sheet dropped from the column piece conveying belt 408. The right column piece receiving area 6023 is used to carry the right column piece of the core column silicon steel sheet dropped from the column piece conveying belt 408. The column piece platform moving slide rail 601 is arranged below the column piece platform 602 and is used to support the movement of the column piece platform 602. The column piece platform moving chain 605 is connected with the column piece platform 602 and is used to drive the column piece platform 602 to move on the column piece platform moving slide rail 601. The column piece platform moving motor 606 is connected with the column piece platform moving chain 605 and is used to control the column piece platform moving chain 605 to perform the extension and retraction action. The column piece platform lifting mechanism 609 is connected with the column piece platform 602 and is used to drive the column piece platform 602 to lift. The column piece detection sensor 604 is arranged in the left column piece receiving area 6021, the middle column piece receiving area 6022 and the right column piece receiving area 6023. The column piece detection sensor 604 in the left column piece receiving area 6021 is used to detect whether there is a left column piece on 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 there is a middle column piece on the middle column piece receiving area 6022. The column piece detection sensor 604 in the right column piece receiving area 6023 is used to detect whether there is a right column piece on the right column piece receiving area 6023. The column piece platform positioning pin 603 is arranged in the left column piece receiving area 6021, the middle column piece receiving area 6022 and the right column piece receiving area 6023. The column piece platform positioning pin 603 in the left column piece receiving area 6021 is used to position the left column piece. The column piece platform positioning pin 603 in the middle column piece receiving area 6022 is used to position the middle column piece. The column piece platform positioning pin 603 in the right column piece receiving area 6023 is used to position the right column piece. The column piece platform positioning pin lifting cylinder 607 is connected with the column piece platform positioning pin 603 and is used to drive the column piece platform positioning pin 603 to lift. The column piece platform positioning pin cylinder solenoid valve group 608 is connected with the column piece platform positioning pin lifting cylinder 607 and is used to control the extension and retraction action of the extension and retraction rod of the column piece platform positioning pin lifting cylinder 607.

[0071] As shown in Figures 12-14 The yoke piece receiving platform assembly 7 includes a yoke piece platform 701, a yoke piece platform moving slide rail 703, a yoke piece platform moving chain 706, a yoke piece platform moving motor 702, a yoke piece platform rotating mechanism 709, a yoke piece detection sensor 705, a yoke piece platform positioning pin 704, a yoke piece platform positioning pin lifting cylinder 707 and a yoke piece platform positioning pin cylinder solenoid valve group 708.

[0072] The yoke platform 701 is located below the yoke conveying belt 507, and 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 dropped from the yoke conveying belt 507, and the lower yoke receiving area 7012 is used to carry the lower yoke of the iron yoke silicon steel sheet dropped from the yoke conveying belt 507; The yoke platform moving slide rail 703 is arranged below the yoke platform 701 and is used to support the movement of the yoke platform 701; The yoke platform moving chain 706 is connected with the yoke platform 701 and is used to drive the yoke platform 701 to move on the yoke platform moving slide rail 703; The yoke platform moving motor 702 is connected with the yoke platform moving chain 706 and is used to control the yoke platform moving chain 706 to perform the telescopic action; The yoke platform rotating mechanism 709 is connected with the yoke platform 701 and is used to drive the yoke platform 701 to rotate; The yoke detection sensor 705 is arranged in the upper yoke receiving area 7011 and the lower yoke receiving area 7012, the yoke detection sensor 705 in the upper yoke receiving area 7011 is used to detect whether there is an upper yoke on the upper yoke receiving area 7011, and the yoke detection sensor 705 in the lower yoke receiving area 7012 is used to detect whether there is a lower yoke on the lower yoke receiving area 7012; The yoke platform positioning pin 704 is arranged 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; The yoke platform positioning pin lifting cylinder 707 is connected with 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 with the yoke platform positioning pin lifting cylinder 707 and is used to control the telescopic rod of the yoke platform positioning pin lifting cylinder 707 to perform the telescopic action.

[0073] As shown in Figure 15 The conveying trolley assembly 8 includes a conveying trolley 808, a walking track 805, a trolley advancing 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 sensing metal sheet 807, a metal detection sensor 804, a first guide bearing 802, and a second guide bearing 803.

[0074] The conveying trolley 808 is used to transport the core tray led out by the lifting roller line assembly 9 to the outside of the transformer core silicon steel sheet laminating machine; the walking track 805 is arranged below the conveying trolley 808 and is used to support the movement of the conveying trolley 808; the trolley traveling motor 8010 is connected with the power end of the conveying trolley 808 and is used to provide power for the conveying trolley 808 to move along the walking track 805; the trolley conveying roller 801 is arranged on the upper surface of the conveying trolley 808 and is used to carry the core tray led out by the lifting roller line assembly 9; the trolley roller motor 809 is connected with the trolley conveying roller 801 and is used to control the rotation of the trolley conveying roller 801; the trolley positioning device 806 is arranged on one side of the moving terminal of the walking track 805 and is used to position the conveying trolley 808; the trolley positioning pin is arranged 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 with the trolley positioning pin and is used to control the trolley positioning pin to extend to be inserted into the trolley positioning device 806 when the trolley positioning pin moves to the cooperating position with the trolley positioning device 806; the inductive metal sheet 807 is arranged on one side of the moving terminal of the walking track 805; the metal detection sensor 804 is arranged on the lower surface of the conveying trolley 808 and is used to detect the relative position of the inductive metal sheet 807; the first guide bearing 802 is arranged on the side of the upper surface of the conveying trolley 808 and is used to provide guidance when the core tray of the preset first size type enters and exits the conveying trolley 808; the second guide bearing 803 is arranged on the upper surface of the conveying trolley 808 and is used to provide guidance when the core tray of the preset second size type enters and exits the conveying trolley 808.

[0075] As shown in Figure 16 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 limiting mechanism 901, a third guide bearing 906, and a fourth guide bearing 907.

[0076] The lifting conveying roller 903 is arranged on the upper surface of the lifting roller line assembly 9, used to carry the core tray used to place the core column silicon steel sheet and the iron yoke silicon steel sheet after the lamination according to the preset shape; the roller rotating motor 905 is connected with the lifting conveying roller 903, used to control the rotation of the lifting conveying roller 903; the lifting connecting rod 904 is arranged below the lifting conveying roller 903, used to drive the lifting conveying roller 903 to lift; the roller lifting motor 902 is connected with the lifting connecting rod 904, used to control the extension and retraction of the lifting connecting rod 904; the adjustable limiting mechanism 901 is arranged above the lifting conveying roller 903, used to limit the core tray; the third guide bearing 906 is arranged on the side of the upper surface of the lifting roller line assembly 9, used to provide guidance when the preset first size type of core tray enters and exits the lifting roller line assembly 9; the fourth guide bearing 907 is arranged on the upper surface of the lifting roller line assembly 9, used to provide guidance when the preset second size type of core tray enters and exits the lifting roller line assembly 9.

[0077] As shown in Figures 17-18 The upper yoke piece receiving table assembly 11 includes an upper yoke piece platform 1101, an upper yoke piece platform moving slide rail 1106, an upper yoke piece platform moving chain 1105, an upper yoke piece platform moving motor 1104, an upper yoke piece detection sensor 1103, and an upper yoke piece platform positioning pin 1102.

[0078] The upper yoke piece platform 1101 is used to carry the upper yoke piece dropped by the yoke piece conveying belt 507; the upper yoke piece platform moving slide rail 1106 is arranged below the upper yoke piece platform 1101, used to support the movement of the upper yoke piece platform 1101; the upper yoke piece platform moving chain 1105 is connected with the upper yoke piece platform 1101, used to drive the upper yoke piece platform 1101 to move on the upper yoke piece platform moving slide rail 1106; the upper yoke piece platform moving motor 1104 is connected with the upper yoke piece platform moving chain 1105, used to control the upper yoke piece platform moving chain 1105 to perform the extension and retraction action; the upper yoke piece detection sensor 1103 is arranged on the upper surface of the upper yoke piece platform 1101, used to detect whether there is an upper yoke piece on the upper yoke piece platform 1101; the upper yoke piece platform positioning pin 1102 is arranged on the upper surface of the upper yoke piece platform 1101, used to position the upper yoke piece placed on the upper yoke piece platform 1101.

[0079] As shown in Figures 19-20 The standby upper yoke piece manipulator 10 includes a standby manipulator body 1002, an upper yoke piece manipulator moving slide rail 1005, a manipulator lifting chain 1003, a manipulator lifting motor 1001, and a standby upper yoke piece electromagnet 1004.

[0080] The standby mechanical arm body 1002 is arranged above the upper yoke platform 1101; the upper yoke mechanical arm moving slide rail 1005 is arranged on one side of the standby mechanical arm body 1002, for supporting the movement of the standby mechanical arm body 1002; the mechanical arm lifting chain 1003 is connected with the standby mechanical arm body 1002, for driving the standby mechanical arm body 1002 to move on the upper yoke mechanical arm moving slide rail 1005; the mechanical arm lifting motor 1001 is connected with the mechanical arm lifting chain 1003, for controlling the mechanical arm lifting chain 1003 to perform the extension and retraction action; the standby upper yoke electromagnet 1004 is arranged on the lower surface of the standby mechanical arm body 1002, for providing upward suction force, so that the upper yoke is adsorbed on the lower surface of the standby mechanical arm body 1002.

[0081] As shown in Figure 21 The upper yoke conveying trolley assembly 12 includes an upper yoke conveying trolley 1204, an upper yoke conveying track 1203, a trolley moving chain 1205, an upper yoke conveying roller 1202, and a trolley controller 1201.

[0082] The upper yoke conveying trolley 1204 is used to convey the upper yoke conveyed by the standby upper yoke mechanical arm 10 to the outside of the transformer core silicon steel sheet laminating machine; the upper yoke conveying track 1203 is arranged below the upper yoke conveying trolley 1204, for supporting the movement of the upper yoke conveying trolley 1204; the trolley moving chain 1205 is connected with the upper yoke conveying trolley 1204, for driving the upper yoke conveying trolley 1204 to move on the upper yoke conveying track 1203; the upper yoke conveying roller 1202 is arranged on the upper surface of the upper yoke conveying trolley 1204, for bearing the upper yoke; the trolley controller 1201 is connected with the trolley moving chain 1205 and the upper yoke conveying roller 1202, for controlling the trolley moving chain 1205 to perform the extension and retraction action and controlling the upper yoke conveying roller 1202 to perform the rotation action.

[0083] In the specific implementation of the transformer core silicon steel sheet laminating machine, the lamination method of the transformer core silicon steel sheet laminating machine includes the following steps:

[0084] Step S100, the cross-cutting machine device 13 performs shearing treatment on the silicon steel coil material, to obtain cross-derived core column silicon steel sheets and yoke silicon steel sheets;

[0085] The number of silicon steel sheets exported by the cross-cutting machine device 13 can be determined according to the number of silicon steel sheets that can be grasped by the manipulator at one time, and the number of silicon steel sheets that can be grasped by the manipulator at one time can be determined according to the magnetic attraction mechanism of the manipulator. For example, the magnetic attraction mechanism of the manipulator can attract five silicon steel sheets at one time, which means that the manipulator can stack five silicon steel sheets at one time. Taking the example of stacking five silicon steel sheets at one time, the silicon steel sheets exported by the cross-cutting machine device 13 are: middle column sheet, middle column sheet, middle column sheet, middle column sheet, middle column sheet, edge column sheet (which can be a left column sheet or a right column sheet), yoke sheet (which can be an upper yoke sheet or a lower yoke sheet), edge column sheet, yoke sheet, edge column sheet, yoke sheet, edge column sheet, yoke sheet, edge column sheet, yoke sheet, which is one cutting cycle. When the last yoke sheet of the upper cutting cycle is cut, the first middle column sheet of the next cutting cycle is cut, and so on. This cutting method can effectively improve the grasping efficiency of the manipulator. Through the cross-cutting of the core column silicon steel sheet and the iron yoke silicon steel sheet, the grasping and stacking of the core column silicon steel sheet and the iron yoke silicon steel sheet are performed in parallel, and the grasping frequency and total movement distance of the manipulator are reduced, thereby improving the stacking efficiency.

[0086] The core column silicon steel sheet and the iron yoke silicon steel sheet have holes that cooperate with the positioning pins of the transformer core silicon steel sheet stacking machine. During transportation and grasping and placing, the corresponding positioning pins are inserted into the holes of the core column silicon steel sheet and the iron yoke silicon steel sheet to position the core column silicon steel sheet and the iron yoke silicon steel sheet, thereby ensuring that the stacked core column silicon steel sheets and iron yoke silicon steel sheets are aligned during transportation and placement.

[0087] In step S200, the core column silicon steel sheets exported by the cross-cutting machine device 13 are transported to the column sheet conveying flow line assembly 4, and the iron yoke silicon steel sheets exported by the cross-cutting machine device 13 are transported to the yoke sheet conveying flow line assembly 5.

[0088] The transportation of the column sheet conveying flow line assembly 4 and the yoke sheet conveying flow line assembly 5 is parallel, that is, the core column silicon steel sheets are transported from the column sheet conveying flow line assembly 4, and the iron yoke silicon steel sheets are transported from the yoke sheet conveying flow line assembly 5.

[0089] In step S210, if the current prepared transformer core is of the first specification, step S300 is performed; if the current prepared transformer core is of the second specification, steps S220-S260 are performed.

[0090] The second specification transformer core lacks the upper yoke sheet of the iron yoke silicon steel sheet compared to the first specification transformer core. The second specification can be a mountain-shaped transformer core, and the first specification can be a sun-shaped transformer core. Since the mountain-shaped transformer core lacks one upper yoke sheet compared to the sun-shaped transformer core, the upper yoke sheet needs to be removed when preparing the mountain-shaped transformer core.

[0091] Step S220, the core column silicon steel sheet is transported to the column piece receiving platform assembly 6 by the column piece conveying flow line assembly 4;

[0092] Step S230, the lower yoke piece of the yoke silicon steel sheet is transported to the yoke piece receiving platform assembly 7 by the yoke piece conveying flow line assembly 5, and the upper yoke piece of the yoke silicon steel sheet is transported to the upper yoke piece receiving platform assembly 11 by the yoke piece conveying flow line assembly 5;

[0093] Step S240, when the number of the upper yoke pieces received by the upper yoke piece receiving platform assembly 11 meets the preset upper yoke piece number condition, the upper yoke piece receiving platform assembly 11 moves to the lower side of the upper yoke piece mechanical arm 10;

[0094] Step S250, when the lower surface of the upper yoke piece mechanical arm 10 contacts the upper yoke pieces received by the upper yoke piece receiving platform assembly 11, all the upper yoke pieces carried by the upper yoke piece receiving platform assembly 11 are adsorbed, and the upper yoke pieces are moved and placed on the upper yoke piece conveying trolley assembly 12;

[0095] Step S260, the upper yoke piece conveying trolley assembly 12 transports the upper yoke pieces to the outside of the transformer core silicon steel sheet laminating machine.

[0096] Step S300, the core column silicon steel sheet is transported to the column piece receiving platform assembly 6 by the column piece conveying flow line assembly 4, and the yoke silicon steel sheet is transported to the yoke piece receiving platform assembly 7 by the yoke piece conveying flow line assembly 5;

[0097] Since the left column piece, the right column piece and the middle column piece need to be received on the column piece receiving platform assembly 6, it is necessary to set the receiving logic of the column piece receiving platform assembly 6 and the cutting logic of the cross-cutting machine device 13 to be synchronous, that is, when the cutting sequence of the core column silicon steel sheet of the cross-cutting machine device 13 is left column piece, right column piece and middle column piece in turn, the left column piece receiving area 6021 of the column piece receiving platform assembly 6 is first located below the column piece conveying flow line assembly 4, when the left column piece receiving area 6021 is full of left column pieces, at this time, the next core column silicon steel sheet of the column piece conveying flow line assembly 4 is the right column piece, then the column piece receiving platform assembly 6 moves to the position where the right column piece receiving area 6023 is located below the column piece conveying flow line assembly 4, and the right column pieces are received by the right column piece receiving area 6023, when the right column piece receiving area 6023 is full of right column pieces, the column piece receiving platform assembly 6 moves to the position where the middle column piece receiving area 6022 is located below the column piece conveying flow line assembly 4, and the middle column pieces are received by the middle column piece receiving area 6022, correspondingly, the receiving logic of the yoke piece receiving platform assembly 7 also needs to be synchronous with the cutting logic of the yoke silicon steel sheet of the cross-cutting machine device 13, which will not be described here.

[0098] Step S400, when the number of core column silicon steel sheets received on the column piece receiving platform assembly 6 meets the preset core column number condition, the column piece receiving platform assembly 6 moves to the lower side of the column piece mechanical hand assembly, and the core column silicon steel sheets are lifted to the lower surface of the column piece mechanical hand assembly;

[0099] Step S500, when the number of iron yoke silicon steel sheets received on the yoke piece receiving platform assembly 7 meets the preset iron yoke number condition, the yoke piece receiving platform assembly 7 moves to the lower side of the yoke piece mechanical hand assembly, and at the same time of moving, the iron yoke silicon steel sheets are rotated to a position parallel to the yoke piece mechanical hand assembly;

[0100] Since the positions of the iron yoke silicon steel sheets and the core column silicon steel sheets in the core are vertical, and the column piece conveying flow line assembly 4 and the yoke piece conveying flow line assembly 5 are parallel, the iron yoke silicon steel sheets need to be rotated by 90 degrees, so that the mechanical hand does not need to adjust the angle of placement when grabbing the iron yoke silicon steel sheets for core lamination, and the rotation process of the iron yoke silicon steel sheets and the moving process of the yoke piece receiving platform assembly 7 are synchronous, that is, the yoke piece receiving platform assembly 7 rotates the iron yoke silicon steel sheets while moving, so that the time waste of rotation is avoided, and the lamination time is further shortened.

[0101] Step S600, when the lower surface of the column piece mechanical hand assembly contacts the core column silicon steel sheets, all the core column silicon steel sheets carried on the column piece receiving platform assembly 6 are adsorbed and moved to be placed at the preset core column position on the lifting roller line assembly 9;

[0102] When the column piece mechanical hand assembly takes away all the core column silicon steel sheets carried on the column piece receiving platform assembly 6 at one time, the column piece receiving platform assembly 6 returns to the initial position to receive the next cycle of core column silicon steel sheets.

[0103] Step S700, when the yoke piece receiving platform assembly 7 moves to the lower side of the yoke piece mechanical hand assembly, the yoke piece mechanical hand assembly is lowered to the position where the lower surface of the yoke piece mechanical hand assembly is attached to the uppermost layer of the iron yoke silicon steel sheets carried on the yoke piece receiving platform assembly 7, the yoke piece mechanical hand assembly adsorbs all the iron yoke silicon steel sheets on the yoke piece receiving platform assembly 7 and moves to be placed at the preset iron yoke position on the lifting roller line assembly 9;

[0104] When the yoke piece mechanical hand assembly takes away all the iron yoke silicon steel sheets carried on the yoke piece receiving platform assembly 7 at one time, the yoke piece receiving platform assembly 7 returns to the initial position to receive the next cycle of iron yoke silicon steel sheets.

[0105] After the column piece mechanical hand assembly and the yoke piece mechanical hand assembly place the grabbed core column silicon steel sheets and iron yoke silicon steel sheets on the lifting roller line assembly 9, the column piece mechanical hand assembly and the yoke piece mechanical hand assembly return to the initial position respectively to prepare for the next grabbing.

[0106] Step S800, when the preset core column position on the lifting roller line assembly 9 exists the preset core column quantity of core column silicon steel sheet, and the preset yoke position exists the preset yoke quantity of yoke silicon steel sheet, the lifting roller line assembly 9 transports the core column silicon steel sheet and the yoke silicon steel sheet satisfying the lamination position relationship of the preset core column position and the preset yoke position to the conveying trolley assembly 8;

[0107] The lifting roller line assembly 9 is provided with a core tray, the core column silicon steel sheet and the yoke silicon steel sheet are placed in the core tray, and the lifting roller line assembly 9 transports the core tray filled with the core column silicon steel sheet and the yoke silicon steel sheet to the conveying trolley assembly 8.

[0108] Step S900, the conveying trolley assembly 8 transports the received core column silicon steel sheet and yoke silicon steel sheet to the outside of the transformer core silicon steel sheet laminator in the preset core column position and the preset yoke position lamination position relationship.

[0109] The cross-cutting machine equipment of the present application first cuts the silicon steel sheet to obtain the cross-derived core column silicon steel sheet and yoke silicon steel sheet, then the column piece conveying flow line assembly transports the core column silicon steel sheet to the column piece material receiving platform assembly, the yoke piece conveying flow line assembly transports the yoke silicon steel sheet to the yoke piece material receiving platform assembly, the column piece material receiving platform assembly moves to the lower side of the column piece mechanical hand assembly after receiving the core column silicon steel sheet, and lifts the core column silicon steel sheet to the lower surface of the column piece mechanical hand assembly, the yoke piece material receiving platform assembly moves to the lower side of the yoke piece mechanical hand assembly after receiving the yoke silicon steel sheet, and rotates the yoke silicon steel sheet to a position parallel to the yoke piece mechanical hand assembly while moving, the column piece mechanical hand assembly adsorbs the core column silicon steel sheet and moves to be placed on the lifting roller line assembly, at the same time the yoke piece mechanical hand assembly descends to adsorb the yoke silicon steel sheet and moves to be placed on the lifting roller line assembly, the lifting roller line assembly transports the transformer core obtained after the lamination of the core column silicon steel sheet and the yoke silicon steel sheet to the conveying trolley assembly, and transports it to the outside by the conveying trolley assembly, by transporting and laminating the core column silicon steel sheet and the yoke silicon steel sheet respectively, and the transportation flow lines of the core column silicon steel sheet and the yoke silicon steel sheet are executed in parallel, the material on the material receiving platform is grasped by the corresponding mechanical hand at one time, the walking frequency of the mechanical hand is reduced, and the transportation efficiency and lamination efficiency of the core column silicon steel sheet and the yoke silicon steel sheet are improved.

[0110] The application can greatly improve the overall efficiency of the laminating machine by buffering multiple silicon steel sheets through the receiving platform, and the column piece conveying streamline assembly and the yoke piece conveying streamline assembly are arranged in layers, and in order to maximize the feeding efficiency, the silicon steel sheets at the column piece position and the silicon steel sheets at the yoke piece position are circulated, the upper and lower layers are operated in parallel, the device action time is maximized, the walking mechanism of the manipulator adopts V-shaped track matched with gear rack, the running speed is fast and the precision is high, the device efficiency and the position precision of the laminating are improved, through the layout design of the standby upper yoke piece manipulator 10, the upper yoke piece receiving table assembly 11 and the upper yoke piece conveying trolley assembly 12, the automatic switching of the day-shaped core and the mountain-shaped core can be solved, and the extra silicon steel sheets at the upper yoke position can be automatically transplanted to the next station, the problem of simultaneous compatibility of the stacking process (mountain-shaped / day-shaped) is solved, the automatic switching according to the production capacity plan can be realized, the demand of using only one product preparation for diversified products of customers is met, and the transformer core silicon steel sheet laminating machine can absorb the current number of silicon steel sheets for stacking according to the product step number, and the number of absorption steps can also be automatically switched and sorted through the pre-set program, so that the efficiency of the device is greatly improved, and the device adopts the receiving platform for transfer, the cut silicon steel sheets are thrown to the receiving platform through the conveying belt, and the manipulator is grasped at one time after the receiving platform is filled with multiple layers, the walking frequency of the manipulator is only 1 / 5 of that of the traditional device (calculated based on 5 pieces of first-level), the receiving platform can continue to receive while the manipulator laminates, and each action is executed in parallel, so that the laminating efficiency is improved.

[0111] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical range disclosed by the present application can be easily thought by those skilled in the art, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A transformer core silicon steel lamination machine, characterized in that, include: The core steel sheet conveyor assembly (4) is connected to the shearing machine (13) and is used to receive the silicon steel sheets of the core steel sheet exported by the shearing machine (13). The yoke conveyor assembly (5) is connected to the shearing machine (13) and is located above the column conveyor assembly (4) for receiving the iron yoke silicon steel sheets exported by the shearing machine (13). The core silicon steel sheet receiving platform assembly (6) is located below the core conveyor assembly (4) and is used to receive the core silicon steel sheet falling from the core conveyor assembly (4). 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 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 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 yoke robotic arm 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 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 silicon steel sheets of the core column and the silicon steel sheets of the yoke after being stacked on the lifting roller line assembly (9) to the outside.

2. The transformer core silicon steel lamination machine according to claim 1, characterized in that, 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).

3. The transformer core silicon steel lamination machine according to claim 2, characterized in that, 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).

4. The transformer core silicon steel lamination machine according to claim 3, characterized in that, The column sheet 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.

5. The transformer core silicon steel lamination machine according to claim 4, characterized in that, 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).

6. The transformer core silicon steel lamination machine according to claim 5, characterized in that, 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). The first cylindrical robotic arm travel guide rail (206) and the second cylindrical robotic arm travel guide rail (207) are located at... 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).

7. The transformer core silicon steel lamination machine according to claim 6, characterized in that, 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). 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.

8. The transformer core silicon steel lamination machine according to claim 7, characterized in that, 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).

9. The transformer core silicon steel lamination machine according to claim 8, characterized in that, 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).

10. The transformer core silicon steel lamination machine according to claim 9, characterized in that, It also includes a spare upper yoke manipulator (10), an upper yoke receiving platform assembly (11), and an upper yoke conveying trolley assembly (12); The upper yoke receiving platform assembly (11) is located below the yoke conveyor belt (507) and is used to carry the upper yoke that falls from the yoke conveyor belt (507) when preparing the iron core of the preset shape. The spare upper yoke piece robot (10) is positioned above the upper yoke piece receiving platform assembly (11) and is used to transport the upper yoke pieces on the upper yoke piece receiving platform assembly (11) to the upper yoke piece conveying trolley assembly (12). The upper yoke conveying trolley assembly (12) is located below the spare upper yoke manipulator (10) and is used to transport the upper yoke sheets transported by the spare upper yoke manipulator (10) to the outside of the transformer core silicon steel sheet stacking machine. The upper yoke receiving platform assembly (11) includes: Upper yoke platform (1101) for carrying the upper yoke that is lowered by the yoke conveyor belt (507); The upper yoke platform moving slide rail (1106) is disposed below the upper yoke platform (1101) and is used 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) and is used 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) and is used to control the upper yoke platform moving chain (1105) to perform extension and retraction actions. An upper yoke detection sensor (1103) is disposed on the upper surface of the upper yoke platform (1101) and is used to detect whether an upper yoke exists on the upper yoke platform (1101). The upper yoke platform positioning pin (1102) is disposed on the upper surface of the upper yoke platform (1101) and is used to position the upper yoke placed on the upper yoke platform (1101). The spare upper yoke manipulator (10) includes: A spare robotic arm body (1002) is positioned above the upper yoke platform (1101); The upper yoke manipulator moving slide rail (1005) is disposed on one side of the backup manipulator body (1002) and is used to support the movement of the backup manipulator body (1002); The lifting chain (1003) of the robotic arm is connected to the spare robotic arm body (1002) and is used to drive the spare robotic arm body (1002) 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) and is used to control the robotic arm lifting chain (1003) to perform extension and retraction actions; A spare upper yoke electromagnet (1004) is disposed on the lower surface of the spare manipulator body (1002) to provide an upward suction force so that the upper yoke is adsorbed on the lower surface of the spare manipulator body (1002). The upper yoke conveyor trolley assembly (12) includes: The upper yoke conveying trolley (1204) is used to transport the upper yoke sheets transported by the spare upper yoke manipulator (10) to the outside of the transformer core silicon steel sheet stacking machine. The upper yoke conveying track (1203) is located below the upper yoke conveying trolley (1204) and is used to support the movement of the upper yoke conveying trolley (1204); The trolley moving chain (1205) is connected to the upper yoke conveying trolley (1204) and is used to drive the upper yoke conveying trolley (1204) to move on the upper yoke conveying track (1203); The upper yoke conveying roller (1202) is disposed on the upper surface of the upper yoke conveying trolley (1204) and is used to carry the upper yoke; The trolley controller (1201) is connected to the trolley moving chain (1205) and the upper yoke conveying roller (1202) and is used to control the trolley moving chain (1205) to perform telescopic actions and to control the upper yoke conveying roller (1202) to perform rotational actions.

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