Iron core sheet pre-stacking system and iron core sheet pre-stacking control method

Abstract

The invention discloses an iron core sheet pre-stacking system and an iron core sheet pre-stacking control method, and relates to the field of transformer production.The iron core sheet pre-stacking control method comprises the steps that a controller is used for controlling a two-direction displacement mechanism installed on the bearing face of a centering platform to move iron core sheets, so that the center positions of the iron core sheets coincide with the center position of the centering platform; and the first grabbing mechanism is controlled to translate the moved iron core sheets borne by the bearing surface of the centering platform to the pre-stacking platform. The center position of the bidirectional displacement mechanism is enabled to coincide with the center position of the centering platform based on movement of the bidirectional displacement mechanism, and the centering platform and the pre-stacking platform are configured to be the same in shape and size and are arranged in parallel, so that the center positions of the iron core pieces translated to the pre-stacking platform by the first grabbing mechanism coincide, and then in the subsequent iron core production process, the production efficiency is improved. And the stacked iron core pieces borne by the pre-stacking platform and other stacked iron core pieces are spliced, inserted and assembled, so that the production efficiency of the iron core and the transformer is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transformer production, and in particular to a core piece pre-stacking system and a core piece pre-stacking control method. BACKGROUND

[0002] An iron core is a core component of a magnetic circuit system of a transformer. In order to reduce eddy current loss, the existing iron core is produced by manually stacking core pieces in different sizes at the positions of an iron core column and an iron yoke according to an order layer by layer.

[0003] However, the number of core pieces required by a transformer is relatively large, for example, for a large transformer with a capacity greater than 8000 kVA, thousands of core pieces are required, resulting in the problem of low production efficiency of the existing manual stacking of the iron core production method. SUMMARY

[0004] In view of the above problems, the present application provides a core piece pre-stacking system and a core piece pre-stacking control method to achieve the purpose of improving the production efficiency of the iron core. The specific scheme is as follows:

[0005] The first aspect of the present application provides a core piece pre-stacking system, comprising:

[0006] The centering platform and the pre-stacking platform have the same shape and size, and the first grabbing mechanism and the controller are provided;

[0007] The bearing surface of the centering platform is provided with a two-way displacement mechanism, and the two-way displacement mechanism is used to move the core piece placed on the bearing surface;

[0008] The first grabbing mechanism is arranged between the centering platform and the pre-stacking platform arranged in parallel;

[0009] The controller is electrically connected with the centering platform and the first grabbing mechanism respectively, and the controller is used to control the two-way displacement mechanism of the centering platform to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform, and is also used to control the first grabbing mechanism to translate the moved core piece carried by the bearing surface to the pre-stacking platform.

[0010] In a possible implementation, the first grabbing mechanism comprises:

[0011] A vacuum adsorption device, which is electrically connected with the controller.

[0012] In a possible implementation, the vacuum adsorption device comprises:

[0013] a vacuum pump, at least one bracket, a plurality of vacuum cups, a plurality of vacuum regulating valves and a grating height detection sensor;

[0014] The grating height detection sensor is installed on a side surface of the bracket, which is perpendicular to the bearing surface, for measuring the thickness of the iron core piece;

[0015] Each of the vacuum cups is longitudinally installed on a contact surface of the bracket, which is parallel to the bearing surface;

[0016] The exhaust port of the vacuum cup is connected to one end of the vacuum regulating valve through a gas guide pipe, and the other end of the vacuum regulating valve is in communication with the gas inlet end of the vacuum pump;

[0017] The controller is in communication with the grating height detection sensor, each of the vacuum regulating valves and the vacuum pump, respectively, and is further configured to determine the opening degree of the vacuum regulating valve based on the thickness of the iron core piece collected by the grating height detection sensor, and control the start and stop of the vacuum pump.

[0018] In a possible implementation, the two-way displacement mechanism comprises:

[0019] a distance measuring sensor, a first displacement device in a first direction and a second displacement device in a second direction, the first direction and the second direction being parallel to the bearing surface, and the first direction being perpendicular to the second direction;

[0020] The controller is electrically connected to the distance measuring sensor, the first displacement device and the second displacement device, respectively, and is further configured to control the first displacement device and the second displacement device to move the iron core piece in the first direction and the second direction according to the boundary distance of the iron core piece and the bearing surface collected by the distance measuring sensor, so that the center position of the iron core piece coincides with the center position of the centering platform, the boundary distance being the distance between each side of the iron core piece and the edge of the bearing surface closest to the side.

[0021] In a possible implementation, the iron core piece pre-stacking system further comprises:

[0022] a second grabbing mechanism, the second grabbing mechanism comprising the same vacuum suction device as the first grabbing mechanism;

[0023] The controller is further electrically connected to the controller, and the controller is further configured to control the second grabbing mechanism to place the iron core piece on the bearing surface.

[0024] In a possible implementation, the iron core piece pre-stacking system further comprises:

[0025] The sheet material rack comprises a plurality of storage areas of different sizes for storing the core pieces of appropriate sizes.

[0026] The second aspect of the present application provides a core piece pre-stacking control method applied to a controller in the core piece pre-stacking system of the first aspect and any of the implementation manners of the first aspect. The core piece pre-stacking control method comprises the following steps of:

[0027] controlling a two-direction displacement mechanism installed on a bearing surface of the centering platform to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform;

[0028] controlling a first grabbing mechanism arranged between the parallelly arranged centering platform and pre-stacking platform to translate the moved core piece carried by the bearing surface to the pre-stacking platform, the pre-stacking platform having the same shape and size as the centering platform.

[0029] In a possible implementation, the two-direction displacement mechanism comprises:

[0030] a distance measuring sensor, a first displacement device in a first direction and a second displacement device in a second direction, the first direction and the second direction being parallel to the bearing surface, and the first direction being perpendicular to the second direction;

[0031] the controller is electrically connected with the distance measuring sensor, the first displacement device and the second displacement device respectively;

[0032] controlling the two-direction displacement mechanism installed on the bearing surface of the centering platform to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform, comprises: according to a boundary distance between the core piece and the bearing surface collected by the distance measuring sensor, controlling the first displacement device and the second displacement device to move the core piece in the first direction and the second direction, so that the center position of the core piece coincides with the center position of the centering platform, the boundary distance being a distance between each side of the core piece and a side of the bearing surface closest to the side.

[0033] In a possible implementation, the controlling the first grabbing mechanism arranged between the parallelly arranged centering platform and pre-stacking platform to translate the moved core piece carried by the bearing surface to the pre-stacking platform comprises:

[0034] determining the coordinates of the center position of the centering platform as the grabbing position coordinates of the first grabbing mechanism, and determining the coordinates of the center position of the pre-stacking platform as the releasing position coordinates of the first grabbing mechanism;

[0035] generate a translation path based on the grabbing position coordinates and the releasing position coordinates, and control the first grabbing mechanism to translate the moved core piece carried by the bearing surface from the centering platform to the pre-stacking platform based on the translation path.

[0036] In a possible implementation, the first grabbing mechanism comprises a vacuum suction device, and the vacuum suction device comprises:

[0037] a vacuum pump, at least one bracket, a plurality of vacuum suction cups, a plurality of vacuum regulating valves, and a grating height detection sensor;

[0038] The grating height detection sensor is installed on a side surface of the bracket, and is used to measure the core piece thickness of the core piece, the side surface being perpendicular to the bearing surface;

[0039] Each of the vacuum suction cups is longitudinally installed on a contact surface of the bracket, the contact surface being parallel to the bearing surface;

[0040] An exhaust port of the vacuum suction cup is connected to one end of the vacuum regulating valve through a gas guide pipe, and the other end of the vacuum regulating valve is in communication with an air inlet end of the vacuum pump;

[0041] The controller is in communication with the grating height detection sensor, each of the vacuum regulating valves, and the vacuum pump, respectively;

[0042] The core piece pre-stacking control method further comprises:

[0043] Based on the core piece thickness collected by the grating height detection sensor, the opening degree of the vacuum regulating valve is determined, and the vacuum pump is controlled to start and stop.

[0044] According to the above technical solution, the core piece pre-stacking system and the core piece pre-stacking control method provided by the present application are configured to connect the controller to the centering platform and the first grabbing mechanism, respectively, the controller controls the two-way displacement mechanism of the centering platform to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform, and the first grabbing mechanism is configured to translate the moved core piece to the pre-stacking platform. Since the centering platform and the pre-stacking platform have the same shape and size and are arranged in parallel, the center positions of the core pieces translated by the first grabbing mechanism to the pre-stacking platform coincide, and in the subsequent core production process, the stacked core pieces carried by the pre-stacking platform are assembled with other core pieces that have been completed to improve the core production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0045] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with regard to the following detailed description, appended claims, and accompanying drawings. Throughout the drawings, the same or similar reference numerals can represent the same or similar elements. It should be understood that the drawings are schematic and elements in the drawings are not necessarily to scale.

[0046] Figure 1 A structure schematic diagram of a core piece pre-stacking system provided by the present application;

[0047] Figure 2 A splicing schematic diagram of a first layer core piece provided by the present application;

[0048] Figure 3 A splicing schematic diagram of a second layer core piece provided by the present application;

[0049] Figure 4 A pre-stacking schematic diagram provided by the present application;

[0050] Figure 5 A side view schematic diagram of a multi-axis mechanical arm provided by the present application;

[0051] Figure 6 A side view schematic diagram of a slide rail type lifting device provided by the present application;

[0052] Figure 7 An effect diagram of a lower iron yoke pre-stacking provided by the present application;

[0053] Figure 8 An effect diagram of an upper iron yoke pre-stacking provided by the present application;

[0054] Figure 9 An effect diagram of a side column and core column pre-stacking provided by the present application;

[0055] Figure 10 Three view diagrams of a vacuum adsorption device provided by the present application;

[0056] Figure 11 A deployment manner schematic diagram of a distance measuring sensor provided by the present application;

[0057] Figure 12 A structure schematic diagram of a push rod type two-direction displacement mechanism provided by the present application;

[0058] Figure 13 A structure schematic diagram of a balance wheel type two-direction displacement mechanism provided by the present application;

[0059] Figure 14 A structure schematic diagram of a core piece pre-stacking system provided by the present application;

[0060] Figure 15A flow chart of a core piece pre-stacking control method provided in the present application is shown in the figure;

[0061] Figure 16 A structural schematic diagram of an electronic device provided in the present application is shown in the figure. DETAILED DESCRIPTION

[0062] The embodiments of the present application are described below in conjunction with the figures in the embodiments of the present application. The terms used in the embodiment part of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0063] The embodiments of the present application are described below in conjunction with the figures. It is known to those of ordinary skill in the art that, as technology develops and new scenarios appear, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0064] The terms “first”, “second”, and the like in the specification and claims of the present application and the above figures are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is only a distinguishing way used in the description of the embodiments of the present application to describe the objects with the same attributes. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or equipment containing a series of units do not have to be limited to those units, but can include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0065] The first aspect of the present application provides a core piece pre-stacking system, as shown in the figure, the core piece pre-stacking system comprises: Figure 1 The core piece pre-stacking system comprises:

[0066] The centering platform 101 and the pre-stacking platform 102 have the same shape and size, and the first grabbing mechanism 103 and the controller 104 are arranged between the centering platform 101 and the pre-stacking platform 102;

[0067] The bearing surface of the centering platform 101 is provided with a two-way displacement mechanism 105, which is used to move the core piece placed on the bearing surface;

[0068] The first grabbing mechanism 103 is arranged between the parallelly arranged centering platform 101 and pre-stacking platform 102;

[0069] The controller 104 is electrically connected with the centering platform 101 and the first grabbing mechanism 103 respectively, and is used to control the two-way displacement mechanism 105 of the centering platform 101 to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform 101, and is also used to control the first grabbing mechanism 103 to translate the moved core piece carried by the bearing surface to the pre-stacking platform 102.

[0070] It should be noted that, in actual application scenarios, in order to facilitate the understanding of the pre-stacking of the core pieces, the present application is described in combination with a possible implementation:

[0071] Taking a single-phase three-column core as an example, as shown in Figure 2 , it is a splicing diagram of the first layer of core pieces. The first layer of core pieces is composed of 7 core pieces of different shapes and sizes, namely Aa, Ab, Af, Ag, Ah, Ak and Q. Among them, Aa and Ab are core pieces at the yoke (without winding coils), and Af, Ag, Ah, Ak and Q are core pieces at the core column (with winding coils). As shown in Figure 3 , it is a splicing diagram of the second layer of core pieces. The composition of the second layer of core pieces is the same as that of the first layer of core pieces, and the difference is only in the placement position of Af, Ag, Ah, Ak and Q. The existing manual stacking method needs to be alternately completed by manual work to splice the first layer of core pieces and the second layer of core pieces layer by layer. Since each layer needs to splice 7 core pieces of different shapes and sizes, a total of 9 pieces, and needs to adjust the position according to different layers, this directly leads to low production efficiency of the core, reducing the production efficiency of the transformer. The pre-stacking of the present application is to take the position of the core piece (yoke or core column) as the object, and stack the core pieces of different shapes and sizes at the same position. Taking Af and Ag at the optimal side core column as an example, the pre-stacking diagram is as shown in Figure 4 . By using the pre-stacking method, the number of core pieces to be spliced in a single operation is reduced, the operation process is reduced, and the production efficiency of the core is improved.

[0072] It should be noted that, in actual application scenarios, since the relative position between the core piece and the centering platform needs to be ensured to be completely consistent with the relative position between the core piece and the pre-stacking platform during the process of controlling the first grabbing mechanism 103 to translate the moved core piece carried by the bearing surface to the pre-stacking platform 102. Therefore, the above-mentioned first grabbing mechanism 103 can be a multi-axis robot arm with grabbing function, or a sliding rail type lifting device with grabbing function.

[0073] In a possible implementation, a side view of the multi-axis robot arm can be as shown in Figure 5 , wherein the A-axis of the multi-axis robot arm is used to drive the robot arm to rotate along the plane direction parallel to the A-axis installation plane, the B-axis, the C-axis and the D-axis are used to drive the robot arm to rotate along the plane direction perpendicular to the A-axis installation plane, and the E-axis is used to drive the grabbing member to rotate along the plane direction parallel to the A-axis installation plane.

[0074] In a possible implementation, a side view of the sliding rail type lifting device can be as shown in Figure 6As shown in the figure, the slide rail 601 is installed above the centering platform 101 and the pre-stacking platform 102, and is parallel to the support or weighing structure surface of the bearing surface of the centering platform 101 and the pre-stacking platform 102. The moving base 602 is embedded with the slide rail 601, which is used to drive the telescopic structure 603 to move along the slide rail direction. The telescopic structure 604 is used to drive the grabbing member to move along the direction perpendicular to the bearing surface, and the grabbing member 604 is used to grab the core piece.

[0075] It should be noted that in actual application scenarios, the two-way displacement mechanism 105 described above can be a mechanism installed on the bearing surface for moving the core piece in the two-dimensional plane coordinate system in which the bearing surface is located. Due to the difference in the center position (i.e. the center of mass of the core piece) of core pieces of different shapes and sizes, if the core pieces of different shapes and sizes are pre-stacked without reference objects, there is a risk that the stacking error will increase and the core pieces cannot be spliced. Therefore, the present application parallelly arranges the centering platform 101 and the pre-stacking platform 102 of the same shape and size, configures the two-way displacement mechanism 105 to move the core piece, so that the center position of the core piece coincides with the center position of the centering platform 101, and configures the first grabbing mechanism 103 to translate the moved core piece carried by the bearing surface to the pre-stacking platform 102, so that the center position of the core piece translated to the pre-stacking platform 102 coincides with the center position of the pre-stacking platform 102, and then the center positions of the core pieces carried by the pre-stacking platform 102 after multiple translations coincide, thereby improving the stacking accuracy to facilitate subsequent splicing and assembly of the core pieces, and improving the core production efficiency.

[0076] It should be noted that in actual application scenarios, due to the large mass and volume of the stacked core pieces, subsequent transportation is not conducive. Therefore, during the process of translating the core piece to the pre-stacking platform 102 by the first grabbing mechanism 103, a stacking thickness threshold value can be set based on the weight of the core piece, and the thickness of the core piece is monitored. When the thickness of the core piece is greater than the stacking thickness threshold value, the pre-stacking is stopped. The above monitoring process can be configured with multiple strategies, specifically:

[0077] Lower yoke pre-stacking strategy: when the current pre-stacking object is the core piece at the lower yoke, the stacking thickness threshold value is set to 400 mm. If the thickness of the core piece is not greater than the stacking thickness threshold value, the core piece at the lower yoke can be completely pre-stacked, and the stacking effect is as shown in Figure 7 If the thickness of the core piece is greater than the stacking thickness threshold value, the core piece can be pre-stacked in two parts, and the stacking effect is as shown in Figure 8

[0078] Upper yoke pre-stacking strategy: since the core piece at the upper yoke is pre-stacked from the middle to both sides, and the weighing of the pre-stacking platform 102 needs to be considered (usually 8 tons), the above stacking thickness threshold value is set to 300 mm, and the stacking shape is bowl-shaped, and the stacking effect is as shown in Figure 9 .​

[0079] The pre-stacking method of the limb column and the core column is as follows: there are two types of the sheet type of the iron core sheet located at the limb column position, Af and Ag, and Af and Ag are pre-stacked according to the stacking sequence, and the sheet type of the iron core sheet located at the core column is Ah, Ak and Q, and the wide and narrow splices of the same core column should be pre-stacked into a swallow-tail type according to the stacking sequence of the pattern during pre-stacking, and the thickness of each plate material should not exceed 350 mm, and the stacking effect is as shown in Figure 9

[0080] The application is connected with the centering platform and the first grabbing mechanism through the configuration controller, the configuration controller controls the two-way displacement mechanism of the centering platform to move the iron core, so that the center position of the iron core sheet coincides with the center position of the centering platform, and the first grabbing mechanism is used to translate the moved iron core sheet to the pre-stacking platform. Since the shape and size of the centering platform and the pre-stacking platform are the same and are arranged in parallel, the center positions of each iron core sheet translated to the pre-stacking platform by the first grabbing mechanism coincide, and then in the subsequent iron core production process, the stacked iron core sheets carried by the pre-stacking platform are assembled with other iron core sheets that have completed stacking, thereby improving the iron core production efficiency.

[0081] In a possible implementation, the first grabbing mechanism 103 includes:

[0082] A vacuum adsorption device, the vacuum adsorption device being electrically connected with the controller 104.

[0083] It should be noted that, in actual application scenarios, in order to avoid eddy current loss caused by electrical connection between iron core sheets, the surface of the iron core sheet is usually covered with insulating paint. However, in the existing manual stacking production process, conditions such as operator hand contamination and bending will cause local insulating paint to fall off, affecting the insulation effect of the iron core sheet, and thus causing the assembled iron core to have eddy current loss that does not meet the design requirements. The vacuum adsorption device is a device that uses a vacuum pump to extract air from the flexible adsorption assembly and the contacted material to generate negative pressure in the flexible adsorption assembly. Since the flexible adsorption assembly does not damage the insulating paint layer on the surface of the iron core sheet, and multiple groups of flexible adsorption assemblies can be configured to balance the stress of the iron core sheet, the iron core sheet will not be bent, and thus the first grabbing mechanism 103 including the vacuum adsorption device is configured in the application, so that the application avoids damage to the insulating paint on the surface of the iron core sheet compared with the prior art, and improves the pre-stacking reliability of the iron core sheet. In a possible implementation, the above-mentioned vacuum adsorption device includes:

[0084] a vacuum pump, at least one bracket, a plurality of vacuum adsorption discs, a plurality of vacuum regulating valves and a grating type height detection sensor;

[0085] The grating type height detection sensor is installed on the side surface of the bracket, and is used to measure the iron core sheet thickness of the iron core sheet, and the side surface is perpendicular to the bearing surface.​

[0086] Each vacuum chuck is longitudinally mounted on a contact surface of the support, the contact surface being parallel to the bearing surface;

[0087] The exhaust port of the vacuum chuck is connected to one end of the vacuum regulating valve through the air guide pipe, and the other end of the vacuum regulating valve is in communication with the air inlet end of the vacuum pump;

[0088] The controller 104 is in communication with the grating height detection sensor, each vacuum regulating valve and the vacuum pump, respectively, and the controller 104 is also used to determine the opening degree of the vacuum regulating valve based on the thickness of the iron core piece collected by the grating height detection sensor, and control the start and stop of the vacuum pump.

[0089] It should be noted that in the actual application scenario, the above-mentioned grating height detection sensor is an optical grating transducer for measuring the thickness of the iron core piece. Since the thickness of the iron core piece is usually 0.35mm to 0.5mm. The quality of iron core pieces of different thicknesses is different, and the corresponding suction force of the vacuum chuck also differs. Since the thickness of the two different quality iron core pieces differs in the pre-stacking process. Therefore, the present application collects the thickness of the iron core piece by configuring the above-mentioned grating height detection sensor, and controls the opening degree of the vacuum regulating valve connected to each vacuum chuck based on the thickness of the iron core piece, so as to adjust the suction force of different vacuum chucks, and thereby improve the firmness of the vacuum adsorption device to the iron core piece.

[0090] In one possible implementation, the three views of the above-mentioned vacuum adsorption device can be as shown in Figure 10 The vacuum adsorption device includes a vacuum pump 701, a support 702, vacuum chucks 703, vacuum regulating valves 704 and a grating height detection sensor 705. When the grating height detection sensor 705 detects that the thickness of the iron core piece is lower than the thickness collected last time, only the opening degrees of the vacuum regulating valves 704 corresponding to the four vacuum chucks located in the middle of the support can be configured to be maximum, and the vacuum pump can be controlled to start. When the grating height detection sensor 705 detects that the thickness of the iron core piece is higher than the thickness collected last time, the opening degrees of each vacuum regulating valve 704 can be configured to be maximum, and the vacuum pump can be controlled to start.

[0091] In one possible implementation, the above-mentioned two-way displacement mechanism 105 includes:

[0092] A distance measuring sensor, a first displacement device in a first direction and a second displacement device in a second direction, the first direction and the second direction being parallel to the bearing surface, and the first direction being perpendicular to the second direction;

[0093] The controller 104 is electrically connected with the distance measuring sensor, the first displacement device and the second displacement device respectively. The controller 104 is further configured to control the first displacement device and the second displacement device to drive the iron core piece to move in the first direction and the second direction according to the boundary distance of the iron core piece and the bearing surface collected by the distance measuring sensor, so that the center position of the iron core piece coincides with the center position of the centering platform 101. The boundary distance is the distance between each side of the iron core piece and the side of the bearing surface closest to the side.

[0094] It should be noted that in actual application scenarios, the distance measuring sensor can include a plurality of infrared distance measuring probes, which are respectively arranged at the center points of the edges of the bearing surface to measure the distance of the edge of the iron core piece closest to the edge. If the distances collected by the two opposite infrared distance measuring probes are equal, it indicates that the center position of the iron core piece coincides with the center position of the centering platform 101. The deployment mode can be as shown in Figure 11 It should be noted that in actual application scenarios, the distance measuring sensor can include a plurality of infrared distance measuring probes, which are respectively arranged at the center points of the edges of the bearing surface to measure the distance of the edge of the iron core piece closest to the edge. If the distances collected by the two opposite infrared distance measuring probes are equal, it indicates that the center position of the iron core piece coincides with the center position of the centering platform 101. The deployment mode can be as shown in

[0095] It should be noted that in actual application scenarios, the first displacement device can be a push rod type or a balance wheel type displacement device. The second displacement device can be a push rod type or a balance wheel type displacement device. The types of the first displacement device and the second displacement device can be the same or different. As shown in Figure 12 It should be noted that in actual application scenarios, the first displacement device can be a push rod type or a balance wheel type displacement device. The second displacement device can be a push rod type or a balance wheel type displacement device. The types of the first displacement device and the second displacement device can be the same or different. As shown in Figure 13 It should be noted that in actual application scenarios, the first displacement device can be a push rod type or a balance wheel type displacement device. The second displacement device can be a push rod type or a balance wheel type displacement device. The types of the first displacement device and the second displacement device can be the same or different. As shown in

[0096] In a possible implementation, the iron core piece pre-stacking system provided by the first aspect and any implementation manner of the first aspect of the present application further includes:

[0097] The second grabbing mechanism includes the same vacuum adsorption device as the first grabbing mechanism 103.

[0098] The controller 104 is further electrically connected with the controller 104, and the controller 104 is further configured to control the second grabbing mechanism to place the iron core piece on the bearing surface.

[0099] In one possible implementation, the iron chip pre-stacking system provided by the first aspect of this application and any implementation thereof further includes:

[0100] The sheet rack includes multiple storage areas of different sizes, which are used to store sized iron chips.

[0101] It should be noted that in practical application scenarios, this application improves the automation efficiency of the iron chip pre-stacking system provided by the first aspect and any implementation of the first aspect by configuring the plate rack to store iron chips of different sizes in partitions, thereby improving the automation efficiency of the iron chip pre-stacking system provided by the second gripping mechanism, without the need for manual intervention, thus avoiding the risk of bumps or contamination caused by manual handling.

[0102] To facilitate understanding of the iron chip pre-stacking system provided by the first aspect and any implementation thereof of this application, an example of a possible implementation of this application is described below:

[0103] like Figure 14 The diagram shows a schematic of a pre-stacking system for iron chips, comprising: a centering platform 101 and a pre-stacking platform 102 of identical shape and size; a first gripping mechanism 103; a controller 104; a two-phase displacement mechanism 105 mounted on the centering platform 101; a second gripping mechanism 106; and a board rack 107. The first gripping mechanism 103, the two-phase displacement mechanism 105, and the second gripping mechanism 106 are all electrically connected to the controller 104. The controller 104 controls the second gripping mechanism 106 to grip iron chips from the board rack 107 and place them on the bearing surface of the centering platform 101. The controller 104 also controls the two-phase displacement mechanism 105 to move the iron chips placed on the bearing surface so that the center position of the iron chips coincides with the center position of the centering platform 101. The controller 104 further controls the first gripping mechanism 103 to translate the moved iron chips to the pre-stacking platform 102, wherein the pre-stacking platform 102 and the centering platform 101 have the same shape and size and are arranged parallel to each other.

[0104] It should be noted that in practical application scenarios,

[0105] The second aspect of this application provides a pre-stacking control method for iron chips, applied to the controller in the pre-stacking system of iron chips according to the first aspect and any embodiment of the first aspect, such as... Figure 15 As shown, the iron chip pre-stacking control method includes:

[0106] S1501, Control the two-way displacement mechanism installed on the bearing surface of the centering platform to move the iron chip so that the center position of the iron chip coincides with the center position of the centering platform;

[0107] S1502, the first grabbing mechanism disposed between the centering platform and the pre-lamination platform parallel to each other moves the moved iron core piece on the bearing surface to the pre-lamination platform, the pre-lamination platform has the same shape and size as the centering platform.

[0108] In a possible implementation, the two-way displacement mechanism comprises:

[0109] The distance measuring sensor, the first displacement device in the first direction, and the second displacement device in the second direction, the first direction and the second direction are parallel to the bearing surface, and the first direction is perpendicular to the second direction;

[0110] The controller is electrically connected with the distance measuring sensor, the first displacement device, and the second displacement device respectively;

[0111] The controller controls the two-way displacement mechanism installed on the bearing surface of the centering platform to move the iron core piece, so that the center position of the iron core piece coincides with the center position of the centering platform, comprising: according to the boundary distance of the iron core piece and the bearing surface collected by the distance measuring sensor, controlling the first displacement device and the second displacement device to drive the iron core piece to move in the first direction and the second direction, so that the center position of the iron core piece coincides with the center position of the centering platform, the boundary distance is the distance between each side of the iron core piece and the nearest side of the bearing surface.

[0112] In a possible implementation, the controller controls the first grabbing mechanism disposed between the centering platform and the pre-lamination platform parallel to each other to move the moved iron core piece on the bearing surface to the pre-lamination platform, comprising:

[0113] The coordinates of the center position of the centering platform are determined as the grabbing position coordinates of the first grabbing mechanism, and the coordinates of the center position of the pre-lamination platform are determined as the release position coordinates of the first grabbing mechanism;

[0114] A translation path is generated based on the grabbing position coordinates and the release position coordinates, and the first grabbing mechanism is controlled to move the moved iron core piece on the bearing surface from the centering platform to the pre-lamination platform based on the translation path.

[0115] In a possible implementation, the first grabbing mechanism comprises a vacuum suction device, and the vacuum suction device comprises:

[0116] The vacuum pump, at least one bracket, a plurality of vacuum suction cups, a plurality of vacuum regulating valves, and a grating height detection sensor;

[0117] The grating height detection sensor is installed on the side surface of the bracket, which is perpendicular to the bearing surface, for measuring the iron core thickness of the iron core piece;

[0118] Each vacuum suction cup is longitudinally installed on the contact surface of the bracket, and the contact surface is parallel to the bearing surface;

[0119] The exhaust port of the vacuum chuck is connected with one end of the vacuum regulating valve through a gas guide pipe, and the other end of the vacuum regulating valve is communicated with the air inlet end of the vacuum pump;

[0120] The controller is communicated with the grating height detection sensor, each vacuum regulating valve and the vacuum pump respectively;

[0121] The iron core piece pre-stacking control method further comprises:

[0122] Based on the thickness of the iron core piece collected by the grating height detection sensor, the opening of the vacuum regulating valve is determined, and the vacuum pump is controlled to start and stop.

[0123] An electronic device is also provided in the embodiments of the present application. Figure 16 As shown in the figure, a structure diagram of an electronic device suitable for implementing the electronic device in the embodiments of the present application is shown. The electronic device in the embodiments of the present application can include but is not limited to fixed terminals such as mobile phones, notebook computers, PDAs (personal digital assistants), PADs (tablets), desktop computers, etc. Figure 16 The electronic device shown is only an example and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0124] As shown in the figure, Figure 16 The electronic device can include a processing device (such as a central processor, a graphics processor, etc.) 1601, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 1602 or programs loaded from a storage device 1608 into a random access memory (RAM) 1603. In the state that the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 1603. The processing device 1601, the ROM 1602, and the RAM 1603 are connected to each other through a bus 1604. An input / output (I / O) interface 1605 is also connected to the bus 1604.

[0125] Generally, the following devices can be connected to the I / O interface 1605: input devices 1606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 1607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1608 including, for example, a memory card, a hard disk, etc.; and communication devices 1609. The communication devices 1609 can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 16 An electronic device with various devices is shown, but it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or possessed instead.

[0126] In addition, it should be noted that the apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment. In addition, the connection relationship between the modules in the apparatus embodiments provided in the present application indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines.

[0127] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and the necessary general hardware, and of course can also be realized by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. Generally, functions completed by computer programs can be easily realized by corresponding hardware, and the specific hardware structure for realizing the same function can also be various, such as analog circuit, digital circuit or special circuit, etc. However, for the present application, software program implementation is a better embodiment. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products, which are stored in readable storage media, such as computer floppy disks, U disks, mobile hard disks, ROM, RAM, magnetic or optical disks, etc., including a plurality of instructions for making a computer device (which can be a personal computer, a training device, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0128] In the above embodiments, all or part can be realized by software, hardware, firmware or any combination thereof. When realized by software, it can be realized in the form of a computer program product in whole or in part.

[0129] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website, computer, training device or data center to another website, computer, training device or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a training device, a data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

Claims

1. A pre-stacking system for iron chips, characterized in that, include: A centering platform and a pre-stacking platform of the same shape and size, as well as a first gripping mechanism and a controller; The centering platform is equipped with a two-way displacement mechanism on its bearing surface, which is used to move the iron chip placed on the bearing surface. The first gripping mechanism is positioned between the centering platform and the pre-overlay platform, which are arranged in parallel. The controller is electrically connected to the centering platform and the first gripping mechanism respectively. The controller is used to control the two-way displacement mechanism of the centering platform to move the iron chip so that the center position of the iron chip coincides with the center position of the centering platform. It is also used to control the first gripping mechanism to translate the moved iron chip carried by the bearing surface to the pre-stacked platform.

2. The iron chip pre-stacking system according to claim 1, characterized in that, The first grasping mechanism includes: A vacuum adsorption device, wherein the vacuum adsorption device is electrically connected to the controller.

3. The iron chip pre-stacking system according to claim 2, characterized in that, The vacuum adsorption device includes: Vacuum pump, at least one bracket, multiple vacuum suction cups, multiple vacuum regulating valves, and grating-type height detection sensor; The grating-type height detection sensor is mounted on the side surface of the bracket and is used to measure the thickness of the iron chip. The side surface is perpendicular to the bearing surface. Each of the vacuum suction cups is mounted longitudinally on the contact surface of the bracket, and the contact surface is parallel to the bearing surface; The exhaust port of the vacuum suction cup is connected to one end of the vacuum regulating valve through an air guide pipe, and the other end of the vacuum regulating valve is connected to the air inlet of the vacuum pump. The controller is connected to the grating height detection sensor, each of the vacuum regulating valves and the vacuum pump respectively. The controller is also used to determine the opening degree of the vacuum regulating valve based on the thickness of the iron chip collected by the grating height detection sensor, and to control the start and stop of the vacuum pump.

4. The iron chip pre-stacking system according to claim 1, characterized in that, The bidirectional displacement mechanism includes: The device includes a ranging sensor, a first displacement device in a first direction, and a second displacement device in a second direction, wherein both the first and second directions are parallel to the bearing surface, and the first direction is perpendicular to the second direction. The controller is electrically connected to the ranging sensor, the first displacement device, and the second displacement device respectively. The controller is also used to control the first displacement device and the second displacement device to move the iron chip in the first direction and the second direction according to the boundary distance between the iron chip and the bearing surface collected by the ranging sensor, so that the center position of the iron chip coincides with the center position of the centering platform. The boundary distance is the distance between each side of the iron chip and the side of the bearing surface closest to the side.

5. The iron chip pre-stacking system according to claim 3, characterized in that, The iron chip pre-stacking system further includes: The second gripping mechanism includes the same vacuum adsorption device as the first gripping mechanism; The controller is also electrically connected to the controller, and the controller is also used to control the second gripping mechanism to place the iron chip on the bearing surface.

6. The iron chip pre-stacking system according to any one of claims 1 to 5, characterized in that, The iron chip pre-stacking system further includes: The sheet metal rack includes multiple storage areas of different sizes, which are used to store the iron chips of the appropriate size.

7. A method for controlling the pre-stacking of iron chips, characterized in that, A controller applied in a pre-stacking system for iron chips as described in any one of claims 1 to 6, the pre-stacking control method for iron chips comprising: The two-way displacement mechanism mounted on the bearing surface of the centering platform moves the iron chip so that the center position of the iron chip coincides with the center position of the centering platform. The first gripping mechanism, which is positioned between the centering platform and the pre-stacking platform arranged in parallel, moves the iron chip carried on the bearing surface to the pre-stacking platform, which has the same shape and size as the centering platform.

8. The iron chip pre-stacking control method according to claim 7, characterized in that, The bidirectional displacement mechanism includes: The device includes a ranging sensor, a first displacement device in a first direction, and a second displacement device in a second direction, wherein both the first and second directions are parallel to the bearing surface, and the first direction is perpendicular to the second direction. The controller is electrically connected to the ranging sensor, the first displacement device, and the second displacement device, respectively. The two-way displacement mechanism installed on the bearing surface of the centering platform moves the iron chip so that the center position of the iron chip coincides with the center position of the centering platform. This includes: controlling the first displacement device and the second displacement device to move the iron chip in the first direction and the second direction according to the boundary distance between the iron chip and the bearing surface collected by the ranging sensor, so that the center position of the iron chip coincides with the center position of the centering platform. The boundary distance is the distance between each side of the iron chip and the side of the bearing surface closest to that side.

9. The iron chip pre-stacking control method according to claim 7, characterized in that, The first gripping mechanism, positioned between the parallel-arranged centering platform and pre-stacking platform, translates the moved iron chip carried on the bearing surface to the pre-stacking platform, including: The coordinates of the center position of the centering platform are determined as the gripping position coordinates of the first gripping mechanism, and the coordinates of the center position of the pre-stacked platform are determined as the release position coordinates of the first gripping mechanism. A translation path is generated based on the gripping position coordinates and the release position coordinates, and the first gripping mechanism is controlled based on the translation path to translate the moved iron chip carried by the bearing surface from the centering platform to the pre-stack platform.

10. The iron chip pre-stacking control method according to claim 7, characterized in that, The first gripping mechanism includes a vacuum adsorption device, which includes: Vacuum pump, at least one bracket, multiple vacuum suction cups, multiple vacuum regulating valves, and grating-type height detection sensor; The grating-type height detection sensor is mounted on the side surface of the bracket and is used to measure the thickness of the iron chip. The side surface is perpendicular to the bearing surface. Each of the vacuum suction cups is mounted longitudinally on the contact surface of the bracket, and the contact surface is parallel to the bearing surface; The exhaust port of the vacuum suction cup is connected to one end of the vacuum regulating valve through an air guide pipe, and the other end of the vacuum regulating valve is connected to the air inlet of the vacuum pump. The controller is connected to the grating-type height detection sensor, each of the vacuum regulating valves, and the vacuum pump, respectively. The iron chip pre-stacking control method further includes: Based on the thickness of the iron chip collected by the grating height detection sensor, the opening degree of the vacuum regulating valve is determined, and the vacuum pump is started and stopped.

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