A transformer core insertion robot
By designing a transformer core lamination insertion robot, which employs a robot body, lamination insertion device, and lamination tooling, combined with adjustment components, lifting components, clamping components, and a vision inspection system, automated and precise lamination insertion is achieved. This solves the problems of insufficient adaptability and precision of existing equipment, and improves production efficiency and product quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- JIANGSU SENLAN INTELLIGENCE SYST CO LTD
- Filing Date
- 2026-04-09
- Publication Date
- 2026-06-02
AI Technical Summary
Existing transformer core lamination equipment suffers from poor adaptability, insufficient lamination precision, lack of intelligent control, and complex structure that makes adjustment inconvenient, resulting in low production efficiency and unstable product quality.
A transformer core lamination insertion robot was designed, which consists of a robot body, an insertion device, and an insertion fixture. It integrates left and right adjustment components, up and down lifting components, clamping components, and insertion components, and incorporates pressure sensors and a vision detection system to automatically adapt to different specifications of iron core laminations, perceive the insertion process in real time, and perform smooth insertion.
It has achieved fully automated, high-precision, and non-destructive operation of transformer core lamination, improving production efficiency and product consistency, and solving the problems of insufficient adaptability and lamination accuracy of traditional lamination equipment.
Smart Images
Figure CN122136163A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the technical field of transformer production equipment, specifically relating to a transformer core lamination insertion robot. Background Technology
[0002] Transformer cores are typically made up of a large number of silicon steel sheets (also known as laminations). The quality of the laminations directly affects the transformer's energy efficiency, noise level, and reliability. Traditional core lamination insertion is mainly done manually. Operators need to pick up, align, and insert the laminations one by one, which is not only labor-intensive and inefficient, but also prone to uneven lamination and gaps due to inconsistent operation, affecting the core performance.
[0003] With the development of industrial automation, some semi-automatic or fully automatic wafer insertion equipment has emerged, but existing equipment still has the following prominent problems: Poor adaptability: Most equipment has a fixed clamping distance, which makes it difficult to adapt to iron chips of different widths. When changing products, it is necessary to stop the machine for adjustment or even replace the clamps, which affects production flexibility.
[0004] Insufficient insertion precision: During the insertion process, especially when the chip is about to be in place, the equipment often maintains rigid downward pressure, which can easily cause chip edges to bump, deform or even curl, affecting the stacking quality.
[0005] Lack of intelligent control: The determination of chip insertion position relies heavily on position sensors or timing control, which cannot detect the contact status between the chip and the stacked chip group in real time, which can easily lead to excessive insertion or incomplete insertion.
[0006] Complex structure and inconvenient adjustment: The adjustment mechanism in existing equipment mostly relies on manual or independent drive, which has poor coordination and makes it difficult to achieve dynamic posture adjustment during the insertion process.
[0007] Therefore, there is an urgent need for an automated chip insertion robot that can automatically adapt to chips of different specifications, smoothly insert the chip at the end of the chip, and has real-time sensing capabilities, so as to improve the automation level and product quality of transformer core manufacturing. Summary of the Invention
[0008] Purpose of the invention: To provide a transformer core inserting robot and inserting method to solve the problems mentioned above.
[0009] Technical solution: A transformer core lamination robot and lamination method, comprising: robot body, lamination device and lamination tooling; The robot body and the insert tooling are fixed on the working area, and the clamping device is installed on the robot body; The robot body drives the clamping device to pick up the transformer iron chip and move it to the insertion fixture for insertion. The insert device includes: a frame, a left-right adjustment assembly, a right-right lifting assembly, a clamping assembly, and an insert assembly; The top of the frame is connected to the robot body. The vertical lifting assembly is mounted on the frame. The horizontal adjustment assembly is mounted on the frame. The clamping plate assembly is connected to both the horizontal adjustment assembly and the vertical lifting assembly. The plate assembly is mounted on the clamping plate assembly.
[0010] In a further embodiment, the left-right adjustment assembly includes: a rack, a gear, and a connecting plate; The rack is fixedly installed on one side of the frame, and the gears are provided in a plurality of manner and are meshed with the rack and rotatably installed on the connecting plate. The connecting plate is installed on the clamping plate assembly.
[0011] In a further embodiment, the lifting assembly includes: a first cylinder, a lifting guide rod, and a lifting seat; The first lifting cylinder is fixedly installed on the frame, and the lifting guide rod is slidably installed at both ends of the frame and its bottom is connected to the lifting seat.
[0012] In a further embodiment, the clamping assembly includes: a support frame, a support base, a positioning block, and a pneumatic gripper; The support frame is fixedly installed on the connecting plate of the left and right adjustment assembly. The support frame is provided with a vertically arranged first guide rail slider. The first guide rail slider is provided with a cross-vertically arranged second guide rail slider, and the second guide rail slider is installed on the rear end face of the lifting seat. The support seat is fixedly installed on the front end face of the lifting seat through a third guide rail slider. The positioning block is fixedly installed on the support seat. The pneumatic gripper is installed on the support seat through a fourth guide rail slider.
[0013] In a further embodiment, the clip assembly is provided in several groups, and adjacent clip assemblies are arranged symmetrically.
[0014] In a further embodiment, the insert assembly includes: a connector, an insert holder, an insert, a second cylinder, a fixing bracket, and an insert blade; The connecting seat is mounted on the frame via a fifth guide rail slider, the insert seat is mounted on the connecting seat via a sixth guide rail slider, the insert is fixedly mounted on the insert seat, the insert blade is mounted on the insert seat via a seventh guide rail slider, the fixing frame is fixedly mounted on the insert seat, and the second cylinder is fixedly mounted on the insert blade and connected to the fixing frame.
[0015] In a further embodiment, the insert assembly has several groups of clamping assemblies arranged symmetrically between adjacent groups.
[0016] In a further embodiment, the positioning block is provided with a pressure sensor.
[0017] Beneficial effects: This invention, by setting up a left-right adjustment component, utilizes the meshing transmission of gears and racks to achieve flexible and continuous adjustment of the spacing between the clamping components, thereby adapting to transformer iron chips of different widths and enhancing the versatility and production flexibility of the equipment; through the cooperation of the first cylinder and the lifting guide rod in the up-down lifting component, stable and precise vertical movement of the clamping components is achieved, ensuring accurate insertion trajectory; by integrating a pressure sensor on the positioning block of the clamping component, the contact pressure between the iron chip and the stacked chip group can be detected in real time at the insertion end, and when the pressure reaches the set value, the pneumatic gripper is controlled to release the chip, allowing the chip to fall smoothly under inertia, completely avoiding chip collision or deformation caused by mechanical rigid pressure; in addition, the symmetrical arrangement of multiple sets of clamping and insertion components and the insertion blade widening structure further improve the stability, efficiency and centering of the insertion operation.
[0018] In summary, this invention achieves fully automated, high-precision, and non-destructive operation of transformer core laminations, significantly improving production efficiency and product consistency. Attached Figure Description
[0019] Figure 1 This is an isometric view of the present invention.
[0020] Figure 2 This is the left view of the present invention.
[0021] Figure 3 This is an isometric view of the insert device of the present invention.
[0022] Figure 4 This is a left view of the insert device of the present invention.
[0023] Figure 5 This is an exploded view of the insert device of the present invention.
[0024] Figure 6 This is a schematic diagram of the clip assembly of the present invention.
[0025] Figure 7 This is a schematic diagram of the insert assembly of the present invention.
[0026] Reference numerals: Robot body 1, Insertion device 2, Insertion fixture 3, Frame 20, Left and right adjustment assembly 21, Up and down lifting assembly 22, Clamping assembly 23, Insertion assembly 24, Rack 210, Gear 211, Connecting plate 212, First cylinder 220, Lifting guide rod 221, Lifting seat 222, Support frame 230, Support seat 231, Positioning block 232, Pneumatic gripper 233, Connecting seat 240, Insertion seat 241, Insertion 242, Second cylinder 243, Fixing frame 244, Insertion tool 245, Pressure sensor 234, First guide rail slider 25, Second guide rail slider 26, Third guide rail slider 27, Fourth guide rail slider 28, Fifth guide rail slider 29, Sixth guide rail slider 30, Seventh guide rail slider 31. Detailed Implementation
[0027] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the scope of protection of the present invention.
[0028] like Figures 1 to 2 As shown, the transformer core lamination robot system provided by this invention mainly includes a robot body 1, an lamination device 2, and an lamination fixture 3. The robot body 1 is typically a six-axis industrial robot, fixedly installed in the work area; the lamination fixture 3 is used to position and support the transformer core to be laminated, and is fixed within the robot's working range; the lamination device 2 is installed as an end effector on the wrist flange of the robot body 1, and is driven by the robot to complete the lamination picking, transfer, and lamination actions.
[0029] like Figures 3 to 4 As shown, the core architecture of the insert device 2 includes a frame 20, a left-right adjustment assembly 21, a right-right lifting assembly 22, a clamping assembly 23, and an inserting assembly 24. The frame 20 serves as a support platform, and its top is fixed to the robot body 1 via a connecting flange. The left-right adjustment assembly 21 and the right-right lifting assembly 22 are both mounted on the frame 20, respectively responsible for adjusting the lateral position and vertical lifting movement of the clamping assembly 23. The clamping assembly 23 is connected to both adjustment assemblies, enabling precise control of its position within space. The inserting assembly 24 is installed at the corresponding position of the clamping assembly 23, responsible for guiding and assisting the insertion of the ferrite chip.
[0030] like Figures 5 to 7As shown, the left-right adjustment assembly 21 consists of a rack 210, gears 211, and a connecting plate 212. The rack 210 is horizontally fixed to the side of the frame 20. Multiple gears 211 are rotatably mounted on the connecting plate 212 via bearings and mesh with the rack 210. The connecting plate 212 is fixedly connected to the support frame 230 of the clamping plate assembly 23. When it is necessary to adjust the clamping plate spacing to accommodate iron chips of different widths, the drive mechanism (such as a small motor) drives the gears 211 to rotate. The gears 211 roll along the rack 210, thereby driving the connecting plate 212 and the entire clamping plate assembly 23 to move laterally along the frame 20, achieving stepless clamping adjustment. This structure provides precise adjustment, good rigidity, and can maintain the synchronous and symmetrical movement of multiple clamping plate assemblies.
[0031] like Figures 5 to 7 As shown, the lifting assembly 22 includes a first cylinder 220, lifting guide rods 221, and a lifting seat 222. The cylinder body of the first cylinder 220 is fixed to the center of the top of the frame 20. Two lifting guide rods 221 are symmetrically distributed on both sides of the cylinder, slidingly passing through linear bearings in the frame 20, and their lower ends are fixedly connected to the lifting seat 222. The piston rod of the first cylinder 220 is also connected to the lifting seat 222. When the first cylinder 220 extends or retracts, it drives the lifting seat 222 to make a stable vertical lifting motion along the guide of the lifting guide rods 221, thereby driving the clamping plate assembly 23 mounted on the lifting seat 222 to lift as a whole.
[0032] like Figures 5 to 7 As shown, the clamping assembly 23 is the component that directly performs the gripping and releasing of chips. Its support frame 230 is fixed to the connecting plate 212 of the left and right adjustment assembly 21 by bolts. A first guide rail slider 25 is mounted on the back of the support frame 230, which, together with a second guide rail slider 26 mounted on the rear end face of the lifting seat 222, forms a cross roller guide pair to withstand complex torques and ensure the positioning accuracy of the support frame 230 relative to the lifting seat 222. The support seat 231 is mounted on the front end face of the lifting seat 222 via a third guide rail slider 27, and can be finely adjusted relative to the lifting seat 222. The positioning block 232 is fixed to the bottom of the support seat 231 by screws, and its bottom surface has a groove for mounting a pressure sensor 234. The pneumatic gripper 233 is mounted on the support seat 231 via a fourth guide rail slider 28, and can open and close in the horizontal direction to grip the upper edge of the ferrous chip. Multiple sets of clamping assemblies 23 are symmetrically arranged, which can grip multiple chips simultaneously, improving efficiency.
[0033] like Figures 5 to 7As shown, the chip insertion assembly 24 is used to guide the chip during the chip insertion process and assist in widening the inter-chip gap. The connector 240 is connected to the frame 20 via the fifth guide rail slider 29 and can slide laterally. The chip insertion base 241 is mounted on the connector 240 via the sixth guide rail slider 30. A sheet-shaped chip 242 (its thickness is slightly less than the chip thickness) is fixed to the front end of the chip insertion base 241. The insert blade 245 is mounted on the chip insertion base 241 via the seventh guide rail slider 31, and its lower end has a guide ramp. The mounting bracket 244 is fixed to the chip insertion base 241, and the cylinder body of the second cylinder 243 is fixed to the insert blade 245, with its piston rod hinged to the mounting bracket 244. When the second cylinder 243 is activated, it pushes the insert blade 245 downwards relative to the chip insertion base 241, allowing its blade tip to insert between two stacked chip pieces, slightly widening the gap to facilitate the insertion of a new chip.
[0034] like Figures 5 to 7 As shown, a vision inspection system is installed on the insert fixture 3. This system includes a high-resolution industrial camera and an image processing unit, used to identify the position of the iron core, detect the gap between inserts, and perform image calculation and gap recognition functions. Specifically, the vision system takes a picture of the top of the three core pillars of the iron core, identifies the gap position of the first-stage insert through image processing, and automatically calculates the following parameters based on the work order specifications: the relative position of the robot arm, the insertion depth of the upper yoke, the height of the top of the three core pillars, the position of the first-stage origin, and the coordinates of the insert gap. These parameters are sent to the robot body 1 and the insert device 2 through a control system (such as a PLC) to guide them in executing subsequent actions.
[0035] Specifically, the following describes in detail the implementation of the "image calculation and gap recognition" function in the vision inspection system integrated above the lamination tooling 3, using the transformer core lamination insertion robot of the present invention as an example. This embodiment describes the entire process from image acquisition to control parameter generation, forming a complete and implementable intelligent recognition and control closed loop.
[0036] System components: This functional module mainly consists of a high-resolution industrial camera (such as a 5-megapixel CCD camera), a dedicated image processing unit (a vision processor integrated into an industrial computer or PLC), and an upper-level motion control unit (such as a Siemens S7-1500 PLC). The camera is fixed above the inserting station, and its field of view covers the entire top area of the three core columns of the iron core.
[0037] Implementation steps and methods: Step S1: Core positioning and image acquisition Once the iron core is positioned and locked on the insert fixture 3, the control system triggers the industrial camera to simultaneously capture images of the top of the iron core, obtaining top-down views of the tops of the left, middle, and right core pillars.
[0038] Step S2: Image Preprocessing and Feature Enhancement The image processing unit preprocesses the acquired raw images, including: Grayscale conversion and filtering: Convert to grayscale image and use median filtering or Gaussian filtering to eliminate noise.
[0039] Edge enhancement: Edge detection is performed using the Canny or Sobel operator to enhance the edge features of the gaps between silicon steel sheets.
[0040] Region of Interest (ROI) Delineation: Based on the standard model of the iron core, the rectangular regions at the top of the three core pillars are automatically defined in the image as the ROI for subsequent analysis.
[0041] Step S3: Identification and positioning of the insert gap Within each defined core post ROI, perform void identification: Vertical projection analysis: The image within the ROI is projected vertically using pixel grayscale values. In the projected waveform, the silicon steel sheet area exhibits peaks due to its uniform material, while the gaps between sheets show distinct troughs due to the presence of voids and insulating material.
[0042] Valley detection and filtering: All potential gap locations are located by finding the local minimum (valley) of the projected waveform. Combined with a preset gap width range (e.g., corresponding to a 6mm insert thickness) and a grayscale threshold, valleys that meet the "insertable gap" characteristic are filtered out.
[0043] First-level gap determination: In the core lamination reconstruction (first-level lamination) scenario, the system identifies and records the position of the first effective trough located at the top layer of the core column, marking it as the "first-level target gap". The image coordinates (u,v) of this position are accurately recorded.
[0044] Step S4: 3D spatial coordinate transformation and parameter calculation The image processing unit transforms the identified two-dimensional image coordinates, combined with the camera's pre-calibrated intrinsic and extrinsic parameters (obtained through hand-eye calibration), into three-dimensional spatial coordinates (X, Y, Z) in the robot's base coordinate system. This is crucial for achieving visual guidance.
[0045] Based on these three-dimensional coordinates, the system automatically calculates and outputs the following key control parameters: Target pose of the robotic arm (robot body): Calculate the preparatory position that the robot end effector (i.e., the chip insertion device 2) needs to reach, which is convenient for the insertion tool and chip alignment gap.
[0046] Insertion depth (H_insert): Based on the known lamination thickness and number of laminations from the core model (from the work order), and the current number of lamination layers (0 for the first stage), the theoretical depth required for this insertion is calculated. The formula can be simplified to: .in, This represents the number of pieces that should be inserted at this level. The thickness is that of a single layer of silicon steel sheet. For safety margin and compression stroke.
[0047] First-level origin position: The three-dimensional coordinates of the first identified gap are defined as the "first-level origin" of this insertion operation. The insertion positions of subsequent levels are recursively derived from this origin.
[0048] Centerline vector of the gap: By analyzing the two sides of the gap, the centerline direction vector of the gap in three-dimensional space is calculated, which is used to guide the insertion angle of the insert 242 and the insert blade 245, so as to achieve precise control of "oblique insertion" or "vertical insertion".
[0049] Step S5: Control command generation and issuance The image processing unit packages all calculated parameters (target pose, insertion depth, origin coordinates, centerline vector, etc.) into a standard data packet and sends it to the main control PLC via industrial Ethernet (such as Profinet).
[0050] The PLC integrates visual parameters with the robot's kinematic model and the cylinder motion sequence of the insert device to generate the final, executable cooperative control program: Control the robot body 1 to move to the ready position.
[0051] The left and right adjustment component 21 is used for fine-tuning to ensure that the insert 245 is precisely aligned with the center line of the gap.
[0052] The first cylinder 220 and the second cylinder 243 of the lifting assembly 22 control the segmented insertion and release action of "fast-slow-medium speed".
[0053] Control the robot and clamping assembly 23 to perform "gripping-transferring-precision insertion-inertial release" actions based on feedback from pressure sensor 234.
[0054] Step S6: Closed-loop verification and exception handling After the inserter is loosened and the chip is inserted, the vision system can take another picture to verify the insertion result. By comparing the grayscale or geometric feature changes of the gap before and after insertion, it can be determined whether the insertion is in place. If an abnormality is detected (such as the gap not being properly opened, the chip not being fully inserted, or double chips overlapping), the system immediately sends an error code to the PLC, which then triggers a shutdown alarm or corrective procedure (such as re-inserting or discarding the chip for re-selection).
[0055] The "image calculation and gap recognition" implementation method described in this embodiment transforms visual information into precise motion control parameters through a standardized process of "image acquisition - preprocessing - feature recognition - coordinate transformation - parameter calculation - command generation." This method works in deep collaboration with the lamination insertion device described in this invention (especially the adjustable-gap clamping assembly, the positioning block with pressure detection, and the insertion blade assembly) to achieve fully closed-loop intelligent control of the transformer core lamination insertion process from "recognition" to "execution," significantly improving the accuracy, adaptability, and reliability of the lamination insertion. This specific technical solution can be fully integrated into and supports the specific implementation section of the specification. More specifically, the insertion robot of the present invention, in conjunction with the above-mentioned vision inspection system, performs the following insertion process: Step 1: Core Positioning The iron core is transported by conveyor belt to the insertion station, where it is pressed against and locked to the positioning fixture on the insertion tool 3. The vision system takes a picture of the iron core to confirm its position and orientation, and then sends the image back to the control system.
[0056] Step 2: Decompose and extract graded pieces The robot body 1 moves the chip insertion device 2 to the silicon steel sheet stack. The left and right adjustment component 21 adjusts the spacing of the pneumatic gripper 233 according to the current chip specifications. After the pneumatic gripper 233 picks up a single chip, the robot moves it to the predetermined position and performs posture correction.
[0057] Step 3: Film Calculation and Gap Identification The vision system takes a picture of the top of the three core pillars, identifies the position of the first-stage insert gap, and automatically calculates the parameters required for inserting the insert (such as the position of the robot arm, insertion depth, gap coordinates, etc.) to generate insert path instructions.
[0058] Step 4: Loosen the gap with the inserter. The insert assembly 24 adjusts the position of the insert blade 245 according to the calculated gap coordinates. The insert blade 245 is aligned with the gap of the three core posts in sequence, and performs the action sequence of "fast insertion - slow entry - medium speed insertion and release - synchronous withdrawal" to gently widen the gap between the blades and avoid damage to the insulation layer.
[0059] Step 5: Insert the iron chip The robot inserts the chip sequentially from the left, middle, and right core pillars. The insertion process consists of several stages: rapid approach, slow oblique insertion, and pressure plate-assisted positioning. When the chip is nearly in place, the positioning block 232 contacts the top of the chip, the pressure sensor 234 detects that the pressure has reached a set threshold, the pneumatic gripper 233 releases the chip, and the chip smoothly falls into place due to inertia.
[0060] Step Six: Repeated Insertion and Quality Monitoring Repeat steps two through five until all stages of inserting are complete. After each stage of inserting, the vision system automatically detects the gap between the stages (tolerance controlled within ±0.5mm). If any abnormality is detected (such as double stages, misalignment, or excessive resistance), the system will immediately alarm and stop.
[0061] In the above process, the vision inspection system integrated on the insertion fixture 3 is not a simple image positioning system, but an intelligent system with image calculation and gap recognition functions. Through high-precision vision recognition and real-time calculation, this system achieves intelligent recognition of insertion gaps, automatic planning of insertion paths, and precise control of insertion depth. It also works collaboratively with the robot body and the insertion device to form a closed-loop control system. The introduction of this system significantly improves the accuracy, adaptability, and automation of insertion. The working principle of the robot of this invention: After the equipment is started, the robot body 1 moves the inserting device 2 to the ferrous chip feeding table. Based on the specifications of the ferrous chips being produced, the left-right adjustment component 21 pre-activates, adjusting the symmetrically arranged pneumatic grippers 233 to a suitable spacing. The pneumatic grippers 233 then pick up one or more ferrous chips.
[0062] The robot transports the held chip to the top of the insertion fixture 3. The vision system detects the upper surface of the iron core and the position of the gap, and the robot makes fine adjustments for alignment. Subsequently, the first cylinder 220 of the lifting assembly 22 pushes the lifting seat 222 downward, causing the clamping assembly 23 and the insertion assembly 24 to descend. The insertion chip 242 first contacts the edge of the stacked chip and guides the new chip closer to the gap.
[0063] Next, the second cylinder 243 of the insert assembly 24 actuates, driving the insert blade 245 downward to insert into the target gap, gently spreading the two stacked chips apart. Subsequently, the first cylinder 220 continues to descend slowly, and the new chip gradually enters the widened gap under the guidance of the insert blade 242.
[0064] As the chip nears complete placement, the bottom surface of the positioning block 232 contacts the top surface of the stacked chip assembly. With the continued micro-feeding of the first cylinder 220, the pressure value detected by the pressure sensor 234 gradually increases. When the pressure value reaches a preset threshold (indicating the chip is essentially in place and only requires a small amount of inertia to settle), the control system immediately issues a command, and the pneumatic gripper 233 rapidly opens, releasing the iron chip. Under the influence of slight gravity and inertia, the released chip smoothly and completely falls to the bottom of the gap, achieving a "soft landing."
[0065] Finally, the first cylinder 220 retracts, causing all components to rise and reset. The inserter 245 also retracts under the action of the second cylinder 243. The robot returns to the material handling position and begins the next work cycle.
[0066] Through the above structural design and workflow, this invention achieves full automation, high adaptability and high protection in the transformer core lamination process, effectively solving many pain points in traditional lamination operations.
[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A transformer core lamination insertion robot, characterized in that, include: Robot body, insert device and insert tooling; The robot body and the insert tooling are fixed on the working area, and the clamping device is installed on the robot body; The robot body drives the clamping device to pick up the transformer iron chip and move it to the insertion fixture for insertion. The insert device includes: a frame, a left-right adjustment assembly, a right-right lifting assembly, a clamping assembly, and an insert assembly; The top of the frame is connected to the robot body. The vertical lifting assembly is mounted on the frame. The horizontal adjustment assembly is mounted on the frame. The clamping plate assembly is connected to both the horizontal adjustment assembly and the vertical lifting assembly. The plate assembly is mounted on the clamping plate assembly.
2. The transformer core lamination insertion robot according to claim 1, characterized in that, The left and right adjustment assembly includes: a rack, a gear, and a connecting plate; The rack is fixedly installed on one side of the frame, and the gears are provided in a plurality of manner and are meshed with the rack and rotatably installed on the connecting plate. The connecting plate is installed on the clamping plate assembly.
3. A transformer core lamination insertion robot according to claim 2, characterized in that, The lifting assembly includes: a first cylinder, a lifting guide rod, and a lifting seat; The first lifting cylinder is fixedly installed on the frame, and the lifting guide rod is slidably installed at both ends of the frame and its bottom is connected to the lifting seat.
4. A transformer core lamination insertion robot according to claim 3, characterized in that, The clamping assembly includes: a support frame, a support base, a positioning block, and a pneumatic gripper; The support frame is fixedly installed on the connecting plate of the left and right adjustment assembly. The support frame is provided with a vertically arranged first guide rail slider. The first guide rail slider is provided with a cross-vertically arranged second guide rail slider, and the second guide rail slider is installed on the rear end face of the lifting seat. The support seat is fixedly installed on the front end face of the lifting seat through a third guide rail slider. The positioning block is fixedly installed on the support seat. The pneumatic gripper is installed on the support seat through a fourth guide rail slider.
5. A transformer core lamination insertion robot according to claim 4, characterized in that, The clamping assembly has several groups, and adjacent clamping assemblies are arranged symmetrically.
6. A transformer core lamination insertion robot according to claim 1, characterized in that, The insert assembly includes: a connector, an insert holder, an insert, a second cylinder, a fixing frame, and an insert blade; The connecting seat is mounted on the frame via a fifth guide rail slider, the insert seat is mounted on the connecting seat via a sixth guide rail slider, the insert is fixedly mounted on the insert seat, the insert blade is mounted on the insert seat via a seventh guide rail slider, the fixing frame is fixedly mounted on the insert seat, and the second cylinder is fixedly mounted on the insert blade and connected to the fixing frame.
7. A transformer core lamination insertion robot according to claim 6, characterized in that, The insert assembly has several groups, and the adjacent clip assemblies are arranged symmetrically.
8. A transformer core lamination insertion robot according to claim 4, characterized in that, The positioning block is equipped with a pressure sensor.