Automatic lamination manipulator for transformer core

Abstract

The application relates to the technical field of transformers, and particularly discloses an automatic lamination stacking manipulator for a transformer core, which comprises a base, a mechanical arm and a core piece, the outer surfaces of the core piece are provided with through holes, the through holes are equidistant, the upper surface of the base is provided with the mechanical arm, and the upper surface of the base is provided with the core piece. The silicon steel sheet of the lamination can be accurately positioned through the grabbing assembly, the silicon steel sheet can be automatically corrected when the silicon steel sheet deviates when being put, and an alarm is sent to remind the staff to maintain, the neatness of the core stacking is ensured, the core structure is compact, the service life of the transformer is prolonged, in addition, the positions of the suction cups on the mechanical arm can be adjusted, the grabbing efficiency of the suction cups is improved, the levelness of the supporting platform can be adjusted through the lamination supporting assembly, the stability of the supporting platform can be improved, the supporting platform and the lamination are prevented from sliding, the neatness of the core stacking is improved, the efficiency of the lamination is improved, and the production cycle is reduced.

Description

Technical Field

[0001] This application relates to the field of transformer technology, and in particular to an automated lamination robot for transformer cores. Background Technology

[0002] The transformer core is a critical component of a transformer, typically made of laminated silicon steel sheets, and its quality directly affects transformer performance. Therefore, lamination of the transformer core is necessary. The lamination structure enhances the core's mechanical strength, allowing it to better withstand electromagnetic forces and mechanical vibrations during operation, reducing deformation and loosening, and ensuring stable and reliable transformer operation. The core is typically positioned using robotic arms, suction cups, or other devices to pick up the pre-positioned silicon steel sheets and move them to the appropriate location on the laminated core, then accurately place them onto the already stacked silicon steel sheets. However: Existing automated laminating robots struggle to accurately position the silicon steel sheets being transferred and stacked, resulting in inaccurate sheet placement. Poor precision leads to sheet misalignment, causing uneven core stacking, which not only affects core tightness but also damages its original electromagnetic properties, reducing transformer efficiency. Inaccurate stacking also loosens the core structure, making it prone to deformation, loosening, and even damage, shortening transformer lifespan. Furthermore, the fixed suction cup positions of existing robots make it difficult to adjust according to the specifications of the silicon steel sheets. If the suction cups are too concentrated, they can interfere with each other during gripping, resulting in uneven force on the object. If the suction cups are too dispersed, some may fail to contact the object, wasting suction power and reducing gripping efficiency.

[0003] During the lamination process of transformer cores, it is impossible to guarantee the stability and levelness of the support platform. Due to the unevenness of the ground, the support platform may tilt during the lamination process. The tilted support platform will prevent the silicon steel sheets from being stacked flat, resulting in uneven core stacking, misalignment, uneven gaps, and other problems. The tilted support platform will increase the difficulty of lamination, reduce production efficiency, and prolong the production cycle. Summary of the Invention

[0004] To overcome the difficulties in accurately positioning the silicon steel sheets during lamination, which leads to inaccurate sheet placement and misalignment, resulting in uneven core stacking, this invention provides an automated transformer core lamination robot to address these shortcomings.

[0005] This application provides an automatic lamination robot for transformer cores, including a base, a robotic arm, and lamination cores. Each lamination core has through holes on its outer surface, with equal spacing between the holes. The robotic arm is mounted on the upper surface of the base, and the lamination cores are also mounted thereon. Limiting rods are inserted into the through holes of the lamination cores, with each lamination core having two limiting rods inserted in pairs. A gripping assembly is located at one end of the robotic arm, and a lamination support assembly is mounted on the upper surface of the base. The gripping assembly includes a fixing plate, the upper surface of which is fixedly connected to the outer surface of the robotic arm. A straightening mechanism is provided on the lower surface of the fixed plate. A gripping frame is provided at the bottom end of the straightening mechanism. A first threaded rod is rotatably connected to the inner cavity of one side of the gripping frame. A gripping mechanism is slidably connected to the outer surface of the gripping frame. Connecting blocks are fixedly installed on both sides of the gripping frame. A positioning cylinder is fixedly installed in the inner cavity of the connecting block. There are two positioning cylinders, and the distance between the positioning cylinders is equal to the spacing of the through holes on the iron chip. A guide slope is provided in the inner cavity of the positioning cylinder. The limiting rod consists of a bottom rod and a top rod. The diameter of the bottom rod is equal to the diameter of the top end of the positioning cylinder, and the diameter of the top rod is smaller than the diameter of the top end of the positioning cylinder.

[0006] Furthermore, the correction mechanism includes a limiting cylinder, the upper surface of which is fixedly connected to the lower surface of a fixed plate. A positioning mechanism is provided on the lower surface of the fixed plate. A floating disk is provided in the inner cavity at the bottom of the limiting cylinder. A first sliding rod is fixedly installed on the outer surface of the floating disk. A first sliding groove is provided at the bottom of the limiting cylinder. A first washer is slidably connected to the outer surface of the first sliding rod. A second spring is sleeved on the outer surface of the first sliding rod. A positioning groove is provided on the outer surface of the floating disk. The first sliding rod and the first sliding groove are slidably connected. The second spring is located between the floating disk and the first washer. The first washer is slidably connected to the inner wall of the limiting cylinder. The floating disk is located in the middle part of the limiting cylinder. The lower surface of the floating disk is fixedly connected to the middle part of the gripping frame. There is a gap between the bottom of the limiting cylinder and the lower surface of the gripping frame.

[0007] Furthermore, the positioning mechanism includes a first fixed block, a positioning rod slidably connected to the inner cavity of the first fixed block, a positioning ball movably connected to the bottom end of the positioning rod, a pressing block fixedly installed on the outer surface of the positioning rod, a first spring sleeved on one end of the positioning rod, the first spring being located between the inner wall of the first fixed block and the pressing block, a first button provided on the outer surface of the first fixed block, a first alarm fixedly installed on the outer surface of the first fixed block, the positioning ball engaging with the middle part of the positioning groove, and a gap between the pressing block and the first button, the first button and the first alarm being electrically connected, the pressing of the first button controlling the first alarm to sound an alarm, and the lower surface of the first fixed block and the fixed plate being fixedly connected.

[0008] Furthermore, the gripping mechanism includes a movable frame, with suction cups on its outer surface. Each movable frame has three suction cups on its outer surface. The suction cup in the middle is fixedly connected to the movable frame, while the suction cups on both sides are slidably connected to it. A first connecting strip is rotatably connected to the outer surface of the middle suction cup, and a second connecting strip is rotatably connected to the outer surfaces of the suction cups on both sides. The first and second connecting strips are rotatably connected. A second fixing block is fixedly connected to the outer surface of the movable frame, and a second threaded rod is rotatably connected to the inner cavity of the second fixing block. A first slider is slidably connected to the outer surface of the movable frame, and the first slider is slidably fixedly connected to the side suction cups. The first slider and the second threaded rod are connected by threads. The movable frame and the gripping frame are slidably connected, and the movable frame and the first threaded rod are connected by threads. The threads at both ends of the first threaded rod are in opposite directions. There are two movable frames, symmetrically distributed about the middle part of the gripping frame.

[0009] Furthermore, the stacked chip support assembly includes a support frame, and the upper surface of the base and the support frame are provided with insertion holes. The limiting rod is inserted into the insertion hole. Adjustment mechanisms are provided at the four corners of the lower surface of the support frame. A limiting frame is fixedly installed on the bottom wall of the support frame. A second sliding groove is provided on the outer surface of the limiting frame. An anti-slip mechanism is provided in the inner cavity at the bottom end of the limiting frame. A limiting rod is inserted into the upper surface of the support frame. The iron chip has three different specifications of silicon steel sheets. The iron chip is placed on the upper surface of the support frame.

[0010] Furthermore, the adjustment mechanism includes a support block, a third threaded rod rotatably connected to the inner cavity of the support block, a second slider slidably connected to the upper surface of the support block, a drive rod fixedly installed on the outer surface of the second slider, storage rods fixedly installed at the four corners of the upper surface of the support block, an adjustment rod slidably connected to the inner cavity of the storage rod, an adjustment block fixedly installed at the top of the adjustment rod, a drive groove opened on the outer surface of the adjustment block, a support ball movably connected to the upper surface of the adjustment block, and the upper surface of the support ball and the lower surface of the support frame fixedly connected.

[0011] Furthermore, the drive groove is tilted, the support block is placed on the upper surface of the base, the second slider and the third threaded rod are connected by threads, and the drive rod and the drive groove are slidably connected.

[0012] Furthermore, the anti-slip mechanism includes a floating block, with second slide rods fixedly installed at both ends of the floating block, a third spring sleeved on the outer surface of the second slide rod, a second washer slidably connected to the outer surface of the second slide rod, a third slide rod fixedly installed on the outer surface of the floating block, and a fourth spring provided in the inner cavity of the floating block.

[0013] Furthermore, a third connecting strip is fixedly installed on the bottom wall of the limit frame, a slide plate is slidably connected to the bottom wall of the limit frame, a second button is provided at both ends of the slide plate, and a second alarm is fixedly installed on the upper surface of the slide plate.

[0014] Furthermore, there is a gap between the bottom end of the limiting frame and the upper surface of the base, the lower surface of the floating block is in close contact with the upper surface of the base, and a groove is provided on the lower surface of the floating block. The inner cavities of the second slide rod and the second slide groove are slidably connected. The third spring is located between the floating block and the second washer ring. The second washer ring is slidably connected to the inner wall of the limiting frame. The third slide rod is slidably connected to the slide plate. The fourth spring is located between the inner wall of the floating block and the slide plate. The second button and the second alarm are electrically connected, and pressing the second button controls the second alarm to sound an alarm. There is a gap between the second button and the third connecting strip. The inner cavity of the floating block and the limiting frame do not contact each other.

[0015] The technical solution provided in this application has at least the following technical effects or advantages: 1. By employing a gripping component, this solution effectively addresses the challenge of precise positioning of silicon steel sheets during transport and stacking, a problem inherent in existing automated lamination robots. Inaccurate positioning of the silicon steel sheets leads to misalignment, resulting in uneven core stacking. This not only affects the core's tightness but also damages its original electromagnetic properties, reducing transformer efficiency. Inaccurate stacking also causes a loose core structure, making it prone to deformation, loosening, and even damage, shortening the transformer's lifespan. Furthermore, the fixed position of the suction cups in existing robots makes it difficult to adjust them according to the specifications of the silicon steel sheets. If the suction cups are too large... When gripping, the suction cups are easily interfered with each other, resulting in uneven force on the object. If the suction cups are too scattered, some suction cups may not be able to contact the object, resulting in wasted suction and reduced gripping efficiency. This invention can accurately position the stacked silicon steel sheets through the gripping component. When the silicon steel sheet is deviated during delivery, it can automatically correct itself and issue an alarm to remind the staff to perform maintenance, ensuring the neatness of the iron core stacking, making the iron core structure compact, and improving the service life of the transformer. In addition, the position of the suction cups on the robotic arm can be adjusted so that the suction cups can be arranged according to the size of the silicon steel sheet, improving the gripping efficiency of the suction cups.

[0016] 2. By employing a lamination support assembly, the stability and levelness of the support platform during transformer core lamination are effectively solved. Uneven ground conditions can cause the support platform to tilt or slip during lamination, resulting in uneven core stacking, misalignment, and uneven gaps. A tilted support platform increases lamination difficulty, reduces production efficiency, and extends the production cycle. This invention, through the lamination support assembly, can adjust the levelness of the support platform, ensuring its stability even on tilted ground. This prevents slippage of the support platform and laminations, thereby improving the neatness of core stacking, increasing lamination efficiency, and reducing the production cycle. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the grabbing component structure in Embodiment 1 of this application; Figure 3 This is a schematic diagram of the gripping frame structure in Embodiment 1 of this application; Figure 4 This is a schematic cross-sectional view of the limiting cylinder structure in Embodiment 1 of this application; Figure 5 This is a schematic cross-sectional view of the first fixing block structure in Embodiment 1 of this application; Figure 6 This is a schematic diagram of the gripping mechanism structure in Embodiment 1 of this application; Figure 7 This is a schematic cross-sectional view of the positioning cylinder structure in Embodiment 1 of this application; Figure 8 This is a schematic diagram of the stacked support assembly structure in Embodiment 2 of this application; Figure 9 This is a schematic diagram of the adjustment mechanism structure in Embodiment 2 of this application; Figure 10 This is a schematic diagram of the second chute structure in Embodiment 2 of this application; Figure 11 This is a partial cross-sectional view of the limiting frame in Embodiment 2 of this application; Figure 12 This is a schematic diagram of the floating block structure in Embodiment 2 of this application.

[0018] In the diagram: 1. Base; 2. Robotic arm; 3. Limiting rod; 4. Iron chip; 5. Gripping assembly; 51. Fixing plate; 52. Correction mechanism; 521. Limiting cylinder; 522. Positioning mechanism; 5221. First fixing block; 5222. Positioning rod; 5223. Positioning ball; 5224. Extrusion block; 5225. First spring; 5226. First button; 5227. First alarm; 523. Floating disk; 524. First sliding rod; 525. First sliding groove; 526. First washer; 527. Second spring; 528. Positioning groove; 53. Gripping frame; 54. First threaded rod; 55. Gripping mechanism; 551. Moving frame; 552. Suction cup; 553. First connecting bar; 554. Second connecting bar; 555. Second fixing block 556. Second threaded rod; 557. First slider; 56. Connecting block; 57. Positioning cylinder; 58. Guide slope; 6. Stacked support assembly; 61. Support frame; 62. Adjustment mechanism; 621. Support block; 622. Third threaded rod; 623. Second slider; 624. Drive rod; 625. Storage rod; 626. Adjusting rod; 627. Adjusting block; 628. Drive groove; 629. Support ball; 63. Limiting frame; 64. Second slide groove; 65. Anti-slip mechanism; 651. Floating block; 652. Second slide rod; 653. Third spring; 654. Second washer; 655. Third slide rod; 656. Fourth spring; 657. Third connecting bar; 658. Slide plate; 659. Second button; 6510. Second alarm. Detailed Implementation

[0019] For applications where precise positioning of stacked silicon steel sheets is difficult, this invention utilizes a gripping component to accurately position the stacked silicon steel sheets. When a silicon steel sheet deviates during placement, it automatically corrects the deviation and issues an alarm to remind staff to perform maintenance, ensuring the neatness of the core stacking, making the core structure compact, and extending the transformer's service life. Furthermore, for applications where the stability and levelness of the support platform cannot be guaranteed, this invention uses a stacked support component to adjust the levelness of the support platform, ensuring its levelness even on tilted surfaces, thus improving the platform's stability.

[0020] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods. Example 1

[0021] Please see Figure 1As shown, the automatic lamination robot for transformer cores includes a base 1, a robotic arm 2, and lamination chips 4. Each lamination chip 4 has through holes on its outer surface, with equal spacing between the holes. The robotic arm 2 is mounted on the upper surface of the base 1, and the lamination chips 4 are made of three different specifications of silicon steel sheets. Limiting rods 3 are inserted into the through holes of the lamination chips 4, arranged in pairs, with two limiting rods 3 inserted on each lamination chip 4. A gripping component 5 is mounted at one end of the robotic arm 2, and a lamination support component 6 is mounted on the upper surface of the base 1. The limiting rods 3 limit the movement of the lamination chips 4, ensuring they remain neat before and after lamination. The robotic arm 2 drives the gripping component 5 to sequentially grip and stack the three different lamination chips 4, allowing them to be assembled from the upper surface of the base 1 onto the upper surface of the lamination support component 6.

[0022] Please see Figure 2 ,and Figure 7 As shown, the gripping assembly 5 includes a fixed plate 51. The upper surface of the fixed plate 51 is fixedly connected to the outer surface of the robotic arm 2. A correction mechanism 52 is provided on the lower surface of the fixed plate 51. A gripping frame 53 is provided at the bottom end of the correction mechanism 52. A first threaded rod 54 is rotatably connected to one side of the inner cavity of the gripping frame 53. A gripping mechanism 55 is slidably connected to the outer surface of the gripping frame 53. Connecting blocks 56 are fixedly installed on both sides of the gripping frame 53. Positioning cylinders 57 are fixedly installed in the inner cavity of the connecting blocks 56. There are two positioning cylinders 57, and the distance between the positioning cylinders 57 is equal to the spacing of the through holes on the iron chip 4. A guide slope 58 is provided in the inner cavity of the positioning cylinder 57. The limiting rod 3 consists of a bottom rod and a top rod, wherein the diameter of the bottom rod is equal to that of the positioning cylinder 57. The top diameters are equal, and the top rod diameter is smaller than the top diameter of the positioning cylinder 57. The gripping frame 53 is flexibly fixed on the fixing plate 51 by the straightening mechanism 52. When the first threaded rod 54 is used to adjust the spacing of the gripping mechanism 55, it is convenient to improve the gripping stability. During gripping, the positioning cylinder 57 and the limiting rod 3 on the connecting block 56 are inserted to facilitate the stacking of the iron chip 4 as a whole. When the positioning cylinder 57 and the limiting rod 3 are misaligned, the top rod and the guide slope 58 on the limiting rod 3 are squeezed. Under the action of pressure, the positioning cylinder 57 and the limiting rod 3 are inserted again. At this time, the position of the gripping frame 53 on the fixing plate 51 changes, so that the position of the gripping frame 53 can be adjusted so that the iron chip 4 can be stacked as required.

[0023] Please see Figure 1 , Figure 4 and Figure 5As shown, the correction mechanism 52 includes a limiting cylinder 521. The upper surface of the limiting cylinder 521 is fixedly connected to the lower surface of the fixing plate 51. A positioning mechanism 522 is provided on the lower surface of the fixing plate 51. A floating disk 523 is provided in the inner cavity at the bottom end of the limiting cylinder 521. A first sliding rod 524 is fixedly installed on the outer surface of the floating disk 523. A first sliding groove 525 is opened at the bottom end of the limiting cylinder 521. A first washer 526 is slidably connected to the outer surface of the first sliding rod 524. A second spring 527 is sleeved on the outer surface of the first sliding rod 524. The first washer 526 is used to prevent the second spring 527 from rubbing against the inner wall of the limiting cylinder 521. A positioning groove 528 is opened on the outer surface of the floating disk 523. The first sliding rod 524 and the first sliding groove 525 are slidably connected. Spring 527 is located between floating disk 523 and first washer 526. First washer 526 is slidably connected to the inner wall of limiting cylinder 521. Floating disk 523 is located in the middle of limiting cylinder 521. The lower surface of floating disk 523 is fixedly connected to the middle of gripping frame 53. There is a gap between the bottom end of limiting cylinder 521 and the lower surface of gripping frame 53. Positioning mechanism 522 includes first fixing block 5221. Positioning rod 5222 is slidably connected to the inner cavity of first fixing block 5221. Positioning ball 5223 is movably connected to the bottom end of positioning rod 5222. Extrusion block 5224 is fixedly installed on the outer surface of positioning rod 5222. First spring 5225 is sleeved on one end of positioning rod 5222. First spring 5225 is located between the inner wall of first fixing block 5221 and extrusion block 5224. Between the pressure blocks 5224, a first button 5226 is provided on the outer surface of the first fixing block 5221, and a first alarm 5227 is fixedly installed on the outer surface of the first fixing block 5221. The middle part of the positioning ball 5223 and the positioning groove 528 are engaged to limit the floating disk 523, so that the position of the suction cup 552 of the gripper frame 53 remains stable when there is no external force, preventing the suction cup 552 from shaking during the transfer process and increasing the risk of falling off. When there is external force, the floating disk 523 moves and drives the positioning ball 5223 and the positioning groove 528 to squeeze, so as to satisfy the position correction during flexible connection and avoid insufficient stability of flexible connection. There is a gap between the squeezing block 5224 and the first button 5226, and the first button 5226 and the first alarm 5227 are also connected. Electrical connection 227. Pressing the first button 5226 controls the first alarm 5227 to sound an alarm. The first fixing block 5221 is fixedly connected to the lower surface of the fixing plate 51. When the iron chip 4 is transferred, assembled, and stacked by the gripping assembly 5, the positioning cylinder 57 will be positioned with the limiting rod 3 inserted on the iron chip 4, thereby ensuring the neatness of the iron chip 4 during gripping and stacking. When the positioning cylinder 57 and the limiting rod 3 are offset, the limiting rod 3 will be squeezed by the guide slope 58 inside the positioning cylinder 57. At this time, the positioning cylinder 57 is forced to move the gripping frame 53. The movement of the gripping frame 53 drives the floating disk 523 to move. The movement of the floating disk 523 drives the first sliding rod 524 to slide inside the first sliding groove 525 and squeeze the second spring 527.At this time, the floating disk 523 exerts a squeezing force on the positioning mechanism 522, enabling the gripping frame 53 to reposition itself. This ensures the accuracy of the position when the suction cup 552 grips and stacks the iron core 4. When the floating disk 523's floating positioning groove 528 exerts a squeezing force on the positioning ball 5223, the positioning rod 5222 slides within the inner cavity of the first fixed block 5221. The sliding of the positioning rod 5222 causes the squeezing block 5224 to slide within the inner cavity of the first fixed block 5221 and exert a squeezing force on the first spring 5225. Simultaneously, the squeezing block 5224 squeezes the first button 5226, causing the first alarm 5227 to sound an alarm. This serves as a reminder to the staff that there is a deviation between the positioning cylinder 57 and the limit rod 3, requiring timely maintenance to ensure the neatness of the iron core stacking, making the iron core structure compact, and improving the service life of the transformer after assembly.

[0024] Please see Figure 3 and Figure 6 As shown, the gripping mechanism 55 includes a movable frame 551. The outer surface of the movable frame 551 is provided with suction cups 552, and three suction cups 552 are provided on the outer surface of one movable frame 551. The middle suction cup 552 is fixedly connected to the movable frame 551, and the suction cups 552 on both sides are slidably connected to the movable frame 551. A first connecting strip 553 is rotatably connected to the outer surface of the middle suction cup 552, and a second connecting strip 554 is rotatably connected to the outer surface of the suction cups 552 on both sides. The first connecting strip 553 and the second connecting strip 554 are rotatably connected. A second fixing block 555 is fixedly connected to the outer surface of the movable frame 551, and a second threaded rod 556 is rotatably connected to the inner cavity of the second fixing block 555. A first slider 557 is slidably connected to the outer surface of the movable frame 551. The first slider 557 and the side suction cups 552 are slidably fixedly connected. The first slider 557 and the second threaded rod 556 are connected by threads. The movable frame 551 and the gripping frame 53 are slidably connected. 1. The first threaded rod 54 is connected by a thread, and the threads at both ends of the first threaded rod 54 are in opposite directions. There are two moving frames 551, which are symmetrically distributed about the middle part of the gripping frame 53. When adjusting the spacing of the suction cups 552, the spacing of the moving frames 551 is changed by rotating the first threaded rod 54. The spacing between the two moving frames 551 is changed by rotating the second threaded rod 556. The first slider 557 slides on the outer surface of the moving frame 551. The sliding of the first slider 557 causes the suction cups 552 on both sides to move. The movement of the suction cups 552 causes the second connecting bar 554 to rotate. The rotation of the second connecting bar 554 causes the first connecting bar 553 to rotate. This causes the suction cups 552 on both sides to move towards or away from each other. In combination with the rotation of the first threaded rod 54, the spacing of the suction cups 552 can be adjusted in the horizontal and vertical directions. It can be adjusted according to the specifications of the iron chip 4 being gripped, thereby improving the gripping force and gripping efficiency of the suction cups 552. Example 2

[0025] Please see Figure 8 and Figure 10 As shown, the stacking support assembly 6 includes a support frame 61. Both the base 1 and the upper surface of the support frame 61 have insertion holes. A limiting rod 3 is inserted into the insertion holes. Adjustment mechanisms 62 are provided at the four corners of the lower surface of the support frame 61. A limiting frame 63 is fixedly installed on the bottom wall of the support frame 61. A second sliding groove 64 is provided on the outer surface of the limiting frame 63. An anti-slip mechanism 65 is provided in the inner cavity at the bottom end of the limiting frame 63. The limiting rod 3 is inserted into the upper surface of the support frame 61. The iron chip 4 has three different specifications of silicon steel sheets. The iron chip 4 is placed on the upper surface of the support frame 61. When the support frame 61 tilts, the tilt of the support frame 61 is adjusted by the adjustment mechanism 62 to prevent the support frame 61 from tilting when stacking the iron chip 4. The anti-slip mechanism 65 contacts the base 1 and can issue an alarm when the stacking support assembly 6 slides. At the same time, the anti-slip mechanism 65 is flexibly fixed in the inner cavity of the limiting frame 63, improving the stability of the stacking support assembly 6.

[0026] Please see Figure 8 and Figure 9 As shown, the adjustment mechanism 62 includes a support block 621. A third threaded rod 622 is rotatably connected to the inner cavity of the support block 621. A second slider 623 is slidably connected to the upper surface of the support block 621. A drive rod 624 is fixedly installed on the outer surface of the second slider 623. A storage rod 625 is fixedly installed at the four corners of the upper surface of the support block 621. An adjustment rod 626 is slidably connected to the inner cavity of the storage rod 625. An adjustment block 627 is fixedly installed at the top of the adjustment rod 626. A drive groove 628 is formed on the outer surface of the adjustment block 627. A support ball 629 is movably connected to the upper surface of the adjustment block 627. The upper surface of the support ball 629 is fixedly connected to the lower surface of the support frame 61. There is a gap between the adjustment block 627 and the support frame 61 to facilitate the height adjustment of the adjustment block 627 and the movement of the support ball 629 within the inner cavity of the adjustment block 627 during cleaning of the support frame 61. The support frame 61 is stably supported. The drive groove 628 is inclined. The support block 621 is placed on the upper surface of the base 1. The second slider 623 and the third threaded rod 622 are connected by threads. The drive rod 624 is slidably connected to the drive groove 628. When the support frame 61 tilts, the level of the support frame 61 is adjusted by the adjustment mechanism 62. That is, the third threaded rod 622 is rotated to drive the second slider 623 to slide on the support block 621. At this time, the drive rod 624 slides in the inner cavity of the drive groove 628 and drives the adjustment rod 626 to slide in the inner cavity of the storage rod 625. This causes the distance between the adjustment block 627 and the support block 621 to change. This allows the height of the support frame 61 to be adjusted when the height of a certain corner of the support frame 61 is insufficient, thereby ensuring the overall level of the support frame 61 and improving the stability of the iron chip 4 during stacking.

[0027] Please see Figure 10, Figure 11 and Figure 12 As shown, the anti-slip mechanism 65 includes a floating block 651, with second slide rods 652 fixedly installed at both ends of the floating block 651. A third spring 653 is sleeved on the outer surface of the second slide rod 652, and a second washer 654 is slidably connected to the outer surface of the second slide rod 652. A third slide rod 655 is fixedly installed on the outer surface of the floating block 651, and a fourth spring 656 is provided in the inner cavity of the floating block 651. A third connecting strip 657 is fixedly installed on the bottom wall of the limiting frame 63, and a sliding plate 658 is slidably connected to the bottom wall of the limiting frame 63. A second washer 654 is provided at both ends of the sliding plate 658. A second alarm 6510 is fixedly mounted on the upper surface of button 659 and slide plate 658. There is a gap between the bottom end of limit bracket 63 and the upper surface of base 1. The lower surface of floating block 651 is in close contact with the upper surface of base 1, and a groove is provided on the lower surface of floating block 651 to increase the friction between floating block 651 and base 1, thereby improving the stability of the connection between floating block 651 and base 1. The inner cavity of second slide rod 652 and second slide groove 64 is slidably connected. A third spring 653 is located between floating block 651 and second washer 654. The inner wall of the washer 654 and the limiting frame 63 are slidably connected. The third slide rod 655 and the slide plate 658 are slidably connected. The fourth spring 656 is located between the inner wall of the floating block 651 and the slide plate 658. The second button 659 and the second alarm 6510 are electrically connected, and pressing the second button 659 controls the second alarm 6510 to sound an alarm. There is a gap between the second button 659 and the third connecting strip 657. The inner cavity of the floating block 651 and the limiting frame 63 do not contact each other. When the support frame 61 and the base 1 slide, the floating block 651 floats under the elastic force of the fourth spring 656. Block 651 always exerts a squeezing force on the base 1, thus keeping the floating block 651 in close contact with the base 1. Therefore, when the support frame 61 slides, it drives the limiting frame 63 to slide. At this time, the second slide rod 652 slides in the inner cavity of the second slide groove 64 and squeezes the second washer ring 654. At the same time, the sliding of the limiting frame 63 drives the third connecting bar 657 to slide. The sliding of the third connecting bar 657 drives the third connecting bar 657 to squeeze the second button 659, causing the second alarm 6510 to sound an alarm and remind the staff that the support frame 61 has slid on the base 1.

[0028] In summary, the limiting rod 3 limits the position of the iron chip 4, ensuring that the iron chip 4 remains neat before and after stacking. The robotic arm 2 drives the gripping component 5 to sequentially grip and stack the three different iron chips 4, allowing the iron chips 4 to be stacked from the upper surface of the base 1 onto the upper surface of the stacking support component 6 for assembly. The corrective mechanism 52 flexibly fixes the gripping frame 53 to the fixed plate 51. The first threaded rod 54 is used to adjust the spacing of the gripping mechanism 55, improving the stability of the gripping. During gripping, the positioning cylinder 57 on the connecting block 56 engages with the limiting rod 3, facilitating the overall stacking of the iron chips 4. When the positioning cylinder 57 and the limiting rod 3 are misaligned to a certain extent, a time limit is set. The top rod on the positioning rod 3 and the guide slope 58 are squeezed together. Under the pressure, the positioning cylinder 57 and the limiting rod 3 are inserted again. At this time, the position of the gripping frame 53 on the fixed plate 51 changes, so that the position of the gripping frame 53 can be adjusted so that the iron chip 4 can be stacked as required. When the support frame 61 tilts, the tilt of the support frame 61 is adjusted by the adjustment mechanism 62 to prevent the support frame 61 from tilting when stacking the iron chip 4. The anti-slip mechanism 65 contacts the base 1 and can sound an alarm when the stacking support assembly 6 slides. At the same time, the anti-slip mechanism 65 is flexibly fixed in the inner cavity of the limiting frame 63 to improve the stability of the stacking support assembly 6.

[0029] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0030] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present application, based on the technical solution and concept of the present application, should be covered within the scope of protection of the present application.

Claims

1. An automatic lamination robot for transformer cores, comprising a base (1), a robotic arm (2), and lamination cores (4), wherein the outer surface of each lamination core (4) is provided with through holes of equal spacing, characterized in that, The upper surface of the base (1) is provided with a robotic arm (2), the upper surface of the base (1) is provided with an iron chip (4), the through hole of the iron chip (4) is provided with a limiting rod (3), wherein the limiting rod (3) is in pairs, and two limiting rods (3) are inserted on each iron chip (4). One end of the robotic arm (2) is provided with a gripping component (5), and the upper surface of the base (1) is provided with a stacked support component (6). The gripping assembly (5) includes a fixed plate (51), the upper surface of which is fixedly connected to the outer surface of the robotic arm (2). A correction mechanism (52) is provided on the lower surface of the fixed plate (51), and a gripping frame (53) is provided at the bottom end of the correction mechanism (52). A first threaded rod (54) is rotatably connected to one side of the inner cavity of the gripping frame (53), and a gripping mechanism (55) is slidably connected to the outer surface of the gripping frame (53). Connecting blocks (56) are fixedly installed on both sides. A positioning cylinder (57) is fixedly installed in the inner cavity of the connecting block (56). There are two positioning cylinders (57), and the distance between the positioning cylinders (57) is equal to the spacing of the through holes on the iron chip (4). A guide slope (58) is provided in the inner cavity of the positioning cylinder (57). The limiting rod (3) is composed of a bottom rod and a top rod. The diameter of the bottom rod is equal to the diameter of the top end of the positioning cylinder (57), and the diameter of the top rod is smaller than the diameter of the top end of the positioning cylinder (57).

2. The automatic lamination robot for transformer cores as described in claim 1, characterized in that, The correction mechanism (52) includes a limiting cylinder (521), the upper surface of the limiting cylinder (521) and the lower surface of the fixing plate (51) are fixedly connected, the lower surface of the fixing plate (51) is provided with a positioning mechanism (522), the bottom end cavity of the limiting cylinder (521) is provided with a floating plate (523), the outer surface of the floating plate (523) is fixedly installed with a first sliding rod (524), the bottom end of the limiting cylinder (521) is provided with a first sliding groove (525), the outer surface of the first sliding rod (524) is slidably connected with a first washer (526), ​​and the outer surface of the first sliding rod (524) is sleeved with a first... Two springs (527), the outer surface of the floating disk (523) is provided with a positioning groove (528), the first slide rod (524) and the first slide groove (525) are slidably connected, the second spring (527) is located between the floating disk (523) and the first washer (526), ​​the first washer (526) and the inner wall of the limiting cylinder (521) are slidably connected, the floating disk (523) is located in the middle part of the limiting cylinder (521), the lower surface of the floating disk (523) and the middle part of the gripping frame (53) are fixedly connected, and there is a gap between the bottom end of the limiting cylinder (521) and the lower surface of the gripping frame (53).

3. The automatic lamination robot for transformer cores as described in claim 2, characterized in that, The positioning mechanism (522) includes a first fixing block (5221), a positioning rod (5222) is slidably connected to the inner cavity of the first fixing block (5221), a positioning ball (5223) is movably connected to the bottom end of the positioning rod (5222), a pressing block (5224) is fixedly installed on the outer surface of the positioning rod (5222), and a first spring (5225) is sleeved on one end of the positioning rod (5222). The first spring (5225) is located between the inner wall of the first fixing block (5221) and the pressing block (5224). The outer surface of the first fixed block (5221) is provided with a first button (5226), and the outer surface of the first fixed block (5221) is fixedly installed with a first alarm (5227). The middle part of the positioning ball (5223) and the positioning groove (528) are engaged, and there is a gap between the pressing block (5224) and the first button (5226). The first button (5226) and the first alarm (5227) are electrically connected. Pressing the first button (5226) controls the first alarm (5227) to sound an alarm. The lower surface of the first fixed block (5221) and the fixed plate (51) are fixedly connected.

4. The automatic lamination robot for transformer cores as described in claim 1, characterized in that, The gripping mechanism (55) includes a movable frame (551). The outer surface of the movable frame (551) is provided with suction cups (552), and three suction cups (552) are provided on the outer surface of one movable frame (551). The suction cup (552) in the middle is fixedly connected to the movable frame (551), and the suction cups (552) on both sides are slidably connected to the movable frame (551). A first connecting strip (553) is rotatably connected to the outer surface of the middle suction cup (552), and a second connecting strip (554) is rotatably connected to the outer surfaces of the suction cups (552) on both sides. The first connecting strip (553) and the second connecting strip (554) are rotatably connected. The outer surface of the movable frame (551) is fixedly connected with a second... The inner cavity of the second fixed block (555) is rotatably connected to the second threaded rod (556). The outer surface of the movable frame (551) is slidably connected to the first slider (557). The first slider (557) and the suction cup (552) on the side are slidably fixedly connected. The first slider (557) and the second threaded rod (556) are connected by threads. The movable frame (551) and the gripping frame (53) are slidably connected. The movable frame (551) and the first threaded rod (54) are connected by threads. The threads at both ends of the first threaded rod (54) are opposite in direction. There are two movable frames (551), which are symmetrically distributed about the middle part of the gripping frame (53).

5. The automatic lamination robot for transformer cores as described in claim 1, characterized in that, The stacked support assembly (6) includes a support frame (61). The upper surfaces of the base (1) and the support frame (61) are provided with insertion holes. The limiting rod (3) is inserted into the insertion holes. Adjustment mechanisms (62) are provided at the four corners of the lower surface of the support frame (61). A limiting frame (63) is fixedly installed on the bottom wall of the support frame (61). A second sliding groove (64) is provided on the outer surface of the limiting frame (63). An anti-slip mechanism (65) is provided in the inner cavity at the bottom end of the limiting frame (63). The limiting rod (3) is inserted into the upper surface of the support frame (61). The iron chip (4) has three different specifications of silicon steel sheets. The iron chip (4) is placed on the upper surface of the support frame (61).

6. The automatic lamination robot for transformer cores as described in claim 5, characterized in that, The adjustment mechanism (62) includes a support block (621), a third threaded rod (622) is rotatably connected to the inner cavity of the support block (621), a second slider (623) is slidably connected to the upper surface of the support block (621), a drive rod (624) is fixedly installed on the outer surface of the second slider (623), a storage rod (625) is fixedly installed at the four corners of the upper surface of the support block (621), an adjustment rod (626) is slidably connected to the inner cavity of the storage rod (625), an adjustment block (627) is fixedly installed at the top of the adjustment rod (626), a drive groove (628) is opened on the outer surface of the adjustment block (627), a support ball (629) is movably connected to the upper surface of the adjustment block (627), and the upper surface of the support ball (629) and the lower surface of the support frame (61) are fixedly connected.

7. The automatic lamination robot for transformer cores as described in claim 6, characterized in that, The drive groove (628) is inclined, the support block (621) is placed on the upper surface of the base (1), the second slider (623) and the third threaded rod (622) are connected by threads, and the drive rod (624) and the drive groove (628) are slidably connected.

8. The automatic lamination robot for transformer cores as described in claim 7, characterized in that, The anti-slip mechanism (65) includes a floating block (651), with a second slide rod (652) fixedly installed at both ends of the floating block (651). A third spring (653) is sleeved on the outer surface of the second slide rod (652), and a second washer (654) is slidably connected to the outer surface of the second slide rod (652). A third slide rod (655) is fixedly installed on the outer surface of the floating block (651), and a fourth spring (656) is provided in the inner cavity of the floating block (651).

9. The automatic lamination robot for transformer cores as described in claim 8, characterized in that, The bottom wall of the limiting frame (63) is fixedly installed with a third connecting strip (657), and the bottom wall of the limiting frame (63) is slidably connected with a sliding plate (658). The two ends of the sliding plate (658) are provided with second buttons (659), and the upper surface of the sliding plate (658) is fixedly installed with a second alarm (6510).

10. The automatic lamination robot for transformer cores as described in claim 9, characterized in that, There is a gap between the bottom end of the limiting frame (63) and the upper surface of the base (1). The lower surface of the floating block (651) is in close contact with the upper surface of the base (1), and a groove is provided on the lower surface of the floating block (651). The inner cavity of the second slide rod (652) and the second slide groove (64) are slidably connected. The third spring (653) is located between the floating block (651) and the second washer (654). The second washer (654) is slidably connected to the inner wall of the limiting frame (63). The third slide bar (655) and the slide plate (658) are slidably connected. The fourth spring (656) is located between the inner wall of the floating block (651) and the slide plate (658). The second button (659) and the second alarm (6510) are electrically connected. Pressing the second button (659) controls the second alarm (6510) to sound an alarm. There is a gap between the second button (659) and the third connecting bar (657). The inner cavity of the floating block (651) and the limit frame (63) do not contact each other.

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