Automatic transformer silicon steel sheet grabbing and stacking device

Abstract

The application discloses a kind of automatic grabbing and stacking devices of transformer silicon steel sheet, it is related to transformer production technical field, including feeding table, stacking table, negative pressure source, transfer mechanism and grabbing mechanism, transfer mechanism drives grabbing mechanism to move between feeding table and stacking table.Grabbing mechanism includes grabbing frame, integral lifting mechanism, grouping trigger component and multiple adsorption components arranged along the first horizontal direction;Each adsorption component includes mounting bracket, adsorption seat and two vacuum suction cups, the adsorption seat of the adsorption component at the first end of the arrangement direction is fixed along the first horizontal direction, and the adsorption seat of the remaining adsorption component can slide along the direction.Feeding time, each adsorption component is sequentially raised from the second end to the first end of the arrangement direction, so that the silicon steel sheet forms continuous advancing local peeling;Discharge time, each adsorption component is lowered in reverse order.The device can gradually destroy the adhesion between silicon steel sheets, reduce the lower silicon steel sheet being brought up or disturbed, and improve the progressive stacking stability.

Description

Technical Field

[0001] This invention relates to the field of transformer manufacturing technology, and specifically to an automatic gripping and stacking device for transformer silicon steel sheets. Background Technology

[0002] Transformer cores are typically formed by stacking multiple silicon steel sheets one by one in predetermined positions. To improve stacking efficiency, existing production lines usually use a robotic arm to drive a vacuum adsorption device that moves back and forth between the feeding position and the stacking position to automatically grasp and stack the silicon steel sheets. Because the silicon steel sheets are relatively thin and have a large area, and adjacent silicon steel sheets are prone to adhesion due to oil film, static electricity, or surface bonding, grasping the upper layer of silicon steel sheets may cause the lower layer of silicon steel sheets to be moved or disturbed.

[0003] Chinese invention patent application CN104444401A discloses an automated stacking system for silicon steel sheets in transformer core manufacturing. The gripping part includes a crossbeam and multiple suction cups. The silicon steel sheets are bent upwards at both ends by the relative movement between the movable bracket or the middle suction cup group and the end suction cup group. The middle suction cup group can slide vertically, and the end suction cup group can slide laterally. During placement, the bent silicon steel sheets first make point contact or line contact with the stacking position, and then gradually expand the contact range.

[0004] The aforementioned existing technologies achieve gripping and placement by altering the overall shape of the silicon steel sheet. However, they primarily rely on the relative movement between the middle and end suction cup groups to bend the silicon steel sheet, failing to create a peeling front that continuously advances from one end of the silicon steel sheet to the other. Furthermore, they do not disclose a structure where multiple adsorption components rise sequentially from one end and fall in reverse order during material release to disengage the adsorption. Therefore, in cases where inter-sheet adhesion is strong or the silicon steel sheet area is large, there is still a possibility that multiple areas may simultaneously bear separation loads, and the lower silicon steel sheet may be moved or disturbed. It is necessary to further control the peeling path of the silicon steel sheet and reduce the horizontal constraints during the progressive bending process. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic gripping and stacking device for transformer silicon steel sheets to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automatic gripping and stacking device for transformer silicon steel sheets includes a feeding platform, a stacking platform, a negative pressure source, a transfer mechanism, and a gripping mechanism disposed at the execution end of the transfer mechanism. The transfer mechanism is used to drive the gripping mechanism to move between the feeding platform and the stacking platform. The gripping mechanism includes a gripping frame, an overall lifting mechanism for driving the gripping frame to rise and fall, a group triggering component disposed on the gripping frame, and multiple adsorption components arranged sequentially along a first horizontal direction. Each adsorption component includes a mounting frame slidably disposed vertically on the gripping frame, an adsorption seat disposed on the mounting frame, and two vacuum suction cups spaced apart on the adsorption seat along a second horizontal direction intersecting the first horizontal direction. The vacuum suction of each adsorption component... Each plate is connected to a negative pressure source via a controllable air path that can be independently switched on and off; the arrangement of multiple adsorption components has a first end and a second end, wherein the adsorption seat of the adsorption component located at the first end is fixed relative to its mounting frame along a first horizontal direction, and the adsorption seat of the other adsorption components is slidably connected to its mounting frame along the first horizontal direction; the group triggering component is used to move each adsorption component from the second end to the first end sequentially from a low position to a high position when picking up material, and to move each adsorption component from the first end to the second end sequentially from a high position to a low position when discharging material, the adsorption component located at the first end maintains adsorption during the descent of the other adsorption components, and releases adsorption after the silicon steel sheets are stacked.

[0007] Furthermore, the group triggering assembly includes a first elastic element, wheel seats, rollers, linkage rods, a linkage drive component, and multiple triggering elements; each mounting frame and gripping frame is provided with a first elastic element, which is used to lower the corresponding mounting frame; each wheel seat is fixedly connected to its corresponding mounting frame, and the rollers are rotatably connected to the wheel seats; the linkage rod is slidably disposed on the gripping frame, and the linkage drive component is fixedly connected to the bottom of the gripping frame and connected to the linkage rod, used to drive the linkage rod to reciprocate between the initial position and the trigger position, so that the linkage rod moves from the initial position to the trigger position. The moving direction is the trigger moving direction; the linkage rod is provided with multiple mounting blocks along the axial direction, each corresponding to one of the rollers. Each trigger element is respectively set on the side of the corresponding mounting block facing the roller, and has an inclined surface with the lower end located in front of the trigger moving direction and the upper end located in the trigger moving direction, as well as a support surface connected to the upper end of the inclined surface; the extension length of each trigger element along the trigger moving direction increases sequentially from the first end to the second end. When the linkage rod is in the initial position, the initial horizontal distance between the lower end of each inclined surface and the corresponding roller along the trigger moving direction decreases sequentially from the first end to the second end.

[0008] Furthermore, the vertical height of the supporting surface of each trigger relative to the linkage rod increases sequentially from the middle to both ends of the arrangement direction of the multiple adsorption components.

[0009] Furthermore, the top of the gripping frame is fixedly connected to piston cylinders corresponding to each wheel seat. Each piston cylinder has a piston plate that is sealed and slidably connected inside. The piston plate is fixedly connected to the corresponding wheel seat and together with the piston cylinder forms a buffer chamber. The volume of the buffer chamber increases as the corresponding mounting frame moves from a high position to a low position. Each piston cylinder is equipped with an air inlet pipe and an air outlet pipe that communicate with the buffer chamber. The air inlet pipe is equipped with an air inlet check valve that allows only external air to enter the buffer chamber, and the air outlet pipe is equipped with an air outlet check valve that allows only the air in the buffer chamber to exit. The inner diameter of at least a section of the air inlet pipe is smaller than the inner diameter of the air outlet pipe.

[0010] Furthermore, it also includes a weighing detection module and a control module. The weighing detection module is located between the execution end of the transfer mechanism and the gripping mechanism, and is electrically connected to the control module. The control module is used to obtain the load detected by the weighing detection module after all adsorption components are in a high position, the gripping mechanism leaves the feeding table and stops moving, subtract the preset no-load load from the load to obtain the stable net load, and compare the stable net load with the preset zero-piece weight range, single-piece weight range and heavy-piece weight range respectively, and output the corresponding missing piece status, single piece status and suspected heavy piece status.

[0011] Furthermore, it also includes a negative pressure detection module, which includes negative pressure sensors that are connected to each controllable air path respectively, and each negative pressure sensor is electrically connected to the control module; the control module is used to record the load signal and the negative pressure signal of each controllable air path from the establishment of adsorption by each vacuum suction cup to the cessation of movement of the gripping mechanism, and to store the single-piece reference load envelope corresponding to the lifting stage of each adsorption component. Furthermore, the control module is also used to output adsorption failure information when the output is in a leaky state and the negative pressure of at least one controllable air path does not reach or maintain a preset negative pressure threshold; output inter-sheet adhesion information when the output is in a suspected overloaded state, the negative pressure of each controllable air path reaches and maintains a preset negative pressure threshold, and the stable net load is within the overloaded weight range; output transient entanglement information when the negative pressure of each controllable air path reaches and maintains a preset negative pressure threshold, the load during the material taking process exceeds the single-sheet reference load envelope of the corresponding lifting stage, and the stable net load is within the single-sheet weight range; and output adsorption instability information when the output is in a single-sheet state and the negative pressure of at least one controllable air path does not reach or maintain a preset negative pressure threshold.

[0012] Furthermore, a partition frame is fixedly connected to the bottom of the gripping frame, and a linkage frame is slidably connected to the partition frame along the first horizontal direction, and a reciprocating drive component connected to the linkage frame is provided, the reciprocating drive component being controlled by the control module. Furthermore, a second elastic element is provided between the adsorption seat of each of the other adsorption components and the corresponding mounting frame. The second elastic element is used to make the corresponding adsorption seat tend to the initial position. Furthermore, the linkage frame is equipped with multiple levers that correspond one-to-one with the other adsorption components, and each lever is located on the side of the corresponding adsorption seat facing the second end. Furthermore, when outputting inter-piece adhesion information, the control module controls the reciprocating drive component to drive the linkage frame to reciprocate along the first horizontal direction toward the first end and the second end.

[0013] Furthermore, when the linkage frame is in the initial position, the initial distance between each lever and the corresponding adsorption seat along the first horizontal direction decreases sequentially from the first end to the second end; the single drive stroke of the linkage frame toward the first end is set so that each lever can push against the corresponding adsorption seat, and the displacement of each adsorption seat pushed does not exceed its allowable sliding stroke relative to the corresponding mounting frame.

[0014] By adopting the above technical solution, the technical effects achieved by this invention compared to the prior art are as follows: 1. This invention transforms the method of separating the silicon steel sheet as a whole or multiple areas simultaneously upward by raising multiple adsorption components sequentially from the second end to the first end into a method of local peeling that continuously advances along the first horizontal direction. This gradually destroys the adhesion between the sheets, mainly at the peeling front formed between adjacent adsorption components, avoiding the need to overcome the adhesion between large areas of silicon steel sheets at the same time. This reduces the instantaneous upward lifting force and disturbance force transmitted to the lower silicon steel sheets. During material discharge, the adsorption component located at the first end descends first and maintains its adsorption positioning, while the remaining adsorption components descend and adjust accordingly at the same position, thereby improving the positional stability of the progressively stacked silicon steel sheets.

[0015] 2. This invention uses a linkage drive component to drive the linkage rod to reciprocate, and utilizes the different initial distances between multiple trigger components and corresponding rollers to convert the linear motion of the linkage rod into the differential lifting motion of multiple mounting frames. This allows each adsorption component to rise in the order from the second end to the first end when picking up material, and to fall in the opposite order when the linkage rod moves in the opposite direction. This eliminates the need to set up a lifting drive component for each adsorption component, simplifies the drive structure and timing control, and ensures the mechanical correspondence between the picking up and discharging actions.

[0016] 3. This invention increases the height of the supporting surface of each trigger element from the middle to both ends of the adsorption assembly arrangement direction, so that the adsorbed silicon steel sheet forms an arc-shaped cross section with a lower middle and higher ends. This transforms the planar bearing state of the silicon steel sheet into a spatial bearing state with a predetermined curvature. When the silicon steel sheet is subjected to a load perpendicular to the sheet surface, it needs to overcome the existing curvature to further flex, thus improving its anti-sagging and anti-vibration capabilities and enhancing the posture stability of the silicon steel sheet during transportation.

[0017] 4. This invention forms a buffer chamber with an increased volume as the mounting frame descends, formed by the piston plate and piston cylinder. It also utilizes the one-way valve for inlet, one-way valve for outlet, and the diameter difference of the inlet pipe to create a one-way pneumatic flow restriction. This allows the air in the buffer chamber to be discharged through the outlet pipe when the mounting frame rises, while external air can only slowly enter the buffer chamber through the smaller diameter inlet pipe when it descends. This buffers the descent and reset of the mounting frame, reduces the impact and positional disturbance when the silicon steel sheets contact the stacked position, and avoids significantly reducing the lifting speed during material handling.

[0018] 5. The present invention drives multiple levers to move back and forth through a linkage frame, and uses a second elastic element to reset the corresponding adsorption seat. This enables the adsorption seats and vacuum suction cups of the other adsorption components to generate synchronous or asynchronous horizontal reciprocating motion, thereby causing the adsorbed silicon steel sheet to slide horizontally, flex locally and shear between layers relative to the underlying silicon steel sheet it is attached to, weakening the adhesion between the sheets and causing the underlying silicon steel sheet to detach. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a three-dimensional structural diagram of the entire invention; Figure 2 This is one of the structural schematic diagrams of the gripping mechanism of the present invention; Figure 3 This is the second schematic diagram of the gripping mechanism of the present invention; Figure 4 This is a schematic diagram of the installation structure of the linkage frame of the present invention; Figure 5 This is a partial three-dimensional structural diagram of the group triggering component of the present invention; Figure 6 This is a partial front view schematic diagram of the group triggering component of the present invention; Figure 7 This is a partial cross-sectional view of the gripping mechanism of the present invention; Figure 8 This is a schematic diagram of the piston cylinder and wheel seat of the present invention; Figure 9 This is a schematic diagram of the wheel seat and mounting frame of the present invention; Figure 10 For the present invention Figure 3 Enlarged view of point A in the middle.

[0021] In the diagram: 1. Feeding platform; 2. Stacking platform; 3. Transfer mechanism; 4. Gripping mechanism; 401. Gripping frame; 402. Second elastic element; 403. Adsorption seat; 41. Group triggering component; 411. Linkage rod; 412. Mounting block; 413. Trigger; 414. Inclined surface; 416. Wheel seat; 417. Roller; 418. Linkage drive component; 42. Adsorption component; 421. Mounting frame; 422. Vacuum suction cup; 423. First elastic element; 5. Overall lifting mechanism; 601. Linkage frame; 602. Separator frame; 603. Reciprocating drive component; 604. Lever; 701. Piston cylinder; 702. Air outlet pipe; 703. Air inlet pipe; 704. Piston plate. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the embodiments.

[0023] Example 1 like Figures 1-10 As shown, the present invention provides an automatic gripping and stacking device for transformer silicon steel sheets, including a feeding platform 1, a stacking platform 2, a negative pressure source, a transfer mechanism 3, and a gripping mechanism 4 disposed at the execution end of the transfer mechanism 3. The transfer mechanism 3 is used to drive the gripping mechanism 4 to move between the feeding platform 1 and the stacking platform 2. The gripping mechanism 4 includes a gripping frame 401, an overall lifting mechanism 5 for driving the gripping frame 401 to rise and fall, a group triggering component 41 disposed on the gripping frame 401, and a plurality of adsorption components 42 arranged sequentially along a first horizontal direction. Each adsorption component 42 includes a mounting frame 421 that is vertically slidably disposed on the gripping frame 401, an adsorption seat 403 disposed on the mounting frame 421, and two vacuum suction cups 422 that are spaced apart on the adsorption seat 403 along a second horizontal direction that intersects with the first horizontal direction. The vacuum suction cups 422 of each adsorption component 42 are connected to a negative pressure source through a controllable air passage that can be independently switched on and off. The multiple adsorption components 42 are arranged with a first end and a second end, wherein the adsorption component 42 located at the first end (i.e., Figure 3 The adsorption seat 403 (in the area selected by region I) is fixed relative to its mounting frame 421 along the first horizontal direction, and the remaining adsorption components 42 (i.e. Figure 3 The adsorption seat 403 and its mounting bracket 421 of the area (selected by the middle region II) are slidably connected along the first horizontal direction; The group triggering component 41 is used to move each adsorption component 42 from the second end to the first end from the low position to the high position during material picking, and to move each adsorption component 42 from the first end to the second end from the high position to the low position during material discharging. The adsorption component 42 located at the first end maintains adsorption during the descent of the other adsorption components 42, and releases adsorption after the silicon steel sheets are stacked.

[0024] By raising multiple adsorption components 42 sequentially from the second end to the first end, the method of separating the silicon steel sheet as a whole or multiple areas simultaneously upward is transformed into a local peeling method that continuously advances along the first horizontal direction. This gradually destroys the adhesion between the sheets, mainly at the peeling front formed between adjacent adsorption components 42, avoiding the need to overcome the adhesion between large areas of silicon steel sheets at the same time. This reduces the instantaneous upward lifting force and disturbance force transmitted to the lower silicon steel sheets. During material discharge, the adsorption component 42 located at the first end descends first and maintains adsorption positioning, allowing the remaining adsorption components 42 to descend and adjust sequentially at this position, thereby improving the positional stability of the progressively stacked silicon steel sheets.

[0025] During material handling, the transfer mechanism 3 moves the gripping mechanism 4 above the feeding platform 1, and the overall lifting mechanism 5 drives the gripping frame 401 to descend, so that the vacuum suction cups 422 of each adsorption component 42 contact the uppermost silicon steel sheet. Each controllable air path is connected to the negative pressure source and adsorption is established. Each adsorption component 42 forms two-point adsorption on the corresponding area of ​​the silicon steel sheet through two vacuum suction cups 422 spaced apart along the second horizontal direction, so as to reduce the twisting of the silicon steel sheet during the gradual rise.

[0026] The group triggering component 41 first moves the adsorption component 42 located at the second end from a low position to a high position, and then raises the remaining adsorption components 42 in sequence. The adsorption component 42 located at the first end is the last to move from a low position to a high position, so that the peeling front of the silicon steel sheet gradually moves from the second end to the first end. When the silicon steel sheet is bent segment by segment, the adsorption seats 403 of the remaining adsorption components 42 slide along the first horizontal direction to adapt to the change in the horizontal projection distance between each adsorption position; the adsorption component 42 located at the first end maintains adsorption and is fixed along the first horizontal direction before the last rise, so as to limit the overall horizontal displacement of the silicon steel sheet.

[0027] During material unloading, the group trigger component 41 reverses its action, causing the adsorption component 42 at the first end to move from a high position to a low position. The vacuum suction cup 422 of the adsorption component 42 at the first end continues to maintain adsorption after contacting the stacking table 2 or the already stacked silicon steel sheets, thereby determining the horizontal reference position of the silicon steel sheets to be stacked. The remaining adsorption components 42 descend sequentially from the first end to the second end, and the adsorption seats 403 of the remaining adsorption components 42 slide along the first horizontal direction during the gradual unfolding of the silicon steel sheets to reduce lateral pulling on the silicon steel sheets. After the silicon steel sheets are stacked, all controllable air paths are disconnected, and all adsorption components 42 release adsorption.

[0028] The first horizontal direction is the length direction of the silicon steel sheet, and the second horizontal direction intersects with the first horizontal direction and is preferably perpendicular to each other; the overall lifting mechanism 5 adopts a linear module, and the mounting frame 421 and the gripping frame 401 slide together vertically; the vacuum suction cup 422 adopts a corrugated suction cup, and each controllable air path is controlled by a solenoid valve and a vacuum generator.

[0029] The transfer mechanism 3 adopts a gantry-type linear module, whose actuator drives the gripping mechanism 4 to reciprocate between the feeding platform 1 and the stacking platform 2. After the transfer mechanism 3 moves the gripping mechanism 4 above the feeding platform 1, it stops, and the overall lifting mechanism 5 drives the gripping frame 401 to descend to pick up the material. After picking up the material, the overall lifting mechanism 5 drives the gripping frame 401 to rise, and the transfer mechanism 3 moves the gripping mechanism 4 above the stacking platform 2. After unloading the material, the transfer mechanism 3 drives the gripping mechanism 4 back to the feeding platform 1.

[0030] Example 2 like Figure 3 , Figure 5 and Figure 10 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the group triggering component 41 includes a first elastic element 423, a wheel seat 416, a roller 417, a linkage rod 411, a linkage drive component 418, and multiple triggering elements 413; each mounting frame 421 and the gripping frame 401 are respectively provided with a first elastic element 423, the first elastic element 423 is used to make the corresponding mounting frame 421 tend to a lower position; each wheel seat 416 is fixedly connected to the corresponding mounting frame 421, and the roller 417 is rotatably connected to the wheel seat 416; the linkage rod 411 is slidably disposed on the gripping frame 401, and the linkage drive component 418 is fixedly connected to the bottom of the gripping frame 401 and connected to the linkage rod 411, for driving the linkage rod 411 in the initial position and... The trigger position moves back and forth, with the direction of movement of the linkage rod 411 from the initial position to the trigger position as the trigger movement direction. The linkage rod 411 is provided with a plurality of mounting blocks 412 corresponding to each roller 417 along the axial direction. Each trigger element 413 is respectively provided on the side of the corresponding mounting block 412 facing the roller 417, and has an inclined surface 414 with the lower end located in front of the trigger movement direction and the upper end located in the trigger movement direction, as well as a support surface connected to the upper end of the inclined surface 414. The extension length of each trigger element 413 along the trigger movement direction increases sequentially from the first end to the second end. When the linkage rod 411 is in the initial position, the initial horizontal distance between the lower end of each inclined surface 414 and the corresponding roller 417 along the trigger movement direction decreases sequentially from the first end to the second end.

[0031] In the above scheme, multiple adsorption components 42 are raised and lowered in a predetermined order. If an independent driving component is set for each mounting bracket 421, it will not only increase the number of driving components, air paths or control interfaces, but also require timing control of multiple driving components, which will easily make the device structure and control process complicated.

[0032] A linkage drive 418 drives the linkage rod 411 to reciprocate. By utilizing the different initial distances between multiple triggers 413 and corresponding rollers 417, the linear motion of the linkage rod 411 is converted into the differential lifting motion of multiple mounting brackets 421. This allows each adsorption component 42 to rise in the order from the second end to the first end when picking up material, and to fall in the opposite order when the linkage rod 411 moves in the opposite direction. This eliminates the need to set up a lifting drive for each adsorption component 42, simplifies the drive structure and timing control, and ensures the mechanical correspondence between the picking up and discharging actions.

[0033] The rotation axes of each roller 417 are parallel to each other and perpendicular to the trigger movement direction; the stroke of the linkage rod 411 from the initial position to the trigger position should allow all rollers 417 to pass over the corresponding inclined plane 414 and be supported on the support surface; the length difference and initial spacing difference of each trigger element 413 are determined according to the trigger time difference required by the adjacent adsorption components 42 and the moving speed of the linkage rod 411.

[0034] During material handling, the linkage drive 418 drives the linkage rod 411 to move along the triggering direction. The trigger 413 corresponding to the adsorption component 42 at the second end first enters below the corresponding roller 417. The roller 417 rolls upward along the inclined plane 414 and drives the corresponding mounting bracket 421 to move upward against the force of the first elastic element 423 through the wheel seat 416. As the linkage rod 411 continues to move, the remaining triggers 413 push the roller 417 upward in order of increasing distance from it, with the adsorption component 42 at the first end rising last. After the roller 417 passes the high end of the inclined plane 414, it is supported on the support surface, keeping the corresponding mounting bracket 421 in a high position. The roller 417 and the inclined plane 414 make rolling contact to reduce the frictional resistance and triggering impact when the linkage rod 411 moves.

[0035] During material discharge, the linkage drive 418 drives the linkage rod 411 back to its initial position. Since the trigger 413 corresponding to the adsorption component 42 at the first end has the smallest extension length, its roller 417 first retracts from the supporting surface to the inclined surface 414 and descends along the inclined surface 414 under the action of the first elastic element 423, causing the adsorption component 42 at the first end to reset to its low position first; the remaining adsorption components 42 then reset sequentially to the end away from the adsorption component 42 at the first end. Thus, the reciprocating motion of the linkage rod 411 can generate opposite rising and falling sequences respectively.

[0036] The linkage drive component 418 can be a structure that can realize linear pushing, such as a cylinder, electric cylinder, electric push rod, or lead screw linear module. When the linkage drive component 418 is a cylinder, the cylinder body is fixedly connected to the gripping frame 401, and the piston rod of the cylinder is fixedly connected to or hinged to the linkage rod 411 to drive the linkage rod 411 to reciprocate between the initial position and the trigger position.

[0037] Among them, the first elastic element 423 is a spring.

[0038] like Figure 3 , Figure 5 and Figure 6 As shown, preferably, the vertical height of the supporting surface of each trigger 413 relative to the linkage rod 411 increases sequentially from the middle to both ends of the arrangement direction of the multiple adsorption components 42.

[0039] The silicon steel sheet is relatively thin and has a large area. After being fully lifted by the adsorption component 42, if it continues to remain in a flat state, its bending stiffness perpendicular to the sheet surface is low. When the transfer mechanism 3 starts, stops, changes speed, or is subjected to airflow, it is prone to sagging, vibration, or torsion, which may cause uneven force on the suction cup and unstable posture of the silicon steel sheet.

[0040] By increasing the height of the supporting surface of each trigger 413 from the middle to both ends in the arrangement direction of the adsorption assembly 42, the adsorbed silicon steel sheet forms an arc-shaped cross section with a lower middle and higher ends. This transforms the planar bearing state of the silicon steel sheet into a spatial bearing state with a predetermined curvature. When the silicon steel sheet is subjected to a load perpendicular to the sheet surface, it needs to overcome the existing curvature to further flex, thus improving its anti-sagging and anti-vibration capabilities and enhancing the posture stability of the silicon steel sheet during transportation.

[0041] During the material handling process, each roller 417 rises along the corresponding inclined surface 414 in the triggering sequence corresponding to the sequential rise of each adsorption component 42 from the second end to the first end, and is finally supported on the corresponding support surface. Since the support surface located in the middle of the arrangement direction of multiple adsorption components 42 is lower and the support surface located at both ends is higher, each mounting frame 421 forms a height distribution that is low in the middle and high at both ends after reaching the high position.

[0042] Each vacuum suction cup 422 maintains its adsorption on the silicon steel sheet, causing the silicon steel sheet to bend segment by segment according to the height difference between each mounting bracket 421, and forming an upward-opening arc or approximately C-shaped longitudinal section of the silicon steel sheet along the first horizontal direction. The adsorption seats 403 of the remaining adsorption components 42 slide along the first horizontal direction during the bending of the silicon steel sheet to adapt to the shortening of the horizontal projection distance of the adsorption position caused by the bending, thereby reducing the lateral pull of the vacuum suction cup 422 on the silicon steel sheet.

[0043] During the transfer process, when the curved silicon steel sheet undergoes further deflection under its own weight, inertial force, or airflow, it is necessary to change the curvature of the already formed cross-section. Its deformation resistance is greater than that in the planar state, thereby reducing the sagging and reciprocating vibration of the silicon steel sheet. During the unloading, the adsorption component 42 located at the first end descends first and determines the stacking position. The remaining adsorption components 42 descend in sequence, and the silicon steel sheet unfolds segment by segment and returns to the stacked state as each mounting frame 421 resets.

[0044] like Figure 7 , Figure 8 and Figure 9 As shown, preferably, the top of the gripping frame 401 is fixedly connected to a piston cylinder 701 corresponding to each wheel seat 416. Each piston cylinder 701 is sealed and slidably connected to a piston plate 704. The piston plate 704 is fixedly connected to the corresponding wheel seat 416 and together with the piston cylinder 701 forms a buffer chamber. The volume of the buffer chamber increases as the corresponding mounting frame 421 moves from a high position to a low position. Each piston cylinder 701 is provided with an air inlet pipe 703 and an air outlet pipe 702 communicating with the buffer chamber. The air inlet pipe 703 is provided with an air inlet one-way valve that allows only external air to enter the buffer chamber, and the air outlet pipe 702 is provided with an air outlet one-way valve that allows only the air in the buffer chamber to be discharged. The inner diameter of at least a portion of the air inlet pipe 703 is smaller than the inner diameter of the air outlet pipe 702.

[0045] During material feeding, roller 417 moves in the opposite direction with linkage rod 411 and disengages from the supporting surface of trigger element 413. Mounting bracket 421 returns to its lower position under the action of first elastic element 423. If mounting bracket 421 descends rapidly without restriction, the silicon steel sheet adsorbed by vacuum suction cup 422 may impact, rebound, or slide laterally with the stacking position, affecting the establishment of the reference position and the stacking accuracy of silicon steel sheet.

[0046] The piston plate 704 and piston cylinder 701 form a buffer chamber whose volume increases as the mounting frame 421 descends. The one-way air inlet valve, one-way air outlet valve and the diameter difference of the air inlet pipe 703 form a one-way pneumatic flow restriction, so that when the mounting frame 421 rises, the air in the buffer chamber can be discharged through the air outlet pipe 702, while when it descends, the external air can only slowly enter the buffer chamber through the smaller diameter air inlet pipe 703. This buffers the descent and reset of the mounting frame 421, reduces the impact and positional disturbance when the silicon steel sheets contact the stacked position, and avoids a significant reduction in the lifting speed when picking up materials.

[0047] During material handling, roller 417 rises along the inclined surface 414 of trigger 413, and drives mounting frame 421 from a low position to a high position via wheel seat 416. Wheel seat 416 simultaneously drives piston plate 704 to move within piston cylinder 701, reducing the volume of the buffer chamber. Air in the buffer chamber pushes the outlet check valve to open and is discharged through outlet pipe 702, while inlet check valve prevents air from flowing back out. Because the inner diameter of outlet pipe 702 is larger than the inner diameter of the flow-limiting section of inlet pipe 703, air in the buffer chamber can be discharged quickly, avoiding excessive resistance to the rise of mounting frame 421.

[0048] During material discharge, the linkage rod 411 moves in the reverse direction, and the roller 417 corresponding to the adsorption component 42 at the first end first disengages from the supporting surface. The first elastic element 423 pushes the corresponding mounting bracket 421 to a lower position, and the wheel seat 416 drives the piston plate 704 to move, increasing the volume of the buffer chamber and creating an air pressure lower than the external environment. At this time, the exhaust check valve prevents external air from entering the buffer chamber through the exhaust pipe 702; external air can only push the intake check valve to open and enter the buffer chamber through the intake pipe 703.

[0049] Because at least a portion of the intake pipe 703 has a small inner diameter, the amount of air entering the buffer chamber per unit time is limited. The pressure difference formed inside and outside the buffer chamber generates resistance on the piston plate 704 in the opposite direction of descent, causing the mounting bracket 421 to descend slowly. The adsorption assembly 42 at the first end can thus smoothly contact the stacked position and maintain its adsorption positioning. The remaining adsorption assemblies 42 then slowly reset sequentially in the same manner, reducing impact, rebound, and lateral slippage during the segmented laying of the silicon steel sheets.

[0050] After the mounting bracket 421 reaches the low position, external air continues to enter the buffer chamber until the pressure inside and outside the buffer chamber tends to be balanced, preparing for the next lifting action.

[0051] Example 3 Based on Embodiment 1, the present invention provides a technical solution: preferably, it further includes a weighing detection module and a control module. The weighing detection module is disposed between the execution end of the transfer mechanism 3 and the gripping mechanism 4, and is electrically connected to the control module. The control module is used to obtain the load detected by the weighing detection module after all adsorption components 42 are in a high position, the gripping mechanism 4 leaves the feeding table 1 and stops moving, subtract the preset no-load load from the load to obtain a stable net load, and compare the stable net load with the preset zero-piece weight range, single-piece weight range and heavy-piece weight range respectively, and output the corresponding missing piece status, single-piece status and suspected heavy-piece status.

[0052] Although the above-mentioned solution reduces the possibility of lower silicon steel sheets being lifted by peeling the silicon steel sheets in sections, multiple silicon steel sheets may still stubbornly stick together and be grabbed together in cases where there is a thick oil film, residual magnetism, electrostatic adsorption, burr interlocking, local warping and embedding, or long-term stacking between adjacent silicon steel sheets. In addition, when there is insufficient material supply, the vacuum suction cup is not effectively attached, or the adsorption fails during the lifting process, there may be cases where the gripping mechanism fails to carry the silicon steel sheets.

[0053] Once the silicon steel sheet carried by the gripping mechanism 4 has completely left the feeding table 1 and stopped moving, the load detected by the weighing and detection module consists of the weight of the gripping mechanism 4 itself and the weight of the silicon steel sheet it carries. By subtracting the pre-obtained no-load load, a stable net load corresponding to the total weight of the silicon steel sheet actually carried can be obtained. Since zero, single, and multiple silicon steel sheets correspond to different net load ranges, by comparing the stable net load with the preset weight range, the status of missing sheets, single sheets, or suspected heavy sheets can be determined without relying on the cause of sheet adhesion or the adsorption morphology, thus preventing silicon steel sheets with abnormal numbers from entering the stacking process without being identified.

[0054] Before the device starts operating or after the gripping mechanism 4 finishes feeding the material, the control module reads the detection value of the weighing detection module when the gripping mechanism 4 is not carrying silicon steel sheets and sets it as an unloaded load.

[0055] During material handling, each adsorption component 42 establishes adsorption and moves sequentially to a high position. The overall lifting mechanism 5 completely removes the adsorbed material from the feeding platform 1. After the gripping mechanism 4 stops moving and a preset stabilization time has elapsed, the control module collects the load output by the weighing detection module and deducts the no-load load from it to obtain a stable net load. The judgment is made only after the silicon steel sheet is completely suspended and the gripping mechanism 4 stops moving, which can reduce the influence of the supporting force of the feeding platform 1 and the inertial load of the transfer on the weighing results.

[0056] The weight ranges for individual sheets, single sheets, and heavy sheets are predetermined based on the nominal single sheet weight, allowable weight deviation, and weighing detection error of silicon steel sheets of the same specification, and adjacent weight ranges do not overlap.

[0057] Preferably, it also includes a negative pressure detection module, which includes negative pressure sensors that are connected to each controllable air path respectively, and each negative pressure sensor is electrically connected to the control module; the control module is used to record the load signal and the negative pressure signal of each controllable air path from the establishment of adsorption by each vacuum suction cup 422 to the stop of movement of the gripping mechanism 4, and to store the single-piece reference load envelope corresponding to the lifting stage of each adsorption component 42. The control module is also used to output adsorption failure information when the output is in a leaky state and the negative pressure of at least one controllable air path does not reach or maintain a preset negative pressure threshold; output inter-sheet adhesion information when the output is in a suspected heavy state, the negative pressure of each controllable air path reaches and maintains a preset negative pressure threshold and the stable net load is within the heavy sheet weight range; output transient entanglement information when the negative pressure of each controllable air path reaches and maintains a preset negative pressure threshold, the load during the material taking process exceeds the single sheet reference load envelope of the corresponding lifting stage and the stable net load is within the single sheet weight range; and output adsorption instability information when the output is in a single sheet state and the negative pressure of at least one controllable air path does not reach or maintain a preset negative pressure threshold.

[0058] Weighing detection can determine the number of wafers ultimately carried by the gripping mechanism, but it cannot reflect whether any temporary entanglement occurred during the material handling process. When the final weight range is within the heavy wafer weight range, there may be continuous inter-wafer adhesion, while when the final weight range is within the single wafer weight range, the lower silicon steel wafer may still be temporarily pulled and then detached on its own during the material handling process.

[0059] By determining the final number of wafers using a stable net load, judging the normality of adsorption by the establishment and maintenance of negative pressure in each controllable gas path, and comparing the load during the material handling process with the reference load envelope of a single wafer at the same material handling stage, it is possible to distinguish between adsorption failure, unstable adsorption, persistent inter-wafer adhesion, and transient entanglement. The reference load envelope of a single wafer includes the inertial load generated by normal material handling actions and the staged load changes, thus reducing the possibility of misinterpreting normal motion fluctuations as the lower silicon steel wafer being moved, and further determining the stage and possible causes of abnormalities.

[0060] The control module pre-stores the reference load envelope of a qualified single silicon steel sheet under normal material handling conditions. The reference load envelope is set separately according to the rising stage of each adsorption component 42, and is used to represent the allowable variation range of the normal load signal under the same movement speed and the same triggering sequence.

[0061] During material handling, the control module simultaneously records the load signal from the weighing detection module and the negative pressure signals from each negative pressure sensor. If the negative pressure reaches the preset negative pressure threshold and remains there for a preset time, it indicates that the corresponding adsorption component 42 has established stable adsorption. If the negative pressure does not reach the preset negative pressure threshold or drops again after reaching it, it indicates that the corresponding adsorption component 42 may have issues such as misalignment, gas leakage, or adsorption detachment.

[0062] When the output shows a missing sheet and at least one controllable air path is not established or maintains a preset negative pressure, the control module outputs an adsorption failure message; when the output shows a suspected sheet-over condition, the negative pressure of each controllable air path is normal and the stable net load is continuously within the sheet-over weight range, the output shows sheet adhesion information.

[0063] When the negative pressure in each controllable air path is normal, and the load during the material handling process exceeds the reference load envelope of the corresponding lifting stage, while the stable net load ultimately falls within the weight range of a single sheet, it indicates that an additional load exceeding the normal motion load occurred during the material handling process. However, this additional load did not persist until the stable suspended state, and the control module outputs transient entanglement information accordingly. This result corresponds to a situation where the lower silicon steel sheet was moved or disturbed and subsequently detached on its own.

[0064] When the output shows a single piece of silicon steel sheet and at least one controllable gas path is not established or the preset negative pressure is not maintained, the control module outputs an adsorption instability message to indicate that although a single piece of silicon steel sheet is eventually carried, there is still a risk of failure at some adsorption locations.

[0065] Example 4 like Figure 3 , Figure 4 and Figure 10 As shown, based on Embodiment 1, the present invention provides a technical solution: preferably, a partition frame 602 is fixedly connected to the bottom of the gripping frame 401, a linkage frame 601 is slidably connected to the partition frame 602 along the first horizontal direction, and a reciprocating drive component 603 connected to the linkage frame 601 is provided, the reciprocating drive component 603 is controlled by the control module; Each of the other adsorption components 42 has a second elastic element 402 between its adsorption seat 403 and its corresponding mounting frame 421. The second elastic element 402 is used to make the corresponding adsorption seat 403 tend to the initial position. The linkage frame 601 is provided with a plurality of levers 604 corresponding to each of the other adsorption components 42, and each lever 604 is located on the side of the corresponding adsorption seat 403 facing the second end. The control module is used to control the reciprocating drive 603 to drive the linkage frame 601 to reciprocate along the first horizontal direction toward the first end and the second end when outputting inter-piece adhesion information.

[0066] The linkage frame 601 drives multiple levers 604 to reciprocate, and the second elastic element 402 resets the corresponding adsorption seat 403. This enables the adsorption seats 403 and vacuum suction cups 422 of the other adsorption components 42 to generate synchronous or asynchronous horizontal reciprocating motion, thereby causing the adsorbed silicon steel sheet to slide horizontally, flex locally, and shear between layers relative to the underlying silicon steel sheet it adheres to, weakening the adhesion between the sheets and causing the underlying silicon steel sheet to detach.

[0067] After the control module outputs inter-piece adhesion information, it keeps the vacuum suction cup 422 adsorbing the particles and controls the reciprocating drive 603 to drive the linkage frame 601 to move towards the first end. Each lever 604 pushes against the adsorption seat 403 of the corresponding adsorption assembly 42, causing the adsorption seat 403 to move relative to the mounting frame 421 in the first horizontal direction, while simultaneously causing the second elastic member 402 to undergo elastic deformation.

[0068] When the linkage frame 601 moves in the reverse direction, the lever 604 releases the push against the adsorption seat 403, and the adsorption seat 403 returns to its initial position under the action of the second elastic element 402. By repeating the above pushing and resetting process, the adsorption seats 403 and vacuum suction cups 422 of the other adsorption components 42 drive the corresponding adsorption positions of the silicon steel sheets to move back and forth.

[0069] When the contact timing and effective pushing stroke of each lever 604 with the corresponding adsorption seat 403 are the same, the adsorption seats 403 of the other adsorption components 42 can generate synchronous vibration; when the contact timing or effective pushing stroke is different, each adsorption seat 403 can generate asynchronous vibration.

[0070] In one optional control method, after the linkage frame 601 completes a preset number of reciprocating movements and returns to the initial position, the gripping mechanism 4 stops moving; after a preset stabilization time, the control module reacquires a stable net load for re-inspection. If the re-inspection shows a single piece state, the jittering ends; if it is still suspected of being a double piece state, the jittering is executed again. After reaching a preset number of processing times, if it is still suspected of being a double piece state, the transfer stops.

[0071] Preferably, the reciprocating drive component 603 is a cylinder, and the second elastic component 402 is a helical spring; a sliding sleeve is fixedly connected to the separator 602, and the rod-shaped part of the linkage frame 601 extending along the first horizontal direction is slidably connected to the sliding sleeve.

[0072] like Figure 3 , Figure 4 and Figure 10 As shown, preferably, when the linkage frame 601 is in the initial position, the initial distance between each lever 604 and the corresponding adsorption seat 403 along the first horizontal direction decreases sequentially from the first end to the second end; the single drive stroke of the linkage frame 601 toward the first end is set such that each lever 604 can push against the corresponding adsorption seat 403, and the displacement of each adsorption seat 403 pushed does not exceed its allowable sliding stroke relative to the corresponding mounting frame 421.

[0073] When the adsorption seats 403 of the other adsorption components 42 move back and forth synchronously, the spacing between adjacent adsorption positions changes little. The lower silicon steel sheet that is stuck to the upper silicon steel sheet may move as a whole with the upper silicon steel sheet, which limits the effect of horizontal shaking on removing stubborn adhesion.

[0074] By sequentially reducing the initial distance between each lever 604 and the corresponding adsorption seat 403, each adsorption seat 403 is pushed and generates different horizontal displacements during the same movement of the linkage frame 601. This causes the distance between the adsorption seats 403 of adjacent adsorption components 42 and between the corresponding adsorption positions to decrease and recover periodically. This asynchronous movement can cause local deflection and interlayer relative shearing of the silicon steel sheet, gradually breaking down the adhesion between the sheets and improving the detachment effect of stubbornly adhered sheets.

[0075] When the linkage frame 601 is in the initial position, the initial distance between the lever 604 near the first end and the corresponding adsorption seat 403 is larger, while the initial distance between the lever 604 near the second end and the corresponding adsorption seat 403 is smaller.

[0076] When the linkage frame 601 moves towards the first end, the lever 604 near the second end first contacts and pushes against the corresponding adsorption seat 403, and the remaining levers 604 subsequently contact the corresponding adsorption seats 403 in sequence. The adsorption seat 403 that is pushed first has a longer effective pushing stroke, so the distance it moves towards the first end is greater than that of the adsorption seat 403 that is pushed later, causing the distance between the adsorption seats 403 of adjacent adsorption components 42 to gradually decrease.

[0077] When the linkage frame 601 moves in the reverse direction, each lever 604 releases its pushing action, and each adsorption seat 403 returns to its initial position under the action of the corresponding second elastic element 402, thus restoring the distance between adjacent adsorption seats 403. When the reciprocating drive 603 operates continuously, the distance between adjacent adsorption seats 403 undergoes a periodic change of "decreasing-restoring-decreasing-restoring".

[0078] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An automatic gripping and stacking device for transformer silicon steel sheets, comprising a feeding platform (1), a stacking platform (2), a negative pressure source, a transfer mechanism (3), and a gripping mechanism (4) disposed at the execution end of the transfer mechanism (3), wherein the transfer mechanism (3) is used to drive the gripping mechanism (4) to move between the feeding platform (1) and the stacking platform (2); characterized in that: The gripping mechanism (4) includes a gripping frame (401), an overall lifting mechanism (5) for driving the gripping frame (401) to rise and fall, a group triggering component (41) disposed on the gripping frame (401), and a plurality of adsorption components (42) arranged sequentially along the first horizontal direction. Each of the adsorption components (42) includes a mounting frame (421) slidably disposed vertically on the gripping frame (401), an adsorption seat (403) disposed on the mounting frame (421), and two vacuum suction cups (422) spaced apart on the adsorption seat (403) along a second horizontal direction intersecting the first horizontal direction. The vacuum suction cups (422) of each of the adsorption components (42) are connected to the negative pressure source via a controllable air passage that can be independently switched on and off. The arrangement of the plurality of adsorption components (42) has a first end and a second end, wherein the adsorption seat (403) of the adsorption component (42) located at the first end is fixed relative to its mounting frame (421) along the first horizontal direction, and the adsorption seats (403) of the other adsorption components (42) are slidably connected to their mounting frames (421) along the first horizontal direction. The group triggering component (41) is used to move each of the adsorption components (42) from the second end to the first end from the low position to the high position during material taking, and to move each of the adsorption components (42) from the first end to the second end from the high position to the low position during material discharging.

2. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 1, characterized in that: The group triggering component (41) includes a first elastic element (423), a wheel seat (416), a roller (417), a linkage rod (411), a linkage drive element (418), and multiple triggering elements (413). The first elastic element (423) is respectively disposed between each mounting bracket (421) and the gripping frame (401), and the first elastic element (423) is used to lower the corresponding mounting bracket (421). Each wheel seat (416) is fixedly connected to the corresponding mounting bracket (421), and the roller (417) is rotatably connected to the wheel seat (416). The linkage rod (411) is slidably disposed on the gripping frame (401), and the linkage drive element (418) is fixedly connected to the bottom of the gripping frame (401) and connected to the linkage rod (411), used to drive the linkage rod (411) to reciprocate between the initial position and the triggering position. The triggering movement direction is the direction in which the linkage rod (411) moves from the initial position to the triggering position. The linkage rod (411) is provided with a plurality of mounting blocks (412) that correspond one-to-one with each of the rollers (417) along the axial direction. Each trigger element (413) is respectively provided on the side of the corresponding mounting block (412) facing the roller (417), and has a slope (414) with the lower end located in front of the triggering movement direction and the upper end located in the triggering movement direction, as well as a support surface connected to the upper end of the slope (414). The extension length of each trigger element (413) along the triggering movement direction increases sequentially from the first end to the second end. When the linkage rod (411) is in the initial position, the initial horizontal distance between the lower end of each slope (414) and the corresponding roller (417) along the triggering movement direction decreases sequentially from the first end to the second end.

3. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 2, characterized in that: The vertical height of the supporting surface of each of the triggers (413) relative to the linkage rod (411) increases sequentially from the middle to both ends of the arrangement direction of the plurality of adsorption components (42).

4. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 3, characterized in that: The top of the gripping frame (401) is fixedly connected to a piston cylinder (701) corresponding to each of the wheel seats (416). Each piston cylinder (701) is sealed and slidably connected to a piston plate (704). The piston plate (704) is fixedly connected to the corresponding wheel seat (416) and together with the piston cylinder (701) forms a buffer cavity. The volume of the buffer cavity increases as the corresponding mounting frame (421) moves from a high position to a low position. Each piston cylinder (701) is provided with an air inlet pipe (703) and an air outlet pipe (702) communicating with the buffer cavity. The air inlet pipe (703) is provided with an air inlet one-way valve that only allows external air to enter the buffer cavity. The air outlet pipe (702) is provided with an air outlet one-way valve that only allows air in the buffer cavity to be discharged. The inner diameter of at least a portion of the air inlet pipe (703) is smaller than the inner diameter of the air outlet pipe (702).

5. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 1, characterized in that: It also includes a weighing detection module and a control module. The weighing detection module is set on the bearing path between the execution end of the transfer mechanism (3) and the gripping mechanism (4) and is electrically connected to the control module. The control module is used to obtain the bearing load detected by the weighing detection module after all the adsorption components (42) are in a high position, the gripping mechanism (4) leaves the feeding table (1) and stops moving, subtract the preset no-load load from the bearing load to obtain a stable net load, and compare the stable net load with the preset zero-piece weight range, single-piece weight range and heavy-piece weight range respectively, and output the corresponding missing piece status, single piece status and suspected heavy piece status.

6. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 5, characterized in that: It also includes a negative pressure detection module, which includes negative pressure sensors that are connected to each of the controllable air paths, and each of the negative pressure sensors is electrically connected to the control module; the control module is used to record the load signal and the negative pressure signal of each controllable air path from the establishment of adsorption by each of the vacuum suction cups (422) to the cessation of movement of the gripping mechanism (4), and to store the single-piece reference load envelope corresponding to the lifting stage of each of the adsorption components (42); The control module is further configured to: output adsorption failure information when the output is in a leaky state and the negative pressure of at least one controllable air path does not reach or maintain a preset negative pressure threshold; output inter-sheet adhesion information when the output is in a suspected heavy state, the negative pressure of each controllable air path reaches and maintains the preset negative pressure threshold, and the stable net load is within the heavy sheet weight range; output transient entanglement information when the negative pressure of each controllable air path reaches and maintains the preset negative pressure threshold, the load during the material taking process exceeds the single sheet reference load envelope of the corresponding lifting stage, and the stable net load is within the single sheet weight range; and output adsorption instability information when the output is in a single sheet state and the negative pressure of at least one controllable air path does not reach or maintain the preset negative pressure threshold.

7. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 6, characterized in that: The bottom of the gripping frame (401) is fixedly connected to a partition frame (602), and a linkage frame (601) is slidably connected to the partition frame (602) along the first horizontal direction. A reciprocating drive component (603) connected to the linkage frame (601) is provided, and the reciprocating drive component (603) is controlled by the control module. Each of the other adsorption components (42) has a second elastic element (402) between its adsorption seat (403) and the corresponding mounting frame (421). The second elastic element (402) is used to make the corresponding adsorption seat (403) tend to the initial position. The linkage frame (601) is provided with a plurality of levers (604) corresponding one-to-one with the other adsorption components (42). Each lever (604) is located on the side of the corresponding adsorption seat (403) facing the second end, and is used to push the corresponding adsorption seat (403) when the linkage frame (601) moves toward the first end. The control module is used to control each of the controllable air paths to remain connected to the negative pressure source when outputting the inter-piece adhesion information, and to control the reciprocating drive (603) to drive the linkage frame (601) to reciprocate along the first horizontal direction toward the first end and the second end.

8. The automatic gripping and stacking device for transformer silicon steel sheets according to claim 7, characterized in that: When the linkage frame (601) is in the initial position, the initial distance between each lever (604) and the corresponding adsorption seat (403) along the first horizontal direction decreases sequentially from the first end to the second end; the single drive stroke of the linkage frame (601) toward the first end is set such that each lever (604) can push against the corresponding adsorption seat (403), and the displacement of each adsorption seat (403) pushed does not exceed its allowable sliding stroke relative to the corresponding mounting frame (421).

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