Partition plate cooperatively matched with mechanical arm for holding silicon steel sheets

Abstract

The partition plate comprises a main plate body of a rectangular structure, and a plurality of first longitudinal tooth grooves with openings facing the rear side are formed in the long end edge of the rear side of the main plate body at intervals in the length direction of the main plate body. A plurality of second longitudinal tooth grooves with openings facing the front side are formed in the long end edge of the front side of the main plate body at intervals in the length direction. The mechanical arm begins to hold and grab the silicon steel sheets of the first-level number on the top layer, and a plurality of holding claws on the front side and the rear side of the mechanical arm are inserted into the positions below the bottoms of the silicon steel sheets of the first-level number on the top layer from longitudinal tooth grooves in the front side and the rear side of the partition plate on the top layer correspondingly. The silicon steel sheets of the first level on the top layer are integrally held, grabbed and lifted, the number of the silicon steel sheets grabbed at a time is greatly increased, the lifting force of the manipulator is evenly distributed on the silicon steel sheets on the bottom layer, deformation of the silicon steel sheets is effectively avoided, and the stability and safety when the manipulator grabs the silicon steel sheets are improved.

Description

Technical Field

[0001] This utility model relates to the technical field of auxiliary equipment for transformer assembly and processing, specifically to a partition that works in conjunction with a robotic arm to grip silicon steel sheets. Background Technology

[0002] The transformer core is the core component of a transformer, made of laminated silicon steel sheets. Its main function is to convert and transmit electrical energy. Each transformer core consists of thousands of silicon steel sheets, often arranged in stages. Each stage is composed of multiple cycles of seven-step single-sheet silicon steel material. Each stage of silicon steel sheet presents several complexities: thin (only about 0.25mm thick), easily deformed; numerous sheets, up to 160; heavy, weighing up to 160kg; various sheet sizes, ranging from 40-400mm in width and 350-2000mm in length; high requirements for uniformity, as the sheets must be joined together, requiring horizontal alignment and a stepped longitudinal arrangement; and high flatness requirements, as the sheets cannot be bent or deformed, which would increase no-load losses. Therefore, during core manufacturing, partitions are essential for separating and storing the silicon steel sheets, typically one stage of core silicon steel sheets per partition.

[0003] In the process of assembling transformer cores, the lamination of core laminations is the most labor-intensive task. Currently, most large-scale enterprises use robotic arms to grasp silicon steel sheets for lamination. After the silicon steel sheets are cut and shaped, they are generally neatly stacked on partitions, with a partition placed between each layer of silicon steel sheets. The partitions are solid rectangular plates. Because the partitions are solid plates, the robotic arm can only grasp the silicon steel sheets from above using magnetic attraction. The problem with the robotic arm's magnetic grasping method for handling silicon steel sheets is that the total contact area between the robotic arm's magnetic points and the silicon steel sheets is small, resulting in limited magnetic attraction and difficulty in controlling the magnetic force. The sheets are prone to falling off during the handling process. Increasing the current to increase the magnetic force of the robotic arm can easily deform the silicon steel sheets, leading to increased no-load losses in the assembled transformer. Therefore, this invention proposes a partition that works in conjunction with the robotic arm to grasp the silicon steel sheets, aiming to solve the above-mentioned technical problems. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the existing technology and provide a partition that works in conjunction with a robotic arm to grasp silicon steel sheets. When the silicon steel sheets, after being processed and shaped by a cutting device, are stacked on top of the partition, adjacent silicon steel sheets at different levels are separated by the partition. The robotic arm begins to grasp the silicon steel sheets from the top level of the partition. Several claws on the front side of the robotic arm insert from the front longitudinal toothed groove two on the main body of the top partition to the bottom of the top level of silicon steel sheets, while several claws on the rear side of the robotic arm insert from the rear longitudinal toothed groove one on the main body of the top partition to the bottom of the top level of silicon steel sheets. This collectively grasps and lifts the top level of silicon steel sheets, significantly improving the stability of the robotic arm when grasping silicon steel sheets compared to the traditional method of magnetically attracting silicon steel sheets from the top, and effectively avoiding… The silicon-free steel sheets are prone to spillage during handling. The partition has longitudinal grooves arranged in a double-sided comb-like pattern along its length on both sides. This allows several grippers on the front and rear sides of the robotic arm to insert into the bottom of the top-level primary silicon steel sheet from the corresponding longitudinal grooves on both sides of the partition. Compared to the traditional method of magnetically attracting silicon steel sheets from the top, this significantly increases the number of silicon steel sheets the robotic arm can grasp at once. Furthermore, the grippers are evenly distributed along the length of the primary silicon steel sheet, and through multi-point support, the lifting force of the robotic arm on the silicon steel sheet can be evenly distributed on the bottom layer of silicon steel sheets, effectively preventing deformation of the silicon steel sheet and ensuring that the assembled transformer has excellent no-load loss performance. This method is also applicable to robotic arm grasping methods that combine magnetic attraction and gripping. The overall structural design is ingenious and reasonable, with high feasibility for manufacturing and implementation, and strong practicality.

[0005] To achieve the above objectives, the technical solution of this utility model is to design a partition that works in conjunction with a robotic arm to grip silicon steel sheets. The partition includes a main body with a rectangular structure. The rear long edge of the main body is provided with a plurality of longitudinal grooves with openings facing the rear side at intervals along its length direction. The front long edge of the main body is provided with a plurality of longitudinal grooves with openings facing the front side at intervals along its length direction.

[0006] This invention relates to a partition that works in conjunction with a robotic arm to grasp silicon steel sheets. After the silicon steel sheets are processed and stacked on top of the partition, adjacent sheets at different levels are separated by the partition. The robotic arm begins grasping the silicon steel sheets from the top level. Several claws on the front side of the robotic arm insert into the bottom of the top level of silicon steel sheets from the front longitudinal groove of the main body of the top partition, while several claws on the rear side insert into the bottom of the top level of silicon steel sheets from the rear longitudinal groove of the main body of the top partition. This effectively grasps and lifts the top level of silicon steel sheets as a whole. Compared to the traditional method of magnetically attracting silicon steel sheets from the top, this significantly improves the stability of the robotic arm when grasping silicon steel sheets and effectively prevents the silicon steel sheets from slipping during handling. The partition has longitudinal grooves arranged in a double-sided comb-like pattern along its length on both the front and rear sides. This allows several grippers on the front and rear sides of the robotic arm to insert into the bottom of the top-level silicon steel sheet from the corresponding longitudinal grooves on the front and rear sides of the partition. Compared with the traditional method of magnetically attracting silicon steel sheets from the top, this significantly increases the number of silicon steel sheets that the robotic arm can grasp at one time. Furthermore, the grippers of the robotic arm are evenly distributed along the length of the bottom of the silicon steel sheet. Through multi-point support, the lifting force of the robotic arm on the silicon steel sheet can be evenly distributed on the bottom silicon steel sheet, thereby effectively preventing deformation of the silicon steel sheet and ensuring that the assembled transformer has excellent no-load loss performance. This method is also applicable to robotic arm grasping methods that combine magnetic attraction and gripping. The overall structural design is ingenious and reasonable, with high feasibility for manufacturing and implementation, and strong practicality.

[0007] The preferred technical solution is that the first longitudinal toothed groove and the second longitudinal toothed groove are staggered. The partition of this utility model has high overall structural strength and good rigidity. The width of the longitudinal toothed groove and the spacing between the longitudinal toothed grooves have been theoretically calculated and experimentally verified, so that the width of the longitudinal toothed groove is slightly larger than the width of the gripper on the robotic arm. This facilitates the insertion of the gripper into the corresponding longitudinal toothed groove and ensures good lifting performance for the silicon steel sheets stacked on top, effectively preventing deformation of the silicon steel sheets due to local bending of the partition during the stacking process, thereby ensuring good flatness of the silicon steel sheets.

[0008] A further preferred technical solution is that the rear long edge of the main body is provided with a plurality of longitudinal positioning grooves with openings facing the rear along its length. In use, the partition of this utility model is inserted into the positioning column of the pallet base through the longitudinal positioning grooves, which helps to improve the positioning accuracy and speed when the partition is stacked on the pallet base.

[0009] A further preferred technical solution is that the longitudinal positioning groove includes an open section located on the rear side, a corresponding positioning section located on the front side, and a trumpet-shaped transition section for connecting the open section and the positioning section, wherein the lateral width of the open section is greater than the lateral width of the positioning section. The longitudinal positioning groove structure is ingeniously and reasonably designed, ensuring that when the partitions of this invention are stacked on the pallet base, they can be quickly inserted into the corresponding positioning posts through the guiding effect of the longitudinal positioning groove.

[0010] A further preferred technical solution is that the top corners of the motherboard body are rounded. This improves the grip comfort and safety of the motherboard body, effectively preventing the corners from causing hard scratches to operators or the silicon steel sheets.

[0011] The advantages and beneficial effects of this utility model are as follows:

[0012] 1. This utility model discloses a partition that works in conjunction with a robotic arm to grasp silicon steel sheets. After the silicon steel sheets are processed and formed by a cutting device, they are stacked on top of the partition. Adjacent silicon steel sheets at different levels are separated by the partition. The robotic arm begins to grasp the silicon steel sheets from the top level of the partition. Several grippers on the front side of the robotic arm insert into the bottom of the top level of silicon steel sheets from the front longitudinal groove two on the main body of the top partition, while several grippers on the rear side of the robotic arm insert into the bottom of the top level of silicon steel sheets from the rear longitudinal groove one on the main body of the top partition. This effectively grasps and lifts the top level of silicon steel sheets as a whole. Compared to the traditional method of magnetically attracting silicon steel sheets from the top, this significantly improves the stability of the robotic arm when grasping silicon steel sheets and effectively prevents the silicon steel sheets from slipping during handling. The partition has longitudinal grooves arranged in a double-sided comb-like pattern on both sides, allowing the grippers of the robotic arm to insert into the bottom of the top-level silicon steel sheet from the corresponding longitudinal grooves on both sides. This significantly increases the number of silicon steel sheets that the robotic arm can grasp at once compared to the traditional method of magnetically attracting silicon steel sheets from the top. Furthermore, the grippers of the robotic arm are evenly distributed along the length of the bottom of the first-level silicon steel sheet. Through multi-point support, the lifting force of the robotic arm on the silicon steel sheet can be evenly distributed on the bottom silicon steel sheet, thereby effectively preventing deformation of the silicon steel sheet and ensuring that the assembled transformer has excellent no-load loss performance. This method is also applicable to robotic arm grasping methods that combine magnetic attraction and gripping. The overall structural design is ingenious and reasonable, with high feasibility for manufacturing and implementation, and strong practicality.

[0013] 2. The longitudinal toothed grooves one and two are staggered. The partition of this utility model has high overall structural strength and good rigidity. The width of the longitudinal toothed grooves and the spacing between them have been theoretically calculated and experimentally verified. The width of the longitudinal toothed grooves is slightly larger than the width of the gripper on the robotic arm. This facilitates the insertion of the gripper into the corresponding longitudinal toothed groove and ensures good support performance for the silicon steel sheets stacked on top. This effectively prevents the silicon steel sheets from deforming due to local bending of the partition during stacking, thus ensuring good flatness of the silicon steel sheets.

[0014] 3. The rear long edge of the main body is also provided with several longitudinal positioning grooves with openings facing the rear along its length. In use, the partition of this utility model is inserted into the positioning column of the pallet base through the longitudinal positioning grooves, which helps to improve the positioning accuracy and speed when the partition is stacked on the pallet base.

[0015] 4. The longitudinal positioning groove includes an open section on the rear side, a corresponding positioning section on the front side, and a trumpet-shaped transition section connecting the open section and the positioning section. The lateral width of the open section is greater than the lateral width of the positioning section. The longitudinal positioning groove is ingeniously and rationally designed to ensure that when the partitions of this invention are stacked on the pallet base, they can be quickly inserted into the corresponding positioning posts through the guiding effect of the longitudinal positioning groove.

[0016] 5. The top corners of the mainboard are rounded. This improves the grip comfort and safety of the mainboard, effectively preventing the corners from causing hard scratches to operators or the silicon steel sheets. Attached Figure Description

[0017] Figure 1 This is a top view of a partition in Embodiment 1 that works in conjunction with a robotic arm to grasp silicon steel sheets;

[0018] Figure 2 This is a top-down perspective view of the partition in Embodiment 1, which works in conjunction with a robotic arm gripping silicon steel sheets.

[0019] Figure 3 This is a top view of a partition in Embodiment 2 that works in conjunction with a robotic arm to grasp silicon steel sheets;

[0020] Figure 4 yes Figure 3 Enlarged view of a section at point H;

[0021] Figure 5 This is a top-down perspective view of the left front side of a partition that works in conjunction with a robotic arm to grasp silicon steel sheets in Example 2.

[0022] Figure 6This is an assembly diagram of a partition on a pallet base that works in conjunction with a robotic arm to grip silicon steel sheets, as shown in Example 2.

[0023] In the diagram: 1. Main body; 2. Longitudinal toothed groove one; 3. Longitudinal toothed groove two; 4. Longitudinal positioning groove; 5. Tray base; 4-1. Opening section; 4-2. Positioning section; 4-3. Trumpet-shaped transition section; 5-1. Longitudinal bolster beam; 5-2. Positioning column. Detailed Implementation

[0024] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model.

[0025] Example 1

[0026] like Figures 1-2 As shown, a partition that works in conjunction with a robotic arm to grip silicon steel sheets includes a main body 1 with a rectangular structure. The rear long edge of the main body 1 is provided with a plurality of longitudinal grooves 2 with openings facing the rear side, and the front long edge of the main body 1 is provided with a plurality of longitudinal grooves 3 with openings facing the front side, along its length direction.

[0027] Preferably, the longitudinal tooth groove 2 and the longitudinal tooth groove 3 are staggered.

[0028] More preferably, the top corner of the motherboard body 1 is set with a rounded corner structure.

[0029] The working principle of a partition that works in conjunction with a robotic arm to grasp silicon steel sheets in Example 1:

[0030] (I) Cutting, processing and stacking principle of silicon steel sheets

[0031] Step 1: Place the pallet base 5 below the product outlet of the silicon steel sheet cutting equipment. Take a partition of this utility model and lay it on several longitudinal support beams 5-1 on the upper surface of the pallet base 5, and make the main body 1 of the partition correspond to the product outlet of the silicon steel sheet cutting equipment.

[0032] Step 2: Start the cutting equipment and stack one layer of silicon steel sheets on top of the first layer of laid-out partitions;

[0033] Step 3: Following Step 1, continue to lay the second layer of partitions on top of the stacked silicon steel sheets. Then, following Step 2, continue to stack one more layer of silicon steel sheets on top of the second layer of partitions until the stacked silicon steel sheets on the pallet base 5 meet the set height requirements. Pull out the pallet base 5 and replace it with a new pallet base 5 below the product outlet of the silicon steel sheet cutting equipment. Continue to follow Steps 1 to 3 to complete the cutting and processing of one batch of silicon steel sheets.

[0034] (II) Principle of using a robotic arm to grab silicon steel sheets from a partition

[0035] Step a: During the assembly and processing of the transformer core, the robotic arm starts to grab the silicon steel sheets from the top layer of the tray base 5. First, several claws on the front side of the robotic arm are inserted from the front longitudinal tooth groove 2 3 of the main board body 1 on the top layer partition to the bottom of the silicon steel sheets of the top layer. At the same time, several claws on the rear side of the robotic arm are inserted from the rear longitudinal tooth groove 1 2 of the main board body 1 on the top layer partition to the bottom of the silicon steel sheets of the top layer.

[0036] Step b: Next, the robotic arm rises a certain distance, and the grippers on the front and back sides of the robotic arm grab the silicon steel sheets located at the top level as a whole. Finally, the grabbed silicon steel sheets are placed in the designated position at the transformer core assembly station.

[0037] Step c: Remove the partition on the top layer, and the robotic arm will follow steps a and b to complete the subsequent gripping and handling of the silicon steel sheets.

[0038] Example 2

[0039] like Figures 3-5 As shown, the partition that works in conjunction with the robotic arm to grasp silicon steel sheets differs from the partition that works in conjunction with the robotic arm to grasp silicon steel sheets in Embodiment 1 in that: the rear long edge of the main body 1 is also provided with a number of longitudinal positioning grooves 4 with openings facing the rear side at intervals along its length direction.

[0040] Preferably, the longitudinal positioning groove 4 includes an opening section 4-1 located on the rear side, a positioning section 4-2 located on the front side, and a trumpet-shaped transition section 4-3 for connecting the opening section 4-1 and the positioning section 4-2, and the lateral width dimension of the opening section 4-1 is greater than the lateral width dimension of the positioning section 4-2.

[0041] The working principle of a partition that works in conjunction with a robotic arm to grasp silicon steel sheets in Example 2:

[0042] (I) Cutting, processing and stacking principle of silicon steel sheets

[0043] Step 1: Place the pallet base 5 below the product outlet of the silicon steel sheet cutting equipment. Take a partition plate of this utility model and lay it on several longitudinal support beams 5-1 on the upper surface of the pallet base 5. Insert the longitudinal positioning groove 4 at the rear end of the main plate 1 on the partition plate into the corresponding positioning columns 5-2 at the left and right ends of the pallet base 5 from front to back, and make the positioning columns 5-2 abut against the bottom front end of the corresponding longitudinal positioning groove 4's front positioning section 4-2 (see attached diagram). Figure 6 );

[0044] Step 2: Start the cutting equipment and stack one layer of silicon steel sheets on top of the first layer of laid-out partitions;

[0045] Step 3: Following Step 1, continue to lay the second layer of partitions on top of the stacked silicon steel sheets. Then, following Step 2, continue to stack one more layer of silicon steel sheets on top of the second layer of partitions until the stacked silicon steel sheets on the pallet base 5 meet the set height requirements. Pull out the pallet base 5 and replace it with a new pallet base 5 below the product outlet of the silicon steel sheet cutting equipment. Continue to follow Steps 1 to 3 to complete the cutting and processing of one batch of silicon steel sheets.

[0046] (II) Principle of using a robotic arm to grab silicon steel sheets from a partition

[0047] Step a: During the assembly and processing of the transformer core, the robotic arm starts to grab the silicon steel sheets from the top layer of the tray base 5. First, several claws on the front side of the robotic arm are inserted from the front longitudinal tooth groove 2 3 of the main board body 1 on the top layer partition to the bottom of the silicon steel sheets of the top layer. At the same time, several claws on the rear side of the robotic arm are inserted from the rear longitudinal tooth groove 1 2 of the main board body 1 on the top layer partition to the bottom of the silicon steel sheets of the top layer.

[0048] Step b: Next, the robotic arm rises a certain distance, and the grippers on the front and back sides of the robotic arm grab the silicon steel sheets located at the top level as a whole. Finally, the grabbed silicon steel sheets are placed in the designated position at the transformer core assembly station.

[0049] Step c: Remove the partition on the top layer, and the robotic arm will follow steps a and b to complete the subsequent gripping and handling of the silicon steel sheets.

[0050] This invention relates to a partition that works in conjunction with a robotic arm to grasp silicon steel sheets. After the silicon steel sheets are processed and stacked on top of the partition, adjacent sheets at different levels are separated by the partition. The robotic arm begins grasping the silicon steel sheets from the top level. Several claws on the front side of the robotic arm insert into the bottom of the top level of silicon steel sheets from the front longitudinal groove of the main body of the top partition, while several claws on the rear side insert into the bottom of the top level of silicon steel sheets from the rear longitudinal groove of the main body of the top partition. This effectively grasps and lifts the top level of silicon steel sheets as a whole. Compared to the traditional method of magnetically attracting silicon steel sheets from the top, this significantly improves the stability of the robotic arm when grasping silicon steel sheets and effectively prevents the silicon steel sheets from slipping during handling. The partition has longitudinal grooves arranged in a double-sided comb-like pattern along its length on both the front and rear sides. This allows several grippers on the front and rear sides of the robotic arm to insert into the bottom of the top-level silicon steel sheet from the corresponding longitudinal grooves on the front and rear sides of the partition. Compared with the traditional method of magnetically attracting silicon steel sheets from the top, this significantly increases the number of silicon steel sheets that the robotic arm can grasp at one time. Furthermore, the grippers of the robotic arm are evenly distributed along the length of the bottom of the silicon steel sheet. Through multi-point support, the lifting force of the robotic arm on the silicon steel sheet can be evenly distributed on the bottom silicon steel sheet, thereby effectively preventing deformation of the silicon steel sheet and ensuring that the assembled transformer has excellent no-load loss performance. This method is also applicable to robotic arm grasping methods that combine magnetic attraction and gripping. The overall structural design is ingenious and reasonable, with high feasibility for manufacturing and implementation, and strong practicality.

[0051] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A partition that works in conjunction with a robotic arm to grasp silicon steel sheets, characterized in that, The main body (1) includes a rectangular structure. The rear long edge of the main body (1) is provided with a plurality of longitudinal toothed grooves (2) with openings facing the rear side at intervals along its length direction. The front long edge of the main body (1) is provided with a plurality of longitudinal toothed grooves (3) with openings facing the front side at intervals along its length direction.

2. The partition as described in claim 1, which cooperates with the robotic arm in gripping the silicon steel sheet, is characterized in that, The longitudinal tooth groove one (2) and longitudinal tooth groove two (3) are staggered.

3. The partition plate as described in claim 2, which cooperates with the robotic arm in gripping the silicon steel sheet, is characterized in that... The rear long edge of the main body (1) is also provided with a number of longitudinal positioning grooves (4) with openings facing the rear side at intervals along its length direction.

4. The partition as described in claim 3, which cooperates with the robotic arm in gripping the silicon steel sheet, is characterized in that... The longitudinal positioning groove (4) includes an opening section (4-1) located on the rear side, a positioning section (4-2) located on the front side, and a trumpet-shaped transition section (4-3) for connecting the opening section (4-1) and the positioning section (4-2), and the lateral width dimension of the opening section (4-1) is greater than the lateral width dimension of the positioning section (4-2).

5. The partition plate as described in any one of claims 1 to 4, which cooperates with the robotic arm in gripping the silicon steel sheet, is characterized in that... The top corner of the mainboard body (1) is set as a rounded corner structure.

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