A lamination system

Abstract

This application discloses a lamination system, including a pre-laying mechanism, a transfer trolley, a lamination mechanism, an assembly mechanism, and a flipping mechanism. The transfer trolley is used to transfer a pallet between the pre-laying mechanism, the lamination mechanism, the assembly mechanism, and the flipping mechanism. The pre-laying mechanism is used to lay lower clamping components and lower insulating components on the pallet to obtain a pre-laid pallet. The lamination mechanism is used to stack laminations on the pre-laid pallet to obtain a laminated pallet. The assembly mechanism is used to lay upper insulating components and upper clamping components on the laminated pallet to obtain a core pallet. The flipping mechanism is used to flip the core pallet from a horizontal position to a vertical position. Pre-laying, assembly, and flipping are performed outside the lamination mechanism. Through the transfer trolley, the two pallets switch between the working area and the outside of the lamination mechanism, so that the lamination mechanism does not need to stop during pre-laying, assembly, and flipping, thereby saving downtime, shortening the core assembly time, and improving the core assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of transformer technology, and in particular to a laminated system. Background Technology

[0002] In related technologies, the lamination of transformer cores generally involves laying the lower clamping components and insulating components in place, then stacking the laminations on the laid lower clamping components and insulating components, assembling the upper insulating components and upper clamping components in place after the laminations are completed, and finally flipping and lifting the core off the ground.

[0003] The lamination robot needs to stop during the processes of laying the lower clamps and insulation components in place, assembling the upper insulation components and clamps in place, and flipping and lifting the core, resulting in a long assembly time for each core.

[0004] Therefore, how to shorten the assembly time of the iron core has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This application proposes a lamination system to shorten the assembly time of the iron core.

[0006] To achieve the above objectives, this application provides a stacking system, including a pre-laying mechanism, a stacking mechanism, an assembly mechanism, a flipping mechanism, and a transfer trolley;

[0007] The transfer trolley is used to transfer pallets between the pre-laying mechanism, the stacking mechanism, the assembly mechanism, and the flipping mechanism;

[0008] The pre-laying mechanism is used to lay the lower clamp and lower insulation on the pallet to obtain the pre-laid pallet;

[0009] The stacking mechanism is used to stack pieces on the pre-laid tray to obtain a stacked tray;

[0010] The assembly mechanism is used to lay insulating components and upper clamping components on the laminated tray to obtain an iron core tray;

[0011] The flipping mechanism is used to flip the core tray so that the core tray is flipped from a horizontal position to a vertical position.

[0012] Optionally, in the above-described stacking system, the transfer trolley includes a steering wheel trolley or an air cushion trolley and a lifting mechanism, which is mounted on the steering wheel trolley or the air cushion trolley and is used to lift or lower the pallet.

[0013] Optionally, in the above-described stacking system, the two opposite sides of the tray include bosses;

[0014] The flipping mechanism includes a flipping table and a locking member. The flipping table includes a slot that mates with the boss. The locking member is installed in the slot and is used to lock the boss in the slot.

[0015] Optionally, in the above-mentioned stacking system, the stacking mechanism includes a picking and positioning device and a robot arm. The number of picking and positioning devices is equal to the number of sheet types, and the robot arm corresponds one-to-one with the picking and positioning device.

[0016] The picking and positioning device is used to pick up and position the sheet material, and the robotic arm is used to grasp the sheet material from the picking and positioning device and stack the sheet material.

[0017] Optionally, in the above-mentioned stacking system, multiple pickup and positioning devices are arranged in a U-shaped structure. The closed end of the U-shaped structure is provided with a pickup and positioning device for picking up and positioning the upper yoke piece. One side of the U-shaped structure is provided with a pickup and positioning device for picking up and positioning the lower yoke piece and a pickup and positioning device for picking up and positioning the left column piece. The other side of the U-shaped structure is provided with a pickup and positioning device for picking up and positioning the middle column piece and a pickup and positioning device for picking up and positioning the right column piece.

[0018] The pickup and positioning device for picking up and positioning the lower yoke piece is farther away from the pickup and positioning device for picking up and positioning the left column piece than the pickup and positioning device for picking up and positioning the upper yoke piece.

[0019] The pickup and positioning device for picking up and positioning the right column piece is located further away from the pickup and positioning device for picking up and positioning the middle column piece than the pickup and positioning device for picking up and positioning the upper yoke piece.

[0020] Optionally, in the above-described stacking system, the picking and positioning device includes a transfer machine, a gantry robot, and a positioning platform, wherein the positioning platform is located between the transfer machine and the robot.

[0021] The gantry manipulator is mounted on the transfer machine to drive the gantry manipulator to move;

[0022] The gantry robot is used to pick up the sheet material and place it on the positioning platform;

[0023] The positioning platform is used to position the sheet material.

[0024] Optionally, in the above-described stacking system, the positioning platform includes a platform body and positioning pins;

[0025] The platform body includes a guide groove, which is arranged along the circumference of the sheet material, and the length extension direction of the guide groove is perpendicular to the length extension direction of the side of the sheet material corresponding to the guide groove.

[0026] The positioning pin slides along the guide groove under the action of the driving component.

[0027] Optionally, the above-described stacking system also includes a material preparation device for providing sheet material to the stacking mechanism.

[0028] Optionally, in the above-mentioned stacking system, the material preparation device includes a material column storage mechanism, a transfer mechanism, and a material preparation conveying mechanism;

[0029] The material column storage mechanism is used to store material columns formed by stacking sheet materials;

[0030] The transfer mechanism is used to transport the material column to the material preparation and conveying mechanism;

[0031] The material preparation and conveying mechanism transports the material column to the stacking mechanism.

[0032] Optionally, in the above-described stacking system, the material column storage mechanism includes a single-layer storage power roller or a multi-layer material column library.

[0033] Optionally, in the above-described stacking system, the transfer mechanism is an RGV trolley.

[0034] Optionally, in the above-described stacking system, the material preparation and conveying mechanism includes at least two conveying rollers, at least one of which provides sheet material to the stacking mechanism, and the remaining conveying rollers are used for feeding sheet material or for outputting sheet material trays that hold the sheet material.

[0035] The lamination system provided in this application includes a pre-laying mechanism, a transfer trolley, a lamination mechanism, an assembly mechanism, and a flipping mechanism. The transfer trolley is used to transfer a pallet between the pre-laying mechanism, the lamination mechanism, the assembly mechanism, and the flipping mechanism. After the transfer trolley moves the pallet to the pre-laying station, the pre-laying mechanism lays the lower clamping component and the lower insulating component on the pallet to obtain a pre-laid pallet. The transfer trolley then moves the pre-laid pallet to the lamination mechanism, where the lamination mechanism stacks laminations on the pre-laid pallet to obtain a stacked pallet. While the pre-laid pallet is being stacked, the transfer trolley leaves the lamination mechanism and moves a spare pallet to the pre-laying mechanism, where the pre-laying mechanism lays the lower clamping component and the lower insulating component on the spare pallet to obtain a spare pre-laid pallet. After the lamination mechanism completes stacking on the pre-laid pallet, the transfer trolley returns to the lamination mechanism and transfers the stacked pallet to the assembly mechanism, where the assembly mechanism lays the upper insulating component and the upper clamping component on the stacked pallet to obtain a core pallet. When the assembly mechanism lays the insulating components and upper clamping components on the lamination tray, the transfer trolley leaves the assembly mechanism and returns to the pre-laying mechanism. It then transfers the spare pre-laid tray obtained from the pre-laying mechanism to the lamination mechanism, obtaining a spare lamination tray. The transfer trolley then returns to the assembly mechanism, transferring the core tray obtained from the assembly mechanism to the flipping mechanism. The flipping mechanism flips the core tray from a horizontal position to a vertical position, and the core is lifted away, leaving an empty tray in the flipping mechanism. The flipping mechanism drives the empty tray to a horizontal position, and the transfer trolley transfers the empty tray to the pre-laying mechanism, where the lower clamping components and lower insulating components are laid. Simultaneously, the transfer trolley returns to the lamination mechanism, sequentially transferring the spare lamination tray to the assembly mechanism and the flipping mechanism. The lamination system disclosed in this application performs pre-laying, assembly, and flipping outside the lamination mechanism, eliminating the need to stop the lamination mechanism during pre-laying, assembly, and flipping. This saves downtime, shortens the core assembly time, and improves the core assembly efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort, and this application can be applied to other similar scenarios based on the provided drawings. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0037] Figure 1 This is a schematic diagram of the stacking system provided in the embodiments of this application;

[0038] Figure 2 This is a schematic diagram of the structure of the transportation mechanism and the pickup and positioning device provided in the embodiments of this application;

[0039] Figure 3 This is a schematic diagram of the stacking mechanism provided in the embodiments of this application;

[0040] Figure 4 This is a schematic diagram of the layout of the pre-layout position, stacking position, assembly position and flipping position provided in the embodiments of this application.

[0041] in:

[0042] 1-Pre-laying mechanism; 2-Stacking mechanism; 3-Assembly mechanism; 4-Tilting mechanism; 5-Transfer trolley; 6-Pick-up and positioning device; 61-Transfer machine; 62-Gantry manipulator; 63-Positioning platform; 7-Manipulator; 8-Material preparation device; 81-Material column storage mechanism; 82-Transfer mechanism; 83-Material preparation and conveying mechanism. Detailed Implementation

[0043] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. The described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0044] It should be noted that, for ease of description, only the parts relevant to the application are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0045] It should be understood that the terms "system," "apparatus," "unit," and / or "module" used in this application are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0046] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0047] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0048] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0049] The transformer core consists of upper yoke laminations, lower yoke laminations, middle column laminations, and side column laminations. The upper and lower yoke laminations are stacked to form the upper and lower yokes, the middle column laminations are stacked to form the middle column, and the side column laminations are stacked to form the side column. The upper yoke, lower yoke, middle column, and side column together constitute the transformer core, which includes one middle column and two side columns.

[0050] In related technologies, the mainstream operation method for large iron cores is manual lamination, which not only results in high labor intensity, but also leads to poor consistency in lamination quality due to the skill of the workers.

[0051] Among related technologies, another method for manufacturing large iron cores is to use robots for lamination, which solves the problems of high labor intensity and poor consistency in lamination quality caused by manual labor.

[0052] However, related technologies generally employ two sets of robots and a flipping table for lamination, using an overhead crane to transport the laminations, and performing in-situ placement, assembly, and flipping. Firstly, the robots need to stop when the overhead crane is transporting the laminations; secondly, the lamination efficiency of two sets of robots is low, approximately 9 seconds per lamination; and finally, the robots need to stop during in-situ placement, assembly, and flipping. The lamination method disclosed in this related technology suffers from low efficiency. In-situ placement involves laying the lower clamping component and the lower insulating component, then two sets of robots stack laminations on the lower insulating component, followed by assembling the insulating component and the upper clamping component on the stacked laminations, and finally flipping the entire assembly from a horizontal position to a vertical position.

[0053] like Figure 1 The diagram shown is a structural schematic of the stacking system disclosed in this application, including a pre-laying mechanism 1, a transfer trolley 5, a stacking mechanism 2, an assembly mechanism 3, and a flipping mechanism 4.

[0054] The pre-laying mechanism 1 is used to lay the lower clamp and the lower insulation on the pallet to obtain the pre-laid pallet. The pre-laid pallet includes the pallet, the lower clamp and the lower insulation.

[0055] The stacking mechanism 2 is used to stack pieces on the pre-laid tray to obtain a stacked tray, which includes a pre-laid tray, an upper yoke, a lower yoke, a middle post, a left post, and a right post.

[0056] Assembly mechanism 3 is used to lay the upper insulating component and the upper clamping component on the lamination tray to obtain the core tray, which includes the lamination tray, the upper insulating component and the upper clamping component;

[0057] The flipping mechanism 4 is used to flip the iron core tray from a horizontal position to a vertical position.

[0058] In the operation of the stacking system, pre-laying, stacking, assembly and flipping are performed sequentially on the tray.

[0059] After the transfer trolley moves the pallet to the pre-laying station, the pre-laying mechanism lays the lower clamping components and lower insulation components on the pallet to obtain the pre-laid pallet. The transfer trolley then moves the pre-laid pallet to the stacking mechanism, where the stacking mechanism stacks the laminations on the pre-laid pallet to obtain the stacked pallet. While stacking is being performed on the pre-laid pallet, the transfer trolley leaves the stacking mechanism and moves the spare pallet to the pre-laying mechanism. The pre-laying mechanism lays the lower clamping components and lower insulation components on the spare pallet to obtain the spare pre-laid pallet. After the stacking mechanism completes the stacking on the pre-laid pallet, the transfer trolley returns to the stacking mechanism and transfers the stacked pallet to the assembly mechanism. The assembly mechanism lays the upper insulation components and upper clamping components on the stacked pallet to obtain the core pallet. The assembly mechanism then lays the upper insulation components and upper clamping components on the stacked pallet. When installing the insulating components and upper clamping components, the transfer trolley leaves the assembly mechanism and returns to the pre-laying mechanism. It then transfers the spare pre-laid pallet obtained from the pre-laying mechanism to the stacking mechanism to obtain a spare stacking pallet. The transfer trolley then returns to the assembly mechanism and transfers the iron core pallet obtained from the assembly mechanism to the flipping mechanism. The flipping mechanism flips the iron core pallet from a horizontal position to a vertical position, and the iron core is lifted away, leaving an empty pallet in the flipping mechanism. The flipping mechanism drives the empty pallet to a horizontal position, and the transfer trolley transfers the empty pallet to the pre-laying mechanism. The lower clamping component and lower insulating component are laid on the empty pallet, and the pallet stacking, assembly, and flipping process is repeated. At the same time, the transfer trolley returns to the stacking mechanism and sequentially transfers the spare stacking pallet to the assembly mechanism and the flipping mechanism for assembly and flipping.

[0060] The stacking system disclosed in this application allows two trays to work alternately, eliminating the need for waiting, thus shortening the stacking time and improving stacking efficiency.

[0061] Pre-laying, assembly, and flipping are carried out outside the stacking mechanism 2. Through the transfer trolley, the two pallets switch between the working area and the outside of the working area of ​​the stacking mechanism 2, so that the stacking mechanism 2 does not need to stop during pre-laying, assembly, and flipping, thereby saving downtime, shortening the assembly time of the iron core, and improving the assembly efficiency of the iron core.

[0062] In some embodiments, the tray has a U-shaped structure with the opening facing downwards. The closed end of the U-shape, away from the opening, is used to place the lower clamp and the lower insulating sheet. The bottom of the tray has a hollow structure, and the transfer trolley is located inside the hollow structure of the tray.

[0063] Optionally, the transfer trolley 5 includes at least one of a steering wheel trolley or an air cushion trolley, and a lifting mechanism. The lifting mechanism is mounted on the steering wheel trolley or the air cushion trolley and is used to lift or lower the pallet.

[0064] Optionally, the pre-laying mechanism, stacking mechanism, and assembly mechanism all operate on a flat surface; that is, the pre-laying, stacking, and assembly operations are all carried out on a flat surface. A transfer trolley transports the pallet to the flat surface for the pre-laying, stacking, and assembly operations. A lifting mechanism lowers the pallet, and the pallet rests on the ground for the corresponding pre-laying, stacking, and assembly. After completion, the lifting mechanism lifts the pallet and transports it to the next workstation. Taking pre-laying as an example, the transfer trolley transports the pallet to the flat surface for the pre-laying operation; the lifting mechanism lowers the pallet, and the pallet rests on the ground; then, a crane is used to place the lower clamping component and lower insulating component onto the pallet; the lifting mechanism lifts the pallet and transports it to the stacking workstation.

[0065] The assembly mechanism also uses a crane to place the upper clamping parts and upper insulating parts onto the stacked tray.

[0066] The closed end of the U-shaped pallet, away from the opening, is equipped with sliding beams, adjustable supports, and adjustable jacks. There are three sliding beams, corresponding to the left, middle, and right columns, respectively. The pallet has tracks perpendicular to the length of the sliding beams, allowing the distance between adjacent beams to be adjusted according to the core type. Adjustable supports are located on the beams at both ends along their length. Adjustable support structures are located on both sides of the left, middle, or right column, providing circumferential support to prevent side collapse. Adjustable jacks are mounted on the pallet, corresponding to and below the upper and lower yokes.

[0067] The two opposite sides of the pallet include bosses that extend out of the plane containing the sides of the pallet.

[0068] The flipping mechanism 4 includes a flipping table and a locking component. The flipping table has a slot corresponding to the position of the boss. The locking component is located in the slot and is used to lock the boss in the slot to prevent the position of the tray from changing during the flipping process.

[0069] Optionally, the tilting platform includes a gantry frame and a hydraulic cylinder. The lifting mechanism adjusts the height of the pallet so that the height of the boss and the slot are consistent. The steering wheel car or air cushion car drives the iron core pallet through the opening of the gantry frame into the tilting platform. The boss of the pallet enters the slot along the length of the slot, realizing the snap-fit ​​connection between the boss and the slot. After the steering wheel car or air cushion car drives the pallet into position, the locking device locks the pallet.

[0070] The hydraulic cylinder acts on the tilting table, which flips the iron core tray from a horizontal position to a vertical position, lifting the iron core away and leaving an empty tray on the tilting table.

[0071] Empty pallets are transferred out via transfer trolley 5 for the next pre-laying, stacking, assembly, and flipping.

[0072] Optionally, the locking element is a locking bolt. The locking bolt is pre-installed on one of the groove walls of the slot. The first end of the locking bolt is located inside the slot. The distance between the first end of the locking bolt and the other side wall of the slot is less than the thickness of the boss along the plane perpendicular to the tray. After the boss slides into the slot, the first end of the locking bolt abuts against the boss, thereby locking the tray.

[0073] The depth to which the first end of the locking component is inserted into the slot can be adjusted according to actual needs to ensure the locking effect of the locking component on the tray.

[0074] In some embodiments, the stacking mechanism 2 includes a number of pick-up and positioning devices 6 equal to the number of sheet types and a robotic arm 7 corresponding to each pick-up and positioning device 6.

[0075] Iron cores generally have five types of sheet material: upper yoke sheet, lower yoke sheet, middle column sheet, left column sheet, and right column sheet. Correspondingly, there are also five pick-up and positioning devices, with each pick-up and positioning device holding one type of sheet material.

[0076] There is a one-to-one correspondence between the robotic arm 7 and the picking and positioning device. There are five picking and positioning devices and five robotic arms 7. One robotic arm 7 corresponds to one picking and positioning device. The robotic arm 7 picks up the sheet material from the picking and positioning device and stacks it.

[0077] For ease of subsequent description, the five picking and positioning devices are named the upper yoke piece picking and positioning device, the lower yoke piece picking and positioning device, the middle column piece picking and positioning device, the left column piece picking and positioning device, and the right column piece picking and positioning device, respectively. The corresponding robotic arms 7 of the upper yoke piece picking and positioning device, the lower yoke piece picking and positioning device, the middle column piece picking and positioning device, the left column piece picking and positioning device, and the right column piece picking and positioning device are named the upper yoke piece robotic arm, the lower yoke piece robotic arm, the middle column piece robotic arm, the left column piece robotic arm, and the right column piece robotic arm, respectively.

[0078] like Figure 3 As shown, the upper yoke piece picking and positioning device, lower yoke piece picking and positioning device, middle column piece picking and positioning device, left column piece picking and positioning device, and right column piece picking and positioning device are arranged in a U-shaped structure. The upper yoke piece picking and positioning device and the upper yoke piece robot are set at the closed end of the U-shaped structure. The lower yoke piece picking and positioning device, the lower yoke piece robot, the left column piece picking and positioning device, and the left column piece robot are set on one side of the U-shaped structure. The right column piece picking and positioning device, the right column piece robot, the middle column piece picking and positioning device, and the middle column piece robot are set on the other side of the U-shaped structure.

[0079] The open end of the U-shaped structure is used for the transfer trolley 5 to enter or exit the space enclosed by the U-shaped structure.

[0080] The stacking system disclosed in this application stacks wafers by cooperating with multiple picking and positioning devices 6 and robotic arms 7. The five sets of robotic arms can work in parallel in their respective spaces to improve the stacking efficiency to ≤4s / wafer.

[0081] The stacking system disclosed in this application employs, as follows: Figure 3 The arrangement of the pickup and positioning device 6 and the robotic arm 7 shown is as follows: the upper yoke pickup and positioning device and the upper yoke robotic arm correspond to the tray for stacking the upper yoke pieces; the lower yoke pickup and positioning device, the lower yoke robotic arm, the left column pickup and positioning device, and the left column robotic arm correspond to the tray for stacking the lower yoke pieces and the left column pieces, respectively; the right column pickup and positioning device, the right column robotic arm, the middle column pickup and positioning device, and the middle column robotic arm correspond to the tray for stacking the right column pieces and the middle column pieces, respectively. When the upper yoke pickup and positioning device and the upper yoke robotic arm are performing the stacking operation of the upper yoke pieces, the lower yoke pickup and positioning device and the lower yoke robotic arm can simultaneously perform the stacking operation of the lower yoke pieces. At the same time, the left column pickup and positioning device and the left column robotic arm, the middle column pickup and positioning device and the middle column robotic arm, and the right column pickup and positioning device and the right column robotic arm perform the stacking operation of the left column pieces, the middle column pieces, and the right column pieces, respectively.

[0082] In some embodiments, the pickup and positioning device includes a transfer machine 61, a gantry robot 62, and a positioning platform 63, with the positioning platform 63 located between the transfer machine 61 and the robot 7. The gantry robot 62 is mounted on the transfer machine 61, and the transfer machine 61 is used to drive the gantry robot 62 to move.

[0083] The gantry robot 62 is used to pick up the sheet material and place it on the positioning platform 63;

[0084] Positioning platform 63 is used to position the sheet material.

[0085] Specifically, the transfer machine 61 drives the gantry robot 62 to move, causing the gantry robot 62 to reciprocate between the piece-picking position and the positioning platform 63. Specifically, the transfer machine 61 drives the gantry robot 62 to the position of the missing piece, the gantry robot 62 picks up the piece, the transfer machine 61 drives the gantry robot 62 to the positioning platform 63, and the gantry robot 62 places the piece on the positioning platform 63.

[0086] The positioning platform 63 positions the sheet material, making it easier for the robotic arm 7 to grasp it.

[0087] Optionally, the gantry robot 62 includes a gantry and a suction cup. The gantry is connected to the transfer machine, and the suction cup is mounted on the gantry. The suction cup can move up and down on the gantry, as well as move along the length of the gantry.

[0088] The transfer machine includes a mounting frame and a drive mechanism. The mounting frame is installed on the ground in the work area, and the drive mechanism is mounted on the mounting frame. The drive mechanism is used to drive the gantry robot 62 to move horizontally along the mounting frame. The drive mechanism is a linear drive mechanism.

[0089] Optionally, the mounting bracket may also include a guide structure for guiding the movement of the gantry robot 62.

[0090] Optionally, the gantry robot 62 picks up the sheet material using a suction cup.

[0091] In some embodiments, the positioning platform 63 includes a platform body and a positioning pin.

[0092] The positioning platform 63 includes a guide groove, which is arranged circumferentially along the sheet material. The length extension direction of the guide groove, or the guiding direction of the guide groove for the positioning pin, is perpendicular to the length extension direction of the side of the guide groove corresponding to the sheet material. The movement direction of the positioning pin in the guide groove is towards or away from the side of the sheet material.

[0093] The locating pin is driven by a driving component and slides within the guide groove. The driving component is a linear driving component.

[0094] Before the sheet material is placed on the positioning platform 63, the drive unit drives the positioning pins to move outward, and the space enclosed by multiple positioning pins is larger than the space occupied by the sheet material. After the sheet material is placed on the positioning platform 63, the drive unit drives the positioning pins to move inward, the positioning pins fit with the side of the sheet material and push the sheet material to move, pushing the sheet material to the designated position, and the robot arm 7 picks up the positioned sheet material and stacks it.

[0095] The stacking system disclosed in this application also includes a material preparation device 8 for providing sheet material to the stacking mechanism 2.

[0096] The material preparation device 8 can be a hoisting device for transporting sheet materials, or it can be another method.

[0097] In some embodiments of this application, the material preparation device 8 includes a material column storage mechanism 81, a transfer mechanism 82, and a material preparation conveying mechanism 83;

[0098] The material column storage mechanism 81 is used to store the material column formed by stacking sheet materials. The transfer mechanism 82 transfers the material column of the material column storage mechanism 81 to the material preparation conveying mechanism 83. The material preparation conveying mechanism 83 conveys the material column to the stacking mechanism 2.

[0099] The gantry robot 62 has a self-contained material conveying mechanism 83 for picking up sheet materials.

[0100] The material column storage mechanism 81 includes a single-layer storage power roller or a multi-layer material column library.

[0101] In embodiments where the column storage mechanism 81 includes a multi-layer column storage chamber, a stacker crane is used to load and unload the multi-layer column storage chamber.

[0102] The multi-level material column warehouse consists of multiple multi-level material racks. Material columns delivered to the work site are transported to the material column warehouse's receiving station by RVG trolleys, and stacker cranes load the material columns onto the racks.

[0103] The material column is transported to the outbound station of the material column warehouse by a stacker crane, and the RVG trolley transports the material column from the outbound station to the material preparation conveying mechanism 83.

[0104] The inbound and outbound stations include roller conveyors that can dock with RGV trolleys.

[0105] In this embodiment, the RGV trolley serves as the transfer mechanism 82.

[0106] Optionally, the material conveying mechanism 83 includes at least two conveying rollers, at least one of which provides sheet material to the stacking mechanism 2, and the remaining conveying rollers are used for feeding sheet material or for outputting sheet material trays that hold sheet material.

[0107] When one of the conveyor rollers supplies sheet material to the stacking mechanism 2, a magnetic sheet separator is used to separate the sheet material. The other conveyor rollers can be connected to the RGV trolley for feeding the material column, or the conveyor rollers can be connected to the RGV trolley to transport the empty sheet material trays on the conveyor rollers away via the RGV trolley, ensuring that there are always sheet materials on the conveyor rollers that can be picked up by the stacking mechanism 2.

[0108] like Figure 2 As shown, the material conveying mechanism 83 is located below the transfer machine 61. The transfer machine 61 includes a mounting frame, and mounting frames are provided at both ends of the gantry robot 62.

[0109] In some embodiments, the mounting frame is U-shaped and spans both sides of the material preparation conveying mechanism 83 in the conveying direction. In embodiments where the material preparation conveying mechanism 83 includes at least two conveying roller tracks, the mounting frame spans at least two of the conveying roller tracks, and the gantry robot 62 switches between different conveying roller tracks via the transfer machine 61 to pick up sheet materials from different conveying roller tracks.

[0110] The stacking system disclosed in this application realizes automatic stacking and automatic loading of sheet materials, reducing changeover time by 3 hours per unit compared to the traditional hoisting method.

[0111] The lamination system disclosed in this application performs pre-laying, assembly, and flipping outside the working area of ​​the lamination mechanism 2, realizing pre-laying outside the core wire, assembly outside the wire, and flipping, reducing downtime by 3 hours / unit to 4 hours / unit.

[0112] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed, and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. The scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described application concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A stacking system, characterized in that, It includes a pre-laying mechanism (1), a stacking mechanism (2), an assembly mechanism (3), a flipping mechanism (4), and a transfer trolley (5); The transfer trolley (5) is used to transfer pallets between the pre-laying mechanism (1), the stacking mechanism (2), the assembly mechanism (3) and the flipping mechanism (4); The pre-laying mechanism (1) is used to lay the lower clamp and the lower insulation on the tray to obtain the pre-laid tray; The stacking mechanism (2) is used to stack pieces on the pre-laid tray to obtain a stacked tray; The assembly mechanism (3) is used to lay the insulating parts and the upper clamping parts on the stacked tray to obtain the core tray; The flipping mechanism (4) is used to flip the iron core tray so that the iron core tray is flipped from a horizontal position to a vertical position.

2. The stacking system according to claim 1, characterized in that, The transfer trolley (5) includes a steering wheel vehicle or an air cushion vehicle and a lifting mechanism, which is installed on the steering wheel vehicle or the air cushion vehicle and is used to lift or place the pallet.

3. The stacking system according to claim 1, characterized in that, The two opposite sides of the tray include bosses; The flipping mechanism (4) includes a flipping table and a locking member. The flipping table includes a slot that mates with the boss. The locking member is installed in the slot and is used to lock the boss in the slot.

4. The stacking system according to claim 1, characterized in that, The stacking mechanism (2) includes a picking and positioning device (6) and a robot (7). The number of picking and positioning devices (6) is equal to the number of sheet types. The robot (7) corresponds one-to-one with the picking and positioning device (6). The picking and positioning device (6) is used to pick up and position the sheet material, and the robotic arm (7) is used to grab the sheet material from the picking and positioning device (6) and stack the sheet material.

5. The stacking system according to claim 4, characterized in that, Multiple pickup and positioning devices (6) are arranged in a U-shape. The closed end of the U-shape is provided with a pickup and positioning device for picking up and positioning the upper yoke piece. One side of the U-shape is provided with a pickup and positioning device for picking up and positioning the lower yoke piece and a pickup and positioning device for picking up and positioning the left column piece. The other side of the U-shape is provided with a pickup and positioning device for picking up and positioning the middle column piece and a pickup and positioning device for picking up and positioning the right column piece. The pickup and positioning device for picking up and positioning the lower yoke piece is farther away from the pickup and positioning device for picking up and positioning the left column piece than the pickup and positioning device for picking up and positioning the upper yoke piece. The pickup and positioning device for picking up and positioning the right column piece is located further away from the pickup and positioning device for picking up and positioning the middle column piece than the pickup and positioning device for picking up and positioning the upper yoke piece.

6. The stacking system according to claim 4, characterized in that, The picking and positioning device (6) includes a transfer machine (61), a gantry manipulator (62) and a positioning platform (63), wherein the positioning platform (63) is located between the transfer machine (61) and the manipulator (7); The gantry manipulator (62) is mounted on the transfer machine (61) for driving the gantry manipulator (62) to move; The gantry robot (62) is used to pick up the sheet material and place the sheet material on the positioning platform (63). The positioning platform (63) is used to position the sheet material.

7. The stacking system according to claim 6, characterized in that, The positioning platform (63) includes the platform body and the positioning pin; The platform body includes a guide groove, which is arranged along the circumference of the sheet material, and the length extension direction of the guide groove is perpendicular to the length extension direction of the side of the sheet material corresponding to the guide groove. The positioning pin slides along the guide groove under the action of the driving component.

8. The stacking system according to claim 1, characterized in that, It also includes a material preparation device (8) for supplying sheet material to the stacking mechanism (2).

9. The stacking system according to claim 8, characterized in that, The material preparation device (8) includes a material column storage mechanism (81), a transfer mechanism (82), and a material preparation conveying mechanism (83). The material column storage mechanism (81) is used to store material columns formed by stacking sheet materials; The transfer mechanism (82) is used to transport the material column to the material preparation conveying mechanism (83). The material preparation and conveying mechanism (83) conveys the material column to the stacking mechanism (2).

10. The stacking system according to claim 9, characterized in that, The material column storage mechanism (81) includes a single-layer storage power roller or a multi-layer material column silo.

11. The stacking system according to claim 9, characterized in that, The transfer mechanism (82) is an RGV trolley.

12. The stacking system according to claim 9, characterized in that, The material preparation conveying mechanism (83) includes at least two conveying rollers, at least one of which provides sheet material to the stacking mechanism (2), and the remaining conveying rollers are used for feeding sheet material or for outputting sheet material trays that hold sheet material.

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