Method and apparatus for manufacturing laminated iron core

Abstract

To suppress a gripping mistake of a laminate.SOLUTION: The method for manufacturing a laminated iron core includes a holding step, a first measurement step, and a second measurement step. In the gripping step, a laminated body in which a plurality of iron core pieces are laminated is gripped by a gripping part. In the first measurement step, a relative position between the laminate and the gripping unit in a plan view is measured. In the second measurement step, a height position of a portion where the laminated body is estimated to be present is measured.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The disclosed embodiments relate to a method and an apparatus for manufacturing a laminated core. [Background technology]

[0002] There is a known method for manufacturing a laminated core in which core pieces are formed by punching a strip of electromagnetic steel sheet into a predetermined shape using a die and then laminating them. In this manufacturing method, for example, a technique is disclosed in which the laminated core is transported while a robot grips the inner wall surfaces of through holes formed inside the laminated core (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-298755 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the process of transporting this laminated core, when the robot is aligned based on the image captured by the camera, if there are traces of the laminate left on the lower plate on which the laminate is placed, it may be mistakenly determined that a laminate exists when it should not. In this case, the robot will try to grab a laminate that does not exist, which could lead to an error in grasping the laminate.

[0005] One aspect of the embodiment has been made in consideration of the above, and aims to provide a manufacturing method and a manufacturing apparatus for a laminated core that can reduce errors in gripping the laminate. [Means for solving the problem]

[0006] A manufacturing method of a laminated core according to one aspect of the embodiment includes a gripping step, a first measuring step, and a second measuring step. In the gripping step, a laminate formed by stacking a plurality of core pieces is gripped with a gripping portion. In the first measuring step, the relative position of the laminate and the gripping portion in a plan view is measured. In the second measuring step, the height position of a location where the laminate is estimated to exist is measured.

[0007] A laminated core manufacturing apparatus according to one aspect of the embodiment includes a gripping unit, a position measurement unit, and a control unit. The gripping unit grips a laminate formed by stacking a plurality of core pieces. The position measurement unit measures the relative position of the laminate and the gripping unit in a plan view and the height position of a location where the laminate is estimated to be present. The control unit controls each unit. The control unit also performs a first measurement process and a second measurement process. The first measurement process measures the relative position of the laminate and the gripping unit in a plan view before the gripping unit grips the laminate. The second measurement process measures the height position of a location where the laminate is estimated to be present. [Effects of the Invention]

[0008] According to one aspect of the embodiment, it is possible to prevent mistakes in gripping the laminated body that will become the laminated core. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram showing an example of a laminated core according to an embodiment. [Figure 2] FIG. 2 is a schematic diagram showing an example of a manufacturing apparatus for a laminated iron core according to the embodiment. [Figure 3A] FIG. 3A is a flowchart showing an example of the procedure of each manufacturing process executed by the manufacturing device for a laminated iron core according to the embodiment. [Figure 3B] FIG. 3B is a diagram for explaining an example of the transporting step and the annealing step according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a conveying device according to the embodiment. [Figure 5]FIG. 5 is a flowchart showing an example of the procedure of the transport step according to the embodiment. [Figure 6A] FIG. 6A is a diagram illustrating an example of a transport step according to the embodiment. [Figure 6B] FIG. 6B is a diagram for explaining an example of a transport step according to the embodiment. [Figure 7A] FIG. 7A is a diagram illustrating an example of a transport step according to the embodiment. [Figure 7B] FIG. 7B is a diagram illustrating another example of the transport step according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, a laminated core manufacturing method and a laminated core manufacturing apparatus disclosed in the present application will be described with reference to the accompanying drawings. Note that the present disclosure is not limited to the following embodiments.

[0011] It should also be noted that the drawings are schematic and that the dimensional relationships and ratios of elements may differ from reality. Furthermore, the drawings may contain parts whose dimensional relationships and ratios differ from one another.

[0012] <Laminated iron core> First, the configuration of a laminated core 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a perspective view showing an example of a laminated core 1 according to an embodiment. The laminated core 1 is, for example, a stator laminated core, and is part of a stator.

[0013] The stator is a laminated core 1 to which windings are attached. A motor is formed by combining the stator with a rotor.

[0014] As shown in Fig. 1, the laminated core 1 has a cylindrical shape. That is, a through hole 1a (center hole) extending along the central axis Ax is provided in the central portion of the laminated core 1. A rotor can be placed inside the through hole 1a.

[0015] The laminated core 1 is a laminated body formed by stacking a plurality of core pieces W. The core pieces W are plate-like bodies obtained by punching out strip-shaped electromagnetic steel sheets MS (see FIG. 2) into a predetermined shape.

[0016] The laminated core 1 according to the embodiment may be constructed by so-called "rotation." This "rotation" refers to stacking multiple core pieces W while shifting the angles between the core pieces W relative to each other. Rotation is performed primarily for the purpose of offsetting the thickness deviation of the laminated core 1. The rotation angle may be set to any size.

[0017] The laminated core 1 includes a yoke portion 2, a plurality of teeth 3, and a plurality of crimped portions 4. The yoke portion 2 has an annular shape and extends to surround the central axis Ax. The radial width, inner diameter, outer diameter, and thickness of the yoke portion 2 can each be set to various values ​​depending on the application and performance of the motor.

[0018] Each tooth 3 extends radially from the inner edge of the yoke 2 toward the central axis Ax. That is, each tooth 3 protrudes from the inner edge of the yoke 2 toward the central axis Ax.

[0019] For example, in the example shown in Fig. 1, twelve teeth 3 are formed integrally with the yoke 2. The teeth 3 are arranged at approximately equal intervals in the circumferential direction of the yoke 2. Slots 5 are defined between adjacent teeth 3, which function as spaces for arranging windings (not shown).

[0020] The crimping portion 4 may be provided on the yoke portion 2, on each tooth portion 3, or on both the yoke portion 2 and each tooth portion 3. Core pieces W adjacent to each other in the height direction are fastened together by the crimping portion 4.

[0021] Specifically, the crimped portion 4 includes a crimp (not shown) formed in the core piece W that constitutes the layer other than the bottom layer of the laminated core 1, and a through hole (not shown) formed in the core piece W that constitutes the bottom layer of the laminated core 1.

[0022] The convex portion of the crimp is joined to the concave portion or through-hole of another adjacent crimp. The through-hole has the function of preventing a subsequently formed core piece W from being fastened by crimping to an already manufactured laminated core 1 when laminated cores 1 are manufactured consecutively.

[0023] In the laminated core 1 according to the embodiment, the core pieces W may be fastened together by various known methods instead of the crimped portions 4. For example, the core pieces W may be joined together using an adhesive or a resin material, or may be joined together by welding.

[0024] Alternatively, a temporary crimp may be provided on the core pieces W, multiple core pieces W are fastened together via the temporary crimp to obtain a laminate, and then the temporary crimp may be removed from this laminate to obtain the laminated core 1. Note that the term "temporary crimp" refers to a crimp that is used to temporarily unite multiple core pieces W together and that is removed in the process of manufacturing the product (laminated core 1 or stator).

[0025] <Manufacturing equipment> Next, a manufacturing apparatus 100 for manufacturing a laminated core 1 according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a schematic diagram showing an example of the manufacturing apparatus 100 for manufacturing a laminated core 1 according to an embodiment. The manufacturing apparatus 100 according to an embodiment is configured to manufacture a laminate 10 of core pieces W (see Fig. 1) from a strip-shaped electromagnetic steel sheet MS, and to manufacture a laminated core 1 (see Fig. 1) from the laminate 10.

[0026] As shown in FIG. 2, the manufacturing apparatus 100 includes a punching device 200, a conveying device 300, an annealing device 400, a conveying device 500, and a controller Ctr (control unit).

[0027] The punching device 200 includes an uncoiler 210, a feeding device 220, and a press processing device 230. The uncoiler 210 is configured to rotatably hold a coil material 211. The coil material 211 is an electromagnetic steel sheet MS wound in a coil shape (spiral shape).

[0028] The feed-out device 220 includes a pair of rollers 221, 222 that sandwich the electromagnetic steel sheet MS from above and below. The pair of rollers 221, 222 are configured to rotate and stop based on command signals from the controller Ctr, and to intermittently feed the electromagnetic steel sheet MS sequentially toward the press processing device 230. In other words, the pair of rollers 221, 222 function as a conveying means for conveying the electromagnetic steel sheet MS.

[0029] The stamping device 230 is configured to operate based on an instruction signal from the controller Ctr. The stamping device 230 has, for example, a function of sequentially punching out the electromagnetic steel sheets MS intermittently fed out by the feed device 220 to form the core pieces W, and a function of sequentially stacking the iron core pieces W obtained by the punching process to manufacture the laminate 10.

[0030] The laminate 10 is, for example, a stack of a plurality of core pieces W fastened to one another by crimped portions 4 (see FIG. 1) or the like.

[0031] The conveying device 300 operates based on instructions from the controller Ctr and has a function of conveying the plurality of laminates 10 conveyed from the punching device 200 by a conveyor Cv or the like to a lower plate P (see FIG. 3B). The conveying device 300 also operates based on instructions from the controller Ctr and has a function of stacking the lower plate P on which the plurality of laminates 10 are placed in multiple stages.

[0032] The annealing device 400 operates based on instructions from the controller Ctr, and has the function of annealing the plurality of laminates 10 placed on the lower plate P by the transfer device 300. The annealing step in this annealing device 400 will be described in detail later.

[0033] The transfer device 500 operates based on instructions from the controller Ctr, and has a function of transferring the plurality of laminates 10 annealed by the annealing device 400 from the lower sheet P to a location other than the lower sheet P. Details of the transfer process by this transfer device 500 will be described later.

[0034] The controller Ctr is configured to generate instruction signals for operating each device in the manufacturing apparatus 100 based on, for example, a program recorded on a recording medium (not shown) or an operation input from an operator. The controller Ctr is configured to transmit these instruction signals to each device in the manufacturing apparatus 100.

[0035] <Manufacturing process> Next, the manufacturing process of the laminated core 1 according to the embodiment will be described with reference to Figures 3A to 7B. Figure 3A is a flowchart showing an example of the procedure of each manufacturing process performed by the manufacturing apparatus 100 for the laminated core 1 according to the embodiment.

[0036] As shown in Fig. 3A, the controller Ctr (see Fig. 2) first controls the punching device 200 (see Fig. 2) to perform punching on an electromagnetic steel sheet MS (see Fig. 2). Then, the controller Ctr stacks the core pieces W (see Fig. 1) formed by the punching process to form a laminate 10 (see Fig. 2) (step S01).

[0037] Next, the controller Ctr controls the transfer device 300 (see FIG. 2) to transfer the plurality of laminates 10 to the lower plate P (see FIG. 3B) (step S02). FIG. 3B is a diagram for explaining an example of the transfer step (step S02) and the annealing step (step S03) according to the embodiment.

[0038] 3B, in the transport step according to the embodiment, for example, the controller Ctr (see FIG. 2) transports the plurality of laminates 10 formed in the laminate formation step (step S01) to the lower plate P and arranges them on the lower plate P. Also, in the transport step according to the embodiment, for example, the controller Ctr stacks the lower plate P on which the plurality of laminates 10 are arranged in multiple stages.

[0039] Returning to the description of Fig. 3A, following the above-mentioned transfer step (step S02), the controller Ctr controls the annealing device 400 (see Fig. 2) to anneal the plurality of laminates 10 (step S03).

[0040] In the annealing step according to the embodiment, as shown in Fig. 3B, the controller Ctr carries the plurality of laminates 10 together with the lower plate P into the annealing device 400 and passes them through the inside of the annealing device 400 for a predetermined period of time. This anneals the laminates 10, and reduces distortion of the core pieces W (see Fig. 1) caused by punching or the like.

[0041] Returning to the description of Fig. 3A, following the above-mentioned annealing step (step S03), the controller Ctr controls the transfer device 500 (see Fig. 4) to transfer the plurality of laminates 10 from the lower plate P (see Fig. 4) to a location other than the lower plate P (step S04).

[0042] 4 is a diagram illustrating an example of a conveying device 500 according to the embodiment. As shown in FIG. 4, the conveying device 500 according to the embodiment includes a robot 510 and a position measuring unit 520.

[0043] The robot 510 is an example of a gripping unit, and has a function of gripping the laminate 10. For example, the robot 510 inserts a plurality of support parts 511 into the through hole 1a (see FIG. 1 ) and spreads the plurality of support parts 511 outward inside the through hole 1a, thereby supporting the inner wall surface of the through hole 1a with the plurality of support parts 511. This allows the robot 510 to grip the laminate 10.

[0044] Furthermore, the robot 510 can move the multiple support parts 511 in horizontal and vertical directions by operating a drive part (not shown), thereby enabling the robot 510 to transport the grasped stack 10 to a specified location.

[0045] In the present disclosure, the gripping unit that grips and transports the laminate 10 is not limited to the robot 510, and a wide variety of types of mechanisms may be used.

[0046] The position measurement unit 520 measures the relative position between the stacked body 10 and the robot 510 in a plan view, and the height position of the location where the stacked body 10 is estimated to exist. The position measurement unit 520 has, for example, a 2D (two-dimensional) camera 521 and a height detection sensor 522.

[0047] Fig. 5 is a flowchart showing an example of the procedure of the transport step (step S04 in Fig. 3A) according to the embodiment. As shown in Fig. 5, in the transport step according to the embodiment, the controller Ctr (see Fig. 2) controls the 2D camera 521 (see Fig. 4) to capture an image of a location where the stack 10 (see Fig. 4) is estimated to be present.

[0048] Then, the controller Ctr measures the relative positions of the stack 10 and the robot 510 (see FIG. 4) in a plan view based on the image captured by the 2D camera 521 (step S101). Through the process of step S101, the controller Ctr can insert the multiple support parts 511 (see FIG. 4) into the through-holes 1a (see FIG. 1) of the stack 10.

[0049] Next, the controller Ctr measures the height position of the location where the stack 10 is estimated to exist (step S102).

[0050] 6A to 7A are diagrams illustrating an example of a transport process according to an embodiment. As shown in Fig. 6A and Fig. 6B, in step S102, the controller Ctr (see Fig. 2) controls the height detection sensor 522 to measure the height position of one location 10b where the stack 10 is estimated to be present in a non-contact manner.

[0051] Returning to the description of Fig. 5, following the process of step S102 described above, the controller Ctr determines whether the height position of the portion 10b where the stack 10 is estimated to exist is lower than a predetermined height (step S103).

[0052] This predetermined height is, for example, the height of the upper surface 10a of the stack 10 (see FIG. 6A) or a height slightly lower than the height of the upper surface 10a of the stack 10.

[0053] Then, if the height position of the point 10b is not lower than the predetermined height (step S103, No), the controller Ctr assumes that the stack 10 is present at the point imaged by the 2D camera 521, and grasps the stack 10 with the robot 510 (step S104).

[0054] Next, the controller Ctr transports the stack 10 held by the robot 510 from the lower plate P to a location other than the lower plate P (step S105), thereby completing a series of transport steps.

[0055] On the other hand, if the height position of the point 10b is lower than the predetermined height (Yes at step S103), the controller Ctr measures the height position around the point 10b where the stack 10 is estimated to exist (step S106).

[0056] Next, the controller Ctr determines whether or not the height position around the location 10b where the stack 10 is estimated to exist is lower than a predetermined height (step S107).

[0057] If the height position around the point 10b is lower than a predetermined height (Yes in step S107), the controller Ctr determines that the stack 10 does not exist in the area imaged by the 2D camera 521 (step S108).

[0058] This is because, if the height position of point 10b and its surroundings is lower than a predetermined height, it can be assumed that only traces of stacked body 10 remain on lower plate P, and that stacked body 10 itself does not exist, as shown in Fig. 7A. Note that, if the height position of the periphery of point 10b is not lower than the predetermined height (No in step S107), the process proceeds to step S104 described above.

[0059] Then, as shown in FIG. 5, after the process of step S108, the controller Ctr does not perform the processes of steps S104 and S105 described above, and ends the series of transport processes.

[0060] That is, in the transport process of the embodiment, if it is determined that the stack 10 is not present at the location imaged by the 2D camera 521, the transport process at the target location is stopped and the transport process moves to the transport process of the stack 10 that is estimated to be present at another location.

[0061] This prevents the robot 510 from attempting to grasp the stack 10 when the controller Ctr is not present during the transport process. Therefore, according to the embodiment, it is possible to prevent mistakes in grasping the stack 10. In particular, it is possible to prevent the production line from being stopped and restarted due to mistakes in grasping the stack 10, thereby reducing the workload of workers.

[0062] In addition, in the embodiment, the process of step S101 may be performed using the 2D camera 521, and the process of step S102 may be performed using the height detection sensor 522. This allows the processes of step S101 and step S102 to be performed at a relatively low cost.

[0063] In the example of Figure 5, an example is shown in which step S102 is performed after step S101, but the present disclosure is not limited to such an example, and step S101 and step S102 may be performed in parallel.

[0064] Furthermore, in the embodiment, an example has been shown in which the processes of step S101 and step S102 are performed using the 2D camera 521 and the height detection sensor 522, respectively, but the present disclosure is not limited to such an example.

[0065] For example, in the present disclosure, step S101 (first measurement step) and step S102 (second measurement step) may be performed using one 3D (three-dimensional) camera. This also prevents the robot 510 from attempting to grasp the stack 10 when the controller Ctr is not present, thereby preventing mistakes in grasping the stack 10.

[0066] 5 and the like may be performed immediately after the annealing step. This prevents the robot 510 from grabbing the laminate 10 that is mistakenly recognized as being present due to the trace of the laminate 10 when the lower plate P bearing the trace of the laminate 10 due to the annealing step is subjected to the transporting step.

[0067] Therefore, according to the embodiment, even in a situation where the stack 10 is likely to be gripped incorrectly, it is possible to prevent the stack 10 from being gripped incorrectly.

[0068] In the embodiment, an example has been shown in which the transport process described in Figure 5 etc. is performed immediately after the annealing process, but the present disclosure is not limited to such an example, and the transport process described in Figure 5 etc. may be performed in a transport device 300 (see Figure 2) that performs the transport process immediately before the annealing process.

[0069] The lower plate P of the present disclosure is not limited to use in the annealing process, but can also be used in other manufacturing processes for laminated iron cores. Therefore, even when a plurality of laminates 10 arranged on the lower plate P and sent from various processes before the annealing process are transported by the transport device 300, by performing the transport process described in Fig. 5 etc., it is possible to prevent the robot from going to grab a laminate 10 that does not exist.

[0070] Therefore, according to the embodiment, it is possible to prevent the stack 10 from being gripped incorrectly.

[0071] In the embodiment, the transport step described in FIG. 5 and the like is not limited to being performed at least one of immediately before and immediately after the annealing step, but may be performed during various manufacturing steps of the laminated core 1.

[0072] In the embodiment, an example has been shown in which the height position of one location 10b where the stack 10 is estimated to be present is measured in the process of step S102, but the present disclosure is not limited to such an example. Fig. 7B is a diagram for explaining another example of the transport process according to the embodiment.

[0073] As shown in FIG. 7B, in the present disclosure, the controller Ctr may measure the height positions of a plurality of locations 10b where the stack 10 is estimated to exist in the process of step S102.

[0074] In this case, the controller Ctr may also determine in step S103 that the stack 10 is present at the location imaged by the 2D camera 521 if the height position of one of the multiple locations 10b is not lower than a predetermined height.

[0075] This prevents the robot 510 from grabbing a non-existent stack 10, even if the position of the stack 10 shifts just before the transport process and one point 10b overlaps with a low-height point such as a through-hole 1a.

[0076] Therefore, according to the embodiment, even in a situation where the stack 10 is likely to be gripped incorrectly, it is possible to prevent the stack 10 from being gripped incorrectly.

[0077] 7B, the positions of a plurality of points 10b may be set in advance, which allows height detection sensor 522 to be quickly moved to a plurality of predetermined positions, thereby increasing the processing speed of step S102.

[0078] Therefore, according to the embodiment, the time required for the transport step of the laminate 10 can be shortened.

[0079] In the present disclosure, the horizontal position of the point 10b where the height position is measured may be controlled based on the imaging data acquired by the 2D camera 521. This also makes it possible to prevent the robot 510 from trying to grab a non-existent stack 10 when the position of the stack 10 shifts immediately before the transport process.

[0080] Therefore, according to the embodiment, even in a situation where the stack 10 is likely to be gripped incorrectly, it is possible to prevent the stack 10 from being gripped incorrectly.

[0081] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present invention.

[0082] For example, in the above embodiment, an example of applying the technology of the present disclosure to the process of transporting the stack 10 is shown, but the process of transporting the stack 10 by the robot 510 is not required, and the technology of the present disclosure may also be applied to a process in which the stack 10 itself is not transported.

[0083] For example, the technology of the present disclosure may be applied to a process in which the robot 510 gripping the stack 10 is not moved up, down, left, or right, but the lower plate P and an element other than the lower plate P are moved relative to the gripped stack 10, thereby relatively transporting the stack 10. Even in this case, it is possible to prevent errors in gripping the stack 10.

[0084] In addition, in the above embodiment, an example is shown in which a non-contact height detection sensor 522 is used to measure the height position of the point 10b where the stack 10 is estimated to be present, but the height position of the point 10b may also be measured using a contact height detection sensor.

[0085] Furthermore, in the above embodiment, an example is shown in which the technology of the present disclosure is applied to the transport process of a laminated core 1 that becomes part of a stator, but the present disclosure is not limited to such an example, and the technology of the present disclosure may also be applied to the transport process of a laminated core that becomes part of a rotor.

[0086] Furthermore, in the above embodiment, an example has been shown in which the process of step S101 and the process of step S102 are performed in parallel, but one of the processes may be performed before the other.

[0087] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

[0088] The present technology can also be configured as follows. (1) a holding step of holding a laminate in which a plurality of iron core pieces are stacked with a holding portion; a first measuring step of measuring a relative position between the laminate and the gripping portion in a plan view; a second measuring step of measuring the height position of the location where the laminate is estimated to exist; A method for manufacturing a laminated core, comprising: (2) In the second measurement step, if the height position of the measured portion is lower than a predetermined height, it is deemed that the laminate is not present in the portion that was the target of the first measurement step and the second measurement step. A method for manufacturing the laminated core described in (1) above. (3) The second measuring step measures a plurality of height positions at a location where the stack is estimated to exist. A method for manufacturing the laminated core according to (1) or (2). (4) the first measuring step is performed using a 2D camera; The second measuring step is performed using a height detection sensor. A method for manufacturing a laminated core according to any one of (1) to (3) above. (5) annealing the laminate; The holding step is performed at least one of immediately before and immediately after the annealing step. A method for manufacturing a laminated core according to any one of (1) to (4) above. (6) a gripping portion that grips a laminate formed by stacking a plurality of core pieces; a position measuring unit that measures the relative position between the stack and the gripping unit in a plan view and the height position of a location where the stack is estimated to be present; a control unit that controls each unit; Equipped with The control unit a first measurement process of measuring a relative position between the stack and the gripping portion in a plan view before the stack is gripped by the gripping portion; A second measurement process is carried out to measure the height position of the location where the stacked body is estimated to exist. Laminated core manufacturing equipment. [Explanation of symbols]

[0089] 1 Laminated core 10 Laminate 10b 100 Manufacturing equipment 300 Conveyor 400 Annealing Equipment 500 Conveyor 510 Robot (Example of gripping part) 520 Position measurement section 521 2D camera 522 Height detection sensor W core piece

Claims

1. a holding step of holding a laminate in which a plurality of iron core pieces are stacked with a holding portion; a first measuring step of measuring a relative position between the laminate and the gripping portion in a plan view; a second measuring step of measuring a height position of a location where the stack is estimated to exist; A method for manufacturing a laminated core, comprising:

2. In the second measurement step, if the height position of the measured portion is lower than a predetermined height, it is considered that the laminate is not present in the portion that was the target of the first measurement step and the second measurement step. A method for manufacturing the laminated core according to claim 1 .

3. The second measuring step measures a plurality of height positions at a location where the stack is estimated to exist. The method for manufacturing a laminated core according to claim 1 or 2.

4. the first measuring step is performed using a 2D camera; The second measuring step is performed using a height detection sensor. The method for manufacturing a laminated core according to claim 1 or 2.

5. annealing the laminate; The holding step is performed at least one of immediately before and immediately after the annealing step. The method for manufacturing a laminated core according to claim 1 or 2.

6. a gripping portion that grips a laminate formed by stacking a plurality of core pieces; a position measuring unit that measures the relative position between the stack and the gripping unit in a plan view and the height position of a location where the stack is estimated to be present; a control unit that controls each unit; Equipped with The control unit a first measurement process of measuring a relative position between the stack and the gripping portion in a plan view before the stack is gripped by the gripping portion; A second measurement process is carried out to measure the height position of the location where the stack is estimated to exist. Laminated core manufacturing equipment.

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