CN105702445B - Automatic laminating assembly method and system - Google Patents

Automatic laminating assembly method and system Download PDF

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Publication number
CN105702445B
CN105702445B CN201610100791.4A CN201610100791A CN105702445B CN 105702445 B CN105702445 B CN 105702445B CN 201610100791 A CN201610100791 A CN 201610100791A CN 105702445 B CN105702445 B CN 105702445B
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CN
China
Prior art keywords
lamination
assembly
same
automatic laminating
streamline
Prior art date
Application number
CN201610100791.4A
Other languages
Chinese (zh)
Other versions
CN105702445A (en
Inventor
曾昭贤
张武坤
定世军
龙小军
胡雨强
谢赛
吴珊
高狄
Original Assignee
长沙长泰机器人有限公司
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Priority to CN201610100791.4A priority Critical patent/CN105702445B/en
Publication of CN105702445A publication Critical patent/CN105702445A/en
Application granted granted Critical
Publication of CN105702445B publication Critical patent/CN105702445B/en

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Classifications

    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01FMAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F41/00Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
    • H01F41/02Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
    • H01F41/0206Manufacturing of magnetic cores by mechanical means
    • H01F41/0233Manufacturing of magnetic circuits made from sheets
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • HELECTRICITY
    • H01BASIC ELECTRIC ELEMENTS
    • H01FMAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F27/00Details of transformers or inductances, in general
    • H01F27/24Magnetic cores
    • H01F27/245Magnetic cores made from sheets, e.g. grain-oriented
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0214Articles of special size, shape or weigh
    • B65G2201/022Flat

Abstract

The invention discloses a kind of automatic laminating assembly method and system, this method includes:The element for constituting same laminates is grouped according to the structure and shape of same laminates in the assembly for needing lamination to assemble, the element of packet is respectively by streamline transmission so that lamination assembling is called;Each set of pieces of just crawl packet is simultaneously transferred to locating platform, and the multiple element with group is synchronously captured;Fine positioning is carried out to the multiple element with group;Crawl is synchronized to the same set of pieces after fine positioning and completes to stack in lamination workbench;Circulation is stacked until completing lamination assembling.Present invention reduces front end feeding difficulty, and once crawl multi-disc sheet stock is realized, improve processing efficiency, and the processing dimension and model of wider assembly can be covered, intelligence degree is high, the silicon steel sheet stack piece assembling for the transformer core that is particularly suitable for use in.

Description

Automatic laminating assembly method and system

Technical field

The present invention relates to lamination manufacture field, especially, it is related to a kind of automatic laminating assembly method and system.

Background technology

With the continuous improvement of electrifing degree, the demand of electric power is being continued to increase, and transformer is as in power Transmission Important equipment, its demand is self-evident, and the demand of Transformer is especially protruded.Iron core inside transformer structure and Performance directly influences the overall performance of transformer, therefore to the manufacture craft of transformer core, required precision is high.It is existing to become Depressor iron core is formed by stacking by the thick silicon steel sheets of 0.27-0.3mm, finally stacks into " day " word shape.Average one middle-size and small-size change Depressor is formed by stacking by the silicon steel sheet of more than 5000.

At present, most of transformer factories are all to use artificial lamination, and workload is big, and work degree is high, transformer core Quality also depends on the technical merit of workman completely, and uniformity is poor.Domestic and international transformer core lamination equipment development is also in research Stage.

CN102896444B discloses a kind of automatic laminating machine, using disk structure, it is possible to achieve sheet material from Fold sheetmolding, but it is a piece of one folded mode that it takes every time, and front end feeding difficulty is big, and whole device space-consuming is big; CN104670937A discloses a kind of automatic laminating machine and automatic laminating method, can pass through the repeated silicon steel sheet with adhesive Cross and take piece, burst, positioning, lamination, stack into meet high accuracy, high-quality transformer core.But folded to silicon steel sheet , it is necessary to extract silicon steel sheet successively from material loading platform by manipulator and positioned in locating platform during piece, and through lamination Robot shifts carry out lamination successively, and it is a piece of one folded mode that device is taken every time, not to needing stacked one layer Silicon steel sheet is combined positioning, causes the feeding difficulty of front end big, and processing efficiency is low, and can not meet the iron core of Multiple Type Lamination is assembled.

The content of the invention

The invention provides a kind of automatic laminating assembly method and system, to solve existing automatic laminating machine due to not right Same laminates are combined caused by positioning that processing efficiency is low and feeding is complicated, poor compatibility technical problem.

The technical solution adopted by the present invention is as follows:

According to an aspect of the present invention there is provided a kind of automatic laminating assembly method, this method includes:

According to the element of the structure and shape of same laminates in the assembly for needing lamination to assemble to the same laminates of composition It is grouped, the element of packet is respectively by streamline transmission so that lamination assembling is called;

Each set of pieces of just crawl packet is simultaneously transferred to locating platform, and the multiple element with group is synchronously captured;

Fine positioning is carried out to the multiple element with group;

Crawl is synchronized to the same set of pieces after fine positioning and completes to stack in lamination workbench;

Circulation is stacked until completing lamination assembling.

Further, assembly is transformer core, and lamination is silicon steel sheet, and transformer core same layer laminate shape is " day " font, is divided into two set of pieces, one group be while-in-while three sheet stocks, another group is yoke-yoke two panels sheet stock.

Further, complete after single assembly assembling, the inventive method also includes:

One station of lamination worktable displacement, the assembly that will complete lamination assembling is removed, and by next support machine Structure moves to lamination station, with on-line continuous lamination operation.

According to another aspect of the present invention, a kind of automatic laminating assembly system is also provided, the system includes:

Multiple streamlines, the same set of pieces called and be grouped is assembled for online transmission respectively for lamination, wherein, same to constituent element Part is divided the element for constituting same laminates according to the structure and shape of same laminates in the assembly for needing lamination to assemble Group is obtained;

Truss manipulator, is corresponded with streamline, for many of same group needed for the single synchronously assembling of crawl same layer Individual element;

Fine stage, for receiving same group of multiple element of truss manipulator synchronization crawl and to the multiple element with group Carry out fine positioning;

Lamination workbench, the location tray provided with the assembly for supporting lamination assembling;

Closed assembly robot, for the same set of pieces on fine positioning platform after fine positioning to be synchronized into crawl and in lamination Workbench completes to stack.

Further, truss manipulator includes frame and the adjustable multiple three axle roberts of relative shelf position, each three axle Manipulator is individually controlled and the synchronous multiple element captured with group.

Further, fine stage includes multiple locating platforms corresponding with the quantity of the element of reception, each locating platform It is equipped with for centering body of the setting element on locating platform center line and for setting element in locating platform length side To the end face detent mechanism of position.

Further, centering body and end face detent mechanism drive positioning using servomotor.

Further, the length direction of streamline and lamination workbench be arranged in parallel, and fine stage is located at streamline with folding Between piece workbench and fine stage length direction perpendicular to streamline length direction.

Further, the transition conveying for element and the transition wire of caching, mistake are provided between streamline and fine stage The length direction of branch-cut bridge perpendicular to streamline length direction and be connected with fine stage, truss manipulator is across streamline and mistake Branch-cut bridge it is part or all of.

Further, lamination workbench is multistation sliding platform, and multistation sliding platform is in the presence of drive mechanism Displacement.

Further, closed assembly robot includes six axis robot and multiple for synchronous crawl located at six axis robot end The fixture of element, fixture includes a row or multi-row sucker holder.

Further, the Central Symmetry of multiple rows of sucker holder opposed jaw, and relative position is adjustable.

The invention has the advantages that:

Automatic laminating assembly method and system of the present invention, by being grouped to the element for constituting same laminates, and warp Just crawl is with the multiple element of group, and the same set of pieces after fine positioning then synchronizes and grabbed with the multiple element of group by fine positioning Take and complete to stack in lamination workbench, reduce front end feeding difficulty, and realize once crawl multi-disc sheet stock, improve and add Work efficiency rate, and the processing dimension and model of wider assembly can be covered, intelligence degree is high, and be particularly suitable for use in transformer fe The silicon steel sheet stack piece assembling of core.

In addition to objects, features and advantages described above, the present invention also has other objects, features and advantages. Below with reference to accompanying drawings, the present invention is further detailed explanation.

Brief description of the drawings

The accompanying drawing for constituting the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the structural representation of preferred embodiment of the present invention automatic laminating assembly system;

Fig. 2 is the structural representation of preferred embodiment of the present invention truss manipulator;

Fig. 3 is the structural representation of preferred embodiment of the present invention locating platform.

Description of reference numerals:

1st, streamline;

2nd, truss manipulator;21st, frame;22nd, three axle robert;

3rd, fine stage;31st, locating platform;32nd, centering body;33rd, end face detent mechanism;

4th, lamination workbench;41st, location tray;

5th, closed assembly robot;51st, fixture;511st, sucker holder;

6th, transition wire.

Embodiment

It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase Mutually combination.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

The preferred embodiments of the present invention provide a kind of automatic laminating assembly method, and neck is assembled in the automatic superposition for thin slice Domain, the present embodiment method includes:

According to the element of the structure and shape of same laminates in the assembly for needing lamination to assemble to the same laminates of composition It is grouped, the element of packet is respectively by streamline transmission so that lamination assembling is called;

Each set of pieces of just crawl packet is simultaneously transferred to locating platform, and the multiple element with group is synchronously captured;

Fine positioning is carried out to the multiple element with group;

Crawl is synchronized to the same set of pieces after fine positioning and completes to stack in lamination workbench;

Circulation is stacked until completing lamination assembling.

The present embodiment stacks citing with the silicon steel sheet of transformer core and illustrated, i.e., assembly is transformer core, is folded Piece is silicon steel sheet, and transformer core same layer laminate shape is " day " font, is divided into two set of pieces, one group be while-in-while three Sheet stock, another group is yoke-yoke two panels sheet stock.When the present embodiment method works, while-in-while three sheet stocks by just capturing, essence it is fixed Behind position, three are disposably captured through industrial robot and is stacked;Yoke-yoke two panels sheet stock is by just capturing, after fine positioning, through industrial machine Disposably crawl three is stacked device people, therefore stacks one layer of completion by capturing twice, reduces front end feeding difficulty, and realize Multi-disc sheet stock is once captured, processing efficiency is improved, and the processing dimension and model of wider assembly can be covered, it is intelligent Degree is high, the silicon steel sheet stack piece assembling for the transformer core that is particularly suitable for use in.

Preferably, complete after single assembly assembling, the present embodiment method also includes:

One station of lamination worktable displacement, the assembly that will complete lamination assembling is removed, and by next support machine Structure moves to lamination station, with on-line continuous lamination operation.

The present embodiment transformer fe core producing method, according to core structure feature by the two parts that are divided into of iron core sheet stock, side- In-rim portion, and yoke-yoke part, by the first crawl of sheet stock, fine positioning, robot captures multi-disc sheet stock lamination simultaneously, realizes Automate lamination techniques.This method has strong adaptability, and support size scope is wide, and floor space is small, the features such as efficiency high.

According to another aspect of the present invention, a kind of automatic laminating assembly system, reference picture 1, the present embodiment system are also provided Including:

Multiple streamlines 1, the same set of pieces called and be grouped is assembled for online transmission respectively for lamination, wherein, same group Element is carried out according to the structure and shape of same laminates in the assembly for needing lamination to assemble to the element for constituting same laminates Packet is obtained;

Truss manipulator 2, is corresponded with streamline 1, for same group needed for the single synchronously assembling of crawl same layer Multiple element;

Fine stage 3, for receiving same group of multiple element of the synchronous crawl of truss manipulator 2 and to multiple members with group Part carries out fine positioning;

Lamination workbench 4, the location tray 41 provided with the assembly for supporting lamination assembling;

Closed assembly robot 5, for by the same set of pieces on fine positioning platform 31 after fine positioning synchronize crawl and Lamination workbench 4 completes to stack.

In reference picture 1, the present embodiment, stacked for the silicon steel sheet of transformer core, element is divided into two groups, correspondingly, Streamline 1 is two, wherein, streamline be used to transmitting side-in-sheet stock of rim portion, another is used to transmit yoke-yoke portion The sheet stock divided.Preferably, streamline 1 is fixed by screws on installation ground, using double-deck circular route using double-deck circular route Structure, be easy to that manually the good bin of advance blanking is replenished on streamline, streamline will put superincumbent bin pallet In the working region for being sent to truss manipulator 2.

Reference picture 2, the present embodiment truss manipulator 2 includes the adjustable multiple three axles machines of frame 21 and the relative position of frame 21 Tool hand 22, each three axle robert 22 is individually controlled and the synchronous multiple element captured with group.Specifically, reference picture 1, with side-in- 2 pairs of the corresponding truss manipulator of streamline of rim portion should have three three axle roberts, corresponding with the streamline of yoke-yoke part 2 pairs of truss manipulator should have two three axle roberts.The present embodiment three axle robert 22 is by laterally and/or longitudinally slide rail along machine The displacement of frame 21 is adjusted, and is installed with each three axle robert 22 and a set of can be rotated the sucker clamp of 180 degree.In this reality Apply in example, reference picture 2, the front end of frame 21 is provided with two three axle roberts 22, while capturing two panels side column and being moved to transition On line 6, rear end captures a piece of stem and is moved on transition wire 6 provided with a three axle robert 22.

In the present embodiment, with side-in-the corresponding transition wire 6 of rim portion is three independent pipelines, the length of transition wire 6 Direction is spent perpendicular to the length direction of streamline 1 and is connected with fine stage 3, and truss manipulator 2 is across streamline 1 and transition wire 6 it is part or all of.Transition wire 6 is used for the transition conveying of sheet stock, caching, corresponds to conveying sheet stock, i.e., the respectively per strip transmission line One strip transmission line conveys side sheet stock, the second strip transmission line center conveyor sheet stock, Article 3 pipeline conveying another side sheet stock.Side- In-side sheet stock is delivered on corresponding fine stage 3 through transition wire 6, similarly, the sheet stock of yoke-yoke part is through corresponding transition wire 6 It is delivered on corresponding fine stage 3.

The present embodiment fine stage 3 include multiple locating platforms 31 corresponding with the quantity of the element of reception, reference picture 3, Each locating platform 31 is equipped with for centering body 32 of the setting element on the center line of locating platform 31 and for setting element In the end face detent mechanism 33 of the lengthwise location of locating platform 31.In the present embodiment, centering body 32 and end face detent mechanism 33 drive positioning using servomotor.The present embodiment reduces front end by way of taking first crawl, fine positioning and being combined The requirement of feeding, and packaging efficiency is high, without interference between each element, reliability is high.

In the present embodiment, the length direction of streamline 1 and lamination workbench 4 be arranged in parallel, and fine stage 3 is located at streamline Between 1 and lamination workbench 4 and fine stage 3 length direction perpendicular to streamline 1 length direction.Using the structure, just In the space arrangement of optimization system, the space that system takes is reduced so that system architecture is compact.

The present embodiment closed assembly robot 5 includes six axis robot and multiple for synchronous crawl located at six axis robot end The fixture 51 of element, fixture 51 includes a row or multi-row sucker holder 511.Preferably, multiple rows of sucker holder 511 is relative presss from both sides The Central Symmetry of tool 51, and relative position is adjustable.

In reference picture 1, the present embodiment, with while-in-while the corresponding closed assembly robot 5 of sheet stock fixture 51 be only by three rows Vertical sucker composition, wherein middle row's sucker clamp is fixed, the sucker servo of the row of both sides two is adjustable.Sheet stock is in fine stage 3 After upper positioning, robot is moved to the position of fine stage 3, and fixture 51 once draws three sheet stocks simultaneously, and robot moves sheet stock Move to stacking on workbench 4, in moving process, fixture 51 adjusts the width of three sheet stocks of adjust automatically through servo.

Preferably, the present embodiment lamination workbench 4 is multistation sliding platform, and multistation sliding platform is in drive mechanism Effect is lower to be shifted, and for example in hydraulic pressure, pneumatic or electric driving mechanism bottom offset, platform is provided with location tray 41, for putting Put iron core clamping element.After the completion of whole core lamination stack, lamination workbench 4 slides a station, and semi-finished product are removed, and simultaneously will Next iron core clamping element moves to lamination station, and robot starts next core lamination stack, manually by the upper folder of semi-finished product iron core Tight part is installed, and is hung away to finished product and is prestored area.

Description more than is it is known that the present embodiment to the element for constituting same laminates by being grouped, and passes through Just crawl is with the multiple element of group, and the same set of pieces after fine positioning then synchronizes and grabbed with the multiple element of group by fine positioning Take and complete to stack in lamination workbench, reduce front end feeding difficulty, and realize once crawl multi-disc sheet stock, improve and add Work efficiency rate, and the processing dimension and model of wider assembly can be covered, intelligence degree is high, and be particularly suitable for use in transformer fe The silicon steel sheet stack piece assembling of core.

The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.

Claims (12)

1. a kind of automatic laminating assembly method, it is characterised in that including:
The element for constituting same laminates is carried out according to the structure and shape of same laminates in the assembly for needing lamination to assemble Packet, the element of packet is respectively by streamline (1) transmission so that lamination assembling is called;
Each set of pieces of just crawl packet is simultaneously transferred to locating platform (31), and the multiple element with group is synchronously captured;
Fine positioning is carried out to the multiple element with group;
Crawl is synchronized to the same set of pieces after fine positioning and completes to stack in lamination workbench (4);
Circulation is stacked until completing lamination assembling.
2. automatic laminating assembly method according to claim 1, it is characterised in that
The assembly is transformer core, and the lamination is silicon steel sheet, and transformer core same layer laminate shape is " day " word Shape, is divided into two set of pieces, one group be while-in-while three sheet stocks, another group is yoke-yoke two panels sheet stock.
3. the automatic laminating assembly method according to claims 1 or 2, it is characterised in that complete single assembly assembling Afterwards, methods described also includes:
One station of lamination workbench (4) displacement, the assembly that will complete lamination assembling is removed, and by next supporting mechanism Lamination station is moved to, with on-line continuous lamination operation.
4. a kind of automatic laminating assembly system, it is characterised in that including:
Multiple streamlines (1), the same set of pieces called and be grouped is assembled for online transmission respectively for lamination, wherein, it is described same Set of pieces is entered according to the structure and shape of same laminates in the assembly for needing lamination to assemble to the element for constituting same laminates Row packet is obtained;
Truss manipulator (2), is corresponded with the streamline (1), for same needed for the single synchronously assembling of crawl same layer The multiple element of group;
Fine stage (3), for receiving same group of multiple element of truss manipulator (2) the synchronization crawl and to described same group Multiple element carry out fine positioning;
Lamination workbench (4), the location tray (41) provided with the assembly for supporting lamination assembling;
Closed assembly robot (5), for the same set of pieces on the fine positioning platform (31) after fine positioning to be synchronized into crawl And complete to stack in the lamination workbench (4).
5. automatic laminating assembly system according to claim 4, it is characterised in that
The truss manipulator (2) includes frame (21) and the relatively adjustable multiple three axle roberts in frame (21) position (22), each three axle robert (22) individually controls and the synchronous multiple element captured with group.
6. automatic laminating assembly system according to claim 4, it is characterised in that
The fine stage (3) includes multiple locating platforms (31) corresponding with the quantity of the element of reception, and each positioning is flat Platform (31) is equipped with for centering body (32) of the setting element on the locating platform (31) center line and for positioning member End face detent mechanism (33) of the part in the locating platform (31) lengthwise location.
7. automatic laminating assembly system according to claim 6, it is characterised in that
The centering body (32) and the end face detent mechanism (33) drive positioning using servomotor.
8. automatic laminating assembly system according to claim 6, it is characterised in that
The length direction of the streamline (1) and the lamination workbench (4) be arranged in parallel, and the fine stage (3) is located at institute State between streamline (1) and the lamination workbench (4) and the fine stage (3) length direction perpendicular to the streamline (1) length direction.
9. automatic laminating assembly system according to claim 8, it is characterised in that
The transition conveying for element and the transition wire of caching are provided between the streamline (1) and the fine stage (3) (6), the length direction of the transition wire (6) perpendicular to the streamline (1) length direction and with the fine stage (3) hold in the mouth Connect, the truss manipulator (2) is part or all of across the streamline (1) and the transition wire (6).
10. automatic laminating assembly system according to claim 4, it is characterised in that
The lamination workbench (4) is multistation sliding platform, and the multistation sliding platform is moved in the presence of drive mechanism Position.
11. automatic laminating assembly system according to claim 4, it is characterised in that
The closed assembly robot (5) includes six axis robot and is used for synchronous crawl multiple element located at six axis robot end Fixture (51), the fixture (51) includes a row or multi-row sucker holder (511).
12. automatic laminating assembly system according to claim 11, it is characterised in that
The Central Symmetry of multiple rows of relatively described fixture (51) of the sucker holder (511), and relative position is adjustable.
CN201610100791.4A 2016-02-24 2016-02-24 Automatic laminating assembly method and system CN105702445B (en)

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Application Number Priority Date Filing Date Title
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CN105702445B true CN105702445B (en) 2017-10-17

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CN106252599B (en) * 2016-08-05 2019-04-05 宁德新能源科技有限公司 Laminating equipment
CN106357064B (en) * 2016-10-28 2019-06-11 成都中车电机有限公司 A kind of motor stamping film feeding apparatus
CN106374694B (en) * 2016-10-28 2018-07-20 成都中车电机有限公司 A kind of motor stamping trimming device laminating operation for motor stamping
CN106357065B (en) * 2016-10-28 2018-08-07 成都中车电机有限公司 A kind of motor stamping lamination system
CN106697973B (en) * 2017-02-10 2018-12-18 济南奥图自动化股份有限公司 A kind of transformer core automatic overlapping and assembling system
CN107068376A (en) * 2017-04-26 2017-08-18 山东电力设备有限公司 A kind of support meanss installed for iron yoke on transformer
CN107195452B (en) * 2017-06-27 2018-08-24 徐海燕 A kind of platform convenient for the superposition of inside transformer iron core
CN107833741B (en) * 2017-11-10 2019-08-23 江苏科技大学 A kind of transformer silicon steel sheet automatic laminating production system and method
CN108538557B (en) * 2018-01-19 2020-04-28 浙江泰成互感器有限公司 Transformer core stacking device
CN108666126B (en) * 2018-05-07 2020-06-12 北京才纳科技有限公司 Efficient automatic lamination device and method for silicon steel sheet iron core of power transformer
CN109396383B (en) * 2018-11-12 2020-08-25 佛山隆深机器人有限公司 Automatic line of rotor die-casting robot
CN109524230A (en) * 2018-11-28 2019-03-26 沈阳工业大学 A kind of control method and device of transformer core silicon-steel precision positioning
CN110809377B (en) * 2019-10-31 2020-12-15 深圳市迈达普科技有限公司 PCB pre-stacking equipment and method

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Denomination of invention: Automatic laminated sheet assembly method and system

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