CN108538564A - A kind of transformer core flexible intelligent lamination production system - Google Patents

Abstract

The invention discloses a flexible and intelligent lamination production system for transformer iron cores, which comprises a reciprocating and stepping conveying platform (1) for storing materials arranged in a line in sequence, a multi-manipulator platform (2) for retrieving and splitting silicon steel sheets, and a silicon steel sheet conveying platform. Import and correct positioning platform (3), silicon steel sheet multi-manipulator flexible collaborative stacking platform (4) and silicon steel sheet flipping output platform (5); Below the manipulator platform; the multi-manipulator platform for retrieving and slicing silicon steel sheets, the silicon steel sheet conveying, importing, correcting and positioning platform, the multi-manipulator flexible and cooperative stacking platform for silicon steel sheets, and the flipping output platform for silicon steel sheets are located on a main frame (6 ), the main frame is provided with outer rails (601) and inner rails (602) along the long axis direction. The invention can realize the automatic electromechanical integration of the whole process of transformer iron core stacking from material feeding to lamination and flip output, and improve the stacking precision and efficiency of transformer stacking.

Description

A flexible and intelligent lamination production system for transformer cores

technical field

The invention relates to a flexible intelligent lamination production system for a transformer iron core.

Background technique

The iron core is the main component of the magnetic circuit of the transformer. Its quality mainly depends on the stacking accuracy of the silicon steel sheets. The quality of the stacking accuracy will directly affect the performance indicators such as no-load loss and noise of the transformer. Install efficiency.

At present, in the stacking process of core silicon steel sheets, the silicon steel sheets are stacked according to the design requirements by manual operation. In the process of stacking, skilled workers manually transport silicon steel sheets of different specifications to different storage platforms, and then stack the silicon steel sheets one by one. In order to reduce the gap between silicon steel sheets and ensure smooth edges, after stacking a certain amount of silicon steel sheets, it is necessary to rely on experience to continuously tap and adjust the silicon steel sheets around. In order to ensure the stacking accuracy of each level, after stacking the silicon steel sheets of each level, it is necessary to use a micrometer caliper or a vernier caliper to measure the stacking thickness of the level, and adjust the number of silicon steel sheets according to the measurement results. Such a stacking method cannot guarantee the stacking accuracy and stacking efficiency. This traditional process method is time-consuming and laborious, and has become a bottleneck restricting the improvement of product quality and production efficiency.

At present, domestic equipment related to transformer core laminations is in the research and development stage, and there are very few related technical inventions. CN10551786A discloses a fully automatic stacking production line for transformer E-type iron cores, including devices such as feeding, taking pieces, positioning, stacking, receiving and outputting, turning over, etc., which solves the problem that existing iron core stacking equipment cannot satisfy automatic feeding and automatic positioning The requirements for transmission and automatic adjustment of the transformer window and step amount cannot be stacked according to the design requirements to form a core that meets the specifications and then output. The feeding device of the device is divided into two parts: three-column feeding and yoke-column feeding; the transmission silicon steel sheet is conveyed and introduced into the correction positioning platform 3, which includes a limit guide rail parallel to the feeding direction, and a fixed-length transmission mechanism set on the limit guide rail. And the pick-and-place mechanism set at the feed inlet of the fixed-length transmission mechanism; the silicon steel sheet multi-manipulator flexible collaborative stacking platform 4 is arranged above the plane where the silicon steel sheet is conveyed, introduced, and corrected, and the positioning platform 3 is located. The flexible collaborative stacking platform 4 and the choke column silicon steel sheet multi-manipulator flexible collaborative stacking platform 4 are on the same straight line and are in the same position as the straight line where the three-column transmission silicon steel sheet is transported, introduced, corrected and positioned, and the positioning platform 3 is in the same position. device. Although the above solution can realize lamination of iron cores of different specifications, the feeding mechanism is too long, the overall planar layout occupies too much space, and there is no lamination quality inspection device, so the lamination quality is difficult to guarantee.

CN10570245A discloses a method and system for automatic lamination assembly. The method groups components forming the same lamination, and the grouped components are transferred by the assembly line to be used for lamination assembly. Each group of components is initially captured and transferred to The positioning platform performs synchronous grabbing of the same group of components after fine positioning, and completes stacking on the lamination workbench, and stacks circularly until the lamination assembly is completed. This solution realizes the grasping of multiple sheets at one time, improves the processing efficiency, and is suitable for the silicon steel sheet lamination assembly of the transformer core. However, the precise positioning and pre-assembly process of multiple pieces of this solution is time-consuming, and the lamination efficiency is not high due to the use of general-purpose industrial robotic arms; it is difficult to adapt to core laminations of different specifications, and the flexibility is poor.

In summary, the disadvantages of the prior art are as follows:

1) Poor adaptability and flexibility in processing cores of different specifications: Most of the existing lamination equipment is aimed at core products of a single specification, which cannot meet the adjustment of stacking steps and pane sizes of different transformer cores, and cannot adapt to core products of different specifications. Flexible production.

2) Manual intervention and low level of intelligence: Most of the existing equipment requires manual intervention, and the production line working parameters are manually set according to the product specifications. The production switching of products of different specifications is slow, which affects production efficiency.

3) The stacking efficiency is not high: the existing equipment mostly uses manipulators for handling and stacking, and the efficiency is low; although some equipment uses multiple stacks, the combined positioning mechanism and process are relatively complicated and the efficiency is not high.

4) The lamination quality needs to be improved: the existing equipment lacks the detection of the initial lamination type and the lamination thickness of each stage, which leads to quality problems such as wrong steps of transformer core laminations and substandard lamination thickness.

Contents of the invention

The technical problem to be solved by the present invention is to provide a flexible and intelligent lamination production system for transformer cores, which can realize the automatic electromechanical integration of the entire process of transformer core stacking from feeding to lamination and flipping output, and improve the accuracy and accuracy of transformer stacking. efficiency.

To solve the above-mentioned technical problems, the technical scheme adopted by the present invention is as follows.

A transformer core flexible and intelligent lamination production system, characterized by: including a storage material reciprocating turnover stepping conveying platform 1 arranged in a line in sequence, a silicon steel sheet retrieving and splitting multi-manipulator platform 2, and a silicon steel sheet conveying, importing, correcting and positioning platform 3. Silicon steel sheet multi-manipulator flexible collaborative stacking platform 4 and silicon steel sheet flipping output platform 5; the terminal of the storage material reciprocating turnover stepping conveying platform is located below the silicon steel sheet retrieving and slicing multi-manipulator platform, and the silicon steel sheet retrieving and dividing The platform with multiple mechanical arms, the silicon steel sheet conveying, importing, correcting and positioning platform, the flexible and cooperative stacking platform with multiple mechanical arms for silicon steel sheets, and the flipping and outputting platform for silicon steel sheets are located within a main frame 6; Outer rail 601 and inner rail 602 .

The storage material reciprocating turnover stepping conveying platform 1 includes:

Two sets of step-by-step drive belt conveyors 101, 102 are arranged up and down on the conveyor bracket 106, the conveyor belt is provided with an embedded storage cabinet 103, the front end of the upper belt conveyor 101 and the lower belt conveyor Corresponding positions outside the rear end of 102 are respectively provided with feeding front-end hydraulic vertical lifting platform 104 and rear-end hydraulic vertical lifting platform 105; the embedded storage cabinet 103 is provided with four side-by-side vacancies, which can respectively adapt to reserve transformers The left column, middle column, right column and lower yoke silicon steel sheet 1001, 1002, 1003, 1004 of each stage, the feeding front hydraulic vertical lifting platform 104 is located below the multi-manipulator platform 2 for retrieving and slicing silicon steel sheet , And equipped with a magnetic slicing device.

The front-end hydraulic vertical lifting platform 104 and the rear-end hydraulic vertical lifting platform 105 are respectively equipped with sprocket transmission mechanisms 107 and 108, and embedded storage cabinets 103 are arranged on them.

The multi-manipulator platform 2 for retrieving and splitting silicon steel sheets includes: a mobile frame 201 that can move back and forth on the inner rail 601 of the main frame 6, and four manipulators 202 that can be vertically stretched up and down are arranged on the top, Respectively corresponding to the four side-by-side vacancies of the embedded storage cabinets on the hydraulic vertical lift platform at the front end of the feeding, the lower end of the manipulator is a vacuum sucker 203; the mobile frame is also provided with a vertically downward photoelectric proximity switch 210.

The structure of the silicon steel sheet taking manipulator 202 respectively corresponding to the left column, the middle column and the right column of the embedded storage cabinet is: two hydraulic cylinders arranged horizontally are fixed on the crossbeam of the mobile frame 201, and the two A horizontal bar 204 is fixed at the end of the downwardly extending piston rod, and two vacuum suction cups 203 are arranged under the horizontal bar; The hydraulic cylinder is fixed on a straight rod 205, and the end of the piston rod that can be extended downward is fixed with a cross bar. There are two vacuum suction cups under the cross bar. The rear end of the straight rod 205 is hinged on a turning slider 206, and the front end is hinged On a straight slide block 207, the turn slide block goes straight and turns along the straight track 208 at the top of the frame, and the straight slide block goes straight forward and backward along the front and rear straight track 209 at the top of the frame; thus realizing the 90-degree rotation of the lower yoke.

The described silicon steel sheet conveying, importing, correcting and positioning platform 3 includes a profiling manipulator correcting part and a measuring and positioning part:

The correction part of the profiling manipulator includes: the left column, the middle column and the right column silicon steel sheet shared conveying line 301 and the lower yoke conveying line 302 installed on the fixed bracket 312; The lower yoke length and width profiling positioning block 304 and the lower yoke width positioning block 303 are divided into the front and rear of the lower yoke; on the support next to the common conveying line 301, there are respectively corresponding left column, middle column and right column silicon steel sheet The width positioning blocks 305, 306, 307 and the length profiling positioning blocks 308, 309, 310, the width positioning blocks 305, 306, 307 are located on one side of the left column, the middle column and the right column silicon steel sheet, and the length profiling positioning block 308 , 309, 310 are located at the two ends of the silicon steel sheets of the left column, the middle column and the right column; each of the positioning blocks is controllable and telescopic. The positioning block shrinks to make way, and then stretches out for positioning;

The measurement and positioning part includes: on the frame under the common conveying line 301, there are photoelectric switches 311 for the silicon steel sheets of the left column, the middle column and the right column in place, which are used to sense whether the silicon steel sheets of the left column, the middle column and the right column are in place And obtain the physical coordinates of the longitudinal central axis of the silicon steel sheet.

The bottom of the calibration and positioning platform 3 is distributed with micropores and connected to an air compressor, and the silicon steel sheet is in a micro-suspension state through a certain air pressure.

The profiling manipulator correction part realizes the positioning correction of the silicon steel sheet, and obtains the physical coordinates of the longitudinal central axis of the silicon steel sheet; the measurement and positioning part is used to measure and calculate the physical coordinates of the horizontal central axis of the silicon steel sheet, through photoelectric measurement point coordinates, servo motion offset, silicon steel sheet The physical coordinates of the transverse central axis of the silicon steel sheet can be deduced from the length of the sheet.

The measurement principle is shown in Figure 5: After the left column, middle column, right column and lower yoke silicon steel sheet are grasped up and down by the cooperative lamination manipulator, the left and right / front and rear directions are displaced, and the displacement count pulse of the servo encoder is obtained through photoelectric signal monitoring amount, so as to calculate the left/forward displacement L1 and the right/backward displacement L2, and obtain the distance L=(S+L1-L2)/2 between the transverse central axis of the silicon steel sheet and one of the photoelectric measurement points P1 .

The silicon steel sheet multi-manipulator flexible collaborative stacking platform 4 includes a collaborative stacking manipulator and a sheet thickness measuring device:

The cooperative lamination manipulator includes: a stacking left column manipulator 401, a stacking middle column manipulator 402 and a stacking right column manipulator 403 which are movably supported on the outer rail 602 of the main frame 6 in a horizontal arrangement, and a horizontally arranged movable The stacked lower yoke manipulator 404 on the inner rail 601 of the main frame 6;

The stacked yoke manipulator 404 includes a planar frame, in which a stacked yoke electromagnetic assembly 405 is arranged, and a yoke screw drive mechanism 406 is provided to move the stacked yoke electromagnetic assembly 405 in the Y direction forward and backward. Both ends of the type frame are also provided with a first linear transmission mechanism 407 for moving the planar frame up and down in the Z direction to make the electromagnetic assembly of the stacked yoke sheet absorb the yoke, and a first helical rack and pinion mechanism 408 is provided for making the planar type The frame moves in the X direction in the left and right direction;

The stacking left column, stacking middle column and stacking right column manipulator include a folding frame, in which a column stacking electromagnetic assembly 409 is arranged, and a column sheet screw transmission mechanism 410 is also provided for making the stacking column sheet electromagnetic assembly 409 moves forward and backward in the Y direction, and a second linear transmission mechanism 411 is provided at both ends of the foldable frame to move the foldable frame up and down in the Z direction so that the stacked column sheet electromagnetic assembly 409 absorbs the column sheet, and is provided with a second helical gear rack Mechanism 408 is used to make the foldable frame move in X direction left and right;

The tablet thickness measuring device includes an optical distance detector 412 arranged between the stacking left column, the stacking middle column and the stacking right column manipulator to detect the thickness of the laminated sheets, and a photoelectric proximity switch 413 is provided to detect the laminated sheets, And the buffer cylinder 414 is used for buffering the laminations.

The tablet thickness measuring device includes an optical distance detector 412 in the middle of the stacking left column, stacking middle column and stacking right column manipulator for detecting the thickness of the stack, and a photoelectric proximity switch 413 for detecting the thickness of the stack. And the buffer cylinder 414 is used for buffering the laminations.

The lamination manipulators of the left column, middle column, right column and lower yoke can realize the fast movement of X, Y and Z axes to meet the lamination requirements of different specifications; among them, the lamination manipulators of the left column, middle column and right column work in the same group Horizontal slide rails, the stacking process is carried out synchronously; the lower yoke lamination manipulator works on another set of horizontal slide rails;

The second part is the lamination thickness measuring device installed on each manipulator. The lamination thickness measuring device is used to compress the silicon steel sheet, reduce the measurement error, and perform patching according to the measurement data to ensure the quality of the core lamination.

According to the stacking specifications of the transformer core, the stacking process is carried out from small to large and then from large to small; the left column, middle column, right column lamination manipulator and the lower yoke lamination manipulator work alternately: After the silicon steel sheet of the column, middle column, and right column, the three manipulators of this group give way to the working space of the stacking platform, and quickly move to the silicon steel sheet conveying and importing correction positioning platform for sheet picking and positioning; at the same time, the lower yoke stacking The manipulator completes the taking and positioning of the silicon steel sheet, and quickly moves to the stacking platform to perform the stacking of the lower yoke; this is repeated alternately until the entire stacking work is completed.

At the same time, in order to ensure the quality during the stacking process of the transformer core, it is necessary to measure the thickness of the left column, the middle column, the right column and the lower yoke at the same time after each level of processing, and the measurement accuracy is 0.1mm. Based on the bottom of the platform, the lamination thickness can be obtained by measuring the initial value and the measured value when the lamination is pressed after each level of lamination platform is completed by applying hydraulic pressure to the lamination. By comparing with the set value, The corresponding lamination quantity can be compensated, so as to achieve the set value required by the system. When the thickness of the silicon steel sheet of this level reaches the thickness of the corresponding level of silicon steel sheet, the corresponding lamination manipulator stops the lamination of the silicon steel sheet of this level.

The silicon steel sheet turnover output platform 5 consists of four parts: one is an adjustable silicon steel sheet stacking platform 507, and the supporting structure of the silicon steel sheet stacking platform can be adjusted step by step 505 according to the core model specification; the other is the pneumatic anti-slip movement The sheet pressing, and the pneumatic thimble limit part, through the action of the pneumatic anti-skid device and the pneumatic thimble, the stacked silicon steel sheet is firmly fixed on the plane of the silicon steel sheet of the servo manipulator; the third is the part of the transport trolley, which is located on the platform 507 chassis , when the stacked silicon steel sheets are fixed, the carrier trolley moves out of the stacked transformer core along the conveying rail; the fourth is the pneumatic inclination turning table part, whose function is to turn the stacked silicon steel sheets by 90 degrees, which is convenient for workers Do the bundling.

The pneumatic inclination turning platform includes: a stand 506, on which an iron core clip turning platform 501 is hinged, and the iron core clamp turning platform 501 is provided with movable left, middle and right main sheet support beams 502, 503, 504, A lead screw adjustment mechanism 505 is provided between the left, middle and right main piece support beams to adjust the distance between the beams, and a hydraulic station 507 and a hydraulic cylinder 508 are provided on the platform 506 for turning over the iron core clip turning platform 501 .

Beneficial effects: the lamination speed of the present invention reaches more than 10 layers/min, and the lamination error does not exceed 0.5mm.

Description of drawings

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Figure 1a is a schematic front view of an embodiment of the present invention;

Figure 1b is a schematic top view of an embodiment of the present invention;

Figure 1c is a schematic left view of an embodiment of the present invention;

Fig. 1d is a three-dimensional schematic diagram of an embodiment of the present invention (without storage and reciprocating turnover stepping conveying platform);

Fig. 1e is a three-dimensional schematic diagram of the main frame (a multi-manipulator platform for retrieving and slicing silicon-containing steel sheets and a conveying, introducing, correcting and positioning platform) of an embodiment of the present invention;

Fig. 2a is a schematic front view of a storage material reciprocating turnover stepping conveying platform according to an embodiment of the present invention;

Fig. 2b is a top view schematic diagram of the reciprocating and revolving stepping conveying platform for stored material according to the embodiment of the present invention;

Fig. 2c is a schematic left view of the reciprocating stepping conveying platform for stock storage according to the embodiment of the present invention;

Fig. 3a is a three-dimensional schematic diagram of a multi-manipulator platform for retrieving and slicing silicon steel sheets according to an embodiment of the present invention;

Fig. 3b is a schematic front view of a multi-manipulator platform for retrieving and slicing silicon steel sheets according to an embodiment of the present invention;

Fig. 3c is a schematic top view of a multi-manipulator platform for retrieving and slicing silicon steel sheets according to an embodiment of the present invention;

Fig. 3d is a left schematic diagram of a multi-manipulator platform for retrieving and slicing silicon steel sheets according to an embodiment of the present invention;

Figure 3e is a partially enlarged schematic diagram of Figure 3d;

Fig. 4a is a three-dimensional schematic diagram of a delivery, introduction, correction and positioning platform according to an embodiment of the present invention;

Fig. 4b is a schematic front view of the delivery, introduction, correction and positioning platform according to the embodiment of the present invention;

Fig. 4c is a schematic top view of the delivery, introduction, correction and positioning platform according to the embodiment of the present invention;

Fig. 4d is a schematic diagram of a left view of the delivery, introduction, correction and positioning platform according to the embodiment of the present invention;

Fig. 4e is an enlarged schematic diagram of the length and width profiling positioning block of the lower yoke for conveying and introducing the correction positioning platform;

Fig. 4f is an enlarged schematic diagram of the length profiling positioning blocks of the left and right columns of the conveying import correction positioning platform;

Fig. 4g is an enlarged schematic diagram of the profiling positioning block for the length of the lower yoke of the conveying import correction positioning platform;

Figure 5a is one of the three-dimensional schematic diagrams of the positioning and stacking platform (and the delivery, introduction, correction and positioning platform);

Figure 5b is the second perspective view of the positioning and stacking platform;

Figure 5c is a schematic diagram of the front view of the positioning and stacking platform;

Figure 5d is a partially enlarged schematic diagram of Figure 5c;

Fig. 5e is a three-dimensional and partially enlarged schematic diagram of the column stacking manipulator positioning the stacking platform;

Fig. 5f is a three-dimensional enlarged schematic diagram of the yoke sheet manipulator positioning the stacking platform;

Figure 5g is a schematic diagram of the measurement principle;

Figure 6a is one of the three-dimensional schematic diagrams of the silicon steel sheet turnover output platform (horizontal state);

Figure 6b is the second perspective view of the silicon steel sheet turnover output platform (turnover state);

Fig. 7 is a specific working flow chart of the flexible intelligent lamination production system for transformer cores of the present invention.

Detailed ways

Referring to Fig. 1a to Fig. 1e, the embodiment of the flexible intelligent lamination production system for transformer cores of the present invention includes a reciprocating stepping conveying platform 1 for storing materials arranged in a line, a multi-manipulator platform 2 for retrieving and splitting silicon steel sheets, and a silicon steel sheet Sheet conveying import correction positioning platform 3, silicon steel sheet multi-manipulator flexible collaborative stacking platform 4 and silicon steel sheet flipping output platform 5; the terminal of the storage round-trip turnover stepping conveying platform is located below the silicon steel sheet picking and slicing multi-manipulator platform The multi-manipulator platform for silicon steel sheet retrieving and slicing, the silicon steel sheet conveying, importing, correcting and positioning platform, the multi-manipulator flexible and cooperative stacking platform for silicon steel sheet, and the flipping output platform for silicon steel sheet are located in a main frame 6; the main frame is equipped with There are outer rails 601 and inner rails 602 along the long axis direction.

Referring to Fig. 2a to Fig. 2c, the storage material reciprocating turnover stepping conveying platform 1 includes:

Two sets of step-by-step drive belt conveyors 101, 102 are arranged up and down on the conveyor bracket 106, the conveyor belt is provided with an embedded storage cabinet 103, the front end of the upper belt conveyor 101 and the lower belt conveyor Corresponding positions outside the rear end of 102 are respectively provided with feeding front-end hydraulic vertical lifting platform 104 and rear-end hydraulic vertical lifting platform 105; the embedded storage cabinet 103 is provided with four side-by-side vacancies, which can respectively adapt to reserve transformers The left column, middle column, right column and lower yoke silicon steel sheet 1001, 1002, 1003, 1004 of each stage, the feeding front hydraulic vertical lifting platform 104 is located below the multi-manipulator platform 2 for retrieving and slicing silicon steel sheet , and is provided with a magnetic slicing device; the front-end hydraulic vertical lifting platform 104 and the rear-end hydraulic vertical lifting platform 105 are correspondingly provided with sprocket transmission mechanisms 107, 108, and embedded storage cabinets 103 are provided on them.

Referring to Figures 3a to 3e, the multi-manipulator platform 2 for retrieving and slicing silicon steel sheets includes: a mobile frame 201 that can move back and forth on the inner rail 601 of the main frame 6, and four manipulators that can be vertically stretched up and down are arranged on the top 202, respectively corresponding to the four side-by-side vacancies of the embedded storage cabinet on the hydraulic vertical lifting platform of the front end of the feeding, the lower end of the manipulator is a vacuum suction cup 203; the mobile frame is also provided with a vertically downward photoelectric proximity switch 210.

The structure of the silicon steel sheet taking manipulator 202 respectively corresponding to the left column, the middle column and the right column of the embedded storage cabinet is: two hydraulic cylinders arranged horizontally are fixed on the crossbeam of the mobile frame 201, and the two A horizontal bar 204 is fixed at the end of the downwardly extending piston rod, and two vacuum suction cups 203 are arranged under the horizontal bar; The hydraulic cylinder is fixed on a straight rod 205, and the end of the piston rod that can be extended downward is fixed with a cross bar. There are two vacuum suction cups under the cross bar. The rear end of the straight rod 205 is hinged on a turning slider 206, and the front end is hinged On a straight slide block 207, the turn slide block goes straight and turns along the straight track 208 at the top of the frame, and the straight slide block goes straight forward and backward along the front and rear straight track 209 at the top of the frame; thus realizing the 90-degree rotation of the lower yoke.

Referring to Fig. 4a to Fig. 4g, the silicon steel sheet conveying, importing, correcting and positioning platform 3 includes a profiling manipulator correcting part and a measuring and positioning part:

The correction part of the profiling manipulator includes: the left column, the middle column and the right column silicon steel sheet shared conveying line 301 and the lower yoke conveying line 302 installed on the fixed bracket 312; The lower yoke length and width profiling positioning block 304 and the lower yoke width positioning block 303 are divided into the front and rear of the lower yoke; on the support next to the common conveying line 301, there are respectively corresponding left column, middle column and right column silicon steel sheet The width positioning blocks 305, 306, 307 and the length profiling positioning blocks 308, 309, 310, the width positioning blocks 305, 306, 307 are located on one side of the left column, the middle column and the right column silicon steel sheet, and the length profiling positioning block 308 , 309, 310 are located at the two ends of the silicon steel sheets of the left column, the middle column and the right column; each of the positioning blocks is controllable and telescopic. The positioning block shrinks to make way, and then stretches out for positioning.

The measurement and positioning part includes: on the frame under the common conveying line 301, there are photoelectric switches 311 for the silicon steel sheets of the left column, the middle column and the right column in place, which are used to sense whether the silicon steel sheets of the left column, the middle column and the right column are in place And obtain the physical coordinates of the longitudinal central axis of the silicon steel sheet.

The profiling manipulator correction part realizes the positioning correction of the silicon steel sheet, and obtains the physical coordinates of the longitudinal central axis of the silicon steel sheet; the measurement and positioning part is used to measure and calculate the physical coordinates of the horizontal central axis of the silicon steel sheet, through photoelectric measurement point coordinates, servo motion offset, silicon steel sheet The physical coordinates of the transverse central axis of the silicon steel sheet can be deduced from the length of the sheet.

The measurement principle is shown in Figure 5g: After the left column, the middle column, the right column and the lower yoke silicon steel sheet are grasped up and down by the cooperative lamination manipulator, the left and right / front and rear directions are displaced, and the displacement count pulse of the servo encoder is obtained through the photoelectric signal monitoring amount, so as to calculate the left/forward displacement L1 and the right/backward displacement L2, and obtain the distance L=(S+L1-L2)/2 between the transverse central axis of the silicon steel sheet and one of the photoelectric measurement points P1 .

As shown in Fig. 5a to Fig. 5g, the silicon steel sheet multi-manipulator flexible cooperative stacking platform 4 includes a cooperative stacking manipulator and a sheet thickness measuring device:

The cooperative lamination manipulator includes: a stacking left column manipulator 401, a stacking middle column manipulator 402 and a stacking right column manipulator 403 which are movably supported on the outer rail 602 of the main frame 6 in a horizontal arrangement, and a horizontally arranged movable The stacked lower yoke manipulator 404 on the inner rail 601 of the main frame 6;

The stacked yoke manipulator 404 includes a planar frame, in which a stacked yoke electromagnetic assembly 405 is arranged, and a yoke screw drive mechanism 406 is provided to move the stacked yoke electromagnetic assembly 405 in the Y direction forward and backward. Both ends of the type frame are also provided with a first linear transmission mechanism 407 for moving the planar frame up and down in the Z direction to make the electromagnetic assembly of the stacked yoke sheet absorb the yoke, and a first helical rack and pinion mechanism 408 is provided for making the planar type The frame moves in the X direction in the left and right direction;

The stacking left column, stacking middle column and stacking right column manipulator include a folding frame, in which a column stacking electromagnetic assembly 409 is arranged, and a column sheet screw transmission mechanism 410 is also provided for making the stacking column sheet electromagnetic assembly 409 moves forward and backward in the Y direction, and a second linear transmission mechanism 411 is provided at both ends of the foldable frame to move the foldable frame up and down in the Z direction so that the stacked column sheet electromagnetic assembly 409 absorbs the column sheet, and is provided with a second helical gear rack Mechanism 408 is used to make the foldable frame move in X direction left and right;

The tablet thickness measuring device includes an optical distance detector 412 arranged between the stacking left column, the stacking middle column and the stacking right column manipulator to detect the thickness of the laminated sheets, and a photoelectric proximity switch 413 is provided to detect the laminated sheets, And the buffer cylinder 414 is used for buffering the laminations.

The tablet thickness measuring device includes an optical distance detector 412 in the middle of the stacking left column, stacking middle column and stacking right column manipulator for detecting the thickness of the stack, and a photoelectric proximity switch 413 for detecting the thickness of the stack. And the buffer cylinder 414 is used for buffering the laminations.

The lamination manipulators of the left column, middle column, right column and lower yoke can realize the fast movement of X, Y and Z axes to meet the lamination requirements of different specifications; among them, the lamination manipulators of the left column, middle column and right column work in the same group Horizontal slide rails, the stacking process is carried out synchronously; the lower yoke lamination manipulator works on another set of horizontal slide rails;

The second part is the lamination thickness measuring device installed on each manipulator. The lamination thickness measuring device is used to compress the silicon steel sheet, reduce the measurement error, and perform patching according to the measurement data to ensure the quality of the core lamination.

According to the stacking specifications of the transformer core, the stacking process is carried out from small to large and then from large to small; the left column, middle column, right column lamination manipulator and the lower yoke lamination manipulator work alternately: After the silicon steel sheet of the column, middle column, and right column, the three manipulators of this group give way to the working space of the stacking platform, and quickly move to the silicon steel sheet conveying and importing correction positioning platform for sheet picking and positioning; at the same time, the lower yoke stacking The manipulator completes the taking and positioning of the silicon steel sheet, and quickly moves to the stacking platform to perform the stacking of the lower yoke; this is repeated alternately until the entire stacking work is completed.

At the same time, in order to ensure the quality during the stacking process of the transformer core, it is necessary to measure the thickness of the left column, the middle column, the right column and the lower yoke at the same time after each level of processing, and the measurement accuracy is 0.1mm. Based on the bottom of the platform, the lamination thickness can be obtained by measuring the initial value and the measured value when the lamination is pressed after each level of lamination platform is completed by applying hydraulic pressure to the lamination. By comparing with the set value, The corresponding lamination quantity can be compensated, so as to achieve the set value required by the system. When the thickness of the silicon steel sheet of this level reaches the thickness of the corresponding level of silicon steel sheet, the corresponding lamination manipulator stops the lamination of the silicon steel sheet of this level.

Referring to Fig. 6a to Fig. 6b, the silicon steel sheet turnover output platform 5 consists of four parts: one is the adjustable silicon steel sheet stacking platform 507, and the supporting structure of the silicon steel sheet stacking platform can be adjusted step by step according to the core model specification 505; The second is the pneumatic anti-slip moving tablet and the pneumatic thimble limit part. Through the action of the pneumatic anti-slip device and the pneumatic thimble, the stacked silicon steel sheet is firmly fixed on the silicon steel sheet plane of the servo manipulator; the third is the transport trolley part , this part is located on the chassis of platform 507. After the stacked silicon steel sheets are fixed, the carrier trolley moves out of the stacked transformer core along the conveying rail; the fourth is the pneumatic inclination turning table part, whose function is to make the stacked silicon steel sheets The sheet is turned 90 degrees, which is convenient for workers to bundle.

The pneumatic inclination turning platform includes: a stand 506, on which an iron core clip turning platform 501 is hinged, and the iron core clamp turning platform 501 is provided with movable left, middle and right main sheet support beams 502, 503, 504, A lead screw adjustment mechanism 505 is provided between the left, middle and right main piece support beams to adjust the distance between the beams, and a hydraulic station 507 and a hydraulic cylinder 508 are provided on the platform 506 for turning over the iron core clip turning platform 501 .

As shown in Figure 7, the specific working process of the transformer core flexible intelligent lamination production system designed by the present invention is as follows:

Step1: The back-end feeding platform is lifted vertically and smoothly to the edge by hydraulic pressure, which is convenient for hoisting the embedded storage cabinet. Inside the embedded storage cabinet, there are four groups of mountain-shaped arrangements, respectively storing the left column and the middle column of each stage of the current batch of transformers. , the right column and the lower yoke silicon steel sheets for lamination and patch extraction; the feeding platform is embedded with silicon steel sheets of different lengths, and multi-level silicon steel sheets can be stored in the platform; workers put different silicon steel sheets into the back-end feeding platform Embedded storage cabinet, the storage cabinet full of silicon steel sheets is transported to the front-end feeding platform through the middle conveyor belt, waiting for the slicing device to divide and shard; when the robot arm has grabbed all the silicon steel sheets in the storage cabinet, the system senses When the storage cabinet is empty, the empty storage cabinet will be automatically transferred to the back-end feeding platform through the intermediate conveyor belt for recycling;

Step2: Through the establishment of a photoelectric travel switch or an induction switch, the position or alignment of the vacuum chuck manipulator and the sheet material transfer situation are sensed; when the storage cabinet is transported to the front-end feeding platform, the sheet-grabbing robot will grab the silicon steel sheet and rely on the magnetic slicing device To prevent the silicon steel sheet from sticking during the grabbing process, the manipulator grabs the silicon steel sheet and sends it to different conveying lines, among which the left column, middle column, and right column silicon steel sheet are placed on the same conveying line; the lower yoke grabs the manipulator relying on the arc The guide rail changes the placement direction of the silicon steel sheet and places the lower yoke on another conveying line;

Step3: When four different types of silicon steel sheets are put into the silicon steel sheet conveying, importing and correcting positioning platform, through the frequency conversion control of the four kinds of silicon steel sheet conveying chains with asynchronous motors, the silicon steel sheet conveying, leading in, and coordinated forward can be achieved. For the adjustment of the stepping motor of the profiling manipulator, the silicon steel sheets of the left column, the middle column and the right column are kept perpendicular to the central axis of the system, and the silicon steel sheets of the lower yoke are kept parallel to the central axis of the system. This part realizes the positioning correction of the silicon steel sheet and obtains its longitudinal center The longitudinal physical coordinates of the axis; there are some micro-holes at the bottom of the correction device, through a certain air pressure, the silicon steel sheet is in a micro-suspension state, ensuring that the central axis of the silicon steel sheet is adjusted to be consistent with the central axis of the system, and reducing the width control error of the silicon steel sheet.

In order to obtain the physical coordinates of the horizontal central axis of the silicon steel sheet, the lamination manipulator is used to move to the calibration positioning platform and grab the silicon steel sheet for photoelectric measurement. Combined with the photoelectric measurement point coordinates, servo motion offset, and the length of the silicon steel sheet, the silicon steel sheet length can be calculated. The physical coordinates of the horizontal central axis of the slice.

Step4: When the positions of the four silicon steel sheets are successfully positioned, the manipulator grabs the silicon steel sheets and puts them into the silicon steel sheet multi-arm flexible collaborative platform for lamination. The left column, middle column, and right column lamination manipulators are a group of synchronous movements. And work alternately with the lower yoke stacking manipulator; in the process of stacking, when the design quantity of each level is stacked, the laser silicon steel sheet is transported into the calibration positioning platform 3 to send a signal for measurement, by measuring the initial value and when the stack is pressed The lamination height can be obtained by the measured value, and by comparing with the set value, the corresponding lamination quantity can be compensated, so as to achieve the set value required by the system. When the height of the silicon steel sheet reaches the corresponding height of the silicon steel sheet, the corresponding lamination manipulator stops the lamination; in addition, before the lamination starts, the adjustable silicon steel sheet stacking platform support shockproof structure in the silicon steel sheet turning output platform must be carried out according to the core model specification. step adjustment.

Step5: After the lamination is completed, the silicon steel sheet is turned over and output by the pneumatic anti-skid device, the limit of the pneumatic thimble and the sheet pressing device, and the stacked silicon steel sheet is firmly fixed on the adjustable silicon steel sheet stacking table. The transport trolley removes the stacked silicon steel sheets, and starts the pneumatic inclination turning table to turn the stacked sheets by 90 degrees, which is convenient for manual binding and fixing.

The traditional transformer core lamination production process is time-consuming and labor-intensive, which has become a bottleneck restricting the improvement of product quality and production efficiency.

The invention realizes the electromechanical automatic integration of the whole process of transformer core stacking from feeding to stacking and flipping output, through electromechanical flexible servo, stepping and frequency conversion control, high-precision measuring sensors, high-precision photoelectric identification and positioning control, image recognition and The multi-threaded linkage controller realizes the automation and flexibility of the whole process of transformer core stacking, which can improve the accuracy and efficiency of transformer stacking and adapt to the production of various transformer specifications. The production system is intelligent, simple and flexible in operation, improving the stacking accuracy and stacking efficiency. It solves the problem of low intelligence level, manual intervention, manual setting of production line working parameters according to product specifications, and slow production switching of products of different specifications.

The invention realizes the automation and flexibility of the whole process of transformer core stacking through electromechanical flexible servo, stepping and frequency conversion control, high-precision measuring sensor, high-precision photoelectric identification and positioning control, image recognition and multi-thread linkage controller, and can improve the efficiency of transformer stacking. The assembly accuracy and stacking efficiency are suitable for the production of various transformer specifications, and the operation of the production system is intelligent, simple and flexible.

The invention is applicable to transformer core products of different specifications, supports unmanned intervention, flexible and intelligent production, adopts a three-dimensional lamination mechanical arm layout, and has good lamination quality and high efficiency.

Claims (3)

1. A flexible and intelligent lamination production system for transformer cores, which is characterized in that it includes a storage material reciprocating and turnover stepping conveying platform (1), a silicon steel sheet retrieving and splitting multi-manipulator platform (2), and a silicon steel sheet Sheet conveying import correction positioning platform (3), silicon steel sheet multi-manipulator flexible collaborative stacking platform (4) and silicon steel sheet flipping output platform (5); Below the multi-manipulator platform, the silicon steel sheet retrieving and splitting multi-manipulator platform, the silicon steel sheet conveying, importing, correcting and positioning platform, the silicon steel sheet multi-manipulator flexible and cooperative stacking platform, and the silicon steel sheet turning output platform are located on the main frame (6). Inside; the main frame is provided with an inner rail (601) and an outer rail (602) along the long axis direction, and an embedded storage cabinet (103 ); the embedded storage cabinet (103) is provided with four side-by-side vacancies, corresponding to the left column, middle column, right column and lower yoke silicon steel sheets (1001, 1002, 1003 and 1004) of each stage of the reserve transformer respectively. 2. The transformer core flexible intelligent lamination production system according to claim 1, characterized in that: the multi-manipulator platform (2) for retrieving and slicing silicon steel sheets includes: The mobile frame (201) that moves back and forth on the inner rail (601) of the inner side rail (601), its top is provided with four manipulators (202) that can be vertically extended and retracted, respectively corresponding to the reciprocating turnover of the storage material on the stepping conveying platform (1) Four side-by-side vacancies of the embedded storage cabinet, the lower end of the manipulator is a vacuum suction cup (203); the mobile frame is also provided with a vertically downward photoelectric proximity switch (210); The structure of the left column, the middle column and the right column of the material cabinet for taking silicon steel sheets (202) is as follows: two hydraulic cylinders arranged horizontally are fixed on the beam of the mobile frame (201), and two piston rods that can be extended downward There is a cross bar (204) fixed at the end, and two vacuum suction cups (203) are arranged under the cross bar; On the straight rod (205), the downwardly extending piston rod end is fixed with a cross bar, and two vacuum suction cups are arranged under the cross bar, and the rear end of the straight rod (205) is hinged on a turning slider (206) , the front end is hinged on a straight slide block (207), the turn slide block goes straight and turns along the straight track (208) on the frame top, and the straight slide block goes straight forward and backward along the front and back straight track (209) on the frame top. 3. The transformer core flexible intelligent lamination production system according to claim 1, characterized in that: the silicon steel sheet multi-arm flexible collaborative stacking platform (4) includes a cooperative lamination manipulator and a sheet thickness measuring device: The cooperative stacking manipulator includes: a stacking left column manipulator (401), a middle stacking manipulator (402) and a stacking right column movably supported on the outer rail (602) of the main frame (6). A manipulator (403), and a stacked yoke manipulator (404) arranged horizontally and movably on the inner rail (601) of the main frame (6); The stacked yoke manipulator (404) includes a planar frame, in which a stacked yoke sheet electromagnetic assembly (405) is arranged, and a yoke sheet screw transmission mechanism (406) is also provided for making the stacked yoke sheet electromagnetic assembly ( 405) to move back and forth, the two ends of the planar frame are also provided with a first linear transmission mechanism (407) for moving the planar frame up and down to make the stacking yoke electromagnetic assembly absorb the yoke, and a first helical rack and pinion mechanism (408) is used to make the planar frame move left and right; The stacking left column, the stacking middle column and the stacking right column manipulator comprise a foldable frame, in which a column stacking electromagnetic assembly (409) is arranged in the middle, and a column sheet screw transmission mechanism (410) is also provided for stacking The column sheet electromagnetic assembly (409) moves back and forth, and the two ends of the folding frame are also provided with a second linear transmission mechanism (411) for moving the folding frame up and down so that the stacked column sheet electromagnetic assembly (409) absorbs the column sheet, and is provided with The second helical rack and pinion mechanism (408) is used to move the folding frame left and right; The tablet thickness measuring device includes an optical distance detector (412) arranged in the middle of the stacking left column, the stacking middle column and the stacking right column manipulator to detect the thickness of the stack, and a photoelectric proximity switch (413) provided for Laminations are inspected, and cushioning cylinders (414) are used to cushion the laminations.