双机器人协同的变压器硅钢片自动叠片系统设计与工程验证

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中图分类号：TP242;TM405 文献标志码：A 文章编号：1003-5168（2025）23-0005-05

DOI： 10.19968/j.cnki.hnkj.1003-5168.2025.23.001

Design and Engineering Validation of a Dual-Robot Collaborative Automatic StackingSystem for Transformer SiliconSteelLaminations

YANG Liyong1ZHAI Yujia1YUAN Xin² ZHANG Yaping² （1.Haian Institute of lntelligent Equipment，Nantong 2266Oo， China; 2.Nantong Jiaobang Digital Technology Co.，Ltd.，Nantong 2266Oo， China）

Abstract： [Purposes]As transformers increasingly demand low-loss，highlyconsistent cores，the technical bottlenecks of traditional manual stacking or single-machine serial stacking methods in production cycle time，stacking alignment accuracy，and quality traceability have become more prominent. Therefore，an automated silicon steel sheet stacking system is proposed，featuring "dual-robot （main/auxiliary arm）collaboration，online quality inspection，and MES closed-loop control".[Methods]Firstly，bypartitioning tasks and enabling multi-robot parallel collaboration，the botleneck of serial robot operation cycles is resolved.Secondly，through adaptive gripper holding，misalignment correction，and two-point clamping timing optimization strategies，the positioning stability and edge alignment accuracy are improved.Finally，relying on industrial Ethernet and real-time scheduling，dual-robot collaboration， interlock-based colision prevention，and cycle balancingareachieved.[Findings] Engineering validation for S13/S15 series transformers （50～1000kVA ）shows that the system's stacking cycle reaches 32～ 36 pieces per minute，with alignment accuracy （RMS）⩽0.20mm ，height consistency（3o） better than ±0.35mm ，yield ratereaching 99.3% ，double-sheetmispick rate ⩽0.12% ，and modelchangeover time ⩽ 8 minutes. Compared with the single-machine serial mode，the cycle time is improved by 38.5%～40.0% and alignment accuracy by 28.6%～32.0% ，thereby enhancing production efficiency and reducing the defect rate.[Conclusions] The automatic silicon steel sheet stacking system based on dual-robot collaboration addresses the shortcomings of traditional methods in terms of efficiency，accuracy，and flexibility， significantly improving stacking cycle time，alignment precision，and intelligence level，demonstrating good engineering feasibility and promotion value.

Keywords： multi-robot collaboration; silicon steel lamination stacking; online vision measurement;MES; safety interlock

0引言

随着“双碳”目标推进与电网设施持续升级，变压器铁芯对低损耗、低噪声、低涡流等性能的要求日益提升，叠片质量控制也从“经验依赖"转向“数据驱动"的过程管理并建立可追溯体系1。（剩余4663字）