CN110534334A - A kind of transformer core automatic laminating machine people - Google Patents
A kind of transformer core automatic laminating machine people Download PDFInfo
- Publication number
- CN110534334A CN110534334A CN201910960130.2A CN201910960130A CN110534334A CN 110534334 A CN110534334 A CN 110534334A CN 201910960130 A CN201910960130 A CN 201910960130A CN 110534334 A CN110534334 A CN 110534334A
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- assembly
- traversing
- cross bearer
- vertical shift
- transformer core
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- 238000010030 laminating Methods 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000009467 reduction Effects 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 239000000969 carrier Substances 0.000 claims description 2
- 229910000976 Electrical steel Inorganic materials 0.000 abstract description 53
- 238000003475 lamination Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 230000007423 decrease Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000008771 sex reversal Effects 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus 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
- H01F41/02—Apparatus 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
- H01F41/0206—Manufacturing of magnetic cores by mechanical means
- H01F41/0233—Manufacturing of magnetic circuits made from sheets
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
A kind of transformer core automatic laminating machine people can solve the technical problem that existing transformer core lamination process efficiency is low, the light intensity of labour is big.Cross bearer assembly is supported including main frame, cross bearer assembly can be moved forward and backward on main frame, and traversing assembly is mounted on cross bearer assembly and can move left and right, and vertical shift assembly is mounted on traversing assembly and can move up and down, rotation assembly is mounted on vertical shift assembly end, is freely rotatable.The industrial camera for being mounted on rotation assembly end can take feeding area entirety picture, pass through video procession, the position for the silicon steel sheet that manipulator to be drawn, the silicon steel sheet that adjustment position of manipulator to draw its face are determined, to control the monolithic absorption that truss manipulator completes silicon steel sheet.The present invention can be by silicon steel sheet needed for image recognition mode automatic identification, and automatic correction mechanical hand position grabs and is placed into closed assembly platform designated position, improves closed assembly quality, efficiency, reduce the labor intensity of worker.
Description
Technical field
The present invention relates to technical field of automation equipment, and in particular to a kind of transformer core automatic laminating machine people.
Background technique
With the fast development of the electric system in China, the quantity required of transformer is continuously increased, and transformer core
It is one of most important constituent of transformer, plays the role of limiting main field closed magnetic circuit.High-power transformer iron core is usual
Silicon steel sheet by nearly ten thousand assembles, and the specification of silicon steel sheet reaches hundreds of, and artificial closed assembly is time-consuming and laborious, and accurate
It spends not high.The closed assembly precision of silicon steel sheet will have a direct impact on the performance indicators such as iron loss and the noise of transformer.
In China, stacking technique is by being accomplished manually, and closed assembly efficiency and the closed assembly precision of iron core cannot ensure, iron core overlapping
Process has become the bottleneck for restricting that transformer production efficiency and product quality improve.
Summary of the invention
A kind of transformer core automatic laminating machine people proposed by the present invention, can solve existing transformer core lamination work
The technical problem that skill low efficiency, the degree of automation be not high, management cost is high, the light intensity of labour is big.
To achieve the above object, the invention adopts the following technical scheme:
A kind of transformer core automatic laminating machine people, comprising:
It further include control cabinet including main frame, cross bearer assembly, traversing assembly, vertical shift assembly, rotation assembly, the control
Control module is set in cabinet processed；
The cross bearer assembly is mounted on above main frame；
The traversing assembly is mounted on cross bearer assembly；
The vertical shift assembly is mounted on traversing assembly；
The rotation assembly is mounted on vertical shift assembly bottom.
The cross bearer assembly, traversing assembly, vertical shift assembly and rotation assembly are respectively with control module communication connection by controlling
The control movement of molding block；
It further include image capture module, image capture module and control module communication connection, described image acquisition module pair
Feeding area carries out Image Acquisition and is sent to control module；
It further include material handling module, the material handling module is arranged in rotation assembly, the material handling module
It is communicated to connect with control module, the control signal that the material handling module receives control module is realized the crawl of material or put
It opens.
Further, the main frame includes rectangular frame ontology and bottom is arranged in as the column supported, the square
Two sides that shape frame body wherein opposes are respectively arranged with guide rail cushion block, are equipped with above the guide rail cushion block for cross bearer
Linear guide used in the crossbeam crossbearer of assembly, linear guide are used to be oriented to crossbeam crossbearer, and guide rail cushion block side is equipped with confession
The linear gear rack of cross bearer frame, linear gear rack are used to move with the driving gear of cross bearer frame two sides cooperation driving cross bearer frame
It is dynamic.
Further, two end of cross bearer frame is separately installed with U-shaped cross bearer bracket, the cross bearer bracket lower section
Two groups of sliding blocks one are installed, are oriented to for cooperating with the linear guide above main frame, wherein cross bearer bracket includes doing left cross
Boom support and right overarm brace, are fixed with reducer stent below left overarm brace, for installing retarder, right cross bearer branch
It is fixed with the support of bearing below frame, for installing double-row bearing seat, the fixed planetary reduction gear one of the reducer stent has one
A input, two outputs, input terminal connect servo motor, drive entire cross bearer frame mobile, output end one end is directly connected to drive
Moving gear, the driving gear are used to cooperate with the linear gear rack installed on main frame, and the output end other end connects one first
Plum coupling is used to connect main shaft and planetary reduction gear one, and main shaft side is connected with folder coupling,
For connecting main shaft and double-row bearing seat, the double-row bearing seat is fixed on the bearing branch below the cross bearer bracket of right side again
On frame, double-row bearing seat connection driving gear cooperates with the linear gear rack being mounted below main frame；
The cross bearer is controlled with servo motor by motion controller.
Further, described that two groups of transverse direction linear guides and one group of horizontal tooth bar are installed in cross bearer frame side, it is described
Lateral linear guide is oriented to the sliding block cooperation being mounted on traversing assembly, the horizontal tooth bar and is mounted on traversing assembly
Drive gear cooperation.
Further, the traversing assembly includes traversing motherboard, and traversing motherboard left and right side is respectively fixed with one
A servo motor and planetary reduction gear two, left side vertical shift servo motor are used to drive the fortune up and down of vertical shift assembly and rotation assembly
Dynamic, the traversing servo motor in right side is used to drive the movement of traversing assembly, is also separately installed with two groups of sliding blocks in its two sides,
In, left slider is transversely mounted, and is cooperated with the traversing linear guide for being mounted on cross bearer frame side and is oriented to, right side sliding block is longitudinal
Installation cooperates with the longitudinal linear guide for being mounted on vertical shift assembly side and is oriented to；
Wherein, the traversing servo motor and vertical shift servo motor are controlled by control module.
Further, vertical shift assembly end connects rotation assembly；
Wherein, vertical shift assembly is mounted on the traversing host frame plate of traversing assembly, its side of vertical shift assembly is equipped with two groups
Longitudinal linear guide and one group of longitudinal direction linear gear rack, wherein longitudinal linear guide and be mounted on the right side of traversing motherboard two groups
Sliding block cooperation guiding, longitudinal linear gear rack cooperate with the zigzag tread patterns gear for being mounted on retarder output end on the left of traversing motherboard
Driving.
Further, one bottom mounting plate is installed in the end of vertical shift assembly, is used to support rotating servo motor,
Rotating servo motor is mounted in vertical shift assembly hollow square steel, and the rotating servo motor output end is connected with a harmonic reduction
Device, harmonic speed reducer connect rotation assembly；
The rotating servo motor is controlled by control module.
Further, the material handling module is sucker system.
Further, the rotation assembly includes sucker stand bar, wherein sucker stand bar is humorous with vertical shift assembly end
Wave retarder is connected, and installs in the lower section of sucker stand bar there are four equidistant suction cup carrier and two high definition industrial cameras,
In, four suction cup carriers are separately installed with a vacuum chuck；
Wherein, industrial camera is directly connected with industrial personal computer, is controlled by industrial personal computer, and vacuum chuck is controlled by vacuum system, very
Empty set system is controlled by industrial personal computer.
Further, the control module uses PLC module.
As shown from the above technical solution, the transformer core automatic laminating machine people of the invention based on machine vision is intended to
It realizes from " someone " to " nobody " and crosses over sex reversal, the closed assembly work for being accomplished manually transformer core can be replaced, improved
Closed assembly quality, efficiency reduce the labor intensity of worker and the human cost of enterprise, realize " nobody in transformer production workshop
Change " operation on duty.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is total circuit theory schematic diagram of the invention；
Fig. 3 is total frame partial schematic diagram of the invention；
Fig. 4 is cross bearer assembly positive structure schematic of the invention；
Fig. 5 is cross bearer assembly reverse structure schematic of the invention；
Fig. 6 (a), (b), (c) are cross bearer assembly partial schematic diagrams of the invention；
Fig. 7 is traversing assembly structure schematic diagram of the invention；
Fig. 8 (a), (b) are traversing assembly partial schematic diagrams of the invention；
Fig. 9 is vertical shift assembly and rotation assembly structural schematic diagram of the invention；
Figure 10 is vertical shift assembly structure schematic diagram of the invention；
Figure 11 is rotation assembly structural schematic diagram one of the invention；
Figure 12 is rotation assembly structural schematic diagram two of the invention；
Figure 13 is automatic running flow chart of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Fig. 1-Figure 12, a kind of transformer core automatic laminating machine people based on machine vision described in this example
Setting control mould in equipment, including main frame 1, cross bearer assembly 2, traversing assembly 3, vertical shift assembly 4, rotation assembly 5, control cabinet
Block；
In main frame assembly 1, there are eight columns 6 to support whole system, installed at left and right sides of the top of main frame 1
There are two groups of guide rail cushion blocks 7, for fixing the linear guide 8 and linear gear rack 9 of two sides, wherein linear guide 8 and linear gear rack 9
It is respectively intended to match with the sliding block 12 of cross bearer assembly 2 with driving gear 21.
In cross bearer assembly 2, two 11 bottoms of cross bearer bracket are respectively furnished with two groups of sliding blocks 12, and sliding block 12 is embedded in main frame
In the linear guide 8 of 1 top, it is used to be oriented to entire cross bearer assembly 1,15 input terminal of planetary reduction gear connects servo motor
17, output end one end is directly connected to driving gear 21, is meshed with cross bearer frame linear gear rack 9, and one end is enabled to connect a plum
Flower shaft coupling 18,18 other end of plum coupling are connected with main shaft 19, wherein 19 one end of main shaft connects a folder again
Coupling 20, folder coupling 20 connect a double-row bearing seat 16, and bearing block is equipped with driving gear 21, sliding tooth
The linear gear rack 9 that wheel 21 passes through and is mounted on main frame 1 engages, and the gear and rack teeth mechanism of 2 left and right ends of cross bearer assembly is real
The movement of cross bearer assembly 2 is showed.In 10 side of cross bearer frame, there are two lateral linear guides 22 and a lateral straight line for installation
Rack gear 23, wherein lateral linear guide 22 and horizontal tooth bar 23 are respectively intended to the transverse slider 28 of traversing assembly 3 and laterally drive
Moving gear 30 matches.
It is core with traversing host frame plate 24 in traversing assembly 3, a planetary reduction gear is each side installed
27 and a servo motor, traversing servo motor 26 is used to drive lateral movement, and vertical shift servo motor 25 is used to drive longitudinal direction
Movement be divided into for horizontal and vertical guiding, wherein laterally sliding correspondingly, its left and right sides is also equipped with two groups of sliding blocks
Block 28 and the lateral linear guide 22 of 9 side of cross bearer frame installation cooperate, and longitudinal sliding block 29 is used to and the installation of 5 side of vertical shift assembly
Longitudinal linear guide 32 match.
In vertical shift assembly 4, there are two vertical shift linear guide 32 and a vertical shift rack gears 33 for side installation, pacify in bottom
Loading board 34 is equipped with a rotating servo motor 35 and harmonic speed reducer 36, for realizing rotary motion, rotating servo motor 35
Rotation assembly 5 is connected by sucker stand bar 37, suction cup carrier 38 and industrial camera 39 are mounted on sucker stand bar 37, and vacuum is inhaled
Disk 40 is mounted in suction cup carrier 38.
Above-mentioned control module includes upper computer control module and slave computer control module.
The upper computer control module includes industrial camera control module, database module, industrial panel computer module, institute
Stating slave computer control module includes programmable logic controller (PLC), Drive Module, sensor module and pneumatic circuit module.
The traversing assembly, vertical shift assembly, rotation assembly driving mechanism connect respectively with programmable logic controller (PLC)；It passes
Sensor module is directly connected to programmable logic controller (PLC)；
The industrial camera assembly, programmable logic controller (PLC) are connect with industrial panel computer；
Wherein, sensor unit is for measuring four axis truss manipulators and to the distance between feeding piece, and is sent to work
Industry tablet computer completes suction operation to control truss manipulator and move down fixed range；
Industrial camera assembly is for shooting unordered silicon steel sheet picture in feeding area and being sent to industrial panel computer, industry
Tablet computer carries out image procossing and analysis to the picture, calculates truss manipulator and wait take the range difference between silicon steel sheet
Value navigates to right above silicon steel sheet to be taken to control truss manipulator.
Pneumatic circuit assembly includes that filtering pressure reducing valve, vacuum generator, vacuum feed valve, air admission valve and vacuum are inhaled
Disk 40, wherein vacuum chuck 40 is mounted on the tail portion of truss manipulator as the medium for drawing silicon steel sheet, when truss manipulator root
It reaches right above silicon steel sheet to be taken according to image recognition result and is moved downwardly to according to the vertical range value that displacement sensor is fed back
After vacuum chuck touches tablet, vacuum generator just starts to generate vacuum at this time, and silicon steel sheet can be drawn.
Further include an impulse generator i.e. electronic hand wheel, it is connected directly with programmable logic controller (PLC), pulse hair
Raw device can control simultaneously the movement of four axis, and have multiplying power available, it may be convenient to debug to motor.
Further, the sensor unit includes close to switch.
The proximity switch assembly is mounted on the extreme position of each axis movement.
The proximity switch assembly is directly connected to programmable logic controller (PLC).
Based on above-mentioned transformer core automatic laminating machine people's control system, comprising the following steps:
After system electrification, industrial personal computer and controller are communicated and are established connection first, and controller and servo-system communicate
And connection is established, industrial personal computer and industrial camera communicate and establish connection.
Industrial personal computer reads the register for having servo motor location information in motion controller, obtains truss after system electrification
Then the location information of robot executes Aligning control operation, resets entire servo-system.
User selects the transformer specification of this closed assembly, according to the different size that user selects, calls different databases
It is matched, the path letter of specific size and the automatic overlapping and assembling operation of the silicon steel sheet in database including a certain model transformer
Breath.
Later, truss robot moves to above feeding area, and the position photo of feeding area is shot by industrial camera assembly
And it is sent to industrial personal computer, industrial personal computer carries out image procossing and analysis to the picture, calculates truss manipulator and silicon to be taken
The range difference of steel disc, specific conversion process are as follows:
Because every jack truss manipulator all runs to the fixation position above feed bin, only Z-direction is according to displacement sensing
The value of device and change, it is possible to determine the corresponding actual coordinate of optical center after the imaging of each industrial camera.
According to silicon steel sheet top edge line and horizontal deflection angle, truss manipulator rotary shaft needs can be calculated
Amount of deflection can calculate and the deviation dx, dy of optical center coordinate on calculating silicon steel sheet after the central coordinate of circle of circle
(pixel is unit) because the actual range of each pixel be it is fixed, can be calculated according to offset pixels actual
Offset distance, this distance are exactly that truss manipulator X-axis and Y-axis need mobile offset, have thus obtained silicon steel sheet and have existed
Position under world coordinate system.
When calculating the world coordinates of silicon steel sheet to be taken, industrial personal computer control manipulator be moved to silicon steel sheet just on
Side, since range sensor can guarantee manipulator in the vertical range of Z axis, according to the value of range sensor, industrial personal computer
Manipulator decline is controlled, after dropping to vacuum chuck and touching tablet, needs vacuum chuck to generate negative pressure at this time, to draw
Silicon steel sheet, i.e. industrial personal computer generate vacuum by the solenoid valve of control pneumatic circuit to control vacuum generator, make vacuum chuck
Silicon steel sheet can be drawn.
Since the path of rest area fixes, every is placed on where be that planning is good in advance, therefore truss
It is moved to the fixation position of rest area after manipulator absorption silicon steel sheet, does not need other location Calculations at this time, it is only necessary to from data
The routing information set in advance is read in library, after running to fixed blowing area, the decline of truss manipulator Z axis is suitable
Distance, then industrial personal computer is by the air admission valve of control pneumatic circuit, to destroy the negative pressure of vacuum chuck, vacuum chuck is just
Releasable silicon steel sheet just completes a piece of closed assembly in this way.
The iron core of one transformer be it is stacked together, one layer shares five, respectively left side column, center pillar, the right column,
Upper yoke and lower yoke, truss manipulator are successively identified and are grabbed in this five groups of silicon steel sheets, until the closed assembly of the entire transformer of completion.
Now the database of the truss robot movement routine is described:
In order to improve the closed assembly efficiency of whole system, five groups of silicon steel sheet positions of feeding area are relatively orderly, left side columns
Tablet is placed on the left of closed assembly platform, and center pillar tablet is placed on centre, and the right column tablet is placed on the rightmost side, and upper and lower yoke tablet is placed
Some local messages can only be photographed every time since the visual field of industrial camera is limited in the upper and lower sides of closed assembly platform, therefore, grabbed
It needs truss manipulator to be moved to the different position in feeding area when taking different tablets, is based on this, be provided with a set of crawl tablet
When database, the databases contain five groups of routing informations, respectively correspond position of five groups of tablets in actual coordinate,
It is exactly that four axis need the pulsed quantity of walking that the routing information, which is reacted to specific executing agency, and every jack truss manipulator is by reading institute
The top that the corresponding tablet in feeding area can be moved to after the routing information in database is stated, industrial camera can be clapped at this time
According to identify, grab.
After having grabbed silicon steel sheet every time, placement location be it is fixed, the database further includes one group of placement path, by
There are five silicon steel sheets in every layer of the transformer core, therefore, shares five groups of routing informations placing in routing database, with
Routing information in the crawl database is that correspondingly, truss manipulator is by reading the path placed in database
After information, silicon steel sheet can be placed into specified position.
Correspondingly, existing be described industrial camera identification silicon steel sheet:
The silicon steel sheet be it is static be placed on feeding area, the size of longest silicon steel sheet is about (long x wide x is thick)
1280x250x0.2mm. selects two centre bores of silicon steel sheet and a side as location feature.The industrial camera visual field model
It encloses and is fixed on 500mm, each pixel is about 0.125mm, meets required precision, it is contemplated that length is in the silicon steel sheet two of 1280mm
The distance in heart hole is 700mm, it is therefore desirable to two industrial cameras, a responsible left hole, a responsible right hole and right hand edge be arranged
Line.
Silicon steel sheet top edge line and horizontal deflection angle are found, truss manipulator rotary shaft needs can be calculated
Amount of deflection, after the central coordinate of circle for finding silicon steel sheet center circle, can calculate and the deviation dx, dy of center picture point coordinate (as
Element be unit), because the actual range of each pixel be it is fixed, actual offset can be calculated according to offset pixels
Distance, this distance are exactly that truss manipulator X-axis and Y-axis need mobile offset, have thus obtained silicon steel sheet in the world
Position under coordinate system.
Since silicon steel sheet is there are many different models, the silicon steel sheet of different model has a different length and widths, therefore
It needs to be determined that whether model is correct before truss manipulator crawl silicon steel sheet.
In upper figure, according to the center of circle to the distance of top edge line, the width of silicon steel sheet can be calculated, in left industrial camera
In images, the world coordinates of left hole can be calculated, according to the available silicon steel leaf length of the coordinate of left hole and right hole, In
Obtain the model that silicon steel sheet is assured that after the length and width of silicon steel sheet.
It can further description below to above-mentioned control module:
Automatic laminating machine control system of the invention is mainly made of master system and lower computer system, wherein slave computer
System realizes the control to each kinematic axis of Cartesian robot, and the processing with host computer communication and alarm signal, upper
Machine system mainly includes human-computer interaction interface, communication module, initialization, Image Acquisition, automatic module, alarm module, manual mould
The program modules such as block, database first do an explanation to each functions of modules.
(1) image capture module: picture mainly is acquired using two industrial cameras on each manipulator.It is industrial first
Camera takes pictures to feeding area, and the path that photo storage is specified to host computer, host computer handle image, know
Not, the silicon steel sheet of needs is found, and actual coordinate value is stored.
(2) communication module: whole system is mainly made to establish connection.Including the communication of two industrial personal computers, industrial personal computer with
The communication of the communication of controller, industrial personal computer and industrial camera.Two industrial personal computers are communicated by ICP/IP protocol, when system starts,
Industrial personal computer left first starts lamination, and right industrial personal computer is standby, when left industrial personal computer lamination is completed, sends corresponding instruction
To right industrial personal computer, left industrial personal computer, which is in, at this time shuts down armed state, right industrial personal computer starts lamination, and two industrial personal computers are and so on
Carry out lamination work.Communicating between industrial personal computer and controller is the extension memobus agreement based on TCP, by controlling MP3300
Device sends instruction, setting motor pattern etc., realizes the motion control to motor.Industrial personal computer and industrial camera are network interface communications, are led to
The api function for calling camera is crossed, the movement such as take pictures, save is completed.
(3) database module: in view of different transformer models are different, required silicon steel sheet specification is also different, therefore needle
To different model transformer, a set of database is devised, the information of the silicon steel sheet of respective model is preserved in the database, folded
Piece first selects the model of transformer before, and then system will handle the information obtained after photo and the information in corresponding database
It is matched.In view of the flexibility in lamination path, when a laminating machine breaks down, another lamination needs to complete alone
Lamination work, it is therefore desirable to have different paths to meet user demand, the different road of several sets now has been planned to every laminating machine
Diameter, and store in the database, user can select suitable path according to their own needs to complete lamination work.
(4) module is run manually: in view of debugging early period and later maintenance, being provided with manual operation function, manual mould
In formula, each function can individually be tested, user can by the button on touch screen, realize industrial camera take pictures,
The functions such as solenoid valve opening and closing, motor click-through, motor F.F..
(5) automatic running module: after user's selection transformer type information and after routing information, system just starts to carry out certainly
Fold piece, specific flow chart are as shown in Figure 6.After system electrification, industrial personal computer left first is communicated with the foundation of right industrial personal computer, left and right work
Control machine is communicated with the foundation of respective MP3300 controller；Secondly, control system, which is read in MP3300 controller, has servo motor
The register of location information obtains the location information of servo motor after system electrification, then executes Aligning control operation, watches this
Dress system resets；Routing information and transformer type information that control system is selected according to user later, in operation data library
Path；When running to above feeding area, system control industrial camera is taken pictures, to photo carry out processing and with silicon in database
It is automatic to compensate location information and grab if there is required silicon steel sheet after steel disc model is matched, if without required silicon steel sheet,
Then issue voice alarm；After manipulator grabs required silicon steel sheet, according to the information in routing database, it is placed into specified
Position, that completes monolithic stacks work；When left industrial personal computer completes after stacking of three pieces in the manner described above, just industrial personal computer is sent out to the right
It instructs out, right industrial personal computer just starts to manipulate stacking for the right control system remaining two panels of completion；Whole system hair is run so forth,
Until completing stacking for whole transformer.
In conjunction with Figure 13, the transformer core automatic laminating machine people specific workflow of the invention based on machine vision is such as
Under:
Step 1: cross bearer assembly 2 is moved to above feeding platform, the industry being mounted in rotation assembly 5 after system electrification
Camera 39 takes pictures to feeding area.
Step 2: the industrial personal computer in control cabinet carries out image procossing to the picture that industrial camera 39 is passed back, silicon steel is calculated
The physical location of piece, and calculate each axis and need mobile compensation rate.
Step 3: controller is sent to control cross bearer assembly 2, traversing assembly 3, vertical shift assembly 4 and rotation assembly 5
Four corresponding pulse signals of servo motor, four servo motors start simultaneously at movement, after covering corresponding pulse signal, rotation
Assembly 5 is just moved to right above silicon steel sheet.
Step 3: vertical shift assembly 4 according to the numerical value of range sensor start drive rotation assembly 5 decline, when drop to away from
When from sensor values being 0, at this point, vacuum chuck 40 has touched tablet, vacuum system just starts to generate vacuum, in sucker 40
Portion forms negative pressure, and controller controls vertical shift assembly 4 and rises, and silicon steel sheet is picked up at this time.
Step 4: each axis compensation rate is sent to motion control after placement routing information in host computer reading database
Device after motion controller receives information, just sends corresponding pulsed quantity to four servo motors simultaneously, and four axis of control move synchronously
Corresponding position above to closed assembly platform.
Step 5: the vertical shift servo motor 25 being mounted on traversing assembly 3 drives vertical shift assembly 4 to decline, when rotation assembly 5
After dropping to suitable distance, air admission valve starts to act, and destroys the vacuum in vacuum chuck 40, at this point, silicon steel sheet can be by
It puts down, so far, a piece of closed assembly terminates.
Step 6: repeating closed assembly of the step 1 to five, until completing whole transformer.
The embodiment of the present invention realize from " someone " to " nobody " cross over sex reversal, the new and old management system of power industry with
Method alternate period, the introducing of automatic laminating technology improve the precision of closed assembly and the production efficiency of factory, while also shortening
Production cycle of product, reduce human cost.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of transformer core automatic laminating machine people, including it is main frame (1), cross bearer assembly (2), traversing assembly (3), vertical
Move assembly (4), rotation assembly (5), it is characterised in that: further include control cabinet, control module is set in the control cabinet；
The cross bearer assembly (2) is mounted on above main frame (1)；
The traversing assembly (3) is mounted on cross bearer assembly (2)；
The vertical shift assembly (4) is mounted on traversing assembly (3)；
The rotation assembly (5) is mounted on vertical shift assembly (4) bottom.
The cross bearer assembly (2), traversing assembly (3), vertical shift assembly (4) and rotation assembly (5) are communicated with control module respectively
Connection is controlled by control module and is moved；
It further include image capture module, image capture module and control module communication connection, described image acquisition module is to feeding
Area carries out Image Acquisition and is sent to control module；
Further include material handling module, the material handling module is arranged on rotation assembly (5), the material handling module with
Control module communication connection, the control signal that the material handling module receives control module realize the crawl or relieving of material.
2. transformer core automatic laminating machine people according to claim 1, it is characterised in that:
The main frame (1) includes rectangular frame ontology and bottom is arranged in as the column (6) supported, the rectangular frame sheet
Two sides that body wherein opposes are respectively arranged with guide rail cushion block (7), are equipped with above the guide rail cushion block for cross bearer assembly
(2) linear guide (8) used in crossbeam crossbearer (10), linear guide (8) are used to be oriented to crossbeam crossbearer (10), guide rail cushion block
(7) side is equipped with the linear gear rack (9) for cross bearer frame (10), and linear gear rack (9) is used to and cross bearer frame (10) two sides
Driving gear cooperation driving cross bearer frame it is mobile.
3. transformer core automatic laminating machine people according to claim 2, it is characterised in that:
(10) two end of cross bearer frame is separately installed with U-shaped cross bearer bracket (11), installation below the cross bearer bracket
There are two groups of sliding blocks one (12), is used to cooperate guiding with the linear guide (8) above main frame (1), wherein cross bearer bracket (11)
Including doing left overarm brace and right overarm brace, it is fixed with reducer stent (13) below left overarm brace, subtracts for installing
Fast device, right cross bearer bracket lower section is fixed with the support of bearing (14), for installing double-row bearing seat (16), the reducer stent
(13) fixed planetary reduction gear one (15) has an input, two outputs, and input terminal connects servo motor (17), and driving is entire
Cross bearer frame (10) is mobile, and output end one end is directly connected to driving gear (21), and the driving gear (21) is used to and main frame
(1) linear gear rack (9) cooperation installed on, the output end other end connect a plum coupling (18) first, are used to connect
Main shaft (19) and planetary reduction gear one (15), main shaft (19) side are connected with folder coupling (20), are used to
It connects main shaft (19) and double-row bearing seat (16), the double-row bearing seat (16) is fixed on again below the cross bearer bracket of right side
The support of bearing (14) on, double-row bearing seat (16) connection driving gear (21), with the straight line being mounted below main frame (1)
Rack gear (9) cooperation；
The cross bearer is controlled with servo motor (17) by motion controller.
4. transformer core automatic laminating machine people according to claim 3, it is characterised in that: described in cross bearer frame
(10) side is equipped with two groups of transverse direction linear guides (22) and one group of horizontal tooth bar (23), the transverse direction linear guide (22) and peace
Sliding block on traversing assembly (3) cooperates guiding, the horizontal tooth bar (23) and the sliding tooth being mounted on traversing assembly (3)
Wheel cooperation.
5. transformer core automatic laminating machine people according to claim 4, it is characterised in that: the traversing assembly (3)
Including traversing motherboard (24), traversing motherboard (24) left and right side is respectively fixed with a servo motor and planetary reduction gear
Two (27), left side vertical shift servo motor (25) is used to drive the up and down motion of vertical shift assembly (4) and rotation assembly (5), right
The traversing servo motor in side (24) is used to drive the movement of traversing assembly (3), is also separately installed with two groups of sliding blocks in its two sides,
In, left slider (28) is transversely mounted, and cooperate with the traversing linear guide (22) for being mounted on cross bearer frame (10) side and is oriented to,
Right side sliding block (29) is longitudinally mounted, cooperates with the longitudinal linear guide (32) for being mounted on vertical shift assembly (4) side and is oriented to；
Wherein, the traversing servo motor (24) and vertical shift servo motor (25) are controlled by control module.
6. transformer core automatic laminating machine people according to claim 5, it is characterised in that:
Vertical shift assembly (4) end connects rotation assembly (5)；
Wherein, vertical shift assembly (4) is mounted on the traversing host frame plate (24) of traversing assembly (3), vertical shift assembly (4) its side peace
Equipped with two groups of longitudinal direction linear guides (32) and one group of longitudinal direction linear gear rack (33), wherein longitudinal linear guide (32) be mounted on
Two groups of sliding blocks (29) on the right side of traversing motherboard (24) cooperate guiding, longitudinal linear gear rack (33) and are mounted on traversing motherboard
(24) the zigzag tread patterns gear (31) of left side retarder output end cooperates driving.
7. transformer core automatic laminating machine people according to claim 6, it is characterised in that:
One bottom mounting plate (34) is installed in the end of vertical shift assembly (4), is used to support rotating servo motor (35), revolve
Turn servo motor (35) to be mounted in vertical shift assembly (4) hollow square steel, rotating servo motor (35) output end is connected with one
A harmonic speed reducer (36), harmonic speed reducer (36) connect rotation assembly (5)；
The rotating servo motor (35) is controlled by control module.
8. transformer core automatic laminating machine people according to claim 1, it is characterised in that:
The material handling module is sucker system.
9. transformer core automatic laminating machine people according to claim 1, it is characterised in that:
The rotation assembly (5) includes sucker stand bar (37), wherein sucker stand bar (37) and vertical shift assembly (5) end
Harmonic speed reducer (36) is connected, and in the lower section of sucker stand bar (37), there are four equidistant suction cup carrier (38) and two for installation
High definition industrial camera (39), wherein four suction cup carriers (38) are separately installed with a vacuum chuck (40)；
Wherein, industrial camera (39) is directly connected with industrial personal computer, is controlled by industrial personal computer, and vacuum chuck (40) is by vacuum system control
System, vacuum system are controlled by industrial personal computer.
10. transformer core automatic laminating machine people described in -9 any one according to claim 1, it is characterised in that: described
Control module uses PLC module.
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| CN201910960130.2A CN110534334B (en) | 2019-10-10 | 2019-10-10 | Automatic lamination robot for transformer iron core |
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| CN201910960130.2A CN110534334B (en) | 2019-10-10 | 2019-10-10 | Automatic lamination robot for transformer iron core |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112071622A (en) * | 2020-09-12 | 2020-12-11 | 哈尔滨理工大学 | Transformer core silicon steel sheet laminating device and method |
| CN112103063A (en) * | 2020-08-07 | 2020-12-18 | 山东电力设备有限公司 | Full-automatic bonding device and process method for magnetic shielding of transformer |
| CN112719888A (en) * | 2020-12-25 | 2021-04-30 | 滁州博格韦尔电气有限公司 | Clamping piece assembling equipment for iron core stacking of reactor for rail transit |
| CN113070655A (en) * | 2021-04-02 | 2021-07-06 | 深圳市众铭安科技有限公司 | Automatic feeding and discharging device of backlight assembling machine |
| CN114472993A (en) * | 2021-12-29 | 2022-05-13 | 江苏隆宝重工科技有限公司 | Truss automatic control mechanism of edge milling machine |
| CN114473696A (en) * | 2022-01-20 | 2022-05-13 | 合肥元贞电力科技股份有限公司 | Automatic system for high-speed lamination of transformer core |
| CN115091446A (en) * | 2022-07-12 | 2022-09-23 | 西安航空学院 | Mechanical-electrical integrated industrial robot automation control system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112103063A (en) * | 2020-08-07 | 2020-12-18 | 山东电力设备有限公司 | Full-automatic bonding device and process method for magnetic shielding of transformer |
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| CN112071622B (en) * | 2020-09-12 | 2022-07-12 | 哈尔滨理工大学 | Transformer core silicon steel sheet laminating device and method |
| CN112719888A (en) * | 2020-12-25 | 2021-04-30 | 滁州博格韦尔电气有限公司 | Clamping piece assembling equipment for iron core stacking of reactor for rail transit |
| CN113070655A (en) * | 2021-04-02 | 2021-07-06 | 深圳市众铭安科技有限公司 | Automatic feeding and discharging device of backlight assembling machine |
| CN114472993A (en) * | 2021-12-29 | 2022-05-13 | 江苏隆宝重工科技有限公司 | Truss automatic control mechanism of edge milling machine |
| CN114473696A (en) * | 2022-01-20 | 2022-05-13 | 合肥元贞电力科技股份有限公司 | Automatic system for high-speed lamination of transformer core |
| CN115091446A (en) * | 2022-07-12 | 2022-09-23 | 西安航空学院 | Mechanical-electrical integrated industrial robot automation control system |
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