CN211125345U - Automatic lamination robot for transformer core - Google Patents

Automatic lamination robot for transformer core Download PDF

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Publication number
CN211125345U
CN211125345U CN201921688953.6U CN201921688953U CN211125345U CN 211125345 U CN211125345 U CN 211125345U CN 201921688953 U CN201921688953 U CN 201921688953U CN 211125345 U CN211125345 U CN 211125345U
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China
Prior art keywords
assembly
transverse
longitudinal
moving assembly
servo motor
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CN201921688953.6U
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Chinese (zh)
Inventor
熊世锋
秦强
朱家诚
吴焱明
曹显江
吴建南
何昊阳
谢佳奇
李飞亚
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Hefei Yuanzhen Electric Power Technology Co ltd
Hefei University
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Hefei Yuanzhen Electric Power Technology Co ltd
Hefei University
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Priority to CN201921688953.6U priority Critical patent/CN211125345U/en
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Abstract

An automatic lamination robot for transformer cores can solve the technical problems of low efficiency and light labor intensity of the existing lamination process for transformer cores. The large cross beam assembly can move back and forth on the main frame, the transverse moving assembly is mounted on the large cross beam assembly and can move left and right, the longitudinal moving assembly is mounted on the transverse moving assembly and can move up and down, and the rotating assembly is mounted at the tail end of the longitudinal moving assembly and can rotate freely. The industrial camera arranged at the tail end of the rotating assembly can shoot the whole picture of the feeding area, the position of the silicon steel sheet to be sucked by the mechanical arm is determined through image processing and recognition, the position of the mechanical arm is adjusted to enable the mechanical arm to be opposite to the silicon steel sheet to be sucked, and therefore the truss mechanical arm is controlled to complete single-sheet sucking of the silicon steel sheet. The utility model discloses required silicon steel sheet of accessible image recognition mode automatic identification to the automatic correction manipulator position snatchs and places closed assembly platform assigned position, has improved closed assembly quality, efficiency, has reduced workman's intensity of labour.

Description

Automatic lamination robot for transformer core
Technical Field
The utility model relates to an automation equipment technical field, concretely relates to automatic lamination robot of transformer core.
Background
With the rapid development of electric power systems in China, the number of required transformers is continuously increased, and the iron core of the transformer is one of the most important components of the transformer and plays a role in limiting a closed magnetic circuit of a main magnetic field. The large transformer iron core is usually assembled by nearly ten thousand silicon steel sheets, and the specifications of the silicon steel sheets reach hundreds of types, so that manual stacking is time-consuming and labor-consuming, and the accuracy is not high. The lamination precision of the silicon steel sheets can directly influence performance indexes such as iron loss, noise and the like of the transformer.
In China, the stacking process is finished manually, the stacking efficiency and the stacking precision of the iron core cannot be guaranteed, and the iron core stacking procedure becomes a bottleneck for restricting the improvement of the production efficiency and the product quality of the transformer.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic lamination robot of transformer core can solve current transformer core lamination technical problem that process efficiency is low, degree of automation is not high, administrative cost is high, work is light intensity is big.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an automatic lamination robot for transformer cores, comprising:
the device comprises a main frame, a large cross beam assembly, a transverse moving assembly, a longitudinal moving assembly and a rotating assembly, and also comprises a control cabinet, wherein a control module is arranged in the control cabinet;
the large cross beam assembly is arranged above the main frame;
the transverse moving assembly is arranged on the large cross beam assembly;
the longitudinal movement assembly is arranged on the transverse movement assembly;
the rotating assembly is arranged at the bottom of the longitudinal moving assembly.
The large cross beam assembly, the transverse moving assembly, the longitudinal moving assembly and the rotating assembly are respectively in communication connection with the control module and are controlled to move by the control module;
the feeding device also comprises an image acquisition module, wherein the image acquisition module is in communication connection with the control module and is used for acquiring images of the feeding area and sending the images to the control module;
the material grabbing module is arranged on the rotating assembly and is in communication connection with the control module, and the material grabbing module receives control signals of the control module to grab or release the material.
Further, the main frame includes the rectangular frame body and sets up the stand as the support in the bottom, rectangular frame body wherein two opposite sides are provided with the guide rail cushion respectively, the used linear guide of girder crossbearer that supplies big crossbeam assembly is installed to guide rail cushion top, and linear guide is used for giving the direction of girder crossbearer, and the linear rack that supplies big crossbeam frame to use is installed to guide rail cushion side, and the linear rack is used for driving big crossbeam frame with the drive gear cooperation drive of big crossbeam frame both sides and removes.
Furthermore, two ends of the large crossbeam frame are respectively provided with a U-shaped large crossbeam support, two groups of first sliding blocks are arranged below the large crossbeam support and are used for being matched and guided with a linear guide rail above the main frame, the large crossbeam support comprises a left crossbeam support and a right crossbeam support, a reducer support is fixed below the left crossbeam support and is used for mounting a reducer, a bearing support is fixed below the right large crossbeam support and is used for mounting a double-row bearing seat, a first planetary reducer fixed on the reducer support is provided with an input and two outputs, the input is connected with a servo motor and drives the whole large crossbeam frame to move, one end of the output end is directly connected with a driving gear which is used for being matched with a linear rack arranged on the main frame, the other end of the output end is firstly connected with a plum coupler which is used for connecting a main transmission shaft and the first planetary reducer, one side of the main transmission shaft is connected with a, the double-row bearing seat is used for connecting a main transmission shaft and a double-row bearing seat, the double-row bearing seat is fixed on a bearing support below a large cross beam support on the right side, and the double-row bearing seat is connected with a driving gear and matched with a linear rack arranged below a main frame;
the servo motor for the large cross beam is controlled by a motion controller.
Furthermore, two groups of transverse linear guide rails and a group of transverse racks are arranged on the side surface of the large cross beam frame, the transverse linear guide rails are matched with sliding blocks arranged on the transverse moving assembly for guiding, and the transverse racks are matched with driving gears arranged on the transverse moving assembly.
Furthermore, the transverse moving assembly comprises a transverse moving main board, a servo motor and a planetary reducer II are respectively fixed on the left side and the right side of the transverse moving main board, the left longitudinal moving servo motor is used for driving the longitudinal moving assembly and the rotating assembly to move up and down, the right transverse moving servo motor is used for driving the transverse moving assembly to move, two groups of sliding blocks are respectively installed on the two sides of the transverse moving main board, the left sliding block is transversely installed and is matched with a transverse linear guide rail installed on the side surface of the large transverse beam frame for guiding, and the right sliding block is longitudinally installed and is matched with a longitudinal linear guide rail installed on the side surface of the longitudinal moving assembly for guiding;
the transverse moving servo motor and the longitudinal moving servo motor are controlled by a control module.
Further, the tail end of the longitudinal moving assembly is connected with the rotating assembly;
the longitudinal moving assembly is arranged on a transverse moving main frame plate of the transverse moving assembly, two groups of longitudinal linear guide rails and one group of longitudinal linear racks are arranged on the side surface of the longitudinal moving assembly, the longitudinal linear guide rails are matched and guided with two groups of sliding blocks arranged on the right side of the transverse moving main frame plate, and the longitudinal linear racks are matched and driven with a longitudinal driving gear arranged at the output end of a speed reducer on the left side of the transverse moving main frame plate.
Furthermore, a bottom mounting plate is mounted at the tail end of the longitudinal movement assembly and used for supporting a rotary servo motor, the rotary servo motor is mounted in the hollow square steel of the longitudinal movement assembly, the output end of the rotary servo motor is connected with a harmonic reducer, and the harmonic reducer is connected with the rotary assembly;
the rotary servo motor is controlled by the control module.
Further, the material grabbing module is a sucker system.
Further, the rotating assembly comprises a sucker support rod, wherein the sucker support rod is connected with a harmonic reducer at the tail end of the longitudinal moving assembly, four equidistant sucker racks and two high-definition industrial cameras are arranged below the sucker support rod, and the four sucker racks are respectively provided with a vacuum sucker;
the industrial camera is directly connected with the industrial personal computer and controlled by the industrial personal computer, the vacuum sucker is controlled by the vacuum system, and the vacuum system is controlled by the industrial personal computer.
Further, the control module adopts a P L C module.
According to the above technical scheme, the utility model discloses an automatic lamination robot of transformer core based on machine vision aims at realizing changing from "someone" to "unmanned" strideing nature, can replace artifical closed assembly work of accomplishing transformer core, has improved closed assembly quality, efficiency, has reduced workman's intensity of labour and the human cost of enterprise, realizes the "unmanned" on duty operation of transformer workshop.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic view of the overall frame structure of the present invention;
FIG. 3 is a partial schematic view of the overall frame of the present invention;
FIG. 4 is a front structural schematic view of the large beam assembly of the present invention;
FIG. 5 is a schematic view of the reverse structure of the large beam assembly of the present invention;
FIGS. 6(a), (b), and (c) are partial schematic views of the large beam assembly of the present invention;
FIG. 7 is a schematic view of a traverse assembly of the present invention;
FIGS. 8(a), (b) are partial schematic views of a traversing assembly of the present invention;
fig. 9 is a schematic structural view of the longitudinal movement assembly and the rotation assembly of the present invention;
FIG. 10 is a schematic view of the longitudinal movement assembly of the present invention;
fig. 11 is a first schematic structural diagram of the rotating assembly of the present invention;
fig. 12 is a schematic structural view of a second rotating assembly of the present invention;
fig. 13 is an automatic operation flowchart of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1-12, the robot apparatus for automatically laminating transformer cores based on machine vision according to the present embodiment includes a main frame 1, a large beam assembly 2, a traverse assembly 3, a longitudinal movement assembly 4, a rotation assembly 5, and a control module disposed in a control cabinet;
in the main frame assembly 1, eight upright posts 6 support the whole system, two groups of guide rail cushion blocks 7 are arranged on the left side and the right side above the main frame 1 and used for fixing linear guide rails 8 and linear racks 9 on the two sides, wherein the linear guide rails 8 and the linear racks 9 are respectively used for being matched with a sliding block 12 and a driving gear 21 of the large crossbeam assembly 2.
In the large beam assembly 2, two groups of sliders 12 are respectively arranged at the bottoms of two large beam supports 11, the sliders 12 are embedded on a linear guide rail 8 above a main frame 1 and used for guiding the whole large beam assembly 1, a servo motor 17 is connected at the input end of a planetary reducer 15, a driving gear 21 is directly connected at one end of an output end of the planetary reducer and meshed with a linear rack 9 for the large beam supports, a plum blossom coupling 18 is connected at one end of the planetary reducer, a main transmission shaft 19 is connected at the other end of the plum blossom coupling 18, one end of the main transmission shaft 19 is connected with a shell type coupling 20, the shell type coupling 20 is connected with a bearing seat 16, the driving gear 21 is installed on the bearing seat, the driving gear 21 is meshed with the linear rack 9 installed on the main frame 1, and gear rack mechanisms at the left end and the right. Two transverse linear guide rails 22 and a transverse linear rack 23 are arranged on the side surface of the large cross beam frame 10, wherein the transverse linear guide rails 22 and the transverse rack 23 are respectively used for matching with a transverse sliding block 28 and a transverse driving gear 30 of the traverse assembly 3.
In the traverse assembly 3, a traverse main frame plate 24 is taken as a core, a planetary reducer 27 and a servo motor are respectively arranged on the left side and the right side of the traverse main frame plate, a traverse servo motor 26 is used for driving transverse movement, a longitudinal servo motor 25 is used for driving longitudinal movement, correspondingly, two groups of sliding blocks are also arranged on the left side and the right side of the traverse main frame plate and are used for providing transverse and longitudinal guiding, wherein a transverse sliding block 28 is matched with a transverse linear guide rail 22 arranged on the side surface of a large cross beam frame 9, and a longitudinal sliding block 29 is matched with a longitudinal linear guide rail 32 arranged on the side surface of a longitudinal moving assembly 5.
In the longitudinal movement assembly 4, two longitudinal movement linear guide rails 32 and a longitudinal movement rack 33 are installed on the side surface, a rotary servo motor 35 and a harmonic reducer 36 are installed on a bottom installation plate 34 and are used for realizing rotary motion, the rotary servo motor 35 is connected with the rotary assembly 5 through a suction cup support rod 37, a suction cup frame 38 and an industrial camera 39 are installed on the suction cup support rod 37, and a vacuum suction cup 40 is installed on the suction cup frame 38.
The control module comprises an upper computer control module and a lower computer control module.
The upper computer control module comprises an industrial camera control module, a database module and an industrial tablet computer module, and the lower computer control module comprises a programmable logic controller, a driver module, a sensor module and a pneumatic loop module.
The driving mechanisms of the transverse moving assembly, the longitudinal moving assembly and the rotating assembly are respectively connected with a programmable logic controller; the sensor module is directly connected with the programmable logic controller;
the industrial camera assembly and the programmable logic controller are connected with an industrial tablet computer;
the sensor assembly is used for measuring the distance between the four-axis truss manipulator and a material piece to be taken and sending the distance to an industrial tablet computer, so that the truss manipulator is controlled to move downwards for a fixed distance to complete the suction operation;
the industrial camera assembly is used for shooting pictures of disordered silicon steel sheets in the feeding area and sending the pictures to an industrial tablet personal computer, the industrial tablet personal computer performs image processing and analysis on the pictures, and the distance difference between the truss manipulator and the silicon steel sheets to be obtained is calculated, so that the truss manipulator is controlled to be positioned right above the silicon steel sheets to be obtained.
The pneumatic circuit assembly comprises a filtering pressure reducing valve, a vacuum generator, a vacuum supply valve, a vacuum breaking valve and a vacuum chuck 40, wherein the vacuum chuck 40 is installed at the tail of the truss manipulator and used as a medium for sucking the silicon steel sheet, and when the truss manipulator reaches the position right above the silicon steel sheet to be taken according to an image recognition result and moves downwards according to a vertical distance value fed back by the displacement sensor until the vacuum chuck contacts the material sheet, the vacuum generator starts to generate vacuum at the moment, and the silicon steel sheet can be sucked.
The motor speed controller also comprises a pulse generator, namely an electronic hand wheel, which is directly connected with the programmable logic controller, wherein the pulse generator can simultaneously control the movement of four shafts, and the multiplying power can be selected, so that the motor can be conveniently debugged.
Further, the sensor assembly includes a proximity switch.
The proximity switch assembly is mounted at the extreme positions of movement of each shaft.
The proximity switch assembly is directly connected with the programmable logic controller.
Based on above-mentioned automatic lamination robot control system of transformer core includes the following step:
after the system is powered on, the industrial personal computer communicates with the controller and establishes connection, the controller communicates with the servo system and establishes connection, and the industrial personal computer communicates with the industrial camera and establishes connection.
The industrial personal computer reads a register which is stored with servo motor position information in the motion controller, obtains the position information of the truss robot after the system is powered on, and then executes the original point returning operation to reset the whole servo system.
And (3) selecting the specification of the stacked transformer by a user, calling different databases for matching according to different specifications selected by the user, wherein the databases comprise the specific size of the silicon steel sheet of the transformer of a certain model and the path information of automatic stacking operation.
Then, the truss robot moves to the upper side of the feeding area, the position picture of the feeding area is shot through the industrial camera assembly and sent to the industrial personal computer, the industrial personal computer processes and analyzes the picture, the distance difference between the truss manipulator and the silicon steel sheet to be obtained is calculated, and the specific conversion process is as follows:
because the truss manipulator moves to a fixed position above the storage bin every time, and only the Z-axis direction changes according to the value of the displacement sensor, the actual coordinate corresponding to the central point of the picture after each imaging of the industrial camera can be determined.
According to the deflection angle between the upper edge line of the silicon steel sheet and the horizontal line, the deflection amount required by the rotating shaft of the truss manipulator can be calculated, after the center coordinates of circles on the silicon steel sheet are calculated, the deviation dx and dy (pixels are units) from the coordinates of the center point of a picture can be calculated, because the actual distance of each pixel is fixed, the actual offset distance can be calculated according to the offset pixels, and the distance is the offset amount of the truss manipulator needing to move along the X axis and the Y axis, so that the position of the silicon steel sheet under a world coordinate system is obtained.
Under the world coordinate condition of calculating the silicon steel sheet of waiting to get, industrial computer control manipulator moves to the silicon steel sheet directly over, because distance sensor can guarantee the perpendicular distance of manipulator at the Z axle, consequently according to distance sensor's value, industrial computer control manipulator descends, after descending vacuum chuck and contacting the tablet, need vacuum chuck to produce the negative pressure this moment to absorb the silicon steel sheet, thereby the industrial computer controls vacuum generator through the solenoid valve of control pneumatic circuit and produces the vacuum promptly, make vacuum chuck can absorb the silicon steel sheet.
The path of the placing area is fixed, and the position of each sheet is planned in advance, so that the truss manipulator moves to the fixed position of the placing area after absorbing the silicon steel sheet, other positioning calculation is not needed at the moment, only the path information set in advance needs to be read out from the database, after the truss manipulator moves to the fixed placing area, the Z axis of the truss manipulator descends by a proper distance, then the industrial personal computer breaks the valve through controlling the vacuum of the pneumatic loop, the negative pressure of the vacuum chuck is broken, the vacuum chuck can release the silicon steel sheet, and therefore one sheet of the silicon steel sheet is stacked.
The iron cores of one transformer are laminated together, five iron cores are arranged on one layer, namely a left side column, a middle column, a right side column, an upper yoke and a lower yoke, and the truss manipulator sequentially identifies and grabs the five groups of silicon steel sheets until the whole transformer is stacked.
A description will now be made of a database of the movement path of the truss robot:
in order to improve the stacking efficiency of the whole system, five groups of silicon steel sheets in a feeding area are relatively ordered, a left column sheet is placed on the left side of a stacking platform, a middle column sheet is placed in the middle, a right column sheet is placed on the rightmost side, an upper yoke sheet and a lower yoke sheet are placed on the upper side and the lower side of the stacking platform, the visual field of an industrial camera is limited, and only some local information can be shot each time, so that a truss manipulator is required to move to different positions of the feeding area when different sheets are grabbed, a set of database for grabbing the sheets is arranged on the basis, five groups of path information are stored in the database and respectively correspond to the positions of the five groups of sheets in actual coordinates, the path information reflects pulse quantity required by four shafts of a specific execution mechanism, and the truss manipulator can move to the upper side of the corresponding sheet of the feeding area after reading the path information in the database each time, at the moment, the industrial camera can take pictures so as to identify and grab.
After the silicon steel sheets are grabbed each time, the placing positions of the silicon steel sheets are fixed, the database further comprises a group of placing paths, and the transformer iron core is provided with five silicon steel sheets on each layer, so that five groups of path information are totally arranged in the placing path database and correspond to the path information in the grabbing database one by one, and the silicon steel sheets can be placed at the appointed positions by the truss manipulator after the truss manipulator reads the path information in the placing database.
Correspondingly, a description is now made of the silicon steel sheet for industrial camera identification:
the silicon steel sheets are statically placed in the feeding area, the size of the longest silicon steel sheet is about (length x width x thickness) 1280x250x0.2mm, and two central holes and one edge of the silicon steel sheet are selected as positioning features. Industry camera field of vision scope fix at 500mm, every pixel is about 0.125mm, satisfies the required precision, considers that the distance of two centre bores of silicon steel sheet that length is 1280mm is 700mm, consequently need set up two industry cameras, one is responsible for the left hole, one is responsible for right hole and right margin line.
The deflection angle between the edge line and the horizontal line on the silicon steel sheet is found, the deflection amount required by the rotating shaft of the truss manipulator can be calculated, after the center coordinates of the center circle of the silicon steel sheet are found, the deviation dx and dy (pixels are units) from the coordinates of the center point of the picture can be calculated, and the actual offset distance can be calculated according to the offset pixels because the actual distance of each pixel is fixed, and the actual offset distance is the offset of the truss manipulator needing to move along the X axis and the Y axis, so that the position of the silicon steel sheet under the world coordinate system is obtained.
Because the silicon steel sheets have various different models and have different lengths and widths, whether the models are correct or not needs to be determined before the truss manipulator grabs the silicon steel sheets.
In the upper drawing, the width of the silicon steel sheet can be calculated according to the distance from the circle center to the upper edge line, the world coordinate of the left hole can be calculated in the left industrial camera imaging photo, the length of the silicon steel sheet can be obtained according to the coordinates of the left hole and the right hole, and the model of the silicon steel sheet can be determined after the length and the width of the silicon steel sheet are obtained.
The control module described above may be further explained as follows:
the utility model discloses an automatic lamination machine control system mainly comprises host computer system and host computer system, wherein host computer system realizes the control to each motion axis of right angle coordinate robot to and with host computer communication and alarm signal's processing, host computer system mainly includes program modules such as human-computer interaction interface, communication module, initialization, image acquisition, automatic module, alarm module, manual module, database, and a description is done to each module function earlier.
(1) And the image acquisition module is mainly used for acquiring pictures by using two industrial cameras on each manipulator. The industrial camera shoots a feeding area, the pictures are stored in a path appointed by an upper computer, the upper computer processes and identifies the images, a required silicon steel sheet is found, and an actual coordinate value is stored.
(2) And the communication module is mainly used for establishing contact with the whole system. The system comprises communication of two industrial personal computers, communication of the industrial personal computers and a controller, and communication of the industrial personal computers and an industrial camera. Two industrial computers communicate through a TCP/IP protocol, when the system is started, a left industrial computer starts lamination, a right industrial computer is in a standby state, when the left industrial computer lamination is completed, a corresponding command is sent to the right industrial computer, the left industrial computer is in a halt standby state at the moment, the right industrial computer starts lamination, and the two industrial computers perform lamination work in a reciprocating mode. The communication between the industrial personal computer and the controller is based on an extended memobus protocol of a Transmission Control Protocol (TCP), and the motion control of the motor is realized by sending an instruction to the MP3300 controller, setting a motion mode and the like. The industrial personal computer and the industrial camera are in internet access communication, and actions such as photographing and storing are completed by calling an API function of the camera.
(3) And the database module is used for designing a set of database aiming at the transformers with different models, wherein the database stores the information of the silicon steel sheets with corresponding models, the models of the transformers are selected before lamination, and then the system matches the information obtained after processing the photos with the information in the corresponding database. Considering the flexibility of lamination paths, when one lamination machine fails, the other lamination needs to finish the lamination work independently, so that different paths are needed to meet the requirements of users, several sets of different paths are planned for each lamination machine and stored in a database, and the users can select proper paths to finish the lamination work according to the requirements of the users.
(4) And the manual operation module is provided with manual operation functions in consideration of early-stage debugging and later-stage maintenance, each function can be tested independently in a manual mode, and a user can realize functions of photographing of the industrial camera, opening and closing of the electromagnetic valve, click of the motor, fast forwarding of the motor and the like through buttons on the touch screen.
(5) And the automatic operation module is used for automatically laminating after the user selects the transformer model information and the path information, and a specific flow chart is shown in fig. 6. After the system is powered on, firstly, the left industrial personal computer and the right industrial personal computer establish communication, and the left industrial personal computer and the right industrial personal computer establish communication with respective MP3300 controllers; secondly, the control system reads a register which is stored with servo motor position information in the MP3300 controller to obtain the position information of the servo motor after the system is powered on, and then executes the operation of returning to the original point to reset the servo system; then the control system runs the path in the database according to the path information selected by the user and the transformer model information; when the industrial camera is operated above the feeding area, the system controls the industrial camera to take a picture, processes the picture and matches the model of the silicon steel sheet in the database, if the required silicon steel sheet exists, the position information is automatically compensated and grabbed, and if the required silicon steel sheet does not exist, a voice alarm is sent out; after the manipulator grabs the required silicon steel sheet, the silicon steel sheet is placed at a specified position according to the information in the path database, and the single sheet stacking work is completed; after the left industrial personal computer completes the stacking of the three sheets according to the mode, an instruction is sent to the right industrial personal computer, and the right industrial personal computer starts to operate the right control system to complete the stacking of the remaining two sheets; the whole system is operated in a reciprocating mode until the whole transformer is stacked.
With reference to fig. 13, the utility model discloses an automatic lamination robot of transformer core based on machine vision concrete work flow as follows:
the first step is as follows: after the system is powered on, the large beam assembly 2 moves to the upper part of the feeding table, and an industrial camera 39 arranged on the rotating assembly 5 shoots a feeding area.
The second step is that: and the industrial personal computer in the control cabinet carries out image processing on the pictures returned by the industrial camera 39, calculates the actual position of the silicon steel sheet and calculates the compensation amount of each shaft which needs to move.
The third step: the controller sends corresponding pulse signals to four servo motors for controlling the large cross beam assembly 2, the transverse moving assembly 3, the longitudinal moving assembly 4 and the rotating assembly 5, the four servo motors start to act simultaneously, and after the corresponding pulse signals are finished, the rotating assembly 5 moves right above the silicon steel sheet.
The third step: the longitudinal moving assembly 4 starts to drive the rotating assembly 5 to descend according to the numerical value of the distance sensor, when the numerical value of the distance sensor is 0, the vacuum chuck 40 contacts the sheet, the vacuum system starts to generate vacuum, negative pressure is formed in the chuck 40, the controller controls the longitudinal moving assembly 4 to ascend, and the silicon steel sheet is sucked up at the moment.
The fourth step: after the upper computer reads the information of the placing path in the database, the compensation quantity of each axis is sent to the motion controller, and after the motion controller receives the information, the corresponding pulse quantity is sent to the four servo motors at the same time to control the four axes to synchronously move to the corresponding positions above the stacking table.
The fifth step: the longitudinal movement servo motor 25 arranged on the transverse movement assembly 3 drives the longitudinal movement assembly 4 to descend, when the rotating assembly 5 descends to a proper distance, the vacuum breaking valve starts to act to break the vacuum in the vacuum chuck 40, at the moment, the silicon steel sheet can be put down, and at the moment, the stacking of one sheet is finished.
And a sixth step: and repeating the steps from one step to five until the whole transformer is completely stacked.
The embodiment of the utility model provides a realize changing from "someone" to "unmanned" leap forward, in the new and old management system of electric power industry and the alternative period of method, the introduction of automatic lamination technique has promoted the precision of closed assembly and the production efficiency of mill, has also shortened the production cycle of product simultaneously, has reduced the human cost.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. The utility model provides an automatic lamination robot of transformer core, includes main frame (1), big beam assembly (2), sideslip assembly (3), indulges and moves assembly (4), rotating assembly (5), its characterized in that: the control cabinet is internally provided with a control module;
the large cross beam assembly (2) is arranged above the main frame (1);
the transverse moving assembly (3) is arranged on the large cross beam assembly (2);
the longitudinal moving assembly (4) is arranged on the transverse moving assembly (3);
the rotating assembly (5) is arranged at the bottom of the longitudinal moving assembly (4);
the large cross beam assembly (2), the transverse moving assembly (3), the longitudinal moving assembly (4) and the rotating assembly (5) are respectively in communication connection with the control module and are controlled to move by the control module;
the feeding device also comprises an image acquisition module, wherein the image acquisition module is in communication connection with the control module and is used for acquiring images of the feeding area and sending the images to the control module;
the material grabbing device is characterized by further comprising a material grabbing module, wherein the material grabbing module is arranged on the rotating assembly (5), the material grabbing module is in communication connection with the control module, and the material grabbing module receives a control signal of the control module to grab or release the material.
2. The automatic lamination robot for transformer cores according to claim 1, wherein:
the main frame (1) comprises a rectangular frame body and an upright post (6) arranged at the bottom and used as a support, wherein two opposite side edges of the rectangular frame body are respectively provided with a guide rail cushion block (7), a linear guide rail (8) used for a girder cross frame (10) of the large crossbeam assembly (2) is installed above the guide rail cushion block, the linear guide rail (8) is used for guiding the girder cross frame (10), a linear rack (9) is installed on the side surface of the guide rail cushion block (7), and the linear rack (9) is used for driving the large crossbeam frame to move in a matching manner with driving gears on two sides of the large crossbeam frame (10).
3. The automatic lamination robot for transformer cores according to claim 2, wherein:
the two ends of the large crossbeam frame (10) are respectively provided with a U-shaped large crossbeam support (11), two groups of first sliding blocks (12) are arranged below the large crossbeam support and are used for being matched and guided with a linear guide rail (8) above the main frame (1), wherein the large crossbeam support (11) comprises a left crossbeam support and a right crossbeam support, a reducer support (13) is fixed below the left crossbeam support and is used for installing a reducer, a bearing support (14) is fixed below the right large crossbeam support and is used for installing a double-row bearing seat (16), a first planetary reducer (15) fixed on the reducer support (13) is provided with an input and two outputs, the input end is connected with a servo motor (17) and drives the large crossbeam frame (10) to move, one end of the output end is directly connected with a driving gear (21), the driving gear (21) is used for being matched with a linear rack (9) installed on the main frame (1), the other end of the output end is firstly connected with a plum blossom coupling (18) which is used for connecting a main transmission shaft (19) and a planetary reducer I (15), one side of the main transmission shaft (19) is connected with a sandwich type coupling (20) which is used for connecting the main transmission shaft (19) and a double-row bearing seat (16), the double-row bearing seat (16) is fixed on a bearing support (14) below a large cross beam support on the right side, and the double-row bearing seat (16) is connected with a driving gear (21) which is matched with a linear rack (9) arranged below a main frame (1);
the servo motor (17) for the large cross beam is controlled by a motion controller.
4. The automatic lamination robot for transformer cores according to claim 3, wherein: two groups of transverse linear guide rails (22) and a group of transverse racks (23) are arranged on the side surface of the large cross beam frame (10), the transverse linear guide rails (22) are matched and guided with sliding blocks arranged on the transverse moving assembly (3), and the transverse racks (23) are matched with driving gears arranged on the transverse moving assembly (3).
5. The automatic transformer core lamination robot according to claim 4, wherein: the transverse moving assembly (3) comprises a transverse moving main board (24), a servo motor and a planetary reducer II (27) are respectively fixed on the left side and the right side of the transverse moving main board (24), the left longitudinal moving servo motor is used for driving the longitudinal moving assembly (4) and the rotating assembly (5) to move up and down, the right transverse moving servo motor is used for driving the transverse moving assembly (3) to move, two groups of sliding blocks are respectively installed on the two sides of the transverse moving servo motor, the left sliding block (28) is transversely installed and is matched and guided with a transverse and transverse linear guide rail (22) installed on the side surface of the large transverse beam frame (10), and the right sliding block (29) is longitudinally installed and is matched and guided with a longitudinal linear guide rail (32) installed on the side surface of the longitudinal moving assembly (4);
the transverse moving servo motor and the longitudinal moving servo motor are controlled by a control module.
6. The automatic transformer core lamination robot of claim 5, wherein:
the tail end of the longitudinal movement assembly (4) is connected with a rotating assembly (5);
the longitudinal moving assembly (4) is arranged on a transverse moving main board (24) of the transverse moving assembly (3), two groups of longitudinal linear guide rails (32) and a group of longitudinal linear racks (33) are arranged on the side surface of the longitudinal moving assembly (4), the longitudinal linear guide rails (32) are matched and guided with two groups of sliding blocks (29) arranged on the right side of the transverse moving main board (24), and the longitudinal linear racks (33) are matched and driven with a longitudinal driving gear (31) arranged at the output end of a speed reducer on the left side of the transverse moving main board (24).
7. The automatic transformer core lamination robot of claim 6, wherein:
a bottom mounting plate (34) is mounted at the tail end of the longitudinal moving assembly (4) and used for supporting a rotary servo motor (35), the rotary servo motor (35) is mounted in hollow square steel of the longitudinal moving assembly (4), the output end of the rotary servo motor (35) is connected with a harmonic reducer (36), and the harmonic reducer (36) is connected with the rotary assembly (5);
the rotary servo motor (35) is controlled by a control module.
8. The automatic lamination robot for transformer cores according to claim 1, wherein:
the material grabbing module is a sucker system.
9. The automatic lamination robot for transformer cores according to claim 1, wherein:
the rotating assembly (5) comprises a sucker support rod (37), wherein the sucker support rod (37) is connected with a harmonic reducer (36) at the tail end of the longitudinal moving assembly (4), four sucker frames (38) with equal distance are installed below the sucker support rod (37), and two high-definition industrial cameras (39) are installed, wherein a vacuum sucker (40) is installed on each of the four sucker frames (38);
wherein, the industrial camera (39) is directly connected with the industrial personal computer and controlled by the industrial personal computer, the vacuum sucker (40) is controlled by the vacuum system, and the vacuum system is controlled by the industrial personal computer.
10. The automatic lamination robot for transformer cores according to any one of claims 1-9, wherein the control module is a P L C module.
CN201921688953.6U 2019-10-10 2019-10-10 Automatic lamination robot for transformer core Active CN211125345U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201921688953.6U CN211125345U (en) 2019-10-10 2019-10-10 Automatic lamination robot for transformer core

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201921688953.6U CN211125345U (en) 2019-10-10 2019-10-10 Automatic lamination robot for transformer core

Publications (1)

Publication Number Publication Date
CN211125345U true CN211125345U (en) 2020-07-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201921688953.6U Active CN211125345U (en) 2019-10-10 2019-10-10 Automatic lamination robot for transformer core

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Country Link
CN (1) CN211125345U (en)

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