JPH077738B2 - Iron core assembly method for electrical equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for assembling an electric device, and more particularly, by using a robot having an image processing function, an electric device such as a transformer. The present invention relates to a method of assembling an electric device suitable for assembling the iron core of the above.

[Prior Art] FIGS. 6 to 8 are explanatory views of a conventional method for manually assembling an iron core of a transformer. FIG. 6 is a plan view of the iron core assembly, FIG. 7 is a perspective view of the yoke laminated block, and FIG. 8 is a perspective view of the iron assembly. Worker (7)
The yoke base plates (8) constituting the laminated block (1) are laminated on the material mount (2) arranged on the side surface of the plate with the end faces of the corner joint portions thereof being shifted in the longitudinal direction. There is. The worker (7) takes out the required yoke blank (8) from the material platform (2) and performs the following required work on the work platform (6) located in front of the worker (7). . On this work platform (6), with respect to the left leg laminated block (3) and the right leg laminated block (4), the end face positions of the corner joints are shifted every other sheet, and the legs located at the same height are Has the left leg end face projected and the right leg end face retracted. Worker (7)
Repeats the insertion work of bringing the corner joints of the yoke blank (8) into contact with the corner joints of the left and right leg laminated blocks (3) and (4) thus laminated. Then, the iron core is assembled at a predetermined height while visually confirming whether or not the yoke blank (8) is inserted in the regular position during this period. The thus-inserted yoke is shown as an inserted yoke (5).

[Problems to be Solved by the Invention] Since the above-described conventional assembling method is manually performed by an operator, particularly when performing a work of repeatedly laminating several thousand thin iron cores like a large electric device. The operator's fatigue level increases, and it takes a long time. Moreover, it is impossible to prevent human error in confirmation because the operator visually confirms. There is a problem in that the position may be wrong or the product may not be inserted, and thus the reliability of the assembled product is lacking.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain an assembling method of an electric device that requires no manual work and is capable of performing reliable assembly.

[Means for Solving the Problems] In the iron core assembling method for an electric device according to the present invention, the yoke base plates are leg-stacked so that the corner joints between the yoke base plates and the legs of the polygonal core overlap each other. In the method of stacking and assembling on a block, the image pickup device provided on the robot picks up an image of the corner joint between the yoke blank and the leg stack block immediately after insertion, and checks whether this imaged part is within a certain range of the image pickup screen. Is determined by the image processing apparatus, and the height position of the robot is controlled so that the leg immediately below the yoke blank immediately after insertion is held within a certain range of the image pickup screen according to the determination result.

[Operation] In the present invention, the left and right leg laminated block portions in which the yoke blanks are inserted are imaged by the imaging device provided in the robot, and the yoke blanks and the legs immediately after insertion are within a certain range of the imaging screen. It is determined by the image processing device whether or not it is within the range, and the height position of the robot is controlled according to the determination result so that the yoke base plate and the leg are held within a certain range of the imaging screen.

[Embodiment] FIG. 1 is a block diagram of an apparatus for carrying out the method of the present invention. In FIG. 1, reference numerals (1) to (6) and (8) are the same as those already described, and therefore description thereof will be omitted.

(9) is a robot in which the sequence from the take-out of the yoke blank (8) to the assembly and the moving waypoint are pre-programmed, and the leg laminated blocks (3), (4)
And a work platform (6) on which the iron core being assembled, which is composed of the inserted yokes (5), is mounted, and a yoke laminated block (1) in which the yoke base plates (8) are laminated, , Its height position is controllable.

The robot (9) is provided with a robot arm (10) which is controlled to move forward and backward with respect to the work platform (6) and the material platform (2). Robot hand (1) at the tip of 10)
1) is installed.

In addition, this robot hand (11) has a support pipe (1
3) is provided and the yoke blank (8) is attracted,
After inserting the plurality of adsorption / desorption devices (12) and the yoke blank (8) into the leg laminated blocks (3) and (4) for aligning the side surfaces of the inserted yoke (5). forward and backward freely aligning device (14), (14), and, inserted immediately after the yoke material plate (8) and leg (3 _1), (3 ₂₎ image region and the corner joint portion including such (20) A pair of image pickup devices (described later in FIG. 3) each including a lens (16) and a camera head (15) for picking up images are attached at symmetrical positions. Further, the robot arm (10) has a camera control unit (17), (1
7) is provided.

FIG. 2 is a block diagram of the image processing system, showing the image range (20) at the corner joints of the leg laminated blocks (3) and (4) imaged by the imaging device.
It is taken into the image processing device (18) through the camera control units (17) and (17). Then, the picked-up image is converted into a white and black binarized image here, and the yoke base plate (8) is inserted into the specified position of the laminated block (3) or (4) according to a preset program. It is determined whether or not. Then, the robot (9) is appropriately operated via the robot controller (19) according to the determination result.

FIG. 3 is a perspective view showing a captured image capturing state for carrying out the method of the present invention. In this FIG.
An imaged image within the predetermined imaging range (20) will be captured by the camera head (15) side via the lens (16).

FIG. 4 is a flow chart showing the operation of the image processing system when the method of the present invention is embodied.

Further, FIG. 5 is an explanatory view of the method of the present invention. Here, the lower limit B1 · Y in the Y coordinate direction of the leg (3 ₁ ) immediately below the inserted yoke blank (8) is the upper and lower limits set above and below the center line (CL) of the image range (20). Line (U
L), (LL) within the range, and if it is outside the upper and lower limit lines (UL), (LL), the correction amount (ΔZ) is calculated by the formula ΔZ = B1.・ Y-UL ・ Y + LL ・ Y / 2 (where UL ・ Y and LL ・ Y are the upper and lower limit lines (UL),
(Indicate the Y coordinate value of (LL)), input this correction amount (ΔZ) to the robot controller (19), and insert the yoke element that has already been inserted within the upper and lower limit lines (UL) and (LL). The position of the robot (9) in the height direction is controlled so that the leg (3 ₁ ) immediately below the plate (8) is positioned.

Next, the operation of the method of the present invention will be described mainly with reference to the flowchart of FIG. First, in step (S1), the upper limit line (UL) of the image range (20),
Lower limit line (LL) and yoke blank (8) thickness (t)
Initialize each. In step (S2), press the start button (not shown) to move the robot (9)
When the robot is started, the robot arm (10) facing the laminated block (1) advances, the adsorption / desorption device (12) adsorbs and holds the yoke base plate (8), and then retreats to move the robot (9) ( By rotating it clockwise (in FIG. 1),
It comes to a position facing the yoke laminated block (5). Following this, the robot arm (10) advances again, and the yoke base plate (8) is inserted in the horizontal direction at the designated position of the leg laminated blocks (3) and (4) to the position shown in FIG.

At this time, a command signal is output from the robot controller (19), and the image range (20) taken by the imaging device
Are taken into the image processing device (18). Then, in the next step (S3), it is determined whether or not the captured image exists on the left side, that is, whether or not the captured image corresponds to the leg laminated block (3) shown in FIG. Here, if the image is the left image, a YES determination is made, so the process proceeds to step (S4) to capture the left image. On the other hand, when the result of the determination in step (S3) is NO, the captured image is the right image, so the corresponding image of the leg laminated block (4) is captured in step (S5). . Then, in the next step (S6), these images are converted into white and black binarized images. In the subsequent step (S7), it is determined whether or not the yoke blank (8) has been inserted into the designated position of the leg laminated block (3) or (4). As a result, when it is determined to be "normal", the process proceeds to step (S8) and normal display is performed. On the other hand, when it is determined to be "abnormal", the process proceeds to step (S9), the robot (9) is stopped, and an anomaly is displayed in the next following step (S10). Then, in step (S11), the correction / confirmation work is performed by the worker, and then in step (S12), the robot (9) is restarted.

It should be noted that here, how to handle the device at the time of abnormality by the worker is described, but the present invention is not limited to this, and although not shown, for example, a robot can also take measures.

Now, in the next step (S13), the light and dark pixels of the binarized image are scanned, and the smallest Y coordinate value B1 · Y of the leg (3 ₁ ) immediately below the yoke blank (8) immediately after insertion is set to calculate. Then, in step (S14), it is determined whether or not this is smaller than the lower limit line (LL · Y). As a result, when it is determined to be small (YES), that is, when the leg (3 ₁ ) is below the lower limit line (LL) as shown in FIG. 5 (c), In step (S15), a negative correction amount (ΔZ) is obtained by performing an operation of ΔZ = B1 · Y− (UL · Y + LL · Y) / 2. On the other hand, in the step (S14), B1 · Y <LL
When it is determined that it is not Y (NO), the process proceeds to step (S16), and it is determined whether or not B1 · Y ≦ UL · Y. When the result of the determination is YES, that is, when it is within the range of the upper and lower limit lines as shown in FIG. 5A, the correction amount ΔZ = 0 is output in step (S17).

On the other hand, when NO is determined in step (S16), that is, when it is above the upper limit line (UL) as shown in FIG. 5B, ΔZ = B1 · Y in step (S18). A positive correction amount (ΔZ) is calculated by performing an operation of − (UL · Y + LL · Y) / 2. Then, in the next step (S19), since the image position is corrected at the next stage of inserting the yoke base plate (8) on the same side, the thickness (t) of the yoke base plate (8) is corrected. The value obtained by performing the correction amount (ΔZ) of twice the value of
The movement amount in the height direction of the robot (9) for the next time is set.

When the correction amount (ΔZ) is negative, the robot (9)
Move downward by 2Z from 2t. That is, the image is moved upward. On the other hand, when the correction amount (ΔZ) is positive, the robot (9) is moved upward by 2Z from 2t. That is, the image is moved downward. By repeating such an operation, a predetermined number of yoke blanks (8) are stacked, and the desired work is completed.

In the above embodiment, the case where the image position correction in the Y-axis direction is performed on the leg laminated block has been described, but the present invention is not limited to this, and for example, the lowest position coordinate in the X-axis direction.
It is also possible to perform position correction in the X-axis direction by setting B1 · X, upper limit / lower limit lines UL · X, LL · X. Furthermore, the number of sheets that can be loaded at the same time is not limited to one sheet / time, and it is possible to apply even when the number of sheets is two sheets / time or more. In addition to this, in addition to the outer iron type transformer in the above embodiment, Even if it is applied to an inner iron type transformer or a reactor, the same effect is obtained.

[Effects of the Invention] As described above, according to the present invention, an image of a corner joint portion of a leg laminated block including a yoke element plate immediately after insertion is imaged,
The image processing apparatus determines whether or not this imaged portion is within a certain range of the imaged screen, and according to the determination result, the robot is arranged to hold the leg just below the yoke blank immediately after insertion within the certain range of the imaged screen. Since the height position of the yoke base plate is controlled, the corner joint between the yoke base plate and the leg laminated block immediately after insertion can always be held in the imaging screen. Whether or not it is possible to make a reliable determination without making an erroneous determination, and highly reliable automatic assembly can be performed.

Further, since the robot can continuously perform automatic assembly, the assembly can be performed in a short period of time and with good economical efficiency.

[Brief description of drawings]

FIG. 1 is a block diagram of an apparatus for carrying out the method of the present invention, FIG. 2 is a block diagram of an image processing system for carrying out the method of the present invention, and FIG. 3 is a block diagram of the image processing system for carrying out the method of the present invention. FIG. 4 is a perspective view showing a captured image capturing state for the purpose of FIG. 4, FIG. 4 is a flowchart showing the operation of the image processing system when the method of the present invention is carried out, and FIG. 5 is an explanatory view of the method of the present invention.
6 to 8 are explanatory views of a conventional iron core assembling method, FIG. 6 is a plan view of the iron core assembly, FIG. 7 is a perspective view of a yoke laminated block, and FIG. 8 is an iron core. It is a perspective view of an assembly. (1) is a yoke laminated block, (3) and (4) are leg laminated blocks, (5) is an inserted yoke, (8) is a yoke base plate, (9) is a robot, (15) is a camera head,
(16) is a lens, (17) is a camera control unit, (18) is an image processing device, (19) is a robot controller, (20) is an image range, (UL) is an upper limit line, (LL).
Is the lower limit line, and (ΔZ) is the image position correction amount. In the drawings, the same reference numerals are the same or corresponding parts.

Claims (1)

[Claims] Claim: What is claimed is: 1. An iron core assembling method, comprising: assembling a yoke base plate by laminating a yoke base plate on a leg laminated block so that corner joints of the yoke base plate and the legs of the polygonal core overlap each other. An image of the corner joint between the yoke base plate and the leg laminated block immediately after being inserted is imaged by the image pickup device; It is judged by the image processing device whether or not this imaged part is within a certain range of the image pickup screen; According to the result, the height position of the robot is controlled so that the leg just below the yoke blank just after insertion is kept within a certain range of the imaging screen;