KR20140031735A - Transformer steel core automatic lamination apparatus using camera - Google Patents

Transformer steel core automatic lamination apparatus using camera Download PDF

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Publication number
KR20140031735A
KR20140031735A KR1020120098434A KR20120098434A KR20140031735A KR 20140031735 A KR20140031735 A KR 20140031735A KR 1020120098434 A KR1020120098434 A KR 1020120098434A KR 20120098434 A KR20120098434 A KR 20120098434A KR 20140031735 A KR20140031735 A KR 20140031735A
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KR
South Korea
Prior art keywords
iron core
unit
stacking
robot arm
stack
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KR1020120098434A
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Korean (ko)
Inventor
정창욱
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현대중공업 주식회사
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Priority to KR1020120098434A priority Critical patent/KR20140031735A/en
Publication of KR20140031735A publication Critical patent/KR20140031735A/en

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F27/00—Details of transformers or inductances, in general
    • H01F27/24—Magnetic cores
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manufacturing Cores, Coils, And Magnets (AREA)

Abstract

The present invention provides a step wrap stacker for receiving stacked unit iron cores and stacking them in step wrap units, and an iron core stacking stand for supporting and aligning a stacking member formed by stacking the step wraps, and the step wraps of the step wrap stackers as iron core stacking bars. A robot arm and a pair of guide bars and a support plate which are formed to be able to move up and down along the pair of guide bars at a lower portion of the iron core stack are provided on an upper portion of the support plate and penetrate the iron core stack and are formed on the iron core. An alignment pin unit including an alignment pin having a diameter smaller than that of the alignment hole, and a driving means provided to lift up and down the support plate, the alignment pin unit being provided below the iron core stack and corresponding to the height of the stacked stack; The robot arm is provided with the alignment pin to check whether the alignment hole is matched, and the matched position information robot To be passed to the controller on the laminated iron core includes a large image acquisition formed to laminating the lab staff.
The present invention has an effect of installing a camera on the robot arm when the iron core is laminated using the robot arm so that the alignment holes of the iron core are exactly matched to the alignment pins.
In addition, the present invention can be laminated by transporting the iron core through the robot arm, has the effect of improving the productivity according to the iron core lamination, reducing the number of work.

Description

Transformer steel core automatic lamination apparatus using camera}

The present invention relates to a transformer iron core automatic lamination apparatus using a camera, and more particularly, to a transformer iron core automatic lamination apparatus using a camera having a camera so that the alignment holes of the iron cores can be exactly matched to the alignment pins. .

In general, the iron core lamination in the manufacturing process of the transformer core was mostly manual.

However, as the iron core lamination work is made by hand, there is a problem in that the production man-hours increase, thereby lowering the productivity.

To this end, conventionally, when the stator iron core is supplied by a transporting electromagnet, it is dropped at a predetermined position for lamination thereof, and the seating portion has a stacking height of the iron core (approximately 700 mm drop height of the iron core initially supplied). As the iron core falls, the stator iron core is damaged or damaged by the impact.

In addition, since the lamination state of the iron core is naturally irregular, there is a problem that the productivity and product quality of the product are eventually reduced as unnecessary processes are added after the lamination work is completed.

Prior art related to the present invention is Korean Laid-Open Utility Publication No. 1999-0036679 (published on September 27, 1999), which describes a transformer iron core laminating machine.

An object of the present invention is to provide a transformer iron core stacking apparatus using a camera to be stacked by matching the alignment hole of the iron core to the alignment pin by installing the camera on the robot arm when the iron core is laminated using the robot arm.

The transformer core stacking device using the camera according to the present invention is provided with a stacked unit core and a step wrap stacker for stacking by a step wrap unit and an iron core stacking stand for supporting and aligning a stacking member formed by stacking the step wrap and the staff. The robot arm for transferring the step wrap of the lap stacker to the iron core stack, and a pair of guide bars and a support plate which is formed to be able to move up and down along the pair of guide bars at the bottom of the iron core stack, are provided on an upper portion of the support plate. An alignment pin having a diameter smaller than an alignment hole formed in the iron core and driving means provided to raise and lower the base plate, and provided at a lower portion of the iron core stack, the height of the step wrap being stacked The alignment pin is provided on the alignment pin unit and the robot arm to rise and fall in response to the alignment pin It is characterized in that it comprises an image acquisition unit is formed to confirm the match, and to transfer the matched position information to the robot controller to stack the step wrap on the iron core stack.

Here, the driving means receives the number of steps of the stacking operation of the robot arm to adjust the height of the alignment pin, or detect the height or weight of the stacking member loaded on the iron core stacking table to increase the height of the alignment pin. Adjust

The step wrap stacker is vacuum-adsorbed the unit iron core pedestal for receiving and storing the unit iron core and the step wrap pedestal formed on the lower portion of the unit iron core pedestal to support the step wrap, and the unit iron core loaded on the unit iron core pedestal. It has a unit iron core transfer arm for transferring to the step wrap pedestal.

In addition, the step wrap pedestal has a fixing pin corresponding to the reference hole of the unit iron core, it is formed to be inclined to one side.

In addition, the robot arm is suction-fixed by the magnetic force of the step wrap to transfer to the iron core stack.

The present invention has an effect of installing a camera on the robot arm when the iron core is laminated using the robot arm so that the alignment holes of the iron core are exactly matched to the alignment pins.

In addition, the present invention can be laminated by transporting the iron core through the robot arm, has the effect of improving the productivity according to the iron core lamination, reducing the number of work.

1 is an overall perspective view of a transformer core core automatic lamination apparatus using a camera according to the present invention.
Figure 2 is a cross-sectional view of the alignment pin unit for the automatic transformer core core stacking device using a camera according to the present invention.
3 is a cross-sectional view of an image acquisition unit for a transformer iron core automatic lamination apparatus using a camera according to the present invention.
4 is a cross-sectional view of the step wrap stacker for the automatic transformer core core stacking device using a camera according to the present invention.
5 is a cross-sectional view of the step lap vacuum adsorption of the step lap stacker for the automatic transformer core core stacking device using a camera according to the present invention.
Figure 6 is a cross-sectional view of the movement of the step wrap stacker for the automatic transformer core core stacking device using a camera according to the present invention.
7 is a cross-sectional view of the staff lap stacker descent for the automatic transformer core core stacking apparatus using a camera according to the present invention.
8 is a cross-sectional view of the step wrap stacking of the step wrap stacker for the automatic transformer core stacking device using a camera according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving it will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings.

It should be understood, however, that the present invention is not limited to the embodiments disclosed herein but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

1 is an overall perspective view of an automatic transformer core stacking apparatus using a camera according to the present invention, Figure 2 is a cross-sectional view of the alignment pin unit for the automatic transformer core core stacking apparatus using a camera according to the present invention.

As shown in FIG. 1 and FIG. 2, the automatic transformer core stacking apparatus using a camera includes a step wrap stacker 100, an iron core stack 200, a robot arm 300, and an alignment pin unit 400.

First, the step wrap stacker 100 includes a unit iron core pedestal 110, a step wrap pedestal 120, and a unit iron core feed arm 130.

Here, the unit iron core pedestal 110 receives and stores the unit iron core from the outside.

The unit iron core pedestal 110 is provided to move the step wrap (unit iron core stacked in 4 to 8 sheets) 10 to the step wrap pedestal 120 to be described later.

Therefore, the unit iron core pedestal 110 can classify the step wrap 10 into the step wrap pedestal 120 to be described later, so that the unit iron core can be effectively transferred to the robot arm 300 to be described later. .

The step wrap pedestal 120 is formed under the unit iron core pedestal 110 to support the step wrap 10.

Here, the step wrap pedestal 120 has a fixing pin (120a) corresponding to the reference hole (not shown) of the unit iron core.

In addition, the step wrap pedestal 120 is formed to be inclined to one side, so that the reference hole (not shown) of the unit iron core is fitted to the fixing pin 120a so that the step wrap 10 can be easily stacked. .

On the other hand, the unit iron core transfer arm 130 by vacuum suction the unit iron core loaded on the unit iron core pedestal 110 to transfer to the step wrap pedestal 120.

The unit iron core transfer arm 130 is preferably coupled to one side of the step wrap stacker 100 to vacuum suction the unit iron core, but may be provided to be spaced apart from the step wrap stacker 100 by a predetermined distance.

The iron core stack 200 supports and aligns the stacking member 210 formed by stacking the step wraps 10.

In addition, the iron core stack 200 is a different size each other on the iron core stack (210) provided at right angles to each other alternately coupled to each other by overlapping the step wrap 10 alternately overlapping the stacking member (210) Form.

Meanwhile, the robot arm 300 transfers the step wrap 10 of the step wrap stacker 100 to the iron core stack 200.

Here, the robot arm 300 may absorb the step wrap 10 by magnetic force and transfer it to the iron core stack 200.

In more detail, the robot arm 300 absorbs the step wrap 10 from the step wrap pedestal 120 using a magnetic force and a vacuum adsorber (not shown) through the robot controller 310, and the iron core. The iron core is transferred to the stacking stand 200 and fitted into the alignment pin unit 400 provided in the iron stacking stand 200.

Here, the robot arm 300 checks whether an alignment hole (not shown) is matched with the alignment pin 420, and transmits the matched position information to the robot controller 310 to stack the iron core 200. The image acquisition unit 500 is provided to be accurately stacked on the step wrap (10).

The alignment pin unit 400 is moved up and down corresponding to the height of the step wrap 10 provided in the iron core stack 200 to be stacked.

In addition, the alignment pin unit 400 includes a support plate 410, an alignment pin 420, and a driving means 430.

Here, the support plate 410 is formed to be able to move up and down along the pair of guide bars 220 at the bottom of the iron core stack 200.

In addition, the alignment pin 420 is provided on the support plate 410 to penetrate the upper portion of the iron core stack 200.

In addition, the driving means 430 controls the lifting and lowering of the support plate 410.

The driving means 430 may adjust the height of the alignment pin 420 by receiving the number of steps of the stacking operation of the robot arm 300.

In addition, the driving means 430 may adjust the height of the alignment pin 420 by sensing the height or weight of the stacking member 210 loaded on the iron core stack 200.

Therefore, in the transformer iron core automatic lamination apparatus using a camera, a pair of alignment for fixing the step wrap 10 is not a method of fitting the step wrap 10 to the conventional long fixed alignment pin 420. By installing the height of the pin 420 to be adjustable, it is possible to prevent damage of the step wrap 10 due to the alignment pin 420 when the stacking of the step wrap 10 through the robot arm 300. Has the effect.

In addition, the transformer iron core automatic lamination apparatus using the camera operates the same operation according to the height adjustment of the pair of alignment pins 420, to facilitate the step wrap 10 to the alignment pins 420 Can be fitted.

3 is a cross-sectional view of an image acquisition unit for an automatic transformer core core stacking apparatus using a camera according to the present invention.

As shown in FIG. 3, the automatic transformer core laying apparatus using a camera may include an image acquisition unit 500 on the robot arm 300 to facilitate stacking of the step wrap 10.

In other words, the robot arm 300 has a size corresponding to the step wrap 10 at one end thereof, and is provided with a plurality of adsorption members 510 for fixing and fixing the step wraps. The image acquiring unit 500 is provided at both ends, and when the step wrap 10 is stacked on the stacking member 210, the alignment pin 420 is identified and aligned through the image acquiring unit 500. The step wrap 10 may be accurately stacked at a point where a hole (not shown) and the alignment pin 420 coincide with each other.

Here, the robot arm 300 may be transferred to the iron core stack 200 by adsorption fixing the step wrap 10 by a magnetic force and a vacuum adsorber (not shown) through the adsorption member 510.

Meanwhile, the robot arm 300 transmits the position information of the alignment pin 420 identified through the image acquisition unit 500 to the robot controller 310, and the robot arm 300 through the robot controller 310. By controlling the movement of), an alignment hole (not shown) can be exactly matched to the alignment pin 420 on the iron core chuck layer 200.

The image acquisition unit 500 checks the position of the alignment hole (not shown) when the staff wrap 10 is fixed to the robot arm 300, and the alignment pin (when stacked on the iron core chuck layer 200). In order to confirm the position of the 420, the robot arm 300 is installed on both sides of the position adjacent to the alignment hole (not shown), respectively.

Accordingly, the automatic transformer core stacking device using a camera installs an image acquisition unit 500 on the robot arm 300 when stacking the iron cores using the robot arm 300, and arranges the alignment holes of the iron cores on the alignment pins 420. H) has the effect of being exactly matched and stacked.

4, 5, 6, 7 and 8 are cross-sectional views of a step wrap stacker for an automatic transformer core stacking device using a camera according to the present invention.

4, 5, 6, 7 and 8, the operation of the step wrap stacker 100 of the automatic transformer core core stacking apparatus using a camera as follows.

First, the step wrap stacker 100 includes a unit iron core pedestal 110, a step wrap pedestal 120, and a unit iron core moving arm 130.

The unit iron core supplied from the outside is stored in the upper portion of the unit iron core pedestal 100.

At this time, the unit iron core may be transferred by the operation of the unit iron core moving arm 130 provided at one side of the step wrap stacker 100.

The unit iron core moving arm 130 is hinged to an upper portion of the support base 130a and the support 130a provided at one side of the step wrap stacker 100, and has an angle of about 90 degrees from the upper portion of the unit iron core pedestal 110. It is provided with a hinge coupling member (130b) coupled to the rotatable and the suction plate (130c) is coupled to one end of the hinge coupling member (130b) to suck the unit iron core.

Here, the unit iron core pedestal 100 moves the hinge coupling member 130b to the upper portion of the unit iron core through a control unit (not shown) provided separately from the outside.

Next, the magnetic force flows to the suction plate 130c provided at one end of the hinge coupling member 130b to adsorb the step wrap 10.

Subsequently, the position of the hinge coupling member 130b is moved to be perpendicular to the unit iron core pedestal 110 in a state where the step wrap 10 is adsorbed on the suction plate 130c.

In order to transfer the step wrap 10 to the step wrap pedestal 120, a controller (not shown) controls the hinge coupling member 130b to be positioned as the step wrap pedestal 120 along the support 130a.

Thereafter, the hinge coupling member 130b is moved at a right angle with respect to the support 130a, and the step wrap 10 is fitted to the fixing pin 120a of the step wrap pedestal 120.

Here, the step wrap pedestal 120 may be manufactured to be inclined at a predetermined angle so that the position of the reference hole (not shown) of the step wrap 10 can be easily aligned.

Therefore, the automatic transformer core core stacking apparatus using the camera is possible to transfer from the unit iron core pedestal 110 to the step wrap pedestal 120 through the unit iron core moving arm 130, the step wrap through the robot arm 300 to be made later (10) Lamination can be made easier.

In addition, the transformer core core automatic lamination apparatus using a camera by manufacturing the conventional unit iron core pedestal 110 and the step wrap pedestal 120 in one structure of a two-layer structure, it is possible to reduce the work space Has

As a result, the present invention has an effect that the camera is installed on the robot arm when the iron core is laminated using the robot arm, so that the alignment holes of the iron core can be exactly matched with the alignment pins.

In addition, the present invention can be laminated by transporting the iron core through the robot arm, has the effect of improving the productivity according to the iron core lamination, reducing the number of work.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many modifications may be made thereto, It will be understood that all or some of the elements (s) may be optionally constructed in combination. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: staff lap 100: staff lap stacker
110: unit iron core support 120: step wrap support
120a: fixed pin 130: unit iron core arm
130a: support 130b: hinge coupling member
130c: suction plate 200: iron core stack
210: laminated member 220: guide bar
300: robot arm 310: robot controller
400: alignment pin unit 410: support plate
420: alignment pin 430: drive means
500: image acquisition unit 510: adsorption member

Claims (5)

A staff wrap stacker which receives the stacked unit iron cores and stacks the stacked units by the staff wrap unit;
An iron core stacking stand for supporting and aligning a stacking member formed by stacking the step wraps;
A robot arm for transferring the step wrap of the step wrap stacker to an iron core stack;
A pair of guide bars formed at an upper portion of the support plate and the support plate to be lowered along the pair of guide bars at a lower portion of the iron core stack, and penetrating the iron core stack, and having a diameter smaller than an alignment hole formed in the iron core. An alignment pin unit including an alignment pin having a lower portion and a driving means provided to raise and lower the support plate, provided at a lower portion of the iron core stack, and rising and lowering corresponding to the height of the stacked stack; And
An image acquisition unit provided on the robot arm to determine whether the alignment holes match the alignment pins, and transfer the matched position information to the robot controller to stack the step wraps on the iron core stack. Transformer iron core automatic lamination device using a camera, characterized in that.
The method of claim 1,
The driving means includes:
The height of the alignment pin is received by receiving the number of steps of the stacking operation of the robot arm, or the height or weight of the stacking member loaded on the iron core stacking table is adjusted to adjust the height of the alignment pin. Automatic transformer core stacking device using camera.
The method of claim 1,
The staff lap stacker,
A unit iron core pedestal for receiving and storing unit iron cores;
A step wrap pedestal formed under the unit iron core pedestal to support the step wrap; And
And a unit iron core transfer arm for vacuum-sucking the unit iron core loaded on the unit iron core pedestal and transferring the unit iron core to the step wrap pedestal.
The method of claim 3,
The step wrap pedestal,
A transformer iron core automatic lamination apparatus using a camera having a fixing pin corresponding to a reference hole of a unit iron core and formed to be inclined to one side.
The method of claim 1,
The robot arm is,
A transformer iron core automatic lamination apparatus using a camera, wherein the step wrap is fixed by magnetic force and transferred to the iron core stacking unit.
KR1020120098434A 2012-09-05 2012-09-05 Transformer steel core automatic lamination apparatus using camera KR20140031735A (en)

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Application Number Priority Date Filing Date Title
KR1020120098434A KR20140031735A (en) 2012-09-05 2012-09-05 Transformer steel core automatic lamination apparatus using camera

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3156150A1 (en) * 2015-10-16 2017-04-19 General Electric Technology GmbH Stacker and method for stacking a stator core of an electric machine
CN108053994A (en) * 2017-12-30 2018-05-18 铜陵日科电子有限责任公司 A kind of transformer surface-mounting equipment
KR102155541B1 (en) * 2020-05-15 2020-09-14 홍인표 Silicon steel sheet lamination system
KR102293249B1 (en) 2021-05-17 2021-08-25 (주)티와이 System for automatically seperating and stacking core step of transformer
KR102344423B1 (en) * 2021-09-30 2021-12-29 (주)티와이 System and method for location tracking and correcting in the transformer manufacturing automatic system

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3156150A1 (en) * 2015-10-16 2017-04-19 General Electric Technology GmbH Stacker and method for stacking a stator core of an electric machine
CN106849534A (en) * 2015-10-16 2017-06-13 通用电器技术有限公司 Piler and method for stacking the stator nucleus of motor
US10658909B2 (en) 2015-10-16 2020-05-19 General Electric Technology, GmbH Stacker for stacking a stator core of an electric machine
CN106849534B (en) * 2015-10-16 2020-07-24 通用电器技术有限公司 Stacking machine and method for stacking stator cores of motor
CN108053994A (en) * 2017-12-30 2018-05-18 铜陵日科电子有限责任公司 A kind of transformer surface-mounting equipment
CN108053994B (en) * 2017-12-30 2019-12-24 铜陵日科电子有限责任公司 Transformer surface mounting equipment
KR102155541B1 (en) * 2020-05-15 2020-09-14 홍인표 Silicon steel sheet lamination system
KR102293249B1 (en) 2021-05-17 2021-08-25 (주)티와이 System for automatically seperating and stacking core step of transformer
WO2022244935A1 (en) * 2021-05-17 2022-11-24 (주)티와이 System for automatically separating and stacking iron core steps for transformers
KR102344423B1 (en) * 2021-09-30 2021-12-29 (주)티와이 System and method for location tracking and correcting in the transformer manufacturing automatic system

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