CN106783135A - The automatic overlapping and assembling device and method of transformer core - Google Patents
The automatic overlapping and assembling device and method of transformer core Download PDFInfo
- Publication number
- CN106783135A CN106783135A CN201710093041.3A CN201710093041A CN106783135A CN 106783135 A CN106783135 A CN 106783135A CN 201710093041 A CN201710093041 A CN 201710093041A CN 106783135 A CN106783135 A CN 106783135A
- Authority
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- China
- Prior art keywords
- manipulator
- dolly
- platform
- backlight
- detection system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 72
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000004154 testing of material Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000003475 lamination Methods 0.000 description 4
- 229910000976 Electrical steel Inorganic materials 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Manufacturing Cores, Coils, And Magnets (AREA)
Abstract
The invention discloses a kind of automatic overlapping and assembling device and method of transformer core.Method comprises the following steps：By material carriage parking to specified location, the limiting tool that orientation is put for limiting material is provided with material dolly；First manipulator takes different types of material from material dolly in order by preceding terminal sucker, and is transported on backlight platform；The CCD camera of vision detection system coordinates backlight detection of platform and determines the central point of material, angular deviation, type and size on backlight platform；Central point and angular deviation according to the material on backlight platform, the sucker of the second manipulator just capture material to the central point of material, and according to the type and size of material, material are stacked and placed on and are parked on the corresponding stacking of the closed assembly dolly of specified location position.It can be automatically performed the closed assembly of transformer core, production efficiency and production high precision, and 24 continuous throughout the twenty-four hour24s of energy effectively improve yield, can effectively save manpower, reduce production cost.
Description
Technical field
The present invention relates to transformer production equipment technical field, and in particular to a kind of automatic overlapping and assembling equipment of transformer core
And method.
Background technology
Iron core is the Primary magnetic circuit part of transformer, by surface scribble insulated paint hot rolling or cold-reduced silicon sheet closed assembly and
Into.Existing transformer core-lamination stack station, it usually needs 2-4 operating personnel are according to technology and technological requirement by hand by silicon steel
Piece stacking shaping, one transformer core of closed assembly needs one to two days time, wastes time and energy, and product quality fluctuation is larger,
The made with high precision requirement of transformer core cannot be met.
Therefore, the transformer fe that need a kind of production efficiency high, production high precision badly in the prior art, can effectively save manpower
The automatic overlapping and assembling equipment of core.
The content of the invention
The first object of the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of production efficiency is high, production
High precision, can effectively save manpower transformer core automatic overlapping and assembling equipment.
First mesh of the invention is achieved through the following technical solutions：A kind of automatic overlapping and assembling equipment of transformer core,
The material dolly in orientation, the center for detecting material are put including docking at specified location and limiting material by limiting tool
Point, angular deviation, type, the vision detection system of size, for the material on material dolly to be transported into vision detection system
The first manipulator, dock at the closed assembly dolly of specified location and for the material testing result according to vision detection system by thing
Expect to be transported from vision detection system and the second manipulator on closed assembly to the corresponding stacking position of closed assembly dolly, first manipulator
Front end, the front end of second manipulator be provided with the sucker being connected with vacuum system, the vision detection system includes
The backlight platform of the material for coming is transported for placing first manipulator, is arranged at directly over backlight platform by support body
CCD camera and the circuit system being connected with CCD camera, the circuit system of the vision detection system and first manipulator,
The second manipulator connection.
Also include track, the closed assembly dolly is arranged on the track.
The second object of the present invention is to overcome the shortcomings of that prior art is present, there is provided a kind of production efficiency is high, production
High precision, can effectively save manpower transformer core automatic overlapping and assembling method.
Second mesh of the invention is achieved through the following technical solutions a kind of automatic overlapping and assembling method of transformer core, bag
Include following steps：
1）By material carriage parking to specified location, the spacing work that orientation is put for limiting material is provided with material dolly
Dress；
2）First manipulator takes different types of material from material dolly in order by preceding terminal sucker, and it is flat to be transported to backlight
On platform；
3）The CCD camera of vision detection system coordinates backlight detection of platform and determines the central point of material, angle on backlight platform
Deviation, type and size；
4）Central point and angular deviation according to the material on backlight platform, the sucker of the second manipulator is just to the central point of material
Crawl material, and according to the type and size of material, material is stacked and placed on the corresponding heap of the closed assembly dolly for being parked in specified location
On folded position.
The beneficial effects of the invention are as follows：Device and method of the invention can be automatically performed the closed assembly of transformer core, and it gives birth to
Efficiency and production high precision are produced, 24 continuous throughout the twenty-four hour24s of energy effectively improve yield, and a workman can simultaneously operate multiple devices,
Manpower can be effectively saved, production cost is reduced.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the structural representation of center pillar；
Fig. 5 is the structural representation of left and right side column；
Fig. 6 is the structural representation of upper and lower Hubei Province steel disc.
In figure：1- material dollies；2- materials；The manipulators of 3- first；The manipulators of 4- second；5- suckers；6- CCD cameras；
7- switch boards；8- control panels；9- backlight platforms；10- tracks；11- closed assembly dollies；12- stacks position；13- center pillars；14- or so
Side column；The upper and lower Hubei Province steel discs of 15-.
Specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
As shown in Figure 1-Figure 3, the automatic overlapping and assembling equipment of a kind of transformer core, including dock at specified location and pass through limit
Position frock limitation material 2 puts the material dolly 1 in orientation, the central point for detecting material 2, angular deviation, type, size
Vision detection system, the first manipulator 3 for the material 2 on material dolly 1 to be transported to vision detection system, dock at finger
Closed assembly dolly 11 and material 2 is transported from vision detection system for the material testing result according to vision detection system that positioning is put
Send and the second manipulator 4 on closed assembly to the corresponding stacking position 12 of closed assembly dolly 11, the front end of the first manipulator 3, the second machinery
The front end of hand 4 is provided with the sucker 5 being connected with vacuum system, and vision detection system includes being transported for placing the first manipulator 3
The backlight platform 9 of the material 2 sent, the CCD camera 6 being arranged at by support body directly over backlight platform 9 and connect with CCD camera 6
The circuit system for connecing, the circuit system of vision detection system and the first manipulator 3, the connection of the second manipulator 4.The present invention is also
Including track 10, closed assembly dolly 11 is arranged on the track 10.Backlight platform 9 is arranged at the upper end of switch board 7, the side of switch board 7
Face is provided with control panel 8.
A kind of automatic overlapping and assembling method of transformer core, comprises the following steps：
1）Material dolly 1 is parked and specified location is fixed to, is provided with material dolly 1 and is put orientation for limiting material 2
Limiting tool；
2）First manipulator 3 takes different types of material 2 from material dolly 1 in order by preceding terminal sucker 5, and is transported to the back of the body
On optical platform 9；
3）The CCD camera 6 of vision detection system coordinates backlight platform 9 to detect and determine the central point of material 2 on backlight platform 9,
Angular deviation, type and size, while whether the specification of automatic identification material 2 meets the requirements, such as material 2 does not meet default specification
Then alarm requires manual intervention；
4）Central point and angular deviation according to the material 2 on backlight platform 9, the sucker 5 of the second manipulator 4 is just to material 2
Central point captures material 2, and according to the type and size of material 2, material 2 is stacked and placed on the closed assembly dolly for being parked in specified location
On 11 corresponding stacking position 12；
5）2-4 steps are repeated, is finished until all materials 2 are stacked as requested；
6）After operating personnel see cue, transformer cover is covered and locked, complete whole lamination process；
7) after the completion of lamination, operating personnel remove transformer, then the transformer platform of lamination will be needed by closed assembly dolly 11
Push-in.
Three types, respectively center pillar 13, left and right side column 14 and upper and lower Hubei Province steel disc 15 are had as the silicon steel sheet of material 2.
Referring to Fig. 4, two points at the two ends of center pillar 13 or so are symmetrical.Two wedge angles are found out by vision algorithm, and is counted
Calculate two coordinates of wedge angle end points, central point and the angular deviation of steel disc calculated according to 2 points of the coordinate in space, after will sit
The second manipulator 4, the central point of the positive center pillar 13 in the center of sucker 5 of the second manipulator 4, deviation angle are given in scale value and angular deviation
Crawl material 2.
Referring to Fig. 5, for left and right side column 14, two coordinates of acute angle end points of lower end the right and left are calculated first, so
Two coordinates of obtuse angle end points of upper end the right and left are calculated afterwards, and the center point coordinate of side column is calculated according to four, space point
And angular deviation, and the second manipulator 4 is given by result, the center of sucker 5 of the second manipulator 4 is just to the center of left and right side column
Point, deviation angle crawl material 2.
Referring to Fig. 6, for upper and lower Hubei Province steel disc 15, four coordinates of obtuse angle end points of upper end are calculated first, then calculate
Go out two coordinates of acute angle end points of lower end the right and left, after the central point of upper and lower Hubei Province steel disc is calculated according to six, space point
Coordinate and angular deviation, the second manipulator 4 is given by result, and the center of sucker 5 of the second manipulator 4 is just in upper and lower Hubei Province steel disc
Heart point, deviation angle crawl material 2.
Finally it should be noted that above content is merely illustrative of the technical solution of the present invention, rather than the present invention is protected
The limitation of scope, simple modification or equivalent that one of ordinary skill in the art is carried out to technical scheme,
All without departing from the spirit and scope of technical solution of the present invention.
Claims (3)
1. the automatic overlapping and assembling equipment of a kind of transformer core, it is characterised in that：The automatic overlapping and assembling equipment bag of the transformer core
Include to dock at specified location and limit material by limiting tool and put the material dolly in orientation, the center for detecting material
Point, angular deviation, type, the vision detection system of size, for the material on material dolly to be transported into vision detection system
The first manipulator, dock at the closed assembly dolly of specified location and for the material testing result according to vision detection system by thing
Expect to be transported from vision detection system and the second manipulator on closed assembly to the corresponding stacking position of closed assembly dolly, first manipulator
Front end, the front end of second manipulator be provided with the sucker being connected with vacuum system, the vision detection system includes
The backlight platform of the material for coming is transported for placing first manipulator, is arranged at directly over backlight platform by support body
CCD camera and the circuit system being connected with CCD camera, the circuit system of the vision detection system and first manipulator,
The second manipulator connection.
2. the automatic overlapping and assembling equipment of transformer core according to claim 1, it is characterised in that：Also include track, it is described
Closed assembly dolly is arranged on the track.
3. a kind of automatic overlapping and assembling method of transformer core, it is characterised in that comprise the following steps：
1）By material carriage parking to specified location, the spacing work that orientation is put for limiting material is provided with material dolly
Dress；
2）First manipulator takes different types of material from material dolly in order by preceding terminal sucker, and it is flat to be transported to backlight
On platform；
3）The CCD camera of vision detection system coordinates backlight detection of platform and determines the central point of material, angle on backlight platform
Deviation, type and size；
4）Central point and angular deviation according to the material on backlight platform, the sucker of the second manipulator is just to the central point of material
Crawl material, and according to the type and size of material, material is stacked and placed on the corresponding heap of the closed assembly dolly for being parked in specified location
On folded position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710093041.3A CN106783135A (en) | 2017-02-21 | 2017-02-21 | The automatic overlapping and assembling device and method of transformer core |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710093041.3A CN106783135A (en) | 2017-02-21 | 2017-02-21 | The automatic overlapping and assembling device and method of transformer core |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106783135A true CN106783135A (en) | 2017-05-31 |
Family
ID=58957507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710093041.3A Pending CN106783135A (en) | 2017-02-21 | 2017-02-21 | The automatic overlapping and assembling device and method of transformer core |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106783135A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458864A (en) * | 2017-09-20 | 2017-12-12 | 广东工业大学 | Transformer silicon steel sheet laminating equipment and its feed arrangement |
| CN107867565A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Transformer core silicon-steel automatic docking device |
| CN108695056A (en) * | 2018-07-05 | 2018-10-23 | 西安启源机电装备有限公司 | A kind of automatic overlapping and assembling device of iron core cutting production line |
| CN109087804A (en) * | 2018-07-25 | 2018-12-25 | 浙江江山变压器股份有限公司 | A kind of transformer core automatic overlapping and assembling production line |
| CN111390893A (en) * | 2019-01-03 | 2020-07-10 | 海因里希·格奥尔格机械制造有限公司 | Method and positioning system for producing a transformer core |
| EP3739604A1 (en) * | 2019-05-15 | 2020-11-18 | Heinrich Georg GmbH Maschinenfabrik | Method for automatically stacking sheet-shaped goods, in particular transformer core sheets |
| CN112397302A (en) * | 2020-12-16 | 2021-02-23 | 南通睿驰智能科技有限公司 | Automatic stack assembly production line in batches of transformer core |
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| US4893401A (en) * | 1988-10-07 | 1990-01-16 | Ansaldo Componenti S.P.A. | Automatic transformer core assembly system |
| CN101913076A (en) * | 2010-06-23 | 2010-12-15 | 中国科学院自动化研究所 | Industrial robot-based assembly method and device of piston, piston pin and connecting rod |
| CN104048607A (en) * | 2014-06-27 | 2014-09-17 | 上海朗煜电子科技有限公司 | Visual identification and grabbing method of mechanical arms |
| CN104708301A (en) * | 2015-02-09 | 2015-06-17 | 杭州自动化技术研究院有限公司 | Automatic heating wire assembling device based on machine vision |
| CN105729472A (en) * | 2016-04-19 | 2016-07-06 | 惠州先进制造产业技术研究中心有限公司 | Bulb lamp sorting and packing system and method based on machine vision |
| CN105835045A (en) * | 2016-06-06 | 2016-08-10 | 福建工程学院 | Panel mounting truss mechanical arm and mounting method |
| CN106017359A (en) * | 2016-06-29 | 2016-10-12 | 中国科学院沈阳自动化研究所 | Large-scale transformer iron core visual detection system |
| CN106144524A (en) * | 2016-08-24 | 2016-11-23 | 东莞市三瑞自动化科技有限公司 | With CCD vision positioning method and device in a kind of high-speed motion |
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2017
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| US4893401A (en) * | 1988-10-07 | 1990-01-16 | Ansaldo Componenti S.P.A. | Automatic transformer core assembly system |
| CN101913076A (en) * | 2010-06-23 | 2010-12-15 | 中国科学院自动化研究所 | Industrial robot-based assembly method and device of piston, piston pin and connecting rod |
| CN104048607A (en) * | 2014-06-27 | 2014-09-17 | 上海朗煜电子科技有限公司 | Visual identification and grabbing method of mechanical arms |
| CN104708301A (en) * | 2015-02-09 | 2015-06-17 | 杭州自动化技术研究院有限公司 | Automatic heating wire assembling device based on machine vision |
| CN105729472A (en) * | 2016-04-19 | 2016-07-06 | 惠州先进制造产业技术研究中心有限公司 | Bulb lamp sorting and packing system and method based on machine vision |
| CN105835045A (en) * | 2016-06-06 | 2016-08-10 | 福建工程学院 | Panel mounting truss mechanical arm and mounting method |
| CN106017359A (en) * | 2016-06-29 | 2016-10-12 | 中国科学院沈阳自动化研究所 | Large-scale transformer iron core visual detection system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107458864A (en) * | 2017-09-20 | 2017-12-12 | 广东工业大学 | Transformer silicon steel sheet laminating equipment and its feed arrangement |
| CN107867565A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Transformer core silicon-steel automatic docking device |
| CN108695056A (en) * | 2018-07-05 | 2018-10-23 | 西安启源机电装备有限公司 | A kind of automatic overlapping and assembling device of iron core cutting production line |
| CN108695056B (en) * | 2018-07-05 | 2023-11-10 | 中节能西安启源机电装备有限公司 | Automatic stacking device of iron core shearing production line |
| CN109087804A (en) * | 2018-07-25 | 2018-12-25 | 浙江江山变压器股份有限公司 | A kind of transformer core automatic overlapping and assembling production line |
| CN109087804B (en) * | 2018-07-25 | 2023-12-29 | 浙江江山变压器股份有限公司 | Automatic stacking production line for transformer iron cores |
| CN111390893A (en) * | 2019-01-03 | 2020-07-10 | 海因里希·格奥尔格机械制造有限公司 | Method and positioning system for producing a transformer core |
| CN111390893B (en) * | 2019-01-03 | 2024-06-11 | 海因里希·格奥尔格机械制造有限公司 | Method for producing a transformer core and positioning system |
| EP3739604A1 (en) * | 2019-05-15 | 2020-11-18 | Heinrich Georg GmbH Maschinenfabrik | Method for automatically stacking sheet-shaped goods, in particular transformer core sheets |
| EP3739604B1 (en) | 2019-05-15 | 2022-07-20 | Heinrich Georg GmbH Maschinenfabrik | Method for automatically stacking sheet-shaped goods, in particular transformer core sheets |
| CN112397302A (en) * | 2020-12-16 | 2021-02-23 | 南通睿驰智能科技有限公司 | Automatic stack assembly production line in batches of transformer core |
| CN112397302B (en) * | 2020-12-16 | 2022-01-28 | 南通睿驰智能科技有限公司 | Automatic stack assembly production line in batches of transformer core |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |
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| RJ01 | Rejection of invention patent application after publication |