Automatic lamination robot for transformer iron core

Abstract

The invention discloses an automatic lamination robot for a transformer iron core and can solve technical problems of low efficiency, light labor and high intensity of the transformer iron core lamination process in the prior art. The robot comprises a main frame supporting large cross beam assembly, wherein the large cross beam assembly can move front and back on a main frame, a transverse movingassembly is installed on the large cross beam assembly and can move left and right, a longitudinal moving assembly is installed on the transverse moving assembly and can move up and down, and a rotating assembly is installed at a tail end of the longitudinal moving assembly and can rotate freely. An industrial camera installed at the tail end of the rotating assembly can shoot an overall pictureof a feeding area, the position of a silicon steel sheet to be sucked by a mechanical arm is determined through image processing and identification, the position of the mechanical arm is adjusted to just face the to-be-sucked silicon steel sheet, and thereby the truss mechanical arm is controlled for completing single-sheet suction of the silicon steel sheet. The robot is advantaged in that the required silicon steel sheet can be automatically identified in an image identification mode, the position of the mechanical arm is automatically corrected, the silicon steel sheet is grabbed and placedat the designated position of a lamination table, the lamination quality and efficiency are improved, and labor intensity of workers is reduced.

Description

technical field

[0001] The invention relates to the technical field of automation equipment, in particular to an automatic lamination robot for transformer cores. Background technique

[0002] With the rapid development of my country's power system, the demand for transformers is increasing, and the transformer core is one of the most important components of the transformer, which plays a role in limiting the closed magnetic circuit of the main magnetic field. Large-scale transformer cores are usually assembled from nearly 10,000 pieces of silicon steel sheets, and there are hundreds of specifications of silicon steel sheets. Manual stacking is time-consuming and laborious, and the accuracy is not high. The stacking accuracy of silicon steel sheets will directly affect performance indicators such as iron loss and noise of the transformer.

[0003] In my country, the stacking process is done manually, and the stacking efficiency and precision of the iron core cannot be guara...

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