Transformer box cover bolt tightening system, method and robot

Abstract

The present invention provides a transformer cover bolt tightening system, method, and robot. An automatic loading subsystem transports the transformer to be bolted to a first position, transports the bolts and washers to a second position for assembly, and transports the nuts to a third position. A visual inspection subsystem locates the transformer cover screw holes and stores the positioning information. Based on the positioning information and preset bolt parameter information, the tightening subsystem is sequentially controlled to initially tighten the bolt assembly and nut to the target position corresponding to the cover screw hole. The tightening subsystem is then controlled to perform a secondary tightening of the bolt assembly and nut to the target position based on the positioning information and preset bolt parameter information. The present invention can alleviate the low production efficiency and poor product quality consistency problems of existing transformer manufacturing methods.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a transformer box cover bolt fastening system, method and robot. Background Art

[0002] With the advancement of China's "dual carbon" goals, the development and upgrading of electric power technology has become a crucial component. This development and upgrading is based on the development and upgrading of related equipment manufacturing industries. Transformers are a key component of energy development. Currently, transformer manufacturing is still primarily manual and semi-automated, resulting in low production efficiency. Furthermore, manual tightening of transformer cover bolts results in poor product quality consistency. Summary of the Invention

[0003] In view of this, an object of the present invention is to provide a transformer cover bolt tightening system, method and robot to alleviate the problems of low production efficiency and poor product quality consistency in existing transformer manufacturing methods.

[0004] In the first aspect, an embodiment of the present invention provides a transformer box cover bolt fastening system, the system comprising: an automatic feeding subsystem, a visual inspection subsystem and a fastening subsystem connected to the visual inspection subsystem; the visual inspection subsystem is located at a preset position of the fastening subsystem; the automatic feeding subsystem is used to: transport the transformer to be fastened with box cover bolts to a first position, and transport the bolts and washers to a second position for combining the bolt assembly, and transport the nuts to a third position; the visual inspection subsystem is used to: locate the box cover screw holes of the transformer located at the first position, and save the positioning obtained after positioning positioning information; based on the positioning information and the preset bolt parameter information, sending a first control instruction containing the positioning information to the fastening subsystem; the fastening subsystem is used to: preliminarily fasten the bolt assembly at the second position and the nut at the third position to the target position corresponding to the screw hole of the box cover according to the first control instruction; the visual inspection subsystem is also used to: based on the positioning information and the preset bolt parameter information, sending a second control instruction containing the positioning information to the fastening subsystem; the fastening subsystem is also used to: based on the second control instruction, fasten the bolt assembly and the nut to the target position for a second time.

[0005] In a second aspect, an embodiment of the present invention further provides a transformer cover bolt tightening method, which is applied to the transformer cover bolt tightening system described in the first aspect above, and the method includes: the automatic loading subsystem transports the transformer to be tightened with cover bolts to a first position, and transports the bolts and gaskets to a second position to combine the bolt assembly, and transports the nuts to a third position; the visual inspection subsystem locates the cover screw holes of the transformer located at the first position, and saves the positioning information obtained after positioning; based on the positioning information and preset bolt parameter information, a first control instruction containing the positioning information is sent to the tightening subsystem; the tightening subsystem preliminarily tightens the bolt assembly located at the second position and the nut at the third position to the target position corresponding to the cover screw hole according to the first control instruction; the visual inspection subsystem sends a second control instruction containing the positioning information to the tightening subsystem based on the positioning information and preset bolt parameter information; the tightening subsystem tightens the bolt assembly and the nut to the target position for a second time according to the second control instruction.

[0006] In a third aspect, an embodiment of the present invention further provides a robot, comprising the transformer cover bolt fastening system according to the first aspect.

[0007] The embodiments of the present invention provide a transformer cover bolt tightening system, method, and robot. The automatic loading subsystem transports the transformer to be tightened to a first position, transports the bolts and washers to a second position for bolt assembly, and transports the nuts to a third position. The visual inspection subsystem locates the transformer cover screw hole at the first position and saves the positioning information obtained after positioning. Then, based on the positioning information and preset bolt parameter information, it sends a first control instruction containing the positioning information to the tightening subsystem. The tightening subsystem initially tightens the bolt assembly at the second position and the nut at the third position to the target position corresponding to the cover screw hole according to the first control instruction. The visual inspection subsystem sends a second control instruction containing the positioning information to the tightening subsystem based on the positioning information and preset bolt parameter information. The tightening subsystem tightens the bolt assembly and nut to the target position for a second time according to the second control instruction. The above technology can replace the operator of the transformer cover bolt tightening process to realize the automation of the process, thereby improving the overall production efficiency of the transformer and making the product quality more stable.

[0008] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purposes and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0009] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 This is a schematic structural diagram of a transformer cover bolt fastening system according to an embodiment of the present invention;

[0012] Figure 2 Schematic diagram of the assembly structure of the bolt assembly in an embodiment of the present invention;

[0013] Figure 3 Schematic diagram of the connection between the visual inspection subsystem and the fastening subsystem in an embodiment of the present invention;

[0014] Figure 4 is a simplified schematic diagram of the movement of the mechanical clamping device in an embodiment of the present invention;

[0015] Figure 5 Schematic diagram of a manipulator reaching the position of a workpiece in an embodiment of the present invention;

[0016] Figure 6 Schematic diagram of a manipulator gripping a workpiece according to an embodiment of the present invention;

[0017] Figure 7 A schematic cross-sectional view of the fingers and the workpiece when the manipulator is gripping the workpiece in an embodiment of the present invention;

[0018] Figure 8 The figure is a flow chart of a method for tightening bolts of a transformer cover according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] Currently, transformer manufacturing is still primarily based on manual and semi-automated operations, resulting in low production efficiency. Furthermore, manual tightening of transformer cover bolts results in poor product quality consistency. Therefore, the present invention provides a transformer cover bolt tightening system, method, and robot that can alleviate the low production efficiency and poor product quality consistency issues associated with existing transformer manufacturing methods.

[0021] To facilitate understanding of this embodiment, a transformer box cover bolt fastening system disclosed in an embodiment of the present invention is first described in detail. Figure 1 As shown, the system may include: an automatic loading subsystem 300, a visual inspection subsystem 100, and a fastening subsystem 200 connected to the visual inspection subsystem 100; the visual inspection subsystem 100 is located at a preset position of the fastening subsystem 200;

[0022] The automatic loading subsystem 300 can be used to: transport the transformer to be fastened with the box cover bolts to a first position, transport the bolts and washers to a second position for assembly of the bolt assembly, and transport the nuts to a third position;

[0023] The visual inspection subsystem 100 can be used to: locate the screw hole of the transformer cover at the first position and save the positioning information obtained after the positioning; and send a first control instruction containing the positioning information to the fastening subsystem 200 based on the positioning information and preset bolt parameter information;

[0024] The fastening subsystem 200 can be used to: preliminarily fasten the bolt assembly at the second position and the nut at the third position to the target position corresponding to the screw hole of the box cover according to the first control instruction.

[0025] The visual inspection subsystem 100 may also be configured to: send a second control instruction containing positioning information to the fastening subsystem 200 based on the positioning information and the preset bolt parameter information;

[0026] The fastening subsystem 200 may also be configured to: secondary fasten the bolt assembly and the nut to a target position according to a second control instruction.

[0027] The above-mentioned preset position can be upward, downward, leftward, rightward, etc., and is not limited to this. The arrangement of the visual inspection subsystem 100 at the preset position of the fastening subsystem 200 can facilitate the visual inspection subsystem 100 to locate the screw hole of the transformer cover at the first position, thereby ensuring the accuracy of the positioning.

[0028] An embodiment of the present invention provides a transformer cover bolt tightening system, wherein an automatic loading subsystem transports the transformer to be tightened with cover bolts to a first position, transports the bolts and washers to a second position for assembly of the bolt assembly, and transports the nuts to a third position; a visual inspection subsystem locates the cover screw holes of the transformer at the first position and saves the positioning information obtained after positioning, and then sends a first control instruction containing the positioning information to the tightening subsystem based on the positioning information and preset bolt parameter information; the tightening subsystem preliminarily tightens the bolt assembly at the second position and the nut at the third position to the target position corresponding to the cover screw hole according to the first control instruction; the visual inspection subsystem sends a second control instruction containing the positioning information to the tightening subsystem based on the positioning information and preset bolt parameter information; the tightening subsystem tightens the bolt assembly and nut to the target position for a second time according to the second control instruction. By adopting the above technology, the operator of the transformer cover bolt tightening process can be replaced to realize the automation of the process, thereby improving the overall production efficiency of the transformer and making the product quality more stable.

[0029] As a possible implementation, the automatic loading subsystem 300 may include a first loading mechanism, a second loading mechanism, and a third loading mechanism;

[0030] The first feeding mechanism can be used to: transport the transformer to be fastened with the box cover bolts to the first position;

[0031] The second feeding mechanism may be used to: transport the bolts and washers to a second location for assembly of the bolt assembly;

[0032] The third feeding mechanism can be used to: transport the nuts to a third position.

[0033] For example, the first feeding mechanism vibrates the bolt vibrating plate so that the bolts inside are arranged closely with their heads facing upward and their screw parts facing downward and move along the bolt discharge trough, and the bolt pushing cylinder arranged at the end of the bolt discharge trough pushes the bolts moved to the bolt pressing position arranged on the bolt feeding trough; the second feeding mechanism vibrates the gasket vibrating plate so that the gaskets inside are arranged closely with their heads facing upward and their screw parts facing downward and move along the gasket discharge trough, and the gasket pushing cylinder arranged at the end of the gasket discharge trough pushes the gaskets moved to the bolt pressing position The gasket at the end of the gasket discharge trough is pushed to the gasket pressing position provided on the gasket loading trough, which is provided with a through hole, and the gasket pressing position is located directly below the bolt pressing position; the second loading mechanism drives the bolt pressing head (fixed at the front end of the pressing cylinder piston rod) through the bolt pressing cylinder located above the pressing position to press the bolt downward, so that the bolt moves downward and is inserted into the gasket at the gasket pressing position, thereby assembling the bolt and gasket into a kit (i.e., a bolt assembly), and then the kit is conveyed to the feeding port by the conveying device to wait for material collection. Figure 2The figure shows the assembly structure of the bolt assembly, which is assembled by inserting a bolt 21 with its head facing upward and its screw shaft facing downward into a gasket 22 at a gasket press-fitting position.

[0034] As a possible implementation, see Figure 3 As shown, the above-mentioned fastening subsystem 200 may include a motor group 202 and a mechanical clamping device 201; the mechanical clamping device 201 may include a plurality of robotic arms and robotic hands connected in sequence through movable joints; the motor group 202 may include a plurality of first-type motors for driving the movements of each joint and a second-type motor for driving the robotic hand to perform clamping operations, preliminary fastening operations and secondary fastening operations.

[0035] As a possible implementation, see Figure 3 As shown, the visual inspection subsystem 100 may include an acquisition module 101, a processing module 102 and a controller 103; the acquisition module 101 is connected to the processing module 102; the controller 103 is connected to the acquisition module 101 and the processing module 102 respectively;

[0036] The acquisition module 101 may be used to: acquire an image of the transformer under the control of the controller 103;

[0037] The processing module 102 may be configured to: identify the box cover screw hole target in the above image, and locate the identified box cover screw hole target;

[0038] The controller 103 can be used to: save the positioning information obtained after positioning; send the above-mentioned first control instruction to the above-mentioned motor group 202 according to the positioning information and preset bolt parameter information; send the above-mentioned second control instruction to the motor group according to the positioning information and preset bolt parameter information.

[0039] For example, the target position may include a first target position corresponding to the bolt in the bolt assembly passing through the screw hole of the box cover and a second target position corresponding to the nut being tightened with the bolt in the bolt assembly. Based on this, the motor group 202 may be used to: according to the first control instruction, drive the joints to move the manipulator to the second position via the plurality of first-type motors, drive the manipulator to perform a clamping operation and a preliminary tightening operation on the bolt assembly at the second position via the second-type motor, so that the manipulator clamps the bolt assembly and preliminarily tightens the bolt assembly to the first target position, then drive the joints to move the manipulator to the third position via the plurality of first-type motors, drive the manipulator to perform a clamping operation and a preliminary tightening operation on the nut at the third position via the second-type motor, so that the manipulator clamps the nut and preliminarily tightens the nut to the second target position; according to the second control instruction, drive the manipulator to perform a secondary tightening operation on the bolt assembly via the second-type motor, so that the manipulator tightens the bolt assembly to the first target position, and drive the manipulator to perform a secondary tightening operation on the nut via the second-type motor, so that the manipulator tightens the nut to the second target position.

[0040] In actual applications, the acquisition module 101 may include an industrial camera, an industrial lens, and a visual detection light source. The visual detection subsystem 100 may also include a light intensity sensing module connected to the controller 103 to sense the light intensity of the environment in which the visual detection subsystem 100 is located. Based on this, the controller 103 may also be configured to control the operating state of the visual detection light source based on the light intensity sensed by the light intensity sensing module.

[0041] In actual application, the size and shape of the box cover to be tightened will change due to the different models of transformers produced. The above-mentioned visual inspection subsystem 100 can also be used to check whether the bolt grade meets the requirements of the drawing, whether the bolts have defects, whether there are foreign objects in the screw holes of the box cover, whether the bolts are in place after tightening, etc., and generate reports based on the various inspection data.

[0042] In actual application, the above-mentioned visual inspection subsystem 100 can be installed above the mechanical clamping device 201, so as to facilitate the positioning of the box cover screw holes and the passage of bolts through the box cover screw holes. The application of the above-mentioned visual inspection subsystem 100 is to use an industrial camera instead of human eyes to complete the functions of identifying and locating the shape of the transformer box cover and the box cover screw holes, store the relevant information in the above-mentioned visual inspection subsystem 100, and provide corresponding control instructions for the manipulator to pass the bolts through the box cover screw holes through the above-mentioned visual inspection subsystem 100. At the same time, the above-mentioned visual inspection subsystem 100 can also have functions such as barcode recognition and quality (such as surface coating, oil stains, cracks, dents, etc.) detection. The use of the above-mentioned visual inspection subsystem 100 can effectively improve the detection speed and accuracy of the production line, greatly improve output and product quality, reduce labor costs, and prevent misjudgments caused by human eye fatigue.

[0043] In summary, the functions of the above-mentioned visual inspection subsystem 100 can be mainly reflected in the following aspects:

[0044] (1) It has image import and image memory, which can import reference images and memorize autonomous detection images, providing a basis and standard for the detection process;

[0045] (2) Positioning: Through visual scanning, the transformer's outline, screw holes and other parts are spatially positioned;

[0046] (3) Identification: barcodes, QR codes and other standards in the identification area can be identified to confirm product information;

[0047] (4) Detection: It has functions such as point detection, line detection, hole detection, circle detection, contour detection and flatness detection;

[0048] (5) All-weather operation: It has a light sensitivity adjustment function. After turning off the lighting in the working area, all operations will not be affected. It has the characteristics of 24-hour uninterrupted and unattended operation.

[0049] As a possible embodiment, the first control instruction may further include a first output power of the second type of motor; the second control instruction may further include a second output power of the second type of motor; and the first output power is less than the second output power. Based on this, the controller 103 may further be configured to: determine the torque corresponding to the manipulator based on the preset bolt parameter information; determine the first output power and the second output power based on the torque; send the first control instruction to the motor group 202 based on the positioning information and the first output power; and send the second control instruction to the motor group 202 based on the positioning information and the second output power. The motor group 202 may further be configured to: obtain the first output power from the first control instruction; drive the manipulator using the second type of motor according to the first output power to initially tighten the bolt in the bolt assembly to the first target position; drive the manipulator using the second type of motor according to the first output power to initially tighten the nut to the second target position; obtain the second output power from the second control instruction; drive the manipulator using the second type of motor according to the second output power to secondary tighten the bolt in the bolt assembly to the first target position; and drive the manipulator using the second type of motor according to the second output power to secondary tighten the nut to the second target position.

[0050] For example, the preset bolt parameter information may include bolt diameter, thread pitch, and bolt yield strength. Based on this, the controller 103 may also be configured to: determine the original thread triangle height based on the thread pitch; determine the external thread pitch diameter and external thread minor diameter based on the bolt diameter and thread original triangle height; determine the bolt nominal stress cross-sectional area based on the external thread pitch diameter and external thread minor diameter; and determine the torque magnitude based on the bolt diameter, bolt yield strength, and bolt nominal stress cross-sectional area. For example, the torque magnitude may be calculated using the following formula:

[0051] According to the pitch P (mm), the original triangle height H (mm) of the thread is calculated according to the following formula:

[0052] H=0.866×P

[0053] Based on the bolt diameter d (mm) and the original thread triangle height H (mm), the external thread pitch diameter d2 (mm) and external thread minor diameter d1 (mm) are calculated according to the following formula:

[0054]

[0055]

[0056] Based on the external thread minor diameter d1 (mm) and the original triangle height H (mm), the custom diameter d3 (mm) is calculated according to the following formula:

[0057]

[0058] Based on the external thread pitch diameter d2 (mm) and the custom diameter d2 (mm), the bolt nominal stress cross-sectional area A is calculated according to the following formula: S (mm 2 ):

[0059]

[0060] According to the bolt diameter d (mm), bolt yield strength σ s (MPa) and bolt nominal stress cross-sectional area A S (mm 2 ), calculate the torque T (Nm) according to the following formula:

[0061] T=0.12×σ S ×A S ×d

[0062] For each bolt used for tightening, the corresponding torque can be calculated according to the above calculation method. After the controller 103 calculates the torque according to the above calculation method, it can convert the value obtained by multiplying the torque by a proportional coefficient less than 1 (such as 0.3, 0.5, etc.) into the corresponding output power as the above-mentioned first output power, and can directly convert the torque into the corresponding output power as the above-mentioned second output power, thereby generating the above-mentioned first control instruction for sending to the above-mentioned motor group 202 based on the above-mentioned positioning information and the first output power, and generating the above-mentioned second control instruction for sending to the above-mentioned motor group 202 based on the above-mentioned positioning information and the second output power.

[0063] For example, see Figure 4 As shown, the above-mentioned multiple robotic arms may include a first robotic arm 45, a second robotic arm 46, a third robotic arm 47, a fourth robotic arm 48 and a robotic hand, one end of the first robotic arm 45 is fixedly arranged, the other end of the first robotic arm 45 is connected to one end of the second robotic arm 46 through a horizontally rotatable first joint 41, the other end of the second robotic arm 46 is connected to one end of the third robotic arm 47 through a liftable second joint 42, the other end of the third robotic arm 47 is connected to one end of the fourth robotic arm 48 through a horizontally rotatable third joint 43, and the other end of the fourth robotic arm 48 is connected to the robotic hand through a fourth joint 44 that can move back and forth; wherein, the robotic hand can perform clamping operations and rotation operations, and the rotation operation includes a preliminary tightening operation and a secondary tightening operation; the above-mentioned multiple first-class motors may include a first motor for driving the first joint 41 to rotate horizontally, a second motor for driving the second joint 42 to rise and fall, a third motor for driving the third joint 43 to rotate horizontally, and a fourth motor for driving the fourth joint 44 to move back and forth.

[0064] Continuing with the previous example, after the bolt assembly (referred to as the "workpiece") is assembled, the operation process of the mechanical clamping device 201 can be decomposed into the following steps:

[0065] Work step 1: Turn on the machine → Work step 2: Rotate the grasping position → Work step 3: The arm (i.e., multiple robotic arms as a whole) descends → Work step 4: The arm extends → Work step 5: The hand (i.e., the robotic arm) grasps (i.e., clamps) the workpiece → Work step 6: The arm retracts → Work step 7: The arm rises → Work step 8: The arm rotates to move the hand above the fastening position → Work step 9: The arm descends → Work step 10: Insert the bolts and nuts → Work step 11: Pre-tightening (i.e., initial tightening) → Work step 12: Final tightening (i.e., secondary tightening).

[0066] For ease of understanding, Figures 5 to 7 Taking the example of a robot gripping a workpiece, the structural principle is described as follows: the robot comprises a driving rod 1 and at least two symmetrically distributed fingers (i.e., clamping rods), one end of the driving rod 1 is connected to the output shaft of the rotating motor, the other end of the driving rod 1 is provided with a retractable part (the part is driven to retract by a corresponding driving device), and the retractable part is vertically distributed with multiple rows of teeth, one end of each finger 3 is matched with the teeth of the retractable part of the driving rod 1 through a corresponding sector gear 2, and the other end of each finger 3 adopts a structure that is bent inward and concave on the inside to ensure that the workpiece can be gripped; the robot is in Figure 5 In the state shown, the telescopic portion of the driving rod 1 is retracted upward to Figure 6 The state shown is to grasp the workpiece 4 by the finger 3, according to Figure 7 It can be seen that at this time, a portion of the workpiece 4 has been clamped and fixed in the recessed structure on the inner side of the lower end of the finger 3.

[0067] Based on the above transformer cover bolt fastening system, the embodiment of the present invention further provides a transformer cover bolt fastening method, which can be applied to the above transformer cover bolt fastening system, see Figure 8 As shown, the method may include the following steps:

[0068] In step S802, the automatic loading subsystem transports the transformer with the box cover bolts to be tightened to the first position, transports the bolts and washers to the second position for assembly of the bolt assembly, and transports the nuts to the third position.

[0069] In step S804, the visual inspection subsystem locates the screw hole of the transformer cover at the first position, saves the positioning information obtained after positioning, and then sends a first control instruction containing the positioning information to the fastening subsystem based on the positioning information and preset bolt parameter information.

[0070] In step S806 , the fastening subsystem preliminarily fastens the bolt assembly at the second position and the nut at the third position to the target position corresponding to the screw hole of the box cover according to the first control instruction.

[0071] Step S808: The visual inspection subsystem sends a second control instruction containing the positioning information to the fastening subsystem according to the positioning information and the preset bolt parameter information.

[0072] In step S810 , the fastening subsystem fastens the bolt assembly and the nut to a target position for a second time according to the second control instruction.

[0073] An embodiment of the present invention provides a method for tightening transformer cover bolts. The automatic loading subsystem transports the transformer to be tightened with cover bolts to a first position, transports the bolts and washers to a second position for assembly of the bolt assembly, and transports the nuts to a third position. The visual inspection subsystem locates the cover screw holes of the transformer at the first position and saves the positioning information obtained after positioning. Then, based on the positioning information and preset bolt parameter information, a first control instruction containing the positioning information is sent to the tightening subsystem. The tightening subsystem initially tightens the bolt assembly at the second position and the nut at the third position to the target position corresponding to the cover screw hole according to the first control instruction. The visual inspection subsystem sends a second control instruction containing the positioning information to the tightening subsystem based on the positioning information and preset bolt parameter information. The tightening subsystem tightens the bolt assembly and nut to the target position for a second time according to the second control instruction. By adopting the above technology, the operator of the transformer cover bolt tightening process can be replaced to realize the automation of the process, thereby improving the overall production efficiency of the transformer and making the product quality more stable.

[0074] The above-mentioned fastening subsystem may include a motor group and a mechanical clamping device; the above-mentioned mechanical clamping device may include a plurality of robotic arms and robotic hands connected in sequence through movable joints; the above-mentioned motor group may include a plurality of first-type motors for driving the movements of each joint and a second-type motor for driving the robotic hands to perform clamping operations, preliminary fastening operations and secondary fastening operations.

[0075] The above-mentioned visual inspection subsystem may include an acquisition module, a processing module and a controller; the acquisition module is connected to the processing module; the controller is connected to the acquisition module and the processing module respectively; based on this, the above-mentioned step S804 (that is, the visual inspection subsystem locates the box cover screw hole of the transformer located at the first position, and saves the positioning information obtained after positioning, and then sends the first control instruction containing the positioning information to the fastening subsystem according to the positioning information and the preset bolt parameter information) may include: the acquisition module acquires the image of the transformer under the control of the controller; the processing module identifies the box cover screw hole target in the image and locates the identified box cover screw hole target; the controller saves the positioning information obtained after positioning, sends the first control instruction to the motor group according to the positioning information and the preset bolt parameter information, and sends the second control instruction to the motor group according to the positioning information and the preset bolt parameter information.

[0076] The above-mentioned target position may include a first target position corresponding to the bolt in the bolt assembly passing through the screw hole of the box cover and a second target position corresponding to the tightening cooperation between the nut and the bolt in the bolt assembly; based on this, the above-mentioned step S806 (that is, the fastening subsystem preliminarily tightens the bolt assembly located at the second position and the nut at the third position to the target position corresponding to the screw hole of the box cover according to the first control instruction) may include: the motor group drives each joint to move according to the first control instruction through the multiple first-type motors to move the manipulator to the second position, and drives the manipulator through the second-type motor to perform a clamping operation and a preliminary tightening operation on the bolt assembly located at the second position so that the manipulator clamps the bolt The motor group drives the manipulator to perform a secondary tightening operation on the bolt assembly and initially tightens the bolt assembly at the first target position, and then drives each joint to move the manipulator to the third position through the multiple first-type motors, and drives the manipulator to perform a clamping operation and a preliminary tightening operation on the nut located at the third position through the second-type motor so that the manipulator clamps the nut and initially tightens the nut at the second target position; the motor group drives the manipulator to perform a secondary tightening operation on the bolt assembly through the second-type motor according to the second control instruction so that the manipulator tightens the bolt assembly at the first target position for the second time, and drives the manipulator to perform a secondary tightening operation on the nut through the second-type motor so that the manipulator tightens the nut at the second target position for the second time.

[0077] The above-mentioned first control instruction may also include the first output power of the above-mentioned second type of motor; the above-mentioned second control instruction may also include the second output power of the above-mentioned second type of motor; the first output power is less than the second output power; based on this, the controller sends the first control instruction to the motor group according to the positioning information and the preset bolt parameter information, and the step of sending the second control instruction to the motor group according to the positioning information and the preset bolt parameter information may include: the controller determines the torque corresponding to the manipulator according to the preset bolt parameter information, determines the first output power and the second output power according to the torque, sends the first control instruction to the motor group according to the positioning information and the first output power, and sends the second control instruction to the motor group according to the positioning information and the second output power.

[0078] The motor group drives the manipulator to perform a preliminary tightening operation on the bolt assembly through the second type of motor according to the first control instruction, and the step of driving the manipulator to perform a preliminary tightening operation on the nut through the second type of motor may include: the motor group obtains the first output power from the first control instruction, drives the manipulator through the second type of motor according to the first output power to preliminarily tighten the bolt in the bolt assembly to the first target position, and drives the manipulator through the second type of motor according to the first output power to preliminarily tighten the nut to the second target position.

[0079] The motor group drives the manipulator to perform a secondary tightening operation on the bolt assembly through the second type of motor according to the second control instruction, and the step of driving the manipulator to perform a secondary tightening operation on the nut through the second type of motor may include: the motor group obtains the second output power from the second control instruction, drives the manipulator through the second type of motor according to the second output power to tighten the bolts in the bolt assembly to the first target position for the secondary tightening operation, and drives the manipulator through the second type of motor according to the second output power to tighten the nut to the second target position for the secondary tightening operation.

[0080] The above-mentioned preset bolt parameter information may include bolt diameter, pitch and bolt yield strength; based on this, the step in which the controller determines the torque size corresponding to the manipulator according to the preset bolt parameter information may include: the controller determines the original triangle height of the thread according to the pitch, determines the middle diameter and minor diameter of the external thread according to the bolt diameter and the original triangle height of the thread, determines the nominal stress cross-sectional area of ​​the bolt according to the middle diameter and minor diameter of the external thread, and determines the torque size according to the bolt diameter, bolt yield strength and nominal stress cross-sectional area of ​​the bolt.

[0081] The above-mentioned acquisition module may include an industrial camera, an industrial lens and a visual detection light source; the above-mentioned visual detection subsystem may also include a light intensity sensing module connected to the controller; based on this, the above-mentioned transformer cover bolt tightening method may also include: the light intensity sensing module senses the light intensity of the environment in which the visual detection subsystem is located; the controller controls the working state of the visual detection light source according to the light intensity sensed by the light intensity sensing module.

[0082] The above-mentioned automatic loading subsystem may include a first loading mechanism, a second loading mechanism and a third loading mechanism; based on this, the above-mentioned step S802 (that is, the automatic loading subsystem transports the transformer to be tightened with the box cover bolts to the first position, and transports the bolts and gaskets to the second position for combining the bolt assembly, and transports the nuts to the third position) may include: the first loading mechanism transports the transformer to be tightened with the box cover bolts to the first position; the second loading mechanism transports the bolts and gaskets to the second position for combining the bolt assembly; and the third loading mechanism transports the nuts to the third position.

[0083] The transformer cover bolt fastening method provided in the embodiment of the present invention has the same implementation principle and technical effects as the aforementioned transformer cover bolt fastening system embodiment. For the sake of brief description, for matters not mentioned in the system embodiment, reference can be made to the corresponding contents in the aforementioned method embodiment.

[0084] Based on the above transformer cover bolt fastening system, an embodiment of the present invention further provides a robot, which may include the above transformer cover bolt fastening system.

[0085] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0086] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0087] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0088] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A transformer cover bolt fastening system, characterized in that: The system includes: an automatic feeding subsystem, a visual inspection subsystem, and a fastening subsystem connected to the visual inspection subsystem; the visual inspection subsystem is located at a preset position of the fastening subsystem; The automatic loading subsystem is used to: transport the transformer to be fastened with box cover bolts to a first position, transport the bolts and washers to a second position for assembly of the bolt assembly, and transport the nuts to a third position; The visual inspection subsystem is configured to: locate the screw hole of the transformer cover at the first position and save the positioning information obtained after the positioning; and send a first control instruction containing the positioning information to the fastening subsystem based on the positioning information and preset bolt parameter information; The fastening subsystem is configured to: preliminarily fasten the bolt assembly at the second position and the nut at the third position to a target position corresponding to the screw hole of the box cover according to the first control instruction; The visual inspection subsystem is further configured to: send a second control instruction containing the positioning information to the fastening subsystem based on the positioning information and preset bolt parameter information; The fastening subsystem is further configured to: secondary fasten the bolt assembly and the nut to a target position according to the second control instruction.

2. The system according to claim 1, wherein: The fastening subsystem includes a motor group and a mechanical clamping device; the mechanical clamping device includes multiple robotic arms and robotic hands connected in sequence through movable joints; the motor group includes multiple first-type motors for driving the movements of each joint and second-type motors for driving the robotic hands to perform clamping operations, preliminary fastening operations and secondary fastening operations.

3. The system according to claim 2, characterized in that The visual detection subsystem includes an acquisition module, a processing module and a controller; the acquisition module is connected to the processing module; the controller is connected to the acquisition module and the processing module respectively; The acquisition module is used to: acquire an image of the transformer under the control of the controller; The processing module is used to: identify the box cover screw hole target in the image and locate the identified box cover screw hole target; The controller is used to: save the positioning information obtained after positioning; send the first control instruction to the motor group according to the positioning information and preset bolt parameter information; send the second control instruction to the motor group according to the positioning information and preset bolt parameter information.

4. The system according to claim 3, characterized in that The target positions include a first target position corresponding to the bolt in the bolt assembly passing through the screw hole of the box cover and a second target position corresponding to the nut being tightly fitted with the bolt in the bolt assembly; The motor group is configured to: according to the first control instruction, drive the joints to move by the multiple first-type motors so that the manipulator moves to the second position, drive the manipulator to perform a clamping operation and a preliminary tightening operation on the bolt assembly located at the second position by the second-type motor, so that the manipulator clamps the bolt assembly and preliminarily tightens the bolt assembly to the first target position, and then drive the joints to move by the multiple first-type motors so that the manipulator moves to the third position, drive the manipulator to perform a clamping operation and a preliminary tightening operation on the nut located at the third position by the second-type motor, so that the manipulator clamps the nut and preliminarily tightens the nut to the second target position; According to the second control instruction, the second type of motor drives the manipulator to perform a secondary tightening operation on the bolt assembly so that the manipulator tightens the bolt assembly to the first target position for the second time, and the second type of motor drives the manipulator to perform a secondary tightening operation on the nut so that the manipulator tightens the nut to the second target position for the second time.

5. The system according to claim 4, characterized in that The first control instruction further includes a first output power of the second type of motor; the second control instruction further includes a second output power of the second type of motor; the first output power is less than the second output power; The controller is further configured to: determine a torque corresponding to the manipulator according to the preset bolt parameter information; determine the first output power and the second output power according to the torque; and send the first control instruction to the motor group according to the positioning information and the first output power; sending the second control instruction to the motor group according to the positioning information and the second output power; The motor group is further configured to: obtain the first output power from the first control instruction; and drive the manipulator to preliminarily tighten the bolts in the bolt assembly to the first target position by the second type motor according to the first output power; driving the manipulator by the second type motor according to the first output power to preliminarily tighten the nut to a second target position; Obtaining the second output power from the second control instruction; driving the manipulator to tighten the bolts in the bolt assembly to the first target position for a second time using the second type of motor according to the second output power; The second type of motor drives the manipulator according to the second output power to tighten the nut to the second target position for a second time.

6. The system according to claim 5, characterized in that The preset bolt parameter information includes bolt diameter, pitch and bolt yield strength; the controller is also used to: determine the original triangle height of the thread based on the pitch; determine the external thread pitch diameter and external thread minor diameter based on the bolt diameter and the original triangle height of the thread; determine the bolt nominal stress cross-sectional area based on the external thread pitch diameter and external thread minor diameter; determine the torque size based on the bolt diameter, bolt yield strength and bolt nominal stress cross-sectional area.

7. The system according to claim 3, wherein: The acquisition module includes an industrial camera, an industrial lens and a visual detection light source; the visual detection subsystem also includes a light intensity sensing module connected to the controller, which is used to sense the light intensity of the environment in which the visual detection subsystem is located; the controller is also used to: control the working state of the visual detection light source according to the light intensity sensed by the light intensity sensing module.

8. The system according to claim 1, wherein: The automatic feeding subsystem includes a first feeding mechanism, a second feeding mechanism and a third feeding mechanism; The first feeding mechanism is used to: transport the transformer to be fastened with the box cover bolts to the first position; The second feeding mechanism is used to: transport the bolts and washers to the second position for assembly of the bolt assembly; The third feeding mechanism is used to transport the nuts to a third position.

9. A method for fastening bolts of a transformer cover, characterized in that: The method is applied to the transformer cover bolt fastening system according to any one of claims 1 to 8, and is characterized in that the method comprises: The automatic loading subsystem transports the transformer to be fastened with the box cover bolts to the first position, transports the bolts and washers to the second position for assembly of the bolt assembly, and transports the nuts to the third position; The visual inspection subsystem locates the screw hole of the transformer cover at the first position and saves the positioning information obtained after the positioning; based on the positioning information and the preset bolt parameter information, a first control instruction containing the positioning information is sent to the fastening subsystem; The fastening subsystem preliminarily fastens the bolt assembly at the second position and the nut at the third position to the target position corresponding to the screw hole of the box cover according to the first control instruction; The visual inspection subsystem sends a second control instruction containing the positioning information to the fastening subsystem based on the positioning information and preset bolt parameter information; The fastening subsystem secondary-tightens the bolt assembly and the nut to a target position according to the second control instruction.

10. A robot, characterized in that: The robot includes the transformer cover bolt fastening system according to any one of claims 1 to 8.

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