Disassembling and assembling device and method for iron yoke on distribution transformer

Abstract

The invention discloses a device and method for disassembling and assembling an iron yoke on a distribution transformer, and belongs to the technical field of transformer production. The distribution transformer upper iron yoke dismounting device comprises a transfer trolley and an iron yoke dismounting manipulator, is fixedly mounted at a dismounting station and is used for integrally pulling out an upper iron yoke at one time; the supporting and positioning device is rotationally mounted on the transfer trolley and is used for placing the transformer body and the upper iron yoke; the storage rack is placed on the supporting and positioning device and is used for accommodating the upper iron yoke which is integrally pulled out; and the iron yoke inserting manipulator is fixedly mounted at the inserting station and is used for sequentially inserting the upper iron yokes in the storage rack back to the iron cores one by one. And the time of the dismantling procedure is shortened from'accumulative consumed time of piece-by-piece operation 'to'one-time grabbing time', so that the working efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transformer production, in particular to a distribution transformer upper yoke dismounting device and method. BACKGROUND

[0002] The core of a power transformer is divided into core columns (the part with windings) and yokes, the windings are installed on the core columns, and the yokes close the magnetic circuit between the core columns. When the core columns and the yokes are combined into the whole core, the overlapping assembly is usually adopted, so that the joints of each layer are not at the same place, which can reduce the excitation current.

[0003] During the assembly process of the body of the distribution transformer, the upper yoke insert piece of the core is a main process that occupies the transformer manufacturing time. The upper yoke needs to be removed first, and then after the completion of the winding assembly of the transformer, the upper yoke removed in the previous process is inserted back to the original position piece by piece and in sequence according to the removal order. The number of conventional core upper yokes is generally about 1000 pieces. In order to improve work efficiency, an automatic dismounting device for the upper yoke has appeared, which controls the mechanical hand to grab, move and place the upper yoke, so as to realize the automatic installation of the transformer upper yoke.

[0004] The existing automatic dismounting device for the upper yoke completes the removal and installation processes of the upper yoke through the suction cup type mechanical hand. The whole dismounting process of the upper yoke is single piece operation. Especially in the process of single piece removal of the upper yoke, it is necessary to ensure that the removed upper yoke is placed in order. The process is complex and occupies a lot of time, which affects the work efficiency. In addition, the positioning of the installation of the upper yoke relies on the center alignment, and the positioning and installation precision is poor. SUMMARY

[0005] In order to solve the technical problems in the above background art that the existing automatic dismounting device for the upper yoke completes the removal and installation processes of the upper yoke through the suction cup type mechanical hand, the whole dismounting process of the upper yoke is single piece operation, the process is complex and occupies a lot of time, and the work efficiency is affected, the present application provides a distribution transformer upper yoke dismounting device and method.

[0006] The technical scheme of the present application is as follows: The present application provides a distribution transformer upper yoke dismounting device, which comprises a transfer trolley, and further comprises: A yoke removal mechanical hand is fixedly installed at the removal station and is used to pull out the upper yoke as a whole at one time, which simplifies the removal process, eliminates the need for single piece operation, saves a lot of time, and significantly improves the work efficiency; A supporting and positioning device is rotatably installed on the transfer trolley and is used to place the body and the upper yoke, so as to facilitate the quick transfer of the removed upper yoke and the body after the completion of the winding assembly, without the need to set a conveying belt or other structure, thereby reducing the space occupation. The storage rack is placed on the support positioning device and is used to accommodate the whole pulled-out upper yoke, can limit the upper yoke, and is convenient for subsequent grabbing and inserting of the upper yoke; The yoke inserting mechanical hand is fixedly installed at the inserting station and is used to insert the upper yoke in the storage rack back into the iron core in sequence.

[0007] Preferably, the yoke removing mechanical hand comprises a four-axis mechanical arm, the end of the four-axis mechanical arm is provided with two oppositely arranged grabbing fingers, the two grabbing fingers are oppositely arranged along the length direction of the whole upper yoke, and the two grabbing fingers are staggered along the width direction of the whole upper yoke. The four-axis mechanical arm cooperates with the specially arranged grabbing fingers to stably grab the whole upper yoke, ensures that the upper yoke does not fall off or deform during pulling out, further ensures the efficiency and stability of the removing process, avoids secondary operation caused by unstable grabbing, and saves time cost.

[0008] Preferably, the storage rack is an upper opening structure, the storage rack comprises a bottom plate, a plurality of side plates are installed on the periphery of the bottom plate, one of the side plates is movably connected with the bottom plate, and the upper opening structure cooperates with the movably arranged side plates to facilitate the yoke removing mechanical hand to vertically place the whole set of yokes in the storage rack. The movably arranged side plates can be opened during insertion, so that the yoke inserting mechanical hand can grab the yokes from the side to avoid the problem of yoke adhesion caused by traditional stacking storage; the rigid structure of the bottom plate and the side plates can limit the yoke set to prevent the yokes from being staggered due to vibration during transfer, and ensure the accuracy of the predetermined positioning information.

[0009] Preferably, the support positioning device comprises a first frame body and a second frame body, the first frame body and the second frame body are both L-shaped supports, the second frame body is fixedly arranged on the top of the first frame body, and a positioning mechanism is detachably installed on the side wall of the first frame body. The storage rack is placed on the second frame body. The first frame body and the second frame body of the L-shaped support structure provide a stable placement platform for the body and the storage rack; the detachable positioning mechanism can be adjusted according to different specifications of the body to realize accurate press-fitting limiting of the body, ensure the stability of the body and the upper yoke during transfer, and also improve the universality of the support positioning device.

[0010] Preferably, the positioning mechanism is a T-shaped structure, a plurality of positioning steps are detachably installed on the side wall of the positioning mechanism, the lengths of the positioning steps gradually decrease in the direction from bottom to top, and the positioning steps can assist the insertion and positioning of the upper yoke to adapt to the stepped profile of the stacked upper yoke, improve the insertion and positioning accuracy and efficiency of the upper yoke.

[0011] Preferably, the iron yoke inserting manipulator is a suction cup type manipulator, the iron yoke removing manipulator and the iron yoke inserting manipulator are connected with the control mechanism, the iron yoke removing manipulator and the iron yoke inserting manipulator are both equipped with a visual recognition mechanism, the suction cup type manipulator can stably grab the upper iron yoke, ensuring the stability of the inserting process; the connection with the control mechanism realizes the automatic operation of the manipulator, reduces manual intervention, and improves operation accuracy; the equipped visual recognition mechanism can scan and detect the iron core and the upper iron yoke to obtain accurate position information, enabling precise positioning and installation, greatly improving the precision and quality of the upper iron yoke inserting.

[0012] A disassembling and assembling method, comprising: The transformer is placed at the disassembling station, the iron yoke removing manipulator pulls out the upper iron yoke of the iron core as a whole, and stands the upper iron yoke vertically in the storage rack, the control mechanism matches the yoke sheet with the iron core, records the direction and position information, and provides pre-positioning information for subsequent sheet inserting operation, through the steps of whole disassembly, pre-positioning information recording, accurate scanning detection and checking, the complex process of placing in order required by the existing single sheet disassembly is avoided, and the operation process is simplified; The storage rack is placed on the second rack body, the body with the assembled coil is placed on the first rack body, the body is limited and positioned by the positioning mechanism, and the transfer trolley is transferred to the inserting station; The iron yoke inserting manipulator scans and detects the appearance of the iron core and the upper iron yoke to be grabbed by the visual recognition mechanism, determines the spatial position of the upper surface of the core column of the iron core, and checks the spatial position of the upper surface of the core column with the pre-positioning information, and confirms the accuracy, and then performs the sheet inserting operation; The iron yoke inserting manipulator inserts the upper iron yoke in the storage rack on the iron core piece by piece and step by step until the sheet inserting is completed, the visual recognition mechanism and the pre-positioning information are used to realize the accurate inserting of the upper iron yoke, improve the installation efficiency and precision, and solve the problems of complex process and poor positioning precision of the existing device.

[0013] Preferably, after the transfer trolley moves to the inserting station, the support positioning device is turned over by 30°, the body and the storage rack are inclined by 30°, and the side plate of the movable side of the storage rack is opened, so that the iron yoke inserting manipulator can more conveniently grab the upper iron yoke in the storage rack, the operation convenience of the inserting process is optimized, and the inclination by a certain angle helps the upper iron yoke to remain stable under the action of gravity, prevents it from falling and sliding, facilitates the grabbing of the manipulator, reduces the adjustment time in the grabbing process, and further improves the inserting efficiency.

[0014] Preferably, in the process of inserting the sheet: first, the spatial position of the upper surface of the core and the upper yoke to be grabbed is scanned to determine the boundary of the characteristic positioning point, and the characteristic positioning point of the upper yoke is matched and compared with the corresponding characteristic positioning point of the core, and the spatial position relationship is established, then the upper yoke is grabbed by the yoke inserting manipulator, and finally the characteristic positioning points with mutual relationship are closely combined to complete the insertion of the single upper yoke. Through scanning, matching, comparing and establishing the spatial position relationship of the characteristic positioning points, the accurate positioning and installation of the upper yoke and the core are realized. Compared with the existing problem of poor positioning accuracy relying on center alignment, the method significantly improves the accuracy and reliability of the upper yoke insertion, and ensures the quality of the transformer assembly.

[0015] Preferably, the principle of the spatial position relationship is: The descriptor of a characteristic positioning point of the upper yoke is D1, and the descriptor of a characteristic positioning point of the core is D2. The Euclidean distance d is calculated as: The distance threshold T is set d When d d , the two characteristic positioning points are matched successfully. After the matching of the characteristic positioning points is completed, the coordinates of the selected characteristic positioning point of the upper yoke in the image coordinate system are , and the coordinates of the matched characteristic positioning point of the core in the image coordinate system are The error function is minimized as: The translation vector and the rotation angle of the upper yoke relative to the core are solved to establish the spatial position relationship between the two.

[0016] From the above technical scheme, it can be seen that the advantages of the present application are: 1. The four-axis mechanical arm cooperates with the misaligned gripping fingers to realize the ring-shaped grabbing of the whole set of upper yokes through the multi-joint linkage of the mechanical arm, and the whole upper yoke can be pulled out in a single operation, which shortens the time of the disassembly process from the "cumulative time of piece-by-piece operation" to "one-time grabbing time", effectively improving the work efficiency. The misaligned gripping fingers can adapt to the stepped profile of the stacked yokes, avoid the deformation of the yokes due to uneven force during grabbing, ensure that the disassembled yoke group maintains the original arrangement order, and save the complex process of "placing in order" subsequently.

[0017] 2、Through the operation of "whole disassembly whole storage + piece by piece precision insertion", the work efficiency is effectively improved, meanwhile, the problems of sequence disorder and piece damage caused by manual participation are avoided, in the process of insertion and installation, through scanning, matching, comparison and establishment of spatial position of the characteristic positioning points, the accurate positioning and installation of the upper yoke and the iron core are realized, compared with the existing problem of poor positioning accuracy relying on center alignment, the method significantly improves the accuracy and reliability of the upper yoke insertion and installation, and ensures the quality of transformer assembly. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the present application, the drawings needed to be used in the description will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained according to these drawings without creative labor for those skilled in the art.

[0019] Figure 1 It is a structural schematic diagram of the iron yoke dismounting manipulator according to one or more embodiments of the present application; Figure 2 It is a dismounting and placing process schematic diagram of the upper yoke according to one or more embodiments of the present application; Figure 3 It is a structural schematic diagram of the support positioning device according to one or more embodiments of the present application; Figure 4 It is a working state schematic diagram of the support positioning device according to one or more embodiments of the present application; Figure 5 It is an insertion and installation process schematic diagram of the upper yoke according to one or more embodiments of the present application; Figure 6 It is a position schematic diagram of the characteristic positioning point according to one or more embodiments of the present application; Figure 7 It is a structural schematic diagram of the quick dismounting lock according to one or more embodiments of the present application; The components represented by the reference numerals in the drawings are as follows: 1, iron yoke dismounting manipulator; 2, four-axis mechanical arm; 3, grabbing finger; 4, finger section; 5, upper yoke; 6, storage rack; 61, bottom plate; 62, side plate; 7, support positioning device; 8, first rack body; 9, second rack body; 10, positioning mechanism; 11, positioning step; 12, body; 13, iron yoke insertion and installation manipulator; 14, iron core; 15, characteristic positioning point; 16, lock ring; 17, lock page; 18, bolt; 19, rotating shaft; 20, triangular groove; 21, left column iron; 22, middle column iron; 23, right column iron. DETAILED DESCRIPTION

[0020] In order to make the purposes, characteristics and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be clearly and completely described below in combination with the drawings in the specific embodiments. Obviously, the following described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present patent.

[0021] Embodiment 1 In a typical embodiment of the present application, as shown in Figures 1-7 , a power distribution transformer upper yoke dismounting device is proposed, which comprises a yoke dismounting manipulator 1, a storage rack 6, a support positioning device 7 and a yoke inserting manipulator 13. The yoke dismounting manipulator 1 is fixedly installed at a dismounting station and is used to pull out the upper yoke 5 in one piece. The support positioning device 7 is installed on a transfer trolley, and in the present embodiment, an RGV transfer trolley is used. The support positioning device 7 is used for placing the body 12 and the upper yoke 5. The storage rack 6 is placed on the support positioning device 7 and is used to accommodate the upper yoke 5 pulled out in one piece by the yoke dismounting manipulator 1. The storage rack 6 can move with the transfer trolley between the dismounting station and an inserting station. The yoke inserting manipulator 13 is fixedly installed at the inserting station and is used to insert the upper yoke 5 in the storage rack 6 back onto the core in sequence.

[0022] As shown in Figure 1 and Figure 2 , the yoke dismounting manipulator 1 comprises a four-axis manipulator 2 and a gripper 3. The four-axis manipulator 2 is a manipulator structure with visual recognition function and has degrees of freedom of X-axis (horizontal direction moving axis, i.e. transverse axis), Y-axis (vertical direction moving axis, i.e. longitudinal axis), Z-axis (vertical direction rotating axis) and R-axis (horizontal direction rotating wrist axis). Two oppositely arranged grippers 3 are installed at the end of the four-axis manipulator 2 to imitate human hand actions. The gripper 3 comprises three sections of finger segments 4. The finger segments 4 are long strip structures and are arranged in sequence. The adjacent finger segments 4 are hingedly connected and are driven by a driving assembly, such as a motor and a gear, between them. The motor rotation generates torque, and the gear meshing converts the rotary motion into the flexion and extension action of the finger segments 4. Alternatively, a hydraulic / pneumatic drive is used to drive the finger segments 4 to act.

[0023] It can be understood that the driving assembly can also be of other structural forms, which can be selected according to actual needs, and no further limitation is made here.

[0024] In the embodiment, the two gripping fingers 3 are arranged opposite along the length direction of the upper yoke 5, and the two gripping fingers 3 are arranged staggered along the width direction of the upper yoke 5, so that the double-point gripping is performed in the length direction of the upper yoke 5, the stability is high, and the dismounting efficiency is high, and the single-piece dismounting is not needed. The elastic layer made of elastic nylon material is fixedly arranged at the contact position of the gripping finger 3 and the upper yoke 5, so as to protect the upper yoke 5.

[0025] The storage rack 6 is an open structure at the upper portion, and the storage rack 6 includes a bottom plate 61 and side plates 62. The side plates 62 include four side plates, three of which are fixedly welded and installed on the bottom plate 61, and the bottom of the other side plate 62 is hingedly connected to the bottom plate 61 through a hinge or a rotating shaft. The side plate 62 hingedly connected to the bottom plate 61 is further connected between the adjacent side plates 62 through a quick-release lock, so as to fix the position of the side plate 62.

[0026] In the embodiment, as shown in Figure 7 The quick-release lock includes a lock ring 16, a lock page 17, and a bolt 18. The lock ring 16 is fixedly welded on the fixedly arranged side plate 62, the lock page 17 is rotatably arranged on the movably installed side plate 62, the lock page 17 has a hole through which the lock ring 16 passes, and the bolt 18 is used for plugging into the lock ring 16. In actual use, the bolt 18 can be pulled out to release the limiting between the lock ring 16 and the lock page 17.

[0027] As shown in Figure 3 The support and positioning device 7 includes a first rack body 8, a second rack body 9, and a positioning mechanism 10. The first rack body 8 and the second rack body 9 are both L-shaped supports. The second rack body 9 is fixedly welded on the top of the vertical section of the first rack body 8. The positioning mechanism 10 is movably installed on the side wall of the vertical section of the first rack body 8. The first rack body 8 is used for supporting the transformer body 12 and limiting the transformer body 12 through the positioning mechanism 10. The second rack body 9 is used for supporting the storage rack 6 on which the upper yoke 5 is arranged.

[0028] In the embodiment, the positioning mechanism 10 is in a T-shaped structure. A plurality of positioning steps 11 are movably installed on the side wall of the positioning mechanism 10. The lengths of the positioning steps 11 gradually decrease in the direction from bottom to top. The positioning steps 11 are used for auxiliary positioning when the upper yoke 5 is plugged in. The positioning steps 11 can be replaced according to actual needs, so as to adapt to the assembly needs of different transformers.

[0029] It can be understood that in other embodiments, the positioning steps 11 can also be arranged in an electrically telescopic structure. For example, an electrically telescopic rod is used to drive the corresponding positioning steps 11 to extend outward by different lengths. Here, the specific limitation is not too much, as long as the overall length of the positioning steps 11 can be changed.

[0030] The support positioning device 7 is rotatably arranged on the transfer trolley through a rotating shaft 19, and the transfer trolley is connected with the support positioning device 7 through a telescopic unit (such as a hydraulic cylinder, an air cylinder or an electric telescopic rod), and the telescopic unit can be used to control the support positioning device 7 to rotate around the shaft, as shown in FIG. Figure 4 In this way, the support positioning device 7 is in an inclined state during the operation, so that the upper iron yoke 5 in the storage rack 6 does not slide and fall after the side plate 62 of the storage rack 6 is opened.

[0031] In this embodiment, four sets of iron yoke insertion manipulators 13 are arranged, and the iron yoke insertion manipulator 13 is a current suction cup type manipulator, which can be used to suck and insert the upper iron yoke 5 in the storage rack 6, and the iron yoke insertion manipulator 13 also has a visual recognition function to ensure the insertion accuracy of the upper iron yoke 5.

[0032] The control mechanism is also provided, the visual recognition mechanism is arranged on the iron yoke removal manipulator 1 and the iron yoke insertion manipulator 13, and the iron yoke removal manipulator 1 and the iron yoke insertion manipulator 13 are connected with the control mechanism and can be controlled by the control mechanism, wherein the visual recognition mechanism includes an industrial camera, which can capture the details of the surface of the iron yoke under complex lighting conditions, and is matched with an infrared auxiliary light source and a polarization filter to effectively suppress the interference of reflection, and is also matched with a high-precision laser ranging module to obtain the three-dimensional space coordinate information of the iron yoke in real time; the control mechanism is a PLC controller, the PLC controller is internally provided with an algorithm module, can analyze and process data, calculate the accurate space position and attitude parameters of the iron yoke relative to the manipulator, generate the motion control instructions of the manipulator according to the preset action logic, drive the joints of the manipulator to move, and in the operation process, the visual recognition mechanism continuously performs dynamic monitoring, and the real-time feedback data is fed back to the PLC controller, and the PLC controller adjusts the action of the manipulator according to the feedback information, so that the removal or insertion action is accurate and correct, the closed-loop control is realized, and the stability and reliability of the whole operation process are improved.

[0033] Embodiment 2 In another typical embodiment of the present application, a disassembly method is provided, which uses the power distribution transformer upper iron yoke disassembly device in embodiment 1, and the disassembly method comprises the following steps: The transformer is placed at the disassembly station, the iron yoke removal manipulator 1 is used to pull out the upper iron yoke 5 of the iron core 14 as a whole, the upper iron yoke 5 is vertically placed in the storage rack 6, the side plate 62 of the storage rack 6 is used to limit the upper iron yoke 5 to prevent the yoke sheet from sliding and falling, and the control mechanism is used to automatically match the yoke sheet with the iron core 14, record the direction and position information, and provide the pre-positioning information for the subsequent yoke sheet insertion operation.

[0034] Specifically, the visual recognition mechanism scans the upper yoke 5 to determine the spatial position and the graspable position. The control mechanism automatically determines the grasping position of the double-grabbing fingers 3 according to the relevant information. The yoke removal manipulator 1 performs double-point grasping on the entire length of the upper yoke 5, which is stable. After grasping the upper yoke 5, the yoke removal manipulator 1 separates the upper yoke 5 from the core column and stands the upper yoke 5 upright in the storage rack 6.

[0035] The visual recognition is mainly used for positioning, identification, and quality detection, and is equipped with an industrial camera, an optical lens, a light source system, etc. The visual recognition mechanism is installed on the manipulator and uses an industrial camera to replace human eyes to complete related work. The working environment needs to grasp the iron core 14 of different sizes and shapes due to different production product models. Through the visual recognition mechanism, the manipulator can complete autonomous positioning of the upper yoke 5 of the iron core 14 according to the actual situation to accurately complete the related operations such as grasping, pulling out, and storing the yoke. At the same time, the visual recognition mechanism can also perform online inspection on the appearance, flatness, deviation, and other quality of the product. It can effectively improve the detection speed and accuracy of the production line, greatly improve the yield and quality, reduce labor costs, and prevent misjudgment caused by eye fatigue.

[0036] The upper yoke 5 and the storage rack 6 are placed as a whole on the second rack body 9 of the support positioning device 7, and the coil body 12 with the completed coil is placed on the first rack body 8 of the support positioning device 7. The positioning mechanism 10 is used to limit the pressing of the coil body 12. The transfer trolley transfers the pulled-out upper yoke 5 and the coil body 12 with the completed coil to the insertion station.

[0037] As shown in Figure 4 When the transfer trolley moves to the insertion station, the telescopic unit extends to push the support positioning device 7 to flip 30 degrees to tilt the coil body 12 and the storage rack 6 by 30 degrees, and manually open the side plate 62 of the movable side of the storage rack 6.

[0038] The yoke insertion manipulator 13 scans and detects the appearance of the iron core 14 and the upper yoke 5 to be grasped through the visual recognition mechanism, determines the spatial position of the upper surface of the core column of the iron core 14, and checks the spatial position of the upper surface of the core column with the pre-positioning information. After confirming the accuracy, the insertion operation is performed. During the insertion process, the insertion position of the next upper yoke 5 is scanned and determined.

[0039] The yoke insertion manipulator 13 grasps a single upper yoke 5 and inserts the grasped single upper yoke 5 into the corresponding position of the iron core 14. This process is repeated to insert all the upper yokes 5 on the iron core 14 piece by piece and step by step until the insertion is completed.

[0040] The principle of insertion is as follows: the visual recognition mechanism first scans the spatial position of the upper surface of the iron core 14 and the upper yoke 5 to be grasped to determine the boundary of the characteristic positioning point 15 (such asFigure 6 The feature positioning points 15 on the upper yoke 5 are matched and compared with the corresponding feature positioning points 15 on the core 14, and a spatial position relationship is established, then the upper yoke 5 is grabbed by the yoke inserting robot 13 and moved in space, and finally the feature positioning points 15 with the mutual relationship are tightly combined together to complete the insertion of the single piece of upper yoke 5.

[0041] As shown in Figure 6 , the end faces of the upper yoke 5 are bevels, the two edge corners of the two ends of the upper yoke 5 are feature positioning points 15, and a triangular groove 20 is arranged at the middle position of the bottom of the upper yoke 5, and the top corner of the triangular groove 20 is a feature positioning point 15; the core 14 includes a left column iron 21, a middle column iron 22 and a right column iron 23, wherein the top end faces of the left column iron 21 and the right column iron 23 are bevels, and both include two edge corners, and the two edge corners of the top end faces of the left column iron 21 and the right column iron 23 are feature positioning points 15, which match the feature positioning points 15 at the two ends of the upper yoke 5; the top end of the middle column iron 22 is a triangular tip matching the triangular groove 20, and the top corner of the middle column iron 22 is a feature positioning point 15, which matches the feature positioning point 15 of the triangular groove 20.

[0042] The principle of the spatial position relationship is as follows: For the feature positioning points 15 on the upper yoke 5 and the core 14, they are matched by calculating the Euclidean distance between their descriptors, and the descriptor of a feature positioning point 15 on the upper yoke 5 is D1, and the descriptor of a feature positioning point 15 on the core 14 is D2, and the Euclidean distance d between them is: A distance threshold T is set d When d < T d , it is considered that the two feature positioning points 15 are matched successfully, wherein i is from 1 to 128, corresponding to each dimension of the 128-dimensional descriptor, and the distance measure between the two feature point descriptors is obtained by accumulating the square of the difference between the two descriptors in each dimension; when the matching is unsuccessful, the feature positioning point 15 is reselected.

[0043] After the matching of the feature positioning points 15 is completed, the least square method is used to calculate the spatial position relationship, specifically, the coordinates of the feature positioning points 15 on the upper yoke 5 in the image coordinate system are , and the coordinates of the feature positioning points 15 matched on the core 14 in the image coordinate system are , and the error function is minimized: Wherein, i is from 1 to n, n is the number of successfully matched feature points 15, i is used to traverse each pair of matched feature points, by calculating the sum of squares of the horizontal and vertical coordinate difference of each pair of matched points in the image coordinate system, and accumulating, thereby obtaining the overall measure reflecting the matching error, to determine the translation and rotation relationship of the upper yoke 5 relative to the core 14, the translation vector (Δx, Δy) and the rotation angle θ of the upper yoke 5 relative to the core 14 are solved, thereby establishing the spatial position relationship between the two.

[0044] The yoke inserting manipulator 13 scans and detects the inserted core 14 through visual recognition mechanism, compares and analyzes the surface color, gray scale, metal luster and other elements, discriminates the surface scratches, creases, oil stains, oxidation spots, dust and paint film peeling, takes pictures of abnormal points, stores them, and gives early warning and processing suggestions, at the same time, scans the yoke sheet joint and the height difference between adjacent sheets in real time, analyzes, discriminates and takes pictures of the areas exceeding the required value, and gives early warning information. The above description of disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for disassembling and assembling an upper yoke of a distribution transformer, comprising: The transfer trolley is characterized by further comprising: An iron yoke removal manipulator (1) is fixedly installed at the removal station and is used to pull out the upper iron yoke (5) as a whole at one time; A supporting positioning device (7) is rotatably mounted on the transfer trolley and is used to place the body (12) and the upper iron yoke (5); A storage rack (6) is placed on the supporting positioning device (7) and is used to accommodate the upper iron yoke (5) that is pulled out as a whole; The iron yoke insertion manipulator (13) is fixedly installed at the insertion station and is used to insert the upper iron yoke (5) in the storage rack (6) back into the iron core (14) piece by piece in sequence.

2. The device for disassembling and assembling the upper iron yoke of the distribution transformer according to claim 1, characterized in that: The iron yoke removal manipulator (1) comprises a four-axis manipulator (2), and two gripping fingers (3) are installed at the end of the four-axis manipulator (2). The two gripping fingers (3) are relatively arranged along the length direction of the upper iron yoke (5) as a whole, and the two gripping fingers (3) are staggered along the width direction of the upper iron yoke (5) as a whole.

3. The upper iron yoke disassembly and assembly device of the distribution transformer according to claim 1, characterized in that: The storage rack (6) is an upper opening structure. The storage rack (6) includes a bottom plate (61). A plurality of side plates (62) are installed around the bottom plate (61), and one of the side plates (62) is movably connected to the bottom plate (61).

4. The upper iron yoke disassembly and assembly device of the distribution transformer according to claim 1, characterized in that: The supporting positioning device (7) comprises a first frame (8) and a second frame (9), wherein the first frame (8) and the second frame (9) are both L-shaped brackets, the second frame (9) is fixedly arranged on the top of the first frame (8), a positioning mechanism (10) is detachably mounted on the side wall of the first frame (8), and the storage rack (6) is placed on the second frame (9).

5. The upper iron yoke disassembly and assembly device of the distribution transformer according to claim 4, characterized in that: The positioning mechanism (10) is a T-shaped structure. A plurality of positioning steps (11) are detachably mounted on the side wall of the positioning mechanism (10). The length of the positioning steps (11) gradually decreases from bottom to top.

6. The upper iron yoke disassembly and assembly device of the distribution transformer according to claim 1, characterized in that: The iron yoke insertion manipulator (13) is a suction cup type manipulator. The iron yoke removal manipulator (1) and the iron yoke insertion manipulator (13) are both connected to a control mechanism. The iron yoke removal manipulator (1) and the iron yoke insertion manipulator (13) are both equipped with a visual recognition mechanism.

7. A disassembly and assembly method, characterized in that: The device for disassembling and assembling the iron yoke of the distribution transformer according to any one of claims 1 to 6 is used, comprising: The transformer is placed at a dismantling station, the iron yoke dismantling manipulator (1) pulls out the upper iron yoke (5) of the iron core (14) as a whole, and places the upper iron yoke (5) as a whole upright in a storage rack (6), and the control mechanism matches the yoke piece with the iron core (14), records the direction and position information, and provides pre-positioning information for subsequent piece insertion operations; The storage rack (6) is placed on the second frame (9), the device body (12) with the coil mounted thereon is placed on the first frame (8), the device body (12) is pressed and limited by the positioning mechanism (10), and the transfer trolley is transferred to the insertion station; The iron yoke insertion manipulator (13) scans and detects the appearance of the iron core (14) and the iron yoke (5) to be grasped through a visual recognition mechanism, determines the spatial position of the upper surface of the core column of the iron core (14), and checks the spatial position of the upper surface of the core column with the pre-positioning information. After confirming that it is accurate, the insertion operation is carried out; The iron yoke insertion manipulator (13) inserts the upper iron yoke (5) in the storage rack (6) onto the iron core (14) piece by piece and step by step until the insertion is completed.

8. The disassembly and assembly method according to claim 7, characterized in that: After the transfer trolley moves to the insertion station, the support positioning device (7) is turned 30 degrees, the device body (12) and the storage rack (6) are tilted 30 degrees, and the side panel (62) on the movable side of the storage rack (6) is opened.

9. The disassembly and assembly method according to claim 7, characterized in that: During the insertion process: first, the spatial position of the upper surface of the iron core (14) and the upper iron yoke (5) to be grasped are scanned to determine the boundary of the characteristic positioning point (15), and the characteristic positioning point (15) of the upper iron yoke (5) is matched and compared with the corresponding characteristic positioning point (15) of the iron core (14), and a spatial position connection is established at the same time. Then, the upper iron yoke (5) is grasped by the iron yoke insertion manipulator (13), and finally the characteristic positioning points (15) that establish a mutual relationship are tightly combined to complete the insertion of the single-piece upper iron yoke (5).

10. The disassembly and assembly method according to claim 9, characterized in that: The principle of spatial position connection is: The descriptor of a characteristic positioning point (15) of the upper iron yoke (5) is selected as D1, and the descriptor of a characteristic positioning point (15) of the iron core (14) is selected as D2, and the Euclidean distance d is calculated as: Set the distance threshold T d , when d <T d When , the two feature positioning points (15) are matched successfully; After completing the matching of the feature positioning point (15), the coordinates of the feature positioning point (15) of the upper iron yoke (5) in the image coordinate system are selected as follows: , the coordinates of the iron core (14) and its matching feature positioning point (15) in the image coordinate system are , by minimizing the error function: The translation vector and rotation angle of the upper iron yoke (5) relative to the iron core (14) are obtained by solving the problem, thereby establishing a spatial position relationship between the two.

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