Aligning and deviation rectifying mechanism for magnet yoke punching sheet stacking equipment

Abstract

The invention relates to an aligning and deviation rectifying mechanism for magnet yoke punching sheet stacking equipment, and belongs to the technical field of rotor magnet yoke punching sheet stacking. The aligning and deviation rectifying mechanism comprises an industrial robot, a support is connected with an adapter flange, the end, away from the support, of the adapter flange is connected with the industrial robot, and the industrial robot controls the support to move; the imaging unit is connected in the bracket; the magnetic suction unit is connected in the bracket; after the magnetic attraction unit attracts the magnetic yoke punching sheet, the industrial robot moves the support to the position above the pre-stacked magnetic yoke, and after the imaging unit shoots the relative positions of the corresponding hole sites of the magnetic yoke punching sheet and the pre-stacked magnetic yoke, the magnetic yoke punching sheet and the pre-stacked magnetic yoke are aligned through the industrial robot; the technical problem that in the prior art, after repeated positioning precision is subjected to a plurality of transfer links, errors can be superposed, and the assembling precision of the magnet yoke is affected can be solved.

Description

Technical Field

[0001] This invention belongs to the field of rotor magnetic yoke lamination stacking technology, and specifically relates to an alignment and correction mechanism for magnetic yoke lamination stacking equipment. Background Technology

[0002] The rotor yoke of a large hydro-generator is made up of several yoke laminations stacked in a ring. In order to improve construction efficiency, those skilled in the art often use robotic arms for automatic stacking. Therefore, the alignment and correction capabilities of the robotic arm during stacking have a huge impact on the yoke assembly.

[0003] A patent with publication number CN118249590A discloses a multi-robot collaborative stator core stacking system and method for steam turbine generators. The system includes a lamination positioning platform, lamination robots, a loading robot, an alignment platform, and a pallet lamination station. The lamination robots are evenly distributed around the lamination positioning platform and are used to grasp and place stator laminations during the lamination process. At least two lamination robots are provided. The alignment platform is placed between the lamination robots and the loading robot. The alignment platform includes an alignment mechanism and a vision module. The alignment mechanism is used for preliminary alignment of the laminations to correct positional deviations when the laminations arrive. The vision module is used for visual inspection of the lamination quality. The loading robot is located outside the alignment platform and is used to grasp laminations from the lamination loading station and send them to the alignment platform for alignment.

[0004] The existing technology has the following drawbacks:

[0005] The assembly requires stacking robots and loading robots, and also needs to be transferred through a centering platform. Repeated positioning accuracy will be affected by the cumulative error after multiple transfer links such as grasping, placing, identification, secondary grasping, and stacking, which will affect the accuracy of magnetic yoke assembly. Summary of the Invention

[0006] This invention provides an alignment and correction mechanism for a magnetic yoke lamination stacking device, which can solve the technical problem in the prior art where the accuracy of repeated positioning will be affected by the superposition of errors after multiple transfer links, thus affecting the accuracy of magnetic yoke assembly.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0008] This application provides an alignment and correction mechanism for a magnetic yoke lamination stacking device, including an industrial robot, and further comprising:

[0009] A bracket is connected to an adapter flange, the end of which, away from the bracket, is connected to the industrial robot, and the industrial robot controls the movement of the bracket.

[0010] The imaging unit is connected within the support frame;

[0011] A magnetic suction unit is connected within the bracket;

[0012] After the magnetic attraction unit attracts the magnetic yoke blank, the industrial robot moves the bracket above the pre-stacking magnetic yoke. After the imaging unit captures the relative positions of the corresponding holes of the magnetic yoke blank and the pre-stacking magnetic yoke, the industrial robot aligns the magnetic yoke blank and the pre-stacking magnetic yoke.

[0013] By using the above technical solution, the relative positions between the magnetic yoke blanks and the pre-stacked magnetic yokes can be directly identified by the imaging unit, and then aligned directly by an industrial robot, which reduces the transfer steps and improves the positioning accuracy.

[0014] In this invention, the alignment correction mechanism further includes:

[0015] A ring light source is arranged around the imaging unit, and the ring light source illuminates the magnetic yoke sheet.

[0016] The above technical solution, employing a ring light source, enhances the recognition clarity of the imaging unit and further improves alignment accuracy.

[0017] In this invention, the imaging unit includes:

[0018] A first imaging unit and a third imaging unit are symmetrically connected to the distal end of the support.

[0019] The second imaging unit is connected to the middle of the bracket;

[0020] The aforementioned support can rotate horizontally under the control of the industrial robot.

[0021] The above technical solution uses three imaging units to increase Z-axis rotation correction and to identify faulty holes.

[0022] In this invention, the alignment correction mechanism further includes:

[0023] A magnetic yoke pressure plate is used to connect the pre-stacking magnetic yoke;

[0024] Several screws are connected to the magnetic yoke pressure plate, and the screws pass through the pre-stacking magnetic yoke. The imaging unit captures the relative position of the top of the screw and the magnetic yoke punch.

[0025] By using the above technical solution, the top of the screw is used as the alignment identification target, which reduces the error of hole-to-hole positioning by taking pictures and identification, and further improves the alignment accuracy. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 An isometric view of an industrial robot is removed using an alignment and correction mechanism for a magnetic yoke lamination stacking device, as provided in an embodiment of the present invention.

[0028] Figure 2 A side view of an industrial robot being removed from a magnetic yoke lamination stacking equipment according to an embodiment of the present invention;

[0029] Figure 3 for Figure 2 Sectional view at point AA;

[0030] Figure 4 for Figure 3 Enlarged view of section B in the image;

[0031] Figure 5 A front view of an industrial robot removed from an alignment and correction mechanism for a magnetic yoke lamination stacking device provided in an embodiment of the present invention;

[0032] Figure 6 for Figure 5 Sectional view at point C;

[0033] Figure 7 for Figure 6 A magnified view of section D in the image.

[0034] Icons: 101-First imaging unit; 102-Second imaging unit; 103-Third imaging unit; 104-Mounting plate; 105-Ring light source; 201-Pre-stacking magnetic yoke; 202-Magnetic yoke pressure plate; 203-Screw; 301-Magnetic suction unit; 302-Connecting plate; 303-Bracket; 4-Adapter flange; 5-Magnetic yoke stamping. Detailed Implementation

[0035] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0036] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to welding, bolting, or riveting; they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] Example:

[0040] Please refer to Figures 1 to 7 , Figures 1 to 7 The image shown is an embodiment of this application.

[0041] This embodiment provides an alignment and correction mechanism for a magnetic yoke lamination stacking device, including an industrial robot. For example, a Siasun SR210A-210 / 3.05-DW six-axis industrial robot is used. Figure 1 As shown, it also includes:

[0042] The bracket 303 is connected to the adapter flange 4. The end of the adapter flange 4 facing away from the bracket 303 is connected to the industrial robot, and the industrial robot controls the movement of the bracket 303.

[0043] The imaging unit, exemplarily an industrial camera, is connected within the bracket 303;

[0044] The magnetic unit 301 is connected inside the bracket 303;

[0045] After the magnetic attraction unit 301 attracts the magnetic yoke blank 5, the industrial robot moves the bracket 303 above the pre-stacking magnetic yoke 201. After the imaging unit captures the relative positions of the corresponding holes of the magnetic yoke blank 5 and the pre-stacking magnetic yoke 201, the industrial robot aligns the magnetic yoke blank 5 and the pre-stacking magnetic yoke 201.

[0046] When using it, the following steps are included:

[0047] Step S10: Complete the welding of the magnetic yoke plate 202, then inspect the magnetic yoke plate 202 and record the data. After confirming that it is qualified, place the laminations in a full circle with the hole position of the magnetic yoke plate 202 as the reference, and start the first stacking.

[0048] Step S20: The blanking sheet is gripped by an industrial robot through the bracket 303 and the magnetic suction unit 301 (exemplary magnetic suction force 40KG / point, gripping load ≥80KG) from the material stack positioning table. Guided by the alignment and correction mechanism, the X / Y coordinate deviation between the magnetic yoke blanking sheet 5 and the screw 203 is calculated. After adjusting the position, it is inserted into the screw 203 and released. It is stacked according to the rule of "one magnetic yoke for every three layers".

[0049] Step S30: When stacking to a height of 150mm, pause and record the results; continue stacking to a height of 300mm, and record the results again to ensure the flatness and coaxiality of the stacked wafers;

[0050] Step S40: After the 300mm height test is passed, manually remove the positioning pin and install the tensioning screw 203. After completion, start the equipment to continue stacking until the preset "pre-compression height" is reached. After reaching the pre-compression height, manually install the pre-compression tool and use a hydraulic tensioner to tighten the magnetic yoke. Complete the pre-compression test according to the process requirements and record the data. Then manually remove the pre-compression tooling and start the equipment to continue automatic stacking.

[0051] Each subsequent stack reaches the pre-compression height, and the human-machine interaction process of "stopping the machine - manual pre-compression - inspection and recording - removing the tooling - restarting the stacking" is repeated to ensure the overall density and structural stability of the magnetic yoke.

[0052] The efficiency of the process from sheet grabbing to stacking and releasing is 60 sheets / hour, and the device can operate continuously for 24 hours.

[0053] It should be noted that the alignment and correction mechanism provided in this embodiment is applicable to the stacking of rotor yokes of large hydro-generators. The yoke laminations 5 are made of carbon steel and weigh approximately 76.5 kg. Therefore, the alignment and correction devices for small rotor yokes in the prior art cannot be easily adapted.

[0054] By using the above technical solution, after directly identifying the relative position between the magnetic yoke blank 5 and the pre-stacking magnetic yoke 201 using the imaging unit, the industrial robot is directly used for alignment, which reduces the transfer steps and improves the positioning accuracy.

[0055] As a preferred embodiment, the alignment correction mechanism further includes:

[0056] like Figures 2 to 4 As shown, a ring light source 105 is arranged around the imaging unit, and the ring light source 105 illuminates the magnetic yoke sheet 5.

[0057] like Figures 5 to 7 As shown, when in use, the ring light source 105 adopts a ring LED light strip. Its core function is to provide a clear imaging environment for the position identification of the magnetic yoke blank 5 and the screw 203 through "external auxiliary illumination" - that is, the light source shines through the assembly hole of the magnetic yoke blank 5 onto the end face of the center hole of the screw 203, ensuring that the imaging unit can accurately capture the relative position of the two, and then calculate the X and Y coordinate deviations through the algorithm to assist the robotic arm in adjusting the stacking accuracy. At the same time, the light source needs to be adapted to the working requirements of the three-camera imaging system to achieve the Z-axis rotation correction and misalignment identification functions.

[0058] It should be noted that the algorithm for calculating the deviation is not within the scope of protection of this application, and therefore will not be elaborated or further limited here.

[0059] The above technical solution, using a ring light source 105, enhances the recognition clarity of the imaging unit and further improves the alignment accuracy.

[0060] In a preferred embodiment, the imaging unit includes:

[0061] The first imaging unit 101 and the third imaging unit 103 are symmetrically connected to the distal end of the support 303.

[0062] The second imaging unit 102 is connected to the middle of the support 303;

[0063] The bracket 303 can rotate horizontally under the control of an industrial robot.

[0064] The above technical solution uses three imaging units to increase Z-axis rotation correction and to identify faulty holes.

[0065] As a preferred embodiment, the alignment correction mechanism further includes:

[0066] Magnetic yoke pressure plate 202 is used to connect the pre-stacking magnetic yoke 201;

[0067] Several screws 203 are connected to the magnetic yoke pressure plate 202. The screws 203 pass through the pre-stacked magnetic yoke 201. The imaging unit captures the relative position of the top of the screw 203 and the magnetic yoke punch 5.

[0068] By using the above technical solution, the top of the screw 203 is used as the alignment identification target, which reduces the error of hole-to-hole positioning by taking pictures and identification, and further improves the alignment accuracy.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope described in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An alignment and correction mechanism for a magnetic yoke lamination stacking device, comprising an industrial robot, characterized in that, Also includes: A bracket (303) is connected to an adapter flange (4). The end of the adapter flange (4) facing away from the bracket (303) is connected to the industrial robot, and the industrial robot controls the movement of the bracket (303). An imaging unit is connected within the support (303); A magnetic suction unit (301) is connected inside the bracket (303); After the magnetic suction unit (301) adsorbs the magnetic yoke blank (5), the industrial robot moves the bracket (303) above the pre-stacking magnetic yoke (201). After the imaging unit captures the relative positions of the corresponding holes of the magnetic yoke blank (5) and the pre-stacking magnetic yoke (201), the industrial robot aligns the magnetic yoke blank (5) and the pre-stacking magnetic yoke (201).

2. The alignment and correction mechanism for the magnetic yoke lamination stacking equipment according to claim 1, characterized in that, Also includes: A ring light source (105) is arranged around the imaging unit, and the ring light source (105) illuminates the magnetic yoke (5).

3. The alignment and correction mechanism for the magnetic yoke lamination stacking equipment according to claim 2, characterized in that, The imaging unit includes: The first imaging unit (101) and the third imaging unit (103) are symmetrically connected to the distal end of the support (303). The second imaging unit (102) is connected to the middle of the bracket (303); The bracket (303) can rotate horizontally under the control of the industrial robot.

4. The alignment and correction mechanism for the magnetic yoke lamination stacking equipment according to claim 3, characterized in that, Also includes: A magnetic yoke pressure plate (202) is used to connect the pre-stacked magnetic yoke (201). Several screws (203) are connected to the magnetic yoke pressure plate (202). The screws (203) pass through the pre-stacked magnetic yoke (201). The imaging unit captures the relative position of the top of the screw (203) and the magnetic yoke punch (5).

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