CN114050051B - Full-automatic bonding device and method for end ring cushion block of transformer - Google Patents
Full-automatic bonding device and method for end ring cushion block of transformer Download PDFInfo
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- CN114050051B CN114050051B CN202210034376.9A CN202210034376A CN114050051B CN 114050051 B CN114050051 B CN 114050051B CN 202210034376 A CN202210034376 A CN 202210034376A CN 114050051 B CN114050051 B CN 114050051B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F41/00—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
- H01F41/02—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets
- H01F41/04—Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties for manufacturing cores, coils, or magnets for manufacturing coils
- H01F41/12—Insulating of windings
- H01F41/125—Other insulating structures; Insulating between coil and core, between different winding sections, around the coil
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Abstract
The invention relates to a full-automatic bonding device for end ring cushion blocks of a transformer, wherein a paper ring material rack, a paper ring positioning table and a finished product material rack are circular table surfaces with bases, the circular table surfaces of the paper ring positioning table and the finished product material rack can rotate, a supporting frame is arranged above the material rack and the positioning table, an insulating paper ring gripper is arranged on the supporting frame, the insulating paper ring gripper moves among the paper ring material rack, the paper ring positioning table and the finished product material rack, a first robot and a second robot are respectively arranged on two sides of the finished product material rack, cushion block hand grippers and glue spraying mechanisms are respectively arranged on the first robot and the second robot, a first cushion block material distributing table is arranged on one side of the first robot, and a second cushion block material distributing table is arranged on one side of the second robot. The invention also relates to an automatic bonding method for the end ring cushion block of the transformer. The device and the method utilize the robot to automatically spray glue and place the cushion blocks with high precision, can be used for full-automatic bonding of the cushion blocks of the end rings, and can realize automatic and accurate processing of the cushion blocks of the end rings.
Description
Technical Field
The invention belongs to the technical field of transformer production and manufacturing, and particularly relates to a full-automatic bonding device and method for a transformer end ring cushion block, which are mainly used for automatically and accurately bonding the end ring cushion block.
Background
In a transformer winding structure, a transformer end ring is generally formed by adhering cushion blocks with the same number as the supporting strips on an insulating paper ring with a certain thickness, and the end ring structure can effectively support an angle ring so as to achieve the purposes of ensuring an insulating distance, dividing an oil passage, improving an end electric field and enabling equipotential lines to be distributed along the angle ring as far as possible. At present, the bonding operation of the end ring cushion block mainly adopts manual bonding, the operation standardization level is low, workers repeatedly perform single operation, and the efficiency is low. The full-automatic bonding device for the end ring cushion block of the transformer is urgently needed in the market, so that the labor is liberated, and the production efficiency is improved.
Disclosure of Invention
Aiming at the technical problem, the invention provides a high-precision full-automatic bonding device and method for a transformer end ring cushion block. The technical scheme adopted by the invention is as follows:
the utility model provides a full-automatic bonding device of transformer end ring cushion, includes: the paper ring material rack, the paper ring positioning table and the finished product material rack are circular table tops with bases, the circular table tops of the paper ring positioning table and the finished product material rack can rotate, a supporting frame is arranged above the paper ring material rack, the paper ring positioning table and the finished product material rack, an insulating paper ring gripper is arranged on the supporting frame, the insulating paper ring gripper moves among the paper ring material rack, the paper ring positioning table and the finished product material rack, a first robot and a second robot are arranged on two sides of the finished product material rack respectively, a cushion block hand gripping mechanism and a glue spraying mechanism are arranged on the first robot and the second robot respectively, a first cushion block material distributing table is arranged on one side of the first robot, and a second cushion block material distributing table is arranged on one side of the second robot.
The method for automatically bonding the end ring cushion block of the transformer applies the full-automatic bonding device for the end ring cushion block of the transformer, and comprises the following steps of:
step 1, visually recognizing the position of an insulating paper ring by a second vision camera and a light source on an insulating paper ring gripper, performing vacuum adsorption on the insulating paper ring from a paper ring material rack, placing the insulating paper ring on a paper ring positioning table for flattening, adjusting the position of a notch if the notch exists, accurately placing the insulating paper ring on the upper plane of a finished product material rack or the upper plane of an adhered gasket by vacuum adsorption again, flattening, and visually recognizing the position of the insulating paper ring by the second vision camera and the light source;
step 3, the control device controls the insulating paper ring gripper and the robot to repeatedly act until all the insulating paper ring gripper and the robot are bonded to finish one transformer end ring;
and 4, transferring the finished product rack and the transformer end ring finished product on the finished product rack to a finished product area by the AGV trolley for cold pressing and curing, and simultaneously supplementing raw materials to start the next round of bonding operation.
The invention has the beneficial effects that:
the device and the method utilize the AGV trolley to automatically transfer materials, the truss manipulator automatically and accurately takes and places the paper ring, the robot automatically sprays glue and places the cushion block with high precision, the cushion block can be used for full-automatic bonding of the end ring cushion block, the visual detection function of visual identification is realized, and automatic and accurate processing of the end ring cushion block can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are specific embodiments of the invention, and that other drawings within the scope of the present application can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a schematic structural diagram of a finished transformer end ring according to an embodiment of the present invention;
FIG. 2 is a perspective view of an automatic bonding apparatus according to a first embodiment of the present invention;
FIG. 3 is a front view of an automatic bonding apparatus according to a first embodiment of the present invention;
FIG. 4 is a top view of an automatic bonding apparatus according to a first embodiment of the present invention;
FIG. 5 is a left side view of an automatic bonding apparatus according to a first embodiment of the present invention;
fig. 6 is a front view of a cushion block hand-grasping and glue-spraying mechanism mounted on the first robot according to the first embodiment of the invention;
FIG. 7 is a front view of a pad mounting hand grasping and glue spraying mechanism on an end effector according to a first embodiment of the invention;
FIG. 8 is a front view of a pad gripping and glue dispensing mechanism according to a first embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating a state in which the pad gripping mechanism grips the pad by hand and the glue spraying mechanism according to the first embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating a state of glue spraying of the cushion block hand-holding and glue spraying mechanism according to the first embodiment of the present invention;
fig. 11 is a perspective view of a gantry truss according to a first embodiment of the present invention;
FIG. 12 is a front view of an insulating paper loop gripper according to a first embodiment of the present invention;
FIG. 13 is a top view of an insulated paper loop grip according to a first embodiment of the present invention;
FIG. 14 is a plan view of an automatic bonding apparatus according to a second embodiment of the present invention;
in the figure, 1-insulating paper ring, 2-cushion block, 3-notch, 4-gantry truss, 5-first robot, 6-second robot, 7-first cushion block material distribution table, 8-second cushion block material distribution table, 9-insulating paper ring gripper, 10-AGV trolley, 11-single beam truss, 12-paper ring material rack, 13-paper ring positioning table, 14-finished material rack, 15-cushion block hand gripping and glue spraying mechanism, 16-glue tank and nozzle cleaning device, 17-end actuator, 18-first vision camera and light source, 19-connecting mechanism, 20-pneumatic clamping jaw, 21-vacuum chuck, 22-glue coating mechanism, 23-double-beam gantry fixing support, 24-traveling mechanism, 25-three-shaft mechanical arm, 26-insulating paper ring gripper body, 27-suction cup holder, 28-suction cup assembly, 29-second vision camera and light source, 30-thin spacer, 31-insulating spacer, 32-rotating upright.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
Fig. 1 is a schematic diagram of a finished transformer end ring according to an embodiment of the present invention. The transformer end ring is composed of a plurality of rings of concentric insulating paper rings 1 with different diameters and a plurality of cushion blocks 2, the cushion blocks 2 are bonded on the upper surface of the insulating paper ring 1 in an equal division mode to form an independent transformer end ring, each column of transformer end ring is formed by combining the insulating paper rings 1 with the cushion blocks 2 in different diameters, the transformer end rings of all layers are only stacked together without bonding, the large ring of the insulating paper ring 1 is sleeved with the small ring corresponding to the high, medium and low voltage regulating coils, and the like, and the corresponding coils are supported. A notch 3 is arranged on the circumference of part of the insulating paper ring 1. The invention provides a full-automatic bonding device and method for a cushion block of an end ring of a transformer, which are used for realizing full-automatic operation of manufacturing the end ring of the transformer.
The first embodiment is as follows: an automatic bonding device for a longitudinal structure of a cushion block of an end ring of a transformer.
Fig. 2 is a perspective view of an automatic bonding apparatus for longitudinal structure according to a first embodiment of the present invention; fig. 3 is a front view of an automatic bonding apparatus for longitudinal structure according to a first embodiment of the present invention; fig. 4 is a top view of an automatic bonding apparatus for longitudinal structure according to a first embodiment of the present invention; fig. 5 is a left side view of the automatic bonding apparatus for longitudinal structure according to the first embodiment of the present invention. The utility model provides an automatic bonding device of transformer end ring cushion longitudinal structure, includes: the paper ring picking machine comprises a paper ring material rack 12, a paper ring positioning table 13 and a finished product material rack 14 which are longitudinally and sequentially arranged, wherein the paper ring material rack 12, the paper ring positioning table 13 and the finished product material rack 14 are circular table surfaces with bases, the circular table surfaces of the paper ring positioning table 13 and the finished product material rack 14 can rotate, insulating paper rings 1 to be bonded are placed on the paper ring material rack 12, when multiple layers of insulating paper rings 1 with multiple diameters are placed on the paper ring material rack 12 at one time, 3 magnetic stand columns are used for spacing the insulating paper rings 1 with the adjacent diameters, and the problem that the insulating paper rings 1 are failed to be picked due to stacking is avoided; the paper ring positioning table 13 is used for adjusting the notch position of the insulating paper ring 1, the paper ring positioning table 13 comprises a platform support, a rotary support, a servo motor, a speed reducer, a rotating mechanism, a rotating disc and the like, the paper ring positioning table is fixed on the ground through a foundation bolt, the rotary support and the rotating disc are used for positioning the notch of the insulating paper ring 1, an insulating paper ring gripper 9 is used for adsorbing and placing the scattered insulating paper ring 1 on the paper ring positioning table 13 from a paper ring material frame 12 for the first time to be automatically flattened, then adsorbing the insulating paper ring 1 for the second time accurately, the insulating paper ring 1 is placed on the paper ring positioning table 13 again with the notch aligned with the center of a circle, the rotating disc rotates the notch to a fixed position, the adsorbing insulating paper ring 1 for the third time is accurately placed on a finished product material frame 14, and the insulating paper ring 1 is directly and accurately placed on the finished product material frame 14 if no notch exists; the finished product rack 14 is a bonding workbench surface and is used for placing a plurality of insulating paper rings 1 and bonding cushion blocks 2 to the insulating paper rings 1 to finally form a complete transformer end ring product, the finished product rack 14 comprises an end ring rack, an AGV bracket, a platform support, a rotary support, a servo motor, a speed reducer, a rotating mechanism, a rotating disk and the like, the platform support is fixed on the ground through foundation bolts, the end ring rack in the finished product rack 14 is fixed on the rotating disk through a positioning device, high-precision rotary positioning is realized through rotation of the rotating disk, and the finished product rack is matched with the first robot 5 and the second robot 6 for use, so that the bonding range of the robots is expanded. A gantry truss 4 is arranged above the paper ring material rack 12, the paper ring positioning table 13 and the finished product material rack 14, the gantry truss 4 is a frame structure consisting of more than four vertical supporting columns and four supporting cross beams, and in order to improve the supporting strength of the gantry truss 4, a plurality of vertical supporting columns are additionally arranged below the supporting cross beams in the length direction. The three-dimensional fine adjustment device is characterized in that slide rails are arranged on two supporting cross beams in the length direction, a single-beam truss 11 is slidably mounted on the slide rails through a traveling mechanism 24, a three-axis manipulator 25 is mounted on the single-beam truss 11, an insulating paper ring gripper 9 is mounted on the three-axis manipulator 25, the single-beam truss 11 is controlled to horizontally move through a servo motor and a speed reducer, the three-axis manipulator 25 further achieves fine adjustment in the three-dimensional direction, the insulating paper ring gripper 9 grips an insulating paper ring 1 from a paper ring material rack 12, the insulating paper ring gripper is placed on a paper ring positioning table 13 to adjust the notch position of the insulating paper ring 1, and finally the insulating paper ring 1 is gripped from the paper ring positioning table 13 and placed on a finished product material rack 14. Set up first robot 5 and second robot 6 respectively in finished product work or material rest 14's both sides, first robot 5 and second robot 6 symmetrical arrangement, fix subaerial through robot base and rag bolt, set up respectively on first robot 5 and the second robot 6 that the cushion is held in hand and spout gluey mechanism 15, the cushion is held in hand and is spouted gluey mechanism 15 and be used for snatching cushion 2 and to the rubber coating of insulated paper circle 1. Set up first cushion and divide material platform 7 in the outside of first robot 5, set up second cushion and divide material platform 8 in the outside of second robot 6, place the cushion 2 of treating bonding on first cushion divides material platform 7 and the second cushion and divides material platform 8, first robot 5 and second robot 6 grab cushion 2 up, after first robot 5 and second robot 6 scribble the gum on insulated paper circle 1, bond cushion 2 on insulated paper circle 1. And a glue tank and nozzle cleaning device 16 is respectively arranged on one side of the first robot 5 and one side of the second robot 6, and the glue tank and nozzle cleaning device 16 is used for replenishing glue solution to the gluing mechanism 22 and cleaning the nozzle. AGV dolly 10 is used for transporting the insulating paper circle 1 of placing on paper circle work or material rest 12 to the bonding job site from paper circle cutting machine equipment, for the convenience of carrying the paper circle frame, paper circle work or material rest 12 and finished product work or material rest 14's lower part have with supporting support of AGV dolly 10 and for the packing strip of fork truck, circular table's outer lane has 4 rings to be used for driving the handling, can realize 3 kinds of modes (AGV dolly, fork truck, driving) transportation work or material rest. The paper ring positioning table 13 is not used in cooperation with the AGV trolley 10, is fixed on the rotating table, and only rotates one degree of freedom for adjusting the position of the notch. The first cushion block distributing table 7 and the second cushion block distributing table 8 are automatically transferred from a cushion block machining area by an AGV trolley 10, and cushion blocks 2 used by various end rings are arranged in a partitioned mode in sequence. Two sets of fixing supports are arranged on two sides of the first cushion block distributing platform 7 and the second cushion block distributing platform 8, the AGV trolley 10 automatically descends after being sent in place, the first cushion block distributing platform 7 and the second cushion block distributing platform 8 are loaded on the fixing supports and do not displace any more, and the first robot 5 and the second robot 6 can conveniently identify and pick up the correct cushion blocks 2 for bonding. The AGV trolley 10 is of a jacking structure, the control device and the AGV trolley adopt Ethernet communication, and an instruction is sent to dispatch the AGV trolley 10 to automatically run to transfer materials such as the insulating paper ring 1, the cushion block 2 and the finished product end ring.
Further, the fixed irrotational of paper circle work or material rest 12 has two location taper pins, and AGV dolly 10 sends the back that targets in place, and paper circle work or material rest 12 is fixed paper circle work or material rest 12 by the spacing accurate location of location taper pin, and AGV dolly 10 is automatic to be driven away. The paper ring positioning table 13 is provided with a rotating mechanism and a rotating circular table board, the rotating circular table board is a very flat insulating material plane machined by the machine, the insulating paper ring 1 is placed on the rotating circular table board to be flattened, and then the paper ring is accurately placed after being picked up for the second time. And a servo motor of the rotating mechanism receives data sent by the control device to rotate accurately, so that the notch 3 is rotated to a set position. The control device receives notch position information identified by the vision camera, and transmits information such as an angle required to rotate to the rotating mechanism after calculation, so that the rotating mechanism can rotate in place accurately. The paper ring positioning table 13 is used for secondary material arrangement of the insulating paper ring 1, and is fixed except for the rotating mechanism, so that the position is determined. The finished product rack 14 is provided with a rotating mechanism and a rotating circular table board, a servo motor of the rotating mechanism is the 7 th shaft of the robot, and can synchronously run with other original 6 shafts of the robot, and the cushion block 2 is placed while rotating.
The first robot 5 and the second robot 6 are respectively responsible for bonding and placing cushion blocks within a half-circle range of the first robot 5 and the second robot 6, and the first robot 5 and the second robot 6 can adopt Kawasaki RS020N robots. Fig. 6 is a front view of a cushion block hand-grasping and glue-spraying mechanism mounted on a first robot according to a first embodiment of the present invention; fig. 7 is a front view of a pad-mounted hand-grasping and glue-spraying mechanism of an end effector according to a first embodiment of the present invention. The end part of the first robot 5 is connected with an end effector 17, a cushion block hand-grasping and glue-spraying mechanism 15 is installed on the end effector 17, and the cushion block hand-grasping and glue-spraying mechanism 15 is rotatably connected with the end effector 17. Fig. 8 is a front view of a pad block hand-grasping and glue-spraying mechanism according to a first embodiment of the present invention; fig. 9 is a schematic view of a state in which the pad gripping mechanism grips the pad by hand and the glue spraying mechanism grips the pad according to the first embodiment of the present invention; fig. 10 is a schematic diagram of a state of glue spraying of the cushion block hand-holding and glue spraying mechanism according to the first embodiment of the present invention. Cushion is held in hand and is spouted gluey mechanism 15 and includes: cushion is held in hand and is spouted gluey mechanism 15 and includes: the first vision camera, the light source 18, the connecting mechanism 19, the pneumatic clamping jaw 20, the vacuum chuck 21 and the gluing mechanism 22 are connected in a rotating mode through the circular flange, the connecting mechanism 19 is of a polyhedral structure formed by combining flat plates, and compared with a solid structure, the flat plate combined structure is lighter and more material-saving. A first vision camera, a light source 18, a vacuum chuck 21, a gluing mechanism 22 and pneumatic clamping jaws 20 are sequentially arranged on four adjacent outer side surfaces of a connecting mechanism 19, the two pneumatic clamping jaws 20 are oppositely arranged, insulating cushion layers 31 are arranged on the inner side surfaces of the two pneumatic clamping jaws 20, and the gluing mechanism 22 is connected with a glue tank and nozzle cleaning device 16 through a hose. The square cushion block 2 is a main cushion block material, the pneumatic clamping jaw 20 is used for grabbing the square cushion block 2, and the cushion block 2 can be guaranteed not to be damaged by matching with the insulating cushion layer 31; the special cushion block material of the thin cushion block 30 is involved in the bonding process, and the pneumatic clamping jaws 20 are inconvenient to grab the thin cushion block 30, so that the vacuum suction cups 21 are specially designed for adsorbing the thin cushion block 30. The specific positions of the first vision camera and the light source 18 can also be flexibly set so as not to affect the pneumatic clamping jaws 20, the vacuum suction cups 21 and the gluing mechanisms 22, and the insulating paper rings 1 and the cushion blocks 2 can be clearly shot as a standard. Through the first robot 5 and the cushion block hand grasping and glue spraying mechanism 15, automatic gluing and recognition of gluing states, automatic grasping and placing of cushion blocks, automatic recognition of positions of insulating paper rings and cushion blocks and gluing conditions after bonding can be achieved, and correct cushion blocks 2 can be automatically grasped in different cushion block areas of the first cushion block distributing table 7 and the second cushion block distributing table 8 which are symmetrically arranged in the same manner. The first vision camera and the light source 18 are used for identifying the position and the size specification of the cushion block 2 and guiding the first robot 5 to grab the cushion block 2; the device is used for monitoring the equant positions, glue spraying tracks, positions, thicknesses, bubbles and glue nodules; the device is used for monitoring whether glue overflows after the cushion block 2 is placed; for detecting whether the upper and lower spacers 2 are aligned. Furthermore, the first robot 5 adopts a seven-axis robot, the seven axes comprise 6 axes originally matched with the robot, and the 7 th axis is arranged on the rotating mechanism of the finished product rack, so that the seven axes can synchronously run in a coordinated manner, and the actions of glue spraying, rotating and cushion block placing are coordinated and consistent.
Gluing can also be done in two ways: gluing the paper ring or the cushion block, wherein one method is that the cushion block is used for grabbing and spraying the glue mechanism 15 on the robot gripper to glue the insulating paper ring 1, and a first vision camera and a light source 18 are used for detecting a glue spraying track and identifying glue after bonding; and the other method is that a glue spreading mechanism is arranged on the glue tank and nozzle cleaning device 16, the robot gripper clamps the cushion block 2 to spray glue at the bottom of the cushion block 2, a third camera fixed on the glue tank and nozzle cleaning device 16 is used for spray recognition, and a second vision camera on the insulating paper ring gripper 9 and a light source 29 are used for glue recognition after bonding.
Fig. 11 is a perspective view of a gantry truss according to a first embodiment of the present invention. The gantry truss 4 is composed of a double-beam gantry type fixing support 23 and a single-beam truss 11, a three-axis manipulator 25 is mounted on the single-beam truss 11, an insulating paper ring gripper 9 is mounted on the three-axis manipulator 25, and the gantry truss can move among three stations (a paper ring rack 12, a paper ring positioning table 13 and a finished product rack 14) quickly and accurately to pick and place an insulating paper ring 1 and identify the positions of the paper ring, a notch and a finished product end ring. The model number and the like of the gantry truss 4 according to the embodiment of the present invention are shown in the attached table below.
| Serial number | Name of content | Unit of | Specification of parameters | Remarks for note |
| 1 | Model number | / | |
|
| 2 | Rated load | kg | 150 | |
| 3 | Number of axes | / | 3 | |
| 4 | X-axis stroke | Rice and its production process | 7.5 | |
| 5 | Y-axis stroke | Rice and its production process | 1 | |
| 6 | Z-axis stroke | Rice and its production process | 1.5 | |
| 7 | Maximum speed of operation | m/s | 0.5 | |
| 8 | Repeated positioning accuracy | mm | ±0.1 |
Fig. 12 is a front view of an insulating paper ring gripper according to a first embodiment of the present invention; fig. 13 is a top view of the insulating paper ring gripper according to the first embodiment of the present invention. On the triaxial manipulator 25 on the truss was installed to insulating paper circle tongs 9, insulating paper circle tongs 9 included: insulating paper circle tongs body 26, sucking disc frame 27, sucking disc subassembly 28 and second vision camera and light source 29, insulating paper circle tongs body 26 is around same centre of a circle evenly distributed's eight claw structure, insulating paper circle tongs body 26 is as if eight claws octopus stretched out 8 support claws, install camera linear guide and sucking disc linear guide on every claw respectively, install second vision camera and light source 29 on the camera linear guide, second vision camera and light source 29 can be at camera linear guide horizontal migration, install sucking disc frame 27 on the sucking disc linear guide, sucking disc frame 27 intersects perpendicularly with every claw, sucking disc subassembly 28 is installed to the lower tip of sucking disc frame 27, sucking disc frame 27 horizontal migration on sucking disc linear guide. The suction cup frame 27 and the second vision camera and light source 29 are synchronously and automatically moved in place along the circumferential direction under the control of an encoder according to the size of the required insulating paper ring 1. The second vision camera and the light source 29 are used for identifying the positions of the insulating paper ring 1 and the notches 3, and can also be used for detecting the equal division and position conditions of the cushion block 2 after the end rings of each layer are bonded, so that the displacement condition of the cushion block 2 caused by parameter setting, rotation or accidental collision is avoided.
In order to further improve the intelligent control level of the automatic bonding device, a control device is arranged and arranged in a control cabinet, and the control cabinet can be flexibly arranged on one side of the gantry truss 4 and takes the condition of not interfering the automatic bonding operation as the standard. The control device can select a Tuhua GTX2080 industrial personal computer and a Taida AS228T-A PLC, the control device is used for coordinating and controlling the actions of the vision camera, the robot, the three-axis manipulator and the insulating paper ring gripper and dispatching the AGV to transfer materials, images collected by the vision camera are firstly transmitted to the industrial personal computer for image processing and then transmitted to the PLC. In addition, the control device is also used for automatically generating a quality inspection form, is communicated with a company network platform, issues tasks and transmits drawings and process information through an MES system, and automatically uploads real-time and historical data of the equipment. Furthermore, the control device is provided with a touch screen, all the problems are displayed on the touch screen, and an operator can conveniently look up the reasons and eliminate the defects. Data transmission between the control device and the operation equipment can be realized through a WIFI wireless network in a workshop. The control device and software realize the accurate control of the whole process flow, transfer the supplies from dispatching AGV dolly 10, to seizing the insulating paper ring 1, and then dispatch 2 robots to finish the cushion block bonding according to the circulation such as drawing requirement graduation glue spraying, block placing, etc. repeatedly, the visual system plays a role in guiding, monitoring and detecting in the whole flow, the production quality inspection form is uploaded automatically; and finally, dispatching the AGV trolley 10 to convey the end ring material frame (not containing a base and a rotating mechanism, but only an end ring material frame) on the full finished product material frame 14 to a finished product area for cold pressing and curing.
Example two: an automatic bonding device for a delta-shaped structure of a cushion block of an end ring of a transformer.
Fig. 14 is a perspective view of an automatic bonding apparatus having a delta structure according to a second embodiment of the present invention. The utility model provides an automatic bonding device of transformer end ring cushion article word structure, includes: the paper ring material rest 12, the paper ring positioning table 13 and the finished product material rest 14 are arranged around the rotating upright column 32 in a delta-shaped circumference, and the field space of a workshop can be saved due to the delta-shaped circumference arrangement.
The full-automatic bonding method for the end ring cushion block of the transformer applies the full-automatic bonding device for the end ring cushion block of the transformer, and comprises the following steps:
step 1, visually recognizing the position of an insulating paper ring 1 by a second visual camera and a light source 29 on an insulating paper ring gripper 9, performing vacuum adsorption on the insulating paper ring 1 from a paper ring material rack 12, placing the insulating paper ring 1 on a paper ring positioning table 13 for flattening, adjusting the position of a notch if the notch exists, accurately placing the vacuum adsorption insulating paper ring 1 on the upper plane of a finished product material rack 14 or the upper plane of a bonded gasket again for flattening, and visually recognizing the position of the insulating paper ring 1 by the second visual camera and the light source 29. The method comprises the following specific steps:
the insulating paper ring gripper 9 rotates to the position above the paper ring material rack 12, the position of the required insulating paper ring 1 is identified according to vision, the position is finely adjusted to the position right above the insulating paper ring 1 along the R axis, the insulating paper ring gripper 9 descends along the Z axis, the insulating paper ring 1 is adsorbed in vacuum, and the insulating paper ring gripper is lifted and rotates to the position above the paper ring positioning table 13. The insulating paper ring gripper 9 descends along the Z axis to place the insulating paper ring 1 on the paper ring positioning table 13, the insulating paper ring gripper moves along the R axis and rotates along the C axis for fine adjustment to enable the circle center of the insulating paper ring 1 to be coincided with the circle center of the paper ring positioning table 13, the insulating paper ring 1 is automatically flattened, whether the circle centers are coincided or not is visually rechecked, and if yes, the insulating paper ring gripper is not sucked up again to be placed again, so that the circle centers are coincided. If a notch exists, the paper ring positioning table 13 can automatically rotate, so that the notch is arranged at a set position, and the insulating paper ring gripper 9 adsorbs the insulating paper ring 1 to rotate and move to the position right above the finished product rack 14. If no notch is formed, the insulating paper ring gripper 9 directly adsorbs the insulating paper ring 1 to rotate and move to the position right above the finished product rack 14 without rotating; the insulating paper circle 1 is accurately placed on the finished product rack 14 under the visual guidance, and the insulating paper circle 1 is concentric with the finished product rack 14.
the first vision camera and the light source 18 automatically identify the specification and the size of the cushion block 2 and transmit the specification and the size to the control device, the control device calculates the specification and the size and transmits the data to the robot, the robot automatically picks the corresponding cushion block 2, the insulating paper ring 1 is rotated to spray glue, the cushion block 2 is rotatably placed to be bonded, the first vision camera and the light source 18 identify whether glue overflows or not, and if yes, the glue is manually cleaned, reasons are searched, and the robot runs after defects are eliminated; and if not, the robot adjusts the pose to identify, grab, spray and place the next cushion block 2, and meanwhile, the first vision camera and the light source 18 also need to identify whether the adhered cushion blocks 2 are vertically aligned, if so, the next step is no, the reason is manually searched, and the operation is carried out after the defect is eliminated. Because various adhesives have different viscosities and are not mixedly used, at least 6 sets of 3 adhesive bottles are needed, automatic quick replacement can be carried out according to voltage levels and product characteristics, each product only selects one adhesive and is not mixedly used, a dispensing scheme can be automatically formed on the insulating paper ring 1 according to actual operation, digital control dispensing is adopted, no gap is left between the cushion block 2 and the insulating paper ring 1 after bonding, and the coating rate meets the requirements.
Step 3, the control device controls the insulating paper ring gripper 9 and the robot to repeatedly act until all the insulating paper ring gripper and the robot are bonded to finish one transformer end ring;
and 4, transferring the finished product rack 14 and the transformer end ring finished product on the finished product rack to a finished product area by the AGV trolley 10 for cold pressing and curing, and simultaneously supplementing raw materials to start the next round of bonding operation.
Further, the invention discloses a full-automatic bonding method for a cushion block of an end ring of a transformer, and further relates to the following auxiliary process methods:
1. the gluing process method has the following requirements: 2 sets of (can form a complete set and switch over 3 different glue solutions) glue spraying device send the glue totally-enclosed, and the glue solution orbit can be set for wantonly, and the volume of gluing can accurate control. Adding a proper amount of glue solution into a stainless steel sealing glue barrel (6 sets of 3 different specifications), and automatically cleaning a glue spraying system and a pipeline. Trial gluing and bonding of the cushion blocks, detection of position accuracy, coating rate and whether glue overflow occurs, and locking of gluing amount (automatic selection of software setting and manual reinspection). The glue solution can be coated in any tracks such as S-shaped or linear tracks, and is required to be as light and thin as possible, the glue consumption is small, the bonding area is more than or equal to 70% and 90%, and overflow and local over-thickness of the glue layer are not allowed. After the glue is coated, the vision system automatically detects the coating condition of the glue solution, and glue tumors or air cavities are not allowed to appear. The glue overflow is not allowed, the glue cleaning process is required to be checked, the visual detection gives an audible and visual alarm for the accidentally overflowed or dropped glue, and the glue is required to be polished manually. If the bonding is not continued, the glue spraying system key is pressed for automatic cleaning, the glue spraying pipeline and the spray head are automatically cleaned, and the spray head and other parts can be detached for deep cleaning when the device is not used for a long time.
2. The bonding process method requires: the tolerance of the adhered insulating paper ring 1 and the cushion blocks 2 meets the requirement, after the adhesion is finished, the axial central lines of all the cushion blocks 2 must pass through the circle center of the end ring, and the glue solution is not allowed to overflow; a part of the insulating paper ring 1 is provided with an opening in the radial direction, and a part of the space of the cushion block 2 needs to be reserved. Therefore, the number of the bonded spacers 2 needs to be inputted in the control device to reserve an open space. The insulating paper circle 1 that has the notch bonds 2 back cushion 2 automatic dodges the notch of notch both sides and places, and the same drawing is dodged and is placed the position the same, again by artifical reinspection dysmorphism piece, the device possesses pause function (man-machine cooperation processing). Because the end ring required by the cylindrical coil is composed of the end rings with different diameters, the equipment can realize the function of bonding the inner ring and the outer ring, reliably avoid the bonded end ring of the inner ring and avoid interference. After each end ring is bonded, the end rings can be placed on a finished product rack to be accumulated and stacked. The end ring is accumulated to the height (about 750 mm) of the end ring required by a column coil, and after the end ring is bonded, the end ring is conveyed to an end ring curing area to be pressed and cured by a pressing plate.
3. The control system has the following technological requirements: touch screen control is provided; has the functions of starting, stopping, suspending operation, emergency stop and the like; the equipment has a self-locking protection function, and an operation interface is simple and convenient; the access door is opened, and all actions are locked; when people are in the guard rail, the equipment is not allowed to automatically run; taking multiple settings does not allow for malfunction. All relevant data of the task project can be functionally interacted with the system software of the workshop management layer. The device has the functions of automatically detecting the bonding tolerance and alarming for out-of-tolerance (quality inspection). The control device is provided with a data interface matched with the integrated management system, and seamless butt joint with the design drawing can be realized; project, time node and drawing information can be imported through the existing MES system of the company. The method can realize the interaction of information with the former procedure and the later procedure of the winding use, such as cushion block processing, paper ring processing and the like, match and run, and coordinate material transfer and construction period nodes. The functions of calling and filling in operation check records can be realized; the functions of calling production task information and confirming the completion state can be realized. The control device has the function of equipment safety management and control, and is provided with a safety indicator lamp, a safety grating, a range warning, an out-of-range shutdown, a sound warning, an emergency stop button, a safety ground wire and mechanical protection.
4. The parameter process method requires: the device has the functions of quantity, parameter, breakpoint memory, time memory and the like, and can be directly selected next time by inputting the product parameters such as the size, the equal number and the like of the insulating paper ring once or inputting the product parameters by MES; the glue consumption for adhering one end ring and the weight of the insulating paper ring and the cushion block can be counted; the number of the bonding pads can be counted; the time for bonding a cushion block and the time for completing an end ring can be memorized. Meanwhile, the calling of the data can be realized. The parameters are adjustable, and the running speed of the equipment is adjustable; the pressure of the bonding cushion block is adjustable, the glue spraying track and the glue amount are adjustable and controllable, and the digital display function is achieved. The special modules are designed according to the structure and the voltage grade aiming at different end rings, data such as item numbers and the like are firstly input, then a corresponding reactor, a direct current module or an alternating current module is selected, then the voltage grade is selected, and information such as the inner diameter, the outer diameter, the layer number, the equal number, the specification and the size of a cushion block, the existence of a notch and the like edited according to a certain format is uploaded to an industrial personal computer or can be directly imported through an MES system.
The automatic bonding device and the method can complete the full-automatic bonding of the cushion block of the end ring of the transformer with the following parameters, and the main technical parameters are as follows:
(1) the end ring is formed by bonding paper rings and evenly distributed cushion blocks, and is bonded by electric PVA (polyvinyl alcohol), casein glue or molar glue, and the effective bonding time of glue solution is 15 minutes.
(2) The deviation of the end ring cushion block of the finished product is within +/-1 mm; the total height of the end ring is less than or equal to 750 mm.
(3) The maximum diameter 3100mm of the paper ring is more than or equal to D and more than or equal to 450 mm;
(4) the paper ring is made of insulating paper boards, and the thickness of the paper ring is 110kV or below delta 2mm in a conventional mode; 220kV and above delta 3mm and delta 2mm are used in a matching way;
(5) a notch is formed on the circumference of a part of the paper ring, and the width of the notch is 60, 70, 80, 85, 115 and the like; the other part of the paper ring is a full circle.
(6) The number of layers of the paper ring: from 3 layers to 12 layers.
(7) The cushion block is made of laminated paper plates, the circumference is uniformly distributed and equally divided, only the cushion blocks on two sides of the notch can be unequally divided when being interfered with the notch, the notch is made by adjusting, and the cushion blocks on the same drawing are vertically aligned.
(8) And (3) equal division: 12 parts of 35kV conventional; 110kV conventional 20; 220kV conventional 28; extra-high voltage 36, 48, 60; the number of equal parts is not limited thereto but is all even equal parts.
(9) Cushion block width: the number is conventionally 30, 40, 50, 60 and 70, and the actual size is not limited thereto. 30 wide are used on low-voltage coils, 40, 50 are most commonly used, 60, 70 are used on 750kV, 750kV reactors, double million, other widths are rare.
(10) The size of the cushion block is long: l is more than or equal to 900mm and more than or equal to 10mm, and the actual size is not limited to the L.
The length of the spacer block is determined by the radial direction of the coil, generally between 20mm and 400mm, and the spacer block is longer for special products and is used in a relatively small amount.
(11) The cushion block has high size: h is more than or equal to 60mm and more than or equal to 2 mm:
(12) the maximum weight of the single cushion block is less than or equal to 5 kg;
(13) cushion block rule: the thickness of the same product is different. Generally, the width, the thickness and the length of the cushion block on the same paper ring are basically the same, the thickness and the length are respectively different, and at most, one paper ring has three thicknesses.
(14) The paper ring notch both sides cushion adjusts slightly when interfering, can not shelter from the notch, therefore the both sides cushion is not put according to the graduation, cushion and the parallel skew of graduation surface, let out the notch position can, same drawing cushion aligns from top to bottom.
The parameter requirements of automatic bonding equipment are as follows:
(1) the external dimension is as follows: 9000 × 8200 × 2500 mm;
(2) diameter of the insulating paper ring: less than or equal to 3100 mm;
(3) voltage: 380V, 50 HZ;
(4) air pressure of an air source: 0.4-0.7 MPa;
(5) the working noise is less than or equal to 78dB (A);
(6) power: 20 kW;
(7) working beat: less than or equal to 10 s/block.
The automatic bonding device and the method have the advantages that (1) the intelligent degree is high, the technical parameters and the batch processing quantity are input, the equipment is started up for self-checking, the technical parameters and the batch processing quantity are input through a display screen, a design drawing can be automatically imported through an MES after being standardized, a WIFI module is arranged, the function of network transmission of parameter files is realized, the system meets the queuing function of at least 10 groups of processing tasks, one specification is finished, and the next specification is automatically entered after raw materials and finished product skip cars are automatically or manually replaced without manual interference. (2) Full-automatic operation, namely one-key starting of equipment and full-automatic operation are realized; the bonded cushion blocks are automatically counted, the cushion blocks are automatically stopped after the number of the cushion blocks reaches a set value, and an audible and visual alarm is given to prompt an operator to finish the work so as to form assembly line operation. (3) The control device is reliably communicated with the AGV, and the Ethernet communication is adopted to send instructions to schedule the AGV to automatically run and send raw materials, empty material racks and finished material boxes, so that a plurality of groups of data can be automatically stored and can be exported; when the operation is completed, the whistle is automatically sent out. The alarm three-color lamp is arranged, when a problem occurs, the alarm can be performed by sound and light, an operator is prompted to search the reason, and the alarm reason is displayed on the screen. (4) The equipment can carry out action function adjustment according to the operation instruction, sets up multichannel electrical and mechanical safety interlock, avoids carrying out wrong instruction.
Finally, it is to be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, and the scope of the present invention is not limited thereto. Those skilled in the art will understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (6)
1. Full-automatic bonding device of transformer end ring cushion, its characterized in that includes: the automatic feeding device comprises a paper ring material rack (12), a paper ring positioning table (13) and a finished product material rack (14), wherein the paper ring material rack (12), the paper ring positioning table (13) and the finished product material rack (14) are circular table surfaces with bases, the circular table surfaces of the paper ring positioning table (13) and the finished product material rack (14) can rotate, a supporting frame is arranged above the paper ring material rack (12), the paper ring positioning table (13) and the finished product material rack (14), an insulating paper ring gripper (9) is arranged on the supporting frame, the insulating paper ring gripper (9) moves among the paper ring material rack (12), the paper ring positioning table (13) and the finished product material rack (14), a first robot cushion block (5) and a second robot (6) are respectively arranged on two sides of the finished product material rack (14), a hand gripper and a glue spraying mechanism (15) are respectively arranged on the first robot (5) and the second robot (6), a first material distributing table (7) is arranged on one side of the first robot (5), a second cushion block distribution table (8) is arranged on one side of the second robot (6);
end effector (17) of end connection at first robot (5), installation cushion is held in hand and is spouted gluey mechanism (15) on end effector (17), and the cushion is held in hand and is spouted gluey mechanism (15) and end effector (17) and rotate to be connected, and the cushion is held in hand and is spouted gluey mechanism (15) and include: the device comprises a first vision camera, a light source (18), a connecting mechanism (19), pneumatic clamping jaws (20), a vacuum chuck (21) and a gluing mechanism (22), wherein the connecting mechanism (19) is rotationally connected with an end effector (17), the connecting mechanism (19) is a polyhedral structure formed by combining flat plates, the first vision camera, the light source (18), the vacuum chuck (21), the gluing mechanism (22) and the pneumatic clamping jaws (20) are sequentially installed on four adjacent outer side surfaces of the connecting mechanism (19), the two pneumatic clamping jaws (20) are oppositely arranged, insulating cushion layers (31) are installed on the inner side surfaces, opposite to the two pneumatic clamping jaws (20), of the two pneumatic clamping jaws (20), and the gluing mechanism (22) is connected with a glue tank and a spray head cleaning device (16) through hoses;
the insulating paper ring gripper (9) comprises: insulating paper ring tongs body (26), sucking disc frame (27), sucking disc subassembly (28) and second vision camera and light source (29), insulating paper ring tongs body (26) are around same centre of a circle evenly distributed's eight claw structures, equally divide on every claw and do not install camera linear guide and sucking disc linear guide, install second vision camera and light source (29) on the camera linear guide, install sucking disc frame (27) on the sucking disc linear guide, sucking disc frame (27) intersect with every claw perpendicularly, sucking disc subassembly (28) are installed to the lower tip of sucking disc frame (27).
2. The full-automatic bonding device for the transformer end ring cushion block according to claim 1 is characterized in that an AGV trolley (10) and a control device are arranged, the AGV trolley (10) is of a jacking type structure, and the control device selects an industrial personal computer and a PLC.
3. The full-automatic bonding device for the end ring cushion blocks of the transformer according to claim 1, wherein the gantry truss (4) consists of a double-beam gantry type fixing support (23) and a single-beam truss (11), slide rails are arranged on two supporting cross beams in the length direction of the double-beam gantry type fixing support (23), the single-beam truss (11) is slidably mounted on the slide rails through a traveling mechanism (24), a three-axis manipulator is mounted on the single-beam truss (11), and an insulating paper ring gripper (9) is mounted on the three-axis manipulator.
4. The full-automatic bonding device for the end ring cushion blocks of the transformer according to any one of claims 1 to 3, wherein the paper ring material rest (12), the paper ring positioning table (13) and the finished product rest (14) are arranged in a longitudinal sequence or in a delta-shaped circumference.
5. The full-automatic bonding method for the end ring cushion block of the transformer is characterized in that the full-automatic bonding device for the end ring cushion block of the transformer according to claim 4 is applied, and comprises the following steps:
step 1, visually recognizing the position of an insulating paper ring (1) by a second visual camera and a light source (29) on an insulating paper ring gripper (9), performing vacuum adsorption on the insulating paper ring (1) from a paper ring material rack (12), placing the insulating paper ring on a paper ring positioning table (13) for flattening, adjusting the position of a notch if the notch exists, accurately placing the vacuum adsorption insulating paper ring (1) on the upper plane of a finished product material rack (14) or the upper plane of an adhered gasket for flattening, and visually recognizing the position of the insulating paper ring (1) by the second visual camera and the light source (29);
step 2, a first robot (5) and a second robot (6) respectively adsorb correct cushion blocks (2) from a first cushion block distribution table (7) and a second cushion block distribution table (8), move to the upper side of a finished product rack (14), rotate to enable a gluing mechanism (22) to align to the correct positions of the insulating paper rings (1) for gluing, automatically detect the spraying tracks and thickness by a first vision camera and a light source (18), rotate again to enable the cushion blocks (2) to align to the glued positions for pressing and gluing; rotating the first vision camera and the light source (18) again to automatically detect whether glue overflows or not, the placement position of the cushion block (3) and the position deviation of the cushion block (3) corresponding to the lower end ring; after the end ring is adhered, a second vision camera and a light source (29) which are arranged on the insulating paper ring gripper (9) visually identify the circumferential distribution positions of the end ring cushion blocks (3); then placing the next layer of insulating paper ring (1);
step 3, the control device controls the insulating paper ring gripper (9) and the robot to repeatedly act until all the insulating paper ring gripper and the robot are bonded to finish one transformer end ring;
and 4, transferring the finished product rack (14) and the transformer end ring finished product on the finished product rack to a finished product area by the AGV trolley (10) for cold pressing and curing, and simultaneously supplementing raw materials to prepare for starting the next round of bonding operation.
6. The full-automatic bonding method for the end ring cushion block of the transformer as claimed in claim 5, wherein the glue solution is coated in an S-shaped manner, and a vision system automatically detects the coating condition of the glue solution after the glue is coated, so that the occurrence of burrs or air pockets is not allowed; after the bonding is finished, all axial center lines of the cushion blocks (2) must pass through the circle center of the end ring, the glue solution is not allowed to overflow, and after each end ring is bonded, the end rings are placed on a finished product rack to be stacked in an accumulated mode; the control device has the function of equipment safety management and control, and is provided with a safety indicator lamp, a safety grating, a sound warning, an emergency stop button, a safety ground wire and mechanical protection; has the functions of quantity, parameter, breakpoint memory and time memory.
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| CN112635184B (en) * | 2020-12-14 | 2023-03-31 | 山东电力设备有限公司 | Full-automatic bonding device for coil oil duct filler strip |
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| CN103117159A (en) * | 2013-02-28 | 2013-05-22 | 山东达驰电气有限公司 | Large oil-immersed transformer insulated end ring and manufacturing technology thereof |
| CN204117841U (en) * | 2014-07-28 | 2015-01-21 | 邱玮 | The automatic bonding equipment of insulating end ring of transformer and cushion block |
| CN108766747A (en) * | 2018-05-08 | 2018-11-06 | 远方机器人科技（天津）有限公司 | A kind of automatic bonding equipment |
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Effective date of registration: 20230724 Address after: 250022 Shandong Province, Ji'nan city central machine West Road No. 3 Patentee after: SHANDONG POWER EQUIPMENT Co.,Ltd. Patentee after: Shandong Future Intelligent Technology Co.,Ltd. Address before: 250022 Shandong Province, Ji'nan city central machine West Road No. 3 Patentee before: SHANDONG POWER EQUIPMENT Co.,Ltd. |
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