基于工业机器人的汽轮发电机定子铁心自动叠装系统的研究

发布时间：2019-01-17 18:34

【摘要】：传统的汽轮发电机定子铁心叠装工艺采用人工叠装方式。随着自动化工业的迅猛发展,这种高成本和低效率的生产模式已不能继续适应市场的需求。通过工业机器人来实现发电机定子铁心自动叠装技术已逐渐引起业内的关注。本文基于汽轮发电机定子铁心叠装工艺的要求,设计了工业机器人替代人工叠装定心铁心硅钢片的系统。系统主要以FANUC R-2000iB机器人为基础,通过运用iRVision 3DL视觉系统来实现汽轮发电机定子铁心的自动叠装。本文主要研究内容包括:通过对机器人视觉定位技术和边缘检测技术的理论研究,确定了以硅钢片的一条边和一个圆作为视觉识别的特征;基于iRVision视觉软件,完成相机的选型、安装和标定并实现了硅钢片视觉程序的示教。并对视觉系统进行了优化:采用双视野替代单视野提高了视觉定位精度;对视觉系统进行可控补光,提高了视觉稳定性。通过对大薄异型铁磁性工件吸取方式的比较,选取永磁铁抓取硅钢片的手爪设计方案。对永磁铁的吸附力进行理论研究和建模分析,确定气隙与磁力之间的关系,为硅钢片吸取方案提供了理论依据。并根据硅钢片的外形,确定了永磁铁的布置方案,实现了硅钢片的稳定吸取。根据定子铁心生产工艺要求,构建了硅钢片自动叠装系统,设计系统控制原理、工艺流程以及操作界面。最后对整套系统进行运行效果验证,并对硅钢片的吸片成功率和整套系统的叠片节拍进行优化。通过对整套系统的多次测试和优化,实现发电机定子铁心的自动叠装技术,并达到叠片成功率99.5%以上的预期目标。
[Abstract]:The traditional turbogenerator stator core stacking process adopts manual stacking method. With the rapid development of automation industry, this high-cost and low-efficiency production mode can no longer meet the needs of the market. Automatic superposition of generator stator core by industrial robot has attracted more and more attention. Based on the requirement of superposition technology of stator core of turbogenerator, a system of replacing manual stacked core silicon steel sheet with industrial robot is designed. The system is mainly based on FANUC R-2000iB robot and the automatic superposition of stator core of turbogenerator is realized by using iRVision 3DL vision system. The main contents of this paper are as follows: through the theoretical research of robot visual location and edge detection technology, a edge and a circle of silicon steel sheet are determined as the characteristics of visual recognition; Based on iRVision visual software, the selection, installation and calibration of the camera are completed and the visual program teaching of silicon steel sheet is realized. And the vision system is optimized: the vision positioning accuracy is improved by replacing the single field of vision with two visual fields, and the visual stability is improved by the controlled light compensation of the vision system. By comparing the absorption methods of the large and thin ferromagnetic workpieces, the design scheme of the hand claw of the permanent magnet grabbing the silicon steel sheet is selected. The adsorption force of permanent magnet is studied theoretically and the relationship between air gap and magnetic force is determined, which provides a theoretical basis for the absorption scheme of silicon steel sheet. According to the shape of silicon steel sheet, the arrangement scheme of permanent magnet is determined, and the stable absorption of silicon steel sheet is realized. According to the requirements of stator core production process, the automatic stacking system of silicon steel sheet is constructed, the control principle, process flow and operation interface of the system are designed. Finally, the operation effect of the whole system is verified, and the success rate of absorbing silicon steel sheet and the laminated beat of the whole system are optimized. Through many tests and optimization of the whole system, the automatic stacking technology of generator stator core is realized, and the expected target of lamination success rate of 99.5% is achieved.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TM311;TP242.2

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