【作者】 钱强；

【导师】 赵言正； 顾志豪；

【作者基本信息】 上海交通大学 ， 机械工程， 2014， 硕士

【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。更多还原

【Abstract】 The traditional stacking mode of the turbine generator stator core is by hand. It causes high cost and low efficiency. With the rapid development of industrial automation, this mode of production has been unable to meet the needs of the market and automatic stacking of generator stator core by industrial robot has been gradually focused on.In this paper, based on the requirements of turbine generator stator core stacking process, the automatic stacking system of generator stator core by robots, instead of men, has been designed. The system is realized, based on the FANUC R-2000 iB robot, by using iRVision 3DL vision system. The main research of paper contents are following: through the theoretical research on visual positioning technology of robot, determine one edge and one circle of silicon steel sheets as the visual feature; Through the iRvision software, the selection, installation and calibration of the camera are finished and the visual teaching program of silicon steel sheet is realized. To improve the stabilization of the visual system, the visual system has been optimized: using double vision instead of single vision to improve the vision positioning accuracy; Filling controllable light on the visual system to improve the stability of the vision.Compare with several kinds of catching big and thin shaped ferromagnetic workpiece’s mode, chose the permanent magnet as the power to catch the silicon steel sheet. Through learning the theory of permanent magnet and making a modeling analysis, we determine the relation between the air gap and magnetic force and find the method to absorb the silicon steel sheet stably. According to the shape of silicon steel sheet, complete the arrangement of permanent magnets and realize the stable catch of silicon steel sheet.According to the requirements of the stator core production technology, we build the silicon steel sheet automatic stacking system and design the principle of the control system, work flow for robot and operation interface. Finally, we verify the effect on the whole system, and optimize the success rate and cycle time of the system. After testing and optimizing the system several times, the stability of the system has significantly increased and the success rate of the system is more than 99.5% at last.更多还原