【摘要】：傳統(tǒng)的汽輪發(fā)電機(jī)定子鐵心疊裝工藝采用人工疊裝方式。隨著自動(dòng)化工業(yè)的迅猛發(fā)展,這種高成本和低效率的生產(chǎn)模式已不能繼續(xù)適應(yīng)市場(chǎng)的需求。通過工業(yè)機(jī)器人來實(shí)現(xiàn)發(fā)電機(jī)定子鐵心自動(dòng)疊裝技術(shù)已逐漸引起業(yè)內(nèi)的關(guān)注。本文基于汽輪發(fā)電機(jī)定子鐵心疊裝工藝的要求,設(shè)計(jì)了工業(yè)機(jī)器人替代人工疊裝定心鐵心硅鋼片的系統(tǒng)。系統(tǒng)主要以FANUC R-2000iB機(jī)器人為基礎(chǔ),通過運(yùn)用iRVision 3DL視覺系統(tǒng)來實(shí)現(xiàn)汽輪發(fā)電機(jī)定子鐵心的自動(dòng)疊裝。本文主要研究?jī)?nèi)容包括:通過對(duì)機(jī)器人視覺定位技術(shù)和邊緣檢測(cè)技術(shù)的理論研究,確定了以硅鋼片的一條邊和一個(gè)圓作為視覺識(shí)別的特征;基于iRVision視覺軟件,完成相機(jī)的選型、安裝和標(biāo)定并實(shí)現(xiàn)了硅鋼片視覺程序的示教。并對(duì)視覺系統(tǒng)進(jìn)行了優(yōu)化:采用雙視野替代單視野提高了視覺定位精度;對(duì)視覺系統(tǒng)進(jìn)行可控補(bǔ)光,提高了視覺穩(wěn)定性。通過對(duì)大薄異型鐵磁性工件吸取方式的比較,選取永磁鐵抓取硅鋼片的手爪設(shè)計(jì)方案。對(duì)永磁鐵的吸附力進(jìn)行理論研究和建模分析,確定氣隙與磁力之間的關(guān)系,為硅鋼片吸取方案提供了理論依據(jù)。并根據(jù)硅鋼片的外形,確定了永磁鐵的布置方案,實(shí)現(xiàn)了硅鋼片的穩(wěn)定吸取。根據(jù)定子鐵心生產(chǎn)工藝要求,構(gòu)建了硅鋼片自動(dòng)疊裝系統(tǒng),設(shè)計(jì)系統(tǒng)控制原理、工藝流程以及操作界面。最后對(duì)整套系統(tǒng)進(jìn)行運(yùn)行效果驗(yàn)證,并對(duì)硅鋼片的吸片成功率和整套系統(tǒng)的疊片節(jié)拍進(jìn)行優(yōu)化。通過對(duì)整套系統(tǒng)的多次測(cè)試和優(yōu)化,實(shí)現(xiàn)發(fā)電機(jī)定子鐵心的自動(dòng)疊裝技術(shù),并達(dá)到疊片成功率99.5%以上的預(yù)期目標(biāo)。
[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.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TM311;TP242.2

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