Design And Research Of The Automatic Lamination Robot For Large Transformers

The transformer transforming AC voltage is important equipment in the electric power industry.The iron core is the most important part of the transformer,which has significant impact on the technical performance,economic indicators and reliability of the transformer.Iron cores of large transformers are made manually.The accuracy of the stack depends on workers' experience and observation during the process,so the lamination is of low efficiency and poor quality,and the cumbersome lamination process makes workers fret and worn.There is no automatic equipment for lamination process of large transformers home and abroad.To solve problems mentioned,the automatic lamination robot for large transformer is designed.The main content of this current research includes:(1)The mechanical structure of the automatic lamination robot is designed according to the lamination process.Then critical components such as the vision camera,drive plates,suction cup brackets are analyzed.Finally,inertia matching method for servo motors is researched,and motors for the lamination robot are chosen.(2)Utilizing ANSYS to carry on the static analysis of the cross beam that bears the maximum load,and the maximum deformation and stress are obtained.Then size optimization of the beam section is performed by optimization module of ANSYS,and the weight of beam is reduced by 33.24%when the deformation requirement is met.Thirdly,the first four order natural frequencies of beam and bridge are obtained by carrying on modal analysis on the column.Finally,the stability of the column is analyzed.(3)Utilizing transient dynamic module of ANSYS to obtain the vibration rule of the cross beam after three mechanical arms stop motion at the lamination position,and the method that stops vibration from affecting the accuracy of mechanical arms is proposed.(4)The relation of position error and posture error is deduced.Error modeling of the mechanical arm is set up based on matrix method.Sensitivity analysis of error sources of manipulators is carried out,and the key error sources are obtained.Finally,using Monte Carlo method to analyze the reliability of the position precision of mechanical arms,and the ways to improve position precision is proposed.