Flat copper wire stator hairpin end welding automatic detection device system

Abstract

The invention discloses an automatic detection device system for welding of a flat copper wire stator hairpin end, comprising a mechanical arm, at the end of which a CCD image detection device is installed: the CCD image detection device comprises a driving wheel, a first passive wheel and a second passive wheel; and also comprises a flat copper wire stator to be detected; the wheel surfaces of the driving holding wheel, the first passive holding wheel and the second passive holding wheel are respectively tightly pressed against the outer wall of the flat copper wire stator; after the flat copper wire stator of the invention slowly rotates 360 degrees along its own axis, the lens of the CCD image detection camera completely scans the end contour of the flat copper wire stator, so that all the details of the welding points are photographed by the CCD image detection camera; and then the detection of all the welding points on the single flat copper wire stator is completed.

Description

Technical Field

[0001] The invention belongs to the field of automatic detection of welding of stator hairpin ends. Background Art

[0002] As the name implies, the flat wire motor uses flat copper wire in the stator winding. The winding is first made into a hairpin-like shape and inserted into the stator slot. Then the end of the hairpin is welded at the other end. For example, a CMT cold metal welder or TIG automatic argon arc welding method is used to weld the hairpin coil at one end of the stator winding. Figure 1 As shown, due to the large number of welding points at the end of the hairpin, the end of the entire flat copper wire stator 1 is provided with a number of welding points along the annular contour edge 1.1;

[0003] During the automatic welding of flat wire stator windings, due to uncertain factors such as positioning tooling accuracy, welding equipment accuracy, welding vibration, and human operation, there may be deviation of the solder joints at the ends of the hairpins, incorrect soldering, missed soldering, paint film damage, burning, melting, blackening, blistering, etc. Therefore, CCD image detection is needed to replace the human eye to judge whether all solder joints have defects; CCD image detection can magnify the captured image on the display screen, so that even manual judgment is clearer and more convenient than naked eye observation, and of course it can also be judged intelligently by the system.

[0004] Existing CCD image cameras all shoot the flat wire stator winding as a whole, and cannot obtain more detailed images and final judgment of the images. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a flat copper wire stator hairpin end welding automatic detection device system with higher detection accuracy.

[0006] Technical solution: To achieve the above purpose, the flat copper wire stator hairpin end welding automatic detection device system of the present invention includes a mechanical arm, and a CCD image detection device is installed at the end of the mechanical arm:

[0007] The CCD image detection device comprises an active holding wheel, a first passive holding wheel and a second passive holding wheel; and also comprises a flat copper wire stator to be detected; the wheel surfaces of the active holding wheel, the first passive holding wheel and the second passive holding wheel are respectively tightly pressed against the outer wall of the flat copper wire stator; the axes of the active holding wheel, the first passive holding wheel and the second passive wheel are all parallel to the axis of the flat copper wire stator; the active rotation of the active holding wheel can drive the flat copper wire stator to rotate along its own axis;

[0008] The CCD image detection device is also fixedly mounted with a CCD image detection camera. The end of the flat copper wire stator to be detected has several welding spots distributed along the edge of the annular contour. The lens of the CCD image detection camera corresponds to the end edge of the flat copper wire stator.

[0009] Furthermore, the CCD image detection device also includes a passive wheel bracket, and the first wheel axle of the first passive holding wheel and the second wheel axle of the second passive wheel are rotatably mounted in the bearing holes at both ends of the passive wheel bracket through the first bearing and the second bearing respectively; the CCD image detection device also includes an active wheel bracket fixed at the end of the robotic arm, and the active wheel axle of the active holding wheel is rotatably matched with the bearing hole on the active wheel bracket through the third bearing.

[0010] Furthermore, a transverse cylinder bracket is fixedly installed on the upper side of the driving wheel bracket, and a first horizontal cylinder and a second horizontal cylinder which are parallel to each other are fixedly installed at both ends of the cylinder bracket respectively; the ends of the first telescopic rod of the first horizontal cylinder and the second telescopic rod of the second horizontal cylinder are fixedly connected to the passive wheel bracket through the first fixed connecting piece and the second fixed connecting piece respectively; the synchronous operation of the first horizontal cylinder and the second horizontal cylinder can drive the first wheel axle and the second passive wheel to synchronously move towards or away from the driving wheel.

[0011] Furthermore, the wheel surfaces of the active holding wheel, the first passive holding wheel and the second passive holding wheel are all made of rubber.

[0012] Furthermore, it also includes a motor, the output end of which is drivingly connected to the driving wheel shaft; the housing of the motor is fixed to the cylinder bracket through a motor bracket; and the housing of the CCD image detection camera is fixed to the housing of the motor through a camera bracket.

[0013] Furthermore, the motor is a stepping motor.

[0014] Beneficial effect: After the flat copper wire stator of the present invention slowly rotates 360° along its own axis, the lens of the CCD image detection camera completely scans the end contour of the flat copper wire stator, so that all the details of the welding points are captured by the CCD image detection camera; thereby completing the detection of all welding points on a single flat copper wire stator. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Attached Figure 1 A schematic diagram of the structure of a flat copper wire stator waiting for visual inspection with several welding spots distributed along the edge of the annular contour;

[0016] Attached Figure 2 The schematic diagram of the overall structure of the device (the flat copper wire stator to be tested has not yet been clamped);

[0017] Attached Figure 3 For the attached Figure 2 Schematic diagram of clamping the flat copper wire stator to be tested on the basis of the wire (for better expression, this figure has hidden many welding points at the end of the flat copper wire stator, for details, please refer to the attached Figure 1 );

[0018] Attached Figure 4 For attachment Figure 3 The cross-sectional structure of

[0019] Attached Figure 5 This is a top view of the passive wheel bracket. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings.

[0021] As shown in Figures 5 to 5, the flat copper wire stator hairpin end welding automatic detection device system includes a mechanical arm 11, and a CCD image detection device is installed at the end of the mechanical arm 11:

[0022] The CCD image detection device includes an active holding wheel 5, a first passive holding wheel 4.1 and a second passive holding wheel 4.2; and also includes a flat copper wire stator 1 to be detected; the wheel surfaces of the active holding wheel 5, the first passive holding wheel 4.1 and the second passive holding wheel 4.2 are respectively tightly pressed against the outer wall of the flat copper wire stator 1; the axes of the active holding wheel 5, the first passive holding wheel 4.1 and the second passive holding wheel 4.2 are parallel to the axis of the flat copper wire stator 1; in order to increase the friction force so that the flat copper wire stator 1 is stably clamped under the pressure of the active holding wheel 5, the first passive holding wheel 4.1 and the second passive holding wheel 4.2, the wheel surfaces of the active holding wheel 5, the first passive holding wheel 4.1 and the second passive holding wheel 4.2 of this embodiment are all made of rubber; the active rotation of the active holding wheel 5 can drive the flat copper wire stator 1 to rotate along its own axis;

[0023] The CCD image detection device is also fixedly mounted with a CCD image detection camera 9. The end of the flat copper wire stator 1 to be detected has a plurality of welding points distributed along the annular contour edge 1.1. The lens 15 of the CCD image detection camera 9 corresponds to the end edge of the flat copper wire stator 1. Figure 4 After the flat copper wire stator 1 is slowly rotated 360° along its own axis, the lens 15 of the CCD image detection camera 9 completely scans the end contour of the flat copper wire stator 1, so that all the welding points are captured by the CCD image detection camera 9;

[0024] The CCD image detection device of this embodiment also includes a passive wheel bracket 2, and the first wheel shaft 20.1 of the first passive holding wheel 4.1 and the second wheel shaft 20.2 of the second passive wheel 4.2 are rotatably mounted in the bearing holes at both ends of the passive wheel bracket 2 through the first bearing 19.1 and the second bearing 19.2 respectively; the CCD image detection device also includes an active wheel bracket 8 fixed to the end of the mechanical arm 11, and the active wheel shaft 18 of the active holding wheel 5 is rotatably matched with the bearing hole on the active wheel bracket 8 through the third bearing 10.

[0025] A transverse cylinder bracket 14 is fixedly installed on the upper side of the driving wheel bracket 8, and a first horizontal cylinder 7.1 and a second horizontal cylinder 7.2 are fixedly installed at both ends of the cylinder bracket 14 in parallel with each other; the ends of the first telescopic rod 6.1 of the first horizontal cylinder 7.1 and the second telescopic rod 6.2 of the second horizontal cylinder 7.2 are fixedly connected to the passive wheel bracket 2 through the first fixed connecting piece 3.1 and the second fixed connecting piece 3.2 respectively; the synchronous operation of the first horizontal cylinder 7.1 and the second horizontal cylinder 7.2 can drive the first wheel axle 20.1 and the second passive wheel 4.2 to synchronously move towards or away from the driving holding wheel 5.

[0026] It also includes a motor 12, which is a stepping motor in this embodiment; the output end of the motor 12 is driven and connected to the active wheel shaft 18; the casing of the motor 12 is fixed to the cylinder bracket 14 through the motor bracket 13; the casing of the CCD image detection camera 9 is fixed to the casing of the motor 12 through the camera bracket 17.

[0027] The working process and principle of this scheme are as follows:

[0028] At the same time, the first horizontal cylinder 7.1 and the second horizontal cylinder 7.2 are controlled to drive the first telescopic rod 6.1 and the second telescopic rod 6.2 to shrink synchronously, so that the first wheel shaft 20.1 and the second passive wheel 4.2 are gradually approached to the active holding wheel 5, and then the flat copper wire stator 1 is tightly clamped between the first wheel shaft 20.1 and the second passive wheel 4.2 and the active holding wheel 5; at this time, the lens 15 of the CCD image detection camera 9 corresponds to the end edge of the flat copper wire stator 1, such as Figure 4 , so that the lens 15 of the CCD image detection camera 9 just captures the local welding spot at the end edge of the flat copper wire stator 1; at this time, the motor 12 is started, so that the active holding wheel 5 rotates slowly, and then the active holding wheel 5 drives the clamped flat copper wire stator 1 to rotate along its own axis. After the flat copper wire stator 1 rotates slowly 360° along its own axis, the lens 15 of the CCD image detection camera 9 completely scans the end contour of the flat copper wire stator 1, so that all the welding spot details are captured by the CCD image detection camera 9; and then the detection of all the welding spots on a single flat copper wire stator 1 is completed. This method of rotating and scanning details has higher detection reliability than the overall shooting.

[0029] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A flat copper wire stator hairpin end welding automatic detection device system, comprising a mechanical arm (11), wherein a CCD image detection device is installed at the end of the mechanical arm (11): Features: The CCD image detection device comprises an active holding wheel (5), a first passive holding wheel (4.1) and a second passive holding wheel (4.2); and also comprises a flat copper wire stator (1) to be detected; the wheel surfaces of the active holding wheel (5), the first passive holding wheel (4.1) and the second passive holding wheel (4.2) are respectively tightly pressed against the outer wall of the flat copper wire stator (1); the axes of the active holding wheel (5), the first passive holding wheel (4.1) and the second passive holding wheel (4.2) are all parallel to the axis of the flat copper wire stator (1); the active rotation of the active holding wheel (5) can drive the flat copper wire stator (1) to rotate along its own axis; A CCD image detection camera (9) is also fixedly mounted on the CCD image detection device. The end of the flat copper wire stator (1) to be detected has a plurality of welding points distributed along the annular contour edge (1.1). The lens (15) of the CCD image detection camera (9) corresponds to the end edge of the flat copper wire stator (1). The CCD image detection device further comprises a passive wheel bracket (2), wherein a first wheel axle (20.1) of the first passive holding wheel (4.1) and a second wheel axle (20.2) of the second passive holding wheel (4.2) are rotatably mounted in bearing holes at both ends of the passive wheel bracket (2) via a first bearing (19.1) and a second bearing (19.2), respectively; the CCD image detection device further comprises an active wheel bracket (8) fixed to the end of the mechanical arm (11), wherein the active wheel axle (18) of the active holding wheel (5) is rotatably matched with the bearing hole on the active wheel bracket (8) via a third bearing (10); A transverse cylinder bracket (14) is fixedly mounted on the upper side of the driving wheel bracket (8), and a first horizontal cylinder (7.1) and a second horizontal cylinder (7.2) are fixedly mounted on both ends of the cylinder bracket (14) in parallel with each other; the ends of the first telescopic rod (6.1) of the first horizontal cylinder (7.1) and the second telescopic rod (6.2) of the second horizontal cylinder (7.2) are fixedly connected to the passive wheel bracket (2) via a first fixed connecting piece (3.1) and a second fixed connecting piece (3.2); the synchronous operation of the first horizontal cylinder (7.1) and the second horizontal cylinder (7.2) can drive the first wheel axle (20.1) and the second passive holding wheel (4.2) to synchronously move towards or away from the driving holding wheel (5); It also includes a motor (12), the output end of the motor (12) drivingly connected to the driving wheel shaft (18); the housing of the motor (12) is fixed to the cylinder bracket (14) via a motor bracket (13); and the housing of the CCD image detection camera (9) is fixed to the housing of the motor (12) via a camera bracket (17).

2. The flat copper wire stator hairpin end welding automatic detection device system according to claim 1 is characterized by: The motor (12) is a stepping motor.

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