Magnetic steel assembly method, device, electronic equipment and computer readable storage medium

Abstract

The present application provides a magnetic steel assembly method, which is applied to a magnetic steel assembly system; the magnetic steel assembly system includes: a loading component, a feeding component, and a detection component; wherein the loading component is connected to the feeding component, and the loading component and the feeding component are both provided with a detection component; the method includes: obtaining magnetic steel information and iron core information in the loading component through the detection component; controlling the feeding component to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information, until all the magnetic steel slots of the iron core are equipped with magnetic steel; detecting whether the magnetic steel assembly on the iron core is qualified through the detection component; if the magnetic steel installation is qualified, the magnetic steel assembly is completed. The embodiment of the present application improves the accuracy of the magnetic steel assembly by performing corresponding detection on each step in the assembly process through different detection equipment during the magnetic steel assembly process, ensuring that each step of the magnetic steel assembly meets the assembly conditions.

Description

Technical Field

[0001] This application relates to the field of automated assembly, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for assembling magnets. Background Technology

[0002] Magnets are one of the main components of a motor rotor, and their assembly is a crucial step in the rotor assembly process. Traditionally, magnet assembly involved manually inserting each magnet piece into its corresponding slot in the rotor core, resulting in low productivity and high labor intensity. To improve assembly efficiency, various magnet assembly machines have emerged. However, these machines all suffer from problems such as improper magnet installation and missing magnets. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a method, apparatus, electronic device, and computer-readable storage medium for assembling magnets. This can reduce problems such as improper magnet installation and missing magnets.

[0004] In a first aspect, embodiments of this application provide a magnet assembly method, which is applied to a magnet assembly system. The magnet assembly system includes: a loading component, a feeding component, and a detection component; wherein the loading component is connected to the feeding component, and the detection component is provided on both the loading component and the feeding component; the method includes: acquiring magnet information and core information in the loading component through the detection component; controlling the feeding component to place the magnet into the magnet slot of the core according to the core information and the magnet information, until all magnet slots of the core are equipped with magnets; detecting whether the magnet assembly on the core is qualified through the detection component; if the magnet installation is qualified, the magnet assembly is completed.

[0005] In the above implementation process, the core and magnet information obtained by the detection component is used to control the feeding component for magnet assembly, replacing the manual confirmation of magnet and core information during magnet assembly, thus improving the accuracy and efficiency of detection. Furthermore, the assembled core is inspected after assembly to promptly detect any improper or missing magnets, further improving the accuracy of magnet installation.

[0006] In one embodiment, the detection component includes: a first image acquisition device; the first image acquisition device is disposed on the feeding component; the step of detecting whether the magnet assembly on the iron core is qualified by the detection component includes: acquiring an image of the iron core by the first image acquisition device; comparing the iron core image with a standard image of the iron core to obtain the magnet height difference; and comparing the magnet height difference with a height threshold to detect whether the magnet assembly on the iron core is qualified.

[0007] In the above process, after the iron core magnets are assembled, an image of the iron core is acquired by a first image acquisition device and compared with a standard image of the iron core to determine whether the magnet assembly of the iron core is qualified. By conducting further testing on the assembled iron core, it is ensured that the assembled iron core is a qualified iron core that meets the standards, thereby improving the accuracy of iron core assembly and enhancing the quality of the iron core.

[0008] In one embodiment, comparing the core image with a core standard to obtain the magnet height difference includes: comparing the coordinates of the core image with the coordinates of the core standard image to obtain a coordinate offset distance; performing coordinate correction on the image acquisition device based on the coordinate offset distance and the coordinates of the core standard image; and acquiring the corrected core image based on the corrected image acquisition device to determine the magnet height difference.

[0009] In the above implementation process, the height difference of the magnets on the iron core is determined based on the corrected iron core image. Since the iron core image used to determine the height difference of the magnets is the corrected image, the influence of other irrelevant factors on the calculation of the height difference of the magnets is reduced, the accuracy of the height difference of the magnets is improved, and thus the accuracy of the detection of the magnet assembly is improved.

[0010] In one embodiment, the feeding assembly includes: an iron core feeding assembly and a magnet feeding assembly; the detection assembly includes: a second image acquisition device and a height detection device; the second image acquisition device is disposed on the iron core feeding assembly, and the height detection device is disposed on the magnet feeding assembly; obtaining magnet information and iron core information in the feeding assembly through the detection assembly includes: obtaining the model information of the iron core through the second image acquisition device; and obtaining the type information and quantity information of the magnets through the height detection device.

[0011] In the above implementation process, the model of the iron core is obtained through image acquisition equipment, and the quantity and model of the magnets are determined through height detection equipment. Different detection methods are set as needed based on the characteristics of the iron core and magnets. For the iron core, the model can be determined by its identification code or structure; therefore, the acquisition of iron core information requires image acquisition equipment. However, the thickness of the magnets determines their model and quantity, so image acquisition is not required for the magnets; the model can be determined by the height detection equipment. This on-demand setting of corresponding detection components reduces the cost of the detection components. Furthermore, since the model information of the iron core, the type information and quantity information of the magnets are obtained using two different components, these information can be obtained simultaneously, improving the efficiency of magnet assembly.

[0012] In one embodiment, the height detection device includes a height detection sensor and a pressing device; both the height detection sensor and the pressing device are disposed on the magnet feeding assembly; obtaining the type and quantity information of the magnets through the height detection device includes: detecting the height of the magnets in the magnet feeding assembly through the height detection sensor, and determining the type information of the magnets in the magnet feeding assembly based on the magnet height; detecting whether there are magnets in the magnet feeding assembly through the arrival signal of the pressing device, so as to determine the quantity information of the magnets.

[0013] In the above implementation process, a height detection sensor is used to obtain the type of magnet, enabling the matching of the magnet and the iron core to ensure the accuracy of magnet assembly. Furthermore, a pressing device is used to detect the quantity of magnets in the magnet placement tube, allowing for real-time monitoring of the magnet quantity. This ensures that magnets are replenished promptly when the tube is empty, preventing the feeding assembly from continuing to pick up magnets when the tube is empty, reducing malfunctions and improving the effectiveness of magnet assembly.

[0014] In one embodiment, controlling the feeding assembly to place the magnet into the magnet slot of the iron core based on the iron core information and the magnet information includes: determining whether the iron core and the magnet match based on the model information of the iron core and the type information of the magnet; if the iron core and the magnet match, controlling the feeding assembly to place the magnet into the magnet slot of the iron core; determining whether there is a magnet in the magnet loading assembly based on the magnet quantity information; if there is a magnet in the magnet loading assembly, continuing to control the feeding assembly to place the magnet into the next magnet slot of the iron core, until all magnet slots of the iron core are equipped with magnets.

[0015] In the above implementation process, before assembling the magnets, the magnets are first matched with the iron core. Only after successful matching will the magnets be assembled, ensuring the accuracy of the iron core and magnet assembly. Furthermore, before assembling each magnet, the quantity of magnets is checked. This allows for timely understanding of the remaining magnets in the feeding assembly, enabling prompt detection of when magnets have been used up and timely replenishment. By matching the magnets to the iron core and checking the magnet quantity, the accuracy and efficiency of magnet assembly are improved.

[0016] In one embodiment, the detection component includes: a pressure sensor; the pressure sensor is disposed on the feeding component; the step of controlling the feeding component to place the magnet into the magnet slot of the iron core according to the iron core information and the magnet information, until all magnet slots of the iron core are equipped with the magnet includes: controlling the feeding component to place the magnet into the magnet slot of the iron core according to the iron core information and the magnet information; determining whether the magnet installation is incorrect based on the pressure change of the pressure sensor; if the magnet installation is not incorrect, then continuing to control the feeding component to place the magnet into the next magnet slot of the iron core according to the iron core information and the magnet information, until all magnet slots of the iron core are equipped with the magnet.

[0017] In the above implementation process, by setting up a pressure sensor, the assembly of the magnet is monitored in real time to achieve simultaneous assembly and inspection, which improves both the accuracy and efficiency of the magnet assembly.

[0018] Secondly, this application also provides a magnet assembly device, which is applied to a magnet assembly system. The magnet assembly system includes: a feeding component, a conveying component, and a detection component; wherein the feeding component is connected to the conveying component, and the detection component is provided on both the feeding component and the conveying component; the device includes: an acquisition module for acquiring magnet information and core information in the feeding component through the detection component; a placement module for controlling the conveying component to place the magnet into the magnet slot of the core according to the core information and the magnet information, until all magnet slots of the core are equipped with magnets; and a detection module for detecting whether the magnet assembly on the core is qualified through the detection component, and if the magnet installation is qualified, the magnet assembly is completed.

[0019] Thirdly, embodiments of this application also provide an electronic device, including: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method described in the first aspect or any possible implementation of the first aspect.

[0020] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the magnet assembly method described in the first aspect or any possible implementation of the first aspect.

[0021] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a block diagram of the magnet assembly system provided in an embodiment of this application;

[0024] Figure 2 A block diagram illustrating an electronic device provided in an embodiment of this application;

[0025] Figure 3 A flowchart of the magnet assembly method provided in the embodiments of this application;

[0026] Figure 4 This is a schematic diagram of the functional modules of the magnet assembly device provided in the embodiments of this application. Detailed Implementation

[0027] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0028] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Currently, with the rapid development of intelligentization and industrialization, industries such as production equipment, installation equipment, power generation equipment, and transportation equipment have also entered a stage of rapid development. Electric motors are widely used in these industries and are gradually playing an important role in various sectors, leading to rapid market growth.

[0030] Because electric motors play a crucial role in various industries, their production volume is gradually increasing, and the quality of motors affects the quality of the entire equipment. Magnet assembly is a vital part of motor production, and its quality directly impacts the motor's quality. Therefore, improving the magnet assembly speed and pass rate has become an urgent problem to be solved in motor production.

[0031] In view of this, the inventors of this application have set up different detection methods in each step of the magnet assembly process to detect each step of the magnet assembly process, so as to ensure that each step of the magnet assembly can meet the assembly requirements. Moreover, no human intervention is required in the entire magnet assembly process, which improves the qualification of magnet assembly and also improves the efficiency of magnet assembly.

[0032] To facilitate understanding of this embodiment, a detailed description of a magnet assembly system disclosed in this application will be provided first.

[0033] like Figure 1 The diagram shown is a block diagram of the magnet assembly system. The magnet assembly system 01 includes: a feeding assembly 12, a conveying assembly 13, and a detection assembly 11.

[0034] The feeding component 12 is connected to the feeding component 13, and both the feeding component 12 and the feeding component 13 are equipped with detection components 11.

[0035] The aforementioned feeding assembly 12 includes an iron core feeding assembly 12 and a magnet feeding assembly 12. The iron core feeding assembly 12 is equipped with a mounting fixture for placing the iron core of the motor rotor. The magnet feeding assembly 12 is equipped with a magnet placement slot for placing magnet placement tubes.

[0036] Optionally, multiple magnets can be placed in one magnet placement tube simultaneously. One or more magnet placement tubes can be placed on one magnet feeding assembly 12, and the types of magnets in each magnet placement tube can be the same or different.

[0037] The aforementioned detection component 11 may include: a first image acquisition device, a second image acquisition device, and a height detection device.

[0038] The aforementioned first image acquisition device is mounted on the feeding assembly 13 and is used to acquire core information. This core information refers to the core after magnet assembly, and may include: core placement position, whether the core is properly positioned, and magnet installation status. The first image acquisition device may include: a camera, a scanner, a barcode scanner, etc. This first image acquisition device can be configured according to actual needs, and this application does not impose specific limitations.

[0039] The aforementioned second image acquisition device is installed on the core feeding assembly 12 and is used to acquire core model information. This core model information may include: core identification code, core structure information, core shape information, etc. The second image acquisition device may include: a camera, a scanner, a barcode scanner, etc. This second image acquisition device can be configured according to actual needs, and this application does not impose specific limitations.

[0040] In some embodiments, the first image acquisition device and the second image acquisition device may be the same image acquisition device. If they are the same image acquisition device, the image acquisition device may be set on the feeding component 12 or on the feeding component 13.

[0041] Understandably, the aforementioned height detection device may include: a height detection sensor and a pressing device.

[0042] The height detection sensor here is installed on the magnet feeding assembly 12 to obtain magnet information inside the magnet placement tube. This magnet information may include the number of magnets, magnet height, etc.

[0043] Different types of magnets have different thicknesses. The number and height of the magnets placed in the tube are determined based on the different positions of the height detection equipment. The type of magnet is then determined based on the number and height information of the magnets.

[0044] The pressing device here can be a pressing cylinder, pressing rod, pressing shaft, or other device that can perform a pressing action.

[0045] The aforementioned feeding assembly 13 may include components such as a robot, a robotic arm, a pushing cylinder, a tilting cylinder, grippers, and a turntable. The pressing device is mounted on the feeding assembly 13 and is used to obtain information about the number of magnets inside the magnet placement tube.

[0046] Specifically, before the robot (or robotic arm) obtains the magnet in the feeding assembly 13, the position signal of the pressing device is used to detect the presence or absence of the magnet in the magnet placement tube. If the cylinder presses down to the position, it means that there is no magnet. If the cylinder does not press down to the position, it means that there is a magnet.

[0047] In some embodiments, a sensor may also be provided on the side of the magnet placement tube to detect whether the magnet is placed correctly.

[0048] In some embodiments, the detection component 11 described above includes a pressure sensor.

[0049] The pressure sensor here is installed on the feeding assembly 13 to detect whether the magnet is installed incorrectly. Specifically, the downward displacement of the feeding assembly 13 is set before the magnet is installed. When a pressure change occurs, it indicates that the downward displacement of the feeding assembly 13 has changed, which determines that the magnet is inserted incorrectly.

[0050] In some embodiments, the magnet assembly system 01 performs the magnet installation process as follows: the core feeding assembly 12 places the core onto the insertion fixture at the turntable station, and the magnet feeding assembly 12 places multiple magnets into the magnet placement slots. Further, the pressing device detects the height of the magnets in the placement slots. If the cylinder pressing is not complete, it indicates the presence of magnets. After the cylinder presses down, the turntable will send the magnets towards the robot (or robotic arm). A pushing cylinder pushes out one piece of magnet, and a flipping cylinder gripper picks up the magnet piece and flips it to the robot (or robotic arm) pick-up position. After the sensor at the robot (or robotic arm) pick-up position detects the magnet, the robot (or robotic arm) places a portion of the magnet into the magnet slot of the core. Since the robot (or robotic arm) cannot enter the magnet slot, the remaining part of the magnet slides freely. Further, the pressure sensor installed on the robot (or robotic arm) determines whether the magnet installation is incorrect. If an error is found, an alarm is issued. If there are no errors, start by checking the height of the magnets in the magnet placement slots using the pressing device, and repeat the above steps until each magnet placement slot of the iron core is equipped with a magnet, then the magnet assembly is complete.

[0051] In one embodiment, the magnet assembly system 01 may include multiple sets of feeding components 13, and different feeding components 13 may perform actions simultaneously to assemble magnets on the same iron core from multiple positions.

[0052] In the above steps, if the pressing device detects that there is no magnet in the magnet placement slot, the magnet feeding assembly 12 needs to place the magnet in the magnet placement slot and then repeat the above steps starting from the height of the magnet in the magnet placement slot detected by the pressing device until each magnet placement slot of the iron core is equipped with a magnet, and then the magnet assembly ends.

[0053] To facilitate understanding of this embodiment, the electronic device that performs the magnet assembly method disclosed in this application will be described in detail below.

[0054] like Figure 2 The diagram shown is a block diagram of an electronic device. The electronic device 100 may include a memory 111, a processor 112, a peripheral interface 113, and an input / output unit 114. Those skilled in the art will understand that... Figure 2 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device 100. For example, the electronic device 100 may also include components that are more... Figure 2 The more or fewer components shown, or having the same Figure 2The different configurations shown.

[0055] The aforementioned memory 111, processor 112, peripheral interface 113, and input / output unit 114 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The aforementioned processor 112 is used to execute executable modules stored in the memory.

[0056] The memory 111 can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 111 stores programs, and the processor 112 executes these programs upon receiving execution instructions. The methods executed by the electronic device 100 as defined in any embodiment of this application can be applied to the processor 112, or implemented by the processor 112.

[0057] The memory 111 here can be used to store information such as magnet information, iron core information, and standard iron core images.

[0058] The processor 112 described above may be an integrated circuit chip with signal processing capabilities. The processor 112 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a digital signal processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor.

[0059] The peripheral interface 113 described above couples various input / output devices to the processor 112 and the memory 111. In some embodiments, the peripheral interface 113 and the processor 112 can be implemented on a single chip. In other instances, they can be implemented on separate chips.

[0060] The peripheral interface 113 here can be used to connect to devices such as the first image acquisition device, the second image acquisition device, the height detection device, and sensors to obtain assembly information of each component in the magnet assembly system.

[0061] The input / output unit 114 described above is used to provide user input data. The input / output unit 114 may be, but is not limited to, a mouse and a keyboard.

[0062] The electronic device 100 in this embodiment can be used to execute various steps in the various methods provided in the embodiments of this application. The implementation process of the magnet assembly method is described in detail below through several embodiments.

[0063] Please see Figure 3 This is a flowchart of the magnet assembly method provided in the embodiments of this application. The following will describe... Figure 3 The specific process shown will be explained in detail.

[0064] Step 201: Obtain information about the magnets and iron cores in the feeding assembly through the detection component.

[0065] The detection component here can be a single detection device or it can include multiple different detection devices. For example, the detection component may include: a first image acquisition device, a second image acquisition device, a height detection sensor, a pressing device, a pressure sensor, a position sensor, an infrared sensor, etc.

[0066] The magnet information here can include the quantity, model, shape, and location of the magnets. The core information here can include the core placement location, core identification code, whether the core is in place, and the magnet installation status.

[0067] Optionally, the aforementioned magnet information and core information can be obtained by the same device in the detection assembly, or by different devices in the detection assembly.

[0068] In some embodiments, prior to step 201, the method further includes: inserting a fitting fixture onto the positioning shaft of the core loading assembly, the fitting fixture being a carrier for the core to be installed, with one fitting fixture corresponding to each core.

[0069] Step 202: Based on the core information and magnet information, control the feeding assembly to place the magnets into the magnet slots of the core until all magnet slots of the core are equipped with magnets.

[0070] Before assembling the magnets, it is necessary to determine whether the magnets or cores meet the assembly requirements based on the magnet and core information. This includes checking if the magnet model matches the core model, if the core is placed in the appropriate position, and if there are magnets in the magnet slots. After confirming that the magnets or cores meet the assembly requirements, the magnets are placed into the magnet slots of the core using a feeding assembly.

[0071] The iron core here includes multiple magnetic slots. The iron core is considered complete only when all the magnetic slots are fitted with magnets. Understandably, the magnets in different slots of the same iron core are assembled in the same way.

[0072] Step 203: Check whether the magnet assembly on the iron core is qualified by using the detection component.

[0073] During assembly, various factors such as assembly angle and speed may cause problems such as improper magnet installation or omissions. Therefore, after each core assembly is completed, it is necessary to check whether the magnet installation on the core is qualified. If the magnet installation is qualified, the magnet assembly of that core is completed, and the assembled core is removed from the loading assembly. If there are any cases of improper magnet installation or omissions, an alarm will be triggered. This alarm can be a voice alarm, an alarm light alarm, an image alarm, an SMS alarm, or a pop-up screen alarm.

[0074] In the above implementation process, the core and magnet information obtained by the detection component is used to control the feeding component for magnet assembly, replacing the manual confirmation of magnet and core information during magnet assembly, thus improving the accuracy and efficiency of detection. Furthermore, the assembled core is inspected after assembly to promptly detect any improper or missing magnets, further improving the accuracy of magnet installation.

[0075] In one possible implementation, step 203 includes: acquiring an image of the iron core using an image acquisition device; comparing the iron core image with a standard image of the iron core to obtain the magnet height difference; and comparing the magnet height difference with a height threshold to detect whether the magnet assembly on the iron core is qualified.

[0076] The images of the iron core shown here are of the iron core after the magnets have been assembled. The standard image of the iron core is of the iron core fully loaded with magnets and the magnets are installed correctly.

[0077] The aforementioned magnet height difference refers to the difference between the magnet installation height in the core image and the magnet installation height in the standard core image. The height threshold here is the maximum allowable difference between the magnet installation height in the core image and the magnet installation height in the standard core image.

[0078] Understandably, if the height difference of the magnets is greater than the height threshold, the magnet assembly is considered unqualified. If the height difference of the magnets is less than or equal to the height threshold, the magnet assembly is considered qualified.

[0079] In some embodiments, after determining that the magnet assembly is defective, the method may further include: determining the type of magnet assembly defect based on the magnet height difference; if the magnet assembly defect type is magnet missing, determining the location of the missing magnet based on the core image; and controlling the feeding assembly to place the magnet into the magnet slot of the core corresponding to the missing magnet location. If the magnet assembly defect type is magnet assembly failure, then the core is placed in the defective material area.

[0080] In the above process, after the iron core magnets are assembled, an image of the iron core is acquired using an image acquisition device and compared with a standard image of the iron core to determine whether the magnet assembly of the iron core is qualified. By conducting further testing on the assembled iron core, it is ensured that the assembled iron core is a qualified iron core that meets the standards, thereby improving the accuracy of iron core assembly and enhancing the quality of the iron core.

[0081] In one possible implementation, the image of the iron core is compared with the iron core standard to obtain the height difference of the magnet, including: comparing the coordinates of the iron core image with the coordinates of the iron core standard image to obtain the coordinate offset distance; performing coordinate correction on the image acquisition device based on the coordinate offset distance and the coordinates of the iron core standard image; and acquiring the corrected iron core image based on the corrected image acquisition device to determine the height difference of the magnet.

[0082] After acquiring the core image, the core outline is placed in a coordinate system to determine its coordinates. These coordinates are then compared to those of a standard core image. The offset distances between the core outline and the standard core image along the X and Y axes are determined. Based on the coordinate correction method and the offset distances, the image acquisition device is corrected along the X and Y axes to obtain a corrected image. The core image is then reacquired using this corrected image. Finally, the magnet height is calculated based on the corrected core image and the original core image.

[0083] Optionally, after acquiring the core image, the core image is placed in a coordinate system to determine the coordinates of the core outline in the core image, and the coordinates of the core outline are compared with the coordinates of the standard core image. The offset distances between the coordinates of the core outline and the coordinates of the standard core image in the X and Y axes are determined. Based on the coordinate correction method and the offset distance, the core outline is corrected on the X and Y axes respectively to obtain the corrected core image. The magnet height is calculated based on the corrected core image and the core image.

[0084] In some embodiments, the image acquisition device includes a scanner and a camera. After determining the offset distance, the scanner is corrected on the X and Y axes according to the coordinate correction method and the offset distance, respectively, to obtain a corrected scanner. An image of the iron core is acquired using the corrected scanner. Based on the corrected iron core image, the iron core image acquired by the camera, the distance between the camera and the scanner, and the angle between the camera and the scanner, the height difference of multiple reference points on the iron core is calculated. The height difference of the magnets is then determined based on the height differences of these reference points. Here, the reference points are the points on the iron core where the magnets are installed.

[0085] In the above implementation process, the height difference of the magnets on the iron core is determined based on the corrected iron core image. Since the iron core image used to determine the height difference of the magnets is the corrected image, the influence of other irrelevant factors on the calculation of the height difference of the magnets is reduced, the accuracy of the height difference of the magnets is improved, and thus the accuracy of the detection of the magnet assembly is improved.

[0086] In one possible implementation, step 201 includes: acquiring the model information of the iron core through an image acquisition device; and acquiring the type and quantity information of the magnets through a height detection device.

[0087] The core model information here can include: core identification code, core structure information, etc.

[0088] If the core model information is a core identification code, obtaining the core model information through an image acquisition device includes: acquiring the original image of the core, matching the core identification code in the original image with pre-stored identification codes in the database, and determining the core model based on the matching result. Alternatively, scanning the identification code on the core with a barcode scanner, matching the scanned identification code with pre-stored identification codes in the database, and determining the core model based on the matching result.

[0089] If the core model information is core structure information, then obtaining the core model information through the image acquisition device includes: acquiring the original image of the core, matching the acquired structural features with the pre-stored structural features in the database based on the resulting features of the core in the original image, and determining the core model based on the matching results.

[0090] The magnet type information here includes the magnet model number. Understandably, different motor rotors are equipped with different types of iron cores, and different types of iron cores are equipped with different types of magnets.

[0091] Optionally, the magnet feeding assembly may include multiple magnet placement tubes, which may contain magnets of the same or different types. Similarly, the number of magnets placed in different magnet placement tubes may be the same or different.

[0092] The quantity information here includes the number of magnets. This quantity can be the number of magnets in a single magnet placement tube, the number of magnets of a specific model, or the number of magnets of each model.

[0093] Understandably, the model information of the iron core and the type and quantity information of the magnets can be obtained simultaneously or in stages.

[0094] In the above implementation process, the model of the iron core is obtained through image acquisition equipment, and the quantity and model of the magnets are determined through height detection equipment. Different detection methods are set as needed based on the characteristics of the iron core and magnets. For the iron core, the model can be determined by its identification code or structure; therefore, the acquisition of iron core information requires image acquisition equipment. However, the thickness of the magnets determines their model and quantity, so image acquisition is not required for the magnets; the model can be determined by the height detection equipment. This on-demand setting of corresponding detection components reduces the cost of the detection components. Furthermore, since the model information of the iron core, the type information and quantity information of the magnets are obtained using two different components, these information can be obtained simultaneously, improving the efficiency of magnet assembly.

[0095] In one possible implementation, the type and quantity information of the magnets are obtained through a height detection device, including: detecting the height of the magnets in the magnet feeding assembly through a height detection sensor, and determining the type information of the magnets in the magnet feeding assembly based on the magnet height; and detecting whether there are magnets in the magnet feeding assembly through the position signal of the pressing device, so as to determine the quantity information of the magnets.

[0096] The height detection sensor is installed inside the magnet placement slot. There can be one or more height detection sensors, which are installed at different positions on the magnet placement tube to determine the different styles of magnets.

[0097] For example, if the magnet placement tube includes three height detection sensors, namely height detection sensor A, height detection sensor B, and height detection sensor C. Height detection sensor A is located 50cm from the bottom of the magnet placement tube, height detection sensor B is located 80cm from the bottom of the magnet placement tube, and height detection sensor C is located 100cm from the bottom of the magnet placement tube. If the thickness of magnet a is 1cm, the thickness of magnet b is 0.8cm, and the thickness of magnet c is 0.5cm, and the number of magnets in each magnet placement slot is 100: If height detection sensors A, B, and C all detect a magnet signal, then the magnet in the magnet placement slot is determined to be magnet c. If height detection sensors A and B detect a magnet signal, but height detection sensor C does not detect a magnet signal, then the magnet in the magnet placement slot is determined to be magnet b. If height sensor A detects a magnetic signal, while height sensors B and C do not detect a magnetic signal, then the magnetic steel in the placement slot is determined to be magnetic steel a.

[0098] Understandably, the determination of the type information of the magnets in the above-mentioned magnet feeding assembly can be performed only during the first magnet assembly. After the type of magnet in the magnet placement slot is determined, subsequent magnet assembly can be carried out directly without needing to be determined again.

[0099] The iron core is generally divided into inner and outer iron cores. The magnets installed in the inner and outer iron cores are of different types. If the inner layer magnets are installed first, the type information of the magnets in the magnet placement slot is detected again to match the type of magnet suitable for the outer layer of the iron core. After matching the type of magnet suitable for the outer layer of the iron core, the outer layer magnets are installed until the magnets in both the inner and outer layers of the iron core are installed, and then the assembly of the iron core is completed.

[0100] In one embodiment, determining the type of magnets in the magnet feeding assembly based on magnet height may include: determining the type of magnet placed in each of the multiple magnet placement slots based on the magnet height detected by height detection sensors in the multiple magnet placement slots; matching the required magnet types for the outer and inner layers of the iron core; when assembling the inner layer magnets, obtaining magnets from the magnet placement slot containing the magnet type matched to the inner layer magnets for assembly; and after the inner layer magnets are assembled, obtaining magnets from the magnet placement slot containing the magnet type matched to the outer layer magnets for assembly.

[0101] In one embodiment, the magnet assembly system may include two sets of feeding assemblies, one set for assembling the magnets of the inner layer of the iron core and the other set for assembling the magnets of the outer layer of the iron core.

[0102] The positioning signal here refers to the positioning distance set by the pressing device. When the pressing device operates, it determines whether there is a cylinder in the feeding assembly by judging whether the pressing device has pressed down to the correct distance. For example, if the pressing device is set to press down 100cm, then if the pressing device stops pressing down at 50cm, it means the pressing is not complete, and thus it is determined that there is a magnet in the magnet feeding assembly. If the pressing device can press down to 100cm, it means the pressing is complete, and thus it is determined that there is no magnet in the magnet feeding assembly.

[0103] Even if the pressing device has not fully depressed, the number of magnets in the magnet placement tube can still be determined based on the depressing position of the device. For example, if a magnet A with a thickness of 1cm is placed in a magnet placement tube, normally the tube can hold 100 magnets A. Depressing the device to 100cm indicates that the depressing is complete. If the pressing device then depresses to 50cm and stops, the signal indicates that there are 50 magnets in the tube. If the pressing device then depresses to 70cm and stops, the signal indicates that there are 70 magnets in the tube.

[0104] In the above implementation process, a height detection sensor is used to obtain the type of magnet, enabling the matching of the magnet and the iron core to ensure the accuracy of magnet assembly. Furthermore, a pressing device is used to detect the quantity of magnets in the magnet placement tube, allowing for real-time monitoring of the magnet quantity. This ensures that magnets are replenished promptly when the tube is empty, preventing the feeding assembly from continuing to pick up magnets when the tube is empty, reducing malfunctions and improving the effectiveness of magnet assembly.

[0105] In one possible implementation, step 202 includes: determining whether the iron core and the magnet match based on the model information of the iron core and the type information of the magnet; if the iron core and the magnet match, controlling the feeding component to place the magnet into the magnet slot of the iron core; determining whether there is a magnet in the magnet feeding component based on the magnet quantity information; if there is a magnet in the magnet feeding component, continuing to control the feeding component to place the magnet into the next magnet slot of the iron core, until all magnet slots of the iron core are equipped with magnets.

[0106] Understandably, the database stores magnet information corresponding to each core model. When the detection component obtains the magnet type information and the core model information, it sends these to the database. The database determines the core model based on the core model information and the magnet type based on the magnet type information. The database matches the corresponding magnet model to the core model and determines the magnet placement tube corresponding to the matched magnet signal based on the magnet model information. After determining the matched magnet placement tube, the feeding component takes a magnet from the placement tube and places it into the corresponding magnet slot of the core. After placing one magnet, the detection component checks the magnet quantity information to see if there are any magnets in the magnet feeding component. If there are, the feeding component continues to take a magnet from the placement tube and place it into the next corresponding magnet slot of the core. This process repeats from the step of checking the magnet quantity information to see if there are any magnets in the magnet feeding component until all magnet slots of the core are equipped with magnets.

[0107] If, after placing one magnet, the detection component determines that there are no magnets in the magnet feeding assembly, an alarm indicating no magnets in the magnet placement tube is issued. After re-placing the corresponding magnet in the magnet placement tube, the feeding assembly continues to pick up one magnet from the tube and place it into the next corresponding magnet slot in the iron core. This process repeats from the step of determining whether there are magnets in the magnet feeding assembly based on the magnet quantity information obtained by the detection component until all magnet slots in the iron core are equipped with magnets.

[0108] In the above implementation process, before assembling the magnets, the magnets are first matched with the iron core. Only after successful matching will the magnets be assembled, ensuring the accuracy of the iron core and magnet assembly. Furthermore, before assembling each magnet, the quantity of magnets is checked. This allows for timely understanding of the remaining magnets in the feeding assembly, enabling prompt detection of when magnets have been used up and timely replenishment. By matching the magnets to the iron core and checking the magnet quantity, the accuracy and efficiency of magnet assembly are improved.

[0109] In one possible implementation, step 202 includes: controlling the feeding assembly to place the magnet into the magnet slot of the iron core according to the iron core information and the magnet information; determining whether the magnet installation is incorrect based on the pressure change of the pressure sensor; if the magnet installation is not incorrect, continuing to control the feeding assembly to place the magnet into the next magnet slot of the iron core according to the iron core information and the magnet information, until all magnet slots of the iron core are equipped with magnets.

[0110] When placing magnets, the robot (or robotic arm) cannot enter the magnet slots of the iron core; only a portion of the magnet can be placed into the slot, with the remaining portion sliding freely into the slot. A pressure sensor is installed on the robot (or robotic arm), and its downward displacement is pre-set. When the pressure changes, it indicates an installation error, and an error message is issued. If no error occurs, the robot continues installing magnets into the next slot of the iron core until all slots are equipped with magnets. Error messages can be displayed via voice prompts, lights, images, text messages, pop-up notifications, etc.

[0111] For example, if the robot (or robotic arm) can only place two-thirds of the magnet into the magnet slot, a pressure sensor is installed at the point where the robot (or robotic arm) has placed the magnet at two-thirds of its length. When the robot (or robotic arm) has placed two-thirds of the magnet into the slot, the pressure sensor will not receive a pressure signal. If the robot (or robotic arm) places only one-third of the magnet, the magnet will exert a force towards the robot (or robotic arm). The pressure sensor receives this force and generates a pressure signal, which indicates that the magnet has been incorrectly installed.

[0112] In the above implementation process, by setting up a pressure sensor, the assembly of the magnet is monitored in real time to achieve simultaneous assembly and inspection, which improves both the accuracy and efficiency of the magnet assembly.

[0113] Based on the same concept, this application also provides a magnet assembly device corresponding to the magnet assembly method. Since the principle of the device in this application is similar to that of the aforementioned magnet assembly method, the implementation of the device in this application can refer to the description in the above-mentioned method embodiments, and the repeated parts will not be repeated.

[0114] Please see Figure 4 This is a functional module diagram of the magnet assembly device provided in this application embodiment. Each module in the magnet assembly device in this embodiment is used to perform the steps in the above method embodiments. The magnet assembly device includes an acquisition module 301, a placement module 302, and a detection module 303; wherein,

[0115] The acquisition module 301 is used to acquire information about the magnets and iron cores in the feeding assembly through the detection component.

[0116] The placement module 302 is used to control the feeding assembly to place the magnets into the magnet slots of the iron core according to the iron core information and the magnet information, until all the magnet slots of the iron core are equipped with the magnets.

[0117] The detection module 303 is used to detect whether the magnet assembly on the iron core is qualified through the detection components. If the magnet installation is qualified, the magnet assembly is completed.

[0118] In one possible implementation, the detection module 303 is further configured to: acquire an image of the iron core using a first image acquisition device; compare the iron core image with a standard image of the iron core to obtain the magnet height difference; and compare the magnet height difference with a height threshold to detect whether the magnet assembly on the iron core is qualified.

[0119] In one possible implementation, the detection module 303 is specifically used to: compare the coordinates of the iron core image with the coordinates of the iron core standard image to obtain the coordinate offset distance; perform coordinate correction on the image acquisition device based on the coordinate offset distance and the coordinates of the iron core standard image; and acquire the corrected iron core image based on the corrected image acquisition device to determine the magnet height difference.

[0120] In one possible implementation, the acquisition module 301 is further configured to: acquire the model information of the iron core through the image acquisition module; and acquire the type and quantity information of the magnets through the height detection device.

[0121] In one possible implementation, the acquisition module 301 is specifically used to: detect the height of the magnets in the magnet feeding assembly using a height detection sensor, and determine the type information of the magnets in the magnet feeding assembly based on the magnet height; and detect whether there are magnets in the magnet feeding assembly using the position signal of the pressing device, so as to determine the quantity information of the magnets.

[0122] In one possible implementation, the placement module 302 is specifically used to: determine whether the iron core and the magnet are matched based on the model information of the iron core and the type information of the magnet; if the iron core and the magnet are matched, control the feeding component to place the magnet into the magnet slot of the iron core; determine whether there is a magnet in the magnet feeding component based on the magnet quantity information; if there is a magnet in the magnet feeding component, continue to control the feeding component to place the magnet into the next magnet slot of the iron core, until all the magnet slots of the iron core are equipped with the magnet.

[0123] In one possible implementation, the placement module 302 is specifically used to: control the feeding assembly to place the magnet into the magnet slot of the iron core according to the iron core information and the magnet information; determine whether the magnet installation is incorrect according to the pressure change of the pressure sensor; if the magnet installation is not incorrect, continue to control the feeding assembly to place the magnet into the next magnet slot of the iron core according to the iron core information and the magnet information, until all the magnet slots of the iron core are equipped with the magnet.

[0124] Furthermore, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the magnet assembly method described in the above method embodiment.

[0125] The computer program product of the magnet assembly method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the magnet assembly method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0127] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0128] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0129] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0130] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A magnetic steel assembly method, characterized in that: The method is applied to a magnetic steel assembly system; The magnetic steel assembly system comprises: a loading assembly, a feeding assembly, and a detection assembly; wherein the loading assembly is connected to the feeding assembly, and the loading assembly and the feeding assembly are provided with the detection assembly; The method comprises: Acquire the magnetic steel information and the iron core information in the feeding component through the detection component; Controlling the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information, until all the magnetic steel slots of the iron core are equipped with the magnetic steel; Using the detection component to detect whether the magnetic steel assembly on the iron core is qualified; If the magnetic steel is installed properly, the magnetic steel assembly is completed; The feeding assembly includes: an iron core feeding assembly and a magnetic steel feeding assembly; the detection assembly includes: a second image acquisition device and a height detection device; The second image acquisition device is arranged on the iron core feeding assembly, and the height detection device is arranged on the magnetic steel feeding assembly; The method of obtaining the magnetic steel information and the iron core information in the feeding component through the detection component includes: Acquiring the model information of the iron core through the second image acquisition device; The type information and quantity information of the magnetic steel are obtained through the height detection device.

2. The method according to claim 1, characterized in that The detection component includes: a first image acquisition device; the first image acquisition device is arranged on the feeding component; The step of detecting whether the magnetic steel assembly on the iron core is qualified by the detection component comprises: Acquire the core image by using the first image acquisition device; Comparing the core image with a standard core image to obtain a height difference of the magnetic steel; The height difference of the magnetic steel is compared with a height threshold to detect whether the magnetic steel assembly on the iron core is qualified.

3. The method according to claim 2, characterized in that The step of comparing the core image with the core standard to obtain the height difference of the magnetic steel includes: Compare the coordinates of the iron core image with the coordinates of the iron core standard image to obtain a coordinate offset distance; The image acquisition device is subjected to coordinate correction according to the coordinate offset distance and the coordinates of the standard image of the iron core; The image acquisition device after the correction acquires the image of the iron core after the correction to determine the height difference of the magnetic steel.

4. The method according to claim 1, characterized in that The height detection device includes a height detection sensor and a pressing device; The height detection sensor and the pressing device are both arranged on the magnetic steel feeding assembly; The method of obtaining the type information and quantity information of the magnetic steel by using a height detection device includes: Detecting the height of the magnetic steel in the magnetic steel feeding assembly by the height detection sensor, and determining the type information of the magnetic steel in the magnetic steel feeding assembly according to the height of the magnetic steel; The presence or absence of magnetic steel in the magnetic steel feeding assembly is detected by the arrival signal of the pressing device to determine the quantity information of the magnetic steel.

5. The method according to claim 4, characterized in that The step of controlling the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information comprises: Determining whether the iron core matches the magnetic steel according to the model information of the iron core and the type information of the magnetic steel; If the iron core matches the magnetic steel, controlling the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core; Determine whether there are magnetic steels in the magnetic steel feeding assembly according to the magnetic steel quantity information; If there is a magnetic steel in the magnetic steel loading assembly, the feeding assembly continues to be controlled to place the magnetic steel in the next magnetic steel slot of the iron core until all the magnetic steel slots of the iron core are equipped with the magnetic steel.

6. The method according to claim 1, characterized in that The detection component includes: a pressure sensor; The pressure sensor is arranged on the feeding assembly; The step of controlling the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information until all the magnetic steel slots of the iron core are equipped with the magnetic steel comprises: Control the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information; Determining whether the magnetic steel is installed incorrectly according to the pressure change of the pressure sensor; If the installation of the magnetic steel is correct, the feeding assembly is controlled to place the magnetic steel into the next magnetic steel slot of the core according to the core information and the magnetic steel information until all the magnetic steel slots of the core are equipped with the magnetic steel.

7. A magnetic steel assembly device, characterized in that: include: The device is configured to perform the magnetic steel assembly method according to any one of claims 1 to 6, wherein the magnetic steel assembly method is applied to a magnetic steel assembly system; The magnetic steel assembly system comprises: a loading assembly, a feeding assembly, and a detection assembly; wherein the loading assembly is connected to the feeding assembly, and the loading assembly and the feeding assembly are provided with the detection assembly; the loading assembly comprises: an iron core loading assembly and a magnetic steel loading assembly; the detection assembly comprises: a second image acquisition device and a height detection device; the second image acquisition device is provided on the iron core loading assembly, and the height detection device is provided on the magnetic steel loading assembly; The device comprises: Acquisition module: used for acquiring magnetic steel information and iron core information in the feeding component through the detection component; A placement module: used for controlling the feeding assembly to place the magnetic steel into the magnetic steel slot of the iron core according to the iron core information and the magnetic steel information, until all the magnetic steel slots of the iron core are equipped with the magnetic steel; Detection module: used to detect whether the magnetic steel assembly on the iron core is qualified through the detection component, and if the magnetic steel is installed qualified, the magnetic steel assembly is completed; The acquisition module is also used to: acquire the model information of the iron core through the second image acquisition device; and acquire the type information and quantity information of the magnetic steel through the height detection device.

8. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of any method according to claim 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the methods described in claims 1 to 6 are executed.

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