Motor rotor magnetic steel insertion system and method, storage medium and computer program product

Abstract

The present application relates to the field of intelligent manufacturing technology, and in particular to a system and method for inserting magnetic steel into a motor rotor, a storage medium, and a computer program product. The system for inserting magnetic steel into a motor rotor includes: a turntable, which is configured to be able to rotate around a vertical axis, and the turntable has a plurality of positioning and placement parts arranged at intervals around the vertical axis, and the positioning and placement parts are used for placing a rotor core with a magnetic steel installation groove at a specified angle orientation; a manipulator, which is configured to insert the magnetic steel sheet into the magnetic steel installation groove when the rotor core is placed in the positioning and placement part; a core model detection and lifting mechanism, which is configured to detect the model of the rotor core on the positioning and placement part and with the magnetic steel sheet inserted when the turntable rotates to a positioning and placement part located at the core model detection and lifting mechanism, and when it is confirmed that the model of the rotor core is the target model, lift the rotor core to make the rotor core leave the positioning and placement part.

Description

Technical Field

[0001] The present application relates to the field of intelligent manufacturing technology, and in particular to a system and method for inserting magnetic steel into a motor rotor, a storage medium, and a computer program product. Background Art

[0002] In the manufacturing process of the motor rotor, the magnetic steel sheets need to be inserted into the magnetic steel installation slots of the rotor core. In the past, the magnetic steel insertion operation was mainly carried out manually, which was inefficient and prone to errors.

[0003] In order to solve the above problems, a system that can automatically insert magnetic steel has been developed. However, how to improve such a system to better meet production needs is an important topic that technicians in this field have been working hard to study. Summary of the invention

[0004] The purpose of this application is to provide a system and method for inserting magnetic steel into a motor rotor, a storage medium and a computer program product.

[0005] In the first aspect, a motor rotor magnetic steel insertion system is proposed, comprising:

[0006] The turntable is configured to be rotatable around a vertical axis and has a plurality of positioning and placing portions arranged at intervals around the vertical axis, wherein the positioning and placing portions are used to place the rotor core having the magnetic steel installation slots in a prescribed angle orientation;

[0007] A manipulator, configured to insert the magnetic steel sheet into the magnetic steel installation groove when the rotor core is placed in the positioning and placement portion;

[0008] The core model detection and lifting mechanism is constructed to detect the model of the rotor core on the positioning and placement portion and on which the magnetic steel sheets have been inserted when the turntable rotates to a position where one of the multiple positioning and placement portions is located, and to lift the rotor core to move it away from the positioning and placement portion when it is confirmed that the model of the rotor core is the target model.

[0009] In some possible implementations, the turntable has a first hollow area and a second hollow area that pass through each of the positioning and placement portions, respectively, and the target model is the first model or the second model, wherein when the rotor core of the first model is placed in the positioning and placement portion, the rivet at the bottom of the rotor core is located at the first hollow area, and when the rotor core of the second model is placed in the positioning and placement portion, the rivet at the bottom of the rotor core is located at the second hollow area;

[0010] The core model detection and lifting mechanism comprises:

[0011] a first support plate;

[0012] a first cylinder, driving the first support plate to rise and fall between a first raised position and a first lowered position;

[0013] two second cylinders, mounted on the first support plate at a distance from each other;

[0014] Two second support plates are respectively mounted to the output ends of the two second cylinders to be raised and lowered between a second raised position and a second lowered position under the drive of the second cylinders, and the two second support plates correspond to the positions of the first hollow area and the second hollow area respectively;

[0015] A first rivet sensor and a second rivet sensor are respectively mounted on the two second support plates;

[0016] Wherein, when the first support plate is in the first lowered position and the second support plate is in the second lowered position, the second support plate is located below the turntable; when the first support plate is in the first raised position and the second support plate is in the second lowered position, the two second support plates are respectively located in the first hollow area and the second hollow area, thereby making the first rivet sensor or the second rivet sensor adjacent to the rivet on the rotor core; when the first support plate is in the first raised position and the second support plate is in the second raised position, the two second support plates are located above the turntable, thereby lifting the rotor core to make the rotor core leave the positioning and placement portion.

[0017] In some possible implementations, the rotor core has a through inner hole, and the hole wall of the inner hole has a radial protrusion that cooperates with the rotor shaft;

[0018] The positioning and placing portion includes a protrusion protruding upward from the turntable to be received by the inner hole of the iron core, and the periphery of the protrusion has a positioning notch extending downward from the upper surface of the protrusion to receive the radial protrusion;

[0019] The first hollow area and the second hollow area are respectively arranged on opposite sides of the protrusion, and when viewed downward, the two second support plates have a symmetrical shape.

[0020] In some possible implementations, when viewed downward, the two second support plates respectively have the same shape as the first hollow area and the second hollow area.

[0021] In some possible implementations, the second support plate has a downwardly recessed groove, and the first rivet sensor and the second rivet sensor have sensor electrodes disposed in the groove, with top ends of the sensor electrodes close to but lower than an upper notch of the groove.

[0022] In some possible implementations, the system further includes:

[0023] The core height detection mechanism is arranged at the upstream side of the core model detection and lifting mechanism, and is configured to detect the height of the rotor core on the positioning and placement part and with the magnetic steel sheets inserted therein when the turntable rotates to a position where one of the plurality of positioning and placement parts is located at the core height detection mechanism;

[0024] The core height detection mechanism includes a photoelectric sensor arranged above the turntable, and the photoelectric sensor is constructed to emit detection light downward. When the turntable rotates to where one of the multiple positioning and placement portions is located at the core height detection mechanism, the photoelectric sensor is located directly above the first hollow area or the second hollow area.

[0025] In a second aspect, a method for inserting magnetic steel into a motor rotor is proposed, which is applied to the system as described in the first aspect, comprising:

[0026] When the rotor core is placed on the positioning and placing portion at a specified angle, controlling the manipulator to insert the magnetic steel sheet into the magnetic steel installation groove of the rotor core;

[0027] When the first support plate is in the first lowered position and the second support plate is in the second lowered position, controlling the turntable to rotate by a set angle so that the rotor core on which the magnetic steel sheets have been installed is located at the core height detection mechanism;

[0028] The core height detection mechanism is used to detect whether the height of the rotor core meets the set requirements. When it is confirmed that the height of the rotor core meets the set requirements, the turntable is controlled to rotate by a set angle so that the rotor core is located at the core model detection and lifting mechanism;

[0029] Detecting the model of the rotor core by using the core model detection and lifting mechanism, and when confirming that the model of the rotor core is the target model, placing the first support plate in the first lifting position and placing the second support plate in the second lifting position, thereby lifting the rotor core so that the rotor core is separated from the positioning and placing portion;

[0030] The rotor core is transferred from the second support plate.

[0031] In some possible implementations, the following further includes:

[0032] If the photoelectric sensor generates a fifth electrical signal, it is determined that the rotor core is missing from the positioning and placement portion, wherein the fifth electrical signal is generated in response to the detection light emitted by the photoelectric sensor penetrating the first hollow area or the second hollow area.

[0033] In a third aspect, a computer-readable storage medium is proposed, which stores program instructions. When the program instructions are executed by a computer, the computer implements the method described in the second aspect.

[0034] In a fourth aspect, a computer program product is proposed, which includes program instructions. When the program instructions are executed by a computer, the method described in the second aspect is implemented.

[0035] According to the motor rotor magnet insertion system and method provided in the present application, the core model detection and lifting mechanism can be used to accurately detect whether the rotor core model meets the production requirements. On the other hand, the core model detection and lifting mechanism can also be used to lift the detected rotor core to a certain height to make it move away from the positioning and placement part, thereby facilitating its transfer to the downstream workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present application, rather than limiting the present application.

[0037] Figure 1 A three-dimensional schematic diagram of the magnetic steel insertion system provided in an embodiment of the present application.

[0038] Figure 2 A schematic diagram of a magnetic steel width detection mechanism provided in an embodiment of the present application.

[0039] Figure 3 A schematic diagram of a magnetic steel width detection mechanism provided in an embodiment of the present application.

[0040] Figure 4 A schematic diagram of the operating principle of the magnetic steel width detection mechanism provided in an embodiment of the present application for a first type of magnetic steel sheet.

[0041] Figure 5 A schematic diagram of the operating principle of the magnetic steel width detection mechanism provided in an embodiment of the present application for a second type of magnetic steel sheet.

[0042] Figure 6 A schematic diagram of a magnetic steel material distribution mechanism provided in an embodiment of the present application.

[0043] Figure 7A schematic diagram of a push plate provided in an embodiment of the present application.

[0044] Figure 8 A schematic diagram of the operating principle of the magnetic steel material dispensing mechanism provided in an embodiment of the present application, wherein the push plate is in a lowered position.

[0045] Fig. 9 A schematic diagram of the operating principle of the magnetic steel material dispensing mechanism provided in an embodiment of the present application, wherein the push plate is in an ascending position.

[0046] Fig.10 A schematic diagram of the operating principle of the magnetic steel material dispensing mechanism provided in an embodiment of the present application, wherein the push plate returns to the lowered position.

[0047] Fig.11 A schematic diagram of the operating principle of the magnetic steel material dispensing mechanism provided in an embodiment of the present application, wherein the push plate is in a lowered position.

[0048] Fig.12 A schematic diagram of the operating principle of the magnetic steel material dispensing mechanism provided in an embodiment of the present application, wherein the push plate is in an ascending position.

[0049] Fig.13 A schematic diagram of a push plate provided in an embodiment of the present application.

[0050] Fig.14 A schematic diagram of a portion of a robot provided in an embodiment of the present application.

[0051] Fig.15 A schematic diagram of a portion of a robot provided in an embodiment of the present application.

[0052] Fig.16 A schematic diagram of the relative positions of the manipulator and the magnetic steel material dispensing mechanism in relevant states provided in an embodiment of the present application.

[0053] Fig.17 A schematic diagram of the cooperation between the core model detection and lifting mechanism provided in an embodiment of the present application and the turntable when the first support plate is in a first raised position and the second support plate is in a second lowered position.

[0054] Fig.18 A schematic diagram of a turntable provided in an embodiment of the present application when viewed from above.

[0055] Fig.19 A schematic diagram of the core model detection and lifting mechanism provided in an embodiment of the present application.

[0056] FIG. 20A to FIG. 20B A flow chart of a method for inserting magnetic steel into a motor rotor provided in an embodiment of the present application.

[0057] Fig.21 A flow chart of a magnetic steel width detection method provided in an embodiment of the present application.

[0058] Fig. 22 A flow chart of a magnetic steel material separation method provided in an embodiment of the present application.

[0059] Description of reference numerals:

[0060] DR1-first direction, DR2-second direction, DR3-third direction;

[0061] P-incoming material, P1-magnetic steel sheet, P2-magnetic isolation sheet, P1a-target magnetic steel sheet, P1b-second magnetic steel sheet, P2a-target magnetic isolation sheet;

[0062] R-rotor core, R1-magnetic steel installation slot;

[0063] G-gap;

[0064] D1-first distance, D2-second distance, D3-third distance, D4-fourth distance, W1-first width, W2-second width;

[0065] 1- rack;

[0066] 2-bin, 2a-first end, 2b-second end, 3-first side wall, 4-second side wall, 5-bottom wall;

[0067] 6-first photoelectric sensor, LT1-first detection light, 7-second photoelectric sensor, LT2-second detection light;

[0068] 8- material distribution chamber, 8a- material inlet, 8b- upper material outlet, 8c- lower material outlet;

[0069] 9-fixed seat, 10-seat body, 12-cover plate;

[0070] 11-push plate, 11a-first push surface, 11b-second push surface, 11c-blocking surface, 11d-recessed portion, 11e-upper portion;

[0071] 13-turntable, 13a-first hollow area, 13b-second hollow area;

[0072] 14-positioning placement portion, 15-protruding portion, 15a-positioning notch;

[0073] 16-first support plate, 17-first cylinder, 18-second cylinder, 19-second support plate, 19a-sink, 20-first rivet sensor, 21-second rivet sensor;

[0074] 22- third photoelectric sensor;

[0075] 23-manipulator, 23a-receiving trough, 24-insertion plate, 25-third cylinder;

[0076] 26-magnetic steel transmission line, 27-magnetic steel height detection mechanism, 28-magnetic steel width detection mechanism, 29-magnetic steel material distribution mechanism, 30-iron core height detection mechanism, 31-iron core model detection and lifting mechanism;

[0077] 32- slideway, 33- power part. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme of the embodiment of the present application will be clearly and completely described below in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, rather than all the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application. It can be understood that, in the absence of conflict, some technical means of the various embodiments described herein can be replaced or combined with each other.

[0079] In the description of this application, if there are terms such as "first", "second", etc., they are only used to distinguish the objects described and do not have any order or technical meaning. Therefore, an object defined as "first", "second", etc. may explicitly or implicitly include one or more of the objects, and, for example, the term "first element" itself does not mean the existence of the "second element", and the term "second element" itself does not mean the existence of the "first element". In addition, "one" or "a" and similar words do not indicate a quantity limitation, but rather indicate the existence of at least one, and "multiple" means not less than two.

[0080] In the description of the present application, the terms “including”, “having” indicate the existence of the described features, numbers, operations, elements and / or their combinations, but do not exclude the existence or addition of one or more other features, numbers, operations, elements and / or their combinations.

[0081] In the description of the present application, reference to "one embodiment" or "some embodiments" etc. means that one or more embodiments of the present application include a particular feature, structure or characteristic described in conjunction with the embodiment. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in the present specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0082] Figures 1 to 19The motor rotor magnetic steel insertion system provided in the embodiment of the present application (hereinafter, sometimes referred to as "the system") is shown. The system includes a frame 1 and two production lines installed on the frame 1 and arranged side by side, one on the left and one on the right. Since the two production lines have the same structure, only the following description is given. Figure 1 The production line on the right side of the figure is explained below.

[0083] See also Figure 1 The production line includes a magnetic steel transmission line 26, a magnetic steel height detection mechanism 27, a magnetic steel width detection mechanism 28, a magnetic steel material distribution mechanism 29, a manipulator 23, a turntable 13, an iron core height detection mechanism 30, and an iron core model detection and lifting mechanism 31. In addition, in order to facilitate the description of the technology of the embodiment of the present application, a first direction DR1, a second direction DR2, and a third direction DR3 perpendicular to each other are defined. Figure 1 In the figure, the first direction DR1 is a direction generally parallel to the paper plane and extending left and right, the second direction DR2 is a direction generally perpendicular to the paper plane, and the third direction DR3 is a direction generally parallel to the paper plane and extending up and down. Therefore, the third direction DR3 is sometimes also referred to as the up and down direction.

[0084] During the operation, the operator can place multiple incoming materials P in sequence along the second direction DR2 onto the magnetic steel transmission line 26, and the magnetic steel transmission line 26 drives the incoming materials P to move in a certain direction. Figure 1 Move along the second direction DR2 (towards the inside of the paper), wherein each incoming material P includes a plurality of magnetic steel sheets P1 and a plurality of magnetic isolation sheets P2 alternately arranged along the second direction DR2.

[0085] When the incoming material P reaches the magnetic steel height detection mechanism 27, the magnetic steel height detection mechanism 27 detects the height of the magnetic steel sheet P1 in the incoming material P (that is, the size in the third direction DR3). If the height detection is qualified, the magnetic steel transmission line 26 continues to drive the incoming material P to move toward the inside of the paper surface along the second direction DR2. If the height detection is unqualified, an alarm signal is issued and the production line stops operating.

[0086] When the incoming material P reaches the magnetic steel width detection mechanism 28, the magnetic steel width detection mechanism 28 detects the width of the magnetic steel sheet P1 in the incoming material P (that is, the size in the second direction DR2). If the width detection is qualified, the magnetic steel transmission line 26 continues to drive the incoming material P to move toward the inside of the paper surface along the second direction DR2. If the width detection is unqualified, an alarm signal is issued and the production line stops operating.

[0087] When the incoming material P reaches the magnetic steel sorting mechanism 29, the magnetic steel sorting mechanism 29 separates the magnetic steel sheet P1 and the magnetic isolation sheet P2 in the incoming material P, and transfers the separated magnetic steel sheet P1 to the manipulator 23. Subsequently, the manipulator 23 inserts the received magnetic steel sheet P1 into the magnetic steel mounting groove R1 of the rotor core R, wherein the rotor core R is positioned and placed on the turntable 13. In the present embodiment, the turntable 13 is constructed to be able to rotate around an imaginary vertical axis driven by a motor, and the vertical axis is defined by a rotating shaft connecting the turntable 13 and the frame 1, and the turntable 13 has four positioning and placement portions 14 evenly arranged at 90° intervals around the vertical axis, and the positioning and placement portions 14 are constructed for the rotor core R to be placed at a preset angle orientation, that is, when working, the rotor core R is positioned and placed on the positioning and placement portion 14 at a specified angle.

[0088] When the magnetic steel sheets P1 are inserted into each magnetic steel installation groove R1 on the rotor core R, the rotating disk 13 is Figure 1 The turntable 13 rotates 90° clockwise around the vertical axis, so that the rotor core R with the magnetic steel sheet P1 installed reaches the core height detection mechanism 30, and the core height detection mechanism 30 detects the height of the rotor core R (that is, the axial size of the rotor core R). If the height detection is qualified, the turntable 13 continues to rotate 90° clockwise, so that the rotor core R with the magnetic steel sheet P1 installed reaches the core model detection and lifting mechanism 31. If the height detection is unqualified, an alarm signal is issued and the production line stops working. That is, the core height detection mechanism 30 is constructed as follows: when the turntable 13 rotates to one of the positioning and placement parts 14 is located at the core height detection mechanism 30, the height of the rotor core R on the positioning and placement part 14 and with the magnetic steel sheet P1 inserted is detected.

[0089] The core model detection and lifting mechanism 31 can detect the model of the rotor core R. When it is determined that the model of the current rotor core R is the target model (such as the first signal or the second model described below), the rotor core R is lifted to a certain height, so that the rotor core R with the magnetic steel sheet P1 installed leaves the positioning and placement portion 14. The rotor core R leaving the positioning and placement portion 14 can be easily transferred to a downstream station. For example, the rotor core R can easily leave the second support plate 19 described later and transfer to a downstream station in a horizontal translation manner. That is, the core model detection and lifting mechanism 31 is constructed as follows: when the turntable 13 rotates to one of the positioning and placement portions 14 is located at the core height detection mechanism 30, the height of the rotor core R on the positioning and placement portion 14 and with the magnetic steel sheet P1 inserted therein is detected.

[0090] In this embodiment, the magnetic steel transmission line 26 includes a plurality of material troughs arranged in sequence and parallel to each other along the second direction DR2, and each material trough is formed as a through trough in the first direction DR1. During the operation, the operator can place the aforementioned plurality of incoming materials P into different material troughs, with only one incoming material P placed in each material trough. In this way, under the restriction of the material trough, these incoming materials P are separated from each other (helping to suppress the mixing of the incoming materials P) and move along the second direction DR2 driven by the magnetic steel transmission line 26.

[0091] See also Figures 1 to 5 The magnetic steel width detection mechanism 28 includes a silo 2, a first photoelectric sensor 6, and a second photoelectric sensor 7 arranged on the transmission path of the magnetic steel transmission line 26. The silo 2, the first photoelectric sensor 6, and the second photoelectric sensor 7 can be fixed to the frame 1 and have a fixed relative position. Among them, the silo 2 is formed as a long strip-shaped chamber extending in the first direction DR1 and having a rectangular cross-section. The silo 2 has a first end 2a and a second end 2b arranged opposite to each other in the first direction DR1, and the first end 2a and the second end 2b are open, that is, the two opposite ends of the silo 2 in the first direction DR1 are open ends. In addition, the top of the silo 2 is also open.

[0092] Specifically, the silo 2 includes a first side wall 3 and a second side wall 4 that are arranged opposite to each other in the second direction DR2, and a bottom wall 5 connecting the first side wall 3 and the second side wall 4, wherein the first side wall 3 is configured as a magnetically attractive structure, and the second side wall 4 and the bottom wall 5 are configured as non-magnetically attractive structures. For example, the first side wall 3 can be formed of metal iron, and the second side wall 4 and the bottom wall 5 can be formed of resin or metal aluminum.

[0093] The first photoelectric sensor 6 and the second photoelectric sensor 7 are arranged apart from each other on the first end 2a side of the silo 2, wherein the first photoelectric sensor 6 is constructed to emit a first detection light LT1 into the silo 2 along the first direction DR1, and the second photoelectric sensor 7 is constructed to emit a second detection light LT2 into the silo 2 along the first direction DR1, and in the second direction DR2, the second detection light LT2 is closer to the first side wall 3 of the silo 2 than the first detection light LT1.

[0094] In some embodiments, the silo 2 can be adjacently arranged on one side of the magnetic steel conveyor line 26 along the first direction DR1, and the two (i.e., the silo 2 and the magnetic steel conveyor line 26) have approximately the same elevation, and each of the first photoelectric sensor 6 and the second photoelectric sensor 7 is adjacently arranged on the side of the silo 2 opposite to the magnetic steel conveyor line 26, that is, in the first direction DR1, the first end 2a of the silo 2 is farther away from the magnetic steel conveyor line 26 than the second end 2b thereof.

[0095] Please combine Figure 4 and Figure 5As shown, during the operation, when the magnetic steel transmission line 26 runs to a material trough on it and moves to a position aligned with the silo 2 in the first direction DR1, the incoming material P in the material trough is pushed into the silo 2 along the first direction DR1 by the pushing cylinder, that is, the opening of the second end 2b of the silo 2 constitutes an inlet for the incoming material P to enter. Since the first side wall 3 of the silo 2 is a magnetically attractive structure, and the second side wall 4 and the bottom wall 5 are non-magnetic structures, the magnetic incoming material P entering the silo 2 will be attracted by the first side wall 3 and abut against the first side wall 3, and a gap G is formed between the incoming material P and the second side wall 4. In this way, the first detection light LT1 emitted by the first photoelectric sensor 6 close to the first side wall 3 will be blocked by the incoming material P abutting against the first side wall 3, and due to the influence of the blocking, the first photoelectric sensor 6 generates a first electrical signal indicating the presence of the incoming material P in the silo 2; but the second detection light LT2 emitted by the second photoelectric sensor 7 may be blocked by the incoming material P, or may enter the aforementioned gap G. If the second detection light LT2 emitted by the second photoelectric sensor 7 is blocked by the incoming material P, a second electrical signal is generated, and the second electrical signal is used to indicate that the width of the magnetic steel sheet P1 in the incoming material P in the current silo 2 is the larger first width W1; if the second detection light LT2 emitted by the second photoelectric sensor 7 is not blocked by the incoming material P and enters the aforementioned gap G, a third electrical signal is generated, and the third electrical signal is used to indicate that the width of the magnetic steel sheet P1 in the incoming material P in the current silo 2 is the smaller second width W2.

[0096] Exemplarily, the system can be used to insert magnetic steel for two types of motor rotors, which correspond to two types of magnetic steel sheets P1 with different widths. Therefore, in the actual production process, the operator may make such an error operation: when the system was originally planned to be used to insert magnetic steel for the first type of motor rotor (corresponding to the first type of magnetic steel sheet P1), the operator mistakenly mixed some incoming materials P of the second type of magnetic steel sheet P1 into the magnetic steel conveying line 26. Fortunately, based on the above design of this embodiment, it is possible to monitor in real time whether such an error operation occurs by determining in real time whether the response signal generated by the second photoelectric sensor 7 is the second electrical signal or the third electrical signal, so as to ensure the correct implementation of the magnetic steel insertion operation.

[0097] From the above discussion, it can be known that in this embodiment, the magnetic steel width detection mechanism 28 can qualitatively detect the size relationship between the width of the magnetic steel sheet P1 in the silo 2 and the threshold width, without quantitatively determining the specific value of the width of the magnetic steel sheet P1. Exemplarily, based on the first photoelectric sensor 6 and the second photoelectric sensor 7 generating the aforementioned first electrical signal and the aforementioned second electrical signal respectively, it is determined that the width dimension of the magnetic steel sheet P1 in the silo 2 is greater than the threshold width, and the magnetic steel sheet P1 in the silo 2 is determined to be the first model; based on the first photoelectric sensor 6 and the second photoelectric sensor 7 generating the aforementioned first electrical signal and the aforementioned third electrical signal respectively, it is determined that the width dimension of the magnetic steel sheet P1 in the silo 2 is less than the threshold width, and the magnetic steel sheet P1 in the silo 2 is determined to be the second model; in addition, it can be determined that there is no magnetic steel sheet P1 in the current silo 2 based on the fact that the first photoelectric sensor 6 does not generate the aforementioned first electrical signal and the second photoelectric sensor 7 generates the aforementioned third electrical signal. In addition, the first photoelectric sensor 6 can also be configured to generate a fourth electrical signal when the first detection light LT1 emitted by it is not blocked by the incoming material P. The fourth electrical signal can be interpreted as there is no incoming material P in the current silo 2, that is, there is no magnetic steel sheet P1.

[0098] Based on the property that like poles of a magnetic field repel each other, in other embodiments, the second side wall 4 of the silo 2 may be constructed to have a magnet that generates a magnetic field (for example, a permanent magnet is embedded in the second side wall 4, or the second side wall 4 is formed as a permanent magnet as a whole). When the incoming material P is received in the silo 2 in the correct orientation (first orientation), the magnet applies a magnetic repulsion force toward the first side wall 3 (that is, away from the second side wall 4) to the incoming material P, more specifically, to the magnetic steel sheet P1 in the incoming material P, which helps to enhance the fit between the incoming material P and the first side wall 3. In addition, the first photoelectric sensor 6 and the first photoelectric sensor 6 may be further configured such that in the second direction DR2, the distance between the first detection light LT1 and the first side wall 3 is smaller than the distance between the second detection light LT2 and the second side wall 4. More specifically, the system may use two types of magnetic steel sheets P1 in actual operation - a first type of magnetic steel sheet P1 and a second type of magnetic steel sheet P1, that is, depending on the current production needs, the magnetic steel sheet P1 in the incoming material P may be of the first type or the second type, and the two types of magnetic steel sheets P1 are respectively for different types of electronic rotors, and the width of the first type of magnetic steel sheet P1 (for the convenience of explanation, recorded as the first width W1) is greater than the width of the second type of magnetic steel sheet P1 (for the convenience of explanation, recorded as the second width W2), and the first detection light LT1 has a first distance D from the first side wall 3 in the second direction DR2. 1, the second detection light LT2 and the second side wall 4 have a second distance D2 in the second direction DR2, the first detection light LT1 and the second side wall 4 have a third distance D3 in the second direction DR2, and the second detection light LT2 and the first side wall 3 have a fourth distance D4 in the second direction DR2, wherein the first distance D1 and the second distance D2 are both smaller than the second width W2, the third distance D3 is larger than the first width W1, and the fourth distance D4 is larger than the second width W2 but smaller than the first width W1, that is, D1<D2<W2, D3>W1, W1>D4>W2, that is, D3>W1>D4>W2>D2>D1. It can be understood that in this type of embodiment, if the placement direction of the incoming material P on the magnetic steel conveyor line 26 (specifically, the width direction of the incoming material P) is accidentally reversed, then after the incoming material P enters the silo 2, the incoming material P is likely to be close to the second side wall 4 and away from the first side wall 3. Based on the aforementioned distance configuration relationship between the first detection light LT1, the second detection light LT2, the first side wall 3 and the second side wall 4, as a result, the first photoelectric sensor 6 generates a fourth electrical signal and the second photoelectric sensor 7 generates a second electrical signal, regardless of whether the magnetic steel sheet P1 in the incoming material P in the silo 2 is of the first model or the second model.That is to say, based on such a design, by monitoring whether the fourth electrical signal and the second electrical signal exist at the same time, the inverted placement of the magnetic steel sheet P1 can be checked, thereby timely preventing the magnetic steel sheet P1 from being inserted into the core mounting slot of the rotor core R by the manipulator 23 in the wrong (i.e. inverted) orientation - which will result in a significant decrease in the electrical performance of the final motor rotor.

[0099] In some embodiments, the first side wall 3 of the magnetically attractive structure has a magnet that generates a magnetic field (exemplarily, the first side wall 3 is formed as a permanent magnet as a whole), and the S pole and the N pole of the magnet are arranged opposite to each other in the second direction DR2, wherein the S pole is close to the internal space of the silo 2, and the N pole is far away from the internal space of the silo 2. The incoming material P enters the silo 2 with the correct orientation, and the N pole of its magnetic steel sheet P1 faces the first side wall 3, while the S pole faces the second side wall 4. As a result, when the incoming material P enters the silo 2 with the correct orientation, opposite poles attract each other, and the incoming material P is attracted to be attached to the first side wall 3; and when the incoming material P enters the silo 2 with an inverted orientation, like poles repel each other, and the incoming material P is repelled by the first side wall 3 to be attached to the second side wall 4. At this time, the first photoelectric sensor 6 generates a fourth electrical signal, and the second photoelectric sensor 7 generates a second electrical signal. Therefore, through such a design, the inverted placement of the magnetic steel sheet P1 can also be checked, and the magnetic steel sheet P1 can be prevented from being inserted into the core mounting slot of the rotor core R by the robot 23 in the wrong (i.e. inverted) orientation.

[0100] It can be seen that the magnetic steel width detection mechanism 28 can not only determine the width specification of the magnetic steel sheet P1 in the silo 2, but also detect whether there is a magnetic steel sheet P1 in the silo 2 and whether the orientation of the magnetic steel sheet P1 is correct.

[0101] Next, the magnetic steel material dividing mechanism 29 is described in detail. The magnetic steel material dividing mechanism 29 includes a material dividing chamber 8, a push plate 11 and a power member 33.

[0102] The material distribution chamber 8 is defined by a fixed seat 9 fixedly mounted on the frame 1, and the material distribution chamber 8 has an upper discharge port 8b, a lower discharge port 8c, and a feed port 8a between the upper discharge port 8b and the lower discharge port 8c, wherein the feed port 8a is oriented in a first direction DR1 (in Figure 1In detail, the fixed seat 9 includes a seat body 10 and a cover plate 12. The top of the seat body 10 has an irregular depression. The bottom of the depression has a first through hole with a rectangular cross section and passes through from top to bottom. The cover plate 12 has a second through hole with a rectangular cross section and passes through from top to bottom. The cover plate 12 is detachably fixed to the depression on the top of the seat body 10 via bolts, so that the cover plate 12 and the seat body 10 jointly define a material distribution chamber 8, and the first through hole on the seat body 10 constitutes a lower discharge port 8c, and the second through hole on the cover plate 12 constitutes an upper discharge port 8b. In addition, the material distribution chamber 8 is constructed to provide the incoming material P with a first direction DR1 (in Figure 1 The material enters from the feed port 8a by moving toward the left side in the middle.

[0103] The push plate 11 has an upward first push surface 11a and a downward second push surface 11b, and the second push surface 11b is located below the first push surface 11a. The push plate 11 is inserted into the material distribution chamber 8 in a manner that it can move up and down, and has an ascending position and a descending position.

[0104] The power member 33 is connected to the push plate 11 and is used to drive the push plate 11 to move up and down between the aforementioned ascending position and the aforementioned descending position. In this embodiment, the power member 33 is a cylinder, and in other embodiments, the power member 33 can be a motor.

[0105] Next, please see Figures 6 to 10 , the material dividing process of the magnetic steel material dividing mechanism 29 is introduced.

[0106] First, if Figure 8 As shown, the incoming material P enters the distribution chamber 8 from the feed port 8a along the first direction DR1 under the drive of the feeding mechanism (not shown), and the feeding mechanism can continuously apply an elastic driving force along the first direction DR1 to the incoming material P, so that the incoming material P always has a tendency to enter the distribution chamber 8 along the first direction DR1. When the push plate 11 is in the lowered position, the first push surface 11a is located below the target magnetic steel sheet P1a in the distribution chamber 8, wherein the target magnetic steel sheet P1a is the magnetic steel sheet P1 at the end side of the incoming material P. In addition, due to the obstruction and limitation of the inner wall surface of the distribution chamber 8, the incoming material P is stationary. Figure 7 Status shown.

[0107] Then, if Fig. 9 As shown, the driving member 33 drives the push plate 11 to move upward to the rising position, the first push surface 11a pushes the target magnetic steel sheet P1a upward through the upper discharge port 8b, and the second push surface 11b moves upward to the top of the target magnetic isolation sheet P2a in the material distribution chamber 8, wherein the target magnetic isolation sheet P2a is Fig. 9 In the state shown, the magnetic isolation sheet P2 (also in Figure 8In addition, since the aforementioned feeding mechanism continuously applies an elastic driving force along the first direction DR1 to the incoming material P, when the push plate 11 moves upward to the rising position, under the driving force of the feeding mechanism, the target magnetic isolation sheet P2a at the end side abuts against the push plate 11 (specifically, abuts against the bottom surface of the recessed portion 11d described later) along the first direction DR1, so that the target magnetic isolation sheet P2a is located below the second pushing surface 11b.

[0108] Then, if Fig.10 As shown, the power member 33 drives the push plate 11 to return downward to the lowered position, and the second push surface 11b pushes the target magnetic isolation sheet P2a downward through the lower discharge port 8c, thereby separating the end side magnetic isolation sheet P2 from the incoming material P.

[0109] In this way, repeat several times Figures 9 and 10 The action can separate the individual magnetic steel sheets P1 and the individual magnetic isolation sheets P2 in the incoming material P through the upper discharge port 8b and the lower discharge port 8c respectively.

[0110] In some embodiments, when the push plate 11 is in the descending position, the target magnetic steel sheet P1a may fall to the position supported by the first push surface 11a under its own gravity due to insufficient vertical friction between the target magnetic steel sheet P1a and the inner wall surface of the material distribution chamber 8 and / or insufficient bonding force between the target magnetic steel sheet P1a and the main body of the incoming material P. In this case, if the position of the first push surface 11a is too low, the following accident may occur: the magnetic isolation sheet P2 (corresponding to the target magnetic steel sheet P1a) adjacent to the target magnetic steel sheet P1a The target magnetic steel sheet P2a) gives way due to the "falling" of the target magnetic steel sheet P1a, and moves inward along the first direction DR1 to a position in contact with the inner wall surface of the distribution chamber 8, that is, the target magnetic steel sheet P2a compensates for the "falling" of the target magnetic steel sheet P1a. As a result, when the push plate 11 moves up to the aforementioned ascending position, the target magnetic steel sheet P2a and the target magnetic steel sheet P1a are both pushed out through the upper discharge port 8b, and when the push plate 11 returns to the aforementioned descending position again, the latter magnetic steel sheet P1 may be pushed out from the lower discharge port 8c by the second push surface 11b. For this reason, one solution is to configure the push plate 11 so that when the push plate 11 is in the descending position, the first push surface 11a is flush with the lower surface of the incoming material P, that is, the first push surface 11a is in a position flush with the upper end (i.e., the inner end) of the lower discharge port 8c. However, this solution is prone to the following problems: due to dimensional tolerances and the influence of movement accuracy, the first pushing surface 11a may be slightly higher than the upper end of the lower discharge port 8c, thereby generating a raised step defined by the first pushing surface 11a at the upper end of the lower discharge port 8c. This raised step will hinder the inward movement of the incoming material P in the first direction DR1, causing the magnetic isolation plate P2 on the outermost side to fail to smoothly reach the top of the first pushing surface 11a (the two are offset from each other in the up and down directions). As a result, when the push plate 11 moves upward, the target magnetic isolation plate P2a cannot be pushed out.

[0111] In order to overcome the problem mentioned in the previous paragraph, the push plate 11 is configured in this embodiment as follows: when the push plate 11 is in the lowered position, the first push surface 11a is located inside the lower discharge port 8c and adjacent to the upper end of the lower discharge port 8c. In this way, on the one hand, since the first push surface 11a is lower than the upper end of the lower discharge port 8c and also lower than the lower surface of the incoming material P, the aforementioned raised step will not be formed, and the target magnetic steel sheet P1a can smoothly reach the top of the first push surface 11a; on the other hand, since the first push surface 11a is adjacent to the upper end of the lower discharge port 8c, even if the target magnetic steel sheet P1a falls to a position supported upward by the first push surface 11a under the action of gravity, Fig.11As shown, most of the height of the target magnetic steel sheet P1a is still above the lower discharge port 8c, so the aforementioned most of the height of the target magnetic steel sheet P1a will separate the target magnetic isolation sheet P2a from the push plate 11 in the first direction DR1, so that the target magnetic isolation sheet P2a is maintained at a position offset from the first push surface 11a in the vertical direction. Exemplarily, when the push plate 11 is in the descending position, the first push surface 11a is located in the lower discharge port 8c, and the distance between the first push surface 11a and the inner end of the lower discharge port 8c is 1 / 10 of the height of the magnetic steel sheet P1.

[0112] In this embodiment, the push plate 11 also has an upward blocking surface 11c, which is located below the second push surface 11b. When the push plate 11 is in the aforementioned ascending position, the blocking surface 11c is located below the target magnetic isolation sheet P2a to prevent the target magnetic isolation sheet P2a from leaving the lower discharge port 8c, and thereby the target magnetic isolation sheet P2a is maintained at a position that separates the second magnetic steel sheet P1b from the push plate 11, so that the second magnetic steel sheet P1b and the second push surface 11b are offset from each other in the vertical direction, wherein the second magnetic steel sheet P1b is the magnetic steel sheet P1 adjacent to the target magnetic isolation sheet P2a. It is understandable that if the blocking surface 11c is omitted, the following situation may occur: when the push plate 11 is in the aforementioned ascending position, the target magnetic isolation sheet P2a slides away from the lower discharge port 8c under the action of its own gravity. As a result, the second magnetic steel sheet P1b is replaced under the second pushing surface 11b by the feeding mechanism. When the push plate 11 moves down to the descending position, the second pushing surface 11b mistakenly pushes the second magnetic steel sheet P1b out of the lower discharge port 8c.

[0113] It is also understandable that in Fig.10 In the state shown, the second magnetic steel sheet P1b is Fig. 9 The situation of the target magnetic steel sheet P1a is similar, or in other words, Fig.10 In the state shown, the original second magnetic steel sheet P1b becomes the new target magnetic steel sheet P1a.

[0114] In this embodiment, the push plate 11 has a recessed portion 11d located below the first push surface 11a and recessed inwardly in the first direction DR1 away from the feed port 8a. When the push plate 11 is in the aforementioned descending position, at least a portion of the recessed portion 11d is located in the material distribution chamber 8 and opposite to the feed port 8a. Among them, the inner wall surface of the upper end of the recessed portion 11d constitutes the second push surface 11b, the inner wall surface of the lower end of the recessed portion 11d constitutes the blocking surface 11c, and the upper end surface of the push plate constitutes the first push surface 11a. In addition, the depth of the recessed portion 11d is not greater than the thickness of the magnetic isolation sheet P2 (that is, the size in the first direction DR1). In this way, it can be avoided that the magnetic steel sheet P1 is accidentally taken away from the lower discharge port 8c when the push plate 11 is switched from the ascending position to the descending position.

[0115] Also, see Fig. 9 and Fig.12 Similar to the case of the first pushing surface 11a, when the push plate 11 is in the rising position, in order to prevent the second pushing surface 11b from being lower than the lower end of the upper discharge port 8b and forming a raised step that hinders the inward movement of the target magnetic isolation plate P2a, the second pushing surface 11b can be configured to be located inside the upper discharge port 8b and adjacent to the lower end of the upper discharge port 8b.

[0116] In some embodiments, when the push plate 11 is in the descending position, the distance between the blocking surface 11c and the lower discharge port 8c in the vertical direction is greater than the height of the magnetic isolation plate P2, so that the magnetic isolation plate P2 can slide off the blocking surface 11c under the action of its own gravity.

[0117] In some embodiments, as shown in FIG13 , the blocking surface 11 c can be formed as an inclined surface (inclined upward). When the push plate 11 is in the descending position, the inclined blocking surface 11 c helps the magnetic isolation sheet P2 to slide down smoothly.

[0118] The push plate 11 has an upper portion 11e between the first push surface 11a and the second push surface 11b, and the cross section of the upper portion 11e perpendicular to the up-down direction is rectangular. In addition, the cross-sectional dimensions of each of the upper portion 11e, the upper discharge port 8b, and the lower discharge port 8c perpendicular to the up-down direction are substantially the same as the cross-sectional dimensions of the magnetic steel sheet P1.

[0119] The system further comprises a slide 32 and a magnetic isolation sheet P2 collection part (not shown), wherein the slide 32 is arranged below the lower discharge port 8c in an inclined manner and connected to the magnetic isolation sheet P2 collection part. In this way, the magnetic isolation sheet P2 pushed out from the lower discharge port 8c can be guided to the magnetic isolation sheet P2 collection part via the slide 32, so as to facilitate the centralized processing of the magnetic isolation sheet P2.

[0120] The manipulator 23 has a material receiving groove 23a opening downward, a material inserting plate 24 that can move up and down in the material receiving groove 23a, and a third cylinder 25 that drives the material inserting plate 24 to move up and down. The material receiving groove 23a is used to receive the magnetic steel sheet P1 pushed out from the upper discharge port 8b, and the material inserting plate 24 is used to insert the magnetic steel sheet P1 in the material receiving groove 23a into the magnetic steel installation groove R1 of the rotor core R.

[0121] As mentioned above, the turntable 13 has four positioning and placement portions 14 evenly arranged at 90° intervals for placing the rotor core R in a specified angle orientation, and a core height detection mechanism 30 and a core model detection and lifting mechanism 31 are provided on the turntable 13.

[0122] More specifically, the turntable 13 has a first hollow area 13a and a second hollow area 13b that pass through each positioning and placing portion 14, and the system can operate at least two types of rotor cores R, namely, a first type and a second type. When the rotor core R of the first type is placed in the positioning and placing portion 14 at a specified angle, the rivet at the bottom of the rotor core R is located at the first hollow area 13a. When the rotor core R of the second type is placed in the positioning and placing portion 14 at a specified angle, the rivet at the bottom of the rotor core R is located at the second hollow area 13b.

[0123] The core model detection and lifting mechanism 31 includes a first support plate 16, a first cylinder 17, two second cylinders 18, two second support plates 19, a first rivet sensor 20 and a second rivet sensor 21. The first cylinder 17 is fixedly mounted on the frame 1 via screws, and its output end faces upward and is connected to the horizontally extending first support plate 16, so that the first support plate 16 can be driven to rise and fall between the first raised position and the first lowered position by the first cylinder 17. The two second cylinders 18 are installed to the opposite ends of the first support plate 16 spaced apart from each other in the horizontal direction, and the output ends of the second cylinders 18 are also configured upward. The two second support plates 19 are respectively installed to the output ends of the two second cylinders 18, so that the second support plate 19 can be raised and lowered between the second raised position and the second lowered position under the drive of the second cylinders 18. In addition, the two second support plates 19 correspond to the positions of the first hollow area 13a and the second hollow area 13b, respectively. The first rivet sensor 20 and the second rivet sensor 21 are respectively installed on the two second support plates 19.

[0124] Among them, when the first support plate 16 is in the first lowered position and the second support plate 19 is in the second lowered position, the second support plate 19 is located below the turntable 13, so that the second support plate 19 will not hinder the rotation of the turntable 13, or in other words, the core model detection and lifting mechanism 31 allows the turntable 13 to rotate.

[0125] When the first support plate 16 is in the first raised position and the second support plate 19 is in the second lowered position, the two second support plates 19 are respectively located in the first hollow area 13a and the second hollow area 13b, and thereby the first rivet sensor 20 or the second rivet sensor 21 is adjacent to (e.g., in contact with) the rivet on the rotor core R. In this way, when the first rivet sensor 20 detects the rivet and generates a corresponding electrical signal, that is, when the first rivet sensor 20 detects the rivet signal, it can be interpreted as the rotor core R on the positioning and placement portion 14 is of the first type, and when the second rivet sensor 21 detects the rivet and generates a corresponding electrical signal, that is, when the second rivet sensor 21 detects the rivet signal, it can be interpreted as the rotor core R on the positioning and placement portion 14 is of the second type. It can be understood that by having the two second support plates 19 respectively located in the first hollow area 13a and the second hollow area 13b, the first rivet sensor 20 or the second rivet sensor 21 can be closer to the rivet of the rotor core R, so as to more reliably detect the position of the rivet.

[0126] When the first support plate 16 is in the first raised position and the second support plate 19 is in the second raised position, the two second support plates 19 are located above the turntable 13, and thereby the rotor core R is lifted to make the rotor core R leave the positioning and placing portion 14. It can be seen that the core model detection and lifting mechanism 31 can not only detect the model of the rotor core R, but also has the function of lifting the rotor core R to make it leave the positioning and placing portion 14, thereby facilitating the subsequent processing of the rotor core R and / or the magnetic steel sheet P1 installed therein.

[0127] The driving stroke of the first cylinder 17 and the second cylinder 18 can be limited and fixed by a known method such as setting a blocking member. In this way, once the first cylinder 17 receives a lifting control signal, its output shaft extends upward and the extended stroke is fixed so that the first support plate 16 just reaches the first lifting position. Once the second cylinder 18 receives a lifting control signal, its output shaft extends upward and the extended stroke is fixed so that the second support plate 19 just reaches the second lifting position.

[0128] In this embodiment, the rotor cores R of the first and second types as the objects to be processed both have a through inner hole, and the hole wall of the inner hole has a radial protrusion, which can be inserted into the groove of the rotor shaft, so as to achieve circumferential fixation of the rotor core R and the rotor shaft. The assembly of the rotor core R and the rotor shaft can be performed after the magnetic steel insertion process.

[0129] Correspondingly, the positioning and placing portion 14 includes a protrusion 15 protruding upward from the turntable to be received by the inner hole of the iron core, and the periphery of the protrusion 15 has a positioning notch 15a extending downward from the upper surface of the protrusion 15 to receive the aforementioned radial protrusion. Figure 1 The core loading station is placed in the positioning and placement portion 14 in a downwardly seated manner, and when the rotor core R is placed in the positioning and placement portion 14, the radial protrusion of the rotor core R is aligned with the positioning notch 15a of the protrusion 15. In this way, the angular orientation of the rotor core R in the positioning and placement portion 14 is constrained by the cooperation between the radial protrusion and the positioning notch 15a.

[0130] The first hollow area 13a and the second hollow area 13b are respectively arranged on opposite sides of the protrusion 15, and when viewed downward, the two second support plates 19 have a symmetrical shape, such as Fig.13 and 14 In this way, when the two second support plates 19 lift the rotor core R to leave the positioning and placement portion 14 , the two second support plates 19 can provide the rotor core R with a symmetrical, balanced, and stable supporting force.

[0131] Moreover, when viewed downward, the two second support plates 19 also have the same shape as the first hollow area 13a and the second hollow area 13b, respectively, so the first hollow area 13a and the second hollow area 13b also have a symmetrical shape. In this way, while increasing the support area of ​​the second support plate 19 for the rotor core R, the first hollow area 13a and the second hollow area 13b are not too large, so as to increase the support area of ​​the positioning and placement part 14 for the rotor core R, that is, this method enables the second support plate 19 and the positioning and placement part 14 to have sufficient support area for the rotor core R, and the position stability of the rotor core R can be guaranteed when the second support plate 19 is lowered and raised.

[0132] The second support plate 19 has a recessed groove 19a that is concave downward and extends in an arc shape. The first rivet sensor 20 and the second rivet sensor 21 both have sensor electrodes that are disposed in the recessed groove 19a and whose reference numerals are omitted. In some embodiments, the top of the sensor electrode is close to but lower than the upper notch of the recessed groove 19a. In this way, during operation, on the one hand, there is no shielding between the sensor electrode and the rivet of the rotor core R, thereby facilitating the first rivet sensor 20 and the second rivet sensor 21 to obtain a stable and strong enough rivet detection signal. On the other hand, the physical part of the second support plate 19 around the recessed groove 19a can separate the sensor electrode from the upper object to protect the sensor electrode and prevent the sensor electrode from being damaged by external force.

[0133] In this embodiment, the core height detection mechanism 30 includes a third photoelectric sensor 22 arranged above the turntable 13, and the third photoelectric sensor 22 is constructed to emit a third detection light downward, and when the turntable 13 rotates to where one of the positioning and placement parts 14 is located at the core height detection mechanism 30, the third photoelectric sensor 22 is located just above the first through hole or the second through hole. In this way, when the rotor core R is placed on the positioning and placement portion 14 where the height detection mechanism is located, the detection light emitted by the third photoelectric sensor 22 will be blocked by the upper surface of the rotor core R, and a response signal will be generated thereby. The value of the response signal is related to the elevation of the upper surface of the rotor core R. Therefore, the height of the rotor core R (that is, the axial dimension of the rotor core R) can be determined based on the value of the response signal. In addition, when there is no rotor core R on the positioning and placement portion 14 where the core height detection mechanism 30 is located, the detection light emitted by the third photoelectric sensor 22 will pass through the first hollow area 13a or the second hollow area 13b and be emitted toward the bottom of the turntable 13, which is very different from the situation where the rotor core R is placed on the positioning and placement portion 14. Therefore, the third photoelectric sensor 22 will generate a significantly different response signal in this case-the fifth electrical signal, so that the abnormal situation of the missing rotor core R on the current positioning and placement portion 14 can be clearly known to avoid invalid operation. It can be seen that the core height detection mechanism 30 can not only detect the height of the rotor core R, but also accurately detect whether the rotor core R is missing.

[0134] Below, see FIG. 20A to FIG. 20B And combined with Figures 1 to 19 , a method for inserting a magnetic steel sheet P1 into a rotor core R using the system is introduced, the method comprising:

[0135] S2001, when the magnetic steel transmission line 26 runs to a position where a trough on it is aligned with the silo 2 in the first direction DR1, by Figure 1 The pushing cylinder whose reference numeral is omitted pushes the incoming material P in the trough into the silo 2 along the first direction DR1.

[0136] S2002, the first photoelectric sensor 6 emits a first detection light LT1 along the first direction DR1 into the silo 2, and the second photoelectric sensor 7 emits a second detection light LT2 along the first direction DR1 into the silo 2, wherein in the second direction DR2, the second detection light LT2 is closer to the first side wall 3 of the silo 2 than the first detection light LT1.

[0137] S2003, if the first photoelectric sensor 6 generates a first electrical signal, and the second photoelectric sensor 7 generates a second electrical signal, the width of the magnetic steel sheet P1 in the incoming material P is determined to be greater than the threshold width. And based on this, it can be judged that the model of the current magnetic steel sheet P1 is the first model.

[0138] S2004, if the first photoelectric sensor 6 generates a first electrical signal and the second photoelectric sensor 7 generates a third electrical signal, the width of the magnetic steel sheet P1 in the incoming material P is determined to be less than the threshold width. And based on this, it can be judged that the model of the current magnetic steel sheet P1 is the second model.

[0139] S2005, transferring the incoming material P in the silo 2 to the material dividing mechanism.

[0140] Specifically, an elastic driving force along the first direction DR1 may be continuously applied to the incoming material P, so that the incoming material P enters the material distribution chamber 8 along the first direction DR1 through the feed port 8a.

[0141] S2006, controlling the robot 23 to move to a material receiving position where the material receiving groove 23a is aligned with the upper discharge port 8b.

[0142] S2007, in response to the movement of the manipulator 23 to the material receiving position, the power part 33 is controlled to drive the push plate 11 to move upward to the rising position, thereby using the first pushing surface 11a to push the target magnetic steel sheet P1a in the material distribution chamber 8 into the material receiving trough 23a through the upper discharge port 8b, wherein the target magnetic steel sheet P1a is a magnetic steel sheet P1 at the endmost side of the incoming material P.

[0143] S2008, control the robot 23 to leave the material receiving position and move to the material inserting position where its material receiving groove 23a is aligned with the magnetic steel installation groove R1 of the rotor core R.

[0144] In step S2008 , the rotor core R has been placed in the corresponding positioning and placement portion 14 at a prescribed angle orientation.

[0145] S2009, in response to the robot 23 leaving the material receiving position, the power component 33 is controlled to drive the push plate 11 to move downward to the lowered position, thereby utilizing the second pushing surface 11b to push the target magnetic isolation plate P2a in the material distribution chamber 8 through the lower discharge port 8c, wherein the target magnetic isolation plate P2a is the magnetic isolation plate P2 at the farthest end of the incoming material P.

[0146] It can be understood that the target magnetic isolation sheet P2a in step S2009 is the magnetic isolation sheet P2 adjacent to the target magnetic steel sheet P1a in step S2007, and can be combined with the target magnetic isolation sheet P2a in step S2009. Figure 8 and 9 or Fig.11 and Fig.12 Come to understand.

[0147] S2010, controlling the insertion plate 24 of the manipulator 23 to move downward, thereby inserting the magnetic steel sheet P1 in the receiving groove 23a into the magnetic steel installation groove R1 of the rotor core R.

[0148] Specifically, the third cylinder 25 included in the manipulator 23 can be controlled to perform a stretching action to move the insertion plate 24 of the manipulator 23 downward, thereby pushing the magnetic steel sheet P1 in the receiving groove 23a into the magnetic steel installation groove R1 of the rotor core R.

[0149] In some embodiments, Figure 1 As shown, the magnetic steel installation slots R1 of the rotor core R are arranged in multiple slot groups evenly spaced along its circumferential direction, and each slot group includes two magnetic steel installation slots R1 arranged at an approximately eight-shaped angle. In order to improve the insertion efficiency, the manipulator 23 is correspondingly configured to have two receiving slots 23a arranged at an eight-shaped angle. In addition, before step S2008, another receiving slot 23a of the manipulator 23 can be aligned with the upper discharge port 8b, and the previous magnetic steel sheet P1 can be pushed into the receiving slot 23a through the aforementioned similar actions of the push plate 11. In this way, the manipulator 23 can insert two magnetic steel sheets P1 into the rotor core R at a time.

[0150] S2011, when the first support plate 16 is in the first lowered position and the second support plate 19 is in the second lowered position, the turntable 13 is controlled to rotate 90° so that the rotor core R with the magnetic steel sheet P1 installed is located at the core height detection mechanism 30.

[0151] S2012, use the core height detection mechanism 30 to detect whether the height of the rotor core R meets the set requirements. When it is confirmed that the height of the rotor core R meets the set requirements, control the turntable 13 to rotate 90°, so that the rotor core R with the magnetic steel sheet P1 installed is transferred to the core model detection and lifting mechanism 31.

[0152] S2013, the model of the rotor core R is detected by using the core model detection and lifting mechanism 31, and when it is confirmed that the model of the rotor core R is the target model, the first support plate 16 is placed in the first lifting position and the second support plate 19 is placed in the second lifting position, thereby lifting the rotor core R so that the rotor core R leaves the positioning and placement portion 14.

[0153] S2014 , transferring the rotor core R from the second support plate 19 .

[0154] For example, the rotor core R is transferred from the second support plate 19 to a material unloading conveyor line leading to a warehouse by using a horizontal push mechanism.

[0155] In some embodiments, the system further includes a controller, which is respectively connected to the aforementioned magnetic steel transmission line 26, magnetic steel height detection mechanism 27, magnetic steel width detection mechanism 28, magnetic steel material distribution mechanism 29, manipulator 23, turntable 13, iron core height detection mechanism 30, iron core model detection and lifting mechanism 31 to control their actions to implement the above-mentioned magnetic steel insertion method. In detail, the controller may include a memory, a processor adjacent to the memory, and program instructions stored in the memory and executable on the processor. When the processor executes the program instructions, the controller implements the above-mentioned magnetic steel insertion method.

[0156] In combination with the above description, it can be known that the embodiment of the present application discloses a magnetic steel width detection method, which can be applied to the magnetic steel width detection mechanism 28 mentioned above, see Fig.21 , the magnetic steel width detection method comprises:

[0157] S2101, the first photoelectric sensor 6 emits a first detection light LT1 along the first direction DR1 into the silo 2, and the second photoelectric sensor 7 emits a second detection light LT2 along the first direction DR1 into the silo 2, wherein in the second direction DR2, the second detection light LT2 is closer to the first side wall 3 of the silo 2 than the first detection light LT1.

[0158] S2102, if the first photoelectric sensor 6 generates a first electrical signal and the second photoelectric sensor 7 generates a second electrical signal, the width of the magnetic steel sheet P1 in the incoming material P is determined to be greater than the threshold width.

[0159] S2103, if the first photoelectric sensor 6 generates a first electrical signal and the second photoelectric sensor 7 generates a third electrical signal, the width of the magnetic steel sheet P1 in the incoming material P is determined to be smaller than the aforementioned threshold width.

[0160] In some embodiments, the first side wall 3 or the second side wall 4 of the silo 2 is configured to have a permanent magnet. In such embodiments, in combination with the above description, the magnetic steel width detection method may further include:

[0161] S2104, if the first photoelectric sensor 6 generates a first electrical signal, it is determined that the magnetic steel sheet P1 in the incoming material P is oriented at a first angle;

[0162] S2105, if the first photoelectric sensor 6 generates a fourth electrical signal and the second photoelectric sensor 7 generates a second electrical signal, it is determined that the magnetic steel sheet P1 in the incoming material P is in a second angular orientation, wherein the second angular orientation is opposite to the first angular orientation.

[0163] In addition, in some embodiments, the magnetic steel width detection method may further include:

[0164] S2106, if the first photoelectric sensor 6 generates a fourth electrical signal and the second photoelectric sensor 7 generates a third electrical signal, it is determined that there is no magnetic steel sheet P1 in the silo 2 (no incoming material P).

[0165] It can be known from the above description that the present application also discloses a magnetic steel material distribution method, which can be applied to the magnetic steel material distribution mechanism 29 mentioned above, see Fig. 22 , the magnetic steel material dividing method comprises:

[0166] S2201, when the manipulator 23 moves to the material receiving position, the power member 33 is controlled to drive the push plate 11 to move upward to the rising position, so that the target magnetic steel sheet P1a in the material distribution chamber 8 is pushed out through the upper discharge port 8b by the first material pushing surface 11a, and pushed into the material receiving slot 23a of the manipulator 23, wherein the material receiving position is the position where the material receiving slot 23a of the manipulator 23 is aligned with the upper discharge port 8b, and the target magnetic steel sheet P1a is a magnetic steel sheet P1 at the endmost side of the incoming material P;

[0167] S2202, in response to the robot 23 leaving the material receiving position, the power component 33 is controlled to drive the push plate 11 to move downward to a lowered position, thereby utilizing the second pushing surface 11b to push the target magnetic isolation plate P2a in the material distribution chamber 8 through the lower discharge port 8c, wherein the target magnetic isolation plate P2a is a magnetic isolation plate P2 at the endmost side of the incoming material P.

[0168] The embodiment of the present application further provides a computer-readable storage medium, in which program instructions are stored, and when the program instructions are executed by a computer, the computer implements the above method. For example, the computer may be an industrial controller.

[0169] The embodiment of the present application also provides a computer program product, which includes program instructions. When the program instructions are executed by a computer, the above method is implemented.

Claims

1. A motor rotor magnetic steel insertion system, characterized in that: include: The turntable is configured to be rotatable around a vertical axis and has a plurality of positioning and placing portions arranged at intervals around the vertical axis, wherein the positioning and placing portions are used to place the rotor core having the magnetic steel installation slots in a prescribed angle orientation; A manipulator, configured to insert the magnetic steel sheet into the magnetic steel installation groove when the rotor core is placed in the positioning and placement portion; The core model detection and lifting mechanism is configured to detect the model of the rotor core on the positioning and placing portion and having the magnetic steel sheets inserted therein when the turntable rotates to a position where one of the plurality of positioning and placing portions is located, and to lift the rotor core to move away from the positioning and placing portion when it is confirmed that the model of the rotor core is the target model; The turntable has a first hollow area and a second hollow area that pass through each of the positioning and placing parts, respectively, and the target model is the first model or the second model, wherein when the rotor core of the first model is placed in the positioning and placing part, the rivet at the bottom of the rotor core is located at the first hollow area, and when the rotor core of the second model is placed in the positioning and placing part, the rivet at the bottom of the rotor core is located at the second hollow area; The core model detection and lifting mechanism comprises: a first support plate; a first cylinder, driving the first support plate to rise and fall between a first raised position and a first lowered position; two second cylinders, mounted on the first support plate at a distance from each other; Two second support plates are respectively mounted to the output ends of the two second cylinders to be raised and lowered between a second raised position and a second lowered position under the drive of the second cylinders, and the two second support plates correspond to the positions of the first hollow area and the second hollow area respectively; A first rivet sensor and a second rivet sensor are respectively mounted on the two second support plates; Wherein, when the first support plate is in the first lowered position and the second support plate is in the second lowered position, the second support plate is located below the turntable; when the first support plate is in the first raised position and the second support plate is in the second lowered position, the two second support plates are respectively located in the first hollow area and the second hollow area, thereby making the first rivet sensor or the second rivet sensor adjacent to the rivet on the rotor core; when the first support plate is in the first raised position and the second support plate is in the second raised position, the two second support plates are located above the turntable, thereby lifting the rotor core so that the rotor core leaves the positioning and placing portion; The rotor core has a through inner hole, and the hole wall of the inner hole has a radial protrusion that matches the rotor shaft; The positioning and placing portion includes a protrusion protruding upward from the turntable to be received by the inner hole of the iron core, and the periphery of the protrusion has a positioning notch extending downward from the upper surface of the protrusion to receive the radial protrusion; The first hollow area and the second hollow area are respectively arranged on opposite sides of the protrusion, and when viewed downward, the two second support plates have a symmetrical shape; When viewed downward, the two second support plates have the same shape as the first hollow area and the second hollow area respectively; The second support plate has a downwardly recessed groove, and the first rivet sensor and the second rivet sensor have sensor electrodes arranged in the recess, and the top ends of the sensor electrodes are close to but lower than the upper notch of the recess.

2. The system according to claim 1, characterized in that The system further comprises: The core height detection mechanism is arranged at the upstream side of the core model detection and lifting mechanism, and is configured to detect the height of the rotor core on the positioning and placement part and with the magnetic steel sheets inserted therein when the turntable rotates to a position where one of the plurality of positioning and placement parts is located at the core height detection mechanism; The core height detection mechanism includes a photoelectric sensor arranged above the turntable, and the photoelectric sensor is constructed to emit detection light downward. When the turntable rotates to where one of the multiple positioning and placement portions is located at the core height detection mechanism, the photoelectric sensor is located directly above the first hollow area or the second hollow area.

3. A method for inserting magnetic steel into a motor rotor, applied to the system as claimed in claim 2, characterized in that: include: When the rotor core is placed on the positioning and placing portion at a specified angle, controlling the manipulator to insert the magnetic steel sheet into the magnetic steel installation groove of the rotor core; When the first support plate is in the first lowered position and the second support plate is in the second lowered position, controlling the turntable to rotate by a set angle so that the rotor core on which the magnetic steel sheets have been installed is located at the core height detection mechanism; The core height detection mechanism is used to detect whether the height of the rotor core meets the set requirements. When it is confirmed that the height of the rotor core meets the set requirements, the turntable is controlled to rotate by a set angle so that the rotor core is located at the core model detection and lifting mechanism; Detecting the model of the rotor core by using the core model detection and lifting mechanism, and when confirming that the model of the rotor core is the target model, placing the first support plate in the first lifting position and placing the second support plate in the second lifting position, thereby lifting the rotor core so that the rotor core is separated from the positioning and placing portion; The rotor core is transferred from the second support plate.

4. The method according to claim 3, characterized in that Also includes: If the photoelectric sensor generates a fifth electrical signal, it is determined that the rotor core is missing from the positioning and placement portion, wherein the fifth electrical signal is generated in response to the detection light emitted by the photoelectric sensor penetrating the first hollow area or the second hollow area.

5. A computer-readable storage medium storing program instructions, characterized in that: When the program instructions are executed by a computer, the computer is enabled to implement the method according to claim 3 or 4.

6. A computer program product comprising program instructions, characterized in that When the program instructions are executed by a computer, the method according to claim 3 or 4 is implemented.

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