Magnetic steel insertion device and insertion method

Abstract

The application relates to the technical field of motor production, in particular to a magnetic steel inserting device and a inserting method. The device comprises a feeding device, a mechanical arm, a plurality of clamping devices and a pressing device. The feeding device is used for providing a magnetic steel group containing a set number of magnetic steels according to the requirements of a to-be-inserted magnetic core; the mechanical arm is a four-axis machine arm capable of horizontal movement, vertical movement and rotation around a vertical axis; the clamping device is a clamping structure connected to the mechanical arm and used for clamping the magnetic steel group on the feeding device, and each clamping device corresponds to the clamping of the magnetic steel group of several types of magnetic cores; and the pressing device is arranged on the clamping device and used for vertically pressing the magnetic steels in the magnetic steel group clamped by the clamping device into the magnetic steel slots of the to-be-inserted magnetic core. The magnetic steel inserting device has simple structure, can be used for the inserting of magnetic steels of various specifications of magnetic cores, has extremely wide application range, simple overall inserting process, extremely high inserting efficiency and great popularization value.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, specifically to a magnet insertion device and insertion method. Background Technology

[0002] With the development of new energy technologies, many industries that previously relied on conventional energy sources are gradually replacing them with new energy alternatives, with the development of new energy motors being particularly rapid. New energy motors are integrations of motors, reducers, and motor controllers, and are widely used in new energy vehicles, power generation, and other fields. In the current production process of new energy motors, the small size and large number of magnets make the insertion process difficult. They are often manually inserted into the rotor core, requiring a large amount of labor and resulting in low efficiency; alternatively, a single robotic arm can be used to insert magnets into one rotor core, which is time-consuming and inefficient.

[0003] To address the aforementioned technical problems, a Chinese invention patent with patent number "CN117277709A," entitled "A Magnet Insertion Device for the Rotor Core of a New Energy Motor," proposes a magnet insertion device. This device includes a frame, a turntable mechanism mounted on the frame, and six workstations sequentially arranged around the turntable mechanism. The second, third, and fourth workstations are each equipped with a robotic arm, a material distribution mechanism, and a hopper. The material distribution mechanism is connected to the hopper and is used to separate the magnets in the hopper into individual magnets. The robotic arm is used to drive the individual magnets into the rotor core. This six-workstation setup allows for simultaneous operation of rotor core loading, magnet insertion and pressing, and rotor core unloading, improving production efficiency. The cooperation of three material distribution mechanisms and three robotic arms saves time in magnet separation, gripping, and insertion, significantly improving insertion efficiency.

[0004] However, this equipment also has some problems. It contains six workstations, requiring three material distribution mechanisms and three robotic arms to work together to insert the magnets. The process is quite complex, requiring a large number of processing devices that can be seamlessly integrated, making precise control extremely difficult. Furthermore, the equipment lacks versatility and cannot flexibly adapt to the insertion of magnets into various rotor cores of different specifications and models. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a magnet insertion device and insertion method.

[0006] The technical solution of the present invention is: a magnet insertion device, comprising:

[0007] A feeding device, which is used to provide a set of magnets containing a set number of magnets according to the requirements of the magnet core to be inserted;

[0008] The robotic arm is a four-axis robotic arm capable of horizontal movement, vertical movement, and rotation about a vertical axis.

[0009] Multiple clamping devices, wherein the clamping devices are clamping structures connected to the robotic arm for clamping the magnet groups on the feeding device, and each clamping device corresponds to clamping several types of iron core magnet groups;

[0010] A pressing device, which is mounted on a clamping device, is used to press the magnets in the magnet assembly held by the clamping device vertically into the magnet slots of the magnet core to be inserted.

[0011] According to the present application, a magnet insertion device is provided, the clamping device including a gripper base; the gripper base is provided with:

[0012] Two sets of first-direction grippers are placed on both sides of the gripper base in the first direction. The grippers are driven by a motor or cylinder on the gripper base to move along the first direction to clamp the magnet assembly in the first direction.

[0013] Two sets of second-direction grippers are placed on both sides of the gripper base in the second direction. The grippers are driven by a motor or cylinder on the gripper base to move along the second direction to clamp the magnet assembly in the second direction.

[0014] According to the present application, a magnet insertion device is provided, wherein the pressing device includes a magnet pressing head mounted on a gripper base; the magnet pressing head is a rod-shaped structure arranged vertically, and the magnet pressing head is driven to extend and retract vertically by a motor or cylinder on the gripper base.

[0015] According to the magnet insertion device provided in this application, a guiding device is further included; the guiding device includes:

[0016] Guide base, which is a bracket suspended above the iron core;

[0017] The guide plate is a plate-shaped structure that is detachably connected to the guide base. The guide plate has guide holes that correspond one-to-one with the magnetic grooves on the magnet below.

[0018] The guide hole is a funnel-shaped through hole that is larger at the top and smaller at the bottom.

[0019] According to the present application, a magnet insertion device further includes a lifting device; the lifting device includes:

[0020] A lifting platform, which is mounted on a guide base to support the iron core;

[0021] A lifting motor, connected to the lifting platform, is used to drive the lifting platform to move vertically until it is precisely positioned with the guide plate on the guide base.

[0022] According to the magnetic steel insertion device provided in this application, a positioning pin is provided on the lower end face of the guide plate; when the iron core moves up to fit against the guide plate, the positioning pin is inserted into the positioning hole corresponding to the iron core to restrict the rotation of the iron core and the guide plate around the axis.

[0023] According to a magnet insertion device provided in this application, the feeding device includes a feeding base; the feeding base is provided with:

[0024] A platform, which is a fixed platform for placing the magnet assembly;

[0025] A longitudinal clamping structure is provided on both sides of the longitudinal direction of the stage, and is used to move the magnet assembly placed on the stage in the longitudinal direction so that it is clamped and fixed in the longitudinal direction.

[0026] A lateral clamping structure is provided on both sides of the platform to move the magnet assembly placed on the platform in the lateral direction so that it is clamped and fixed in the lateral direction.

[0027] The detection structure is set on the longitudinal clamping structure and the transverse clamping structure, and determines whether the magnet group on the loading platform meets the feeding requirements based on the transverse and longitudinal clamping of the magnets on the loading platform.

[0028] The feeding structure includes a feeding channel located on one side of the platform, which is used to receive the magnets transferred from the platform when the detection structure determines that the magnets on the platform do not meet the feeding requirements.

[0029] According to the magnet insertion device provided in this application, the longitudinal clamping structure includes:

[0030] The fixed plate is a vertically arranged fixed limiting plate disposed on one longitudinal side of the platform;

[0031] The movable plate is a plate-shaped structure that is disposed on the other side of the longitudinal direction of the platform and can move longitudinally.

[0032] According to the magnet insertion device provided in this application, the lateral clamping structure includes:

[0033] The push rod is a rod-shaped structure located on the lateral side of the platform away from the feeding channel. The push rod can be moved laterally by a drive device.

[0034] The movable plate is a vertical plate located on the other side of the loading platform and between the loading platform and the feeding channel. The movable plate is vertically movable and connected to the loading platform.

[0035] According to the magnet insertion device provided in this application, the detection structure includes:

[0036] A displacement sensor is provided on the transverse clamping structure and the longitudinal clamping structure to detect the displacement of the magnetic steel group clamped by the transverse clamping structure and the longitudinal clamping structure along the transverse and longitudinal directions, so as to determine whether the quantity, specifications and size of the clamped magnetic steel group meet the feeding requirements.

[0037] A pressure sensor is disposed on the lateral clamping structure and the longitudinal clamping structure to detect whether the lateral clamping structure and the longitudinal clamping structure are in place.

[0038] According to the magnetic steel insertion device provided in this application, the feeding channel is a lateral inclined slope structure, and the upper end of the feeding channel in the inclined direction is connected to the lateral discharge side of the loading platform.

[0039] This application also provides a method for inserting a magnet, the method being operated according to the above-described magnet insertion device, including:

[0040] The feeding device inspects a set of magnets at the feeding station. If the magnets meet the requirements for insertion, they stay at the feeding station and wait to be picked up. If the magnets do not meet the requirements, they are removed from the feeding station.

[0041] The robotic arm selects a clamping device that corresponds to the specifications and quantity of the magnets to be grasped and connects to the clamping device. The robotic arm moves the clamping device to clamp the qualified magnets at the loading station.

[0042] The robotic arm drives the clamping device and the clamped magnet assembly to move above the magnet core to be inserted, and the pressing device presses the magnet into the magnet slot of the magnet core to be inserted.

[0043] According to the magnet insertion method provided in this application, the method of the robotic arm moving clamping device clamping a qualified magnet group at the loading station includes: the robotic arm connecting the clamping device to the gripper base moves to above the qualified magnet group at the loading station, the two sets of first-direction grippers on both sides of the gripper base and the two sets of second-direction grippers on the other two sides open, the robotic arm controls the gripper base to move down until the first-direction grippers and the second-direction grippers are located on the side of the magnet group, and drives the first-direction grippers and the second-direction grippers to retract to fix the magnet group at the loading station between the first-direction grippers and the second-direction grippers.

[0044] According to the magnet insertion method provided in this application, the pressing device inserts the magnet into the magnet slot of the magnet core to be inserted. The method includes: adjusting the angle of rotation of the gripper base of the clamping device around the vertical axis by a robotic arm, so that the magnet held on the gripper base is aligned with the magnet slot below in the vertical direction, driving the magnet pressing head on the gripper base to move downward, and the magnet pressing head pressing a piece of magnet into the magnet slot; and so on, until all the magnets held on the gripper base are pressed into the magnet slot.

[0045] According to the magnet insertion method provided in this application, the method of aligning the magnet held on the gripper base with the lower magnet groove in the vertical direction includes: installing a guide plate corresponding to the magnet core to be inserted on a guide base above the magnet core to be inserted; suspending the guide plate above the magnet core to be inserted so that the magnet groove on the magnet core to be inserted corresponds one-to-one with the guide hole on the guide plate; driving the magnet core to be inserted to move vertically until it is in close contact with the lower end face of the guide plate, and restricting the rotation of the guide plate and the magnet core to be inserted around the vertical axis; adjusting the angle of the gripper base to align the magnet to be pressed with the lower guide hole.

[0046] According to the magnet insertion method provided in this application, the method for the feeding device to detect a group of magnets at the feeding station includes: placing the magnet group to be fed onto the loading platform of the feeding device; the longitudinal clamping structure of the feeding device moves longitudinally to clamp the magnet group on the loading platform, and the detection structure of the feeding device detects the specifications of the magnet group; the transverse clamping structure of the feeding device moves transversely to clamp the magnet group on the loading platform, and the detection structure detects the quantity of the magnet group; if the detection structure detects that the quantity and specifications of the magnet group on the loading platform meet the feeding requirements, it waits on the loading platform to be picked up; if the detection structure detects that either the quantity or the specifications of the magnet group on the loading platform do not meet the feeding requirements, it transfers the magnet group on the loading platform to the feeding channel of the feeding device.

[0047] According to the magnet insertion method provided in this application, the longitudinal clamping structure of the feeding device moves longitudinally to clamp the magnet assembly on the platform. The method includes: driving a movable plate of the longitudinal clamping structure located on one side of the platform to move longitudinally towards one side of the platform, the movable plate abutting against the longitudinal side of the magnet assembly on the platform, and the movable plate pushing the magnet assembly to move longitudinally towards a fixed plate located on the other side of the platform in the longitudinal clamping structure, until the other side of the magnet assembly is tightly abutting against the side of the fixed plate, thus completing the longitudinal clamping of the magnet assembly.

[0048] According to the magnet insertion method provided in this application, the method for the detection structure of the feeding device to detect the specifications of the magnet assembly includes: the detection structure detects the longitudinal pressure of the moving plate clamping the magnet assembly; when the longitudinal pressure reaches a first set threshold, it is determined that the longitudinal clamping of the magnet assembly has been completed; the detection structure records the longitudinal displacement of the moving plate from the initial longitudinal position to the completion of the longitudinal clamping; if the difference between the initial longitudinal distance and the longitudinal displacement between the moving plate and the fixed plate at the initial longitudinal position is equal to the longitudinal dimension of the magnet assembly required for feeding, it is determined that the specifications of the magnet assembly on the loading platform meet the feeding requirements; otherwise, it is determined that the specifications of the magnet assembly on the loading platform do not meet the feeding requirements.

[0049] According to the magnet insertion method provided in this application, the method of the lateral clamping structure of the feeding device moving laterally to clamp the magnet assembly on the platform includes: driving a push rod located on one side of the platform to move laterally towards one side of the platform, the push rod abutting against the lateral side of the magnet assembly on the platform, and the push rod pushing the magnet assembly on the platform to move laterally towards the movable plate located on the other side of the platform in the lateral clamping structure, until the other side of the magnet assembly is tightly abutting against the side of the movable plate, thus completing the lateral clamping of the magnet assembly.

[0050] According to the magnet insertion method provided in this application, the method for detecting the number of magnet groups by the detection structure includes: the detection structure detecting the lateral pressure of the push rod clamping the magnet group; when the lateral pressure reaches a second set threshold, it is determined that the lateral clamping of the magnet group has been completed; the detection structure records the lateral displacement of the push rod from the initial lateral position to the point where the lateral clamping is completed; if the difference between the initial lateral distance between the push rod at the initial lateral position and the movable plate and the lateral displacement is equal to the lateral length of the required number of magnet groups for loading, it is determined that the number of magnet groups on the loading platform meets the loading requirements; otherwise, it is determined that the number of magnet groups on the loading platform does not meet the loading requirements.

[0051] According to the magnet insertion method provided in this application, the method of transferring the magnet assembly on the platform to the feeding channel of the feeding device includes: driving the movable plate in the transverse clamping structure located between the platform and the feeding channel to move vertically downward, so that the upper end of the movable plate is lower than the upper surface of the platform; driving the push rod in the transverse clamping structure located on the side of the platform away from the feeding channel to move longitudinally; the push rod pushes the magnet assembly on the platform longitudinally towards the feeding channel side until all the magnet assemblies on the platform are pushed into the feeding channel.

[0052] The advantages of this application are as follows: 1. The magnet insertion device of this application includes a feeding device, which can provide a set of magnets with the required quantity and specifications for magnet insertion, greatly facilitating the subsequent insertion of magnets into the magnet core to be inserted, and ensuring that the quantity and specifications of the subsequently inserted magnets fully meet the insertion requirements; in addition, this application can select a suitable clamping device according to the specifications and quantity of the magnets required for the magnet core to be inserted. The clamping device is fully compatible with a type of iron core, and the entire insertion device can be applied to the magnet insertion operation of various magnet cores to be inserted. It has excellent versatility, a very wide range of applications, and a very high degree of production flexibility; this application uses a pressing device to press the magnets into the magnet slot. The overall operation is very simple and the insertion construction efficiency is very high; the magnets are adjusted by a robotic arm to ensure that the magnets are aligned with the magnet slot. The pressing device only needs to perform a vertical pressing action, which has high positioning accuracy, simple pressing process, and extremely high pressing efficiency;

[0053] 2. The clamping device of this application has a very simple structure. It can clamp the magnet group on the feeding device by means of two sets of first-direction clamps and two sets of second-direction clamps. The entire clamping operation is very simple. Moreover, the four sets of clamps, together with the subsequent pressing operation, can greatly improve the efficiency of magnet insertion. The clamps themselves can adapt to different specifications and quantities of magnet groups. A single clamping device can adapt to the clamping of multiple magnet groups. This application only needs to be configured with a few clamping devices to realize the insertion process of magnet groups with multiple magnet cores to be inserted, which has excellent applicability.

[0054] 3. The pressing device of this application has a very simple structure. The pressing device includes a magnetic steel pressing head set on the gripper base. The magnetic steel pressing head cooperates with the gripper on the gripper base to press the magnetic steel pieces one by one into the magnetic steel groove. The operation process is simple, the fault tolerance rate is high, the control is easy, and the efficiency of magnetic steel insertion can be greatly improved.

[0055] 4. This application provides a guide plate on the magnet core to be inserted, and the guide plate has guide holes corresponding to the magnet slot. The flared guide holes facilitate the insertion of the magnet into the magnet slot, making the insertion action simpler, greatly reducing the positioning accuracy requirements, and greatly improving the efficiency of magnet insertion. Moreover, the guide plate and the guide base of this application are set as a detachable connection structure, and a suitable guide plate can be selected according to the structure of the magnet core to be inserted, which greatly facilitates the operation and has excellent versatility.

[0056] 5. This application has a lifting device installed on the guide base, which can be used to support the magnet core to be inserted. During the magnet insertion process, the magnet core to be inserted is lifted up so that it is completely positioned with the guide plate, ensuring that the guide hole and the magnet slot correspond one by one, improving the accuracy and efficiency of magnet insertion, and at the same time facilitating the handling of the magnet core to be inserted.

[0057] 6. This application has a positioning pin structure on the guide plate. The positioning pin is used to quickly position the magnet core to be inserted, so that the guide plate and the magnet core to be inserted are completely limited in the direction around the vertical axis. After positioning, the guide hole and the magnet slot on the guide plate are completely aligned and there will be no misalignment, which facilitates the subsequent insertion of the magnet.

[0058] 7. This application uses a transverse clamping structure and a longitudinal clamping structure to clamp and fix the magnet assembly on the stage, and uses a detection structure to detect the specifications and quantity of the magnet assembly. Because the longitudinal clamping structure and the transverse clamping structure are limiting clamps for the movement of the magnet assembly, they can limit and fix magnet assemblies of various specifications and quantities. Moreover, this limiting clamping method is flexible and continuous, without the need to construct targeted structures for various specifications. The magnet assembly can be identified and judged before loading to ensure that the magnet assembly can be transferred according to the design requirements. The overall structure is simple, easy to operate and use, and has excellent applicability.

[0059] 8. The longitudinal clamping structure of this application is very simple. The moving plate drives the magnet assembly on the stage longitudinally. The driven magnet assembly is held in place by the fixed plate. Under the synergistic effect of the moving plate and the fixed plate, the magnet assembly can be well restricted in the longitudinal position. At the same time, since the fixed plate is a fixed structure, the restricted magnet assembly is actually restricted to a fixed position in the longitudinal direction, which facilitates further operation and detection of the magnet assembly.

[0060] 9. The lateral clamping structure of this application is very simple. The push rod can push the magnet assembly on the platform to move laterally. Under the limiting action of the vertical movable plate, the magnet assembly is fixed and restricted in the lateral direction. The movable plate is fixed in the lateral position, and the magnet assembly can be restricted in the fixed lateral position. The overall operation is very simple. Moreover, the push rod can also push the magnet assembly on the platform into the feeding channel with the cooperation of the movable plate. It is very simple to use.

[0061] 10. The method of detecting the magnet assembly in this application is very simple. The clamping force on the magnet assembly is detected by a pressure sensor to determine whether the magnet assembly is clamped in place. The lateral and longitudinal displacement is detected by a displacement sensor to determine the lateral and longitudinal length of the clamped magnet assembly, thereby obtaining the specifications and quantity of the magnet assembly. The overall detection method is very simple and the detection results are very accurate, which greatly improves the accuracy and efficiency of feeding.

[0062] 11. This application provides a feeding channel on the discharge side of the platform. The feeding channel is an inclined slope structure. For magnet groups that do not meet the feeding requirements, they can be quickly transferred through the feeding channel without affecting the entry and testing of subsequent magnet groups.

[0063] 12. The magnet insertion method of this application is very simple. When the magnets are being fed, the magnet assembly to be inserted is inspected to ensure that the magnet assembly can fully meet the requirements of the magnet core to be inserted. The robotic arm controls the corresponding clamping device to clamp the magnet assembly. The clamping method is simple, has excellent versatility, and can adapt to various magnet assembly clamping operations with different requirements. The magnet press-insertion process is very simple to operate and the insertion efficiency is extremely high.

[0064] 13. The clamping of the magnet assembly in this application is achieved by clamping the side of the plane. Through this clamping and fixing operation, the magnet assembly is clamped stably and can also be coordinated with the subsequent magnet insertion process, which greatly improves the efficiency of magnet insertion. At the same time, this magnet assembly clamping method of this application can adapt to the clamping of magnet assemblies of various specifications and quantities, and has good versatility.

[0065] 14. This application uses a robotic arm to adjust the insertion angle of the magnet to correspond with the magnet slot. The operation is simple. The magnet insertion is achieved by pressing the magnet head vertically downwards. The overall operation is simple, with few insertion actions, and it is very easy to control.

[0066] 15. Before inserting the magnet, this application uses a guide plate to guide the insertion of the magnet, making the insertion of the magnet simpler, greatly reducing the adjustment accuracy requirements of the robotic arm, and further improving the efficiency of magnet insertion and magnet assembly.

[0067] 16. The feeding method of this application belongs to the feeding process before the insertion of the magnet assembly. In this process, the magnet assembly is transferred and the magnet assembly to be assembled is inspected and judged to ensure that the magnet assembly on the platform meets the feeding requirements. Moreover, this feeding method of this application is applicable to magnet assemblies of various specifications and quantities, with a very wide range of applications and extremely high operating efficiency.

[0068] 17. The longitudinal limiting clamping method of the magnet assembly in this application is very simple. The moving plate pushes the magnet assembly on the loading platform to move longitudinally, so that the fixed plate limits the magnet assembly longitudinally, so that the magnet assembly can be restricted in a fixed longitudinal position. The movement of the moving plate along the longitudinal direction is continuous. Therefore, the limiting clamping method of this application is flexible for the specifications of the magnet assembly and can be applied to the clamping operation of magnet assemblies of various specifications.

[0069] 18. The method for determining the specifications of the magnet assembly in this application is very simple. It is only necessary to judge whether the magnet assembly is clamped in place by judging the pressure of the moving plate clamping the magnet assembly. By recording the longitudinal displacement of the moving plate, the longitudinal length of the currently clamped magnet assembly can be obtained, thereby determining whether the current magnet assembly is consistent with the specifications of the magnet assembly required for feeding. The judgment method is simple and the judgment result is accurate.

[0070] 19. The method of lateral limiting and clamping of the magnet assembly in this application is very simple. The magnet assembly on the platform is moved laterally by pushing the push rod, so that the movable plate limits the magnet assembly laterally and the magnet assembly can be restricted in a fixed lateral position. The movement of the push rod along the lateral direction is continuous. Therefore, the limiting and clamping method of this application is flexible for the number of magnet assemblies and can be applied to clamping operations of various numbers of magnet assemblies.

[0071] 20. The method for determining the number of magnet groups in this application is very simple. It is only necessary to judge the pressure of the push rod clamping the magnet group to determine whether the magnet group is clamped in place. By recording the lateral displacement of the push rod, the lateral length of the currently clamped stacked magnet group can be obtained, thereby determining whether the current number of magnet groups is consistent with the number required for feeding. The method is simple and the judgment result is accurate.

[0072] 21. This application will push magnet assemblies that do not meet the feeding requirements directly from the loading platform into the feeding channel by means of push rods. The operation is simple and will not affect the subsequent entry of magnet assemblies into the loading platform or subsequent testing. The overall turnover efficiency is extremely high.

[0073] The magnet insertion device of this application has a simple structure and can be used for inserting magnets with iron cores of various specifications. It has a very wide range of applications, a simple overall insertion process, and extremely high insertion efficiency, and has great promotional value. Attached Figure Description

[0074] Figure 1 : Axial view of the feeding device of this application;

[0075] Figure 2 : A top view of the feeding device of this application;

[0076] Figure 3 Side view of the feeding device of this application;

[0077] Figure 4 : A schematic diagram of the connection structure between the robotic arm and the gripping device in this application;

[0078] Figure 5 : Front view of the clamping device of this application;

[0079] Figure 6 : A bottom view of the clamping device in this application;

[0080] Figure 7 Top view of the guide device of this application;

[0081] Figure 8 : A schematic diagram of the lifting device structure of this application;

[0082] Wherein: 1—Feeding device; 11—Feeding base; 12—Platform; 13—Fixed plate; 14—Moving plate; 15—Push rod; 16—Moving plate; 17—Feeding channel; 2—Mechanical arm; 3—Clamping device; 31—Gripper base; 32—First-direction gripper; 33—Second-direction gripper; 34—Magnetic steel pressure head (not shown in the figure); 4—Guiding device; 41—Guiding base; 42—Guiding plate; 43—Guiding hole; 44—Positioning pin; 5—Lifting device; 51—Lifting platform; 52—Lifting motor. Detailed Implementation

[0083] Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0084] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0085] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0086] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0087] This application relates to a magnet insertion device. The device clamps a set of magnets above the magnet core to be inserted, then inserts the magnets into the corresponding slots of the magnet core, completing the insertion process. The device uses a feeding device to inspect the incoming set of magnets to determine if it meets the insertion requirements of the magnet core. The entire device has multiple clamping devices adapted to different magnet specifications. By selecting the appropriate clamping device to hold the corresponding magnet set, the device can be used for inserting magnets into various magnet cores. The transfer and adjustment of the magnet set is achieved through a robotic arm; therefore, changing the clamping device does not affect the transfer and adjustment of the magnet set. After the magnet set is transferred above the magnet core, the angle of the magnet set is adjusted to align the magnet with the slot, and then the magnet is pressed vertically into the corresponding slot. The overall insertion process is very simple, highly versatile, applicable to the insertion of various specifications of iron core magnets, and has extremely high insertion efficiency.

[0088] Specifically, such as Figures 1-8 As shown, the magnet insertion device of this application includes a feeding device 1, a robotic arm 2, multiple clamping devices 3, and a pressing device. The feeding device 1 is used to provide a set of magnets containing a set number of magnets according to the requirements of the magnet core to be inserted. The robotic arm 2 is a four-axis robotic arm that can move horizontally, vertically, and rotate around a vertical axis. The clamping device 3 is a clamping structure connected to the robotic arm 2 for clamping the magnet sets on the feeding device 1. Each clamping device 3 corresponds to clamping several types of magnet sets of iron cores. The pressing device is set on the clamping device 3 and is used to press the magnets in the magnet sets clamped by the clamping device 3 vertically into the magnet slots of the magnet core to be inserted.

[0089] The feeding device 1 is the first step in the entire insertion process. The feeding device 1 provides a set of magnets suitable for the iron core to be inserted, and the quantity and specifications are completely corresponding to the iron core. The clamping device 3 is completely corresponding to the set of magnets and can accurately clamp and fix the qualified magnets on the feeding device 1. There are multiple clamping devices. Before clamping the magnets, the appropriate clamping device 3 is selected for subsequent operations. The robotic arm 2 is a four-axis robotic arm with horizontal, vertical and rotation functions around the vertical axis. It is used to drive the clamping device 3 and the clamped magnets to move and adjust the magnets to correspond with the magnet slots. After the magnets are aligned with the magnet slots, the pressing device presses the magnets vertically into the corresponding magnet slots to complete the magnet insertion operation.

[0090] During actual insertion, the feeding device 1 checks a set of magnets at the feeding station. If the magnets meet the requirements for insertion, they remain at the feeding station to be gripped. If they do not meet the requirements, they are removed from the feeding station. The robotic arm 2 selects and connects to the clamping device 3, which corresponds to the specifications and quantity of the magnets to be gripped. The robotic arm 2 moves the clamping device 3 to clamp the qualified magnets at the feeding station. The robotic arm 2 drives the clamping device 3 and the clamped magnets to move above the magnets to be inserted. The pressing device then presses the magnets into the magnet slots of the magnets to be inserted.

[0091] In a preferred embodiment of this application, the structure of the above-mentioned feeding device has been further optimized, such as... Figures 1-3As shown, the feeding device includes a feeding base 11, which is a foundation platform of the entire magnet assembly platform and serves as the support platform for the entire feeding device. The feeding base 11 is equipped with a platform 12, a longitudinal clamping structure, a transverse clamping structure, a detection structure, and a feeding structure. The platform 12 is a fixed platform for placing magnet assemblies. The upper surface of the platform 12 is a horizontal and straight surface, used to place magnet assemblies stacked laterally. That is, the magnet assemblies placed on the platform 12 consist of multiple magnet sheets, with adjacent magnet sheets stacked laterally, and the width of the magnet sheets is along the transverse direction. The longitudinal clamping structure is located on both longitudinal sides of the platform 12, used for longitudinally clamping the magnet assemblies placed on the platform 12. The longitudinal clamping structure is located on both sides of the longitudinal direction of the stage 12 and includes at least one movable part for driving the magnet assembly to move longitudinally on the stage 12, thereby clamping and fixing the magnet assembly in the longitudinal direction. The transverse clamping structure is located on both sides of the transverse direction of the stage 12 and is used to move the magnet assembly placed on the stage 12 laterally, thereby clamping and fixing it in the transverse direction. The transverse clamping structure is located on both sides of the transverse direction of the stage 12 and includes at least one movable part, which can drive the magnet assembly in the transverse direction. The magnet assembly moves on the stage 12, clamping and fixing it in the lateral direction. A detection structure is installed on both the longitudinal and lateral clamping structures. Based on the lateral and longitudinal clamping of the magnet assembly on the stage 12, it determines whether the magnet assembly meets the feeding requirements. The detection structure essentially determines the lateral and longitudinal length of the clamped magnet assembly based on the displacement during clamping by the lateral and longitudinal limiting structures, thereby obtaining the specifications and quantity of the currently clamped magnet assembly. This is then compared with the feeding requirements to determine... The current magnetic steel assembly held on the platform 12 is checked to see if it meets the feeding requirements. The feeding structure includes a feeding channel 17 set on one side of the platform 12 (limiting baffles are set on both sides of the feeding channel 17 to prevent the magnetic steel assembly from sliding out from both sides). It is used to receive the magnetic steel assembly transferred from the platform 12 when the detection structure determines that the magnetic steel assembly on the platform 12 does not meet the feeding requirements. The feeding device is connected to the platform 12 and is used to receive the magnetic steel assembly that does not meet the feeding requirements and transfer it, so that the platform 12 can have a very high turnover efficiency.

[0092] In actual use, follow these steps:

[0093] S1. Place the magnet assembly to be loaded onto the stage 12;

[0094] The magnet assembly to be loaded is placed on the stage 12. Multiple magnets are arranged side by side in the longitudinal or transverse direction, that is, the magnets are arranged in the same direction (in this application, they are stacked in the transverse direction) to facilitate subsequent clamping and inspection.

[0095] S2. The longitudinal clamping structure moves longitudinally to clamp the magnet assembly on the stage 12, and the detection structure detects the specifications of the magnet assembly.

[0096] The magnets on the stage 12 are arranged in the same direction. Therefore, when the magnet group is clamped and fixed in the longitudinal direction, it is only necessary to detect and obtain the longitudinal length of the clamped magnet group. Based on the longitudinal length, it is possible to determine whether the specifications of the current clamped magnet group meet the feeding requirements. The width and length of each magnet group are unique. The width and length of different magnet groups are different. Based on this situation, the specifications of the magnet group can be determined.

[0097] S3. The lateral clamping structure moves laterally to clamp the magnet group on the stage 12, and the detection structure detects the number of magnet groups.

[0098] As mentioned above, the magnets on the stage 12 are arranged in the horizontal direction. Therefore, when the magnet group is clamped and fixed in the horizontal direction, the length of the magnet group in the horizontal direction can be detected. If the length in the horizontal direction meets the length requirement of the set number of magnet groups, then it can be determined that the number of magnet groups on the stage 12 is appropriate.

[0099] S4. If the detection structure detects that the quantity and specifications of the magnet groups on the platform 12 meet the feeding requirements, the robotic arm will clamp the magnet groups on the platform 12 for feeding. If the detection structure detects that the quantity or specifications of the magnet groups on the platform 12 do not meet the feeding requirements, the magnet groups on the platform 12 will be transferred to the feeding channel 17.

[0100] The feeding channel 17 is a sloping structure that is inclined laterally. The upper end of the feeding channel 17 is connected to the discharge side of the loading platform 12 in the lateral direction.

[0101] In practical applications, it is not limited to using the longitudinal clamping structure to detect the specifications of the magnet assembly and the transverse clamping structure to detect the quantity of the magnet assembly. It is also possible to use the longitudinal clamping structure to detect the quantity of the magnet assembly and the transverse clamping structure to detect the specifications of the magnet assembly. The specifications of the magnet assembly can be identified and judged first. If the specifications of the magnet assembly do not meet the requirements, the magnet assembly is immediately transferred from the loading platform 12 to the feeding channel 17. If the specifications of the magnet assembly meet the requirements, the quantity of the magnet assembly is then identified and judged. This operation can greatly improve the efficiency of magnet assembly judgment and avoid the need to operate the transverse clamping structure when the specifications of the magnet assembly do not meet the requirements.

[0102] First, the specifications of the magnet groups are identified and determined. Once the specifications of the magnet groups are obtained, the length of a single magnet group along the longitudinal and transverse directions is determined. Therefore, the transverse length of the magnet groups that meet the feeding requirements is determined. Then, the number of magnet groups is checked. As long as the transverse length of the magnet groups clamped on the platform 12 meets the product of the transverse length of a single magnet group and the set number, it can be determined that the quantity meets the requirements.

[0103] In some embodiments of this application, the above-described longitudinal clamping structure has been optimized, specifically, as follows: Figure 2 As shown, the longitudinal clamping structure of this embodiment includes a fixed plate 13 and a movable plate 14. The fixed plate 13 is a fixed limiting plate arranged vertically on one side of the longitudinal direction of the platform 12. The fixed plate 13 is fixed in a fixed position on one side of the longitudinal direction of the platform 12. That is, when the magnet assembly is pressed against the side of the fixed plate 13 facing the platform 12, it is equivalent to the magnet assembly being restricted to the fixed longitudinal position of the platform 12. The movable plate 14 is a plate that can move longitudinally on the other side of the longitudinal direction of the platform 12. The structure is as follows: the movable plate 14 is a movable structure. The movable plate 14 is driven to move longitudinally by a drive structure. The drive structure can be a cylinder, hydraulic cylinder or motor-like structure, as long as it can achieve longitudinal linear movement. The movable plate 14 drives the magnet assembly on the platform 12 to move longitudinally until the magnet assembly placed on the platform 12 is driven longitudinally to abut against the fixed plate 13. At this time, the magnet assembly is clamped and fixed in the longitudinal direction by the fixed plate 13 and the movable plate 14, and the magnet assembly is restricted to a set position in the longitudinal direction.

[0104] In other embodiments of this application, the above-described lateral clamping structure has been optimized, specifically, as follows: Figures 1-3 As shown, the lateral clamping structure of this embodiment includes a push rod 15 and a movable plate 16. The push rod 15 is a rod-shaped structure disposed on the lateral side of the platform 12 away from the feeding channel 17. The push rod 15 can be driven to move laterally by a drive device. The push rod 15 can be driven to move laterally by a drive structure, which can be a cylinder, hydraulic cylinder or motor-like structure, as long as it can achieve lateral linear movement. The push rod 15 drives the magnet assembly on the platform 12 to move laterally until the magnet assembly placed on the platform 12 is driven laterally to abut against the movable plate 16. At this time, the magnet assembly is clamped and fixed in the lateral direction by the push rod 15 and the movable plate 16, and the magnet assembly is restricted to a set position in the lateral direction. The movable plate 16 is a vertical plate located on the other side of the platform 12 and between the platform 12 and the feeding channel 17. The movable plate 16 is vertically movable and connected to the platform 12. When the movable plate 16 is in the horizontal limit position, it is in the raised position, that is, driven to the high position by the vertical drive structure. When the horizontal clamping is completed and it is determined that the magnet group does not meet the feeding requirements, it moves to the low position under the drive of the vertical drive structure.

[0105] The specific operation is as follows: before the magnet assembly enters the platform 12, the movable plate 16 moves to a high position. In this embodiment, the high position means that the upper end of the movable plate 16 extends beyond the upper surface of the platform 12 and beyond the top surface of the magnet assembly on the platform 12, ensuring that the magnet assembly can be completely held in the lateral position. After the magnet assembly is placed on the platform 12, the push rod 15 moves laterally, and the end of the push rod 15 abuts against one side of the magnet assembly, pushing the magnet assembly to move laterally until the other side of the magnet assembly is held against by the movable plate 16, completing the clamping and fixing of the magnet assembly in the lateral direction. When the magnet assembly is determined to not meet the feeding requirements, the movable plate 16 moves vertically to a low position. In this embodiment, the low position means that the upper end of the movable plate 16 is lower than the upper surface of the platform 12. Then, the push rod 15 drives the magnet assembly to move longitudinally until all the magnet assemblies enter the feeding channel 17, completing the removal operation of the unqualified magnet assembly.

[0106] In a further embodiment of this application, the detection structure described above has been optimized. Specifically, the detection structure of this embodiment includes a displacement sensor and a pressure sensor. The displacement sensor is disposed on the transverse clamping structure and the longitudinal clamping structure to detect the displacement of the magnetic steel group clamped by the transverse clamping structure and the longitudinal clamping structure along the transverse and longitudinal directions, thereby determining whether the quantity, specifications and size of the clamped magnetic steel group meet the feeding requirements. The pressure sensor is disposed on the transverse clamping structure and the longitudinal clamping structure to detect whether the transverse clamping structure and the longitudinal clamping structure are in place.

[0107] In this embodiment, pressure sensors and displacement sensors are provided on both the push rod 15 and the moving plate 14 to record the clamping pressure and moving displacement of the push rod 15 and the moving plate 14.

[0108] In actual operation, the moving plate 14 of the driving longitudinal clamping structure, located on one longitudinal side of the stage 12, moves longitudinally towards one side of the stage 12. The moving plate 14 fits against the longitudinal side of the magnet assembly on the stage 12. The moving plate 14 pushes the magnet assembly on the stage 12 longitudinally towards the fixed plate 13 located on the other longitudinal side of the stage 12 in the longitudinal clamping structure, until the other longitudinal side of the magnet assembly is tightly fitted against the side of the fixed plate 13, completing the longitudinal clamping of the magnet assembly. The moving plate 14 continues to longitudinally push the magnet assembly. After the magnet assembly is completely clamped longitudinally, the clamping pressure of the moving plate 14 will rise above the set clamping pressure. Holding pressure, that is, when the clamping pressure of the moving plate 14 exceeds the first set threshold, it can be determined that the magnet assembly is clamped in place in the longitudinal direction. The displacement sensor that monitors the movement displacement of the moving plate 14 records the longitudinal displacement of the moving plate 14 from the initial longitudinal position to the completion of longitudinal clamping. If the difference between the initial longitudinal distance between the moving plate 14 and the fixed plate 13 at the initial longitudinal position and the longitudinal displacement is equal to the longitudinal dimension of the magnet assembly required for loading, it is determined that the specifications of the magnet assembly on the platform 12 meet the loading requirements; otherwise, it is determined that the specifications of the magnet assembly on the platform 12 do not meet the loading requirements.

[0109] If the specifications of the magnet assembly meet the feeding requirements, the quantity of the magnet assembly can be checked. The push rod 15 of the lateral clamping structure, located on one side of the platform 12, is moved laterally towards the platform 12. The push rod 15 fits against the lateral side of the magnet assembly on the platform 12. The push rod 15 pushes the magnet assembly on the platform 12 to move laterally towards the movable plate 16 located on the other side of the platform 12 within the lateral clamping structure, until the other side of the magnet assembly is tightly fitted against the side of the movable plate 16, completing the lateral clamping of the magnet assembly. The clamping pressure on the push rod 15 is then adjusted. The pressure sensor for monitoring detects the lateral clamping pressure of the push rod 15 on the magnet assembly. When the lateral pressure reaches the second set threshold, it is determined that the lateral clamping of the magnet assembly has been completed. The detection structure records the lateral displacement of the push rod 15 from the initial lateral position to the completion of lateral clamping. If the difference between the initial lateral distance between the push rod 15 and the movable plate 16 at the initial lateral position and the lateral displacement is equal to the lateral length of the required number of magnet assemblies, it is determined that the number of magnet assemblies on the platform 12 meets the feeding requirements; otherwise, it is determined that the number of magnet assemblies on the platform 12 does not meet the feeding requirements.

[0110] In this embodiment, during the process of judging the specifications and quantity of the magnet group, the specifications of the magnet group are judged first. If the specifications of the magnet group do not meet the requirements, the magnet group on the platform 12 is directly moved to the feeding channel by the cooperation of the push rod 15 and the movable plate 16, without the need to judge the quantity of the magnet group. Only when the specifications of the magnet group meet the requirements is the subsequent judgment of the quantity of the magnet group performed. Similarly, if the quantity of the magnet group does not meet the requirements, the magnet group is moved to the feeding channel.

[0111] The specific removal method is as follows: drive the movable plate 16 to move vertically downward, so that the upper end of the movable plate 16 is lower than the upper end surface of the platform 12, drive the push rod 15 to move longitudinally, and push the magnet group on the platform 12 longitudinally to move longitudinally toward the feeding channel 17 until all the magnet groups on the platform 12 are pushed into the feeding channel 17.

[0112] During actual loading, the magnet assembly to be loaded is placed on the stage 12, arranging the magnet assemblies in the same direction to facilitate subsequent clamping and inspection. The driving plate 14 moves longitudinally towards one side of the stage 12, and the driving plate 14 fits against the longitudinal side of the magnet assembly on the stage 12. The driving plate 14 pushes the magnet assembly longitudinally towards the fixed plate 13 on the stage 12 until the other longitudinal side of the magnet assembly is tightly fitted against the side of the fixed plate 13, completing the longitudinal clamping of the magnet assembly. When the clamping pressure of the driving plate 14... When the first set threshold is exceeded, it is determined that the magnet assembly is clamped in place in the longitudinal direction. The displacement sensor that monitors the movement displacement of the moving plate 14 records the longitudinal displacement of the moving plate 14 from the initial longitudinal position to the completion of longitudinal clamping. If the difference between the initial longitudinal distance between the moving plate 14 and the fixed plate 13 at the initial longitudinal position and the longitudinal displacement is equal to the longitudinal dimension of the magnet assembly required for loading, it is determined that the specifications of the magnet assembly on the platform 12 meet the loading requirements; otherwise, it is determined that the specifications of the magnet assembly on the platform 12 do not meet the loading requirements.

[0113] After the specifications of the magnet assembly meet the feeding requirements, the drive rod 15 moves laterally towards one side of the platform 12. The drive rod 15 fits against the lateral side of the magnet assembly on the platform 12, and pushes the magnet assembly on the platform 12 to move laterally towards the movable plate 16 until the other lateral side of the magnet assembly is tightly fitted against the side of the movable plate 16, thus completing the lateral clamping of the magnet assembly. The pressure sensor that monitors the clamping pressure of the drive rod 15 detects the lateral clamping pressure of the drive rod 15 on the magnet assembly. When the lateral pressure reaches the second set threshold, it is determined that the lateral clamping of the magnet assembly has been completed. The detection structure records the lateral displacement of the drive rod 15 from the initial lateral position to the completion of the lateral clamping. If the difference between the initial lateral distance between the drive rod 15 and the movable plate 16 at the initial lateral position and the lateral displacement is equal to the lateral length of the required number of magnet assemblies, it is determined that the number of magnet assemblies on the platform 12 meets the feeding requirements; otherwise, it is determined that the number of magnet assemblies on the platform 12 does not meet the feeding requirements.

[0114] If the specifications or quantity of the magnet assembly do not meet the feeding requirements, the movable plate 16 moves vertically to a low position, and then the push rod 15 drives the magnet assembly to move longitudinally until all the magnet assemblies enter the feeding channel 17, completing the removal operation of the unqualified magnet assemblies.

[0115] The first and second set thresholds of this application are calibrated based on specific clamping conditions. The first and second set thresholds may be equal or unequal, and are set according to actual needs.

[0116] The horizontal direction of this application is Figure 2 The left and right directions in this application, the vertical direction. Figure 2 The vertical direction in this application refers to the vertical direction. Figure 2 The direction perpendicular to the paper.

[0117] In some embodiments of this application, the structure of the clamping device described above has been optimized, specifically, as follows: Figures 4-6 As shown, the clamping device 3 in this embodiment includes a jaw base 31, on which two sets of first-direction jaws 32 and two sets of second-direction jaws 33 are provided. The two sets of first-direction jaws 32 are respectively placed on both sides of the jaw base 31 in the first horizontal direction, and are driven by a motor or cylinder on the jaw base 31 to move along the first direction to clamp the magnet assembly in the first direction. The two sets of second-direction jaws 33 are respectively placed on both sides of the jaw base 31 in the second horizontal direction, and are driven by a motor or cylinder on the jaw base 31 to move along the second direction to clamp the magnet assembly in the second direction.

[0118] Two sets of first-direction grippers 32 and two sets of second-direction grippers 33 are respectively placed on the side of the magnet assembly to form a magnet hopper for clamping and fixing the magnet assembly. The magnet assembly in this embodiment is as follows: Figures 5-6 As shown, it includes multiple magnets, which are horizontally stacked to form a magnet group. The number and specifications of the magnets in the magnet group need to meet the requirements of the magnet core to be inserted. For example, some iron cores require 8 magnets, so the magnet group formed is 8 magnets horizontally stacked. Some iron cores require 16 magnets, so the magnet group formed is 16 magnets horizontally stacked, and so on.

[0119] The magnets in the magnet assembly are stacked sequentially along their width. Two sets of first-direction grippers 32 are positioned on the outermost sides of the magnets in the width direction, and two sets of second-direction grippers 33 are positioned on both sides of all the magnets in the width direction. In practical applications, the magnet assembly can be fixed by the two sets of second-direction grippers 33. However, to facilitate subsequent insertion and improve the stability of the magnet assembly during transfer, this embodiment uses two sets of first-direction grippers 32, achieving limit and fixation of the magnet assembly through four sets of grippers.

[0120] In this embodiment, the two sets of first-direction grippers 32 and the two sets of second-direction grippers 33 are actually controlled by servo motors on the gripper base 31. Each gripper includes a flat plate that contacts the magnet. The servo motor itself can control the gripper to move within a certain range. Therefore, one set of clamping devices 3 can adapt to the insertion requirements of several types of iron cores. This embodiment is equipped with multiple clamping devices 3, so the scope of application is extremely wide. In actual application, it is only necessary to select the appropriate clamping device 3 according to the specifications of the magnet core to be inserted.

[0121] The gripper base 31 is provided with a connection port corresponding to the robotic arm 2. After selecting the appropriate gripping device 3, the robotic arm 2 is controlled to connect to the connection port on the selected gripper base 31, thus fixing the gripper base 31 to the robotic arm 2. The robotic arm 2 moves the gripper base 31 above the qualified magnet assembly at the loading station. The two sets of first-direction grippers 32 on both sides of the gripper base 31 and the two sets of second-direction grippers 33 on the other two sides open. The robotic arm 2 controls the gripper base 31 to move downward until the first-direction grippers 32 and the second-direction grippers 33 are located on the side of the magnet assembly. The first-direction grippers 32 and the second-direction grippers 33 are then driven to retract, fixing the magnet assembly at the loading station between the first-direction grippers 32 and the second-direction grippers 33. Both the first and second directions are horizontal and perpendicular to each other.

[0122] In some other embodiments of this application, the pressing device described above has been optimized. Specifically, the pressing device of this embodiment includes a magnetic steel pressing head 34 (not shown in the figure) mounted on the gripper base 31. The magnetic steel pressing head 34 is a rod-shaped structure arranged vertically. The magnetic steel pressing head 34 is driven to extend and retract vertically by a motor or cylinder on the gripper base 31.

[0123] The magnetic pressure head 34 can only move vertically and is driven by a motor or cylinder on the gripper base 31. The magnetic pressure head 34 is used in conjunction with the first gripper 32 on the gripper base 31.

[0124] During actual insertion, the robotic arm 2 drives the gripper base 31 and the clamped magnet assembly to move above the magnet core to be inserted. The robotic arm 2 drives the gripper base 31 to rotate around the vertical axis, so that one magnet of the magnet assembly is completely aligned with a magnet slot on the magnet core to be inserted below in the vertical direction. The magnet pressing head 34 presses one magnet into the magnet slot, and so on, until all the magnets clamped on the gripper base are pressed into the magnet slot.

[0125] In other words, in this embodiment, the magnet pressing head 34 presses the magnets one by one into the magnet slot. Before each pressing, the rotation angle of the gripper base 31 needs to be adjusted to ensure that the magnets pressed each time are completely aligned with the magnet slot below. The magnet group on the gripper base 31 is confined between two sets of first-direction grippers 32 and two sets of second-direction grippers 33. The two sets of first-direction grippers 32 are located on the outermost side of the width direction of the magnets in the magnet group, and the two sets of second-direction grippers 33 are located in the middle of the magnet group. On both sides of the width direction of all magnets; the first directional gripper 32 near one side of the magnet pressing head 34 presses the magnet that is in contact with the first directional gripper 32 each time. After the magnet that is in contact with the first directional gripper 32 is pressed, the first directional gripper 32 on the other side drives the magnet group to move towards the first directional gripper 32 near the magnet pressing head 34 along the width direction of the magnet, that is, along the first directional direction, until it is in close contact with the first directional gripper 32, so as to facilitate the next pressing of the magnet pressing head 34.

[0126] During the pressing process of the magnet, the magnet pressing head 34 only performs vertical pressing operations. The magnet moves along the first direction between the two sets of second-direction grippers 33, that is, along the width direction of the magnet.

[0127] In a preferred embodiment of this application, the above-described structure is further optimized. This embodiment also includes a guide device 4, such as... Figure 7 and 8 As shown, the guide device 4 includes a guide base 41 and a guide plate 42. The guide base 41 is a bracket suspended above the iron core. The guide plate 42 is a plate-shaped structure that is detachably connected to the guide base 41. The guide plate 42 has guide holes 43 that correspond one-to-one with the magnetic grooves on the magnet below. The guide holes 43 are funnel-shaped through holes that are larger at the top and smaller at the bottom.

[0128] By adding a guide plate 42, the magnet and the iron core can be connected. The guide plate 42 and the magnet core to be inserted are in one-to-one correspondence. Here, correspondence means that the arrangement of the guide holes 43 on the guide plate 42 is the same as the distribution of the magnet slots on the magnet core to be inserted. In this embodiment, there are multiple guide plates 42. When it is necessary to insert the magnet into the corresponding magnet core, the corresponding guide plate 42 can be selected.

[0129] The guide plate 42 and the guide base 41 are designed with a quick-change structure. The guide plate 42 has handles on both sides for easy gripping; the handles are arc-shaped rods. The upper end of the guide base 41 is a square frame structure. When the guide plate 42 is installed on the guide base 41, the handles are located on both sides of the square frame structure for easy placement by the operator. The guide base 41 has screw holes, and the guide plate 42 has corresponding through holes. After the guide plate 42 is placed on the guide base 41, the through holes and screw holes are aligned, and bolts are driven into the aligned through holes and screw holes to stably fix the guide plate 42 to the guide base 41. In practical applications, other fixing structures can also be used; this structure is not limited to any structure that can stably fix the guide plate 42 to the guide base 41.

[0130] The guide plate 42 is suspended directly above the magnet core to be inserted. The clamping device holds the magnet assembly above the guide plate 42. Before inserting the magnet, the magnet core to be inserted and the guide plate 42 need to be fixed in a limited position so that the magnet core to be inserted fits tightly against the lower end face of the guide plate 42. This restricts the rotation of the guide plate 42 and the magnet core to be inserted around the vertical axis, ensuring that the guide hole on the guide plate 42 and the magnet groove on the magnet core to be inserted remain aligned during the insertion process.

[0131] Therefore, in order to facilitate the positioning and fixing of the magnet core to be inserted with the guide plate 42, this embodiment also provides a lifting device 5 for lifting the magnet core to be inserted and positioning it with the guide plate 42, such as... Figure 8 As shown, the lifting device 5 in this embodiment includes a lifting platform 51 and a lifting motor 52. The lifting platform 51 is mounted on a guide base 41 for supporting the iron core. The lifting motor 52 is connected to the lifting platform 51 and is used to drive the lifting platform 51 to move vertically to be precisely positioned with the guide plate 42 on the guide base 41.

[0132] The lifting motor 52 first controls the lifting platform 51 to move downward to facilitate the placement of the magnet core to be inserted. After the iron core is placed on the lifting platform 51, a guide plate 42 corresponding to the iron core is installed on the guide base 41. After the guide plate 42 is completely fixed, the lifting motor 52 drives the lifting platform 51 to move upward until the uppermost magnet core to be inserted on the lifting platform 51 is completely in contact with the lower end face of the guide plate 42. The lifting platform 51 and the guide plate 42 restrict the vertical movement of the iron core.

[0133] In addition, this embodiment has a structure installed on the guide plate 42 to restrict the rotation of the guide plate 42 and the iron core around the vertical axis, such as... Figure 7 As shown, a positioning pin 44 is provided on the lower end face of the guide plate 42. When the iron core moves up to fit against the guide plate 42, the positioning pin 44 is inserted into the positioning hole corresponding to the iron core to restrict the rotation of the iron core and the guide plate 42 around the axis.

[0134] In practical applications, the guide plate 42 in this embodiment has an annular structure. A positioning block is set in the middle of the guide plate 42. The positioning block is a circular block structure. The guide plate 42 has multiple slots, and the positioning block has multiple corresponding positioning pins 44. After the four positioning pins 44 are inserted into the corresponding slots, the positional relationship between the guide plate 42 and the positioning block in the direction of rotation around the vertical axis is determined. Then, under the action of the lifting motor 52, the iron core moves vertically to the lower end face of the guide plate 42. After the positioning pins 44 pass through the slots and are inserted into the positioning holes corresponding to the uppermost iron core, the positional relationship between the positioning block and the uppermost iron core in the direction of rotation around the vertical axis is determined. At this point, the positional relationship between the guide plate 42 and the uppermost iron core in the direction of rotation around the vertical axis is completely fixed, and the guide holes 43 on the guide plate 42 correspond one-to-one with the magnetic slots on the uppermost iron core. Meanwhile, the multiple positioning pins on the positioning block are not on the same straight line. In fact, they are distributed at equal intervals along the circumferential direction around the axis of the guide plate 42. Therefore, when the positioning pin 44 is inserted into the corresponding positioning hole, the positioning block, the guide plate 42 and the uppermost iron core are completely fixed in the direction of rotation around the vertical axis. The subsequent magnet insertion process will not have the problem of the guide hole and the magnet slot being misaligned due to shaking.

[0135] During magnet insertion, a guide plate 42 is installed on the guide base 41. The selected guide plate 42 corresponds perfectly to the uppermost iron core below. The guide plate 42 is fixed on the guide base 41. The lifting motor 52 drives the lifting platform 51 to move vertically downward to the loading position. Then, the magnet core to be inserted is placed on the lifting platform 51. The lifting motor 52 drives the lifting platform 51 and the magnet core to be inserted to move vertically to the lower end face of the guide plate 42, so that the positioning pin 44 on the guide plate 42 is accurately inserted into the positioning hole of the corresponding uppermost iron core. After the upper end face of the uppermost iron core is in contact with the lower end face of the guide plate 42, the positioning and installation of the uppermost iron core and the guide plate 42 are completed. The robotic arm 2 drives the gripper base 31 holding the magnet assembly to move above the guide plate 42. The gripping device 3 then moves the gripper base 31 to the uppermost iron core. Driven by arm 2, the lower end face of the magnet is brought into contact with the upper surface of guide plate 42. The robotic arm 2 adjusts a magnet on the side of the first gripper 32 in the width direction of the magnet group to be fully aligned with the guide hole 43 below. Then, the magnet pressing head 34 is driven downward to press the magnet into the guide hole 43. The guide hole 43 is a trumpet-shaped structure that is larger at the top and smaller at the bottom. Under the guidance of the guide hole 43, the magnet passes through the guide hole 43 and enters the magnet slot of the uppermost iron core below, completing the insertion of the magnet. This process is repeated until all the magnet slots on the uppermost iron core have been filled with magnets. The lifting motor 52 drives the lifting platform 5 and the uppermost iron core that has been filled with magnets to move vertically downward, removing the filled iron core from the lifting platform 51 to prepare for the filling of the next set of iron cores.

[0136] When inserting magnets using the magnet insertion device of this application: a guide plate 42 is installed on the guide base 41, and the selected guide plate 42 corresponds completely to the iron core below it. The guide plate 42 is fixed on the guide base 41. The lifting motor 52 drives the lifting platform 51 to move vertically downward to the loading position. Then, the magnet core to be inserted is placed on the lifting platform 51. The lifting motor 52 drives the lifting platform 51 and the magnet core to be inserted to move vertically to the insertion position on the lower end face of the guide plate 42, so that the positioning pin 44 on the guide plate 42 is accurately inserted into the positioning hole of the corresponding uppermost iron core. After the upper end face of the uppermost iron core is in contact with the lower end face of the guide plate 42, the positioning and installation of the uppermost iron core and the guide plate 42 are completed.

[0137] The loading operation begins by placing the magnet assembly to be loaded onto the platform 12. The moving plate 14 is driven to move longitudinally towards one side of the platform 12, and the moving plate 14 is placed against the longitudinal side of the magnet assembly on the platform 12. The moving plate 14 pushes the magnet assembly longitudinally towards the fixed plate 13 on the platform 12 until the other longitudinal side of the magnet assembly is tightly against the side of the fixed plate 13, thus completing the longitudinal clamping of the magnet assembly. When the clamping pressure of the moving plate 14 exceeds the first set threshold, it is determined that the magnet assembly is clamped in place in the longitudinal direction. The displacement sensor that monitors the movement displacement of the moving plate 14 records the longitudinal displacement of the moving plate 14 from the initial longitudinal position to the completion of the longitudinal clamping. If the difference between the initial longitudinal distance between the moving plate 14 and the fixed plate 13 at the initial longitudinal position and the longitudinal displacement is equal to the longitudinal dimension of the magnet assembly required for loading, it is determined that the specifications of the magnet assembly on the platform 12 meet the loading requirements; otherwise, it is determined that the specifications of the magnet assembly on the platform 12 do not meet the loading requirements.

[0138] After the specifications of the magnet assembly meet the feeding requirements, the drive rod 15 moves laterally towards one side of the platform 12. The drive rod 15 fits against the lateral side of the magnet assembly on the platform 12, and pushes the magnet assembly to move laterally towards the movable plate 16 on the platform 12 until the other lateral side of the magnet assembly is tightly fitted against the side of the movable plate 16, thus completing the lateral clamping of the magnet assembly. The pressure sensor that monitors the clamping pressure of the drive rod 15 detects the lateral clamping pressure of the drive rod 15 on the magnet. When the lateral pressure reaches the second set threshold, it is determined that the lateral clamping of the magnet assembly has been completed. The detection structure records the lateral displacement of the drive rod 15 from the initial lateral position to the completion of the lateral clamping. If the difference between the initial lateral distance between the drive rod 15 and the movable plate 16 at the initial lateral position and the lateral displacement is equal to the lateral length of the required number of magnet assemblies, it is determined that the number of magnet assemblies on the platform 12 meets the feeding requirements; otherwise, it is determined that the number of magnet assemblies on the platform 12 does not meet the feeding requirements.

[0139] If the specifications or quantity of the magnet group do not meet the feeding requirements, the movable plate 16 moves vertically to a low position, and then the push rod 15 drives the magnet group to move longitudinally until all the magnets enter the feeding channel 17, completing the removal operation of the unqualified magnet group.

[0140] After the magnet assembly on the loading platform 12 passes the inspection, the corresponding clamping device 3 is selected, and the robotic arm 2 is controlled to connect to the connection port on the selected gripper base 31 to complete the fixation of the gripper base 31 and the robotic arm 2. The robotic arm 2 moves the gripper base 31 to above the qualified magnet assembly at the loading station. The two sets of first-direction grippers 32 on both sides of the gripper base 31 and the two sets of second-direction grippers 33 on the other two sides open. The robotic arm 2 controls the gripper base 31 to move down until the first-direction grippers 32 and the second-direction grippers 33 are located on the side of the magnet assembly. The first-direction grippers 32 and the second-direction grippers 33 are driven to retract to fix the magnet assembly at the loading station between the first-direction grippers 32 and the second-direction grippers 33.

[0141] The robotic arm 2 drives the gripper base 31 holding the magnet assembly to move above the guide plate 42. The robotic arm 2 adjusts the width direction of the magnet assembly so that one magnet on the side of the first gripper 32 is fully aligned with the guide hole 43 below. Then, the magnet pressing head 34 is driven downward to press the magnet into the guide hole 43. The guide hole 43 is a trumpet-shaped structure that is larger at the top and smaller at the bottom. Under the guidance of the guide hole 43, the magnet passes through the guide hole 43 and enters the magnet slot of the uppermost iron core below, completing the insertion of the magnet. This process is repeated until all the magnet slots on the uppermost iron core have been filled with magnets. The lifting motor 52 drives the lifting platform 5 and the uppermost iron core that has been filled with magnets to move vertically downward, removing the uppermost iron core that has been filled with magnets from the lifting platform 51 in order to fill the next set of iron cores.

[0142] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A magnet insertion device, characterized in that: include: Feeding device (1), the feeding device (1) is used to provide a set of magnets containing a set number of magnets according to the requirements of the magnet core to be inserted; The robotic arm (2) is a four-axis robotic arm capable of horizontal movement, vertical movement and rotation about a vertical axis; Multiple clamping devices (3), wherein the clamping device (3) is a clamping structure connected to the robotic arm (2) for clamping the magnet group on the feeding device (1), and each clamping device (3) corresponds to clamping a number of magnet groups with iron cores of various models. Pressing device, which is set on clamping device (3), is used to press the magnets in the magnet group held by clamping device (3) vertically into the magnet slot of the magnet core to be inserted. The clamping device (3) includes a jaw base (31); the jaw base (31) is provided with: Two sets of first-direction grippers (32) are placed on both sides of the gripper base (31) in the first direction. They are driven by a motor or cylinder on the gripper base (31) to move along the first direction to achieve clamping of the magnet group in the first direction. Two sets of second-direction grippers (33) are placed on the horizontal second direction sides of the gripper base (31). The grippers are driven by a motor or cylinder on the gripper base (31) to move along the second direction to achieve clamping of the magnet assembly in the second direction. The pressing device includes a magnetic steel pressing head (34) mounted on a gripper base (31); the magnetic steel pressing head (34) is a rod-shaped structure arranged vertically. The magnetic steel pressing head (34) is driven to extend and retract vertically by a motor or cylinder on the gripper base (31). The magnetic steel pressing head (34) cooperates with the grippers on the gripper base (31) to press the magnetic steel pieces one by one into the magnetic steel groove. It also includes a guide device (4); the guide device (4) includes: Guide base (41), the guide base (41) is a bracket suspended above the iron core; The guide plate (42) is a plate-shaped structure that is detachably connected to the guide base (41). The guide plate (42) has guide holes (43) that correspond one-to-one with the magnetic grooves on the magnet below. The guide hole (43) is a funnel-shaped through hole that is larger at the top and smaller at the bottom.

2. The magnet insertion device as described in claim 1, characterized in that: It also includes a lifting device (5); the lifting device (5) includes: A lifting platform (51) on which a platform for supporting the iron core is installed; A lifting motor (52) is connected to a lifting platform (51) and is used to drive the lifting platform (51) to move vertically to be precisely positioned with the guide plate (42) on the guide base (41).

3. The magnet insertion device as described in claim 2, characterized in that: The lower end face of the guide plate (42) is provided with a positioning pin (44); when the iron core moves up to fit with the guide plate (42), the positioning pin (44) is inserted into the positioning hole corresponding to the iron core to restrict the rotation of the iron core and the guide plate (42) around the axis.

4. A method for inserting a magnet, characterized in that: The method is operated according to any one of the magnet insertion devices as described in claims 1 to 3, including: The feeding device (1) detects a group of magnets at the feeding station. If the requirements for inserting the magnet core are met, the magnets stay at the feeding station and wait to be picked up. If the requirements for inserting the magnet core are not met, the magnets are removed from the feeding station. The robotic arm (2) selects a clamping device (3) that corresponds to the specifications and quantity of the magnets to be grasped and connects to the clamping device (3). The robotic arm (2) moves the clamping device (3) to clamp the qualified magnet group at the loading station. The robotic arm (2) drives the clamping device (3) and the clamped magnet group to move above the magnet core to be inserted, and the pressing device presses the magnet into the magnet slot of the magnet core to be inserted.

5. The magnet insertion method as described in claim 4, characterized in that: The method of pressing the magnet into the magnetic groove of the magnet core to be inserted by the pressing device includes: adjusting the angle of rotation of the gripper base of the clamping device (3) around the vertical axis by the mechanical arm (2) so that the magnet held on the gripper base is aligned with the magnetic groove below in the vertical direction, driving the magnetic pressing head (34) on the gripper base to move downward, and the magnetic pressing head (34) presses a piece of magnet into the magnetic groove; and so on until all the magnets held on the gripper base are pressed into the magnetic groove.

6. The magnet insertion method as described in claim 5, characterized in that: The method for aligning the magnet held on the gripper base with the lower magnet slot in the vertical direction includes: installing a guide plate (42) corresponding to the magnet core to be inserted on the guide base (41) above the magnet core to be inserted; suspending the guide plate (42) above the magnet core to be inserted so that the magnet slot on the magnet core to be inserted corresponds one-to-one with the guide hole (43) on the guide plate (42); driving the magnet core to be inserted to move vertically until it is close to the lower end face of the guide plate (42), and restricting the rotation of the guide plate (42) and the magnet core to be inserted around the vertical axis; adjusting the angle of the gripper base so that the magnet to be pressed is aligned with the lower guide hole (43).

7. The magnet insertion method as described in claim 5, characterized in that: The method for the feeding device (1) to detect a group of magnets at the feeding station includes: placing the magnet group to be fed onto the platform (12) of the feeding device (1); the longitudinal clamping structure of the feeding device (1) moves longitudinally to clamp the magnet group on the platform (12), and the detection structure of the feeding device (1) detects the specifications of the magnet group; the transverse clamping structure of the feeding device (1) moves transversely to clamp the magnet group on the platform (12), and the detection structure detects the number of magnet groups; if the detection structure detects that the number and specifications of the magnet group on the platform (12) meet the feeding requirements, then the magnet group waits to be grabbed on the platform (12); if the detection structure detects that either the number or specification of the magnet group on the platform (12) does not meet the feeding requirements, then the magnet group on the platform (12) is transferred to the feeding channel (17) of the feeding device (1).

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