Motor core welding method and equipment

Abstract

The present invention discloses a motor core welding method and equipment, which belongs to the field of motors. The motor core welding method identifies the inner diameter, outer diameter and contour of the raised area of ​​the laminate according to the laminate image, calculates the optimal pressing position of the pressing block and the pressing position of the segmented pressing plate, energizes the coil of each pressing plate assembly to drive the magnet to drive the pressing plate to move, and the driving assembly drives the pressing plate and the pressing block to move in the vertical direction until they contact the top laminate; the welding robot welds the laminated core to be welded along the weld bead, through the above design, the pressing plate assembly and the pressing block are used to replace the existing pressing plate, the pressing block presses the raised area, the pressing plate assembly presses the edge of the laminate and the pressing plate assembly can move along the radial direction, so that the diameter of the circle where the multiple pressing plates are located changes, so that the pressing plates are suitable for laminates with different diameters.

Description

Technical Field

[0001] The present invention relates to the field of motors, and in particular to a method and equipment for welding a motor core. Background Art

[0002] Laminations are the most common components in motor production. They are stamped from thin steel sheets (silicon steel sheets) and stacked together and welded to form the motor core. Different types and sizes of motor cores are made from laminations of varying sizes and shapes. During the motor core production process, hundreds of laminations are stacked and welded together.

[0003] In the prior art, when welding multiple stacked laminations, a pressing plate is used to improve weld quality. However, the pressing plate is in surface contact with the top lamination, and due to the varying thickness of the material strips during stamping, the stacked laminations have uneven surfaces with bumps and depressions. When the pressing plate presses against the stacked laminations, the laminations are subjected to uneven force, affecting weld quality. Furthermore, existing pressing plates can only press laminations of a fixed diameter; when welding laminations of different diameters, the pressing plate must be replaced. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a motor core welding method that can press the raised portions of the stacked lamination surfaces to improve welding accuracy.

[0005] In order to overcome the deficiencies of the prior art, a second object of the present invention is to provide a motor core welding device that can press against the raised areas on the surface of stacked laminations to improve welding accuracy.

[0006] One of the purposes of the present invention is achieved by the following technical solution:

[0007] A method for welding a motor core comprises the following steps:

[0008] S1: Multiple laminations are stacked to form a laminated core. The laminations on the top of the laminated core are image-recognized. The inner diameter, outer diameter, and outline of the raised area of ​​the laminations are identified based on the lamination images.

[0009] S2: performing a spatial relationship transformation on the contour of the raised area according to a preset spatial relationship transformation equation to obtain a position sequence of the contour of the raised area, and determining different axial distances of the contour of the raised area according to the position sequence; calculating the optimal pressing position of the pressing block and the pressing position of the segmented pressing plate according to the different axial distances, inner diameter, and outer diameter of the contour of the raised area, wherein the number of the pressing plates is multiple, the multiple pressing plates are located on a circumference, and the position of each pressing plate corresponds to the position of a weld bead;

[0010] S3: Calculate the moving distance Δl of the pressing plate according to the pressing position of the pressing plate and the initial position of the pressing plate, and energize the coil of each pressing plate assembly. The current is Where I is the current, δ is the distance between the coil and the magnet, k is the spring stiffness, Δl is the distance the pressure block moves, D1 is the outer diameter of the magnet, D2 is the inner diameter of the magnet, N is the number of coil turns, R is the radius of the coil polarization plane, and r is the radius of the physical inner boundary of the coil's magnetic pole. The magnetic force generated by the coil acts on the magnet, causing the magnet to overcome the elastic force of the elastic member and move on the extension rod. The pressure plate mounted on the magnet moves axially to above the preset pressure position.

[0011] S4: The driving assembly drives the pressing plate and the pressing block to move in the vertical direction until they contact the top laminate;

[0012] S5: The welding robot welds the laminated iron core to be welded along the weld bead.

[0013] Furthermore, in step S1, two zoom parallel point light sources are used for illumination, and the camera captures images of the top stack, and identifies the raised area by analyzing the reflected light of the stack under different lighting conditions.

[0014] Furthermore, in step S2, the pressing block is located between the circumference of the inner diameters of the plurality of pressing plates and the inner diameter of the lamination.

[0015] Furthermore, in step S2, the moving path of each of the pressing plates is in the radial direction of the laminations.

[0016] Furthermore, in step S2, the number of the pressure plates is the same as the number of welds in the circumferential direction of the laminated core, and the moving path of each pressure plate is from one weld to the center of the laminate.

[0017] Furthermore, the motor core welding method also includes step S6, in which the current of the coil is gradually reduced from a preset value, so that the force on the magnet is gradually reduced, thereby preventing the magnetic force from suddenly disappearing and causing the magnet to collide with the end of the extension rod.

[0018] Further, in step S4, the pressure plate is provided with a groove, and the groove is located above the weld.

[0019] Furthermore, in step S5, each weld has at least two welding paths, the arc starting point of one welding path is in the weld and the arc ending point is at one end of the weld, and the arc starting point of the other welding path is in the weld and the arc ending point is at the other end of the weld, so that both ends of the weld are welding arc ending points, and the pit formed by the welding arc ending point prevents the weld from protruding from the end of the laminated iron core, and there is overlap between the two welding paths.

[0020] The second object of the present invention is achieved by adopting the following technical solution:

[0021] A motor core welding device for implementing any one of the above motor core welding methods, comprising:

[0022] A jig for supporting the stacked laminations;

[0023] A light source, wherein the light source is a zoom parallel point light source, and the number of the light sources is two, and the two light sources are used to illuminate the top laminate;

[0024] a camera that captures an image of the top stack;

[0025] a processor that receives the image and identifies the inner diameter, outer diameter, and contour of the raised area of ​​the laminate based on the laminate image, calculates an optimal pressing position of the pressing block and a pressing position of the segmented pressing plate based on the inner diameter, outer diameter, and contour of the raised area, and calculates a movement distance Δl of the pressing plate based on the pressing position of the pressing plate and an initial position of the pressing plate;

[0026] A pressure block, wherein the pressure block presses against the raised area;

[0027] Multiple pressure plate assemblies, each pressure plate assembly includes a coil, an extension rod, an elastic member, a magnet and a pressure plate, the magnet is slidably mounted on the extension rod, the elastic member contacts the magnet, the pressure plate is fixed to the magnet, and the coil is energized to drive the magnet to drive the pressure plate to move Δl.

[0028] Furthermore, the jig is provided with a rotating platform, and the rotating platform drives the stacked laminations to rotate so that the weld bead of the laminated core corresponds to the position of the pressure plate.

[0029] Compared with the existing technology, the motor core welding method of the present invention identifies the inner diameter, outer diameter and contour of the raised area of ​​the laminate according to the laminate image, calculates the optimal pressing position of the pressure block and the pressing position of the segmented pressure plate, energizes the coil of each pressure plate assembly to drive the magnet to drive the pressure plate to move, and the driving assembly drives the pressure plate and the pressure block to move in the vertical direction until they contact the top laminate; the welding robot welds the laminated core to be welded along the weld bead. Through the above design, the pressure plate assembly and the pressure block are used to replace the existing pressing plate, the pressure block presses the raised area, the pressure plate assembly presses the edge of the laminate and the pressure plate assembly can move in the radial direction, so that the diameter of the circle where the multiple pressure plates are located changes, so that the pressure plates are suitable for laminates with different diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a flow chart of the motor core welding method of the present invention;

[0031] Figure 2 Schematic diagram of lamination pressing;

[0032] Figure 3 Schematic diagram of the pressure plate assembly of the motor core welding equipment of the present invention.

[0033] In the figure: 10, lamination; 20, pressure block; 30, pressure plate assembly; 31, pressure plate; 32, magnet; 33, extension rod; 34, elastic member; 35, coil; 36, mounting plate. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] like Figures 1 to 3 As shown, the present invention provides a motor core welding method, comprising the following steps:

[0038] S1: A plurality of laminations 10 are stacked to form a laminated core, and an image recognition is performed on the lamination 10 at the top of the laminated core. The inner diameter, outer diameter, and contour of the raised area of ​​the lamination 10 are recognized based on the image of the lamination 10;

[0039] S2: performing a spatial relationship transformation on the contour of the raised area according to a preset spatial relationship transformation equation to obtain a position sequence of the contour of the raised area, and determining different axial distances of the contour of the raised area according to the position sequence; calculating the optimal pressing position of the pressing block 20 and the pressing position of the segmented pressing plate 31 according to the different axial distances, inner diameter, and outer diameter of the contour of the raised area, wherein the number of the pressing plates 31 is multiple, and the multiple pressing plates 31 are located on a circumference, and the position of each pressing plate 31 corresponds to the position of a weld bead;

[0040] S3: Calculate the moving distance Δl of the pressing plate 31 according to the pressing position of the pressing plate 31 and the initial position of the pressing plate 31, and energize the coil 35 of each pressing plate 31 assembly 30. The current is Wherein, I is the current, δ is the distance between the coil 35 and the magnet 32, k is the spring stiffness, Δl is the movement distance of the pressing block 20, D1 is the outer diameter of the magnet 32, D2 is the inner diameter of the magnet 32, N is the number of turns of the coil 35, R is the radius of the polarization plane of the coil 35, and r is the radius of the physical inner boundary of the magnetic pole of the coil 35. The magnetic force generated by the coil 35 acts on the magnet 32, causing the magnet 32 ​​to overcome the elastic force of the elastic member 34 and move on the extension rod 33. The pressing plate 31 mounted on the magnet 32 ​​moves axially to above the preset pressing position.

[0041] S4: The driving assembly drives the pressing plate 31 and the pressing block 20 to move in the vertical direction until they contact the top laminate 10;

[0042] S5: The welding robot welds the laminated core to be welded along the weld bead.

[0043] Specifically, in step S1, a zoom parallel point light source is used for illumination, with two light sources. The camera captures an image of the top laminate 10 and identifies the raised area by analyzing the reflected light of the laminate 10 under different lighting conditions. In step S1, the position of the weld bead must also be identified based on the image to ensure that the position of the weld bead corresponds to the position of the pressure plate 31. When the weld bead is located between the two pressure plates 31, the laminated core is rotated by rotating the jig so that the position of the weld bead corresponds to the position of the pressure plate 31. Alternatively, the pressure plate 31 is rotated so that the position of the weld bead corresponds to the position of the pressure plate 31.

[0044] Specifically, in step S2, the pressure block 20 is positioned between the inner diameter of the plurality of pressure plates 31 and the inner diameter of the laminate 10. The movement path of each pressure plate 31 is in the radial direction of the laminate 10. The pressure plates 31 and the pressure blocks 20 are driven vertically by the same driver; the pressure plates 31 and the pressure blocks 20 are driven horizontally separately. In this embodiment, the number of pressure plates 31 is the same as the number of weld beads along the circumference of the laminated core, and the movement path of each pressure plate 31 is from one weld bead to the center of the laminate 10.

[0045] In step S3, since the elastic force of the elastic member 34 is equal to the attraction force of the coil 35 on the magnet 32, the elastic member 34 is a spring, and the elastic force formula of the spring is F=k×Δl, where k is the spring stiffness and Δl is the moving distance of the pressing block 20. The attraction force formula of the coil 35 on the magnet 32 ​​is is the magnetic flux, S is the polarized area of ​​the magnet, and α is the correction coefficient. According to the derivation, the current is During the step of adjusting the position of the pressing block 20, when the coil 35 is energized, the current gradually increases to a preset value, causing the force on the magnet 32 ​​to increase steadily, thereby preventing the magnet 32 ​​from colliding with the elastic member 34 and damaging the elastic member 34, which would affect the subsequent movement accuracy of the pressing block 20. When the pressing block 20 is reset, the current in the coil 35 gradually decreases from the preset value, gradually reducing the force on the magnet 32 ​​and preventing a sudden loss of magnetic force that would cause the magnet 32 ​​to collide with the end of the extension rod 33.

[0046] In step S4, the weld bead is located at the periphery of the laminated iron core and extends in the vertical direction. The pressure plate 31 is provided with a groove, which is located above the weld bead so that the end of the weld bead does not contact the pressure plate 31, thereby avoiding the solder on the weld bead from sticking to the pressure plate 31 during welding.

[0047] In step S5, each weld has at least two welding paths, the arc starting point of one welding path is in the weld and the arc ending point is at one end of the weld, and the arc starting point of the other welding path is in the weld and the arc ending point is at the other end of the weld, so that both ends of the weld are welding arc ending points, and the pit formed by the welding arc ending point prevents the weld from protruding from the end of the laminated iron core, and there is overlap between the two welding paths.

[0048] The present application also relates to a motor core welding device for implementing the above motor core welding method, comprising:

[0049] A jig, used to support the stacked laminations 10;

[0050] Light source, the light source is a zoom parallel point light source, the number of light sources is two, and the two light sources are used to illuminate the top laminate 10;

[0051] A camera, which collects images of the top stack 10;

[0052] a processor, which receives the image and identifies the inner diameter, outer diameter, and contour of the raised area of ​​the laminate 10 based on the image of the laminate 10, calculates an optimal pressing position of the pressing block 20 and a pressing position of the segmented pressing plate 31 based on the inner diameter, outer diameter, and contour of the raised area, and calculates a moving distance Δl of the pressing plate 31 based on the pressing position of the pressing plate 31 and an initial position of the pressing plate 31;

[0053] A pressing block 20, a mortgage block pressing the raised area;

[0054] There are multiple pressure plate assemblies 30, each of which includes a coil 35, an extension rod 33, an elastic member 34, a magnet 32, a pressure plate 31, and a mounting plate 36. The magnet 32 ​​is slidably mounted on the extension rod 33, the elastic member 34 contacts the magnet 32, and the pressure plate 31 is fixed to the magnet 32. When the coil 35 is energized, the magnet 32 ​​drives the pressure plate 31 to move Δl. The coil 35 is mounted on the mounting plate 36, and the extension rod 33 extends from the mounting plate 36. The mounting plate 36 is connected to the vertical drive structure, and the vertical drive structure drives the pressure plate 31 to press through the mounting plate 36. The pressure plate 31 is arc-shaped, and multiple pressure plates 31 are located on the same circumference, with a gap between adjacent pressure plates 31.

[0055] Specifically, in one embodiment, the fixture of the motor core welding equipment is provided with a rotating platform, which drives the stacked laminations 10 to rotate so that the weld bead of the laminated core corresponds to the position of the pressure plate 31 .

[0056] Compared with the prior art, the motor core welding method of the present invention identifies the inner diameter, outer diameter and contour of the raised area of ​​the laminate 10 according to the laminate image, calculates the optimal pressing position of the pressing block 20 and the pressing position of the segmented pressing plate 31, energizes the coil 35 of each pressing plate 31 assembly 30 to drive the magnet 32 ​​to move the pressing plate 31, and the driving assembly drives the pressing plate 31 and the pressing block 20 to move in the vertical direction until they contact the top laminate 10; the welding robot welds the laminated core to be welded along the weld bead. Through the above design, the pressing plate assembly 30 and the pressing block 20 are used to replace the existing pressing plate, the pressing block 20 presses the raised area, the pressing plate 31 assembly 30 presses the edge of the laminate 10, and the pressing plate 31 assembly 30 can move in the radial direction, so that the diameter of the circle where the multiple pressing plates 31 are located changes, so that the pressing plate 31 is suitable for laminates 10 with different diameters.

[0057] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patented invention. It should be noted that those skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention. These variations and improvements are equivalent modifications and improvements to the above embodiments based on the essential technology of the present invention and fall within the scope of protection of the present invention.

Claims

1. A method for welding a motor core, characterized in that: The following steps are involved: S1: Multiple laminations are stacked to form a laminated core. The laminations on the top of the laminated core are image-recognized. The inner diameter, outer diameter, and outline of the raised area of ​​the laminations are identified based on the lamination images. S2: performing a spatial relationship transformation on the contour of the raised area according to a preset spatial relationship transformation equation to obtain a position sequence of the contour of the raised area, and determining different axial distances of the contour of the raised area according to the position sequence; calculating the optimal pressing position of the pressing block and the pressing position of the segmented pressing plate according to the different axial distances, inner diameter, and outer diameter of the contour of the raised area, wherein the number of the pressing plates is multiple, the multiple pressing plates are located on a circumference, and the position of each pressing plate corresponds to the position of a weld bead; S3: Calculate the moving distance Δl of the pressing plate according to the pressing position of the pressing plate and the initial position of the pressing plate, and energize the coil of each pressing plate assembly. The current is Where I is the current, δ is the distance between the coil and the magnet, k is the spring stiffness, Δl is the distance the pressure block moves, D1 is the outer diameter of the magnet, D2 is the inner diameter of the magnet, N is the number of coil turns, R is the radius of the coil polarization plane, and r is the radius of the physical inner boundary of the coil's magnetic pole. The magnetic force generated by the coil acts on the magnet, causing the magnet to overcome the elastic force of the elastic member and move on the extension rod. The pressure plate mounted on the magnet moves axially to above the preset pressure position. S4: The driving assembly drives the pressing plate and the pressing block to move in the vertical direction until they contact the top laminate; S5: The welding robot welds the laminated core to be welded along the weld bead.

2. The motor core welding method according to claim 1, characterized in that: In step S1, two zoom parallel point light sources are used for illumination, and a camera captures images of the top stack, and identifies raised areas by analyzing reflected light from the stack under different lighting conditions.

3. The motor core welding method according to claim 1, characterized in that: In step S2, the pressing block is located between the circumference of the inner diameters of the plurality of pressing plates and the inner diameter of the lamination.

4. The motor core welding method according to claim 1, wherein: In step S2 , the moving path of each of the pressing plates is in the radial direction of the laminate.

5. The motor core welding method according to claim 4, characterized in that: In step S2, the number of the pressure plates is the same as the number of weld beads in the circumferential direction of the laminated core, and the moving path of each pressure plate is from one weld bead to the center of the laminate.

6. The motor core welding method according to claim 1, characterized in that: The motor core welding method further includes step S6, in which the current of the coil is gradually reduced from a preset value, so that the force on the magnet is gradually reduced, thereby preventing the sudden disappearance of the magnetic force from causing the magnet to collide with the end of the extension rod.

7. The motor core welding method according to claim 1, characterized in that: In step S4, the pressure plate is provided with a groove, and the groove is located above the weld bead.

8. The motor core welding method according to claim 1, wherein: In step S5, each weld has at least two welding paths, the arc starting point of one welding path is in the weld and the arc ending point is at one end of the weld, and the arc starting point of the other welding path is in the weld and the arc ending point is at the other end of the weld, so that both ends of the weld are welding arc ending points, and the pit formed by the welding arc ending point prevents the weld from protruding from the end of the laminated iron core, and there is overlap between the two welding paths.

9. A motor core welding device for implementing the motor core welding method according to any one of claims 1 to 8, characterized in that: include A jig for supporting the stacked laminations; A light source, wherein the light source is a zoom parallel point light source, and the number of the light sources is two, and the two light sources are used to illuminate the top laminate; a camera that captures an image of the top stack; a processor that receives the image and identifies the inner diameter, outer diameter, and contour of the raised area of ​​the laminate based on the laminate image, calculates an optimal pressing position of the pressing block and a pressing position of the segmented pressing plate based on the inner diameter, outer diameter, and contour of the raised area, and calculates a movement distance Δl of the pressing plate based on the pressing position of the pressing plate and an initial position of the pressing plate; A pressure block, wherein the pressure block presses against the raised area; Multiple pressure plate assemblies, each pressure plate assembly includes a coil, an extension rod, an elastic member, a magnet and a pressure plate, the magnet is slidably mounted on the extension rod, the elastic member contacts the magnet, the pressure plate is fixed to the magnet, and the coil is energized to drive the magnet to drive the pressure plate to move Δl.

10. The motor core welding equipment according to claim 9, characterized in that: The fixture is provided with a rotating platform, and the rotating platform drives the stacked laminations to rotate so that the weld bead of the laminated iron core corresponds to the position of the pressure plate.

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