Control method of motor rotor full-automatic sheet inserting machine and sheet inserting machine

Abstract

The invention relates to a motor rotor full-automatic sheet inserting machine control method and a sheet inserting machine, and relates to the field of automatic control, and the method comprises the steps: obtaining a feeding image of a feeding track; determining whether rotor features exist in a rotor feature library according to the feeding image; based on the rotor characteristics, controlling a feeding mechanism to move the rotor characteristics to a sheet inserting station according to the conveying angle; cleaning the insertion sheet groove by using an insertion sheet groove cleaning method, adjusting rotor characteristics in the insertion sheet station by using an insertion sheet groove positioning method so as to align an insertion sheet groove inlet to the slot wedge sheet moving groove, and obtaining the residual supply quantity of the slot wedge sheet in the slot wedge sheet moving groove; and on the basis that the residual supply amount is not smaller than the slot wedge sheet demand amount, a cutting assembly is controlled to cut the slot wedge sheet according to the slot wedge sheet demand amount, and a sheet inserting assembly is controlled to insert the slot wedge sheet into a sheet inserting groove inlet of the rotor characteristic. Compared with a manual mode, the mode is high in efficiency, and the motor produced by the method and the electric hammer using the motor are high in stability in use.

Description

Technical Field

[0001] The invention relates to the field of automatic control, and in particular to a control method of a fully automatic motor rotor inserting machine and the inserting machine. Background Art

[0002] During the assembly of the motor rotor, slot wedges need to be installed in the insert slots. Slot wedges are necessary components in the motor stator winding processing process. Their main function is to fix the coil embedded in the iron core to prevent the coil from shifting or deforming in the slot, thereby ensuring the stable operation of the motor. In addition, slot wedges can also protect the winding coil from external damage.

[0003] In the prior art, the process flow of inserting slot wedges into motor rotors is still manually installed by workers in most factories. When operating, workers need to first cut the slot wedges to a size that matches the slot slots of the motor rotor, and then insert the slot wedges into each slot slot of the motor rotor one by one and fix them. Since there are many processes for inserting the motor rotor and the motor rotor is heavy, the efficiency of workers' operation is low and needs to be improved. Summary of the invention

[0004] In order to improve the efficiency of motor rotor inserting, the present invention provides a control method of a motor rotor fully automatic inserting machine and the inserting machine.

[0005] In a first aspect, the present invention provides a control method for a motor rotor fully automatic inserting machine, which adopts the following technical solution: A control method for a motor rotor fully automatic inserting machine, comprising: Obtaining a feeding image of a preset feeding track; Determine whether there is a rotor feature from a preset rotor feature library according to the loading image; Based on the existence of the rotor feature, a preset feeding mechanism is controlled according to a preset conveying angle to move the rotor feature to a preset inserting station; Cleaning the slot using a preset slot cleaning method, adjusting the rotor features in the slot station using a preset slot positioning method to align the slot entrance with the slot wedge moving slot, and obtaining the remaining supply of the slot wedge in the slot wedge moving slot; Based on the remaining supply being not less than the preset slot wedge requirement, the preset cutting assembly is controlled to cut the slot wedge according to the slot wedge requirement, and the preset inserting assembly is controlled to insert the slot wedge into the inserting slot entrance of the rotor feature.

[0006] By adopting the above technical scheme, the motor rotor is inserted by a slice inserting machine instead of manual method, which is more efficient than the manual insertion method; and the slice inserting machine can remove foreign matter in the slice inserting slot and locate the insertion position of the slot wedge during the slice inserting process, so that the slot wedge can be inserted into the slice inserting slot more accurately and well, so that the motor obtained by machine insertion is more stable during operation, and the electric hammer using the motor has higher stability during operation.

[0007] Optionally, a guide block is provided in the slot for the slot wedge to slide in the slot; the slot cleaning method includes: Get the image information of the slot; Determine the features and location of the foreign matter based on the image information of the slot and the preset features of the slot; Controlling a preset blowing device with a preset blowing power to blow air to the foreign body features at the foreign body position, and determining the foreign body feature type according to the insert slot image information, the foreign body feature type including blowable objects and adhesion objects; Based on the adhesion, the guide block is controlled to push the foreign object feature at the foreign object position with a preset pushing force, and an updated position of the adhesion is determined; Based on the inconsistency between the position of the foreign body and the updated position of the adhesion, the adhesion is defined as a movable adhesion and is removed using a preset movable adhesion removal method; Based on the fact that the position of the foreign matter is consistent with the updated position of the adhesion, the adhesion is defined as a fixed adhesion and is removed using a preset fixed adhesion removal method.

[0008] By adopting the above technical solution, the system can identify different types of foreign matter in the insert slot and remove different types of foreign matter in different ways, which can effectively remove foreign matter in the insert slot, making the insertion and installation of the slot wedge in the insert slot simpler and more efficient.

[0009] Optional, removable adhesion removal methods include: Determine the maximum width of the adhesion according to the image information of the insert slot and the characteristics of the foreign matter; Based on the maximum width of the adhesion being smaller than the preset width of the top opening of the insert slot, the preset clamping device is controlled according to the updated position of the adhesion to clamp the adhesion out of the top of the insert slot; Based on the maximum width of the adhesion being not less than the top opening width of the insert slot, the guide block is controlled to abut against the adhesion with a preset deformation thrust, and deformation information of the adhesion is obtained; Based on the deformation information of the adhesion falling into the preset deformation range, the difference between the maximum width of the adhesion and the width of the top opening of the insert slot is determined and defined as the width compression amount; Match the clamping force of the clamping device according to the width compression amount; The clamping device is controlled by the clamping force to adjust the maximum width of the adhesion and the adhesion is clamped out from the top of the insert slot; Based on the deformation information of the adhesion not falling into the preset deformation range, the shortest moving distance between the adhesion and the two ends of the insertion slot is determined according to the image information of the insertion slot and the updated position of the adhesion; The clamping device is controlled according to the shortest moving distance to clamp the adhesion out from the outlet at the end of the inserting slot.

[0010] By adopting the above technical solution, for the movable adhesion in the insert slot, the system can determine whether the adhesion has the ability to deform, so as to determine whether to remove it from the top of the insert slot directly through the clamping device or after its width is flattened, which is more efficient.

[0011] Optional, fixed adhesion removal methods include: Determine the material of the adhesion according to the image information of the slot, the features of the foreign matter, and a preset material feature library; Determine the melting point of the adhesion according to the material of the adhesion; Based on the inconsistency between the material of the adhesion and the preset insulating paint material, the bottom edge contour of the adhesion is determined according to the image information of the slot and the characteristics of the foreign matter; Controlling a preset heating probe to penetrate the bottom edge contour of the adhesion, and controlling the heating probe to heat the bottom edge contour of the adhesion according to the melting point of the adhesion to separate the bottom of the adhesion from the inserting slot, and controlling the clamping device to clamp out the adhesion; Based on the consistency between the material of the adhesion and the preset insulating paint material, the height of the adhesion is determined according to the image information of the slot and the characteristics of the foreign matter; Determine the difference between the preset insert slot height and the height of the adhesion, and define it as the insertion height for the slot wedge to pass through; Based on the fact that the penetration height is less than the preset slot wedge thickness, the heating probe is controlled to penetrate the adhesion according to the position of the foreign matter, and the heating probe is controlled to heat the adhesion according to the melting point of the adhesion to melt the adhesion; The guide block is controlled to move along the insert slot to spread the melted adhesive in the insert slot.

[0012] By adopting the above technical solution, the system can determine whether the fixed adhesion in the plug slot is insulating paint. The insulating paint system can reuse it by heating and melting it with a heating probe and then spreading it on the bottom surface of the plug slot. There is no need to take the insulating paint out of the plug slot.

[0013] Optionally, a guide block is provided in the slot wedge moving slot for sliding movement, and the width of the guide block gradually decreases at one end close to the slot entry opening; the slot positioning method includes: Obtain the station image information of the inserting station; Select the rotor end face image from the rotor feature library axis according to the workstation image information; Determine the deviation angle of the insert slot according to the rotor end face image and the preset reference loading image; Controlling a preset twisting mechanism to clamp at both ends of the rotor feature, and controlling the twisting mechanism to twist the rotor feature according to the deviation angle; The guide block is controlled to be inserted from the slot wedge moving slot into the inserting slot at a preset insertion distance to fix the characteristic angle of the rotor.

[0014] By adopting the above technical solution, the system can adjust the angle of the rotor when the rotor is installed on the insert seat, so that the insert slot of the rotor can be aligned with the slot wedge moving slot, so that the slot wedge can be inserted into the insert slot more easily, and before the slot wedge is inserted into the insert slot, the guide block is inserted into the insert slot in advance to avoid the rotor angle deviation caused by equipment vibration.

[0015] In a second aspect, the present application provides a chip inserting machine, which adopts the following technical solution: A chip inserting machine, which is controlled by applying the above-mentioned control method of a motor rotor fully automatic chip inserting machine, comprises: Insertion seat, used for installing the rotor during the insertion process; A loading mechanism, used for moving and installing the rotor to the insert seat; A pushing mechanism, used for cutting the slot wedges pushed by the pushing mechanism and inserting them into the rotor; A cutting and inserting mechanism, used for cutting the slot wedges and inserting them into the rotor; The driving mechanism is used to drive the rotor to rotate so as to switch the insertion position of the slot wedge on the rotor.

[0016] By adopting the above technical solution, when inserting the rotor, the rotor is first moved to the inserting seat by the feeding mechanism, and then the slot wedge is extended by the pushing mechanism, and the slot wedge can be cut to a length suitable for the rotor and inserted into the inserting slot by the cutting inserting mechanism. When the inserting is completed in one inserting slot, the driving mechanism can adjust the rotor angle so as to continue the inserting of the next inserting slot. The above structure is used for inserting the slot, and the efficiency is high.

[0017] Optionally, the feeding mechanism includes a feeding track which is arranged obliquely and on which the rotor is placed, a transfer frame which is arranged rotatably and used to lift the rotor from the feeding track to the insert seat, and a driving member which drives the transfer frame to rotate; An abutment block is provided on the feeding track, and the feeding track and the abutment block form a preparation station for placing the rotor to prevent the rotor from sliding down along the feeding track; The insert seat has an upper arc-shaped groove for placing the rotor and inserting the blade, and the transfer rack has a lower arc-shaped groove for placing the rotor and transferring it to the insert seat; The feeding mechanism has a preparation state and an insertion state; in the preparation state, the transfer rack is located below the feeding track and the lower arc groove is located below the preparation station; in the insertion state, the transfer rack abuts against the insertion seat, and the upper arc groove abuts against the lower arc groove to form a fixed cavity for fixing the rotor for insertion operation.

[0018] By adopting the above technical solution, after placing the rotor on the feeding track, the rotor can slide down and stop at the preparation station. At this time, the transfer rack can transfer the rotor at the preparation station to the inserting seat and perform the inserting operation, and the next rotor can abut against the transfer rack and prepare to enter the preparation station. When the rotor completes the inserting, the transfer rack resets to the preparation state. At this time, the rotor that has completed the inserting falls on the feeding track and continues to slide down the feeding track, while the next rotor enters the preparation station and waits for the transfer rack to move. The above structure is used to load the rotor, which is more efficient.

[0019] Optionally, the insert seat is inclined from top to bottom to open a driving groove connected to the upper arc groove, and the driving mechanism includes a driving block that slides up and down in the driving groove and abuts against the rotor in the driving groove, and a lifting driving component that drives the driving block to rise and fall.

[0020] Optionally, the cutting and inserting mechanism comprises a cutting assembly, an inserting assembly and a crankshaft for driving the cutting assembly and the inserting assembly to operate; the inserting seat is provided with a slot wedge moving groove for the slot wedge to move, and when the rotor is on the inserting seat, the slot wedge moving groove is aligned with the inserting groove of the rotor; The insert assembly includes an insert knife slidably mounted on the slot wedge moving slot and abutting against the top of the slot wedge, a driving connection connected to the crankshaft, an insert connection rotatably connected to the driving connection and used to drive the insert knife to horizontally insert the slot wedge into the insert slot of the rotor, and a reset connection rotatably connected to the driving connection and used to drive the insert knife to lift and reset.

[0021] Optionally, the crankshaft has a first connecting section for connecting the cutting assembly and a second connecting section for connecting the insert assembly, and the first connecting section and the second connecting section are not coaxial.

[0022] By adopting the above technical solution, since the first connecting section and the second connecting section are not coaxial, although the cutting assembly and the inserting assembly are driven by the same crankshaft, the operation of the two is sequential and can operate back and forth. When the inserting assembly completes the inserting, the cutting assembly can cut the slot wedge at the same time, so that the inserting assembly can quickly perform the next round of inserting action, which is more efficient.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: The motor rotor is inserted by inserting the inserter instead of the manual method, which is more efficient than the manual insertion method; and the inserter can remove foreign matter in the inserting slot and locate the insertion position of the slot wedge during the inserting process, so that the slot wedge can be inserted into the inserting slot more accurately and well, so that the motor obtained by the machine inserting the inserter is more stable during operation, and the electric hammer using the motor has higher stability during operation; For movable adhesions in the slot, the system can determine whether the adhesions have the ability to deform, and thus determine whether to remove them directly from the top of the slot through the clamping device or after flattening their width, which is more efficient. For fixed adhesions in the slot, the system can determine whether the adhesions are insulating paint. The insulating paint system can reuse it by heating and melting it through a heating probe and then spreading it on the bottom surface of the slot, without the need to remove the insulating paint from the slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a chip inserting machine according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a feeding mechanism according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a crankshaft according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of a cutting assembly according to an embodiment of the present invention; Figure 5 is a schematic structural diagram of a plug-in assembly according to an embodiment of the present invention; Figure 6 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention; Figure 7 This is a method flow chart of a control method of a motor rotor fully automatic inserting machine according to an embodiment of the present invention; The parts indicated by the numbers in the above drawings are as follows: 1. Chassis; 2. Insertion seat; 21. Insertion platform; 22. Fixed seat; 23. Moving slot for slot wedge; 24. Upper arc slot; 25. Driving slot; 3. Loading mechanism; 31. Feeding track; 32. Transfer rack; 33. Driving member; 34. Abutment block; 35. Preparation station; 36. Lower arc slot; 4. Pushing mechanism; 41. Rotating roller; 5. Cutting and inserting machine Structure; 51, cutting assembly; 511, cutting column; 512, cutting connector; 52, insert assembly; 521, insert knife; 522, drive connector; 523, insert connector; 524, reset connector; 525, insert knife portion; 53, crankshaft; 531, axis section; 532, first connecting section; 533, second connecting section; 6, driving mechanism; 61, driving block; 62, lifting driving assembly; 7, fixed cavity. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The embodiment of the present application discloses a chip inserting machine.

[0027] Reference Figure 1 A sheet inserting machine includes a chassis 1, a sheet inserting seat 2, a feeding mechanism 3, a pushing mechanism 4, a cutting and inserting mechanism 5 and a driving mechanism 6, wherein the sheet inserting seat 2, the feeding mechanism 3, the pushing mechanism 4, the cutting and inserting mechanism 5 and the driving mechanism 6 are all installed on the chassis 1. The sheet inserting seat 2 is used for installing the rotor when inserting the sheet, the feeding mechanism 3 is used for moving the rotor to be inserted and installing it to the sheet inserting seat 2, the pushing mechanism 4 is used for pushing the slot wedge, the cutting and inserting mechanism 5 is used for cutting the slot wedge pushed by the pushing mechanism 4 and inserting it into the rotor, and the driving mechanism 6 is used for driving the rotor to rotate to switch the insertion position of the slot wedge on the rotor.

[0028] Reference Figure 1 and Figure 2 The insert seat 2 is fixedly mounted on the chassis 1, and includes an insert platform 21 for processing the slot wedge and a fixed seat 22 connected to the insert platform 21 and for mounting the slot wedge. The insert platform 21 is provided with a slot wedge moving groove 23 for the slot wedge to move, and the fixed seat 22 is provided with an upper arc groove 24, and the slot wedge moving groove 23 points to the upper arc groove 24.

[0029] The feeding mechanism 3 is located below the inserting seat 2 , and includes a feeding track 31 , a transfer frame 32 and a driving member 33 .

[0030] The feeding track 31 is tilted on the chassis 1, one end of which is used to place the motor rotor to be inserted, and the other end is used to place the motor rotor after the insertion. An abutment block 34 is provided in the middle of the feeding track 31, the top of which extends out of the plane of the feeding track 31 and is triangular, and a preparation station 35 is formed between the abutment block 34 and the feeding track 31. When the motor rotor to be inserted is placed on the feeding track 31, the rotor can slide down along the feeding track 31 and stop at the preparation station 35.

[0031] The transfer frame 32 is rotatably disposed on the chassis 1, and a lower arc groove 36 is formed at one end thereof, and the other end is connected to the driving member 33 and rotates under the driving of the driving member 33. In this embodiment, the driving member 33 is in the form of a cylinder.

[0032] The feeding mechanism 3 has a preparation state and an insertion state. When the feeding mechanism 3 is in the preparation state, the end of the transfer frame 32 away from the driving member 33 rotates to the bottom of the feeding track 31, and the lower arc groove 36 is located below the preparation station 35. When the feeding mechanism 3 is in the insertion state, the driving member 33 drives the transfer frame 32 to rotate, and at this time, the end of the transfer frame 32 away from the driving member 33 rotates upward, and the motor rotor enters the lower arc groove 36 from the preparation station 35. When the transfer frame 32 abuts against the fixed seat 22, the lower arc groove 36 and the upper arc groove 24 are combined to form a fixed cavity 7, and the motor rotor is fixed in the fixed cavity 7 and waits for insertion.

[0033] Reference Figure 1 The pushing mechanism 4 includes two rotating rollers 41, and the two rotating rollers 41 are installed in an upper and lower distribution structure. The slot wedge passes between the two rotating rollers 41 and enters the slot wedge moving groove 23. When the two rotating rollers 41 rotate relative to each other, the slot wedge moves under the friction force of the rotating rollers 41.

[0034] Reference Figure 1 and Figure 3 The cutting and inserting mechanism 5 comprises a cutting assembly 51, an inserting assembly 52 and a crankshaft 53. The cutting assembly 51 is used to cut the slot wedge, the inserting assembly 52 is used to insert the slot wedge into the inserting slot of the motor rotor, and the crankshaft 53 is used to drive the cutting assembly 51 and the inserting assembly 52 to move.

[0035] The crankshaft 53 is driven by a motor and can rotate horizontally. The crankshaft 53 includes a shaft core section 531 coaxial with the rotation axis, and a first connecting section 532 and a second connecting section 533 connected to the shaft core section 531 and not coaxial with the rotation axis, and the first connecting section 532 and the second connecting section 533 are also not coaxial. The first connecting section 532 is connected to the cutting assembly 51, and the second connecting section 533 is connected to the insert assembly 52.

[0036] When the crankshaft 53 rotates, the first connecting section 532 and the second connecting section 533 both rotate eccentrically.

[0037] Reference Figure 1 , Figure 2 and Figure 4 The cutting assembly 51 includes a cutting column 511 vertically slidably mounted on the chassis 1 and a cutting connector 512 connecting the first connecting section 532 and the cutting column 511. When the cutting column 511 descends, it can abut against the top of the slot wedge and cut the slot wedge. The cutting connector 512 can convert the circumferential motion of the first connecting section 532 into the vertical lifting motion of the cutting column 511.

[0038] Reference Figure 1 , Figure 2 and Figure 5The inserting blade assembly 52 includes an inserting blade 521, a driving connection member 522, an inserting blade connection member 523, and a reset connection member 524. The inserting blade 521 is slidably installed in the slot wedge moving slot 23 and abuts against the top of the slot wedge. The bottom of the inserting blade 521 has an inserting blade portion 525, which is adapted to the inserting blade slot of the motor rotor, and the height of the inserting blade portion 525 is less than the height of the inserting blade slot of the motor rotor.

[0039] The driving connector 522 is connected to the second connecting section 533. One end of the insert connector 523 is rotatably connected to the driving connector 522, and the other end is rotatably connected to the insert knife 521. The eccentric circular motion of the crankshaft 53 can be converted into horizontal movement of the insert knife 521 through the driving connector 522 and the insert connector 523.

[0040] One end of the reset connector 524 is rotatably connected to the drive connector 522 , and the other end is connected to the insert knife 521 . The eccentric circular motion of the crankshaft 53 can be converted into a vertical lifting motion of the insert knife 521 through the drive connector 522 and the reset connector 524 .

[0041] Reference Figure 1 , Figure 3 and Figure 5 Since the first connecting section 532 and the second connecting section 533 are not coaxial, when the crankshaft 53 drives the cutting assembly 51 and the inserting assembly 52 to operate, the cutting assembly 51 and the inserting assembly 52 can operate at intervals. When the cutting assembly 51 is cutting the slot wedge, the inserting blade 521 is in the process of inserting the last slot wedge into the inserting slot and withdrawing it from the inserting slot to reset it.

[0042] When the slot wedge is cut, the insert knife 521 is reset to the slot wedge moving groove 23 and abuts against the top of the slot wedge. Under the horizontal thrust, the insert knife 521 drives the slot wedge to slide horizontally from the slot wedge moving groove 23 and enter the insert slot of the motor rotor. After the insert knife 521 pushes the slot wedge into the insert slot, the insert knife 521 continues to move in the insert slot away from the slot wedge moving groove 23 and exits from the other end of the insert slot. After the insert knife 521 exits the insert slot, the reset connector 524 drives the insert knife 521 to rise and fall vertically and reset.

[0043] Reference Figure 1 and Figure 6When the motor rotor completes the installation of the slot wedge of one of the slots, the driving mechanism 6 drives the motor rotor to rotate so as to align the adjacent slot with the slot wedge moving slot 23. The driving mechanism 6 includes a driving block 61 that is installed on the fixed seat 22 by lifting and sliding, and a lifting driving assembly 62 that is rotatably connected to the driving block 61 and drives the driving block 61 to lift and lower. The fixed seat 22 is provided with a driving slot 25 from top to bottom, the driving slot 25 is connected to the upper arc slot 24, and the driving slot 25 is opened obliquely. The driving block 61 slides obliquely in the driving slot 25. When the motor rotor is located in the upper arc slot 24, the driving block 61 abuts against the motor rotor and moves downward under the drive of the lifting driving assembly 62. At this time, the driving block 61 can drive the motor rotor to rotate so that the slot of the motor rotor is switched.

[0044] Based on the same inventive concept, an embodiment of the present invention provides a control method for a motor rotor fully automatic inserting machine.

[0045] A control method for a motor rotor fully automatic inserting machine comprises the following steps: Step S100: acquiring a preset feeding image of the feeding track 31 .

[0046] The feeding image refers to an image of the feeding track 31 obtained by a camera arranged on the chassis 1. The feeding image includes the feeding track 31 and the motor rotor on the feeding track 31.

[0047] Step S101: determining whether a rotor feature exists from a preset rotor feature library according to a loading image.

[0048] The rotor feature library is a database obtained by machine learning that contains images of all types of rotors and will not be described in detail here.

[0049] The loading image is matched with the rotor feature library. If there is a motor rotor on the feeding track 31 waiting for loading when the camera is shooting, the rotor feature can be matched from the rotor feature library based on the loading image, thereby determining that the rotor feature exists.

[0050] Step S102: Based on the existence of the rotor feature, a preset feeding mechanism is controlled according to a preset conveying angle to move the rotor feature to a preset inserting station.

[0051] If there is no rotor feature, it means that there is no rotor waiting for loading on the feeding track 31, and the system will not perform the inserting operation at this time.

[0052] If the rotor feature exists, it means that there is a rotor on the feeding track 31 waiting for loading.

[0053] The transfer angle is the angle set by the technician at which the driving member 33 drives the transfer rack 32 to rotate. The transfer rack 32 rotates at the transfer angle, and the transfer rack 32 can abut against the insert seat 2 and transfer the rotor from the preparation station 35 to the fixed cavity 7.

[0054] The inserting station is the position where the rotor is located when inserting the blades, that is, the fixed cavity 7.

[0055] Step S103: clean the insert slot using a preset insert slot cleaning method, adjust the rotor features in the insert station using a preset insert slot positioning method to align the insert slot entrance with the slot wedge moving slot 23, and obtain the remaining supply of the slot wedge in the slot wedge moving slot 23.

[0056] Before inserting the slot wedges in the rotor, the slots need to be cleaned because there may be foreign matter and impurities left in the slots from the rotor manufacturing process, which may affect the slot wedges from entering the slots. The slots are cleaned by a slot cleaning method, which will not be described in detail here and will be described in detail in the subsequent embodiments.

[0057] After the slot is cleaned, the slot needs to be aligned with the slot wedge moving slot 23. If there is an angle deviation between the two, the slot wedge cannot be inserted into the slot normally. The angle alignment operation between the two is performed by the slot positioning method, which will not be described in detail here and will be described in detail in the subsequent embodiments.

[0058] The remaining supply refers to the remaining amount of the slot wedge in the slot wedge moving slot 23. The slot wedge is in the shape of a long strip, which is pushed by the pushing mechanism 4 and cut into a required length by the cutting assembly 51 when the slot wedge is inserted.

[0059] Step S104: Based on the remaining supply being not less than the preset slot wedge demand, the preset cutting assembly 51 is controlled to cut the slot wedge according to the slot wedge demand, and the preset inserting assembly 52 is controlled to insert the slot wedge into the inserting slot entrance of the rotor feature.

[0060] The required amount of slot wedges is the length of the slot wedges inserted into the slots, which is set by technicians based on the length of the slots of the motor rotor, and will not be elaborated here.

[0061] If the remaining supply of slot wedges in the slot wedge moving slot 23 is less than the required amount of slot wedges, it means that the length of the slot wedges does not meet the requirements, and the remaining supply of the slot wedges cannot complete another insertion operation, so the insertion cannot continue, and a new slot wedge needs to be replaced.

[0062] If the remaining supply of slot wedges in the slot wedge moving slot 23 is not less than the required amount of slot wedges, it means that the remaining supply of slot wedges can still complete the insertion of the slots once, and there is no need to replace new slot wedges. The system will control the cutting component 51 to cut the remaining supply of slot wedges, and insert the cut slot wedges into the slots of the rotor through the inserting component 52.

[0063] The insert slot cleaning method includes the following steps: Step S200: Obtaining the image information of the insertion slot.

[0064] The insert slot image information refers to the image inside the insert slot obtained by photographing the insert slot of the motor rotor with a camera, including the image of the insert slot and the image of foreign matter in the insert slot.

[0065] Step S201: determining the features and position of the foreign matter according to the image information of the slot and the preset features of the slot.

[0066] The preset insert slot feature refers to an image of the insert slot of the motor rotor pre-stored in the system, and the inside of the insert slot in the image is absolutely clean and does not contain any foreign matter.

[0067] Compare the slot image information captured by the camera with the slot features saved in the system. If there is a difference between the two, the difference is the foreign body feature. If there is no difference, it means that the slot is relatively clean and there is no foreign body feature. Foreign body features include large metal chips, soft glue, hardened insulating paint, etc. If there is a foreign body feature, it needs to be removed.

[0068] The foreign body position refers to the position of the foreign body feature in the slot. By comparing the slot image information with the preset reference point, the image ratio when the camera captures the slot can be determined. The reference point is a reference point set by the technician, which is a fixed point on the equipment and is used to determine the true ratio of the image captured by the camera. It will not be described here. After determining the image ratio, the slot image information and the slot feature are compared to determine the position of the foreign body feature in the slot.

[0069] Step S202: controlling a preset blowing device with a preset blowing power to blow air to the foreign object features at the foreign object position, and determining the foreign object feature type according to the insert slot image information, the foreign object feature type including blowable objects and adhesions.

[0070] The blowing power is the power of the blowing device set by the technician to blow air to the foreign body features. For foreign body features that are not adhered to the insert slot, blowing them with the blowing power can blow away the foreign body features, which will not be elaborated here.

[0071] By blowing air through the blowing device, it is also possible to distinguish whether the foreign body feature type of the slot is an adhesion or a blowable object. By blowing air into the slot and reacquiring the slot image information after blowing, and comparing the two slot image information before and after, if the two are consistent, it means that the foreign body feature is an adhesion, and the foreign body feature is stuck in the slot and cannot be removed by blowing. If the two slot image information before and after are inconsistent, it means that the foreign body feature in the slot has been removed and the foreign body feature is a blowable object.

[0072] Step S203: Based on the adhesion, the guide block is controlled to push the foreign object feature at the foreign object position with a preset pushing force, and an updated position of the adhesion is determined.

[0073] As for the blowable objects, they have been removed by blowing air when detecting the characteristic type of foreign matter, so they will not be described in detail here.

[0074] There are also two types of adhesions. One type is foreign matter that is stuck in the slot and cannot be blown away but can be pushed by tools. The other type is foreign matter that is solidified in the slot and cannot be directly pushed by tools. Different methods are needed to remove the above two types of foreign matter.

[0075] The way to distinguish the above two types of adhesions is to push them through a guide block. In this embodiment, a guide block is slidably arranged in the slot wedge moving slot 23, and the guide block can be pulled by a tool to reciprocate and switch positions between the slot wedge moving slot 23 and the inserting slot. When inserting the slice, the guide block can be taken out.

[0076] The preset pushing force is the force set by the technician when the guide block pushes the foreign body feature. For the foreign body feature that is just adhered to the insert slot, it can be pushed to change its position by applying the pushing force.

[0077] The updated position of the adhesion is the image in the insert slot that the camera reacquires after the guide block pushes the foreign body feature. The updated position of the adhesion is compared with the image information of the insert slot to determine whether the position of the foreign body has changed in the before and after images, so as to determine the face shape of the adhesion.

[0078] Step S2031: Based on the inconsistency between the position of the foreign object and the updated position of the adhesion, the adhesion is defined as a movable adhesion and is removed using a preset movable adhesion removal method.

[0079] If the position of the foreign matter changes, it means that the guide block can push the foreign matter feature, and the foreign matter feature is a movable adhesion. The movable adhesion is removed by a movable adhesion removal method, which will not be described in detail here and will be described in detail in subsequent embodiments.

[0080] Step S2032: Based on the consistency between the position of the foreign matter and the updated position of the adhesion, the adhesion is defined as a fixed adhesion and removed using a preset fixed adhesion removal method.

[0081] If the position of the foreign body does not change, it means that the guide block cannot push the feature of the foreign body, and the feature of the foreign body is a fixed adhesion. The fixed adhesion is removed by a fixed adhesion removal method. The fixed adhesion removal method is not described here and will be described in detail in subsequent embodiments.

[0082] The removable adhesion removal method comprises the following steps: Step S300: determining the maximum width of the adhesion according to the image information of the slot and the features of the foreign matter.

[0083] The maximum width of the adhesion refers to the width value at the maximum width of the movable adhesion. By comparing the image information of the slot and the foreign body features, the maximum width of the adhesion can be determined according to the image ratio.

[0084] Step S3011: Based on the maximum width of the adhesion being smaller than the preset width of the top opening of the insert slot, a preset clamping device is controlled to clamp the adhesion out of the top of the insert slot according to the updated position of the adhesion.

[0085] In this embodiment, the cross section of the insert slot of the motor rotor is an inverted T-shape, with inlets and outlets at both ends and an opening at the top. The insert slot top opening width refers to the width of the insert slot top opening, which is the standard size of the insert slot of the motor rotor and is not described in detail here.

[0086] If the maximum width of the adhesion is smaller than the width of the top opening of the insert slot, it means that the adhesion is small and can be directly taken out from the top of the insert slot.

[0087] The clamping device is used to clamp the foreign body features in the insert slot. When the adhesion is small, the clamping device extends into the insert slot and clamps the adhesion at the adhesion renewal position, and then takes the adhesion out from the top opening of the insert slot.

[0088] Step S3012: Based on the maximum width of the adhesion being not less than the top opening width of the insert slot, the guide block is controlled to abut against the adhesion with a preset deformation thrust, and deformation information of the adhesion is obtained.

[0089] If the maximum width of the adhesion is not less than the width of the top opening of the slot, it means that the adhesion is large and it is not possible to remove it directly from the top of the slot using a clamping device. At this time, the deformation information of the adhesion can be determined first. The deformation information refers to whether the adhesion is soft and has the ability to deform, which is manifested as the deformation amount of the adhesion at the deformation point. The determination method is to push the adhesion through the guide block to deform the adhesion.

[0090] The deformation thrust is the thrust applied by the guide block to the adhesion set by the technician. Pushing the adhesion with the deformation thrust will not push the adhesion, but if the adhesion material is soft, it can be deformed.

[0091] The deformation information can be obtained by comparing the image information of the insert slot with the foreign body features, and the change in the width of the foreign body features before and after the deformation is analyzed to determine the deformation information.

[0092] Step S3021: Based on the deformation information of the adhesion falling within the preset deformation range, the difference between the maximum width of the adhesion and the width of the top opening of the insert slot is determined and defined as the width compression amount.

[0093] For the adhesion that can be deformed, the deformation amount of the adhesion that can be deformed when the deformation thrust is applied to the adhesion is the deformation range, which is measured by technicians according to actual conditions and will not be described here. If the adhesion cannot be deformed, the deformation information will not fall into the deformation range.

[0094] Compare the deformation information and the deformation range. If the deformation information falls within the deformation range, it means that the adhesion can be deformed. At this time, determine the compression amount that needs to be reduced in the width of the adhesion when the adhesion is taken out from the top of the insert slot. This compression amount is the width compression amount, and the width compression amount is the difference between the maximum width of the adhesion and the width of the top opening of the insert slot.

[0095] Step S30211: Match the clamping force of the clamping device according to the width compression amount.

[0096] The clamping force refers to the force applied by the clamping device to the adhesion when clamping the adhesion in the insert slot.

[0097] The clamping force is proportional to the width compression. The greater the width compression, the greater the clamping force required by the clamping device.

[0098] Step S30212: Control the clamping device with the clamping force to adjust the maximum width of the adhesion and clamp the adhesion out of the top of the insert slot.

[0099] After determining the clamping force, the system controls the clamping device to extend into the insert slot. The clamping device applies a clamping force to the adhesion. At this time, the adhesion can be deformed and its width is reduced to less than the width of the top opening of the insert slot. At this time, the clamping device can directly remove the adhesion from the top of the insert slot.

[0100] Step S3022: Based on the deformation information of the adhesion not falling within the preset deformation range, the shortest moving distance between the adhesion and both ends of the insertion slot is determined according to the insertion slot image information and the adhesion update position.

[0101] If the deformation information of the adhesion does not fall within the deformation range, it means that the adhesion cannot be deformed, so the adhesion cannot be directly taken out from the top of the insert slot. For such adhesion, it can only be taken out from the inlet and outlet at both ends of the insert slot.

[0102] The shortest moving distance refers to the shortest distance from the current position of the adhesion to the two ends of the slot. The shortest moving distance can be determined based on the slot image information. The distance from the updated position of the adhesion to the two ends of the slot can be determined based on the slot image information, and the actual shortest moving distance can be determined based on the image ratio.

[0103] Step S30221: Control the clamping device to clamp the adhesion out from the end outlet of the insert slot according to the shortest moving distance.

[0104] After determining the shortest moving distance, the system controls the clamping device to extend into the insert slot from the top of the insert slot and clamp the adhesion, and then removes the adhesion from the end of the insert slot.

[0105] The fixed adhesion removal method comprises the following steps: Step S400: determining the material of the adhesion according to the image information of the slot, the features of the foreign matter, and a preset material feature library.

[0106] The material feature library refers to a database containing images of various materials obtained through machine learning, which will not be elaborated here.

[0107] By comparing the foreign body features with the material feature library in the insert slot image information, the material of the adhesion of the foreign body features can be determined from the material feature library.

[0108] Step S401: determining the melting point of the adhesion according to the material of the adhesion.

[0109] After the material of the adhesion is determined, the corresponding melting point of the adhesion can be matched.

[0110] In this embodiment, after determining the material of the adhesion, it is possible to determine whether the adhesion is the insulating paint used in the rotor insulation process. When the rotor is sprayed with insulating paint, the insulating paint may drip into the insert slot. For adhesions made of insulating paint and other materials, the two types of adhesions have different removal methods. The insulating paint may remain in the insert slot after processing, while other adhesions need to be removed.

[0111] Step S4021: Based on the inconsistency between the material of the adhesion and the preset insulating paint material, the bottom edge contour of the adhesion is determined according to the image information of the insertion slot and the features of the foreign matter.

[0112] If the material of the adhesion is inconsistent with the insulating paint material, it does not mean that the adhesion is not an adhesion and the adhesion needs to be removed. The bottom edge contour of the adhesion refers to the contour of the abutment surface between the adhesion and the plug slot. The bottom edge contour of the adhesion can be determined by the plug slot image information and foreign body features. First, the foreign body features are used to determine its contour in the plug slot image information, and then the actual bottom edge contour of the adhesion is determined according to the image ratio.

[0113] Step S40211: Control the preset heating probe to penetrate the bottom edge contour of the adhesion, and control the heating probe to heat the bottom edge contour of the adhesion according to the melting point of the adhesion to separate the bottom of the adhesion from the insert slot, and control the clamping device to clamp out the adhesion.

[0114] The heating probe is used to heat the adhesion.

[0115] For adhesions that are not made of insulating paint, the system controls the heating probe to be inserted into the bottom contour of the adhesion and circumferentially heats the bottom edge contour of the adhesion at the melting point of the adhesion, so that the bottom of the adhesion is melted by the heat. At this time, the bottom of the adhesion can be separated from the insert slot, while the top of the adhesion still has a certain hardness.

[0116] The system controls the clamping device to clamp the top of the adhesion and take it out from the top of the insert slot or the end of the insert slot.

[0117] Step S4022: Based on the consistency between the material of the adhesion and the preset insulating paint material, the height of the adhesion is determined according to the image information of the insertion slot and the characteristics of the foreign matter.

[0118] If the material of the adhesion is consistent with that of the insulating paint, it means that the adhesion is insulating paint. The adhesion height refers to the height value of the insulating paint in the slot. The adhesion height can be determined by the slot image information and foreign body features. First, determine the height of the foreign body features in the slot image information, and then determine the actual adhesion height of the insulating paint based on the image ratio.

[0119] Step S40221: Determine the difference between the preset insert slot height and the height of the adhesion, and define it as the insertion height for the slot wedge to pass through.

[0120] The insertion height refers to the height in the insert slot that can be passed through by the slot wedge, and the insertion height is the difference between the insert slot height and the height of the adhesion. The insert slot height is the standard value of the insert slot and will not be described here.

[0121] Step S40222: Based on the penetration height being less than the preset slot wedge thickness, the heating probe is controlled to penetrate the adhesion according to the position of the foreign matter, and the heating probe is controlled to heat the adhesion according to the melting point of the adhesion to melt the adhesion.

[0122] The thickness of the slot wedge is the standard value of the slot wedge and will not be elaborated here.

[0123] In this embodiment, by judging whether the penetration height is greater than the thickness of the slot wedge, it is determined that the slot wedge can directly pass through the gap of the penetration height without processing the insulating paint.

[0124] When the insertion height is not less than the thickness of the slot wedge, the slot wedge can directly pass through the slot gap of the insertion height without the need to process the insulating paint.

[0125] When the penetration height is less than the thickness of the slot wedge, the slot wedge can no longer pass through the slot gap of the insertion height, and the insulating paint needs to be melted. The insulating paint is penetrated by a heating probe and heated.

[0126] Step S40223: Control the guide block to move along the insert slot to spread the melted adhesion in the insert slot.

[0127] Since the insulating varnish has utilization value and can insulate the rotor, when the insulating varnish is melted, the melted insulating varnish is moved by the guide block, and the insulating varnish can be flattened by the guide block and coated on the surface of the bottom of the insert slot.

[0128] The insert slot positioning method comprises the following steps: Step S500: Acquire the station image information of the inserting station.

[0129] The workstation image information refers to the image of the rotor at the inserting workstation obtained by the camera. The camera is set in the direction of the rotor end and can obtain the orthographic projection image in the direction of the rotor end.

[0130] Step S501: select a rotor end face image from the rotor feature library axis according to the workstation image information.

[0131] The rotor end face image refers to an image that only includes the rotor end. The workstation image information includes the image of the rotor. According to the workstation image information and the rotor feature library, the background can be removed from the workstation image information, leaving only the rotor end face image.

[0132] Step S502: determining the deviation angle of the insert slot according to the rotor end surface image and the preset reference loading image.

[0133] The reference loading image refers to the image of the motor rotor in the position when the insert slot is aligned with the slot wedge moving slot 23, and the reference loading image is also the orthographic projection image of the motor end face.

[0134] The slot angle in the rotor end face image is inconsistent with the slot angle in the reference loading image. The rotor end face image and the reference loading image are overlapped and analyzed to directly determine the slot deviation angle. The deviation angle refers to the angle required to rotate the motor rotor to the position where the slot and the slot wedge moving slot 23 are aligned.

[0135] Step S503: Control a preset twisting mechanism to clamp at both ends of the rotor feature, and control the twisting mechanism to twist the rotor feature according to the deviation angle.

[0136] The twisting mechanism is used to rotate the rotor. The twisting mechanism is arranged at both ends of the insert seat 2. When the rotor enters the fixing cavity 7 of the insert seat 2, the twisting mechanism can clamp the rotor and rotate it.

[0137] After determining the deviation angle, the torsion device rotates the rotor according to the deviation angle. After the initial angle adjustment, the subsequent switching of adjacent slots is performed by the drive mechanism 6.

[0138] Step S504: Control the guide block to be inserted from the slot wedge moving slot 23 into the inserting slot at a preset insertion distance to fix the characteristic angle of the rotor.

[0139] In this embodiment, when the angle of the rotor is adjusted to the right position, the system controls a portion of the guide block to be inserted into the insert slot from the slot wedge moving slot 23, thereby pre-fixing the angle of the rotor. The insertion distance is a reference value set by the technician, which is the distance value of the guide block inserted into the insert slot, and is not described in detail here.

[0140] In this embodiment, the end of the guide block facing the insert slot is triangular, that is, the width gradually decreases, and the width of the guide block is equal to the width of the insert slot. When the guide block is inserted into the insert slot, if the rotor still has a certain angle deviation, the guide block can also adjust the angle.

[0141] When the rotor is inserting the blade, the blade inserting knife 521 abuts against the guide block and can push the guide block to withdraw from the other end of the rotor blade inserting slot, and then the guide block and the blade inserting knife 521 are reset back into the slot wedge moving slot 23.

[0142] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A control method for a motor rotor fully automatic inserting machine, characterized in that: include: Acquiring a feeding image of a preset feeding track (31); Determine whether there is a rotor feature from a preset rotor feature library according to the loading image; Based on the existence of the rotor feature, a preset feeding mechanism is controlled according to a preset conveying angle to move the rotor feature to a preset inserting station; Cleaning the slot using a preset slot cleaning method, adjusting the rotor features in the slot station using a preset slot positioning method to align the slot entrance with the slot wedge moving slot (23), and obtaining the remaining supply of the slot wedge in the slot wedge moving slot (23); Based on the remaining supply being not less than the preset slot wedge demand, the preset cutting component (51) is controlled to cut the slot wedge according to the slot wedge demand, and the preset inserting component (52) is controlled to insert the slot wedge into the inserting slot entrance of the rotor feature.

2. The control method of a motor rotor fully automatic inserting machine according to claim 1, characterized in that: A guide block is provided in the slot wedge moving slot (23) for sliding movement; the slot inserting slot cleaning method comprises: Get the image information of the slot; Determine the features and location of the foreign matter according to the image information of the slot and the preset features of the slot; Controlling a preset blowing device with a preset blowing power to blow air to the foreign body features at the foreign body position, and determining the foreign body feature type according to the insert slot image information, the foreign body feature type including blowable objects and adhesion objects; Based on the adhesion, the guide block is controlled to push the foreign object feature at the foreign object position with a preset pushing force, and an updated position of the adhesion is determined; Based on the inconsistency between the position of the foreign body and the updated position of the adhesion, the adhesion is defined as a movable adhesion and is removed using a preset movable adhesion removal method; Based on the fact that the position of the foreign matter is consistent with the updated position of the adhesion, the adhesion is defined as a fixed adhesion and is removed using a preset fixed adhesion removal method.

3. The control method of a motor rotor fully automatic inserting machine according to claim 2, characterized in that: Removable adhesion removal methods include: Determine the maximum width of the adhesion according to the image information of the insert slot and the characteristics of the foreign matter; Based on the maximum width of the adhesion being smaller than the preset width of the top opening of the insert slot, the preset clamping device is controlled according to the updated position of the adhesion to clamp the adhesion out of the top of the insert slot; Based on the maximum width of the adhesion being not less than the top opening width of the insert slot, the guide block is controlled to abut against the adhesion with a preset deformation thrust, and deformation information of the adhesion is obtained; Based on the deformation information of the adhesion falling into the preset deformation range, the difference between the maximum width of the adhesion and the width of the top opening of the insert slot is determined and defined as the width compression amount; Match the clamping force of the clamping device according to the width compression amount; The clamping device is controlled by the clamping force to adjust the maximum width of the adhesion and the adhesion is clamped out from the top of the insert slot; Based on the deformation information of the adhesion not falling into the preset deformation range, the shortest moving distance between the adhesion and the two ends of the insertion slot is determined according to the image information of the insertion slot and the updated position of the adhesion; The clamping device is controlled according to the shortest moving distance to clamp the adhesion out from the outlet at the end of the inserting slot.

4. The control method of a motor rotor fully automatic inserting machine according to claim 2, characterized in that: Fixed adhesion removal methods include: Determine the material of the adhesion according to the image information of the slot, the features of the foreign matter, and a preset material feature library; Determine the melting point of the adhesion according to the material of the adhesion; Based on the inconsistency between the material of the adhesion and the preset insulating paint material, the bottom edge contour of the adhesion is determined according to the image information of the slot and the characteristics of the foreign matter; Controlling a preset heating probe to penetrate the bottom edge contour of the adhesion, and controlling the heating probe to heat the bottom edge contour of the adhesion according to the melting point of the adhesion to separate the bottom of the adhesion from the inserting slot, and controlling the clamping device to clamp out the adhesion; Based on the consistency between the material of the adhesion and the preset insulating paint material, the height of the adhesion is determined according to the image information of the slot and the characteristics of the foreign matter; Determine the difference between the preset insert slot height and the height of the adhesion, and define it as the insertion height for the slot wedge to pass through; Based on the fact that the penetration height is less than the preset slot wedge thickness, the heating probe is controlled to penetrate the adhesion according to the position of the foreign matter, and the heating probe is controlled to heat the adhesion according to the melting point of the adhesion to melt the adhesion; The guide block is controlled to move along the insert slot to spread the melted adhesive in the insert slot.

5. The control method of a motor rotor fully automatic inserting machine according to claim 1, characterized in that: A guide block is slidably arranged in the slot wedge moving slot (23), and the width of the guide block gradually decreases at one end close to the slot entry opening. The slot positioning method comprises: Obtain the station image information of the inserting station; Select the rotor end face image from the rotor feature library axis according to the workstation image information; Determine the deviation angle of the insert slot according to the rotor end face image and the preset reference loading image; Control a preset torsion mechanism to clamp at two ends of the rotor feature, and control the torsion mechanism to twist the rotor feature according to the deviation angle; The guide block is controlled to be inserted from the slot wedge moving slot (23) into the inserting slot at a preset insertion distance to fix the characteristic angle of the rotor.

6. A chip inserting machine, controlled by the control method of a motor rotor fully automatic chip inserting machine according to any one of claims 1 to 5, characterized in that: include: The insert seat (2) is used for installing the rotor during the insert process; A loading mechanism (3) for moving and mounting the rotor on the insert seat (2); A pushing mechanism (4) is used to push the slot wedge; A cutting and inserting mechanism (5) for cutting the slot wedge pushed by the pushing mechanism (4) and inserting it into the rotor; The driving mechanism (6) is used to drive the rotor to rotate so as to switch the insertion position of the slot wedge on the rotor.

7. A chip inserting machine according to claim 6, characterized in that: The feeding mechanism (3) comprises a feeding track (31) arranged obliquely and on which the rotor is placed, a transfer frame (32) arranged rotatably and used to lift the rotor from the feeding track (31) to the insert seat (2), and a driving member (33) for driving the transfer frame (32) to rotate; An abutment block (34) is provided on the feeding track (31), and the feeding track (31) and the abutment block (34) form a preparation station (35) for placing the rotor to prevent the rotor from sliding down along the feeding track (31); The insert seat (2) has an upper arc-shaped groove (24) for placing the rotor and inserting the blade, and the transfer rack (32) has a lower arc-shaped groove (36) for placing the rotor and transferring it to the insert seat (2); The feeding mechanism (3) has a preparation state and a sheet insertion state; in the preparation state, the transfer rack (32) is located below the feeding track (31) and the lower arc-shaped groove (36) is located below the preparation station (35); in the sheet insertion state, the transfer rack (32) abuts against the sheet insertion seat (2), and the upper arc-shaped groove (24) abuts against the lower arc-shaped groove (36) to form a fixing cavity (7) for fixing the rotor to perform a sheet insertion operation.

8. The inserting machine according to claim 7, characterized in that: The insert seat (2) is provided with a driving groove (25) which is inclined from top to bottom and communicates with the upper arc groove (24); the driving mechanism (6) comprises a driving block (61) which is lifted and slid in the driving groove (25) and abuts against a rotor in the driving groove (25), and a lifting driving assembly (62) which drives the driving block (61) to lift and lower.

9. The inserting machine according to claim 6, characterized in that: The cutting and inserting mechanism (5) comprises a cutting assembly (51), an inserting assembly (52), and a crankshaft (53) for driving the cutting assembly (51) and the inserting assembly (52) to operate; the inserting seat (2) is provided with a slot wedge moving groove (23) for the slot wedge to move, and when the rotor is on the inserting seat (2), the slot wedge moving groove (23) is aligned with the inserting slot of the rotor; The inserting blade assembly (52) comprises an inserting blade knife (521) slidably mounted on the slot wedge moving slot (23) and abutting against the top of the slot wedge, a driving connecting member (522) connected to the crankshaft (53), an inserting blade connecting member (523) rotatably connected to the driving connecting member (522) and used to drive the inserting blade knife (521) to horizontally insert the slot wedge into the inserting blade slot of the rotor, and a resetting connecting member (524) rotatably connected to the driving connecting member (522) and used to drive the inserting blade knife (521) to be lifted and reset.

10. The inserting machine according to claim 9, characterized in that: The crankshaft (53) comprises a first connecting section (532) for connecting the cutting assembly (51) and a second connecting section (533) for connecting the insert assembly (52), wherein the first connecting section (532) and the second connecting section (533) are not coaxial.

Images