A control method and a fully automatic inserting machine for motor rotors

Abstract

The present invention relates to a control method and a fully automatic inserting machine for motor rotors, and relates to the field of automatic control, including obtaining a feeding image of a feeding track; determining whether a rotor feature exists from a rotor feature library according to the feeding image; based on the existence of the rotor feature, controlling a feeding mechanism to move the rotor feature to an inserting station according to a transmission angle; cleaning the inserting slot by an inserting slot cleaning method, adjusting the rotor feature in the inserting station by an inserting slot positioning method to align the inserting 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 not being less than the slot wedge demand, controlling a cutting assembly to cut the slot wedge according to the slot wedge demand, and controlling the inserting assembly to insert the slot wedge into the inserting slot entrance of the rotor feature. Compared with the manual method, the above method is more efficient, and the motor generated by the method and the electric hammer using the motor are more stable when used.

Description

Technical Field

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

[0002] During the assembly of the motor rotor, slot wedges need to be installed in the insert slots. Slot wedges are essential 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 displacement or deformation in the slot, thereby ensuring the stable operation of the motor. In addition, the slot wedges can also protect the winding coil from external damage.

[0003] In the existing process of inserting slot wedges into motor rotors, most factories still rely on manual installation by workers. These workers must first cut the slot wedges to fit the rotor's slots, then insert and secure them one by one into each slot. Due to the numerous steps involved in inserting the rotors and the heavy weight of the rotors, worker efficiency 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 an inserting machine.

[0005] In a first aspect, the present invention provides a control method for a fully automatic motor rotor inserting machine, which adopts the following technical solution:

[0006] A control method for a fully automatic motor rotor inserting machine, comprising:

[0007] Obtaining a preset feeding track loading image;

[0008] Determine whether there is a rotor feature from a preset rotor feature library according to the loading image;

[0009] 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;

[0010] Cleaning the slot using a preset slot cleaning method, adjusting the rotor features in the slot inserting station using a preset slot positioning method to align the slot entry opening with the slot wedge moving slot, and obtaining the remaining supply of slot wedges in the slot wedge moving slot;

[0011] 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.

[0012] By adopting the above technical solution, the motor rotor is inserted with a sheet inserting machine instead of manual method, which is more efficient than the manual insertion method; and the sheet inserting machine can remove foreign matter in the sheet inserting slot and locate the insertion position of the slot wedge during the sheet inserting process, so that the slot wedge can be inserted into the sheet inserting slot more accurately and well, thereby making the motor obtained by machine insertion more stable during operation, and the electric hammer using the motor to work has higher stability during operation.

[0013] Optionally, a guide block is provided for the slot wedge to slide in the slot; the slot cleaning method includes:

[0014] Get the image information of the slot;

[0015] Determine the features and location of the foreign object based on the image information of the slot and the preset slot features;

[0016] Controlling a preset blowing device with a preset blowing power to blow air at the foreign body features at the foreign body location, and determining the foreign body feature type according to the insert slot image information, the foreign body feature type including blowable objects and adhesions;

[0017] 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 the updated position of the adhesion is determined;

[0018] 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;

[0019] 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 is removed using a preset fixed adhesion removal method.

[0020] By adopting the above technical solution, the system can identify different types of foreign matter in the insert slot and remove them in different ways according to different types of foreign matter. It 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.

[0021] Optional, removable adhesion removal methods include:

[0022] Determine the maximum width of the adhesion based on the image information of the insert slot and the characteristics of the foreign matter;

[0023] Based on the maximum width of the adhesion being smaller than the preset width of the top opening of the insert slot, controlling the preset clamping device according to the updated position of the adhesion to clamp the adhesion out of the top of the insert slot;

[0024] Based on the maximum width of the adhesion being no less than the width of the top opening 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;

[0025] 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;

[0026] Match the clamping force of the clamping device according to the width compression amount;

[0027] The clamping device is controlled by the clamping force to adjust the maximum width of the adhesion and to clamp the adhesion out of the top of the insert slot;

[0028] Based on the deformation information of the adhesion object not falling within the preset deformation range, the shortest movement distance between the adhesion object and the two ends of the insertion slot is determined according to the insertion slot image information and the updated position of the adhesion object;

[0029] The clamping device is controlled according to the shortest moving distance to clamp the adhesion out from the end outlet of the inserting slot.

[0030] By adopting the above technical solution, for movable adhesions in the insert slot, the system can determine whether the adhesions have the ability to deform, and thus determine whether to remove them directly through the clamping device or after flattening their width and then taking them out from the top of the insert slot, which is more efficient.

[0031] Optional, fixed adhesion removal methods include:

[0032] Determine the material of the adhesion based on the image information of the slot, the features of the foreign matter, and a preset material feature library;

[0033] Determine the melting point of the adhesion according to the material of the adhesion;

[0034] 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;

[0035] 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 insert slot, and controlling the clamping device to clamp out the adhesion;

[0036] 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;

[0037] 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;

[0038] 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;

[0039] The guide block is controlled to move along the insert slot to spread the melted adhesive in the insert slot.

[0040] By adopting the above technical solution, the system can determine whether the fixed adhesion in the insert slot is insulating varnish. The insulating varnish system can reuse it by heating and melting it through a heating probe and then spreading it flat on the bottom surface of the insert slot, without the need to remove the insulating varnish from the insert slot.

[0041] 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. The slot positioning method includes:

[0042] Get the image information of the insertion station;

[0043] Select the rotor end face image from the rotor feature library axis according to the workstation image information;

[0044] Determine the deviation angle of the insert slot based on the rotor end face image and the preset reference loading image;

[0045] Controlling a preset torsion mechanism to clamp at both ends of the rotor feature, and controlling the torsion mechanism to twist the rotor feature according to the deviation angle;

[0046] The guide block is controlled to move from the slot wedge to the insert slot at a preset insertion distance to fix the characteristic angle of the rotor.

[0047] 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 pre-inserted into the insert slot to avoid the rotor angle from deviating again due to equipment vibration.

[0048] In a second aspect, the present application provides a chip inserting machine, which adopts the following technical solution:

[0049] A rotor inserting machine is controlled by applying the above-mentioned control method of a fully automatic rotor inserting machine for a motor, comprising:

[0050] Insertion seat, used for installing the rotor during the insertion process;

[0051] A loading mechanism, used for moving and installing the rotor to the insert seat;

[0052] A pushing mechanism, used for cutting the slot wedges pushed by the pushing mechanism and inserting them into the rotor;

[0053] Cutting and inserting mechanism, used to cut the slot wedges and insert them into the rotor;

[0054] 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.

[0055] By adopting the above technical solution, when inserting blades into the rotor, the loading mechanism first moves the rotor onto the blade seat, then the pushing mechanism extends the slot wedge, and the cutting and inserting mechanism can cut the slot wedge to a length suitable for the rotor and insert it into the blade slot. When the blade is inserted into one blade slot, the driving mechanism can adjust the rotor angle to continue inserting the blade into the next blade slot. The above structure is highly efficient for blade insertion.

[0056] Optionally, the loading mechanism includes a feed track that is tilted and on which the rotor is placed, a transfer frame that is rotatably arranged and used to lift the rotor from the feed track to the insert seat, and a driving member that drives the transfer frame to rotate;

[0057] 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;

[0058] The insert seat has an upper arc-shaped groove for placing the rotor and inserting the blades, and the transfer rack has a lower arc-shaped groove for placing the rotor and transferring it to the insert seat;

[0059] The loading 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-shaped groove is located below the preparation station; in the insertion state, the transfer rack abuts against the insertion seat, and the upper arc-shaped groove abuts against the lower arc-shaped groove to form a fixed cavity for fixing the rotor for insertion operation.

[0060] By adopting the above technical solution, after placing the rotor on the feed 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 insert the sheet, while the next rotor can abut the transfer rack and prepare to enter the preparation station. When the rotor completes the inserting operation, the transfer rack returns to the preparation state. At this time, the rotor with the inserted sheet falls onto the feed track and continues to slide down the feed 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 rotors with high efficiency.

[0061] Optionally, the insert seat is inclined from top to bottom to form 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 assembly that drives the driving block to rise and fall.

[0062] Optionally, the cutting and inserting mechanism includes a cutting assembly, an inserting assembly, and a crankshaft for driving the cutting assembly and the inserting assembly; 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 slot of the rotor;

[0063] 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 connector connected to the crankshaft, an insert connector rotatably connected to the driving connector and used to drive the insert knife to horizontally insert the slot wedge into the insert slot of the rotor, and a reset connector rotatably connected to the driving connector and used to drive the insert knife to lift and reset.

[0064] 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.

[0065] 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 time-sequential and can operate in sequence. When the inserting assembly completes the insertion, the cutting assembly can cut the slot wedge at the same time, so that the inserting assembly can quickly carry out the next round of insertion action, which is more efficient.

[0066] In summary, this application includes at least one of the following beneficial technical effects:

[0067] The use of a chip inserting machine to insert chips into the motor rotor instead of manually is more efficient than manual chip inserting. The chip inserting machine can also remove foreign matter from the chip inserting slot and locate the insertion position of the slot wedge during the chip inserting process, so that the slot wedge can be inserted into the slot more accurately and well. As a result, the motor inserted by the machine is more stable during operation, and the electric hammer used to operate the motor has higher stability during operation.

[0068] For movable adhesions in the slot, the system can determine whether the adhesions are deformable, and thus decide whether to remove them directly through the clamping device or by flattening their width before removing them from the top of the slot, which is more efficient.

[0069] For fixed adhesions in the slot, the system can determine whether the adhesions are insulating varnish. The insulating varnish system can reuse it by heating and melting it through a heating probe and then spreading it flat on the bottom surface of the slot, without the need to remove the insulating varnish from the slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 This is a schematic diagram of the overall structure of a chip inserting machine according to an embodiment of the present invention;

[0071] Figure 2 2 is a schematic structural diagram of a feeding mechanism according to an embodiment of the present invention;

[0072] Figure 31 is a schematic structural diagram of a crankshaft according to an embodiment of the present invention;

[0073] Figure 4 is a schematic structural diagram of a cutting assembly according to an embodiment of the present invention;

[0074] Figure 5 is a structural diagram of an insert assembly according to an embodiment of the present invention;

[0075] Figure 6 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention;

[0076] 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;

[0077] The parts designated by the numbers in the above figures are as follows: 1. Chassis; 2. Insertion seat; 21. Insertion platform; 22. Fixed seat; 23. Wedge moving slot; 24. Upper arc slot; 25. Drive slot; 3. Loading mechanism; 31. Feeding track; 32. Transfer rack; 33. Drive 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 drive assembly; 7. Fixed cavity. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to 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 intended to limit the present invention.

[0079] The embodiment of the present application discloses a chip inserting machine.

[0080] 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 sheet cutting and inserting mechanism 5, and a driving mechanism 6. The sheet inserting seat 2, the feeding mechanism 3, the pushing mechanism 4, the sheet cutting and inserting mechanism 5, and the driving mechanism 6 are all mounted 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 to move the rotor to be inserted and install it on the sheet inserting seat 2, the pushing mechanism 4 is used to push the slot wedge, the sheet cutting and inserting mechanism 5 is used to cut the slot wedge pushed by the pushing mechanism 4 and insert it into the rotor, and the driving mechanism 6 is used to drive the rotor to rotate to switch the insertion position of the slot wedge on the rotor.

[0081] Reference Figure 1 and Figure 2 The insert seat 2 is fixedly mounted on the chassis 1 and includes an insert platform 21 for handling slot wedges and a fixed seat 22 connected to the insert platform 21 and for mounting the slot wedges. The insert platform 21 is provided with a slot wedge moving slot 23 for the slot wedges to move, and the fixed seat 22 is provided with an upper arc-shaped slot 24, with the slot wedge moving slot 23 pointing to the upper arc-shaped slot 24.

[0082] 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 .

[0083] Feed track 31 is tilted and positioned on chassis 1. One end of the track is used to hold a motor rotor awaiting insertion, while the other end is used to hold a completed motor rotor. An abutment block 34 is positioned in the middle of feed track 31. The top of the abutment block 34 extends beyond the plane of the track 31 and forms a triangular shape. A preparation station 35 is formed between the abutment block 34 and the track 31. When a motor rotor awaiting insertion is placed on feed track 31, it slides down the track 31 and stops at preparation station 35.

[0084] The transfer frame 32 is rotatably mounted on the chassis 1, with one end of the transfer frame having a lower arc groove 36 and the other end of the transfer frame being connected to the driving member 33 and being rotated by the driving member 33. In this embodiment, the driving member 33 is in the form of a cylinder.

[0085] The feeding mechanism 3 has a standby state and an insertion state. When the feeding mechanism 3 is in the standby state, the end of the transfer frame 32 away from the driver 33 rotates below the feed track 31, and the lower arcuate groove 36 is located below the standby station 35. When the feeding mechanism 3 is in the insertion state, the driver 33 drives the transfer frame 32 to rotate. At this time, the end of the transfer frame 32 away from the driver 33 rotates upward, and the motor rotor enters the lower arcuate groove 36 from the standby station 35. When the transfer frame 32 abuts the fixed seat 22, the lower arcuate groove 36 and the upper arcuate groove 24 combine to form a fixed cavity 7, in which the motor rotor is fixed and awaits insertion.

[0086] Reference Figure 1 The pushing mechanism 4 includes two rotating rollers 41, which 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.

[0087] Reference Figure 1 and Figure 3The cutting and inserting mechanism 5 includes 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.

[0088] The crankshaft 53 is driven by a motor and can rotate horizontally. It includes a core section 531 coaxial with the rotation axis, and a first connecting section 532 and a second connecting section 533 connected to the core section 531 and not coaxial with the rotation axis. The first connecting section 532 and the second connecting section 533 are also 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.

[0089] When the crankshaft 53 rotates, the first connecting section 532 and the second connecting section 533 both rotate eccentrically.

[0090] Reference Figure 1 、 Figure 2 and Figure 4 The cutting assembly 51 includes a cutting post 511 that is vertically slidably mounted on the chassis 1, and a cutting connector 512 that connects the first connecting section 532 and the cutting post 511. When the cutting post 511 descends, it abuts against the top of the slot wedge and cuts it. The cutting connector 512 converts the circumferential motion of the first connecting section 532 into vertical lifting motion of the cutting post 511.

[0091] Reference Figure 1 、 Figure 2 and Figure 5 The blade assembly 52 includes a blade blade 521, a drive connector 522, a blade connector 523, and a reset connector 524. The blade blade 521 is slidably mounted in the slot wedge moving slot 23 and abuts the top of the slot wedge. The blade blade 521 has a blade portion 525 at its bottom. The blade portion 525 is adapted to fit within the blade slot of the motor rotor and is less than the height of the rotor slot.

[0092] 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.

[0093] 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 .

[0094] Reference Figure 1 、 Figure 3 and Figure 5 Because 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 knife 521 is in the process of inserting the previous slot wedge into the inserting slot and then withdrawing it from the inserting slot.

[0095] 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 out of 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.

[0096] Reference Figure 1 and Figure 6 After the motor rotor completes the installation of the slot wedge in one of the slots, the drive mechanism 6 drives the motor rotor to rotate so that the adjacent slot is aligned with the slot wedge moving slot 23. The drive mechanism 6 includes a drive block 61 that is installed on the fixed seat 22 in an ascending and descending manner, and a lifting drive assembly 62 that is rotatably connected to the drive block 61 and drives the drive block 61 to ascend and descend. The fixed seat 22 is provided with a drive slot 25 from top to bottom. The drive slot 25 is connected to the upper arc-shaped slot 24 and is inclined. The drive block 61 slides in an inclined manner in the drive slot 25. When the motor rotor is located in the upper arc-shaped slot 24, the drive block 61 abuts against the motor rotor and moves downward under the drive of the lifting drive assembly 62. At this time, the drive block 61 can drive the motor rotor to rotate, causing the slots of the motor rotor to switch.

[0097] Based on the same inventive concept, an embodiment of the present invention provides a control method for a fully automatic motor rotor inserting machine.

[0098] A control method for a fully automatic motor rotor inserting machine comprises the following steps:

[0099] Step S100 : obtaining a preset feeding image of the feeding track 31 .

[0100] 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.

[0101] Step S101: determining whether a rotor feature exists from a preset rotor feature library according to a loading image.

[0102] 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.

[0103] The loading image is matched with the rotor feature library. If there is a motor rotor waiting for loading on the feeding track 31 when the camera is shooting, the rotor feature can be matched from the rotor feature library based on the loading image, thereby determining the existence of the rotor feature.

[0104] 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.

[0105] If the rotor feature does not exist, it means that there is no rotor waiting to be loaded on the feeding track 31, and the system will not perform the inserting operation at this time.

[0106] If the rotor feature exists, it means that there is a rotor on the feeding track 31 waiting to be loaded.

[0107] 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.

[0108] The inserting station is the position where the rotor is located when inserting the blades, that is, the fixed cavity 7.

[0109] 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 slot wedges in the slot wedge moving slot 23.

[0110] Before inserting the wedges into the rotor, the slots must be cleaned. This is because the slots may contain foreign matter and impurities from rotor manufacturing that could prevent the slot wedges from entering the slots. The slots are cleaned using a slot cleaning method, which will not be described here but will be detailed in subsequent examples.

[0111] After the slot is cleaned, the slot needs to be aligned with the slot wedge moving slot 23. If there is an angular deviation between the two, the slot wedge cannot be properly inserted into the slot. The angular alignment between the two is performed by the slot positioning method. The slot positioning method is not described here in detail and will be described in detail in the subsequent embodiments.

[0112] 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 and is pushed by the pushing mechanism 4 and cut into the required length by the cutting assembly 51 when the slot wedge is inserted.

[0113] 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.

[0114] The required number 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 described in detail here.

[0115] 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 slot wedges cannot complete another insertion operation, so the insertion cannot continue. At this time, a new slot wedge needs to be replaced.

[0116] If the remaining supply of slot wedges in the slot wedge moving slot 23 is not less than the required supply of slot wedges, it means that the remaining supply of slot wedges can still complete one slot insertion, and there is no need to replace new slot wedges. The system will control the cutting assembly 51 to cut the remaining supply of slot wedges and insert the cut slot wedges into the rotor slot through the inserting assembly 52.

[0117] The insert slot cleaning method includes the following steps:

[0118] Step S200: Obtaining image information of the slot.

[0119] The insert slot image information refers to the image inside the insert slot obtained by photographing the insert slot of the motor rotor through a camera, including the image of the insert slot and the image of foreign matter in the insert slot.

[0120] Step S201: determining the features and location of the foreign object based on the image information of the slot and the preset features of the slot.

[0121] The preset insert slot feature refers to an image of the insert slot of the motor rotor pre-stored in the system. The inside of the insert slot in the image is absolutely clean and free of foreign matter.

[0122] Compare the slot image captured by the camera with the slot signatures stored in the system. If there are any differences between the two, these differences are considered foreign object signatures. If there are no differences, the slot is relatively clean and free of foreign object signatures. Foreign object signatures include large metal shavings, soft plastic, and hardened insulating varnish. If foreign object signatures are present, they must be removed.

[0123] The foreign object location refers to the position of the foreign object's signature within the slot. By comparing the slot image information with pre-set reference points, the image scale of the slot captured by the camera can be determined. Reference points are fixed points on the device and set by technicians to determine the true scale of the camera image. These points are not detailed here. Once the image scale is determined, the slot image information is compared with the slot signature to determine the foreign object's location within the slot.

[0124] Step S202: controlling a preset blowing device with a preset blowing power to blow air to the foreign object features at the foreign object location, and determining the foreign object feature type according to the slot image information, wherein the foreign object feature type includes blowable objects and adhesions.

[0125] The blowing power is the power of the blowing device set by the technician to blow air on 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. I will not go into details here.

[0126] Blowing air through the air blowing device can also distinguish whether the foreign object in the slot is an adhesion or a removable object. By blowing air into the slot and retrieving the slot image information after the blowing, and comparing the two slot images, if the two images are consistent, it indicates that the foreign object is an adhesion, which means that the foreign object is stuck in the slot and cannot be removed by blowing. If the two images are inconsistent, it means that the foreign object in the slot has been removed and the foreign object is a removable object.

[0127] 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.

[0128] 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.

[0129] There are two types of stuck objects: one is stuck in the slot and cannot be blown away but can be pushed out with a tool; the other is solidified in the slot and cannot be directly pushed out with a tool. Different methods are required to remove these two types of foreign objects.

[0130] The method for distinguishing the above two types of adhesion is to use a guide block to push. In this embodiment, a guide block is slidably provided in the slot wedge moving groove 23. The guide block can be pulled back and forth between the slot wedge moving groove 23 and the inserting slot by a tool to switch positions. When inserting the inserting slot, the guide block can be removed.

[0131] The preset pushing force is the force applied by the guide block to the foreign body feature when it is pushed by the technician. For foreign body features that are only adhered to the insert slot, they can be pushed to change their position by applying the pushing force.

[0132] The updated adhesion position is the image of the slot captured by the camera after the guide block pushes the foreign object feature. The updated adhesion position is compared with the slot image information to determine whether the foreign object position has changed between the before and after images, thereby determining the shape of the adhesion.

[0133] 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 removed using a preset movable adhesion removal method.

[0134] If the position of the foreign matter changes, it means that the guide block can push the foreign matter feature, which is a movable adhesion. The movable adhesion is removed by a movable adhesion removal method, which will not be described here in detail and will be described in detail in subsequent embodiments.

[0135] Step S2032: Based on the consistency between the position of the foreign object and the updated position of the adhesion, the adhesion is defined as a fixed adhesion and removed using a preset fixed adhesion removal method.

[0136] If the position of the foreign body does not change, it means that the guide block cannot push the foreign body feature. The foreign body feature is a fixed adhesion. For the fixed adhesion, it is removed by the fixed adhesion removal method. The fixed adhesion removal method is not described here and is described in detail in subsequent embodiments.

[0137] The removable adhesion removal method comprises the following steps:

[0138] Step S300: determining the maximum width of the adhesion according to the image information of the slot and the features of the foreign matter.

[0139] The maximum adhesion width refers to the maximum width of the removable adhesion. By comparing the slot image information with the foreign body characteristics, the maximum adhesion width can be determined based on the image ratio.

[0140] Step S3011: 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.

[0141] In this embodiment, the rotor blade slot has an inverted T-shaped cross-section, with inlets and outlets at both ends and an opening at the top. The blade slot top opening width refers to the width of the blade slot top opening, which is the standard size of the rotor blade slot and is not detailed here.

[0142] 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 removed from the top of the insert slot.

[0143] 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 update position, and then removes the adhesion from the top opening of the insert slot.

[0144] Step S3012: Based on the maximum width of the adhesion being not less than the width of the top opening 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.

[0145] If the maximum width of the adhesion is not less than the width of the top opening of the slot, it indicates that the adhesion is large and cannot be removed directly from the top of the slot using a clamping device. In this case, the adhesion's deformation information can be determined first. Deformation information refers to whether the adhesion is soft and capable of deformation, which is reflected in the deformation amount of the adhesion at the deformation point. This is determined by pushing the adhesion with a guide block to cause it to deform.

[0146] The deformation thrust is the force applied by the guide block to the adhesion, as 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 cause deformation.

[0147] 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 deformation is analyzed to determine the deformation information.

[0148] Step S3021: Based on the deformation information of the adhesion falling within a 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.

[0149] For a deformable adhesion, the amount of deformation that can occur when a deforming thrust is applied to the adhesion is the deformation range. The deformation range is measured by technicians based on actual conditions and will not be described in detail here. If the adhesion is not deformable, the deformation information will not fall within the deformation range.

[0150] Compare the deformation information with the deformation range. If the deformation information falls within the deformation range, it means that the adhesion can be deformed. At this time, the compression amount that needs to be reduced in the width of the adhesion when the adhesion is removed from the top of the insertion slot is determined. This compression amount is the width compression amount, which is the difference between the maximum width of the adhesion and the width of the opening at the top of the insertion slot.

[0151] Step S30211: Matching the clamping force of the clamping device according to the width compression amount.

[0152] The clamping force refers to the force applied by the clamping device to the adhesion when clamping the adhesion in the insert slot.

[0153] The clamping force is proportional to the width compression amount. The greater the width compression amount, the greater the clamping force required by the clamping device.

[0154] 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.

[0155] 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 opening at the top of the insert slot. At this time, the clamping device can directly remove the adhesion from the top of the insert slot.

[0156] 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 updated position of the adhesion.

[0157] 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 removed from the top of the insertion slot. For such adhesions, they can only be removed from the inlet and outlet at both ends of the insertion slot.

[0158] The minimum travel distance is the shortest distance from the current position of the adhesion to the two ends of the slot. The minimum travel 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 minimum travel distance can be determined based on the image ratio.

[0159] Step S30221: Control the clamping device according to the shortest moving distance to clamp the adhesion out of the end outlet of the insert slot.

[0160] After determining the shortest moving distance, the system controls the clamping device to extend into the slot from the top of the slot and clamp the adhesion, and then remove the adhesion from the end of the slot.

[0161] The fixed adhesion removal method includes the following steps:

[0162] Step S400: determining the material of the adhesion object based on the image information of the slot, the features of the foreign object, and a preset material feature library.

[0163] The material feature library refers to a database containing images of various materials obtained through machine learning, which will not be described in detail here.

[0164] 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.

[0165] Step S401: determining the melting point of the adhesion according to the material of the adhesion.

[0166] After determining the material of the adhesion, the corresponding melting point of the adhesion can be matched.

[0167] In this embodiment, once the material of the adhesion is determined, it is possible to determine whether the adhesion is the insulating varnish used during the rotor insulation process. During the rotor insulation process, the insulating varnish may drip into the insert slots. Adhesions made of insulating varnish and other materials require different removal methods. While insulating varnish may remain in the insert slots after treatment, other adhesions require removal.

[0168] 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.

[0169] If the adhesion material and the insulating paint material are inconsistent, it does not mean that the adhesion is not an adhesion and needs to be removed. The adhesion bottom edge contour refers to the contour of the adhesion and the insertion slot abutment surface. The adhesion bottom edge contour can be determined based on the insertion slot image information and foreign object features. First, the foreign object features are used to determine its outline in the insertion slot image information, and then the actual adhesion bottom edge contour is determined based on the image ratio.

[0170] 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 inserting slot, and control the clamping device to clamp out the adhesion.

[0171] The heating probe is used to heat the adhesion.

[0172] 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.

[0173] The system controls the clamping device to clamp the top of the adhesion and take it out from the top of the inserting slot or the end of the inserting slot.

[0174] 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.

[0175] If the material of the adhesion is the same as the insulating varnish, it indicates that the adhesion is insulating varnish. The adhesion height refers to the height of the insulating varnish within the slot. The adhesion height can be determined based on the slot image information and the foreign object characteristics. First, determine the height of the foreign object characteristics in the slot image information, and then determine the actual insulating varnish adhesion height based on the image ratio.

[0176] 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.

[0177] The insertion height refers to the height within the slot that allows the slot wedge to pass through. The insertion height is the difference between the slot height and the height of the adhesion. The slot height is the standard value for the slot and is not detailed here.

[0178] 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.

[0179] The thickness of the slot wedge is the standard value of the slot wedge and will not be described here.

[0180] 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 varnish.

[0181] 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.

[0182] 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 penetration height, and the insulating paint needs to be melted. The insulating paint is penetrated by a heating probe and heated.

[0183] Step S40223: Control the guide block to move along the insert slot to spread the melted adhesive in the insert slot.

[0184] 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 applied to the surface of the bottom of the insert slot.

[0185] The insert slot positioning method includes the following steps:

[0186] Step S500: Acquire the workstation image information of the inserting workstation.

[0187] The workstation image information refers to the image of the rotor at the inserting station captured by the camera. The camera is set in the direction of the rotor end and can capture the orthographic projection image in the direction of the rotor end.

[0188] Step S501: Select a rotor end face image from the rotor feature library based on the workstation image information.

[0189] The rotor end face image refers to an image that only contains the rotor end. The workstation image information contains the rotor image. Based on 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.

[0190] Step S502: determining the deviation angle of the insert slot according to the rotor end surface image and the preset reference loading image.

[0191] The reference loading image refers to an image of the motor rotor in a position where the insert slot is aligned with the slot wedge moving slot 23 . The reference loading image is also an orthographic projection image of the motor end face.

[0192] If the slot angle in the rotor end image is inconsistent with the slot angle in the reference loading image, overlapping the rotor end image and the reference loading image can directly determine the slot deviation angle. The deviation angle refers to the angle required to rotate the motor rotor until the slot is aligned with the slot wedge moving groove 23.

[0193] Step S503: controlling a preset twisting mechanism to clamp the two ends of the rotor feature, and controlling the twisting mechanism to twist the rotor feature according to the deviation angle.

[0194] 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 fixed cavity 7 of the insert seat 2, the twisting mechanism can clamp the rotor and rotate it.

[0195] After determining the deviation angle, the twisting 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.

[0196] 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.

[0197] In this embodiment, once the rotor angle is adjusted, the system controls a portion of the guide block to be inserted from the wedge moving slot 23 into the insert slot, thereby pre-setting the rotor angle. The insertion distance is a reference value set by technicians and represents the distance the guide block is inserted into the insert slot. This is not detailed here.

[0198] In this embodiment, the guide block has a triangular shape at one end facing the slot, i.e., its width gradually decreases, and the width of the guide block is equal to the width of the slot. When the guide block is inserted into the slot, if there is still a certain angle deviation of the rotor, the guide block can also adjust the angle.

[0199] 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 inserting slot, and then the guide block and the blade inserting knife 521 are reset back to the slot wedge moving slot 23.

[0200] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection 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, controlling the preset cutting component (51) to cut the slot wedge according to the slot wedge demand, and controlling the preset inserting component (52) to insert the slot wedge into the inserting slot entrance of the rotor feature; 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 by a preset movable adhesion removal method, which is based on taking out the movable adhesion from the top of the insert slot when the maximum width of the adhesion is less than the preset width of the top opening of the insert slot, or taking out the movable adhesion from the end of the insert slot when the maximum width of the adhesion is not less than the width of the top opening of the insert slot; Based on the consistency between the position of the foreign body and the updated position of the adhesion, the adhesion is defined as a fixed adhesion, and is removed by a preset fixed adhesion removal method. The fixed adhesion removal method is to clip out the adhesion when the adhesion material is inconsistent with the preset insulating paint material, or to heat and melt the adhesion and flatten it in the insert slot when the adhesion material is consistent with the insulating paint material; 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; 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 (23) into the inserting slot at a preset insertion distance to fix the characteristic angle of the rotor.

2. The control method of a motor rotor fully automatic inserting machine according to claim 1, 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.

3. The control method of a motor rotor fully automatic inserting machine according to claim 1, 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 flatten the melted adhesive in the insert slot.

4. A chip inserting machine, controlled by the control method of a motor rotor fully automatic chip inserting machine as claimed in any one of claims 1 to 3, 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.

5. A chip inserting machine according to claim 4, 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.

6. A chip inserting machine according to claim 5, 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.

7. The inserting machine according to claim 4, 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.

8. The inserting machine according to claim 7, 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