Motor stator hot assembly production line and method

Abstract

The invention discloses a motor stator hot assembly production line and method, and the production line comprises a feeding transmission pipe which is provided with an engine base and an iron core for assembly, is provided with an overlook vision system and a material taking station, is provided with a main vision system on the side surface of the feeding transmission pipe, and is provided with a middle station vision detection device; the robot control system, the visual control system and the closed-loop master control system are arranged on the vacant space on the side edge of the feeding conveying pipe, a hot assembly robot is arranged on the side face of the material taking station, a clamp is arranged on the hot assembly robot, a cooling conveying line is arranged on the vacant space on the side face of the feeding conveying pipe, and a cooling chamber is arranged on the cooling conveying line. An online induction heating device is arranged on the side, close to the hot assembly robot, of the cooling chamber. The dynamic image detection and positioning of the temperature measuring hole in the hot assembly process are realized through the combination of the non-contact positioning bolt robot and the non-contact positioning bolt.

Description

Technical Field

[0001] The present invention relates to the technical field of motor manufacturing, and in particular to a motor stator thermal assembly production line and method. Background Art

[0002] The motor stator is an important part of motors such as generators and starters, and the stator is the key part of the motor. It consists of three parts: stator core, stator winding and frame. For large motors with power greater than 1000W, whether it is a high-voltage motor or a low-voltage high-power motor, its parts are large in size, the processing technology involved is complex, and the assembly process has certain limitations. Therefore, the design and manufacture of large motors play a vital role in ensuring the safety and reliability of motor operation.

[0003] The main assembly method for large motor stators is thermal assembly or shrink-fitting. The specific method is to first heat the stator base, and then assemble the normal temperature iron core with it. During the stator assembly process, the installation of the temperature sensor is also an important part of thermal assembly. The known thermal assembly process includes placing the stator core winding at the bottom, putting the heated base down from top to bottom, fixing the core winding by mechanical equipment, and ensuring the verticality of the thermal assembly by rail guidance. Another method is to heat multiple bases at one time in a box-type electric furnace, then place the heated base on the ground, and statically press the cold core winding into it by its own weight. In addition, robots combined with vision technology are also used for transportation during the assembly process. Through the guidance and positioning of vision technology, the success rate of the assembly process is optimized and bumps are prevented.

[0004] Some large motor assembly technologies have many defects. First, for large motors, due to the large size of the core winding and the base, it is difficult to use independent extrusion hot assembly, and it is easy to cause deformation or damage to the lower end of the winding. Secondly, although the box-type electric furnace heating method has a long heat penetration time and the base is heated evenly, the assembly process must pay close attention to the collision between the stator core winding and the end seat. During manual operation, it is easy to cause the winding to be scratched and deformed due to human shaking, and during mechanical equipment operation, it may cause assembly failure due to positioning accuracy problems or local thermal expansion. In addition, the hot assembly temperature is high, and there is a safety risk of scalding during manual operation. If the operation time is not properly controlled, the base will shrink cold, and the core winding assembly will be difficult, resulting in a decrease in the assembly yield. At the same time, the existing visual technology combined with the application of robot technology is difficult to achieve visual inspection of the dynamic pin process during the hot assembly process, and it is difficult to ensure the relative concentricity of the temperature sensor hole on the base surface and the inner hole of the core. Finally, it is difficult to detect data during the assembly process, especially for positioning detection after assembly, which is not conducive to later fault analysis. Summary of the invention

[0005] The embodiments of the present invention provide a motor stator thermal assembly production line and method, which are used to solve the problems in the prior art that the application of visual technology combined with robotic technology is difficult to achieve visual inspection of the dynamic plugging process during the thermal assembly process, it is difficult to ensure the relative concentricity of the temperature sensor hole on the surface of the base and the inner hole of the iron core, it is difficult to detect data during the assembly process, especially for positioning detection after assembly is completed, which is not conducive to later fault analysis.

[0006] On the one hand, an embodiment of the present invention provides a motor stator thermal assembly production line, comprising: A feeding transmission pipe, on which a machine base and an iron core for assembly are placed, a top-view visual system and a material-picking station are arranged on the feeding transmission pipe, a main-view visual system is arranged on the side of the feeding transmission pipe, an intermediate-station visual detection device is arranged on the side of the feeding transmission pipe, a robot control system, a visual control system and a closed-loop master control system are arranged in an open space on the side of the feeding transmission pipe, a thermal assembly robot is arranged on the side of the material-picking station, a fixture is arranged on the thermal assembly robot, a cooling transmission line is arranged in an open space on the side of the feeding transmission pipe, a cooling chamber is arranged on the cooling transmission line, an online induction heating device is arranged on the side of the cooling chamber close to the thermal assembly robot, a non-contact positioning pin robot is arranged on the side of the cooling transmission line between the cooling chamber and the online induction heating device, the robot control system data is connected to the thermal assembly robot and the non-contact positioning pin robot, the visual control system data is connected to the top-view visual system, the main-view visual system, the intermediate-station visual detection device and the non-contact positioning pin, and the visual control system and the robot control system data are connected to the closed-loop master control system.

[0007] In a possible implementation, the machine base and the iron core are placed on a machine base pallet and an iron core pallet for transportation.

[0008] In a possible implementation manner, a cooling line tray is provided on the cooling transmission line.

[0009] In a possible implementation, the cooling chamber is connected to a cooling fan system.

[0010] In a possible implementation, a stopper detection robot and a finished product offline workstation are also provided on the side space of the loading and conveying pipe. The finished stator is inspected by the stopper detection robot and then rolled off the line at the finished product offline workstation.

[0011] In a possible implementation, the thermal assembly robot is disposed between the material picking station, the online induction heating device, and the finished product off-line station.

[0012] On the other hand, an embodiment of the present invention provides a motor stator thermal assembly method, comprising: Identify the edge of the machine base through the top-down vision system; The main vision system identifies the center of the base according to the edge of the base; Identify the edge of the core through the top-down vision system; The main vision system identifies the center of the iron core according to the edge of the iron core; The thermal assembly robot identifies the coordinates of the machine base and the iron core according to the edges and the center of the machine base and the iron core; The thermal assembly robot grabs the iron core onto the base through the coordinates; The thermal assembly robot aligns the core with the base through a temperature measuring machine hole on the surface of the core; The non-contact positioning pin robot detects the alignment of the holes added by the temperature measuring machine and then notifies the thermal assembly robot to release the clamp.

[0013] After the non-contact positioning pin robot detects the alignment of the holes added by the temperature measuring machine and notifies the thermal assembly robot to release the clamp, the thermal assembly robot also includes: the thermal assembly robot places the finished stator at the finished product offline station; The finished stator is inspected by a stop inspection robot.

[0014] A motor stator thermal assembly production line and method in the present invention has the following advantages: (1) Dynamic image detection of temperature measuring holes during thermal assembly is achieved by combining a non-contact positioning pin robot and a non-contact positioning pin.

[0015] (2) The heating temperature curves of different machine bases are read from the factory data information layer through the online induction heating device, and the heating parameters are set according to the settings and incoming material information.

[0016] (3) Cooling the motor stator after heat assembly according to the cooling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of a motor stator thermal assembly production line provided in an embodiment of the present invention; Figure 2A flow chart of a motor stator thermal assembly method provided by an embodiment of the present invention; Figure 3 A control block diagram of a motor stator thermal assembly method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Figure 1 A schematic diagram of a motor stator thermal assembly production line provided in an embodiment of the present invention; an embodiment of the present invention provides a motor stator thermal assembly production line, including: A feeding transmission tube 1 is provided on which a machine base 23 and an iron core 5 for assembly are placed. A top-view visual system 2 and a material-retrieving station 4 are provided on the feeding transmission tube 1. A main-view visual system 3 is provided on the side of the feeding transmission tube 1. An intermediate-station visual detection device 6 is provided on the side of the feeding transmission tube 1. A robot control system 7, a visual control system 8 and a closed-loop master control system 9 are provided in an open space on the side of the feeding transmission tube 1. A thermal assembly robot 14 is provided on the side of the material-retrieving station 4. A fixture 17 is provided on the thermal assembly robot 14. A cooling transmission line 13 is provided in the open space on the side of the feeding transmission tube 1. The cooling transmission line 13 A cooling chamber 20 is arranged on the top, and an online induction heating device 16 is arranged on the side of the cooling chamber 20 close to the thermal assembly robot 14, and a non-contact positioning pin robot 18 is arranged on the side of the cooling transmission line 13 between the cooling chamber 20 and the online induction heating device 16. The robot control system 7 is data-connected to the thermal assembly robot 14 and the non-contact positioning pin robot 18, and the visual control system 8 is data-connected to the overhead visual system 2, the main visual system 3, the intermediate station visual inspection device 6 and the non-contact positioning pin, and the visual control system 8 and the robot control system 7 are data-connected to the closed-loop master control system 9; The base 23 and the core 5 are placed on the base tray 22 and the core tray 21 for transportation; The cooling transmission line 13 is provided with a cooling line tray 15; The thermal assembly robot 14 is disposed between the material taking station 4 , the online induction heating device 16 and the finished product off-line station 11 , and the cooling chamber 20 is connected to a cooling fan system 19 .

[0021] Exemplarily, the closed-loop master control system 9 realizes automatic thermal assembly of the base 23 and the iron core 5 by controlling online heating and cooperating with multiple robots to perform thermal assembly methods. The machined holes on the surface of the core correspond to the machined holes on the surface of the base. Based on the basic principle of thermal interference assembly, thermal interference assembly is performed on the axis of the temperature measuring hole to form inner and outer deep holes after assembly. Later, the temperature measuring sensor is inserted into the hole to detect the operating temperature of the motor stator. When the base 23 is heated and expands in volume, the iron core 5 is pressed into the base 23 by applying pressure vertically to realize rapid assembly, and the inner and outer temperature measuring machined holes are aligned during the assembly process. The overhead vision system 2, the main vision system 3, the intermediate vision inspection station 6, and the image acquisition at the front end of the non-contact positioning latch robot 18 perform visual data acquisition on the machine base 23 and the core 5 before and during thermal assembly to realize their characteristic position detection. The non-contact positioning latch positioned by image recognition replaces the traditional physical latch to complete the positioning work, and is forwarded to the internal controller of the closed-loop master control system 9 via the UDP / IP data bus. The data is transmitted to the robot control system to drive the thermal assembly robot 14 and the supporting fixture 17 and other actuators, so that the thermal assembly robot 14 drives the machine base 23 and the core 5 assembled by the motor stator to move. At the same time, the operating data on the thermal assembly robot 14 and the fixture 17 and other actuators are fed back to the control system PLC master station via Ethernet / IP, such as the real-time position of the thermal assembly robot 14, the force in the XYZ direction, the fixture driving force, etc. In addition, the data is transmitted to the online heating and auxiliary system through EtherCAT to realize the call of different heating curves of the online induction heating device 16 and the operation of the cooling transmission line 13. The cooling fan system 19 of the cooling chamber 20 allows the motor stator that has been hot-assembled to run the cooling program according to a certain cooling curve. The closed-loop master control system 9 is connected to the factory data information layer console via the internal network. The factory data information layer collects production line data from various links such as process, equipment, and key points of the control process to form a database. With the help of the database, the status of the hot assembly method can be reported to users in the internal network or external network, for example, remotely controlled, parameters can be recorded, and reports related to the system can be formed.

[0022] In a possible embodiment, a stopper detection robot 10 and a finished product offline workstation 11 are also provided on the side space of the loading transmission pipe 1. The finished stator 12 is inspected by the stopper detection robot 10 and then rolled off the line at the finished product offline workstation 11.

[0023] Figure 2 A flow chart of a motor stator thermal assembly method provided in an embodiment of the present invention; an embodiment of the present invention provides a motor stator thermal assembly method, comprising: Identify the edge of the base 23 by looking down at the visual system 2; The main visual system 3 identifies the center of the base 23 according to the edge of the base 23; Identify the edge of the core 5 by looking down at the visual system 2; The main visual system 3 identifies the center of the iron core 5 according to the edge of the iron core 5; The thermal assembly robot 14 identifies the coordinates of the base 23 and the core 5 according to the edges and the center of the base 23 and the core 5; The thermal assembly robot 14 grabs the iron core 5 onto the base 23 through the coordinates; The thermal assembly robot 14 aligns the iron core 5 with the machine base 23 through the temperature measuring machine hole on the surface of the iron core 5; The non-contact positioning pin robot 18 detects the alignment of the holes added by the temperature measuring machine and then notifies the thermal assembly robot 14 to release the clamp 17; After the non-contact positioning pin robot 18 detects the alignment of the temperature measuring machine holes and notifies the thermal assembly robot 14 to release the clamp 17, the following further includes: The thermal assembly robot 14 places the finished stator 12 on the finished product offline station 11; The finished stator 12 is inspected by the stop inspection robot 10 .

[0024] For example, Figure 2 , 3As shown, the overhead vision system 2 first identifies the edge of the base 23. Based on the recognition result of the edge, the camera of the main vision system 3 moves back and forth to focus and find the center of the base 23. The visual control system 8 transmits the output center coordinates to the thermal assembly robot 14 to judge the deviation. If it exceeds the set radius range, it means that it is not within the recognition range, and it is necessary to find the edge again or check whether the material is placed correctly. The overhead vision system 2 first identifies the edge of the core 5. Based on the recognition result of the edge, the camera is driven to move back and forth to focus. Find the center of the base 23. The visual control system 8 transmits the output center coordinates to the mechanical arm and fixture 17 of the thermal assembly robot 14. The center position of the core 5 is judged to be out of tolerance. If it exceeds the set radius range, it is necessary to find the edge of the core 5 again. To achieve lead-out line angle recognition, after the core 5 is placed on the positioning fixture, the core 5 connection line reference center line is identified according to the intermediate visual detection device detection 6 target detection model to determine the core material extraction characteristic angle. Since the core 5 connection line ends are manually wrapped, there is a certain deviation in the recognition. Based on the recognition deviation, a fixed deviation value is added to the recognized result to ensure that the outer hole is located in the clockwise rotation direction of the inner hole during the subsequent non-contact positioning pin. The surface temperature measuring machine of the base 23 is inspected with a hole, and the thermal assembly robot 14 rotates with the core 5 to perform a non-contact positioning pin scan. At this time, the industrial camera of the thermal assembly robot 14 arm continuously collects the base temperature measuring hole image detection. When the inner hole appears in the field of view, a detailed scan begins. The thermal assembly robot 14 slows down the speed of rotating the core 5. When the surface temperature measuring machine and the hole of the core 5 appear completely in the field of view, the scan is completed. The thermal assembly robot 14 stops rotating. After the non-contact positioning pin robot 18 takes a photo to confirm that the hole alignment is successful, the thermal assembly robot 14 falls with the core 5, and then releases the clamp 17 and moves out.

[0025] After the motor stator base 23 is heated and hot-assembled with the core 5 by the hot-assembly robot 14 and the fixture 17, the hot-assembly robot 14 and the fixture 17, under the control of the robot control system 7, grab the hot-assembly object to the corresponding cooling line tray 15 according to the transmitted data, and the online induction heating device 16 is heated and controlled by the closed-loop master control system 9, and the non-contact positioning pin robot 18 is controlled by the closed-loop master control system 9 to realize the hot-assembly process. After hot-assembly, the cooling is carried out to reach room temperature through graded cooling, and the hot-assembly robot 14 transfers the assembled product to the finished product offline station 11, and the stop detection robot 10 performs hot-assembly effect detection on the assembled finished stator 12, and the finished product is offline after the detection is completed. The data information of the entire process is collected and transmitted according to the hierarchical management of the factory data information layer, realizing the digitization of the entire production process.

[0026] In FIG3 , the production line drives the fixture 17 through the thermal assembly robot 14 to heat the motor stator base 23 and then thermally assemble it with the iron core 5. In step S1, the transmission control of the thermal assembly object is realized, and the base 23 and the iron core 5 are transmitted in the feeding transmission tube 1. With the help of the visual control system 8, the main view and the top view are collected, and the camera is moved in coordination with the transmission mechanism to adjust the visual control accuracy, identify the characteristics of the thermal assembly object, and transmit the identified data to the robot and other actuators through the control bus.

[0027] In step S2, the hot assembly robot 14 and the fixture 17, under the control of the robot control system 7, transmit data according to step S1 to grab the hot assembly object to the corresponding workstation cooling line tray 15. The hot assembly robot 14, as the main control robot, grasps the machine base 23 under visual guidance, and uses the force control sensor at the end of the robot to achieve pressure closed-loop control of blanking. After the hot assembly robot 14 grasps the machine base 23, it places it on the cooling line tray 15 in a vertical posture through closed-loop pressure control. The cooling line tray 15 is slotted according to the product specifications, which effectively avoids the spatial interference problem of the protruding winding of the iron core after hot assembly. During the hot assembly process, the hot assembly robot 14 realizes quantifiable static pressing control through a pressure closed loop. For large motor stators, the typical axial pressure range is 1000N-3000N. The online induction heating device 16 is heated by the closed-loop master control system 9, and the non-contact positioning latch robot 18 is controlled by the master control system to achieve thermal interference fit. By controlling the rotation rhythm of the thermal assembly robot 14 and the non-contact positioning latch robot 18 determining the hole position of the temperature sensor, the fully automatic positioning of the temperature sensor is achieved, thereby completing the thermal assembly process control.

[0028] In step S3, the heat assembly is cooled and reaches room temperature through graded cooling. Finally, in step S4, the heat assembly robot 14 transfers the assembled product to the finished product off-line station 11, and the stopper inspection robot 10 inspects the heat assembly effect of the assembled finished stator 12, and the finished product is off-line after the inspection. The data information of the entire process is collected and transmitted according to the hierarchical management of the factory data information layer, realizing the digitization of the entire production process.

[0029] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0030] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A motor stator thermal assembly production line, characterized in that: include: A feeding transmission tube (1), on which a machine base (23) and an iron core (5) for assembly are placed, a top-view visual system (2) and a material-retrieving station (4) are arranged on the feeding transmission tube (1), a main-view visual system (3) is arranged on the side of the feeding transmission tube (1), an intermediate-station visual detection device (6) is arranged on the side of the feeding transmission tube (1), a robot control system (7), a visual control system (8) and a closed-loop master control system (9) are arranged in an open space on the side of the feeding transmission tube (1), a thermal assembly robot (14) is arranged on the side of the material-retrieving station (4), a fixture (17) is arranged on the thermal assembly robot (14), a cooling transmission line (13) is arranged in the open space on the side of the feeding transmission tube (1), and the cooling transmission line (13) is provided with a cooling chamber (20), an online induction heating device (16) is provided on the side of the cooling chamber (20) close to the thermal assembly robot (14), a non-contact positioning pin robot (18) is provided on the side of the cooling transmission line (13) between the cooling chamber (20) and the online induction heating device (16), the robot control system (7) is data-connected to the thermal assembly robot (14) and the non-contact positioning pin robot (18), the visual control system (8) is data-connected to the overhead visual system (2), the main visual system (3), the intermediate station visual inspection device (6) and the non-contact positioning pin, and the visual control system (8) and the robot control system (7) are data-connected to the closed-loop master control system (9).

2. The motor stator thermal assembly production line according to claim 1, characterized in that: The machine base (23) and the iron core (5) are placed on a machine base tray (22) and an iron core tray (21) for transportation.

3. The motor stator thermal assembly production line according to claim 1, characterized in that: A cooling line tray (15) is provided on the cooling transmission line (13).

4. The motor stator thermal assembly production line according to claim 1, characterized in that: The cooling chamber (20) is connected to a cooling fan system (19).

5. The motor stator thermal assembly production line according to claim 1, characterized in that: A stopper inspection robot (10) and a finished product offline workstation (11) are also provided on the side space of the loading and conveying pipe (1). The finished stator (12) is inspected by the stopper inspection robot (10) and then offline at the finished product offline workstation (11).

6. The motor stator thermal assembly production line according to claim 5, characterized in that: The thermal assembly robot (14) is arranged between the material taking station (4), the online induction heating device (16) and the finished product off-line station (11).

7. A method for thermal assembly of a motor stator, characterized in that: include: Identifying an edge of a machine base (23) by a top-down vision system (2); The main vision system (3) identifies the center of the machine base (23) based on the edge of the machine base (23); Identifying the edge of the iron core (5) by means of a top-down vision system (2); The main visual system (3) identifies the center of the iron core (5) based on the edge of the iron core (5); The thermal assembly robot (14) identifies the coordinates of the machine base (23) and the iron core (5) based on the edges and the center of the machine base (23) and the iron core (5); The thermal assembly robot (14) grabs the iron core (5) onto the machine base (23) through the coordinates; The thermal assembly robot (14) aligns the iron core (5) with the machine base (23) through a temperature measuring machine hole on the surface of the iron core (5); After the non-contact positioning pin robot (18) detects the alignment of the holes added by the temperature measuring machine, it notifies the thermal assembly robot (14) to release the clamp (17) to complete the thermal assembly of the iron core (5) and the machine base (23).

8. The motor stator thermal assembly method according to claim 7, characterized in that: After the non-contact positioning pin robot (18) detects the alignment of the holes added by the temperature measuring machine and notifies the thermal assembly robot (14) to release the clamp (17), the method further comprises: The thermal assembly robot (14) places the finished stator (12) at the finished product offline station (11); The finished stator (12) is inspected by a stop inspection robot (10).

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