Rotor sheet profiling method and system, intelligent terminal and storage medium

Abstract

The invention relates to a rotor piece profiling method and system, an intelligent terminal and a storage medium, and relates to the technical field of rotor machining, and the method comprises the steps: obtaining a profiling trigger signal of a rotor piece; based on the profiling trigger signal, a preset manipulator is controlled to place the rotor piece on a preset stamping device, and rotor piece parameters of the rotor piece are obtained; according to the parameters of the rotor piece, a stamping device is controlled to conduct rotary profiling slotting on the rotor piece, and the profiling slotting frequency of the rotor piece is obtained; judging whether the number of times of profiling slotting meets the requirements of rotor piece parameters or not; if yes, the manipulator is controlled to replace the next rotor sheet for profiling; and if not, the stamping device is controlled to conduct rotary profiling slotting on the rotor piece again according to the parameters of the rotor piece, and the number of times of profiling slotting continues to be obtained for cyclic judgment. The rotor sheet profiling device has the effects of reducing the difficulty of rotor sheet profiling and improving the convenience of rotor sheet profiling.

Description

Technical Field

[0001] The present application relates to the field of rotor processing technology, and in particular to a rotor sheet pressing method, system, intelligent terminal and storage medium. Background Art

[0002] The rotor is the rotating part inside the motor that interacts with the stator to produce mechanical motion. The rotor is usually formed by multiple rotor plates stacked and fixed.

[0003] In the related art, in order to accommodate the windings and form a magnetic circuit in the rotor, slots of a certain shape and number usually need to be opened on the rotor sheet. The rotor sheet with a preliminary shape is placed in a pressing mold, and then the stamping device is controlled to press the rotor sheet through the mold to obtain the slotted rotor sheet.

[0004] With regard to the above-mentioned related technologies, when the rotor sheet is placed in the mold for pressing and grooving, once the size of the rotor sheet is too large, the required impact force of the stamping device will be greatly increased. Most stamping devices cannot provide the force required for pressing, and the requirements for the stamping device are high, which makes it difficult to press the rotor sheet. There is still room for improvement. Summary of the invention

[0005] In order to reduce the difficulty of rotor sheet pressing and improve the convenience of rotor sheet pressing, the present application provides a rotor sheet pressing method, system, intelligent terminal and storage medium.

[0006] In a first aspect, the present application provides a rotor sheet forming method, which adopts the following technical solution: A rotor sheet pressing method, comprising: Obtaining a profiling trigger signal of a rotor sheet; Controlling a preset manipulator to place the rotor sheet on a preset stamping device based on a pressing trigger signal, and obtaining rotor sheet parameters of the rotor sheet; Controlling the punching device to perform rotational profiling and grooving on the rotor sheet according to the rotor sheet parameters, and obtaining the number of profiling and grooving times of the rotor sheet; Determine whether the number of profile grooving times meets the requirements of rotor sheet parameters; If it meets the requirements, the robot is controlled to replace the next rotor sheet for profiling; If it does not meet the requirements, the stamping device is controlled according to the rotor sheet parameters to rotate and profile the rotor sheet again, and the number of profile and profile times is continuously obtained for cyclic judgment.

[0007] By adopting the above technical scheme, the robot is controlled to place the rotor sheet on the stamping device, and then the stamping device is controlled to rotate and press the rotor sheet to form grooves, thereby adjusting multiple grooves formed in a single press to one groove formed in a single press, and after multiple press forming and grooving, the number of grooves on the rotor sheet meets the requirements of the rotor sheet parameters, thereby reducing the difficulty of rotor sheet forming and improving the convenience of rotor sheet forming.

[0008] Optionally, the punching device includes a pressing component, a moving component, a pressing component and a bearing component, and the step of controlling the punching device to rotate and press the rotor sheet to groove the rotor sheet according to the rotor sheet parameters includes: Determining the profiling parameters of the rotor sheet according to the rotor sheet parameters and a preset profiling relationship of the rotor sheet; Control the moving component to move the pressing component above the rotor sheet according to the rotor sheet parameters, and obtain a movement completion trigger signal; Control the pressing assembly to press the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters, and obtain the fixing completion trigger signal of the rotor sheet; Controlling the profiling component to perform profiling and grooving on the rotor sheet according to the fixed completion trigger signal and the profiling parameters, and obtaining the profiling completion trigger signal; The bearing assembly is controlled to rotate the rotor sheet according to the profiling completion trigger signal and the profiling parameters.

[0009] By adopting the above technical solution, the moving component is controlled to move the profiling component above the rotor sheet, thereby preparing for the profiling component to accurately profiling and grooving the rotor sheet, and the clamping component is controlled to clamp the rotor sheet, thereby ensuring the stability of the rotor sheet during the profiling process, thereby improving the accuracy of the profiling and grooving of the rotor sheet.

[0010] Optionally, the step of controlling the moving assembly to move the profiling assembly above the rotor sheet according to the rotor sheet parameters includes: Analyze the rotor plate parameters to determine the slot center distance value of the rotor plate; Determine the profiling distance position of the profiling component according to the slot center distance value and the preset distance position relationship; Obtaining the position of the profiling component before movement; Analyze the profile distance position and the position before movement to determine the movement parameters; The moving component is controlled according to the moving parameters to move the pressing component to above the rotor sheet.

[0011] By adopting the above technical scheme, the profiling distance position for profiling the rotor sheet is determined according to the distance value of the slot center and the distance position relationship, thereby determining the movement parameters according to the profiling distance position and the position before movement, and controlling the moving component to move the profiling component according to the movement parameters to ensure that the profiling component can accurately punch the slot position on the rotor sheet, thereby improving the convenience of moving the profiling component and the accuracy of stamping.

[0012] Optionally, the step of controlling the pressing assembly to press the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters includes: Analyze the slot center distance value and the preset component spacing distance to determine the clamping lateral distance of the clamping component; Obtaining the lateral distance of the pressing component before pressing; Analyze the lateral distance before and after compaction to determine the compaction movement distance; Determining the clamping parameters of the clamping assembly according to the rotor sheet parameters and a preset rotor sheet clamping relationship; The clamping assembly is controlled to move to the center of the rotor sheet according to the clamping moving distance, and the clamping assembly is controlled to clamp the rotor sheet according to the clamping parameters.

[0013] By adopting the above technical scheme, the clamping lateral distance is determined according to the slot center distance value and the component spacing distance, and the clamping movement distance is determined according to the lateral distance before clamping and the clamping lateral distance, so as to control the clamping component to move the clamping movement distance and clamp to the center of the rotor sheet, thereby ensuring uniform clamping of the rotor sheet and improving the stability of the rotor sheet during profiling.

[0014] Optionally, the step of controlling a preset manipulator to place the rotor sheet on a preset stamping device based on a stamping trigger signal includes: Determining the fixed negative pressure of the rotor sheet according to the rotor sheet parameters and the preset negative pressure relationship of the rotor sheet; According to the profiling trigger signal, the robot is controlled to place the rotor sheet on the carrier assembly so that the positioning rod in the carrier assembly is inserted into the positioning hole on the rotor sheet; Get placement completion trigger signal; The bearing assembly is controlled to adsorb and fix the rotor piece according to a placement completion trigger signal and the negative pressure for fixing the rotor piece.

[0015] By adopting the above technical solution, the robot is controlled to place the rotor sheet on the supporting component, and the positioning rod is inserted into the positioning hole, thereby ensuring that the center of the rotor sheet corresponds to the center of the supporting component, which facilitates the subsequent pressing component to accurately press and groove. After the placement is completed, the supporting component is controlled to fix the rotor sheet by adsorbing the negative pressure of the rotor sheet, thereby ensuring the stability of the rotor sheet during pressing and rotation.

[0016] Optionally, the step of controlling the manipulator to place the rotor sheet on the carrier assembly according to the profiling trigger signal so that the positioning rod in the carrier assembly is inserted into the positioning hole on the rotor sheet includes: Control the load-bearing component to lift at a preset load-bearing distance according to the pressure-type trigger signal; Controlling the manipulator to place the rotor sheet on the carrier assembly; Get reset trigger signal; The bearing assembly is controlled to descend and reset according to the reset trigger signal and the bearing distance so that the positioning rod in the bearing assembly is inserted into the positioning hole on the rotor sheet.

[0017] By adopting the above technical solution, the support assembly is controlled to be lifted, and after the rotor piece is placed on the support assembly, the support assembly is controlled to be lowered and reset, ensuring that the positioning rod can be accurately inserted into the positioning hole, thereby improving the convenience and accuracy of fixing the rotor piece on the support assembly.

[0018] Optionally, the step of controlling the manipulator to place the rotor sheet on the carrier assembly includes: Controlling the manipulator to clamp and move the rotor sheet according to the preset initial placement position; obtaining a rotor piece placement image of the rotor piece; Analyzing the rotor sheet placement image, the preset coordinate system, and the preset positioning hole features to determine secondary movement parameters; The manipulator is controlled according to the secondary movement parameters to move the rotor sheet onto the bearing assembly so that the positioning rod in the bearing assembly is aligned with the positioning hole on the rotor sheet.

[0019] By adopting the above technical solution, the manipulator is controlled to move the rotor sheet to the initial placement position, and then the rotor sheet placement image is collected, so as to determine the secondary movement parameters according to the difference between the position of the positioning hole feature in the rotor sheet placement image in the coordinate system and the origin coordinates, and the manipulator is controlled to move the rotor sheet with the secondary movement parameters so that the positioning hole on the rotor sheet is aligned with the positioning rod, thereby improving the accuracy and convenience of moving the rotor sheet.

[0020] In a second aspect, the present application provides a rotor sheet profiling system, which adopts the following technical solution: A rotor sheet pressing system, comprising: An acquisition module, used to acquire a profiling trigger signal, rotor sheet parameters, and profiling slotting times; A memory for storing a program of a rotor sheet forming method as described in any one of the above items; The program in the processor memory can be loaded and executed by the processor to implement a rotor sheet pressing method as described in any one of the above items.

[0021] By adopting the above technical solution, the processor loads and executes a program of a rotor sheet forming method stored in the memory, and the acquisition module obtains a series of data related to the rotor sheet forming, thereby controlling the robot to place the rotor sheet on the stamping device, and then controlling the stamping device to rotate and form grooves on the rotor sheet, thereby adjusting multiple grooves in a single forming to one groove in a single forming, and after multiple forming and grooving, the number of grooves on the rotor sheet meets the requirements of the rotor sheet parameters, thereby reducing the difficulty of rotor sheet forming and improving the convenience of rotor sheet forming.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a rotor sheet pressing method as described in any one of the above items.

[0023] By adopting the above technical solution, by operating the intelligent terminal, the processor is made to load and execute a computer program of a rotor sheet forming method stored in the memory, thereby controlling the manipulator to place the rotor sheet on the stamping device, and then controlling the stamping device to rotate and form grooves on the rotor sheet, thereby adjusting multiple grooves formed in a single press to one groove formed in a single press, and after multiple times of forming and grooving, the number of grooves on the rotor sheet meets the requirements of the rotor sheet parameters, thereby reducing the difficulty of rotor sheet forming and improving the convenience of rotor sheet forming.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of facilitating the reduction of the difficulty of rotor sheet forming and improving the convenience of rotor sheet forming, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned rotor sheet pressing methods.

[0025] By adopting the above technical scheme, a computer program of a rotor sheet forming method is stored in a computer-readable storage medium, so that the processor loads and executes the computer program in the storage medium, thereby controlling the robot to place the rotor sheet on the stamping device, and then controlling the stamping device to rotate and form grooves on the rotor sheet, thereby adjusting multiple grooves formed in a single press to one groove formed in a single press, and after multiple times of forming and grooving, the number of grooves on the rotor sheet meets the requirements of the rotor sheet parameters, thereby reducing the difficulty of rotor sheet forming and improving the convenience of rotor sheet forming.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. The manipulator is controlled to place the rotor sheet on the stamping device, and then the stamping device is controlled to rotate and form grooves on the rotor sheet, thereby adjusting multiple grooves formed in a single forming process to one groove formed in a single forming process, and after multiple forming and forming processes, the number of grooves on the rotor sheet meets the requirements of the rotor sheet parameters, thereby reducing the difficulty of forming the rotor sheet and improving the convenience of forming the rotor sheet; 2. The profiling distance position of the profiling slots on the rotor sheet is determined according to the distance value of the slot center and the distance position relationship, and the moving parameters are determined according to the profiling distance position and the position before the movement, and the moving component is controlled to move the profiling component according to the moving parameters to ensure that the profiling component can accurately punch the slot position on the rotor sheet, thereby improving the convenience of moving the profiling component and the accuracy of punching; 3. By controlling the manipulator to move the rotor piece to the initial placement position, and then collecting the rotor piece placement image, the secondary movement parameters are determined according to the difference between the position of the positioning hole feature in the rotor piece placement image in the coordinate system and the origin coordinates, and the manipulator is controlled to move the rotor piece with the secondary movement parameters, so that the positioning hole on the rotor piece is aligned with the positioning rod, thereby improving the accuracy and convenience of moving the rotor piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a rotor sheet pressing method according to an embodiment of the present application.

[0028] Figure 2 It is a flow chart of the steps of controlling the stamping device to perform rotational profiling and grooving on the rotor sheet according to the rotor sheet parameters in an embodiment of the present application.

[0029] Figure 3 It is a flow chart of the steps of controlling the moving assembly to move the profiling assembly above the rotor sheet according to the rotor sheet parameters in an embodiment of the present application.

[0030] Figure 4 It is a flow chart of the steps of controlling the clamping assembly to clamp the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters in an embodiment of the present application.

[0031] Figure 5 It is a flow chart of the steps of controlling a preset robot to place a rotor sheet on a preset stamping device based on a pressing trigger signal in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of the steps of controlling a robot to place a rotor sheet on a carrier assembly according to a profiling trigger signal in an embodiment of the present application so that a positioning rod in the carrier assembly is inserted into a positioning hole on the rotor sheet.

[0033] Figure 7 It is a flow chart of the steps of controlling a robot to place a rotor sheet on a carrier assembly according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The embodiment of the present application discloses a method for press-forming and grooving a rotor plate, and specifically discloses a processing terminal, a manipulator and a stamping device. The processing terminal is respectively connected to the manipulator and the stamping device through data wires to realize data interaction and control. When the processing terminal receives a press-forming trigger signal, the manipulator is controlled to place the rotor plate on the stamping device, and the stamping device is controlled to rotate and press-form and groove the rotor plate according to the rotor plate parameters. Compared with single-time opening of multiple grooves, single-time opening of one groove greatly reduces the difficulty of press-forming and grooving the rotor plate, and when the number of press-forming and grooving times meets the requirements of the rotor plate parameters, the next rotor plate is press-formed and grooved, thereby improving the convenience of press-forming and grooving the rotor plate.

[0036] Reference Figure 1 The present application discloses a rotor sheet forming method, comprising the following steps: Step S100: obtaining a profiling trigger signal of a rotor sheet.

[0037] The profiling trigger signal refers to a signal for starting profiling and grooving the rotor sheet, which is obtained by an operator pressing a start button to send an electrical signal representing the profiling trigger signal to a processing terminal.

[0038] Step S101: Based on a pressing trigger signal, a preset robot is controlled to place a rotor sheet on a preset stamping device, and rotor sheet parameters of the rotor sheet are obtained.

[0039] When the processing terminal receives the pressing trigger signal, the processing terminal responds to the pressing trigger signal, thereby controlling the manipulator to place the rotor sheet on the stamping device. The specific method is as follows. Figure 5 The steps are carried out and the rotor sheet parameters of the rotor sheet are detected to provide data support for the subsequent control of the stamping device to press the rotor sheet.

[0040] The manipulator refers to a mechanical arm used to place and remove rotor sheets, and the specific type is determined by the operator according to the actual situation. The rotor sheet parameters refer to the relevant parameters of the rotor sheet, including the rotor sheet model, size, number of slots, slot angle and other parameters, which are input by the operator into the processing terminal.

[0041] The stamping device refers to a device used to press the rotor sheet, including a clamping component, a moving component, a pressing component and a bearing component. The bearing component includes a bearing frame, a bearing plate installed on the bearing frame for placing the rotor sheet, a cylinder installed between the bearing frame and the bearing plate for controlling the lifting of the bearing plate, a servo motor for rotating the rotor sheet, a positioning rod for positioning the rotor sheet, and an adsorption cylinder for adsorbing and fixing the rotor sheet. The bearing plate is C-shaped, and the servo motor, the positioning rod and the adsorption cylinder are all installed at the center of the bearing plate; the pressing component includes a pressing head with an upper die installed, a support with a lower die installed The pressing head and the supporting platform correspond to the opening of the supporting plate; the moving component includes two linear modules and a screw mechanism, which are respectively arranged at the bottom of the profiling component to control the distance between the profiling component and the supporting component; the clamping component is arranged at the top of the profiling component, including a screw mechanism and a cylinder perpendicular to the screw mechanism, an L-shaped pressure rod is installed at the output end of the cylinder, and bearings and balls are installed at the end of the pressure rod, the screw mechanism controls the L-shaped pressure rod to align with the center of the rotor sheet, the cylinder controls the L-shaped pressure rod to clamp the rotor sheet, and the bearings and balls ensure that the circumferential rotation of the rotor sheet is unobstructed.

[0042] Step S102: controlling the punching device to perform rotational profiling and grooving on the rotor sheet according to the rotor sheet parameters, and obtaining the number of profiling and grooving times of the rotor sheet.

[0043] Among them, after the rotor sheet is placed on the stamping device, the processing terminal rotates and presses the rotor sheet according to the rotor sheet parameters. The specific method is referred to Figure 2 The steps are carried out so that after each press-forming groove is formed, the press-forming groove is continued by rotating a certain angle, which greatly reduces the difficulty of press-forming groove. The number of press-forming grooves of the rotor sheet is also detected to provide data support for the subsequent control of the stamping device.

[0044] The number of times of forming and grooving refers to the total number of times the stamping device forms the rotor sheet. The counter counts once each time the stamping device stamps.

[0045] Step S103: determining whether the number of press-forming and grooving times meets the requirements of rotor sheet parameters.

[0046] The rotor sheet parameter requirement refers to the number of slots being consistent with the rotor sheet parameters. The processing terminal determines whether the number of press-forming slots is consistent with the number of slots in the rotor sheet parameters, thereby determining whether the stamping device has completed the press-forming slots on the rotor sheet.

[0047] Step S1031: If it meets the requirements, the robot arm is controlled to replace the next rotor sheet for profiling.

[0048] Among them, if the processing terminal determines that the number of press-forming and grooving times is consistent with the number of grooves in the rotor sheet parameters, it indicates that the stamping device has completed the press-forming and grooving of the rotor sheet, so the robot is controlled to replace the next rotor sheet for press-forming.

[0049] Step S1032: If not, the stamping device is controlled according to the rotor sheet parameters to perform rotational profiling and grooving on the rotor sheet again, and the number of profiling and grooving times is continuously obtained for cyclic judgment.

[0050] Among them, if the processing terminal determines that the number of press-forming grooves is inconsistent with the number of grooves in the rotor sheet parameters, it means that the stamping device has not completed the press-forming grooves on the rotor sheet. Therefore, the rotor sheet parameters are continued to be followed up to control the stamping device to rotate the rotor sheet for press-forming grooves, and the number of press-forming grooves is continued to be detected, so as to continue to pay attention to the groove situation on the rotor sheet.

[0051] Reference Figure 2 The stamping device includes a pressing component, a moving component, a pressing component and a bearing component. The steps of controlling the stamping device to rotate and press the rotor sheet to form a groove according to the rotor sheet parameters include: Step S200: determining the profiling parameters of the rotor sheet according to the rotor sheet parameters and a preset rotor sheet profiling relationship.

[0052] Among them, the rotor sheet profiling relationship refers to the corresponding relationship between the rotor sheet model and the profiling parameters. Each rotor sheet has corresponding profiling parameters. The operator forms a mapping table by matching the rotor sheet model with the profiling parameters one by one.

[0053] The profiling parameters refer to the power of the profiling assembly to profiling and grooving the rotor plate and the stroke of the bearing assembly to rotate the rotor plate, which are obtained by searching the mapping table corresponding to the rotor plate profiling relationship according to the rotor plate model in the rotor plate parameters by the processing terminal.

[0054] Step S201: Control the moving assembly to move the profiling assembly to above the rotor sheet according to the rotor sheet parameters, and obtain a movement completion trigger signal.

[0055] Among them, the processing terminal controls the moving component to move the pressing component to the top of the rotor sheet according to the rotor sheet parameters. The specific method is as follows Figure 3 The steps are to align the pressing head on the profiling component with the slotted position on the rotor sheet, and detect the movement completion trigger signal to provide data support for the subsequent control of the stamping of the profiling component.

[0056] The movement completion trigger signal refers to a signal that the moving component moves the press component to the stamping position. After the moving component completes the movement of the press component according to the instruction, the movement completion trigger signal is sent to the processing terminal.

[0057] Step S202: controlling the pressing assembly to press the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters, and obtaining the fixation completion trigger signal of the rotor sheet.

[0058] Among them, after the processing terminal receives the movement completion trigger signal, it indicates that the pressure head of the pressing component is aligned with the slot position on the rotor sheet, so the pressing component is controlled to press the rotor sheet. The specific method is referred to Figure 4 The steps are performed to ensure that the rotor sheet is stable and does not deviate when the subsequent press-forming component is stamped, and the trigger signal of the rotor sheet fixation completion is detected to provide data support for the subsequent control of the stamping of the press-forming component.

[0059] The fixing completion trigger signal refers to a signal indicating that the clamping component has completed the clamping and fixing of the rotor sheet. After the clamping component completes clamping the rotor sheet according to the instruction, the fixing completion trigger signal is output to the processing terminal.

[0060] Step S203: Control the profiling assembly to perform profiling and grooving on the rotor sheet according to the fixed completion trigger signal and the profiling parameters, and obtain a profiling completion trigger signal.

[0061] Among them, when the processing terminal receives the fixed completion trigger signal, the processing terminal responds to the fixed completion trigger signal, thereby controlling the profiling component to perform profiling and grooving on the rotor sheet according to the profiling parameters. The specific process is that the servo motor rotates half-way counterclockwise and clockwise with the power corresponding to the profiling parameters, and then transforms the rotation into linear motion through the gear and crankshaft structure to drive the pressure head to punch down and lift up, thereby completing the profiling and grooving of the rotor sheet, and obtaining the profiling completion trigger signal for detection, providing data support for subsequent profiling.

[0062] The profiling completion trigger signal refers to the signal that the profiling component completes one profiling of the rotor sheet, and is obtained by sending the profiling completion trigger signal to the processing terminal after the servo motor completes one cycle of rotation.

[0063] Step S204: controlling the bearing assembly to rotate the rotor piece according to the profiling completion trigger signal and the profiling parameters.

[0064] Among them, when the processing terminal receives the profiling completion trigger signal, the processing terminal responds to the profiling completion trigger signal, thereby controlling the servo motor in the supporting assembly to rotate the rotor plate according to the stroke corresponding to the profiling parameters, so that the rotor plate rotates a certain angle, and the profiling assembly aligns with the next profiling groove position of the rotor plate to prepare for subsequent profiling grooves.

[0065] Reference Figure 3 The step of controlling the moving assembly to move the profiling assembly above the rotor sheet according to the rotor sheet parameters includes: Step S300: Analyze the rotor plate parameters to determine the slot center distance value of the rotor plate.

[0066] The slot center distance value refers to the distance between the slot position on the rotor sheet and the center of the rotor sheet, which is obtained by the processing terminal identifying and calling the numerical value in the rotor sheet parameters.

[0067] Step S301: determining the profiling distance position of the profiling component according to the slot center distance value and a preset distance position relationship.

[0068] Among them, the distance position relationship refers to the corresponding relationship between the groove center distance value and the profiling distance position. The larger the groove center distance value, the smaller the profiling distance position. The profiling distance position is obtained by subtracting the groove center distance value from the total distance.

[0069] The profiling distance position refers to the position coordinates of the profiling component for profiling the rotor sheet. The moving stroke of the moving component is used as the coordinate axis, and the position farthest from the load-bearing component is used as the origin. The closer the distance to the load-bearing component is, the larger the coordinate is. The processing terminal calculates the distance value of the slot center by inputting it into the formula corresponding to the distance position relationship.

[0070] Step S302: obtaining the position of the profiling component before movement.

[0071] The position before movement refers to the position coordinates of the press-forming component before movement. After the last movement, the processing terminal records and calls the last movement position.

[0072] Step S303: Analyze the profiling distance position and the position before movement to determine the movement parameters.

[0073] Among them, the moving parameters refer to the direction and distance of movement, which are obtained by subtracting the coordinates corresponding to the profile distance position and the position before movement by the processing terminal. If it is a negative number, the distance corresponding to the difference is moved backward; if it is a positive number, the distance corresponding to the difference is moved forward; if it is zero, it remains unchanged.

[0074] Step S304: controlling the moving assembly to move the profiling assembly to above the rotor sheet according to the moving parameters.

[0075] Among them, after the processing terminal determines the movement parameters, the processing terminal controls the moving component to move the profiling component above the rotor sheet in the direction and distance corresponding to the movement parameters, so that the pressing head of the profiling component is aligned with the profiling slot position on the rotor sheet.

[0076] Reference Figure 4 The step of controlling the clamping assembly to clamp the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters includes: Step S400: Analyze the slot center distance value and the preset component spacing distance to determine the clamping lateral distance of the clamping component.

[0077] Among them, the component spacing distance refers to the shortest distance between the pressing rod in the pressing component and the pressure head in the pressing component, which is input by the operator according to the actual situation and stored in the processing terminal. The pressing lateral distance refers to the distance that the pressing device needs to move lateraly when pressing the center of the rotor sheet, which is calculated by the processing terminal as the difference between the slot center distance value and the component spacing distance.

[0078] Step S401: obtaining the lateral distance of the pressing assembly before pressing.

[0079] The lateral distance before compaction refers to the distance that the compaction assembly has moved before compacting the rotor sheet, and is obtained by recording the moving distance of the compaction assembly by the processing terminal after the compaction assembly has moved last time.

[0080] Step S402: Analyze the compaction lateral distance and the pre-compaction lateral distance to determine the compaction movement distance.

[0081] Among them, the clamping movement distance refers to the distance that the clamping assembly needs to move to clamp the center of the rotor plate. It is obtained by calculating the difference between the clamping lateral distance and the lateral distance before clamping by the processing terminal. If the difference is positive, the distance corresponding to the difference is moved forward. If it is negative, the distance corresponding to the difference is moved backward. If it is zero, it remains stationary.

[0082] Step S403: Determine the clamping parameters of the clamping assembly according to the rotor sheet parameters and the preset rotor sheet clamping relationship.

[0083] Among them, the rotor plate clamping relationship refers to the corresponding relationship between the rotor plate weight and the clamping parameter. The larger the rotor plate weight, the larger the clamping parameter, thereby ensuring the stability of the clamping. The operator forms a mapping table after matching the rotor plate weight and the clamping parameter one by one.

[0084] The clamping parameter refers to the clamping force value of the clamping assembly on the rotor plate, which is obtained by searching the mapping table corresponding to the rotor plate clamping relationship according to the weight corresponding to the rotor plate parameter by the processing terminal.

[0085] Step S404: controlling the pressing assembly to move to the center of the rotor sheet according to the pressing moving distance, and controlling the pressing assembly to press the rotor sheet according to the pressing parameters.

[0086] Among them, after determining the clamping parameters, the screw structure in the clamping assembly is controlled to move the clamping rod to align with the center of the rotor plate according to the clamping movement distance, and then the cylinder is controlled to move the clamping rod according to the force value corresponding to the clamping parameter, so that the clamping rod presses the center of the rotor plate, thereby ensuring the stability of the rotor plate.

[0087] Reference Figure 5 The steps of controlling a preset manipulator to place a rotor sheet on a preset stamping device based on a pressing trigger signal include: Step S500: determining the fixed negative pressure of the rotor plate according to the rotor plate parameters and the preset negative pressure relationship of the rotor plate.

[0088] Among them, the rotor plate negative pressure relationship refers to the corresponding relationship between the rotor plate weight and the adsorption negative pressure. The greater the rotor plate weight, the greater the adsorption negative pressure. The operator forms a mapping table by matching the rotor plate weight and the adsorption negative pressure one by one.

[0089] The fixed negative pressure of the rotor piece refers to the negative pressure value when the rotor piece is adsorbed and fixed on the supporting platform after the rotor piece is placed on the supporting platform of the supporting assembly. The negative pressure is obtained by searching the mapping table corresponding to the negative pressure relationship of the rotor piece according to the weight corresponding to the parameters of the rotor piece by the processing terminal.

[0090] Step S501: Controlling the robot to place the rotor sheet on the carrier assembly according to the profiling trigger signal so that the positioning rod in the carrier assembly is inserted into the positioning hole on the rotor sheet.

[0091] When the processing terminal receives the profiling trigger signal, the processing terminal responds to the profiling trigger signal, thereby controlling the manipulator to place the rotor sheet on the carrier platform of the carrier assembly, so that the positioning rod at the center of the carrier platform is inserted into the positioning hole at the center of the rotor sheet. The specific method is as follows Figure 6 steps to ensure that the centers of the two correspond and that the position of the subsequent rotation and pressing is accurate.

[0092] Step S502: Obtain placement completion trigger signal.

[0093] The placement completion trigger signal refers to a trigger signal for placing the rotor piece on the carrier component, which is sent to the processing terminal after the manipulator places the rotor piece on the carrier component according to the instruction.

[0094] Step S503: controlling the bearing assembly to adsorb and fix the rotor piece according to the placement completion trigger signal and the negative pressure for fixing the rotor piece.

[0095] Among them, when the processing terminal receives the placement completion trigger signal, the processing terminal responds to the placement completion trigger signal, thereby controlling the negative pressure cylinder in the supporting assembly to fix the rotor plate with negative pressure adsorption, thereby ensuring the stability of the rotor plate on the supporting platform.

[0096] Reference Figure 6 The step of controlling the manipulator to place the rotor sheet on the bearing assembly according to the pressing trigger signal so that the positioning rod in the bearing assembly is inserted into the positioning hole on the rotor sheet includes: Step S600: controlling the bearing assembly to be lifted at a preset bearing distance according to the pressure trigger signal.

[0097] When the processing terminal receives the profiling trigger signal, the processing terminal responds to the profiling trigger signal, thereby controlling the cylinder on the bearing assembly to control the bearing platform to lift by the bearing distance, in preparation for the subsequent placement of the rotor sheet.

[0098] The load-bearing distance refers to the distance on the load-bearing assembly where only the load-bearing platform contacts the rotor plate. The specific value is determined by the operator based on actual conditions.

[0099] Step S601: Control the robot to place the rotor sheet on the supporting assembly.

[0100] After the support platform is lifted, the manipulator is controlled to place the rotor sheet on the support assembly. The specific method is as follows Figure 7 steps.

[0101] Step S602: Obtain a reset trigger signal.

[0102] The reset trigger signal refers to a signal for the carrier platform of the carrier component to be reset to its original position, which is sent by the manipulator to the processing terminal after the rotor piece is placed.

[0103] Step S603: Control the bearing assembly to descend and reset according to the reset trigger signal and the bearing distance so that the positioning rod in the bearing assembly is inserted into the positioning hole on the rotor sheet.

[0104] Among them, when the processing terminal receives the reset trigger signal, the processing terminal responds to the reset trigger signal, thereby controlling the cylinder in the bearing assembly to descend the bearing distance, thereby resetting the bearing platform and inserting the positioning rod in the bearing assembly into the positioning hole of the rotor plate. At this time, the rotor plate is supported by the bearing block at the output end of the servo motor.

[0105] Reference Figure 7 The steps of controlling the manipulator to place the rotor sheet on the carrier assembly include: Step S700: controlling the robot to clamp and move the rotor sheet according to the preset initial placement position.

[0106] The processing terminal controls the manipulator to move the rotor piece with the two-dimensional coordinates corresponding to the initial placement position, so as to align the rotor piece with the center of the carrier platform in the carrier assembly as much as possible.

[0107] The initial placement position refers to the position where the robot moves the rotor piece in a plane so that the center of the rotor piece is aligned with the center of the carrier platform. The specific coordinates are determined by the operator based on actual conditions.

[0108] Step S701: Acquire a rotor piece placement image of a rotor piece.

[0109] Among them, the rotor sheet placement image refers to an image of the rotor sheet being placed in front of the carrier platform, which is obtained by controlling the camera at the center of the carrier platform to photograph the rotor sheet after the robot moves the rotor sheet to the initial placement position.

[0110] Step S702: Analyze the rotor sheet placement image, the preset coordinate system and the preset positioning hole features to determine the secondary movement parameters.

[0111] Among them, the coordinate system refers to the plane rectangular coordinate system established with the camera at the center of the carrier as the origin in the captured image. The positioning hole feature refers to the positioning hole in the center of the rotor plate in the image. The secondary movement parameter refers to the angle and distance that the positioning rod needs to move to align the positioning hole of the rotor plate with the center of the carrier plate. The processing terminal arranges the coordinate system in the rotor plate placement image to identify the coordinates of the positioning hole feature. After connecting the positioning hole coordinates and the origin coordinates, the length of the connection line and the angle between the connection line and the coordinate axis are identified to obtain the secondary movement parameter.

[0112] Step S703: controlling the manipulator to move the rotor sheet onto the carrier assembly according to the secondary movement parameters so that the positioning rods in the carrier assembly are aligned with the positioning holes on the rotor sheet.

[0113] Among them, after the processing terminal obtains the secondary movement parameters, the processing terminal controls the manipulator to move the rotor plate again in the plane at an angle and distance corresponding to the secondary movement parameters, so that the positioning hole of the rotor plate is aligned with the positioning rod, and controls the manipulator to control the rotor plate to descend at a preset descending distance, so that the rotor plate is placed on the supporting platform, and the positioning rod in the supporting assembly is aligned with the positioning hole on the rotor plate.

[0114] Based on the same inventive concept, the embodiment of the present application provides a rotor sheet pressing system, comprising: An acquisition module is used to acquire a profiling trigger signal, rotor sheet parameters, profiling slotting times, a moving completion trigger signal, a fixing completion trigger signal, a profiling completion trigger signal, a position before moving, a lateral distance before pressing, a placement completion trigger signal, a reset trigger signal, and a rotor sheet placement image; A memory for storing a program of a rotor sheet pressing method; The program in the memory can be loaded and executed by the processor to implement a rotor sheet pressing method.

[0115] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0116] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a rotor sheet pressing method.

[0117] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0118] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a rotor sheet pressing method.

[0119] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0120] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A rotor sheet forming method, characterized in that: include: Obtaining a profiling trigger signal of a rotor sheet; Controlling a preset manipulator to place the rotor sheet on a preset stamping device based on a pressing trigger signal, and obtaining rotor sheet parameters of the rotor sheet; Controlling the punching device to perform rotational profiling and grooving on the rotor sheet according to the rotor sheet parameters, and obtaining the number of profiling and grooving times of the rotor sheet; Determine whether the number of profile grooving times meets the requirements of rotor sheet parameters; If it meets the requirements, the robot is controlled to replace the next rotor sheet for profiling; If it does not meet the requirements, the stamping device is controlled according to the rotor sheet parameters to rotate and profile the rotor sheet again, and the number of profile and profile times is continuously obtained for cyclic judgment.

2. A rotor sheet pressing method according to claim 1, characterized in that: The punching device includes a pressing component, a moving component, a pressing component and a bearing component. The steps of controlling the punching device to rotate and press the rotor sheet to form grooves according to the rotor sheet parameters include: Determining the profiling parameters of the rotor sheet according to the rotor sheet parameters and a preset profiling relationship of the rotor sheet; Control the moving component to move the pressing component above the rotor sheet according to the rotor sheet parameters, and obtain a movement completion trigger signal; Control the pressing assembly to press the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters, and obtain the fixing completion trigger signal of the rotor sheet; Controlling the profiling component to perform profiling and grooving on the rotor sheet according to the fixed completion trigger signal and the profiling parameters, and obtaining the profiling completion trigger signal; The bearing assembly is controlled to rotate the rotor sheet according to the profiling completion trigger signal and the profiling parameters.

3. A rotor sheet pressing method according to claim 2, characterized in that: The step of controlling the moving assembly to move the profiling assembly above the rotor sheet according to the rotor sheet parameters includes: Analyze the rotor plate parameters to determine the slot center distance value of the rotor plate; Determine the profiling distance position of the profiling component according to the slot center distance value and the preset distance position relationship; Obtaining the position of the profiling component before movement; Analyze the profile distance position and the position before movement to determine the movement parameters; The moving component is controlled according to the moving parameters to move the pressing component to above the rotor sheet.

4. A rotor sheet pressing method according to claim 3, characterized in that: The steps of controlling the clamping assembly to clamp the rotor sheet according to the movement completion trigger signal and the rotor sheet parameters include: Analyze the slot center distance value and the preset component spacing distance to determine the clamping lateral distance of the clamping component; Obtaining the lateral distance of the pressing component before pressing; Analyze the lateral distance before and after compaction to determine the compaction movement distance; Determining the clamping parameters of the clamping assembly according to the rotor sheet parameters and a preset rotor sheet clamping relationship; The clamping assembly is controlled to move to the center of the rotor sheet according to the clamping moving distance, and the clamping assembly is controlled to clamp the rotor sheet according to the clamping parameters.

5. A rotor sheet pressing method according to claim 2, characterized in that: The steps of controlling a preset manipulator to place a rotor sheet on a preset stamping device based on a press trigger signal include: Determining the fixed negative pressure of the rotor sheet according to the rotor sheet parameters and the preset negative pressure relationship of the rotor sheet; According to the profiling trigger signal, the robot is controlled to place the rotor sheet on the carrier assembly so that the positioning rod in the carrier assembly is inserted into the positioning hole on the rotor sheet; Get placement completion trigger signal; The bearing assembly is controlled to adsorb and fix the rotor piece according to a placement completion trigger signal and the negative pressure for fixing the rotor piece.

6. A rotor sheet pressing method according to claim 5, characterized in that: The steps of controlling the manipulator to place the rotor sheet on the bearing assembly according to the profiling trigger signal so that the positioning rod in the bearing assembly is inserted into the positioning hole on the rotor sheet include: Control the load-bearing component to lift at a preset load-bearing distance according to the pressure-type trigger signal; Controlling the manipulator to place the rotor sheet on the carrier assembly; Get reset trigger signal; The bearing assembly is controlled to descend and reset according to the reset trigger signal and the bearing distance so that the positioning rod in the bearing assembly is inserted into the positioning hole on the rotor sheet.

7. A rotor sheet pressing method according to claim 6, characterized in that: The steps of controlling the manipulator to place the rotor sheet on the carrier assembly include: Controlling the manipulator to clamp and move the rotor sheet according to the preset initial placement position; obtaining a rotor piece placement image of the rotor piece; Analyzing the rotor sheet placement image, the preset coordinate system, and the preset locating hole features to determine secondary movement parameters; The manipulator is controlled according to the secondary movement parameters to move the rotor sheet onto the bearing assembly so that the positioning rod in the bearing assembly is aligned with the positioning hole on the rotor sheet.

8. A rotor sheet profiling system, characterized in that: include An acquisition module, used to acquire a profiling trigger signal, rotor sheet parameters, and profiling slotting times; A memory for storing a program of a rotor sheet forming method according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a rotor sheet pressing method as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a rotor sheet pressing method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes a rotor sheet profiling method according to any one of claims 1 to 7.

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