New energy motor rotor skewed pole detection system and method

Abstract

The invention discloses a new energy motor rotor skewed pole detection system and method, and the system is characterized in that a feature point obtaining module is used for scanning a rotor iron core formed by laminating a plurality of rotor iron core units, obtaining a three-dimensional model of the rotor iron core, and marking the feature point of each rotor iron core unit on the three-dimensional model of the rotor iron core; and the skewed pole detection module is used for obtaining an actual skewed pole angle value of the rotor iron core unit according to the feature points of the rotor iron core unit, performing rotor skewed pole detection on the rotor iron core according to the actual skewed pole angle value of the rotor iron core unit and a skewed pole angle set value of the rotor iron core unit, and judging whether the rotor iron core is a qualified product or not according to a detection result. According to the invention, after multiple layers of iron cores are laminated layer by layer by rotor iron core lamination equipment, whether the skewed poles of the iron cores meet the requirements or not can be detected through a technical means of detecting the skewed poles by scanning the outer contours of the iron cores in a 3D manner, so that the polarity requirement of a rotor is ensured.

Description

Technical Field

[0001] The present invention relates to the field of detecting the skew pole angle during the assembly of the optical axis rotor of a new energy motor for automobiles, and specifically refers to a system and method for detecting the skew pole of a new energy motor rotor. Background Art

[0002] For a traditional flat key rotor, the iron core and the rotor shaft are positioned and assembled using a flat key. The mechanical skew pole is ensured by the processing quality of the incoming materials, and the rotor assembly line does not need to inspect the mechanical skew pole of the rotor assembly. With the development of technology and the need for product cost, the optical axis rotor has gradually achieved industrialization. The iron core and the rotor shaft of the optical axis rotor are in an interference fit and are assembled by "thermal sleeve". First, the iron core is heated after being laminated layer by layer at a predetermined angle, and then the rotor shaft is pressed in at a high temperature. After cooling, the assembly is completed. The lamination of the iron core of the optical axis rotor relies on the equipment to control the angle of the rotor iron core layer by layer. Currently, the iron core lamination technologies of traditional flat key rotors and optical axis rotors both ensure the stability of the skew pole angle of the rotor by minimizing the mechanical assembly error method, and do not perform skew pole detection on the rotor iron core after assembly, and cannot determine whether the skew pole angle of the rotor iron core product is qualified. Summary of the Invention

[0003] On the one hand, the present invention provides a rotor skew pole detection system, and on the other hand, it provides a rotor skew pole detection method. After the rotor iron core lamination equipment laminates multiple iron core layers layer by layer, the system and method can detect the skew pole by means of 3D scanning the outer contour of the iron core, detect whether the skew pole of the iron core meets the requirements, and thus ensure the polarity requirements of the rotor.

[0004] To achieve this purpose, a new energy motor rotor skew pole detection system designed by the present invention includes a feature point acquisition module and a skew pole detection module;

[0005] The feature point acquisition module is used to scan the rotor iron core composed of multiple rotor iron core units to obtain a three-dimensional model of the rotor iron core, and mark the feature points of each rotor iron core unit on the three-dimensional model of the rotor iron core.

[0006] The skew pole detection module is used to obtain the actual value of the skew pole angle of the rotor iron core unit according to the feature points of the rotor iron core unit, perform rotor skew pole detection on the rotor iron core through the actual value of the skew pole angle of the rotor iron core unit and the set value of the skew pole angle of the rotor iron core unit, and judge whether the rotor iron core is a qualified product according to the detection result.

[0007] Further, the method for obtaining the three-dimensional model of the rotor iron core includes: using a 3D line scanning profiler to scan the entire rotor iron core, and generating a high-precision three-dimensional model of the rotor iron core according to the three-dimensional point cloud data of the rotor iron core obtained by the scanning.

[0008] Further, the rotor core is formed by laminating a plurality of rotor core units with the same structure, and the characteristic points are the same position points on the outer contour of each rotor core unit.

[0009] Further, the method for marking the characteristic points of each rotor core unit on the three-dimensional model of the rotor core includes: automatically marking the characteristic points of each rotor core unit in the three-dimensional model of the rotor core by a 3D line scanning profiler.

[0010] Further, the method for obtaining the actual value of the skew pole angle of the rotor core unit based on the characteristic points of the rotor core unit includes: taking the angle value between the angle reference rotor core unit in the rotor core and the characteristic points of the remaining rotor core units as the actual value of the skew pole angle of the rotor core unit.

[0011] Further, the angle reference rotor core unit includes any one of a plurality of rotor core units of the rotor core.

[0012] Further, the method for obtaining the angle value between the angle reference rotor core unit and the characteristic points of the remaining rotor core units includes: regarding the three-dimensional model of the rotor core as a geometric cylinder, regarding the outer contour of the three-dimensional model of the rotor core as the cylindrical surface of the cylinder, the characteristic points of the angle reference rotor core unit and the remaining rotor core units in the rotor core are all located on the same cylindrical side surface, obtaining that the characteristic points of a plurality of rotor core units are all located on the circumference of the same circle and share the same center from the axial view of the rotor core, taking the connection line between the center and the characteristic points of the angle reference rotor core unit as the reference line, and taking the included angle between the connection line between the characteristic points of the remaining rotor core units and the center and the reference line as the rotor skew pole angle and measuring the angle to obtain the angle value between the angle reference rotor core unit and the characteristic points of the remaining rotor core units.

[0013] Further, the method for performing rotor skew pole detection on the rotor core through the actual value of the skew pole angle of the rotor core unit and the set angle value of the rotor core unit, and judging whether the rotor core is a qualified product according to the detection result includes: taking the difference between the obtained angle value between the angle reference rotor core unit and the characteristic points of the remaining rotor core units and the set skew pole angle value of the rotor core. When the obtained difference is within the allowable error range, it is determined that the rotor core is a qualified product, otherwise it is an unqualified product.

[0014] Even further, the new energy motor rotor skew pole detection method based on the new energy motor rotor skew pole detection system includes:

[0015] Scanning the rotor core formed by laminating a plurality of rotor core units, after obtaining the three-dimensional model of the rotor core, marking the characteristic points of each rotor core unit on the three-dimensional model of the rotor core;

[0016] The actual skew pole angle of the rotor core unit is obtained based on the characteristic points of the rotor core unit. The rotor core is subjected to rotor skew pole detection through the actual skew pole angle of the rotor core unit and the set value of the skew pole angle of the rotor core unit, and it is judged whether the rotor core is a qualified product according to the detection result.

[0017] Advantages of the present invention: For the traditional flat key rotor, the core and the rotor shaft are positioned and assembled using a flat key, and the mechanical skew pole is ensured by the processing quality of the incoming materials, and the rotor assembly line does not need to check the mechanical skew pole of the rotor assembly. For the optical axis rotor, the core and the rotor shaft are in an interference fit and are assembled by "hot fitting". First, the core is laminated layer by layer at a predetermined angle and then heated, and then the rotor shaft is pressed in at high temperature, and the assembly is completed after cooling. The lamination of the optical axis rotor core relies on the equipment to control the angle of the rotor core layer by layer, and relies on improving the high-precision operation in the processing process to reduce the skew pole angle error of the rotor core. The mechanical skew pole needs to be monitored online to prevent defects. If not monitored, it will cause defective products with out-of-tolerance skew pole angles to flow out, resulting in poor rotor magnetism after the rotor is magnetized, which will cause production problems and further cause the overall performance of the machine to not meet the standards, resulting in product scrapping. Compared with the existing method of relying on the structure to ensure the skew pole angle of the rotor core in the flat key rotor, the present invention can intuitively digitalize and high-precisionize the deviation of the skew pole angle of the rotor core, providing a large amount of accurate data as a basis for the research of related product performance. Description of the Drawings

[0018] Figure 1 It is a structural schematic diagram of the present invention;

[0019] Figure 2 It is a 3D line scan outer contour diagram of the core of the present invention;

[0020] Figure 3 It is a diagram of obtaining the outer contour characteristic points of the core of the present invention;

[0021] Figure 4 It is a diagram of the angle of the core characteristic points relative to the reference of the present invention;

[0022] Figure 5 It is a preset characteristic point diagram of the present invention;

[0023] Figure 6 It is a schematic diagram of the selection of characteristic points of the present invention. Detailed Embodiments

[0024] The following further describes the present invention in detail with reference to the drawings and specific embodiments:

[0025] Embodiment 1

[0026] As Figure 1 shown, a new energy motor rotor skew pole detection system includes a characteristic point acquisition module and a skew pole detection module;

[0027] The feature point acquisition module is used to scan the rotor core formed by laminating multiple rotor core units to obtain a three-dimensional model of the rotor core, and mark the feature points of each rotor core unit on the three-dimensional model of the rotor core;

[0028] The skew pole detection module is used to obtain the actual skew pole angle value of the rotor core unit based on the feature points of the rotor core unit, perform rotor skew pole detection on the rotor core through the actual skew pole angle value of the rotor core unit and the set skew pole angle value of the rotor core unit, and judge whether the rotor core is a qualified product according to the detection result.

[0029] It should be noted that the lamination process of the rotor core is as follows: the manipulator is used to grasp and transplant the rotor core unit, rotate the rotor core unit once at a set angle, and place the rotor core unit above the 2D camera. The 2D camera detects the error between the current angle of the rotor core unit and the set angle, feeds back the angle error to the manipulator, guides the manipulator to perform a second rotation, so that the rotor core angle is infinitely close to the set value. After the manipulator rotates the rotor core unit to the set angle according to the angle error, the rotor core unit is placed at the lamination station for pressing;

[0030] The manipulator uses the iron core structure as the clamping and positioning point to ensure the levelness of the iron core and the accuracy of the rotation angle during the whole process from grasping to lamination. Through high-precision motion control, the manipulator ensures that each iron core is accurately stacked, guarantees the lamination quality, and the manipulator adopts automatic positioning to reduce human error and improve the precision of the lamination of the product rotor core.

[0031] Such as Figure 5As shown in the figure, before the rotor core unit is stacked, the 2D camera judges the accuracy and precision of the rotation angle of the rotor core unit through the positioning point 1 of the rotor core unit. The positioning point 1 is a concave point set on the inner ring of the rotor core unit. There is an initial angle before the rotor core unit rotates. The 2D camera detects the actual rotation angle value of the rotor core unit according to the angle change of the positioning point 1 after rotation relative to the initial angle. Only when the rotation angle of the rotor core unit meets the set rotation angle can the rotor core unit be stacked. The rotor core unit is stacked on the core stacking and tightening mechanism (stacking station). Before the rotor core unit is stacked, the core stacking and tightening mechanism is in a contracted state. The manipulator sequentially places multiple rotor core units with calibrated rotation angles on the core stacking and tightening mechanism. The core stacking and tightening mechanism performs a tightening operation on each rotor core unit to ensure that the angle does not change before and after core stacking. At the same time, in order to ensure the accuracy of core stacking and transplanting, it is necessary to use a standard block to calibrate the horizontal degree of the rotor core unit and the coaxial degree of the tightening mechanism during the grasping and transplanting process of the manipulator gripper. The standard block is a high-precision calibration tool. By using the standard block, the rotor core stacking equipment can be effectively calibrated and adjusted to ensure the accuracy and stability of the rotor core stacking equipment during operation. The horizontal degree of the rotor core unit refers to whether the rotor core unit remains horizontal during the grasping and transplanting process. If the rotor core unit is not in a horizontal state, it may cause uneven stacking of the rotor core unit, affecting the performance of the product. The standard block helps to adjust the position and angle of the gripper by providing an accurate reference plane to ensure that the rotor core unit always remains horizontal during the grasping and transplanting process. The coaxial degree refers to whether the central axis of the tightening mechanism is aligned with the central axis of the rotor core unit. If the coaxial degree is inaccurate, it may cause uneven distribution of the tightening force, affecting the stacking quality of the rotor core unit. The standard block assists in adjusting the position of the tightening mechanism by providing an accurate reference axis to ensure that the tightening mechanism is aligned with the central axis of the rotor core unit.

[0032] In the above technical solution, the method for obtaining the three-dimensional model of the rotor core includes: the 3D line scan profiler scans the whole rotor core, and according to the three-dimensional point cloud data of the rotor core obtained by the scan, a high-precision three-dimensional model of the rotor core is generated.

[0033] After the rotor core lamination is completed, the skew pole angle accuracy of the rotor is detected again by a 3D line scanning profiler. The 3D line scanning profiler can automatically complete the calculation and judgment of the angle difference, improve the production efficiency and product quality of the rotor core, and reduce the scrap rate. To ensure the skew pole detection accuracy of the 3D line scanning profiler, the 3D line scanning profiler is periodically calibrated by a skew pole standard rotor to ensure the stability and reliability of the skew pole detection of the 3D line scanning profiler. The skew pole standard rotor is a reference workpiece that has been precision machined and has known skew pole angles and geometric features. Using it as the calibration reference can verify and adjust the detection accuracy of the 3D line scanning profiler. By regularly calibrating with the skew pole standard rotor, it can be ensured that the 3D line scanning profiler maintains stable detection performance during long-term operation.

[0034] In the above technical solution, the rotor core is laminated by a plurality of rotor core units with the same structure, and the characteristic points are the same position points on the outer contour of each rotor core unit.

[0035] The structure of each rotor core unit is the same. By selecting the same position points on the outer contour of each rotor core unit as the characteristic points, when the angles of each rotor core unit are staggered, the skew pole angle value between the rotor core units can be obtained according to the connection lines between the characteristic points of each rotor core unit and the center of the rotor core.

[0036] In the above technical solution, the method of marking the characteristic points of each rotor core unit on the three-dimensional model of the rotor core includes: the 3D line scanning profiler automatically marks the characteristic points of each rotor core unit in the three-dimensional model of the rotor core.

[0037] By scanning the entire rotor core with a 3D line scanning profiler, high-density three-dimensional point cloud data is obtained, and a high-precision three-dimensional model of the rotor core is generated, which can accurately restore the geometric shape and surface features of the rotor core, making the selection of characteristic points more accurate and reliable, and the results of skew pole detection using the characteristic points will be more accurate. As Figure 2 shown, after the 3D line scanning profiler scans the entire rotor core and obtains the three-dimensional point cloud data of the rotor core, a three-dimensional model of the rotor core as shown in Figure 3 is generated. The 3D line scanning profiler selects characteristic points on the outer contour surface of this three-dimensional model, and the selection of characteristic points is as shown in Figure 3as shown by the green marker 2 in []. The method for the 3D line-scanning profiler to select feature points includes: after the 3D line-scanning profiler scans the rotor core and obtains the 3D model of the rotor core, the outer contour line of each rotor core unit can be obtained from the axial view of the rotor core. Since the skew pole angle of the rotor is set to be relatively small in actual applications, including but not limited to 1° or 2°, the 3D line-scanning profiler can lock an angle range obtained by adding up the skew pole angles of all rotor core units according to the set angle, and extract a very short outer contour line of each rotor core unit that conforms to the angle range according to this angle range. The multiple very short outer contour line segments extracted have the same length and the same line segment characteristics, and a point with the same characteristics on each outer contour line segment is selected as the feature point. The selection of the feature point can be but not limited to selecting a line segment turning point with the same fold angle on each outer contour line segment as the feature point of the rotor core unit, such as Figure 6 as shown in [], point C is the line segment turning point of an outer contour line segment, O is the center of the outer contour of the rotor core, and the line segment turning point with the same fold angle as point C on each outer contour line segment is selected as the feature point of the rotor core unit, and the included angle between the line connecting the selected feature point and the center of the circle is measured to obtain the actual value of the rotor skew pole angle.

[0038] In the above technical solution, the method for obtaining the actual value of the skew pole angle of the rotor core unit according to the feature points of the rotor core unit includes: using the angle value between the feature points of the angle reference rotor core unit and the other rotor core units in the rotor core as the actual value of the skew pole angle of the rotor core unit.

[0039] In the above technical solution, the angle reference rotor core unit includes any one of the multiple rotor core units of the rotor core.

[0040] Generally, it is preferred to select the lowermost or uppermost rotor core unit as the angle reference rotor core unit, so that it is more convenient and fast for skew pole detection and calculation of the angle error. Any rotor core unit can also be optionally selected as the angle reference rotor core unit according to the actual situation.

[0041] In the above technical solution, the method for obtaining the angular values between the characteristic points of the angular reference rotor core unit and the other rotor core units includes: regarding the three-dimensional rotor core model as a geometric cylinder, regarding the outer contour of the three-dimensional rotor core model as the cylindrical surface of the cylinder, the characteristic points of the angular reference rotor core unit and the other rotor core units in the rotor core are all located on the same cylindrical side surface. From the axial view of the rotor core, the characteristic points of multiple rotor core units are all located on the circumference of the same circle and share the same center. Taking the line connecting the center and the characteristic point of the angular reference rotor core unit as the directrix, the included angle between the line connecting the characteristic point of the other rotor core units and the center and the directrix is taken as the rotor skew pole angle and the angle is measured to obtain the angular values between the characteristic points of the angular reference rotor core unit and the other rotor core units.

[0042] From the axial view of the rotor core, the line connecting the center and the characteristic point of the angular reference rotor core unit and the line connecting the characteristic point of the other rotor core units and the center belong to the radii of the same circle. As Figure 4 shown, calculating the included angle between the radii is simple and accurate, which can ensure the accuracy of the actual value of the rotor skew pole angle.

[0043] In the above technical solution, the method for performing rotor skew pole detection on the rotor core by using the actual value of the skew pole angle of the rotor core unit and the set angle value of the rotor core unit, and determining whether the rotor core is a qualified product according to the detection result includes: taking the difference between the angular values between the characteristic points of the obtained angular reference rotor core unit and the other rotor core units and the set skew pole angle value of the rotor core. When the obtained difference is within the allowable error range, it is determined that the rotor core is a qualified product; otherwise, it is an unqualified product.

[0044] As Figure 5 shown, regarding the three-dimensional rotor core model as a solid geometric cylinder, the outer contour of the rotor core is equivalent to the cylindrical surface of the geometric cylinder. The selected characteristic points are all located on the cylindrical side surface of the geometric cylinder, such as points A and B in the figure. Points A and B are two non-coincident points randomly selected on the circumference. Points A and B are used for illustration and have no practical significance. C is the center of the cylinder. Assuming that point B is the characteristic point of the angular reference rotor core unit and point A is the characteristic point of any rotor core unit other than the angular reference rotor core unit, then the included angle α between line segment AC and line segment BC is the skew pole angle of the measured rotor core unit. If the measured value of the included angle α and the set value of the skew pole angle have an error less than or equal to the set error range, then this rotor core is a qualified product; otherwise, it is an unqualified product.

[0045] Embodiment 2

[0046] The new energy motor rotor skew pole detection method based on the new energy motor rotor skew pole detection system includes:

[0047] Scan the rotor core formed by stacking multiple rotor core units. After obtaining the three-dimensional model of the rotor core, mark the characteristic points of each rotor core unit on the three-dimensional model of the rotor core;

[0048] Obtain the actual value of the skew pole angle of the rotor core unit based on the characteristic points of the rotor core unit. Perform rotor skew pole detection on the rotor core by using the actual value of the skew pole angle of the rotor core unit and the set value of the skew pole angle of the rotor core unit, and determine whether the rotor core is a qualified product according to the detection result.

[0049] Embodiment 3

[0050] The present invention further includes a computer program product, including computer programs / instructions, which implement the steps of the above-mentioned method for detecting the skew pole of the rotor of the new energy motor when executed by a processor.

[0051] The content not detailed in this specification belongs to the prior art well-known to those skilled in the art.

Claims

1. A new energy motor rotor skew detection system, characterized by: It includes a feature point acquisition module and a slant pole detection module; The feature point acquisition module is used to scan a rotor core formed by stacking multiple rotor core units, obtain a three-dimensional model of the rotor core, and then mark the feature points of each rotor core unit on the three-dimensional model of the rotor core; The skew pole detection module is used to obtain the actual value of the skew pole angle of the rotor core unit according to the characteristic points of the rotor core unit, perform rotor skew pole detection on the rotor core through the actual value of the skew pole angle of the rotor core unit and the set value of the skew pole angle of the rotor core unit, and judge whether the rotor core is qualified according to the detection result.

2. A new energy motor rotor skew detection system according to claim 1, characterized in that: The method for obtaining a three-dimensional model of a rotor core includes: scanning the entire rotor core with a 3D line scanning profiler, and generating a high-precision three-dimensional model of the rotor core based on the three-dimensional point cloud data of the rotor core obtained by scanning.

3. A new energy motor rotor skew detection system according to claim 1, characterized in that: The rotor core is formed by stacking a plurality of rotor core units with the same structure, and the characteristic points are the same position points of the outer contour of each rotor core unit.

4. A new energy motor rotor skew detection system according to claim 1, characterized in that: The method for marking the characteristic points of each rotor core unit on the three-dimensional model of the rotor core includes: a 3D line scanning profiler automatically marks the characteristic points of each rotor core unit in the three-dimensional model of the rotor core.

5. The new energy motor rotor skew detection system according to claim 1 is characterized in that: The method for obtaining the actual value of the skew angle of the rotor core unit according to the characteristic points of the rotor core unit includes: taking the angle value between the characteristic points of the angle reference rotor core unit and the remaining rotor core units in the rotor core as the actual value of the skew angle of the rotor core unit.

6. A new energy motor rotor skew detection system according to claim 5, characterized in that: The angle reference rotor core unit includes any one of a plurality of rotor core units of a rotor core.

7. A new energy motor rotor skew detection system according to claim 5, characterized in that: The method for obtaining the angle value between the characteristic points of the angle reference rotor core unit and the remaining rotor core units includes: regarding the rotor core three-dimensional model as a geometric cylinder, regarding the outer contour of the rotor core three-dimensional model as the cylindrical surface of the cylinder, the characteristic points of the angle reference rotor core unit and the remaining rotor core units in the rotor core are all located on the same cylindrical side surface, obtaining from the axial view of the rotor core that the characteristic points of multiple rotor core units are all located on the circumference of the same circle and share the same center, using the line connecting the center of the circle and the characteristic points of the angle reference rotor core unit as the directrix, using the angle between the line connecting the characteristic points of the remaining rotor core units and the center of the circle and the directrix as the rotor skew angle and performing angle measurement to obtain the angle value between the angle reference rotor core unit and the characteristic points of the remaining rotor core units.

8. A new energy motor rotor skew detection system according to claim 1 or 7, characterized in that: The rotor core is subjected to rotor skew detection by using the actual value of the skew angle of the rotor core unit and the set angle value of the rotor core unit, and a method for judging whether the rotor core is a qualified product according to the detection result comprises: subtracting the angle value between the characteristic points of the obtained angle reference rotor core unit and the remaining rotor core units from the set skew angle value of the rotor core, and when the obtained difference is within the allowable error range, judging that the rotor core is a qualified product, otherwise it is an unqualified product.

9. A method for detecting rotor skew poles of a new energy motor using a rotor skew pole detection system of a new energy motor based on any one of claims 1 to 8, characterized in that: Scanning a rotor core formed by stacking a plurality of rotor core units to obtain a three-dimensional model of the rotor core, and marking characteristic points of each rotor core unit on the three-dimensional model of the rotor core; The actual value of the skew angle of the rotor core unit is obtained according to the characteristic points of the rotor core unit, and the rotor skew angle of the rotor core unit is detected by the actual value of the skew angle of the rotor core unit and the set value of the skew angle of the rotor core unit. Whether the rotor core is qualified is determined according to the detection result.

10. A computer program product, comprising a computer program / instruction, which implements the steps of the method according to claim 9 when executed by a processor.

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