Automatic material placing system for rare earth permanent magnets

Abstract

The invention relates to the technical field of rare earth permanent magnet placing, and discloses a rare earth permanent magnet automatic placing system which comprises a discharging module, a conveying module and a monitoring module, the conveying module is installed at the bottom end of the discharging module, the discharging module is used for discharging rare earth permanent magnets, the conveying module is used for conveying the discharged rare earth permanent magnets, and the monitoring module is used for monitoring the discharging module. The monitoring module is installed on the side edge of the conveying module, photographs the top face and multiple side faces of the rare earth permanent magnet in the conveying module and sends the photographs to the preliminary verification module for appearance verification of the rare earth permanent magnet, and the secondary verification module conducts position correction of the rare earth permanent magnet according to the photographs of the top face of the rare earth permanent magnet. And the position correction value of the rare earth permanent magnet is sent to the correction module for correction, so that the appearance of the rare earth permanent magnet in the material arrangement process is checked, defective products are prevented from flowing in, meanwhile, the position of the rare earth permanent magnet is adjusted and straightened, the productivity is comprehensively improved, and the cost is saved.

Description

Technical Field

[0001] The invention relates to the technical field of rare earth permanent magnet swinging, in particular to an automatic rare earth permanent magnet swinging system. Background Art

[0002] Rare earth permanent magnets, as important materials in modern industry and technology, have become a research hotspot due to their unique physical properties and wide range of applications. They are alloys composed of rare earth metals and transition metals (such as iron and cobalt), formed through specific processing techniques. These materials maintain strong magnetism over long periods of time, even after the external magnetic field is removed. Rare earth permanent magnets are primarily classified into two categories: samarium cobalt (SmCo) permanent magnets and neodymium iron boron (NdFeB) permanent magnets. NdFeB permanent magnets, known as the "king of permanent magnets" due to their high magnetic energy product, are currently the most powerful permanent magnet material. Rare earth permanent magnets possess high coercivity and energy density, making them particularly suitable for use in miniaturized devices. Furthermore, these materials exhibit excellent mechanical properties and can withstand a certain degree of physical stress without losing their magnetism. Rare earth permanent magnets are not only technologically revolutionary but also play a key role in promoting a more sustainable and environmentally friendly society.

[0003] In the existing rare earth permanent magnet swinging process, it is difficult to accurately locate the placement and direction of the rare earth permanent magnet. At the same time, the rare earth permanent magnet is prone to surface cracking or staining during the swinging process, resulting in a series of adverse consequences such as reduced magnetic properties, service life and mechanical strength of the magnet. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides an automatic swinging system for rare earth permanent magnets, which has the advantages of quickly detecting defects or contamination on the surface of rare earth permanent magnets by performing appearance inspection on the rare earth permanent magnets, ensuring that the quality meets the standards, and quickly and accurately adjusting the position of the rare earth permanent magnets by correcting the position of the rare earth permanent magnets, thereby improving overall production efficiency and saving costs.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention provides the following technical solutions: an automated swinging system for rare earth permanent magnets, comprising a feeding module, a conveying module, and a monitoring module, wherein the conveying module is mounted at the bottom of the feeding module, the feeding module is used to feed the rare earth permanent magnets, the conveying module is used to convey the fed rare earth permanent magnets, and the monitoring module is mounted on the side of the conveying module;

[0008] The monitoring module is internally connected to multiple groups of monitoring cameras to take pictures of the top surface and multiple side surfaces of the rare earth permanent magnet in the conveying module through the multiple groups of monitoring cameras, and the pictures are sent to the preliminary verification module for the appearance verification of the rare earth permanent magnet;

[0009] The preliminary verification module includes a top surface integrity verification module and a side surface integrity verification module. The top surface integrity verification module performs appearance verification on a top surface photo of the rare earth permanent magnet, and the side surface integrity verification module performs appearance verification on a side surface photo of the rare earth permanent magnet. If the appearance of the rare earth permanent magnet is found to be good, the preliminary verification module sends the top surface photo of the rare earth permanent magnet to the secondary verification module, and if the appearance of the rare earth permanent magnet is found to be unsatisfactory, sends a signal to the preliminary alarm module.

[0010] The secondary verification module performs position correction of the rare earth permanent magnet according to the top surface photo of the rare earth permanent magnet, and sends the correction value of the rare earth permanent magnet position to the correction module for correction.

[0011] Preferably, the top surface integrity verification module performs the following specific steps for performing appearance verification on the top surface photo of the rare earth permanent magnet:

[0012] S1.1. The top surface integrity verification module pre-stores the minimum frame selection value of the rare earth permanent magnet top surface photo and the minimum difference threshold DCyz of the top surface photo;

[0013] S1.2. The top surface integrity verification module minimizes the edges of the rare earth permanent magnet top surface photo, extracts the minimum frame selection value of the rare earth permanent magnet top surface photo, and then calculates the minimum difference between the top surface photo and the minimum frame selection value of the rare earth permanent magnet top surface photo;

[0014] S1.3. Compare the minimum difference value of the top surface image with the minimum difference threshold value DCyz of the top surface image to determine whether the appearance of the top surface of the rare earth permanent magnet is good.

[0015] Preferably, in S1.2, the calculation formula for the minimum difference of the top surface image is as follows:

[0016] DMcz=α*(DWzx-DZzx)

[0017] In the above formula, DMcz is the minimum difference value of the top surface image, DWzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, DZzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, and α is the weight factor of the calculation.

[0018] Preferably, the specific steps of the side integrity verification module performing appearance verification on the side photo of the rare earth permanent magnet are as follows:

[0019] S2.1. The side integrity verification module has pre-stored the minimum frame selection value of the rare earth permanent magnet side photo and the minimum difference threshold CCyz of the side photo;

[0020] S2.2, the side integrity verification module performs edge minimization cropping on the side photo of the rare earth permanent magnet, extracts the minimum frame selection value of the side photo of the rare earth permanent magnet, and then calculates the minimum difference between the side photo and the minimum frame selection value of the side photo of the rare earth permanent magnet;

[0021] S2.3. Compare the minimum difference value of the side image with the minimum difference threshold value CCyz of the side image to determine whether the side appearance of the rare earth permanent magnet is good.

[0022] Preferably, in S2.2, the calculation formula for the minimum difference of the side image is as follows:

[0023] CMcz=β*(CWzx-CZzx)

[0024] In the above formula, CMcz is the minimum difference value of the side image, CWzx is the minimum frame selection value of the side photo of the rare earth permanent magnet, CZzx is the minimum frame selection value of the side photo of the rare earth permanent magnet, and β is the weight factor of the calculation.

[0025] Preferably, when the minimum difference DMcz of the top surface image is greater than the minimum difference threshold DCyz of the top surface image, or when the minimum difference CMcz of the side image is greater than the minimum difference threshold CCyz of the side image, it is determined that the appearance of the currently transported rare earth permanent magnet is not good.

[0026] Preferably, the step of correcting the position of the rare earth permanent magnet is:

[0027] S3.1. Take the intersection of the two diagonal lines of the complete photo of the top surface of the rare earth permanent magnet as the center point and mark it as the initial reference center point (X Z ,Y Z );

[0028] S3.2. Mark the four vertices of the top surface of the rare earth permanent magnet as (x1, y1), (x2, y2), (x3, y3), and (x4, y4).

[0029] S3.3. Calculate the actual center point (x z ,y z ), the initial reference center point (X Z ,Y Z ) and the actual center point (x z ,y z ) to compare and determine whether the rare earth permanent magnet is in the right position;

[0030] S3.4. Calculate the orientation angle θ of the rare earth permanent magnet based on the vertex mark of the top surface photo of the rare earth permanent magnet, and set the predetermined orientation angle θ s , according to the orientation angle θ of the rare earth permanent magnet and the predetermined orientation angle θ s Calculate the rotation angle θ z , according to the rotation angle θ z Determine whether the direction of the rare earth permanent magnet is correct;

[0031] S3.5. Rotate and align the incorrect rare earth permanent magnet.

[0032] Preferably, in said S3.3, the actual center point (x z ,y z ) is calculated as follows:

[0033]

[0034] The steps to determine whether the rare earth permanent magnets are aligned are as follows:

[0035] a. Calculate the difference of the center point. The calculation formula of the difference of the center point is as follows:

[0036]

[0037] b. Set the center point difference threshold to ZXyz and compare the center point difference with the threshold;

[0038] If both of the following conditions are met:

[0039]

[0040] If the top of the rare earth permanent magnet is aligned, it is determined that the top of the rare earth permanent magnet is aligned; otherwise, it is determined that the position of the rare earth permanent magnet is not aligned.

[0041] Preferably, in S3.4, the calculation formula for the orientation angle θ of the rare earth permanent magnet is:

[0042]

[0043] In the above formula, The slope between the two vertices in the top surface photo of the rare earth permanent magnet is the inverse tangent function tan -1 The return angle is usually between -90 degrees and 90 degrees.

[0044] Rotation angle θ z The calculation formula is:

[0045] θ z =θ s -θ

[0046] When the rotation angle θz =0, it means that the current direction angle is consistent with the predetermined direction angle, and the rare earth permanent magnet is placed in the correct direction;

[0047] When the rotation angle θ z If ≠0, it means that the current direction angle is inconsistent with the predetermined direction angle and needs to be rotated by an angle θ z Straighten it up.

[0048] Preferably, the formula for the S3.5 rotational correction is:

[0049]

[0050] In the above formula, (xX z ) and (yY z ) is the current vertex relative to the reference center point (X Z ,Y Z ) offset.

[0051] Compared with the prior art, the present invention provides an automatic swing system for rare earth permanent magnets, which has the following beneficial effects:

[0052] 1. The present invention can quickly detect defects or contamination on the surface of rare earth permanent magnets by performing appearance inspection on the top and side surfaces of rare earth permanent magnets, ensuring that the quality meets the standards. It reduces the possibility of missed inspections or misjudgments caused by manual visual inspections due to fatigue, distraction or other factors, greatly improving production efficiency. At the same time, it reduces returns and rework caused by quality problems, thereby saving costs. In addition, an alarm is issued when a problem is found, so the cause of the problem can be found in time and defective products can be removed.

[0053] 2. The present invention can quickly and accurately adjust the position of the rare earth permanent magnet by correcting the position of the rare earth permanent magnet, reducing the need for manual intervention and improving overall production efficiency. By precisely controlling the placement and posture of the rare earth permanent magnet, the quality of the product in subsequent processing or packaging is ensured, defects or damage caused by improper positioning are reduced, and parts misalignment can be prevented, thereby avoiding possible safety risks. The invention has strong adaptability and cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 Schematic diagram of the structural system of the present invention; DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0056] See also Figure 1 , an automatic swinging system for rare earth permanent magnets, including a feeding module, a conveying module and a monitoring module, the conveying module is installed at the bottom of the feeding module, the feeding module is used to feed the rare earth permanent magnets, the conveying module is used to transport the fed rare earth permanent magnets, and the monitoring module is installed on the side of the conveying module;

[0057] The monitoring module is internally connected to multiple sets of monitoring cameras, which respectively take pictures of the top surface and multiple side surfaces of the rare earth permanent magnet in the conveying module, and send the pictures to the preliminary verification module for appearance verification of the rare earth permanent magnet;

[0058] The preliminary verification module includes a top surface integrity verification module and a side surface integrity verification module. The top surface integrity verification module performs appearance verification on the top surface photo of the rare earth permanent magnet;

[0059] By performing appearance verification on the top surface photos of rare earth permanent magnets, defects or contamination on the surface of rare earth permanent magnets can be quickly detected to ensure that quality meets standards. This solves the problem of manual inspection being usually time-consuming and prone to fatigue, greatly improving production efficiency and reducing returns and rework caused by quality problems, thereby saving costs. In addition, an alarm will be issued when a problem is found, and the cause of the problem can be found in time to remove defective products. The specific steps for performing appearance verification on the top surface photos of rare earth permanent magnets are as follows:

[0060] S1.1. The top surface integrity verification module pre-stores the minimum frame selection value of the rare earth permanent magnet top surface photo and the minimum difference threshold DCyz of the top surface photo;

[0061] S1.2. The top surface integrity verification module minimizes the edges of the rare earth permanent magnet top surface photo, extracts the minimum frame selection value of the rare earth permanent magnet top surface photo, and then calculates the minimum difference between the top surface photo and the minimum frame selection value of the rare earth permanent magnet top surface photo;

[0062] The calculation formula for the minimum difference of the top surface image is as follows:

[0063] DMcz=α*(DWzx-DZzx)

[0064] In the above formula, DMcz is the minimum difference value of the top surface picture, DWzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, DZzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, and α is the weight factor of the calculation;

[0065] S1.3. Compare the minimum difference value of the top surface image with the minimum difference threshold value DCyz of the top surface image to determine whether the appearance of the top surface of the rare earth permanent magnet is good;

[0066] When the top surface image minimum difference DMcz is greater than the top surface image minimum difference threshold DCyz, it is determined that the appearance of the currently transported rare earth permanent magnet is not good;

[0067] The side integrity verification module performs appearance verification on the side photos of rare earth permanent magnets;

[0068] The side integrity verification module can quickly detect defects or contamination on the side of rare earth permanent magnets, ensuring that product quality meets standards. It reduces the possibility of missed inspections or misjudgments during manual visual inspections due to fatigue, distraction, or other factors, and comprehensively reduces returns and rework due to quality issues, thereby saving costs. When problems are found, an alarm is issued to promptly identify the cause of the problem and remove defective products. The specific steps for the side integrity verification module to perform appearance verification on side photos of rare earth permanent magnets are as follows:

[0069] S2.1. The side integrity verification module has pre-stored the minimum frame selection value of the rare earth permanent magnet side photo and the minimum difference threshold CCyz of the side photo;

[0070] S2.2, the side integrity verification module performs edge minimization cropping on the side photo of the rare earth permanent magnet, extracts the minimum frame selection value of the side photo of the rare earth permanent magnet, and then calculates the minimum difference between the side photo and the minimum frame selection value of the side photo of the rare earth permanent magnet;

[0071] The calculation formula for the minimum difference of the side image is as follows:

[0072] CMcz=β·(CWzs-CZzx)

[0073] In the above formula, CMcz is the minimum difference value of the side image, CWzx is the minimum frame selection value of the side photo of the rare earth permanent magnet, CZzx is the minimum frame selection value of the side photo of the rare earth permanent magnet, and β is the weight factor of the calculation;

[0074] S2.3. Compare the minimum difference value of the side image with the minimum difference threshold value CCyz of the side image to determine whether the side appearance of the rare earth permanent magnet is good;

[0075] When the minimum difference CMcz of the side image is greater than the minimum difference threshold CCyz of the side image, it is determined that the appearance of the currently transported rare earth permanent magnet is not good;

[0076] The preliminary verification module sends a photo of the top surface of the rare earth permanent magnet to the secondary verification module when the appearance of the rare earth permanent magnet is good, and sends a signal to the preliminary alarm module when the appearance of the rare earth permanent magnet is not good.

[0077] The secondary verification module calibrates the position of the rare earth permanent magnet according to the top surface photo of the rare earth permanent magnet, and sends the rare earth permanent magnet position correction value to the correction module for correction;

[0078] The steps for rare earth permanent magnet position correction are:

[0079] S3.1. Take the intersection of the two diagonal lines of the complete photo of the top surface of the rare earth permanent magnet as the center point and mark it as the initial reference center point (X Z ,Y Z );

[0080] S3.2. Mark the four vertices of the top surface of the rare earth permanent magnet as (x1, y1), (x2, y2), (x3, y3), and (x4, y4).

[0081] S3.3. Calculate the actual center point (x z ,y z ), the initial reference center point (X Z ,Y Z ) and the actual center point (x z ,y z ) to compare and determine whether the rare earth permanent magnet is in the right position;

[0082] The actual center point of the top surface photo of the rare earth permanent magnet (x z ,y z ) is calculated as follows:

[0083]

[0084] The steps to determine whether the rare earth permanent magnets are aligned are as follows:

[0085] a. Calculate the difference of the center point. The calculation formula of the difference of the center point is as follows:

[0086]

[0087] b. Set the center point difference threshold to ZXyz and compare the center point difference with the threshold;

[0088] If both of the following conditions are met:

[0089]

[0090] If yes, it is determined that the top ends of the rare earth permanent magnets are aligned, otherwise it is determined that the positions of the rare earth permanent magnets are not aligned;

[0091] S3.4. Calculate the orientation angle θ of the rare earth permanent magnet based on the vertex mark of the top surface photo of the rare earth permanent magnet, and set the predetermined orientation angle θ s , according to the orientation angle θ of the rare earth permanent magnet and the predetermined orientation angle θ s Calculate the rotation angle θ z , according to the rotation angle θ z Determine whether the direction of the rare earth permanent magnet is correct;

[0092] The calculation formula for the orientation angle θ of the rare earth permanent magnet is:

[0093]

[0094] In the above formula, The slope between the two vertices in the top surface photo of the rare earth permanent magnet is the inverse tangent function tan -1 The return angle is usually between -90 degrees and 90 degrees.

[0095] Rotation angle θ z The calculation formula is:

[0096] θ z =θ s -θ

[0097] When the rotation angle θ z =0, it means that the current direction angle is consistent with the predetermined direction angle, and the rare earth permanent magnet is placed in the correct direction;

[0098] When the rotation angle θ z If ≠0, it means that the current direction angle is inconsistent with the predetermined direction angle and needs to be rotated by an angle θ z To straighten it out;

[0099] S3.5. Rotate and correct the incorrect rare earth permanent magnet;

[0100] The formula for rotational alignment is:

[0101]

[0102] In the above formula, (xX z ) and (yY z ) is the current vertex relative to the reference center point (X Z ,Y Z ) offset;

[0103] Through rare earth permanent magnet position correction, the position of rare earth permanent magnets can be adjusted quickly and accurately, reducing the need for manual intervention and improving overall production efficiency. By precisely controlling the placement and posture of rare earth permanent magnets, the quality of products in subsequent processing or packaging is ensured, defects or damage caused by improper positioning are reduced, and parts misalignment can be prevented, thereby avoiding possible safety risks. It has strong adaptability and cost-effectiveness.

[0104] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A rare earth permanent magnet automatic swing system, characterized by: It includes a blanking module, a conveying module and a monitoring module. The conveying module is installed at the bottom of the blanking module. The blanking module is used to blank rare earth permanent magnets. The conveying module is used to convey the blanked rare earth permanent magnets. The monitoring module is installed on the side of the conveying module. The monitoring module is internally connected to multiple groups of monitoring cameras to take pictures of the top surface and multiple side surfaces of the rare earth permanent magnet in the conveying module through the multiple groups of monitoring cameras, and the pictures are sent to the preliminary verification module for the appearance verification of the rare earth permanent magnet; The preliminary verification module includes a top surface integrity verification module and a side surface integrity verification module. The top surface integrity verification module performs appearance verification on a top surface photo of the rare earth permanent magnet, and the side surface integrity verification module performs appearance verification on a side surface photo of the rare earth permanent magnet. If the appearance of the rare earth permanent magnet is found to be good, the preliminary verification module sends the top surface photo of the rare earth permanent magnet to the secondary verification module, and if the appearance of the rare earth permanent magnet is found to be unsatisfactory, sends a signal to the preliminary alarm module. The secondary verification module performs position correction of the rare earth permanent magnet according to the top surface photo of the rare earth permanent magnet, and sends the correction value of the rare earth permanent magnet position to the correction module for correction.

2. The rare earth permanent magnet automatic swinging system according to claim 1, characterized in that: The specific steps of the top surface integrity verification module performing appearance verification on the top surface photo of the rare earth permanent magnet are as follows: S1.

1. The top surface integrity verification module pre-stores the minimum frame selection value of the rare earth permanent magnet top surface photo and the minimum difference threshold DCyz of the top surface photo; S1.

2. The top surface integrity verification module minimizes the edges of the rare earth permanent magnet top surface photo, extracts the minimum frame selection value of the rare earth permanent magnet top surface photo, and then calculates the minimum difference between the top surface photo and the minimum frame selection value of the rare earth permanent magnet top surface photo; S1.

3. Compare the minimum difference value of the top surface image with the minimum difference threshold value DCyz of the top surface image to determine whether the appearance of the top surface of the rare earth permanent magnet is good.

3. The rare earth permanent magnet automatic swinging system according to claim 2, characterized in that: In S1.2, the formula for calculating the minimum difference of the top surface image is as follows: DMcz=α*(DWzx-DZzx) In the above formula, DMcz is the minimum difference value of the top surface image, DWzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, DZzx is the minimum frame selection value of the top surface photo of the rare earth permanent magnet, and α is the weight factor of the calculation.

4. The rare earth permanent magnet automatic swinging system according to claim 1, characterized in that: The specific steps of the side integrity verification module for performing appearance verification on the side photo of the rare earth permanent magnet are as follows: S2.

1. The side integrity verification module has pre-stored the minimum frame selection value of the rare earth permanent magnet side photo and the minimum difference threshold CCyz of the side photo; S2.2, the side integrity verification module performs edge minimization cropping on the side photo of the rare earth permanent magnet, extracts the minimum frame selection value of the side photo of the rare earth permanent magnet, and then calculates the minimum difference between the side photo and the minimum frame selection value of the side photo of the rare earth permanent magnet; S2.

3. Compare the minimum difference value of the side image with the minimum difference threshold value CCyz of the side image to determine whether the side appearance of the rare earth permanent magnet is good.

5. The rare earth permanent magnet automatic swinging system according to claim 4, characterized in that: In S2.2, the calculation formula for the minimum difference of the side image is as follows: CMcz=β*(CWzx-CZzx) In the above formula, CMcz is the minimum difference value of the side image, CMcx is the minimum frame selection value of the side image of the rare earth permanent magnet, CZzx is the minimum frame selection value of the side image of the rare earth permanent magnet, and β is the weight factor of the calculation.

6. The rare earth permanent magnet automatic swinging system according to claim 5, characterized in that: When the top surface image minimum difference DMcz is greater than the top surface image minimum difference threshold DCyz, or when the side image minimum difference CMcz is greater than the side image minimum difference threshold CCyz, it is determined that the appearance of the currently transported rare earth permanent magnet is not good.

7. The rare earth permanent magnet automatic swinging system according to claim 1, characterized in that: The steps of the rare earth permanent magnet position correction are: S3.

1. Take the intersection of the two diagonal lines of the complete photo of the top surface of the rare earth permanent magnet as the center point and mark it as the initial reference center point (X Z ,Y Z ); S3.

2. Mark the four vertices of the top surface of the rare earth permanent magnet as (x1, y1), (x2, y2), (x3, y3), and (x4, y4). S3.

3. Calculate the actual center point (x z ,y z ), the initial reference center point (X Z ,Y Z ) and the actual center point (x z ,y z ) to compare and determine whether the rare earth permanent magnet is in the right position; S3.

4. Calculate the orientation angle θ of the rare earth permanent magnet based on the vertex mark of the top surface photo of the rare earth permanent magnet, and set the predetermined orientation angle θ s , according to the orientation angle θ of the rare earth permanent magnet and the predetermined orientation angle θ s Calculate the rotation angle θ z , according to the rotation angle θ z Determine whether the direction of the rare earth permanent magnet is correct; S3.

5. Rotate and align the incorrect rare earth permanent magnet.

8. The rare earth permanent magnet automatic swinging system according to claim 7, characterized in that: In S3.3, the actual center point (x z ,y z ) is calculated as follows: The steps to determine whether the rare earth permanent magnets are aligned are as follows: a. Calculate the difference of the center point. The calculation formula of the difference of the center point is as follows: b. Set the center point difference threshold to ZXyz and compare the center point difference with the threshold; If both of the following conditions are met: If the top of the rare earth permanent magnet is aligned, it is determined that the top of the rare earth permanent magnet is aligned; otherwise, it is determined that the position of the rare earth permanent magnet is not aligned.

9. The rare earth permanent magnet automatic swinging system according to claim 8, characterized in that: In S3.4, the calculation formula for the orientation angle θ of the rare earth permanent magnet is: In the above formula, The slope between the two vertices in the top surface photo of the rare earth permanent magnet is the inverse tangent function tan -1 The return angle is usually between -90 degrees and 90 degrees. Rotation angle θ z The calculation formula is: i z =θ s -θ When the rotation angle θ z =0, it means that the current direction angle is consistent with the predetermined direction angle, and the rare earth permanent magnet is placed in the correct direction; When the rotation angle θ z If ≠0, it means that the current direction angle is inconsistent with the predetermined direction angle and needs to be rotated by an angle θ z Straighten it up.

10. The rare earth permanent magnet automatic swinging system according to claim 9, characterized in that: The formula for the S3.5 rotational correction is: In the above formula, (xX z ) and (yY z ) is the current vertex relative to the reference center point (X Z ,Y Z ) offset.

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