Motor insulation paper automatic insertion control method and device

Abstract

The invention discloses a motor insulation paper automatic paper inserting control method and device, and relates to the technical field of motor manufacturing, and the motor insulation paper automatic paper inserting device comprises a stator positioning rotation module, a material pressing assembly, an insulation paper feeding and paper inserting module and a cutting module. The insulation paper feeding and inserting module comprises a heating forming device and a pushing mechanism with load detection. The method comprises the following steps of: finishing mechanical zero alignment and compression of a stator by using a positioning convex edge of a stator jig; heating the insulation paper and calculating a target paper feeding length; the air inflow is adjusted through the electric proportional valve, the pushing mechanism is driven to vertically push the insulation paper into the stator groove from bottom to top, and meanwhile the pushing resistance is recorded; the paper is cut off and reset after being inserted in place. According to the method, the paper feeding length is corrected through the thermal-mechanical coupling model, and the thrust closed-loop control is carried out, so that the problems of thermal deformation error and thrust buckling of the insulation paper are effectively solved, and the paper inserting precision and stability are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of motor manufacturing, specifically to a method and device for automatic paper insertion control of motor insulation paper. Background Technology

[0002] In the manufacturing process of motor stators, the insertion of slot insulation paper is a crucial step before winding, serving to achieve electrical isolation between the copper wire and the stator core. With the development of the new energy vehicle industry, the power density requirements for drive motors are becoming increasingly stringent, leading to narrower and longer stator slots. This places stringent demands on the forming precision and insertion quality of the insulation paper.

[0003] In existing technologies, to solve the problem of inserting insulating paper into the motor stator, traditional paper insertion machines mostly adopt a horizontal structure, where the insulating paper is pushed into the stator via a long-distance horizontal conveyor. While this method meets the needs of motor stator manufacturing to some extent, it also has limitations. Furthermore, to ensure good adhesion of the insulating paper within the slot, it usually requires heat forming, and existing equipment typically uses a fixed-length paper feeding method. Additionally, existing equipment often employs open-loop control, lacking effective measures to handle various abnormal situations during the paper insertion process.

[0004] However, existing technologies have certain drawbacks. The new composite insulating paper is relatively soft and easily buckles or wrinkles due to frictional resistance during long-distance horizontal feeding, leading to paper jams. Furthermore, existing equipment uses a fixed-length paper feeding method, neglecting the length change of the insulating paper after thermal expansion. This results in inconsistent lengths of the paper extending beyond the stator end face after cooling and shrinking, posing a creepage risk. Additionally, existing equipment often uses open-loop control; when paper insertion is obstructed, the cylinder will still forcefully push forward, often causing the insulating paper to be scrapped or even damaging the stator. Summary of the Invention

[0005] To address the technical problems in the prior art, this application provides an automatic paper insertion control method and apparatus for motor insulation paper.

[0006] The automatic paper insertion control method and device for motor insulation paper provided in this application adopts the following technical solution:

[0007] An automatic paper insertion control method for motor insulation paper, characterized in that it is applied to an automatic paper insertion device for motor insulation paper, the automatic paper insertion device for motor insulation paper including a stator positioning and rotation module, a pressing assembly, an insulation paper feeding and insertion module, and a cutting module, the insulation paper feeding and insertion module including a forming device with heating function and a pushing mechanism with load detection function, the pushing mechanism having a first electro-proportional valve in its air circuit; the automatic paper insertion control method for motor insulation paper includes the following steps:

[0008] S1: Load the stator to be processed onto the stator positioning and rotating module, and complete the mechanical zero point alignment by engaging the positioning protrusions on the surface of the stator fixture into the stator slot, and control the pressing assembly to press down and fix the stator;

[0009] S2: Drive the stator positioning rotation module to rotate to the current target slot angle according to the preset number of stator slots;

[0010] S3: Controls the insulation paper feeding and insertion module to heat the insulation paper and calculates the target paper feeding length for the current slot;

[0011] S4: Adjust the air intake through the first electric proportional valve to drive the pushing mechanism to push the insulating paper vertically into the stator slot from bottom to top until the target paper feeding length is reached, and record the pushing resistance of the pushing mechanism in real time.

[0012] S5: While keeping the pusher mechanism locked, drive the cutting module to cut the insulating paper laterally, then the pusher mechanism resets and the stator rotates to the next slot angle.

[0013] In some embodiments, in step S3, the target paper feed length The calculation formula is:

[0014] ,

[0015] ,

[0016] ,

[0017] in, This refers to the stator core stacking height; Standard process allowance for insulating paper extending beyond the stator end face; This is the amount of thermal expansion compensation. This is the elastic compression compensation amount; The temperature of the molding device is monitored in real time. For reference temperature; The residence time of the insulating paper within the forming device. The time-related factor; This represents the average pushing resistance of the previous paper insertion cycle, and its value is equal to the product of the average driving air pressure of the cylinder and the piston area of ​​the cylinder in the previous cycle. The elastic modulus of the insulating paper. This represents the cross-sectional area of ​​the insulating paper. This is the buckling correction factor for the insulating paper.

[0018] In some embodiments, the pushing mechanism uses a variable acceleration S-shaped speed curve to vertically push the insulating paper into the stator slot from bottom to top, the variable acceleration S-shaped speed curve including:

[0019] Acceleration section: The feeding mechanism accelerates the material. Start up until maximum speed is reached. ;

[0020] Uniform speed segment: Maintain a constant speed of advancement so that the front end of the insulating paper passes through the stator slot;

[0021] Deceleration and buffer section: When the insulation paper is pushed to the required length... At that time, with acceleration and deceleration Reduce speed to To eliminate inertial overshoot;

[0022] Among them, the maximum speed Based on real-time monitoring of the pusher pressure Adjustment: If If it shows an upward trend, then the next cycle will decrease. .

[0023] In some embodiments, step S4 further includes a buckling-resistance adaptive protection step, the buckling-resistance adaptive protection step comprising:

[0024] Real-time monitoring of the air pressure value in the air intake circuit of the cylinder of the pushing mechanism. ;

[0025] Calculate the rate of change of the real-time air pressure value over time. ;

[0026] when Exceeding the first air pressure threshold and When the second rate of change threshold is exceeded, it is determined that the insulating paper has experienced front-end obstruction or buckling;

[0027] The control system sends a cut-off signal to the first electro-proportional valve to stop the feeding, and controls the feeding mechanism to retract downwards a certain distance. Subsequently A low-speed attempt at secondary propulsion;

[0028] If the secondary propulsion air pressure value still exceeds the limit, a shutdown alarm will be triggered.

[0029] In some embodiments, the automatic paper insertion control method for motor insulation paper further includes cutter wear compensation logic:

[0030] Record the time taken for each cutting action in the trimming module. ;

[0031] If continuous Next cycle If the standard time threshold is exceeded, the cutter is determined to be dull.

[0032] In the next cycle, the intake pressure of the drive cylinder of the cutting module will be automatically increased or the overshoot of the cutting stroke will be increased. It will also issue a maintenance warning signal.

[0033] In some embodiments, the pressing assembly includes a pressing cylinder and a pressing rod, the movable end of the pressing cylinder is connected to one end of the pressing rod, the other end of the pressing rod is used to abut against the stator, the pressing cylinder is connected to a second electro-proportional valve, and the automatic paper insertion control method for motor insulation paper further includes a dynamic pressing control step, which includes:

[0034] During the paper insertion process in step S4, the real-time pushing force is based on the feedback from the pushing mechanism. Adjust the opening of the second electro-proportional valve to regulate the air pressure of the pressing assembly. ;

[0035] Regulation logic satisfies ,in The force transmission coefficient is used to ensure that the stator maintains an axial displacement of less than 0.05 mm when subjected to upward thrust of varying intensities.

[0036] This application also provides an automatic paper insertion device for motor insulation paper, used to implement the aforementioned automatic paper insertion control method for motor insulation paper, and includes:

[0037] frame;

[0038] Stator positioning and rotation module, which is used to clamp the motor stator and drive it to rotate and index according to a preset angle;

[0039] The insulating paper feeding and insertion module is used to heat and shape the insulating paper, and then push the shaped insulating paper vertically into the stator slot of the motor stator from bottom to top.

[0040] The cutting module, located below the stator positioning and rotating module, is used to cut the insulating paper laterally after it has been pushed into place; and

[0041] The control module is communicatively connected to the stator positioning and rotation module, the insulating paper feeding and insertion module, and the cutting module; wherein:

[0042] The stator positioning and rotation module includes a stator fixture driven by a servo motor. The stator fixture has a positioning protrusion on its bearing surface for engaging with the positioning groove of the stator core, so as to achieve mechanical zero-point positioning of the stator.

[0043] In some embodiments, the insulating paper feeding and inserting module includes a forming device and a pushing mechanism;

[0044] The molding device is located on the feeding path and integrates a temperature sensor and a heating element to provide real-time temperature feedback to the control system. To calculate the thermal expansion compensation;

[0045] The pushing mechanism includes a pushing clamp and a driving cylinder. The pushing clamp is used to selectively clamp or release the insulating paper. The driving cylinder is connected to the pushing clamp and is used to drive the pushing clamp to move forward or backward along the moving direction of the insulating paper. A pressure sensor is installed in the air circuit of the driving cylinder to feed back the real-time pressure value to the control system. To monitor the feed load.

[0046] In some embodiments, the cutting module includes a blade holder fixed to the frame, a horizontally arranged cutting cylinder, and a cutting blade;

[0047] The blade holder has a guide groove for the cutting blade to pass through, and the output end of the cutting blade cylinder is connected to the cutting blade.

[0048] In some embodiments, the feeding path of the insulating paper feeding and inserting module perpendicularly passes through the frame, and the bottom of the frame is provided with a feeding tray. The insulating paper, in strip form, passes through the feeding tray, the forming device, the knife holder channel and enters the stator slot from bottom to top.

[0049] In summary, this application includes at least one of the following beneficial technical effects:

[0050] 1. This application improves the dimensional consistency of the insulating paper after forming and reduces the risk of creepage by establishing a multidimensional thermo-mechanical coupling model to calculate the target paper feeding length. When calculating the target paper feeding length, thermal expansion compensation and elastic compression compensation are introduced, and the influence of the real-time temperature of the forming device, the residence time of the insulating paper and the pushing resistance on the paper length is comprehensively considered. This overcomes the defect of traditional fixed-length paper feeding that ignores the thermal expansion and contraction and stress deformation of the material. It ensures that the length of the insulating paper extending from the stator end face after cooling and shrinking always meets the process requirements, thereby improving the insulation performance and safety of motor products.

[0051] 2. This application adopts a control strategy that combines variable acceleration S-shaped speed curve propulsion with anti-buckling adaptive protection, which effectively solves the problems of easy bending and jamming of soft insulating paper, improves production yield, and the pushing mechanism adopts an S-shaped speed curve with jerk control to eliminate the inertial impact at the moment of start and stop, so as to smoothly transmit the thrust. At the same time, the system monitors the air pressure change rate in real time. Once the value exceeds the limit, it is judged as a sign of buckling and activates the adaptive protection mechanism including retraction action and low-speed secondary propulsion. This dual control mechanism reduces the risk of insulation paper scrap and stator slot damage caused by forced propulsion, and is particularly suitable for the automated assembly of new thin-walled soft insulating paper.

[0052] 3. This application employs dynamic clamping control technology, which ensures the stability of stator positioning while avoiding stator core deformation caused by excessive clamping force. The control system dynamically adjusts the air pressure value of the pressing component based on the real-time monitored pushing force, realizing linear following adjustment of the clamping force as the pushing load changes in real time. This ensures that the axial displacement of the stator during paper insertion is less than 0.05mm, preventing insertion depth errors caused by the stator being lifted and avoiding damage to the stator lamination structure caused by high pressure throughout the process. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of an automatic paper insertion device for motor insulation paper provided in one embodiment of this application;

[0054] Figure 2 yes Figure 1 A schematic diagram of the automatic paper insertion device for insulating paper in Zhongdian Motor, omitting the pressing component;

[0055] Explanation of reference numerals in the attached drawings: 1. Stator; 10. Frame; 20. Stator positioning and rotation module; 21. Servo motor; 22. Stator fixture; 221. Positioning protrusion; 30. Pressing assembly; 31. Pressing cylinder; 32. Pressing bar; 40. Insulating paper feeding and insertion module; 41. Drive cylinder; 42. Pushing clamp; 43. Forming device; 50. Cutting module; 51. Cutting cylinder; 52. Cutting blade; 53. Blade holder. Detailed Implementation

[0056] The technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of the present invention, but are not limited thereto. Other embodiments obtained by those skilled in the art in conjunction with the embodiments of the present invention without creative effort are also within the protection scope of the present invention.

[0057] This application mainly adopts multidimensional thermo-mechanical coupling and adaptive control to realize motor paper insertion, achieving a high-precision, stable and intelligent automatic paper insertion effect for motor insulation paper. The following is a further detailed description of this application.

[0058] Example 1

[0059] Please refer to Figure 1The automatic paper insertion control method for motor insulation paper provided in this application embodiment is applied to an automatic paper insertion device for motor insulation paper, including a stator positioning and rotation module 20, an insulation paper feeding and insertion module 40, and a cutting module 50. The insulation paper feeding and insertion module 40 includes a forming device 43 with a heating function and a pushing mechanism with a load detection function. The air circuit of the pushing mechanism is provided with a first electro-proportional valve. Through the cooperation of each module and a series of steps, the automatic paper insertion of motor insulation paper is realized, improving the accuracy and stability of paper insertion.

[0060] Specifically, the automatic paper insertion control method for motor insulation paper includes the following steps:

[0061] Step S1: Load the stator 1 to be processed onto the stator positioning rotation module 20. The surface of the stator fixture 22 of the stator positioning rotation module 20 has positioning protrusions 221, which are usually radially extending and whose shape matches the positioning grooves on the outer circle of the stator core. The operator or robot arm aligns the positioning groove of the stator with the positioning protrusions 221 on the surface of the fixture and inserts it, thus completing the mechanical zero-point alignment. The stator fixture 22 can be made of metal, such as aluminum alloy, which has a certain strength and wear resistance. The positioning protrusions 221 can be integrally formed with the stator fixture 22 by casting or machining. The mechanical hard positioning achieved by this positioning protrusion 221 directly utilizes the structural features of the stator 1 itself for physical locking, eliminating the need for an expensive visual alignment system, reducing equipment costs, and providing fast positioning speed and high reliability, making it particularly suitable for industrial environments.

[0062] After mechanical zero-point alignment is completed, the control system controls the pressing assembly 30 to press down and fix the stator 1. The pressing assembly 30 includes a pressing cylinder 31 and a pressing rod 32. The movable end of the pressing cylinder 31 is connected to one end of the pressing rod 32, and the other end of the pressing rod 32 is used to abut against the stator 1. The pressing cylinder 31 is connected to a second electro-proportional valve. By adjusting the opening of the second electro-proportional valve, the air pressure of the pressing cylinder 31 can be controlled, thereby adjusting the pressure of the pressing rod 32 on the stator. The pressing rod 32 can have a rubber head, which can ensure the clamping force while avoiding damage to the surface of the stator 1. This step ensures that the stator 1 will not undergo axial displacement or jump due to force during subsequent paper insertion, ensuring the reference stability of the paper insertion depth.

[0063] Step S2: Based on the preset number of stator slots, drive the stator positioning rotation module 20 to rotate to the current target slot angle. The stator positioning rotation module 20 is driven by a servo motor 21, which features high precision and high response speed, enabling precise control of the stator 1's rotation angle. For example, for a 48-slot or 96-slot stator 1, the servo motor 21 can accurately rotate the stator 1 to the angle of each target slot according to a preset program. This step achieves high-precision indexing control, ensuring that the insulating paper can be accurately fed into each stator slot, avoiding paper collisions or jams caused by alignment deviations.

[0064] Step S3: Control the insulating paper feeding and insertion module 40 to heat the insulating paper and calculate the target paper feeding length for the current slot. The forming device 43 of the insulating paper feeding and insertion module 40 has a heating function, integrating a temperature sensor and a heating element. The temperature sensor can monitor the temperature inside the forming device 43 in real time, and the heating element can heat and shape the flat insulating paper into a shape that matches the stator slot, such as a C-shape. Target paper feeding length The calculation formula is: ,in, The stator core stacking height is a constant. The standard process allowance for the insulating paper to extend beyond the stator end face is also a constant. This is the amount of thermal expansion compensation. , here It is the coefficient of thermal expansion of the insulating paper. It is the basic length of the insulating paper. To monitor the temperature of the molding device 43 in real time, For reference temperature, The residence time of the insulating paper in the forming device 43. The time-related factor; This is the elastic compression compensation amount. , This represents the average pushing resistance of the previous paper insertion cycle, and its value is equal to the product of the average driving air pressure of the cylinder and the piston area of ​​the cylinder in the previous cycle. The elastic modulus of the insulating paper. This represents the cross-sectional area of ​​the insulating paper. This represents the buckling correction factor for the insulating paper. Through this calculation, the paper feed length can be dynamically adjusted to ensure dimensional consistency of the insulating paper after forming and cooling. This step utilizes a multidimensional thermo-mechanical coupling model to solve the error problem caused by neglecting thermal expansion and elastic compression in traditional fixed-length paper feeding. In particular, considering the differences in thermal deformation caused by varying paper residence time in the mold, as well as the compression caused by thrust, it improves the consistency of the insulating paper extending from the stator end face and reduces the risk of creepage.

[0065] Step S4: Adjust the air intake volume through the first electro-proportional valve to drive the pushing mechanism to vertically push the insulating paper into the stator slot from bottom to top until the target paper feeding length is reached. Simultaneously, record the pushing resistance of the pushing mechanism in real time. The pushing mechanism uses a variable acceleration S-shaped speed curve to push the insulating paper vertically into the stator slot from bottom to top. The variable acceleration S-shaped speed curve includes an acceleration section, a constant speed section, and a deceleration buffer section. In the acceleration section, the pushing mechanism uses jerk... Start up until maximum speed is reached. This avoids the paper tape bending due to sudden shocks. Maximum speed It is dynamically adjusted; if the pushing pressure is monitored... An upward trend indicates increased friction, and the system will automatically reduce the next cycle's [friction rate]. To achieve victory, stability is key. During the constant speed phase, [the strategy should be]... Maintain a constant speed of advancement, allowing the leading edge of the insulating paper to pass through the stator slot. In the deceleration and buffer section, when the insulating paper has advanced a certain distance... At that time, with acceleration and deceleration Reduce speed to This eliminates inertial overshoot. S-curve speed control eliminates the sudden acceleration (Jerk) change at the start and stop of the trapezoidal speed curve, making the paper pushing action as smooth as silk. This reduces the risk of bending when handling soft, easily bendable thin insulating paper.

[0066] Simultaneously, step S4 also includes an anti-buckling adaptive protection step, which monitors the real-time air pressure value of the cylinder's air intake circuit in the pushing mechanism. Calculate the rate of change of real-time air pressure values ​​over time. .when Exceeding the first air pressure threshold and When the rate of change exceeds the second threshold, it is determined that the insulating paper has experienced obstruction or buckling at the front end. The control system sends a cutoff signal to the first electro-proportional valve to stop the feeding and controls the feeding mechanism to retract downwards a certain distance. For example, 5mm, then with A low-speed second push is attempted. If the air pressure value still exceeds the limit during the second push, a shutdown alarm is triggered. This method of predicting buckling by monitoring the rate of change of air pressure (rather than just the absolute value) is extremely fast. Combined with the humanoid logic of "retreat-slow retry", it can effectively handle occasional jamming, avoid stator scrapping caused by forceful push, and improve the fault tolerance and yield rate of the equipment.

[0067] In addition, the paper insertion process also includes a dynamic clamping control step, which uses real-time pushing force feedback from the pushing mechanism. Adjust the opening of the second electric proportional valve to regulate the air pressure of the pressing assembly 30. The adjustment logic satisfies ,in The force transmission coefficient ensures that stator 1 maintains an axial displacement of less than 0.05 mm under upward thrust of varying intensities, guaranteeing consistent paper insertion depth. This dynamic balance control strategy prevents stator axial displacement due to excessive thrust and avoids stator lamination deformation that may result from continuous high pressure, achieving adaptive intelligent adjustment of the clamping force according to changes in the pushing load.

[0068] Step S5: With the pusher mechanism locked in position, the cutting module 50 is driven to laterally cut the insulating paper. The pusher mechanism then resets, and the stator 1 rotates to the next slot angle. When the cutting module 50 is working, the cutter 52, driven by the cutter cylinder 51, moves laterally along the guide groove in the cutter holder 53 to cut the insulating paper. This process utilizes the stator slot wall as a guiding reference, implementing a first slot insertion followed by cutting. Compared to segmented cutting followed by insertion, continuous insulating paper strips have better structural rigidity during the feeding process, reducing the risk of paper jams due to material instability.

[0069] In addition, step S5 also includes blade wear compensation logic: recording the time consumed by each cutting action of the cutting module 50. If there are N consecutive cycles (e.g., 50 times) If the standard time threshold is exceeded, the cutter 52 is determined to be dull; in the next cycle, the air intake pressure of the drive cylinder of the cutting module 50 is automatically increased or the overshoot of the cutting stroke is increased. The system also issues a maintenance reminder signal. This logic indirectly determines the sharpness of the tool by monitoring the action time and automatically compensates for the force, extending the tool maintenance cycle and ensuring the smoothness of the cut.

[0070] The implementation principle of this embodiment is as follows: This control method overcomes the problems of difficult soft paper feeding, thermal deformation error and lack of adaptive protection in the prior art through a series of measures such as mechanical zero-point alignment, thermo-mechanical coupling model calculation of target paper feeding length, variable acceleration S-shaped speed curve propulsion, anti-buckling adaptive protection, cutter wear compensation and dynamic clamping control. It improves the accuracy and stability of paper insertion, reduces the risk of insulation paper scrapping and stator damage, and is suitable for insulation paper insertion in the stator of drive motor of new energy vehicle, meeting the requirements of the new energy vehicle industry for drive motor power density and insulation paper forming accuracy.

[0071] Example 2

[0072] Please refer to Figure 1 and Figure 2 The difference between this embodiment and the above embodiments is that this embodiment provides an automatic paper insertion device for motor insulation paper, which is used to implement the above-mentioned automatic paper insertion control method for motor insulation paper, and includes a frame 10, a stator positioning and rotation module 20, an insulation paper feeding and insertion module 40, a cutting module 50, and a control module.

[0073] Specifically, the frame 10 adopts a vertical gantry structure, which has high stability and rigidity. The feeding path of the insulating paper feeding and paper insertion module 40 runs vertically through the frame 10, and a feeding tray is provided at the bottom of the frame 10. The insulating paper, in a strip shape, passes through the feeding tray, forming device 43, and knife holder 53 channel from bottom to top and enters the stator slot. This vertical layout utilizes gravity to remove waste and has a small footprint, making it suitable for flexible production lines. The vertical bottom-up feeding method ensures that the paper scraps generated during cutting fall naturally under the action of gravity and do not accumulate inside the stator 1, solving the problem of foreign matter residue commonly found in horizontal paper insertion machines.

[0074] The stator positioning and rotation module 20 is used to clamp the motor stator and drive it to rotate and index according to a preset angle. It includes a stator fixture 22 driven by a servo motor 21. A positioning protrusion 221 is provided on the bearing surface of the stator fixture 22 to engage with the positioning groove of the stator core, thereby achieving mechanical zero-point positioning of the stator. The stator fixture 22 can be made of cast iron and manufactured through machining to ensure its precision and surface quality. The positioning protrusion 221 can be fixed to the stator fixture 22 by welding or embedding. In addition, the module also includes a pressure assembly 30, which includes a pressure cylinder 31 and a pressure bar 32. The pressure cylinder 31 is connected to a second electro-proportional valve, and the control module controls this proportional valve to achieve the aforementioned dynamic clamping function.

[0075] The insulating paper feeding and insertion module 40 is used to heat and shape the insulating paper, and then vertically push the shaped insulating paper into the stator slot of the stator 1 from bottom to top. It includes a forming device 43 and a pushing mechanism. The forming device 43 is located on the feeding path and integrates a temperature sensor and a heating element. The temperature sensor can be a thermocouple, which can quickly and accurately measure the temperature. The heating element can be a resistance wire, which heats the insulating paper by applying electricity. The forming device 43 can feed back the real-time temperature to the control system. This is for calculating thermal expansion compensation. The pushing mechanism includes a pushing clamp 42 and a drive cylinder 41. The pushing clamp 42 is used to selectively clamp or release the insulating paper. The pushing clamp 42 can be a pneumatic gripper, characterized by large clamping force and rapid action. The drive cylinder 41 is connected to the pushing clamp 42 and is used to drive the pushing clamp 42 to move forward or backward along the direction of movement of the insulating paper. The air circuit of the drive cylinder 41 is equipped with a first electro-proportional valve and a pressure sensor. The pressure sensor can feed back the real-time pressure value to the control system in real time. It is used to monitor the feeding load, while the first electric proportional valve is the core actuator, which precisely adjusts the air intake under the command of the control system, thereby realizing the S-shaped speed curve control and the slight retraction action during buckling protection.

[0076] The cutting module 50 is located below the stator positioning and rotating module 20 and is used to cut the insulating paper laterally after it has been pushed into place. It includes a knife holder 53 fixed to the frame 10, a horizontally arranged cutting cylinder 51, and a cutting blade 52. The knife holder 53 has a guide groove for the cutting blade 52 to pass through, ensuring accurate movement of the cutting blade 52 and improving cutting precision. The output end of the cutting cylinder 51 is connected to the cutting blade 52. The cutting cylinder 51 can be a single-acting cylinder, which is simple in structure and low in cost. A longitudinal channel is provided directly below the center hole of the stator fixture 22, allowing the insulating paper to enter the stator 1 in a straight line after exiting the forming device 43.

[0077] The control module is communicatively connected to the stator positioning and rotation module 20, the insulating paper feeding and inserting module 40, and the cutting module 50. It can be a PLC or an industrial computer, and has powerful data processing and control capabilities. It can accurately control the actions of each module (especially the first electro-proportional valve, the second electro-proportional valve, and the servo motor 21) based on the received various sensor signals (such as temperature, air pressure, thrust, etc.).

[0078] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of this application.

Claims

1. A method for automatically inserting insulating paper into a motor, characterized in that, An automatic paper insertion device for motor insulation paper is applied. The automatic paper insertion device for motor insulation paper includes a stator positioning and rotating module (20), a pressing assembly (30), an insulation paper feeding and insertion module (40), and a cutting module (50). The insulation paper feeding and insertion module (40) includes a forming device (43) with a heating function and a pushing mechanism with a load detection function. The air circuit of the pushing mechanism is provided with a first electro-proportional valve. The automatic paper insertion control method for motor insulation paper includes the following steps: S1: Load the stator (1) to be processed onto the stator positioning and rotating module (20), and use the positioning protrusion (221) on the surface of the stator fixture (22) to engage with the stator slot to complete the mechanical zero point alignment, and control the pressing assembly (30) to press down and fix the stator (1); S2: Drive the stator positioning rotation module (20) to rotate to the current target slot angle according to the preset number of slots of the stator (1); S3: Control the insulating paper feeding and insertion module (40) to heat the insulating paper and calculate the target paper feeding length for the current slot; S4: Adjust the air intake through the first electric proportional valve to drive the pushing mechanism to push the insulating paper vertically into the stator slot from bottom to top until the target paper feeding length is reached, and record the pushing resistance of the pushing mechanism in real time. S5: While keeping the pusher mechanism locked, drive the cutting module (50) to cut the insulating paper laterally, then reset the pusher mechanism and rotate the stator (1) to the next slot angle.

2. The automatic paper insertion control method for motor insulation paper according to claim 1, characterized in that, In step S3, the target paper feed length The calculation formula is: ， ， ， in, The core stacking height of stator (1); The standard process allowance for the insulating paper extending beyond the end face of the stator (1); This is the amount of thermal expansion compensation. This is the elastic compression compensation amount; The temperature of the molding device (43) is monitored in real time. For reference temperature; The residence time of the insulating paper in the forming device (43) The time-related factor; This represents the average pushing resistance of the previous paper insertion cycle, and its value is equal to the product of the average driving air pressure of the cylinder and the piston area of ​​the cylinder in the previous cycle. The elastic modulus of the insulating paper. This represents the cross-sectional area of ​​the insulating paper. This is the buckling correction factor for the insulating paper.

3. The automatic paper insertion control method for motor insulation paper according to claim 1, characterized in that, In step S4, the pushing mechanism pushes the insulating paper vertically into the stator slot from bottom to top using a variable acceleration S-shaped speed curve. The variable acceleration S-shaped speed curve includes: Acceleration section: The feeding mechanism accelerates the material. Start up until maximum speed is reached. ; Uniform speed segment: Maintain a constant speed of advancement so that the front end of the insulating paper passes through the stator slot; Deceleration and buffer section: When the insulation paper is pushed to the required length... At that time, with acceleration and deceleration Reduce speed to To eliminate inertial overshoot; Among them, the maximum speed Based on real-time monitoring of the pusher pressure Adjustment: If If it shows an upward trend, then the next cycle will decrease. .

4. The automatic paper insertion control method for motor insulation paper according to claim 1, characterized in that, Step S4 further includes a buckling-resistance adaptive protection step, which includes: Real-time monitoring of the air pressure value in the air intake circuit of the cylinder of the pushing mechanism. ; Calculate the rate of change of the real-time air pressure value over time. ; when Exceeding the first air pressure threshold and When the second rate of change threshold is exceeded, it is determined that the insulating paper has experienced front-end obstruction or buckling; The control system sends a cut-off signal to the first electro-proportional valve to stop the feeding, and controls the feeding mechanism to retract downwards a certain distance. Subsequently A low-speed attempt at secondary propulsion; If the secondary propulsion air pressure value still exceeds the limit, a shutdown alarm will be triggered.

5. The automatic paper insertion control method for motor insulation paper according to claim 1, characterized in that, It also includes cutter wear compensation logic: Record the time taken for each cutting action of the cutting module (50). ; If continuous Next cycle If the standard time threshold is exceeded, the cutter (52) is determined to be dull; In the next cycle, the intake pressure of the drive cylinder of the cutting module (50) is automatically increased or the overshoot of the cutting stroke is increased. It will also issue a maintenance warning signal.

6. The automatic paper insertion control method for motor insulation paper according to claim 1, characterized in that, The pressing assembly (30) includes a pressing cylinder (31) and a pressing rod (32). The movable end of the pressing cylinder (31) is connected to one end of the pressing rod (32), and the other end of the pressing rod (32) is used to abut against the stator (1). The pressing cylinder (31) is connected to a second electro-proportional valve. The automatic paper insertion control method for motor insulation paper also includes a dynamic pressing control step, which includes: During the paper insertion process in step S4, the real-time pushing force is based on the feedback from the pushing mechanism. Adjust the opening of the second electric proportional valve to adjust the air pressure value of the pressing assembly (30). ; Regulation logic satisfies ,in The force transmission coefficient is used to ensure that the stator (1) always maintains an axial displacement of less than 0.05 mm when subjected to upward thrust of different intensities.

7. An automatic paper insertion device for motor insulation paper, characterized in that, The method for implementing the automatic paper insertion control method for motor insulation paper as described in any one of claims 1-6, and comprising: Rack (10); Stator positioning and rotation module (20), which is used to clamp the motor stator (1) and drive it to rotate and index according to a preset angle; Insulating paper feeding and inserting module (40) is used to heat and shape the insulating paper and push the shaped insulating paper vertically into the stator slot of the motor stator from bottom to top; A cutting module (50), located below the stator positioning and rotating module (20), is used to cut the insulating paper laterally after it has been pushed into place; and The control module is communicatively connected to the stator positioning and rotation module (20), the insulating paper feeding and inserting module (40), and the cutting module (50); wherein: the stator positioning and rotation module (20) includes a stator fixture (22) driven by a servo motor (21), and a positioning protrusion (221) is provided on the bearing surface of the stator fixture (22) for engaging the positioning groove of the stator core, so as to achieve the mechanical zero-point positioning of the stator (1).

8. The automatic paper insertion device for motor insulation paper according to claim 7, characterized in that, The insulating paper feeding and inserting module (40) includes a forming device (43) and a pushing mechanism; The forming device (43) is located on the feeding path and integrates a temperature sensor and a heating element inside, which are used to feed back the real-time temperature to the control system. To calculate the thermal expansion compensation; The pushing mechanism includes a pushing clamp (42) and a driving cylinder (41). The pushing clamp (42) is used to selectively clamp or release the insulating paper. The driving cylinder (41) is connected to the pushing clamp (42) and is used to drive the pushing clamp (42) to move forward or backward along the moving direction of the insulating paper. A pressure sensor is provided in the air circuit of the driving cylinder (41) to feed back the real-time pressure value to the control system. To monitor the feed load.

9. The automatic paper insertion device for motor insulation paper according to claim 7, characterized in that, The cutting module (50) includes a blade holder (53) fixed on the frame (10), a horizontally arranged cutting cylinder (51), and a cutting blade (52); The blade holder (53) is provided with a guide groove for the cutter (52) to pass through, and the output end of the cutter cylinder (51) is connected to the cutter (52).

10. The automatic paper insertion device for motor insulation paper according to claim 7, characterized in that, The feeding path of the insulating paper feeding and inserting module (40) runs vertically through the frame (10), and the bottom of the frame (10) is provided with a feeding tray. The insulating paper is in strip form and passes through the feeding tray, the forming device (43), the knife holder (53) channel from bottom to top and enters the stator slot.

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