An automatic lamination installation system for permanent magnet synchronous motor silicon steel sheet

Abstract

The application relates to the technical field of motor assembly, in particular to an automatic clamping installation system for silicon steel sheets of a permanent magnet synchronous motor, which solves the problems existing in the prior art, and comprises a workbench, a silicon steel sheet feeding and stacking module, a pressing module, a clamping feeding module and a clamping installation module. A main control system is arranged on one side of the workbench, the silicon steel sheet feeding and stacking module is arranged on the workbench and is used for piece-by-piece conveying, transferring and stacking silicon steel sheets to a predetermined height, the pressing module is arranged on the workbench and is located above the stacking position and is used for applying axial pressing force to the silicon steel sheet group after stacking, and the pressing module mainly comprises a servo pressing unit and a pressure sensor. The servo pressing unit adjusts the pressing force in real time according to the signal fed back by the pressure sensor. Compared with the prior art, the application effectively realizes the automatic clamping installation process of the silicon steel sheet core.

Description

Technical Field

[0001] This invention relates to the field of motor assembly technology, specifically to an automated splicing system for silicon steel sheets of a permanent magnet synchronous motor. Background Technology

[0002] Permanent magnet synchronous motors have advantages such as high power density, wide speed range, and high efficiency, and are widely used in new energy vehicles, aerospace, and industrial servo applications. The motor core is usually made of stacked silicon steel sheets. After stacking, to prevent the sheets from springing back and loosening, fasteners are used to fix them in the fastener slots inserted into the stacked silicon steel sheet assembly. The quality of the fastener installation directly affects the stacking tightness and long-term stability of the core.

[0003] Currently, some automated stator core clamping equipment has appeared on the market. For example, patent CN112186989B discloses a stator core clamping assembly device, which automates the clamping assembly through the cooperation of a core positioning mechanism, a clamping mechanism, and a clamping assembly mechanism. It uses a clamping cylinder to axially clamp the core, and then uses the clamping assembly assembly to push the clamps into the clamping slots. However, this equipment has the following shortcomings in practical applications: First, the equipment suffers from poor adaptability to lamination variations. The actual thickness of the silicon steel sheets in the laminations varies due to factors such as material properties and stamping precision. Existing equipment uses a fixed-stroke clamping mechanism. When the actual thickness of the laminations is too small, the clamping force is insufficient, the sheets cannot be effectively tightened, and gaps exist between the core laminations. When the thickness of the laminations is too large, the clamping force is excessive, which can easily cause plastic deformation of the silicon steel sheets or even damage to the insulation layer, seriously affecting motor performance and yield. Existing equipment lacks the ability to adjust the clamping force in real time, making it difficult to achieve adaptive clamping.

[0004] Secondly, existing fastener installation assemblies mostly use pneumatic or hydraulic cylinders to push the fastener into the fastener slot with a fixed stroke. Due to the limited positional accuracy of the fastener slot and the possibility of the fastener becoming misaligned due to collision with the edge of the slot during insertion, the traditional constant force pushing method cannot detect changes in resistance during insertion, which can easily cause problems such as fastener jamming, incomplete insertion, or even damage to the slot.

[0005] Third, while existing automated clamping equipment achieves single-process automation, there is a lack of effective information transmission and linkage control between the clamping process and the clamping installation process. After the clamping mechanism clamps the iron core, the clamping mechanism begins to operate, but the clamping force cannot be dynamically adjusted according to actual needs during clamping insertion. If the clamping insertion encounters significant resistance, the continuously maintained clamping force will make the operation more difficult; if the clamping force is removed too early, the stacked iron core laminations may spring back slightly, affecting the correct installation of the clamps.

[0006] Fourth, the fasteners are mostly thin sheet structures formed by stamping, which are prone to flipping and misalignment during conveying in mass production, leading to a decrease in the success rate of feeding. Existing fastener conveying components often lack effective posture detection and correction mechanisms, requiring manual intervention when abnormalities occur, which affects the stability of continuous production.

[0007] Therefore, we propose an automated splicing system for silicon steel sheets of permanent magnet synchronous motors to solve the aforementioned technical problems. Summary of the Invention

[0008] The purpose of this invention is to provide an automated splicing system for silicon steel sheets of permanent magnet synchronous motors, so as to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: An automated splicing system for silicon steel sheets of a permanent magnet synchronous motor includes a workbench, a silicon steel sheet feeding and stacking module, a clamping module, a splicing feeding module, and a splicing installation module. A main control system is set on one side of the workbench. The silicon steel sheet feeding and stacking module is set on the workbench and is used to convey, transfer, and stack the silicon steel sheets one by one to a predetermined height. The clamping module is set on the workbench and located above the stacking position. It is used to apply axial clamping force to the stacked silicon steel sheet group. It mainly includes a servo clamping unit and a pressure sensor. The servo clamping unit adjusts the clamping force in real time according to the signal fed back by the pressure sensor. The fastener feeding module is located on one side of the workbench and is used to feed and adjust the posture of the fasteners. The fastener installation module is located on the workbench and on the outer periphery of the stacking position. It is used to insert the fasteners into the fastener slots. The fastener installation module includes several circumferentially arranged fastener installation units. Each clip installation unit includes a servo clip unit and an insertion resistance detection device. During the clip insertion process, the servo clip unit acquires the resistance feedback signal from the insertion resistance detection device in real time and dynamically adjusts the insertion speed and insertion force according to the resistance feedback signal. When the detected resistance value exceeds the preset resistance threshold, the servo clip unit performs a retraction-clearing-reinsertion avoidance action.

[0010] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. This invention, through closed-loop control of a servo clamping unit and a pressure sensor, can detect and adjust the axial clamping force applied to the silicon steel sheet assembly in real time, ensuring that the clamping force remains within a preset target threshold range. Regardless of the actual stack thickness variations due to material or stamping precision, the system can automatically adjust the clamping stroke to achieve constant pressure clamping, thus avoiding both insufficient clamping force leading to core loosening and excessive clamping force causing plastic deformation of the silicon steel sheet and damage to the insulation layer.

[0011] 2. The fastener installation module of this invention introduces a real-time detection and feedback adjustment mechanism for insertion resistance. During the fastener insertion process, it can dynamically adjust the insertion speed and force according to changes in resistance. When abnormal resistance is encountered, it automatically performs a retraction-clearing-reinsertion action, effectively avoiding poor assembly caused by problems such as fastener jamming and slot misalignment. More importantly, this invention achieves coordinated control of clamping force and insertion resistance in the fastener installation system. When the insertion resistance of a fastener installation unit exceeds a threshold, the main control system controls the clamping module to temporarily release the local clamping stress at that angle position, and automatically restores it after the fastener installation is completed. This effectively solves the problem of mutual interference between clamping force and insertion operation in traditional equipment.

[0012] 3. Improve the stability and reliability of clip feeding. This invention integrates an attitude detection unit and an attitude correction unit into the clip feeding module. Through the linkage between CCD vision detection and the correction mechanism, it ensures that each clip enters the installation station in the correct attitude, eliminating feeding failures and installation abnormalities caused by clip flipping or misalignment, and significantly improving the continuous operation stability of the equipment. Attached Figure Description

[0013] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a schematic diagram of the installation of the correction rod of the present invention; Figure 3 This is a structural schematic diagram of the stacked positioning module and the clamping module of the present invention; Figure 4 This is a schematic diagram of the stacked positioning module of the present invention; Figure 5 This is a schematic diagram of the fastener mounting module of the present invention; Figure 6 This is a schematic diagram of the vacuum suction cup material handling mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of the fastener feeding module of the present invention; Figure 8 This is a schematic diagram of the material feeding module of the present invention.

[0014] In the picture: 1. Workbench; 11. Guide rod; 12. Drive block; 13. Correction rod; 2. Silicon steel sheet feeding and stacking module; 21. Conveyor frame; 22. Fixing frame; 23. Vacuum suction cup material handling mechanism; 231. Servo linear module one; 232. Vacuum suction cup; 233. Lifting module; 24. Stacking positioning module; 241. Positioning mandrel; 242. Rotary disk; 243. Auxiliary handle; 244. Drive component; 3. Clamping module; 31. Upper pressure plate; 311. Clamping actuator; 32. Servo electric cylinder; 33. Pressure sensor; 34. Lifting seat; 341. Lifting frame; 35. Lifting screw; 4. Button feeding module; 41. Feeding rack; 42. Attitude detection unit; 421. CCD industrial camera; 422. Centering adjustment component; 43. Attitude correction unit; 431. Moving frame; 432. Rotary table; 433. Contouring robot; 434. Adjusting screw one; 5. Clip mounting module; 51. Base plate; 511. Worm gear box; 512. Worm gear component; 52. Fixing seat; 53. Adjusting slide rail; 531. Adjusting block; 532. Adjusting screw two; 54. Insertion clip pusher; 541. Rotating shaft; 55. Insertion resistance detection component; 6. Material feeding module; 61. Linear guide rail; 62. Servo linear module II; 63. Support platform; 7. Main control system. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1

[0016] This embodiment provides an automated splicing system for silicon steel sheets in a permanent magnet synchronous motor. For example... Figure 1-8 As shown, the system includes a workbench 1, a silicon steel sheet feeding and stacking module 2, a pressing module 3, a sheet feeding module 4, a sheet installation module 5, a material unloading module 6, and a main control system 7.

[0017] Workbench 1 serves as the basic support platform for the entire system. It adopts a high-strength cast iron or steel plate welded structure and can be equipped with shock-absorbing pads at the bottom to ensure the stability and accuracy of the equipment during operation.

[0018] The silicon steel sheet feeding and stacking module 2 is set on the workbench 1 and is used to transport, position, and stack silicon steel sheets one by one to a predetermined height to form a semi-finished iron core ready for installation. The silicon steel sheet feeding and stacking module 2 includes a frame, a vacuum suction cup picking mechanism 23, and a stacking positioning module 24. The frame is composed of a conveyor frame 21 and a fixed frame 22. The conveyor frame 21 is set at a slight inclination and has several rotating rollers rotatably mounted on it (the rotating rollers on the conveyor frame 21 are driven by chain drive, which is not shown in the drive structure diagram). The fixed frame 22 is horizontally mounted on the workbench 1 and has several fixed rollers installed on it. The discharge position of the conveyor frame 21 is higher than the horizontal height of the fixed frame 22 so that the silicon steel sheets can fall naturally onto the fixed frame 22.

[0019] The vacuum suction cup picking mechanism 23 includes a servo linear module 231, a vacuum suction cup 232, and a lifting module 233. The servo linear module 231 drives the lifting module 233 to perform reciprocating linear motion. The vacuum suction cup 232 is assembled on the end of the lifting module 233, and its up-and-down movement is achieved by the linear drive of the lifting module 233. The number and distribution of suction points of the vacuum suction cup 232 can be selected according to the size and weight of the silicon steel sheet.

[0020] The stacking positioning module 24 is vertically fixed on the worktable 1. It mainly includes three positioning spindles 241 and a rotating disk 242. Three auxiliary handles 243 are rotatably mounted on the bottom wall of the worktable 1 via shafts. The bottom ends of the positioning spindles 241 are vertically fixed between the inner walls of the ends of the auxiliary handles 243. A drive component 244 (here, a gear) is also rotatably mounted on the bottom wall of the worktable 1 via a motor drive. The rotating disk 242 meshes with the drive component 244 and rotates on the bottom wall of the worktable 1 via annular bearings. The auxiliary handles 243 are located below the rotating disk 242. A photosensitive sensor is provided on the top of one of the positioning spindles 241. Whenever a silicon steel sheet passes by, the signal of the photosensitive sensor is interrupted once. The cumulative number of stacked silicon steel sheets is monitored in real time by counting the number of interruptions, and a stop stacking signal is issued when the preset target number of sheets is reached.

[0021] A silicon steel sheet storage position is provided on the fixed frame 22. Multiple correction rods 13 are provided on one side of the outer perimeter of the silicon steel sheet storage position. Multiple guide rods 11 are installed between the side walls of the fixed frame 22. The guide rods 11 are located at the lower middle position of the adjacent fixed rollers on the fixed frame 22. Two drive blocks 12 slide relative to each other along the outer wall of the guide rods 11. The bottom end of the drive block 12 slides between the inner walls of the worktable 1 through an electric push rod, thereby controlling its linear movement along the guide rod 11. The correction rods 13 are vertically installed on the drive blocks 12, and the correction rods 13 are embedded with position sensors to detect whether the correction rods 13 are in contact with the edge of the silicon steel sheet. Only when the position sensors of the two correction rods 13 on the same guide rod 11 are triggered will the drive block 12 corresponding to that guide rod 11 stop moving.

[0022] The clamping module 3 is mounted on the workbench 1 and positioned above the stacking position to apply axial clamping force to the stacked silicon steel sheet assembly. The clamping module 3 mainly includes a servo clamping unit and a pressure sensor 33. The servo clamping unit includes an upper pressure plate 31, a servo electric cylinder 32, a pressure sensor 33, and a lifting assembly. The lifting assembly includes a lifting screw 35, a lifting seat 34, and a lifting frame 341. The lifting screw 35 is mounted on the side wall of one of the columns of the workbench 1 via two bearings. A motor that drives the lifting screw 35 to rotate is mounted on the bottom bearing. The lifting seat 34 slides and adjusts along the vertical direction of the column. The lifting screw 35 passes through the lifting seat 34 and engages with it via a threaded drive. The lifting frame 341 has a "T" shaped structure and is mounted between the side walls of the two lifting seats 34. The upper pressure plate 31 has an annular structure with a clearance hole in the middle to prevent interference from the movement of the positioning spindle 241. The servo electric cylinder 32 is installed on the bottom wall of the lifting frame 341. The push rod of the servo electric cylinder 32 is connected to the upper pressure plate 31. The pressure sensor 33 is set between the upper pressure plate 31 and the output shaft of the servo electric cylinder 32. That is, the pressure sensor 33 is embedded on the top surface of the upper pressure plate 31 and is used to detect the axial clamping force applied to the silicon steel sheet assembly in real time.

[0023] During the transfer and stacking of silicon steel sheets, the clamping module 3 is always in the highest position and does not affect the transfer and stacking of silicon steel sheets. When the number of stacked sheets reaches the preset value, the clamping module 3 moves down to the working position, that is, at this time the bottom wall of the lifting frame 341 contacts the top wall of the servo linear module 231.

[0024] During the clamping process, the servo electric cylinder 32 drives the upper pressure plate 31 downward according to the instructions of the main control system 7. When the upper pressure plate 31 contacts the upper end face of the silicon steel sheet assembly, the pressure sensor 33 begins to generate a reading. The servo electric cylinder 32 continues to move downward until the reading of the pressure sensor 33 reaches the preset target force threshold range. Then, the servo electric cylinder 32 maintains the clamping force. The detection signal of the pressure sensor 33 is fed back to the main control system 7 in real time. If the clamping force deviates from the target range due to the creep of the stacked sheets or the vibration of the equipment, the main control system 7 immediately controls the servo electric cylinder 32 to perform fine-tuning compensation, forming a closed-loop control circuit.

[0025] As a further optimization of this embodiment, the pressing surface of the upper pressure plate 31 is uniformly provided with multiple independent pressing sectors (not shown in the figure, the specific number can be determined according to the number of circumferential fastening slots of the silicon steel sheet). Each pressing sector is equipped with an independent miniature pressing actuator 311 (e.g., a small piezoelectric ceramic actuator or a miniature servo cylinder) and a partition pressure sensor (not shown in the figure, but installed in the same position as the pressure sensor 33). The partition pressure sensor is set between the pressing sector and the pressing actuator 311. The partition pressure sensor detects the local pressing force of the corresponding pressing sector in real time. Each pressing sector can independently adjust the magnitude of the local pressing force according to the instructions of the main control system 7.

[0026] In this zoned clamping structure, when the insertion resistance encountered by a clamping unit during clamping exceeds a preset resistance threshold, the main control system 7, based on the position information of that clamping unit, sends a command to the corresponding clamping sector at the corresponding angle position to temporarily release the clamping stress in that sector (i.e., unloading the miniature clamping actuator 311), while the clamping force in other sectors remains unchanged. Once the clamping unit is installed and the resistance returns to normal, the main control system 7 controls that sector to automatically restore the clamping stress. This localized clamping stress adjustment mechanism effectively reduces insertion resistance without affecting the overall clamping state of the iron core.

[0027] The fastener feeding module 4 is located on one side of the workbench 1 and is used to transport the fasteners and deliver them to the fastener installation station in a predetermined posture. The two ends of the fasteners (especially the edges) are rounded to avoid scratching or damaging the silicon steel sheet during the process. The fastener feeding module 4 includes a feeding rack 41, a posture detection unit 42, and a posture correction unit 43. The feeding rack 41 (only partially shown in the figure) uses a conveyor belt structure for transport. The posture detection unit 42 is mounted between the top walls of the feeding rack 41 via a fixing plate and includes a CCD industrial camera 421 and a centering adjustment component 422, used to detect the current posture of the fastener and center it for fastening. The CCD industrial camera 421 is installed in the middle of the side wall of the fixed plate. The centering adjustment component 422 moves along the length of the fixed plate below the fixed plate by means of a screw (this is a double screw). The double screw is installed between the inner walls of the fixed plate and is driven by a motor to rotate. A guide block is installed on the top of the centering adjustment component 422 to guide its movement. The double screw passes through the guide block and is threadedly driven with it.

[0028] The attitude correction unit 43 is located at the discharge position of the feeding frame 41 and includes a moving frame 431, a rotary table 432, and a contouring robot 433. The moving frame 431 moves along the length of the feeding frame 41. Adjusting screws 434 are rotatably mounted on both side walls of the feeding frame 41 via bearing seats. These adjusting screws 434 are also driven to rotate by a motor and pass through the moving frame 431, engaging with it via a threaded drive. Dovetail-shaped guide blocks are also installed on the side walls of the moving frame 431, sliding along the inner wall of the feeding frame 41. The top of the moving frame 431 is an independent plate structure, and its height can be adjusted using a telescopic cylinder installed within the moving frame 431 to accommodate the movement of the contouring robot 433.

[0029] After the CCD industrial camera 421 captures the image of the fastener, the image processing module identifies the current posture of the fastener. Simultaneously, the centering adjustment components 422 on both sides move towards the center, gradually adjusting the fastener to the centered position. If the posture deviates from the preset direction (the preset direction is when the length direction of the fastener is parallel to the length direction of the feeder 41), the main control system 7 controls the contouring robot 433 on the posture correction unit 43 to pick up the fastener and rotate it to the correct posture (after centering, there are only two states: one is the state that conforms to the preset direction, and the other is the state that is perpendicular to the preset direction). Both the posture detection unit 42 and the posture correction unit 43 are equipped with independent controllers, driven and controlled by the main control system 7.

[0030] The clip installation module 5 is mounted on the workbench 1 and located on the outer periphery of the stacking position. It is used to insert clips into the clip slots of the iron core. The clip installation module 5 includes several clip installation units arranged circumferentially along the stacking position (the specific number corresponds to the number of clip slots of the iron core). Each clip installation unit includes a servo clip insertion unit and an insertion resistance detection component 55. The servo clip insertion unit mainly includes a fixed base 52, an adjusting slide rail 53, and a clip pusher 54. A base plate 51 is mounted on the top surface of the workbench 1. A ring-shaped worm gear component 512 is rotatably arranged between the inner walls of the base plate 51. A worm gear box 511 (containing a worm that drives the worm gear component 512 to rotate, not shown in the figure) meshes with one side of the worm gear component 512. The worm gear box 511 is also mounted between the inner walls of the base plate 51. The fixed base 52 is mounted on the top surface of the worm gear component 512. The adjusting slide rail 53 is rotatably arranged between the inner walls of the fixed base 52 by means of a motor drive. The adjustment angle of the adjusting slide rail 53 is 0-90 degrees. An adjusting screw 532 is installed inside the adjusting slide rail 53 via a motor drive. The adjusting screw 532 is positioned between the inner walls of the adjusting slide rail 53 along its length. An adjusting block 531 is slidably positioned along the inner wall of the adjusting slide rail 53. The adjusting screw 532 passes through the adjusting block 531 and engages with it via a threaded drive. Between two opposing adjusting blocks 531, a insert pusher 54 (which has a plate structure) is rotatably positioned via a rotating shaft 541 (the adjusting block 531 has a convex structure, and a miniature rotary motor that drives the rotating shaft 541 is installed in its protruding end, not shown in the figure). A contoured groove is also provided on the insert pusher 54 to ensure the stability of the fastener during insertion. An electric suction cup (with a hollow rectangular structure in the middle) is embedded in the contoured groove. An insertion resistance detection element 55 (specifically a miniature force sensor) is embedded in the hollow part of the electric suction cup. The resistance detection element 55 and the electric suction cup are triggered and controlled by signal transmission from the main control system 7.

[0031] During the insertion of the fastener, the adjusting slide rail 53 rotates with the worm gear component 512 to... Figure 5 When the feeder 41 is positioned downwards as shown, the adjusting slide rail 53 is adjusted from a vertical to a horizontal state by the motor drive. Simultaneously, the insert pusher 54 is moved to the position furthest from the fixed base 52 by the adjusting screw 532. During this movement, the insert pusher 54 is rotated 180 degrees by the motor-driven rotating shaft 541. Figure 5In the indicated state, the contoured groove on the insert pusher 54 is aligned with the feeding frame 41. Then, the contouring robot 433, which moves with the moving frame 431, inserts one end of the fastener into the inner wall of the contoured groove and secures it. When the insertion resistance detection device 55 detects the force, the electric suction cup is activated under the drive of the main control system 7, thereby firmly adsorbing and fixing the end of the fastener. Next, the adjusting slide rail 53 rotates to the vertical position again, and then the rotating shaft 541 drives the insert pusher 54 to rotate 180 degrees again, so that the fastener is now aligned with the fastener slot of the silicon steel sheet. Then, the adjusting screw 532 controls the insert pusher 54 to move vertically downward, so that it is inserted into the fastener slot from top to bottom until the bottom end of the fastener is inserted to the bottom position. After being inserted to the bottom, the main control system 7 disconnects the drive signal to the electric suction cup, so that the suction force at the top of the fastener disappears, thereby facilitating the upward movement and reset of the insert pusher 54.

[0032] During the insertion process described above, the insertion resistance detection component 55 begins operation when the insert pusher 54 rotates to the position directly opposite the fastening slot. It continuously detects the resistance encountered during insertion and feeds the resistance signal back to the main control system 7. The main control system 7 adjusts the insertion speed in real time based on the dynamic changes in the resistance signal. Specifically, in the initial stage of fastening insertion, the main control system 7 controls the fastener to advance at a relatively fast speed, resulting in a low resistance detection value. As the fastener enters the middle section of the fastening slot, the resistance gradually increases, and the main control system 7 automatically reduces the advancing speed. When the fastener is close to the fully inserted position, the advancing speed is further reduced and the thrust is increased to ensure the fastener is in place. When the detected resistance value exceeds a preset resistance threshold (e.g., 50N), the main control system 7 determines that there is an abnormality in the fastener insertion, controls the adjusting screw 532 to reverse the drive, causing the insert pusher 54 to retract 2-5mm, and then advances it forward again. If the resistance still cannot be reduced below the threshold after at most three back-and-forth insertion operations, it is determined that there is a serious defect in the clip slot or the clip itself. The main control system 7 marks the location of the clip slot and skips that location, and continues to process other clips.

[0033] During the aforementioned retraction-insertion process, it is worth noting that when abnormal insertion resistance occurs, the main control system 7 not only controls the retraction of the clip but also simultaneously controls the clamping module 3 to temporarily release the local clamping stress at the corresponding angle position. This coordinated control mechanism fundamentally reduces the risk of jamming and potential damage to the surface of the silicon steel sheet. Secondly, this retraction action occurs before the clip is fully embedded in the groove bottom. Furthermore, the release of local clamping stress at this time ensures that the clip and the edge of the silicon steel sheet in this state only have slight contact or elastic deformation, preventing permanent scratches or structural damage. In addition, setting the maximum number of repetitions to 3 ensures that the repetition operation is not an unlimited loop but rather has a safety limit, preventing cumulative damage caused by repeatedly applying stress to the same position.

[0034] During the clip installation process, the main control system 7 simultaneously receives signals from the position sensor, photosensitive sensor, pressure sensor 33 (or zone pressure sensor), and insertion resistance detection element 55. When the insertion resistance of any clip installation unit exceeds a preset resistance threshold, the main control system 7 first determines the angular position corresponding to that clip installation unit, and then sends a command to the clamping module 3 to temporarily release the local clamping stress in the clamping sector at that angular position. After the clip installation unit completes the clip installation (i.e., the resistance returns to normal), the main control system 7 automatically controls the clamping sector to restore the clamping stress. The implementation of this collaborative control logic relies on the core circumferential position coordinate mapping table constructed in the main control system 7. The main control system 7 pre-establishes a one-to-one correspondence between each clip installation unit and each clamping sector, as well as the angular position parameters of each clip installation unit in the core circumferential direction. When it is necessary to release the clamping stress at the corresponding position of a fastener mounting unit, the main control system 7 searches for the corresponding clamping sector number from the coordinate mapping table according to the angular position of the fastener mounting unit, and sends an unloading command to the miniature clamping actuator 311 of the clamping sector.

[0035] As a further extension of this embodiment, the insertion resistance detection component 55 collects resistance data in real time at a sampling frequency of 500Hz during the insertion process and sends it to the main control system 7. The main control system 7 plots a resistance-displacement curve based on the real-time collected resistance data and the displacement data of the insert pusher 54. When an abnormal resistance peak exceeding a preset amplitude (e.g., above 10N) appears in the curve and its duration exceeds a preset time threshold (e.g., 50ms), the main control system 7 determines that there is a foreign object or deformation defect in the insert slot. The main control system 7 marks the insert slot as unqualified and controls the corresponding insert installation unit to abandon the installation operation on the insert slot. At the same time, the unqualified information is recorded in image form and reported to the production management system for manual inspection and subsequent process improvement.

[0036] The unloading module 6 is set on the workbench 1 and is used to transport and convey the silicon steel sheet group with the fasteners installed. It mainly includes a linear guide rail 61, a servo linear module 62, and a support platform 63. The linear guide rail 61 and the servo linear module 62 are installed parallel to each other on the workbench 1. The support platform 63 moves along the linear guide rail 61 through a slide. A connecting seat is fixed on the side wall of the support platform 63. The connecting seat moves back and forth with the linear drive of the servo linear module 62.

[0037] The silicon steel sheets are transferred one by one from the silicon steel sheet storage position to the stacking position by the servo linear module 231. After stacking, the silicon steel sheet group is transferred to the support platform 63 located below it. Then, the silicon steel sheet group on the support platform 63 is transferred to the next process by the servo linear module 62. At the next process, the top of the fastener (i.e. the part that was originally inserted into the contour groove) can be bent to improve stability.

[0038] The working principle is as follows: Step 1: Stacking of silicon steel sheets. The vacuum suction cup picking mechanism 23 picks up silicon steel sheets one by one from the silicon steel sheet storage position and puts them onto the stacking positioning module 24. The photosensitive sensor monitors the stacking thickness in real time, and stops picking up materials when the stacking thickness reaches the preset value.

[0039] Step 2: Axial clamping. The main control system 7 controls the servo electric cylinder 32 to drive the upper pressure plate 31 downward to clamp the silicon steel sheet assembly. The pressure sensor 33 provides feedback on the clamping force value, and the servo electric cylinder 32 adjusts to the target force value according to the feedback signal, ensuring that the clamping sector maintains the same clamping stress.

[0040] Step 3: Fastener feeding and posture adjustment. The feeding rack 41 feeds the fasteners one by one in sequence. The CCD industrial camera 421 captures images of the fasteners. The image processing module identifies the fastener posture. The centering adjustment component 422 adjusts the fastener to the center. If the posture deviates from the preset direction, the posture correction unit 43 picks up the fastener and rotates it to adjust it so that it enters the fastener installation station in the correct posture.

[0041] Step 4: Clip Installation and Coordinated Tightening Adjustment. Each clip installation unit in clip installation module 5 performs clip installation operations sequentially or simultaneously. Adjusting slide rail 53 drives the insert pusher 54 to pick up the clip, rotates it to the insertion position, and then pushes the clip towards the clip slot of the silicon steel sheet via a screw drive. Insertion resistance detection component 55 detects resistance in real time. For each clip installation unit, before installation begins, the main control system 7 sends a command to the corresponding angle position of the clamping sector to temporarily release the local clamping stress in that sector. After clip installation is completed, the main control system 7 automatically restores the clamping stress in that sector. If the insertion resistance exceeds a preset threshold, the servo insert unit performs a retraction-clearing-reinsertion operation, repeating a maximum of three times; if the resistance is still abnormal after three repetitions, the clip slot is marked as faulty and skipped.

[0042] Step 5: Finished product unloading. The clamping module 3 releases the clamping force, the upper pressure plate 31 is lifted, and the finished iron core is removed from the stacking position by the unloading mechanism and transferred to the support platform 63, and then transported to the next station by the support platform 63. Example 2

[0043] This embodiment is basically the same as Embodiment 1, except that the clamping module 3 does not adopt a partitioned clamping sector structure, but rather an overall clamping structure. In this scheme, when the insertion resistance of a certain clip installation unit exceeds a preset threshold, the main control system 7 controls the servo electric cylinder 32 to reduce the overall clamping force (for example, by 20% to 30% from the target force value). After the clip is installed, the main control system 7 controls the servo electric cylinder 32 to restore the force value to the target value. This scheme has a simpler structure and lower cost, but the large fluctuation of the overall clamping force may have a certain impact on the tightness of the installed clips. Therefore, it is suitable for larger-sized iron core products that are not sensitive to changes in clamping force. Example 3

[0044] This embodiment is basically the same as Embodiment 1, except that the fastener feeding module 4 does not have an attitude correction unit 43, but instead adopts a dual vibratory feeder complementary feeding scheme. The two vibratory feeders are set to different fastener conveying attitudes: the first vibratory feeder conveys fasteners in a normal attitude, and the second vibratory feeder conveys fasteners in a mirrored attitude (i.e., rotated ° relative to the normal attitude). After the attitude detection unit 42 detects the fastener attitude, if the fastener attitude matches the conveying direction of the first vibratory feeder, it is fed by the first vibratory feeder; if it matches the conveying direction of the second vibratory feeder, it is fed by the second vibratory feeder; if neither matches, the fastener is rejected and sent to the waste box. This scheme avoids complex correction mechanisms, but requires dual vibratory feeders and two corresponding sets of feeding tracks, increasing equipment cost and space occupation. Example 4

[0045] This embodiment is basically the same as Embodiment 1, except that the insertion resistance detection component 55 uses a current loop detection scheme instead of a miniature force sensor. There is a definite functional relationship between the drive current and output torque of the servo motor during operation. By monitoring the drive current of the servo motor in real time and combining it with the transmission parameters of the ball screw transmission mechanism, the insertion resistance experienced by the insert pusher 54 can be indirectly calculated. The current loop detection scheme eliminates the need for an additional force sensor, reducing the complexity and cost of the equipment. However, its detection accuracy and response speed are slightly lower than the direct measurement scheme using a miniature force sensor, making it suitable for applications with relatively low requirements for insertion resistance control accuracy.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automated splicing system for silicon steel sheets of a permanent magnet synchronous motor, comprising: The workbench (1) has a main control system (7) on one side. The silicon steel sheet feeding and stacking module (2) is set on the workbench (1) and is used to transport, transfer and stack the silicon steel sheets one by one to a predetermined height. Its characteristic is that it further includes: The clamping module (3) is set on the workbench (1) and located above the stacking position. It is used to apply axial clamping force to the stacked silicon steel sheet group. It mainly includes a servo clamping unit and a pressure sensor (33). The servo clamping unit adjusts the clamping force in real time according to the signal fed back by the pressure sensor (33). The fastener feeding module (4) is set on one side of the workbench (1) and is used to convey and adjust the posture of the fasteners; The fastener installation module (5) is set on the workbench (1) and located on the outer periphery of the stacking position. It is used to insert the fastener into the fastener slot. The fastener installation module (5) includes several fastener installation units arranged circumferentially. Each clip installation unit includes a servo clip unit and an insertion resistance detection element (55). During the clip insertion process, the servo clip unit obtains the resistance feedback signal of the insertion resistance detection element (55) in real time, and dynamically adjusts the insertion speed and insertion force according to the resistance feedback signal. When the detected resistance value exceeds the preset resistance threshold, the servo clip unit performs a back-clear-re-insert avoidance action. During the installation of the fastener, the system coordinates the clamping force signal fed back by the pressure sensor (33) and the resistance signal fed back by the insertion resistance detection component (55) for control. When the insertion resistance of any fastener installation unit exceeds the preset resistance threshold, the main control system (7) controls the clamping module (3) to temporarily release the local clamping stress at the corresponding angle position of the fastener. After the fastener is installed, the clamping stress at that position is automatically restored.

2. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, The servo clamping unit includes an upper pressure plate (31), a servo electric cylinder (32), and a lifting assembly. The upper pressure plate (31) has a ring structure. The push rod of the servo electric cylinder (32) is connected to the upper pressure plate (31), and the servo electric cylinder (32) is installed at the bottom of the lifting assembly. The pressure sensor (33) is located between the upper pressure plate (31) and the servo electric cylinder (32).

3. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 2, characterized in that, The upper pressure plate (31) has multiple independent pressure sectors evenly arranged along the circumference of the pressure surface. Each pressure sector is equipped with an independent miniature pressure actuator (311) and a partition pressure sensor (33). The partition pressure sensor (33) is located between the pressure sector and the pressure actuator (311). Each pressure sector can independently adjust the magnitude of the local pressure force according to the instructions of the main control system (7).

4. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, The fastener mounting module (5) has several fastener mounting units arranged in a circular array with the central axis of the iron core as the center. Each fastener mounting unit is mounted on the radial adjustment slide rail (53) and its radial position can be adjusted independently by adjusting screw two (532).

5. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, The servo insert unit mainly includes a fixed base (52), an adjusting slide rail (53), and an insert pusher (54). A worm gear component (512) with an annular structure is rotatably arranged on the top surface of the worktable (1). The fixed base (52) is installed on the surface of the worm gear component (512). The adjusting slide rail (53) is rotatably arranged between the inner walls of the fixed base (52), and its adjustment angle is between 0 and 90 degrees. A pair of "convex" shaped adjusting blocks (531) slide along the inner wall of the adjusting slide rail (53). The insert pusher (54) is rotatably arranged between the two opposing adjusting blocks (531) through a rotating shaft (541). A contoured groove is opened on the insert pusher (54), and the insertion resistance detection component (55) is installed in the contoured groove.

6. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, The fastener feeding module (4) includes a feeding rack (41), an attitude detection unit (42), and an attitude correction unit (43). The feeding rack (41) is installed on one side of the workbench (1). The attitude detection unit (42) includes a CCD industrial camera (421) and a centering adjustment component (422). The CCD industrial camera (421) is installed on one side of the middle position of the attitude detection unit (42). Two centering adjustment components (422) are symmetrically arranged and move relative to each other along the length direction of the attitude detection unit (42). The attitude correction unit (43) includes a moving frame (431), a rotating table (432), and a contouring robot (433). The moving frame (431) moves along the length direction of the feeding rack (41), and the top of the moving frame (431) can be raised and lowered. The rotating table (432) is installed at the middle position of the top of the moving frame (431), and the contouring robot (433) is located at the bottom of the rotating table (432).

7. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, The silicon steel sheet feeding and stacking module (2) includes a frame, a vacuum suction cup picking mechanism (23), and a stacking positioning module (24). A silicon steel sheet storage position is provided on the frame. The vacuum suction cup picking mechanism (23) moves back and forth linearly from the silicon steel sheet storage position to one side. The stacking positioning module (24) is set on the workbench (1). It mainly includes a positioning mandrel (241) and a rotating disk (242). The rotating disk (242) is rotatably set at the bottom of the workbench (1). The positioning mandrel (241) moves and adjusts with the circumferential movement of the rotating disk (242). The bottom end of the positioning mandrel (241) is restricted by an auxiliary handle (243) installed on the bottom wall of the workbench (1). A photosensitive sensor is provided at the upper end of one of the positioning mandrels (241).

8. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 7, characterized in that, Multiple relatively moving correction rods (13) are provided on one side of the outer periphery of the silicon steel sheet storage position. A drive block (12) is installed at the bottom of the correction rod (13). The drive block (12) moves linearly along the inner wall of the workbench (1). A position sensor is also installed on the circumferential surface of the correction rod (13).

9. The automated splicing system for silicon steel sheets of a permanent magnet synchronous motor according to claim 1, characterized in that, It also includes a material unloading module (6) for easy conveying to the next process, which includes a linear guide (61), a servo linear module two (62) and a support platform (63). The linear guide (61) and the servo linear module two (62) are installed in parallel on the worktable (1). The support platform (63) moves back and forth along the linear guide (61) under the drive of the servo linear module two (62).

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