Rotor automatic lamination mechanism and lamination method

Abstract

The application discloses a rotor automatic lamination mechanism, which comprises a feeding bracket for bearing a silicon steel sheet; a 3D camera above the bracket collects the spatial position of the silicon steel sheet; a first manipulator grabs the silicon steel sheet and places it on a first conveying line, and then the silicon steel sheet sequentially passes through a defect detection station and a transfer station; a defect detection device detects defects on line; a second manipulator transfers qualified silicon steel sheets to a second conveying line, and a positioning tool is used to complete pre-stacking of a sheet group; an automatic lamination execution mechanism comprises a multi-axis module, a supporting mechanism composed of L-shaped openable and closable supporting pieces and a pressing mechanism, and the pressing mechanism is arranged between two supporting pieces. The multi-axis module lifts the whole pre-stacked silicon steel sheet and is sleeved on a process shaft at one time, and in this process, the second manipulator synchronously performs pre-stacking of the next group of silicon steel sheets. The application further discloses a lamination method of the rotor automatic lamination mechanism. The application solves the problems of low lamination efficiency and unstable quality by means of intermediate caching.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing equipment technology, and in particular to an automatic rotor lamination mechanism and a self-cleaning method. Background Technology

[0002] The rotor is composed of dozens to hundreds of silicon steel sheets, each 0.3mm to 0.5mm thick, stacked together. Traditional manual stacking suffers from low efficiency and inconsistent quality. Existing automated stacking mechanisms typically operate on a single-sheet stacking basis. This means that after a single silicon steel sheet arrives at the stacking station, the stacking actuator completes the processes of picking up, transferring, inserting, and returning the sheet before processing the next one. This model suffers from a fundamental efficiency bottleneck: while the stacking actuator is performing time-consuming transfer, insertion, and return actions, the upstream material handling and inspection systems are waiting. The overall production cycle is constrained by the slowest single-sheet picking and placing action, making it difficult to improve efficiency. Summary of the Invention

[0003] To address the shortcomings of the prior art, this invention provides an automatic rotor laminating mechanism, solving the problems of low laminating efficiency and unstable quality. This invention also provides a laminating method for the automatic rotor laminating mechanism.

[0004] The technical solution of this invention is as follows: An automatic rotor lamination mechanism, comprising: The feeding bracket is used to carry incoming silicon steel sheets; A 3D camera assembly, mounted above the loading tray, is used to capture the spatial position of the silicon steel sheet; The first robotic arm is used to pick up silicon steel sheets from the loading tray; The first conveyor line is used to receive silicon steel sheets from the first robotic arm and pass through the defect detection station and the transfer and absorption station in sequence along the conveying direction; A defect detection device is installed above the defect detection station of the first conveyor line for online detection of defects in silicon steel sheets; The second robotic arm is used to pick up silicon steel sheets from the defect detection station or transfer pick-up station of the first conveyor line. The second conveyor line is equipped with several buffer stacking area positioning fixtures to carry the silicon steel sheets picked up by the transfer and pick-up station and form a preliminary stacked sheet group. The automatic stacking actuator includes a multi-axis module, a support mechanism and a pressing mechanism installed at the end of the multi-axis module. The support mechanism includes a pair of detachable support pieces with an L-shaped structure. The pressing mechanism is located between the pairs of support pieces. The multi-axis module drives the support mechanism to insert the initial stacked wafer group into the process shaft in one go. During the lifting, moving and inserting actions of the initial stacked wafer group performed by the automatic stacking actuator, the second robot continues to transport subsequent silicon steel sheets to the second conveyor line for the initial stacking of the next set of silicon steel sheets.

[0005] Furthermore, one end of the cache stacking area positioning fixture is shaped to match the notch shape of the central hole of the silicon steel sheet, and the other end of the cache stacking area positioning fixture is shaped to match the central hole of the silicon steel sheet. The support plate lifts the stacked sheet group from both sides below.

[0006] Furthermore, it includes a first double-sheet detection device and a second double-sheet detection device. The first double-sheet detection device is disposed between the feeding bracket and the first conveyor line. The first robot arm passes through the first double-sheet detection device to detect the number of silicon steel sheets before moving them to the first conveyor line. The second double-sheet detection device is disposed between the first conveyor line and the second conveyor line. The second robot arm passes through the second double-sheet detection device to detect the number of silicon steel sheets before moving them to the second conveyor line.

[0007] Furthermore, the end of the first robotic arm is provided with a vibration suction mechanism, which includes a suction cup assembly and a vibrator.

[0008] Furthermore, the vibration absorption mechanism is provided with a fixed plate, and the suction cup assembly is disposed on the fixed plate. The suction cup assembly is divided into an independently controlled inner ring suction cup group and an outer suction cup group, and both the inner ring suction cup group and the outer suction cup group are arranged in a circle with the center of the fixed plate as the center.

[0009] Furthermore, the pressing mechanism includes an independently driven pressing plate, the width of which is greater than the diameter of the process shaft.

[0010] Furthermore, the bottom contact surface of the lower pressure plate is provided with an elastic buffer layer.

[0011] Furthermore, the first robotic arm, the first conveyor line, the second robotic arm, and the second conveyor line are each equipped with two sets, and they share a single automatic stacking actuator. The two sets of devices simultaneously perform initial stacking, and the shared automatic stacking actuator completes the final stacking. This effectively avoids the waiting problem of the automatic stacking actuator caused by defective stacked pieces during the inspection process, further improving the compactness of the production cycle.

[0012] Another technical solution of the present invention is: a lamination method for an automatic rotor lamination mechanism, based on the aforementioned automatic rotor lamination mechanism: The feeding and picking process: The 3D camera component acquires the spatial position information of the silicon steel sheet on the feeding tray, and the first robot arm picks up the silicon steel sheet from the feeding tray and sends it to the first conveyor line; Defect detection steps: After placing the silicon steel sheet on the first conveyor line, the first conveyor line moves the silicon steel sheet to the defect detection station. The defect detection device detects defects in the silicon steel sheet, and the second robotic arm removes the defective silicon steel sheet and continues to transport it to the transfer and picking station. Cache stacking steps: The second robotic arm picks up the wafers one by one from the transfer station and transfers them to the second conveyor line. The wafers are then positioned in the cache stacking area and initially stacked to form stacked wafer groups. Batch insertion step: When the number of stacked pieces in the cache stacking area reaches the preset number, the supporting mechanism lifts the stacked piece group at once and the pressing mechanism presses it down. The multi-axis module drives the supporting mechanism to move the stacked piece group as a whole and insert it into the process shaft at once. When inserting it into the process shaft, the pressing mechanism presses it down further. During the batch stacking step, the feeding and defect detection steps continue to run, and subsequent silicon steel sheets are continuously fed into the second conveyor line for the next set of silicon steel sheets to be stacked.

[0013] Furthermore, in the feeding and picking step, the first robotic arm picks up silicon steel sheets from the feeding tray, passes them through the first double-sheet detection device for sheet count detection, and then sends them to the first conveyor line; in the buffer stacking step, the second double-sheet detection device detects the sheet count during the transfer process.

[0014] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: This invention establishes a buffer stacking area on the second conveyor line, creating two independent steps: "multi-sheet buffer stacking" and "batch insertion and pressing," which are executed in parallel. While the supporting mechanism, pressing mechanism, and multi-axis module perform the time-consuming actions of lifting, moving, inserting, pressing, and returning, the upstream first conveyor line and second robotic arm continue to feed the next set of silicon steel sheets into the buffer stacking area, completely eliminating the waiting time of upstream processes during the existing sheet-by-sheet stacking process. The stacking cycle of a single rotor is reduced from the total time required for independent pick-and-place of each sheet to depend only on the slower buffer stacking speed or batch insertion speed, significantly improving the overall equipment uptime.

[0015] Each time the support mechanism lifts multiple stacked silicon steel sheets (e.g., 15 sheets), the number of actions of the multi-axis module is greatly reduced compared to stacking each sheet individually, and the invalid idle travel time of the multi-axis module is greatly reduced, which further improves the efficiency of the equipment.

[0016] The defect detection device integrated on the first conveyor line completes the quality judgment before the silicon steel sheets enter the buffer stacking area. Unqualified silicon steel sheets are rejected in real time to prevent unqualified products from entering the stacked sheet group and causing the entire group to be reworked or scrapped.

[0017] The entire device can be adapted to different specifications of silicon steel sheets by changing the feeding bracket, adjusting the positioning fixture of the buffer stacking area and the motion parameters of the multi-axis module, making the changeover simple. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the rotor automatic lamination mechanism in an embodiment.

[0019] Figure 2 This is a schematic diagram of the lifting and identification area of ​​the rotor automatic lamination mechanism in an embodiment.

[0020] Figure 3 This is a schematic diagram of the vibration absorption mechanism of the rotor automatic lamination mechanism in an embodiment.

[0021] Figure 4 This is a schematic diagram of the defect detection area of ​​the rotor automatic lamination mechanism in an embodiment.

[0022] Figure 5 This is a schematic diagram of the buffer stacking area of ​​the rotor automatic stacking mechanism in an embodiment.

[0023] Figure 6 This is a schematic diagram of the silicon steel sheet and the positioning fixture of the buffer stacking area of ​​the rotor automatic stacking mechanism in an embodiment.

[0024] Figure 7 This is a partial structural schematic diagram of the automatic lamination actuator of the rotor automatic lamination mechanism in an embodiment.

[0025] Figure 8 This is a schematic diagram of the final stacking station of the rotor automatic lamination mechanism in an embodiment. Detailed Implementation

[0026] The present invention will be further described below with reference to embodiments. It should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention. After reading this description, any modifications of this description in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0027] Please combine Figure 1 As shown in the figure, the automatic rotor stacking mechanism involved in this embodiment of the invention includes, in sequence according to the material flow direction, a lifting and identification area 1, a defect detection area 2, and a buffer stacking area 3. The three areas respectively realize the three functions of rotor silicon steel sheet 4 feeding and identification, online quality inspection, buffer stacking, and batch pressing.

[0028] Reference Figure 1 and Figure 2 The lifting and identification area 1 includes an electrical cabinet frame 105, a 3D camera assembly 101, two sets of symmetrically arranged first robotic arms 102, a loading bracket 103, and a vibration absorption mechanism 104.

[0029] The electrical cabinet frame 105 serves as the overall support frame for the lifting and identification area 1, and its top-view outline is U-shaped. The opening of the electrical cabinet frame 105 serves as the loading point for the AGV. The forklift-type AGV delivers the loading tray 103 fully loaded with silicon steel sheets 4 into the lifting and identification area 1 through this opening. The internal space of the electrical cabinet frame 105 is used to accommodate various functional components, and the electrical control cabinet and air pipelines are installed inside the enclosed side area.

[0030] The 3D camera assembly 101 is mounted across both sides of the electrical cabinet frame 105, with its 3D camera positioned in the middle of the frame and its lens mounted vertically downwards, directly opposite the loading tray 103 below. When the AGV transports the loading tray 103 to the designated position, the 3D camera assembly 101 takes pictures of the stack of silicon steel sheets 4 on the loading tray 103. Through 3D point cloud data processing, it obtains the 3D spatial coordinates and stacking height of the top silicon steel sheet 4, providing position guidance for the suction action of the first robotic arm 102.

[0031] The feeding bracket 103 has a rectangular frame structure. The upper surface is provided with positioning pins or positioning grooves for positioning silicon steel sheets 4, and the bottom is provided with slots for cooperating with AGV forks. Different specifications of silicon steel sheets 4 correspond to different feeding brackets 103. When changing models, only the corresponding feeding bracket 103 needs to be replaced.

[0032] The two sets of first robotic arms 102 are multi-axis articulated robotic arms, symmetrically distributed on the left and right sides of the electrical cabinet frame 105, with a specially designed vibration absorption mechanism 104 installed at their ends. The arrangement of the two sets of first robotic arms 102 makes full use of the lateral space of the electrical cabinet frame 105, and two gripping and stacking production lines can be arranged accordingly to further improve efficiency.

[0033] Please combine Figure 2 and Figure 3 The suction vibration mechanism 104 is an actuator installed at the end of the first manipulator 102, and consists of a suction cup assembly 104-1, a fixed chuck 104-2, a vibrator 104-3, and a fixed plate 104-4.

[0034] The suction cup assembly 104-1 is mounted on the fixed plate 104-4 and includes an inner ring suction cup group and an outer ring suction cup group. Each group contains four vacuum suction cups, and the air paths of the two groups of suction cups are independently controlled. The four suction cups of the inner ring suction cup group are evenly distributed on a first circumference centered on the center of the fixed plate 104-4, and the four suction cups of the outer ring suction cup group are evenly distributed on a second circumference centered on the center of the fixed plate 104-4. The diameter of the second circumference is larger than that of the first circumference. In operation, the inner ring suction cup group is activated first. When the suction power of the inner ring suction cup group is insufficient, the outer ring suction cup group is automatically activated to increase the suction error tolerance.

[0035] Vibrator 104-3 is a pneumatic vibrator, mounted on a fixed plate 104-4, and connected to the end flange of the first robotic arm 102 via a fixed chuck 104-2. The internal structure of vibrator 104-3 includes an eccentric rotor and air passages. When compressed air is introduced, the eccentric rotor rotates at high speed, generating circumferential high-frequency vibration. The vibration is transmitted through the fixed plate 104-4 and the suction cup assembly 104-1 to the silicon steel sheets 4 being sucked, causing slight relative displacement between the silicon steel sheets 4. This disrupts the oil film adhesion or vacuum adsorption effect between the silicon steel sheets 4, causing multiple adhered silicon steel sheets 4 to separate automatically. The vibration frequency and duration of vibrator 104-3 can be parameterized and adjusted by a PLC according to the specifications (thickness, oil coating amount) of the silicon steel sheets 4. It should be noted that vibrator 104-3 is not limited to a pneumatic vibrator; it can also be other devices capable of high-frequency vibration, such as a vibration motor.

[0036] Please combine Figure 1 and Figure 4 The defect detection area 2 includes a second robotic arm 202, a first conveyor line 204, a first dual-piece detection device 203, a 2D camera assembly 201 (defect detection device), and a waste bin 205. Similar to the lifting and identification area 1, these components are still mounted on the electrical cabinet frame 105, with the 2D camera assembly 201 spanning horizontally on both sides and the upper camera mounted vertically downwards in the middle of 201.

[0037] Opposite to the first robotic arm 102, there are two first conveyor lines 204, which can be belt conveyors or chain conveyors. The two first conveyor lines 204 are located directly below the 2D camera assembly 201 and opposite the two 2D cameras. The first conveyor lines 204 have multiple conveying stations along the conveying direction. The first double-sheet detection device 203 is located between the loading bracket 103 and the first conveyor line 204, on the moving path of the silicon steel sheet 4 driven by the first robotic arm 102. The first double-sheet detection device 203 uses a photoelectric through-beam or ultrasonic thickness sensor. When the detected thickness exceeds the theoretical thickness of a single sheet (e.g., 0.5mm for a single sheet, with a threshold of 0.8mm), it is determined to be multiple sheets and triggers re-picking. At the same time, the first count value of each normal pick-up is recorded. Similar to the first robotic arm 102, the second robotic arm 202 has two distributed on the left and right sides of the electrical cabinet frame 105. The end effector of the second robotic arm 202 is similar to the picking vibration mechanism 104, except that it does not have a vibrator 104-3; the rest of the structure is the same.

[0038] The silicon steel sheet 4, picked up by the first robotic arm 102, undergoes thickness detection by the first dual-sheet inspection device 203 and is placed at the first conveying station of the first conveyor line 204, moving along the conveying direction in a stepping manner. The silicon steel sheet 4 then enters the second conveying station, the defect detection station, where it undergoes surface defect detection by the 2D camera assembly 201. The 2D camera assembly 201, equipped with a high-resolution industrial camera and a ring LED light source, acquires images of the silicon steel sheet 4 surface and automatically identifies defects such as stamping burrs, scratches, rust, and edge defects through image processing algorithms (edge ​​detection, grayscale analysis, template matching, etc.), and measures key dimensions such as outer and inner diameters. Qualified silicon steel sheets 4 continue to flow with the first conveyor line 204 to the third conveying station, the intermediate pick-up station; unqualified silicon steel sheets 4 are picked up by the second robotic arm 202 and placed into the waste box 205, with the system automatically replenishing new sheets from the loading tray 103.

[0039] Please combine Figure 1 and Figure 5 As shown, the buffer stacking area 3 includes a support frame 301, a second dual-chip detection device 302, a second conveyor line 303, a buffer stacking area positioning fixture 305, and an automatic stacking execution mechanism.

[0040] The second conveyor line 303 is a critical buffer station connecting the downstream output of the defect detection area 2 and the final stacking station. Similar to the first conveyor line 204, the second conveyor line 303 can use belt conveyor or chain conveyor and transport materials in a stepping manner. A buffer stacking area positioning fixture 305 is installed on the second conveyor line 303. The width of the second conveyor line 303 is smaller than the diameter of the silicon steel sheet 4, allowing the silicon steel sheet 4 to extend from both sides of the second conveyor line 303 for subsequent gripping by the mechanism. A second double-sheet detection device 302 is installed between the first conveyor line 204 and the second conveyor line 303 to detect the number of silicon steel sheets 4 in the stacked sheet group on the second conveyor line 303.

[0041] The second robotic arm 202 picks up the defect-inspected silicon steel sheet 4 from the third conveying station of the first conveyor line 204, performs a second count using the second double-sheet detection device 302, and then places it onto the conveying surface of the second conveyor line 303. Multiple buffer stacking area positioning fixtures 305 are spaced apart along the conveying direction on the second conveyor line 303.

[0042] like Figure 6 As shown, the silicon steel sheet 4 has a circular structure with a concentric circular hole in the center and a square notch at the edge of the hole. One end of the buffer stacking area positioning fixture 305 on the second conveyor line 303 is designed as a square structure 305-1, which is used to cooperate with the square notch of the central hole of the silicon steel sheet 4 to achieve circumferential positioning; the other end of the buffer stacking area positioning fixture 305 is designed as an arc-shaped structure 305-2, which is used to abut against the inner wall of the central hole of the silicon steel sheet 4.

[0043] When the second robotic arm 202 places the silicon steel sheet 4 onto the second conveyor line 303, the square ends of the buffer stacking area positioning fixture 305 respectively engage with the square notches of the corresponding silicon steel sheet 4, while the rounded ends abut against the inner wall of the central hole. As the silicon steel sheets 4 are transferred one by one by the second robotic arm 202 to the second conveyor line 303, they automatically form stacked sheets in the buffer stacking area positioning fixture 305. The buffer stacking area positioning fixture 305 serves a pre-alignment function, ensuring that the relative positions of each silicon steel sheet 4 in the stacked sheet group are basically consistent.

[0044] Please combine Figure 5 , Figure 7 and Figure 8 As shown, the automatic stacking actuator includes a multi-axis module 304, a support mechanism, and a pressing mechanism.

[0045] The support mechanism is installed on the Z-axis 304z of the multi-axis module 304 to lift multiple stacked silicon steel sheets 4 in the buffer stacking area at once. The multi-axis module 304 is a three-axis linear motion module (XYZ), installed on the upper part of the support frame 301. The X and Y axes are responsible for horizontal positioning, and the Z-axis is responsible for vertical lifting. Generally, the X-axis 304x is set parallel to the conveying direction of the second conveyor line 303 and extends to the final stacking station. The stacking station has a process axis 5 set in the Z direction and a guide rod 6, and multiple position sensors 7 are set to ensure that the process axis 5 is installed in place.

[0046] The core component of the support mechanism consists of two symmetrically arranged support plates 304-1. Each support plate 304-1 is driven by an independent opening and closing module 304-2. The power source of the opening and closing module 304-2 is a motor, which drives the two support plates 304-1 in the Y-axis direction, enabling them to have two action states: "separated" and "closed". The support plates 304-1 have an L-shaped structure, with the bent part of the L-shape located at the bottom. During material handling, after the two support plates 304-1 separate outwards, the Z-axis 304z of the multi-axis module 304 drives the support plates 304-1 to descend to a predetermined height on both sides of the stacked plate group on the second conveyor line 303. The two support plates 304-1 descend from both sides of the plate group. When the bent part of the L-shape is below the stacked plate group, they close inwards. Then, the Z-axis 304z of the multi-axis module 304 drives the support plates 304-1 to rise, lifting the stacked plate group from below.

[0047] The pressing mechanism is also installed at the Z-axis end of the multi-axis module 304 and located between the two support plates 304-1. The pressing mechanism is used to apply a certain downward pressure to the stacked wafer group when the support mechanism lifts the stacked wafer group, so as to ensure that there is no relative movement between the silicon steel sheets 4 during the process of the stacked wafer group moving from the second conveyor line 303 to each final stacking station. In addition, the pressing mechanism is also used to enable the stacked wafer group to complete the final stacking smoothly on the process axis 5.

[0048] The pressing mechanism includes a pressing electric cylinder 304-3 and a pressing plate 304-4. The pressing electric cylinder 304-3 is driven in the Z-axis direction, and the pressing plate 304-4 is connected to the pressing electric cylinder 304-3 and is driven to rise and fall by the pressing electric cylinder 304-3. The pressing plate 304-4 has a "U"-shaped opening structure, and the opening width is larger than the diameter of the process shaft 5 on the final stacking station, so that the pressing plate 304-4 can move up and down along the process shaft 5 without obstruction during the pressing action. The bottom contact surface of the pressing plate 304-4 is provided with a buffer layer made of polyurethane or other elastic material to avoid damage to the surface of the silicon steel sheet 4 during pressing.

[0049] When the number of wafers in a stacked wafer group formed on a buffer stacking area positioning fixture 305 reaches the preset target number (e.g., 15 wafers), this target number is obtained by the second double-wafer detection device 302. The second conveyor line 303 steps forward, moving the stacked wafer group forward a certain distance. An empty buffer stacking area positioning fixture 305 is left on the second conveyor line 303 to receive the silicon steel sheets 4 continuously conveyed by the second robotic arm 302. At the same time, the control system sends a material handling command to the automatic stacking execution mechanism. The multi-axis module 304 drives the support mechanism to move directly above the stacked wafer group that has completed the preset target number of wafers. The support mechanism lifts the entire stacked wafer group at once, while the pressing mechanism presses down to maintain stability. Subsequently, the multi-axis module 304 moves the support mechanism, the pressing mechanism, and the entire stacked wafer group together to directly above the process axis 5, and fits the stacked wafer group into the process axis 5 and guide rod 6 at once. After the supporting mechanism places the stacked wafer group into the process shaft 5, the pressing mechanism is activated, and the pressing plate 304-4 presses the entire stacked wafer group downwards along the process shaft 5. Under pressure, the stacked wafer group overcomes the friction between the inner hole of the silicon steel sheet 4 and the process shaft 5, sliding downwards along the process shaft 5 to the bottom or onto the previous set of wafers already pressed in. After pressing is completed, the pressing plate 304-4 rises, and the multi-axis module 304 drives the supporting mechanism and the pressing mechanism back above the second conveyor line 303, ready to pick up the next stacked wafer group that has been stacked during this period.

[0050] During the complete cycle of lifting, moving, inserting, pressing, and returning performed by the automatic stacking actuator (taking approximately tens of seconds), the second robotic arm 202 continuously places the inspected and qualified subsequent silicon steel sheets 4 one by one onto the second conveyor line 303 for initial stacking. When the automatic stacking actuator returns after completing the previous cycle, a set of silicon steel sheets 4 on the upper and lower sides of the second conveyor line 303 has been stacked, and the next round of batch picking can begin immediately. Thus, the overall cycle time of the equipment is no longer constrained by the time required for individual sheet picking and placing. While the feeding and defect detection processes operate continuously at a fixed cycle time, the batch inserting and pressing process is performed intermittently, but the waiting time during these intermittent periods is zero, improving stacking efficiency.

[0051] The following uses a 268A type silicon steel sheet 4 (0.5mm thick, 15 sheets per stack, final stack of 90 sheets) as an example to fully describe the operation process of the present invention: Phase 1, Loading and Picking: The forklift-type AGV sends the loading tray 103, fully loaded with silicon steel sheets 4, into the predetermined position of the lifting and identification area 1; the 3D camera component 101 takes a picture to obtain the three-dimensional coordinates of the top silicon steel sheet 4; the two sets of first robotic arms 102 move to the picking position, the suction cup component 104-1 picks up the silicon steel sheet 4, and after lifting, the vibrator 104-3 starts high-frequency vibration to separate the adhered silicon steel sheets 4.

[0052] Phase Two, Dual-Sheet Inspection and Defect Detection: The first robotic arm 102 lifts the silicon steel sheet 4 to the first dual-sheet inspection device 203 for thickness detection. After confirming it's a single sheet, the first count value is recorded. Then, the silicon steel sheet 4 is placed at the first conveying station of the first conveyor line 204. The first conveyor line 204 moves forward, and the silicon steel sheet 4 enters the defect detection station, where the 2D camera assembly 201 performs surface defect detection and dimensional measurement. Qualified silicon steel sheets 4 enter the third conveying station (transfer and suction station), while defective sheets are placed into the waste bin 205 by the second robotic arm 202.

[0053] Phase Three, Buffer Stacking (operating in parallel with Phases One and Two): The second robotic arm 202 picks up qualified silicon steel sheets 4 from the third conveying station of the first conveyor line 204. The second double-sheet detection device 302 performs a secondary thickness detection and records the second count value. The silicon steel sheets 4 are then placed on the second conveyor line 303 and positioned by the buffer stacking area positioning fixture 305. The silicon steel sheets 4 are stacked one by one on the buffer stacking area positioning fixture 305. This phase continues, with the sheets gradually accumulating. The feeding, picking up, and detection actions of Phases One and Two remain continuous during Phase Three.

[0054] Phase Four, Batch Stacking (Running in parallel with Phases One, Two, and Three): When the number of stacked wafers in the buffer stacking area reaches 15, the second conveyor line 303 moves forward a certain distance. The multi-axis module 304 drives the support mechanism and the pressing mechanism to move above the stacked wafers that have reached the required number. The support plate 304-1 separates, descends, and closes, lifting the entire group of 15 silicon steel sheets 4 from below at once. The pressing mechanism presses down to ensure the stability of the stacked wafers during movement. The XY axes of the multi-axis module move the support mechanism and the pressing mechanism to directly above the process axis 5, while the Z axis descends, stacking the wafers into the process axis 5 at once. Throughout the entire process of this phase, Phases One, Two, and Three (i.e., the picking, detection, and buffer stacking of the next group of silicon steel sheets 4) continue to run synchronously, unaffected by the batch stacking action.

[0055] Phase 5, Grouping and Pressing: The lower pressure plate 304-4 presses the entire group of wafers downwards along the process axis 5 with a large stroke, so that the 15 silicon steel sheets in group 4 fall as a whole to the bottom of the process axis 5 or on top of the previous group of wafers. After pressing is completed, the lower pressure plate 304-4 rises, and the multi-axis module 304 drives the support mechanism and the pressing mechanism back to above the second conveyor line 303. At this time, the next group of silicon steel sheets 4 is ready to be stacked. Phases 4 and 5 are repeated until all silicon steel sheets 4 of the rotor are stacked (total number of sheets: 90, divided into 6 groups).

[0056] In this complete workflow, since subsequent silicon steel sheets 4 are continuously input into the buffer stack area from stage one to stage three during the execution of stage four (batch insertion) and stage five (group compaction), the entire production line achieves a continuous operation state with near-zero waiting time.

Claims

1. An automatic rotor lamination mechanism, characterized in that, include: The feeding bracket is used to carry incoming silicon steel sheets; A 3D camera assembly, mounted above the loading tray, is used to capture the spatial position of the silicon steel sheet; The first robotic arm is used to pick up silicon steel sheets from the loading tray; The first conveyor line is used to receive silicon steel sheets from the first robotic arm and pass through the defect detection station and the transfer and absorption station in sequence along the conveying direction; A defect detection device is installed above the defect detection station of the first conveyor line for online detection of defects in silicon steel sheets; The second robotic arm is used to pick up silicon steel sheets from the defect detection station or transfer pick-up station of the first conveyor line. The second conveyor line is equipped with several buffer stacking area positioning fixtures to carry the silicon steel sheets picked up by the transfer and pick-up station and form a preliminary stacked sheet group. The automatic stacking actuator includes a multi-axis module, a support mechanism and a pressing mechanism installed at the end of the multi-axis module. The support mechanism includes a pair of detachable support pieces with an L-shaped structure. The pressing mechanism is located between the pairs of support pieces. The multi-axis module drives the support mechanism to insert the initial stacked wafer group into the process shaft in one go. During the lifting, moving and inserting actions of the initial stacked wafer group performed by the automatic stacking actuator, the second robot continues to transport subsequent silicon steel sheets to the second conveyor line for the initial stacking of the next set of silicon steel sheets.

2. The rotor automatic lamination mechanism according to claim 1, characterized in that, One end of the positioning fixture for the cache stacking area is shaped to match the notch shape of the central hole of the silicon steel sheet, and the other end of the positioning fixture is shaped to match the arc shape of the central hole of the silicon steel sheet. The support plate lifts the stacked sheet group from both sides below.

3. The rotor automatic lamination mechanism according to claim 1, characterized in that, It includes a first double-sheet detection device and a second double-sheet detection device. The first double-sheet detection device is disposed between the feeding bracket and the first conveyor line. The first robot arm passes through the first double-sheet detection device to detect the number of silicon steel sheets before moving them to the first conveyor line. The second double-sheet detection device is disposed between the first conveyor line and the second conveyor line. The second robot arm passes through the second double-sheet detection device to detect the number of silicon steel sheets before moving them to the second conveyor line.

4. The rotor automatic lamination mechanism according to claim 1, characterized in that, The first robotic arm has a vibration suction mechanism at its end, which includes a suction cup assembly and a vibrator.

5. The rotor automatic lamination mechanism according to claim 4, characterized in that, The vibration absorption mechanism is provided with a fixed plate, and the suction cup assembly is set on the fixed plate. The suction cup assembly is divided into an independently controlled inner ring suction cup group and an outer suction cup group. Both the inner ring suction cup group and the outer suction cup group are arranged in a circle with the center of the fixed plate as the center.

6. The rotor automatic lamination mechanism according to claim 1, characterized in that, The pressing mechanism includes an independently driven pressing plate, the width of which is greater than the diameter of the process shaft.

7. The rotor automatic lamination mechanism according to claim 6, characterized in that, The bottom contact surface of the lower pressure plate is provided with an elastic buffer layer.

8. The rotor automatic lamination mechanism according to claim 1, characterized in that, The first robotic arm, the first conveyor line, the second robotic arm, and the second conveyor line are each provided in two sets, and they all share an automatic stacking actuator.

9. A lamination method for an automatic rotor lamination mechanism, characterized in that, Based on the rotor automatic lamination mechanism according to any one of claims 1 to 8: The feeding and picking process: The 3D camera component acquires the spatial position information of the silicon steel sheet on the feeding tray, and the first robot arm picks up the silicon steel sheet from the feeding tray and sends it to the first conveyor line; Defect detection steps: After placing the silicon steel sheet on the first conveyor line, the first conveyor line moves the silicon steel sheet to the defect detection station. The defect detection device detects defects in the silicon steel sheet, and the second robotic arm removes the defective silicon steel sheet and continues to transport it to the transfer and picking station. Cache stacking steps: The second robotic arm picks up the wafers one by one from the transfer station and transfers them to the second conveyor line. The wafers are then positioned in the cache stacking area and initially stacked to form stacked wafer groups. Batch insertion step: When the number of stacked pieces in the cache stacking area reaches the preset number, the supporting mechanism lifts the stacked piece group at once and the pressing mechanism presses it down. The multi-axis module drives the supporting mechanism to move the stacked piece group as a whole and insert it into the process shaft at once. When inserting it into the process shaft, the pressing mechanism presses it down further. During the batch stacking step, the feeding and defect detection steps continue to run, and subsequent silicon steel sheets are continuously fed into the second conveyor line for the next set of silicon steel sheets to be stacked.

10. A lamination method for an automatic rotor lamination mechanism, characterized in that, Based on the rotor automatic lamination mechanism described in claim 3: The feeding and picking process is as follows: The 3D camera component acquires the spatial position information of the silicon steel sheets on the feeding tray. The first robot arm picks up the silicon steel sheets from the feeding tray, passes them through the first double-sheet detection device to detect the number of sheets, and then sends them to the first conveyor line. Defect detection steps: After placing the silicon steel sheet on the first conveyor line, the first conveyor line moves the silicon steel sheet to the defect detection station. The defect detection device detects defects in the silicon steel sheet, and the second robotic arm removes the defective silicon steel sheet and continues to transport it to the transfer and picking station. Cache stacking steps: The second robotic arm picks up the wafers one by one from the transfer station and transfers them to the second conveyor line. The wafers are initially stacked in the cache stacking area using the positioning fixture to form stacked wafer groups. During the transfer process, the number of wafers is detected by the second double wafer detection device. Batch insertion step: When the number of stacked pieces in the cache stacking area reaches the preset number, the supporting mechanism lifts the stacked piece group at once and the pressing mechanism presses it down. The multi-axis module drives the supporting mechanism to move the stacked piece group as a whole and insert it into the process shaft at once. When inserting it into the process shaft, the pressing mechanism presses it down further. During the batch stacking step, the feeding and defect detection steps continue to run, and subsequent silicon steel sheets are continuously fed into the second conveyor line for the next set of silicon steel sheets to be stacked.

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