Automatic feeding and discharging groove finding mechanism for rotor iron core

Abstract

The utility model relates to a rotor iron core automatic feeding and discharging groove finding mechanism, comprising a feeding device, which comprises a rotor fixing device and a first driving device; the mechanical positioning mechanism comprises a positioning block and an elastic piece, and after the first driving device drives the rotor to rotate until the tooth grooves in the rotor are aligned with the front end of the positioning block, the front end of the positioning block is clamped into the corresponding tooth grooves under the action of the elastic piece; and the in-place sensor is arranged on one side of the mechanical positioning mechanism, and outputs different sensing signals according to whether the front end of the positioning block enters the tooth groove of the rotor or not. The groove finding operation is performed before the rotor is fed to the winding machine, and the groove finding mechanism is combined with the feeding and discharging device, so that the structure of the winding machine can be simplified; and the adopted mechanical positioning mechanism is simple in structure, and can automatically and accurately identify the position of the tooth groove on the rotor through matching with the first driving device and the in-place sensor.

Description

Automatic loading and unloading mechanism for rotor cores Technical Field

[0001] This utility model relates to the field of motor rotor processing technology, and in particular to an automatic loading and unloading mechanism for rotor cores and a slot finding mechanism. Background Technology

[0002] Existing technologies include automatic winding machines that wind wire into slots on a rotor. However, before winding begins, the rotor angle needs to be adjusted to accurately locate the slots so that the winding machine can precisely embed the wire into the slots. In existing technologies, the mechanisms used to identify the winding slots on the rotor are typically integrated into the slots themselves, and generally include the following:

[0003] 1. Manual loading and unloading positioning: By rotating the rotor, a probe or positioning pin is used to manually find the reference point of the first slot, and then the positions of other slots are automatically calculated based on this reference for subsequent winding. This method relies too heavily on manual operation, is inefficient, and is prone to errors.

[0004] 2. The ratchet and pawl mechanism is fixed to the end of the motor rotor shaft. The outer edge has evenly distributed tooth grooves, the number of which corresponds to the number of rotor grooves or indexing requirements. The pawl end has a locking tooth that matches the ratchet tooth profile. The ratchet is pressed by a spring or electromagnetic force. When the rotor rotates and the ratchet reaches the next groove, the pawl re-engages under the spring force, stopping and locking the rotor to achieve groove positioning. This method is difficult for multi-product compatible production and model changeovers. The pawl wears and needs frequent replacement, and each replacement causes positioning deviations in the equipment, resulting in numerous defects. Dynamic follow-up adjustments are necessary. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide an automatic loading and unloading mechanism for rotor cores that finds slots before feeding the rotor cores into the winding machine. This mechanism features a simple identification structure and accurate and reliable identification results.

[0006] An automatic rotor core loading and unloading and slot-finding mechanism is located on one side of the winding machine, including:

[0007] The feeding device includes a rotor fixing device and a first driving device; the rotor fixing device includes a clamping mechanism, which switches between a clamping state and a releasing state. In the clamping state, the clamping mechanism clamps the rotor shaft and locks the rotor; in the releasing state, the clamping mechanism releases the lock on the rotor; the first driving device is connected to the rotor fixing device and drives the clamping device and the rotor connected thereto to rotate synchronously.

[0008] A mechanical positioning mechanism includes a positioning block and an elastic element. The mechanical positioning mechanism is driven by a third driving device to switch between an initial position and a detection position. In the detection position, the mechanical positioning mechanism is located on one side of the rotor radially, the front end of the positioning block is in close contact with the rotor surface, and the elastic element has a tendency to push the front end of the positioning block into the tooth groove of the rotor. After the first driving device drives the rotor to rotate until the tooth groove on it is aligned with the front end of the positioning block, the positioning block will lock the front end into the corresponding tooth groove under the action of the elastic element.

[0009] A positioning sensor is installed on one side of the mechanical positioning mechanism. The positioning sensor outputs different sensing signals depending on whether the front end of the positioning block enters the tooth groove of the rotor.

[0010] Preferably, the device also includes an axial limiting block and a pushing mechanism. The pushing mechanism includes a push block and a pushing drive device. At the slotting station, the axial limiting block and the push block are coaxially arranged with the rotor and located on opposite sides of the rotor axis. The push block is driven by the second drive device to push the rotor along the rotor axis until the rotor shaft contacts the axial limiting device.

[0011] Preferably, the axial limiting block is mounted on the rotor fixing device, and the axial limiting block is coaxially arranged with the clamping mechanism, with at least a portion of the axial limiting block located within the inner cavity of the clamping mechanism. The axial limiting block fixes the axial position of the rotor during the slotting process, and is particularly suitable for positioning the slots of rotors with oblique slots.

[0012] Preferably, the pushing mechanism is driven by a fourth drive device to switch between a first state and a second state. In the first state, the pushing mechanism is offset from the rotor's movement path. In the second state, the push block is located axially above the rotor at the slotting station. Since the feeding device needs to feed the rotor to the winding machine while maintaining its current angle after the slotting process, the pushing mechanism, configured as described above, can be removed from the rotor's movement path after slotting, preventing the pushing mechanism from interfering with the rotor's feeding to the winding machine.

[0013] Preferably, a lifting mechanism is included, located at the slotting station. This lifting mechanism includes a support block and a fifth drive device. The support block is driven to move up and down by the fifth drive device. After the support block is raised to its position, it supports the rotor transported to the slotting station by the rotor fixing device from below. During the slotting process, the lifting mechanism can lift the rotor from below, which on the one hand counteracts the pressure exerted on the rotor by the positioning hole from the opposite side of the mechanical positioning mechanism, keeping it stable; on the other hand, even if the clamping mechanism loosens its fixation on the rotor, the lifting mechanism can maintain the rotor's position. Furthermore, the lifting mechanism is height-adjustable, allowing it to be moved away from the movement path of the rotor fixing device in the corresponding process, and enabling the transfer of the rotor.

[0014] Preferably, the front end of the telescopic rod of the fifth drive device is provided with a first connecting block, and the support block is fixed to the first connecting block by a connecting plate. The connecting plate and the connecting hole are connected in an adjustable manner through the elongated hole. With the support block connection structure set up as described above, the position of the support block can be easily adjusted up and down for rotors of different specifications, improving the versatility of the equipment.

[0015] Preferably, the upper end of the support block is configured with an arc shape that matches the curvature of the outer surface of the rotor. The arc shape on the surface of the support block that contacts the rotor prevents the rotor from slipping off the support block circumferentially and does not obstruct the rotor from rotating around its axis as driven by the first drive device.

[0016] Preferably, the device includes a base with a movable seat mounted on it, the movable seat being slidably connected to the base along the X-axis; and a feeding device mounted on the movable seat, the feeding device being slidably connected to the movable seat along the Y-axis. This allows the feeding device to move freely between multiple workstations, such as the slotting position and the winding machine feeding position.

[0017] Preferably, the movable base is also equipped with a feeding device, which includes a rotor fixing device. The feeding device is slidably connected to the movable base along the Y-axis, and the feeding device transfers the wound rotor from the winding machine for feeding. Setting up a feeding device independent of the feeding device, and feeding the rotor from the winding machine through the feeding device before feeding it, can improve the efficiency of the entire production process.

[0018] Preferably, the system includes a positioning judgment module, used to determine whether slot finding was successful based on one or more of the sensing signals output by the positioning sensor and the torque signals of the first driving device. In terms of control, the position of the positioning block can be detected to determine whether the front end of the positioning block has successfully found the slot; the torque signal generated by the first driving device driving the rotor to rotate differs significantly depending on whether the front end of the positioning block is engaged in the positioning slot, which can also be used to determine whether slot finding was successful. Therefore, any one or two signals can be combined to determine whether slot finding was successful, and combining different signals comprehensively can improve the accuracy of the slot finding results.

[0019] This application adopts the above-mentioned solution, which performs a slot finding operation before feeding the rotor to the winding machine. Combining the slot finding mechanism with the loading and unloading device simplifies the structure of the winding machine. The mechanical positioning mechanism has a simple structure and can automatically and accurately identify the position of the tooth slots on the rotor by cooperating with the first drive device and the position sensor. Furthermore, the slot finding method using positioning blocks is applicable to rotors of different specifications and has high versatility. Attached Figure Description

[0020] Figure 1 is a structural schematic diagram of this application in the slot-finding (position-finding) state;

[0021] Figure 2 is a schematic diagram of the upper part of Figure 1;

[0022] Figure 3 is a schematic diagram of the feeding device;

[0023] Figure 4 is a schematic diagram of the structure for axial positioning of the rotor by the cooperation of the axial limiting block and the jacking mechanism.

[0024] Figure 5 is a schematic diagram of the position and structure of the lifting mechanism and the mechanical positioning mechanism during the slot finding process;

[0025] Figure 6 is a schematic diagram of the positioning block of this application;

[0026] Figure 7 is a structural schematic diagram of the jacking mechanism in this application;

[0027] Figure 8 is a schematic diagram of the lifting mechanism;

[0028] Figure 9 is a schematic diagram of the positional relationships in the initial state of the positioning process;

[0029] Figure 10 is a schematic diagram of the positional relationship in the successfully located state.

[0030] Figure label:

[0031] Rotor 1, feeding device 2, first drive device 21, clamping mechanism 22, mechanical positioning mechanism 3, positioning block 31, sensing end 311, elastic element 32, second connecting block 33, position sensor 4, axial limiting block 5, pushing mechanism 6, pushing block 61, lifting mechanism 7, supporting block 71, fifth drive device 72, first connecting block 73, connecting plate 74, upper base 81, lower base 82, moving seat 9. Detailed Implementation

[0032] The embodiments of this utility model are described in detail below.

[0033] Example 1:

[0034] This embodiment provides an automatic loading and unloading mechanism for the rotor core (1) and its slot-finding. The mechanism is located on one side of the winding machine. Before winding, the rotor core (1) undergoes a slot-finding and positioning operation, then is loaded onto the winding machine for winding. The wound rotor core (1) is then unloaded from the winding machine. As shown in Figures 1 and 2, the mechanism includes a base on which other mechanisms are mounted. The base in this embodiment has a slot-finding station where the rotor core (1) is identified for slotting. As shown in Figures 1-2, an opening is provided at the corresponding position of the slot-finding station on the base. A lifting mechanism (7) is located at the slot-finding station. The lifting mechanism (7) includes a support block (71) and a fifth driving device (72). The support block (71) at the upper end of the lifting mechanism (7) can extend upwards through the opening to lift the rotor core (1) located at the slot-finding station from below.

[0035] As shown in Figure 1, the base in this embodiment is divided into upper and lower layers. The fifth drive device 72 of the lifting mechanism 7 is installed on the lower base 82. The telescopic rod of the fifth drive mechanism moves up and down, driving the support block 71 installed at the front end of the telescopic rod to move up and down. By dividing the base into upper and lower layers and setting the actuating mechanisms other than the lifting mechanism 7 on the upper base 81, this arrangement allows for the use of lower bases 82 of different heights for winding machines with different feeding heights. The actuating mechanisms on the upper base do not need to be readjusted, making operation convenient.

[0036] The automatic loading and unloading mechanism for the rotor 1 core in this embodiment includes a loading device 2, an unloading device, a pushing mechanism 6, a lifting mechanism 7, a mechanical positioning mechanism 3, and a positioning sensor 4. The loading device 2 moves the rotor 1, which needs to be positioned, to the positioning station. The lifting mechanism 7 lifts the rotor 1 from below, and then the pushing mechanism 6 adjusts the axial position of the rotor 1. After the adjustment is in place, the mechanical positioning mechanism 3 descends to be close to the surface of the rotor 1. The loading device 2 drives the rotor 1 to rotate in coordination with the mechanical positioning mechanism 3 to find the slot, and determines whether the slot on the surface of the rotor 1 has been found based on the detection signal output by the positioning sensor 4.

[0037] As shown in Figures 2 and 3, the feeding device 2 includes a rotor fixing device and a first driving device 21. The rotor fixing device includes a clamping mechanism 22, which switches between a clamping state and a loosening state. In the clamping state, the clamping mechanism 22 clamps the rotor shaft and locks the rotor 1. In the loosening state, the clamping mechanism 22 releases the lock on the rotor 1. The first driving device 21 is connected to the rotor fixing device and drives the clamping mechanism 22 and the rotor 1 connected to it to rotate synchronously in the clamping state.

[0038] Referring to Figure 4, in this embodiment, the clamping mechanism 22 includes a sleeve and a jaw disposed at the front end of the sleeve. Moving the sleeve in a first direction allows the jaw to switch to an open state, and moving the sleeve in a second direction allows the jaw to switch to a clamping state. The rotor fixing device also includes a power mechanism for driving the sleeve; in a specific embodiment, this power mechanism can be a cylinder.

[0039] The first drive device 21 is integrated with the rotor 1 fixing device. During assembly, the connection between the first drive device 21 and the rotor fixing device can be completed first, and then the whole assembly can be installed on the base. In this embodiment, the first drive device 21 is a servo motor, which can drive the rotor 1, clamped by the clamping mechanism 22, to rotate and find the slot. The first drive device 21 is preferably an indexing motor, which can achieve high-precision position control and facilitate high-precision adjustment of the rotation angle of the rotor 1.

[0040] As shown in Figures 1 and 2, a movable seat 9 is provided on the base, and the movable seat 9 is slidably connected to the base along the X-axis. A feeding device 2 is disposed on the movable seat 9, and the feeding device 2 is slidably connected to the movable seat 9 along the Y-axis. Thus, the feeding device 2 can drive the rotor 1 to move along the XY-axis of the base, switching the rotor 1 between different workstations. Preferably, a position detection device is provided between each workstation to detect the movement of the feeding device 2 into position. In specific embodiments, the position detection device can be a common detection device such as a microswitch or a photoelectric sensor, as long as it can achieve the function of position detection; no limitation is made here. It should be further noted that after the slotting process is completed, it is not necessary to adjust the circumferential angle of the rotor 1 to maintain its current angle before conveying it to the winding machine for winding. The winding machine can quickly determine the position of the remaining slots using the current slot as a reference, enabling precise winding control.

[0041] In one optional embodiment, the feeding device 2 also functions as the unloading device. That is, after the winding machine finishes winding, the feeding device 2 transfers the wound rotor 1 for unloading. In a preferred embodiment, an unloading device (not shown in the figure) is provided independently of the feeding device 2. The unloading device includes a rotor fixing device, the structure of which is the same as that of the rotor fixing device in the feeding device 2, and also includes a clamping mechanism 22. The clamping mechanism 22 is used to switch states to grip or release the rotor 1. The unloading device is mounted on the movable base 9 and is slidably connected to the movable base 9 along the Y-axis. The unloading device transfers the wound rotor 1 from the winding machine for unloading. With this configuration, the rotor is unloaded from the winding machine by the unloading device before being fed by the feeding device 2. The unloading process and other processes such as slotting and positioning can be performed simultaneously, improving the efficiency of the entire production process.

[0042] As shown in Figure 4, the device also includes an axial limiting block 5. The axial limiting block 5 is coaxially arranged with the rotor 1 on the feeding device 2. By setting the axial limiting block 5, the clamping distance of the clamping mechanism 22 on the rotor shaft can be limited, so that the surface of the rotor 1 at the set rotor axial distance is close to the mechanical positioning mechanism 3. Thus, even for the rotor 1 with oblique tooth grooves, after positioning in the reference groove, the remaining tooth grooves can be accurately positioned based on the reference groove according to the set tooth pitch. In this embodiment, the axial limiting block is installed on the rotor fixing device, the axial limiting block 5 is coaxially arranged with the clamping mechanism 22, and the axial limiting block 5 is at least partially located in the inner cavity of the clamping mechanism 22. This arrangement makes full use of the installation space inside the clamp and the jaw, resulting in a compact structure.

[0043] It also includes a jacking mechanism 6 that cooperates with the axial limiting block 5. The jacking mechanism 6 is used to adjust the axial position of the rotor 1, moving it until the end of the rotor shaft connected to the clamping mechanism 22 abuts against the axial limiting block. Referring to Figures 5 and 7 (the second driving device is not shown in the figures), the jacking mechanism 6 includes a push block 61 and a second driving device. The push block 61 can move to one side of the rotor 1 located at the slotting position, and is located at both ends of the axial limiting block 5 along the rotor's axial direction. The push block 61 is driven by the second driving device to push the rotor 1 along its axial direction until the rotor shaft contacts the axial limiting device, thereby enabling automatic adjustment of the rotor 1's position before the slotting operation through the cooperation of the axial limiting block 5 and the jacking mechanism 6.

[0044] The jacking mechanism 6 is driven by a fourth driving device to switch between a first state and a second state. In the first state, the jacking mechanism 6 is offset from the movement path of the rotor 1. In the second state, the push block 61 is located axially on the rotor 1 at the slotting station. As shown in Figure 7, the jacking mechanism 6 is mounted on a movable seat 9, which can synchronously move the feeding device 2 and the jacking mechanism 6 to the slotting station, simplifying the action control. In this embodiment, the jacking mechanism 6 is vertically adjustable on the movable seat 9 and is driven by a driving cylinder to slide and rise along the movable seat 9, achieving switching between the first and second states, resulting in a simple structure. Further preferably, the push block 61 has a downward-opening limiting groove that matches the rotor shaft. Thus, when the push block 61 pushes the rotor 1, the limiting groove and the rotor shaft cooperate to guide the pushing direction of the push block 61.

[0045] The lifting mechanism 7 includes a support block 71 and a fifth drive device 72. The support block 71 is driven to move up and down by the fifth drive device 72. As shown in Figure 5, after the support block 71 is raised to its position, it supports the rotor 1, which is transported to the slotting station by the rotor fixing device from below. In this embodiment, the fifth drive device 72 can be a telescopic cylinder. The fifth drive mechanism includes a telescopic rod, and the support block 71 is set at the upper end of the telescopic rod. The support block 71 is raised and lowered by controlling the extension and retraction of the telescopic rod. In this embodiment, the lifting mechanism 7 is used to support the rotor 1 at the slotting station. On the other hand, the rotor 1 can be transferred to other stations by lowering the lifting mechanism 7. For example, in this embodiment, the unloading device places the wound rotor 1 behind the support block 71, and the lifting mechanism 7 lowers to unload the wound rotor 1.

[0046] In this embodiment, as shown in Figure 8, the front end of the telescopic rod of the fifth drive device 72 is provided with a first connecting block 73. The support block 71 is fixed to the first connecting block 73 through a connecting plate 74. The connecting plate 74 and the connecting hole are connected in an adjustable manner through the elongated hole. The upper end of the support block 71 is set with an arc-shaped structure to better fit the arc-shaped surface of the rotor 1 and prevent the rotor 1 placed on the support block 71 from rotating. Preferably, the arc-shaped structure at the upper end of the support block 71 matches the curvature of the outer surface of the rotor 1. As shown in Figures 2 and 5, the mechanical positioning device in this embodiment includes a positioning block 31 and an elastic element 32. The mechanical positioning mechanism 3 is driven by the third drive device to switch between the initial position and the detection position. In the detection position, the mechanical positioning mechanism 3 is located on one side of the rotor 1 in the radial direction. The front end of the positioning block 31 is close to the surface of the rotor 1, and the elastic element 32 has a tendency to push the front end of the positioning block 31 into the tooth groove of the rotor 1. As shown in Figure 6, the front end of the positioning block 31 (the end with the positioning hole near the rotor 1) is positioned to engage with the tooth groove on the surface of the rotor 1. After the first driving device 21 drives the rotor 1 to rotate until the tooth groove on it aligns with the front end of the positioning block 31, the positioning block 31, under the action of the elastic member 32, engages the front end of the positioning block 31 into the corresponding tooth groove. The positioning block 31 and the elastic member 32 are mounted on the second connecting block 33. The front end of the positioning block 31 extends downward from the second connecting block 33, and the elastic member 32 is compressed between the upper end of the positioning block 31 and the upper end of the second connecting block 33, so that the elastic member 32 can push the front end of the positioning block 31 into the tooth groove of the rotor 1. Preferably, as shown in Figure 5, the lower end of the second connecting block 33 is set as an arc-shaped structure to better fit the arc-shaped surface of the rotor 1. In a preferred embodiment, the arc-shaped structure of the second connecting block 33 matches the curvature of the outer surface of the rotor 1.

[0047] The position sensor 4 determines whether the front end of the positioning block 31 has entered the tooth groove of the rotor 1 based on the position of the positioning block 31, and outputs different sensing signals accordingly. In this embodiment, the position sensor 4 monitors the position of the positioning block 31. In one specific embodiment, as shown in Figure 5, the position sensor 4 is located on one side of the positioning mechanism, and the sensing end 311 of one side of the positioning block 31 extends out of the second connecting block 33 and faces the position sensor 4. When the front end of the positioning hole is in contact with the surface of the rotor 1 but has not entered the tooth groove, the sensing end 311 of the positioning block 31 is at a first height; when the front end of the positioning block 31 enters the tooth groove on the surface of the rotor 1, the sensing end 311 of the positioning block 31 is at a second height. Only at the second height is the sensing end 311 of the positioning block 31 aligned with the position sensor 4. Therefore, the position sensor 4 can output different sensing signals depending on whether the front end of the positioning block 31 has entered the tooth groove of the rotor 1. In a specific embodiment, the position sensor 4 can be a photoelectric sensor or other detection device.

[0048] As shown in Figure 7, in this embodiment, the mechanical positioning device is mounted on the movable seat 9. The movable seat 9 can synchronously move the feeding device 2 and the mechanical positioning device to the slotting position, simplifying the motion control. In this embodiment, the mechanical positioning device is vertically adjustable on the movable seat 9, and is driven by a drive cylinder to slide and rise along the movable seat 9 to press it tightly against the surface of the rotor 1. In a preferred embodiment, the position sensor 4 and the second connecting block 33 of the mechanical positioning device are mounted on the same movable seat 9. The relative positions of the position sensor 4 and the second connecting block 33 are fixed, thus simplifying control and ensuring the reliability of the position sensor 4's detection results.

[0049] In a preferred embodiment, a positioning judgment module is further included, used to determine whether the slot finding was successful based on one or more combinations of the sensing signal output by the positioning sensor 4 and the torque signal of the first driving device 21. The torque signal generated by the first driving device 21 driving the rotor 1 to rotate is significantly different depending on whether the front end of the positioning block 31 is engaged in the positioning slot, which also helps determine whether the slot finding was successful. Specifically, if the torque of the first driving device 21 reaches a preset torque threshold, it is determined that the front end of the positioning block 31 is engaged in the tooth groove, the slot finding is successful, and the first driving device 21 is controlled to stop rotating.

[0050] This application sets up multiple detection modes. In the first detection mode, the success of slot finding is determined solely by the sensing signal output by the position sensor 4. In the second detection mode, the success of slot finding is determined solely by the torque signal from the first drive device 21. In the third detection mode, both the sensing signal and the torque signal output by the position sensor 4 are detected simultaneously; successful slot finding is considered successful if either signal indicates that the front end of the positioning block 31 has entered the tooth groove. In the fourth detection mode, both the sensing signal and the torque signal output by the position sensor 4 are detected simultaneously; successful slot finding is determined only if both signals indicate that the front end of the positioning block 31 has entered the tooth groove. However, the uneven structure of the rotor 1 surface can cause different output results from the position sensor 4, potentially leading to detection errors. Therefore, the fourth detection mode, which combines both detection signals, improves the accuracy of the detection results.

[0051] In use, the feeding device 2 moves the rotor 1 to be slotted to the slotting station. At this time, the support block 71 is raised to the position, supporting the rotor 1, which is transported to the slotting station by the rotor 1 fixing device from below. The clamping mechanism 22 switches to the loose state, releasing the lock on the rotor 1 shaft, and moves the pushing mechanism 6 to the second state. At the same time, the mechanical positioning mechanism 3 descends to the lower end of the positioning block 31, which is close to the surface of the rotor 1. The relative positions of the components at this time are shown in Figure 8. Then, the pushing mechanism 6 is driven to push the rotor 1 along the axial direction close to the axial limiting block 5 until the rotor shaft abuts against the axial limiting block 5. Then, the clamping mechanism 22 switches to the clamping state. After that, the first driving device 21 drives the rotor 1 to rotate at a preset speed until the tooth groove of the rotor 1 is aligned with the front end of the positioning block 31. At this time, due to the action of the elastic element 32, the front end of the positioning block 31 enters the tooth groove, and the detection signal output by the positioning sensor changes. If the current detection mode is from the second to the fourth detection mode, the first drive device 21 continues to drive the rotor 1 at the original speed until the torque of the first drive device 21 reaches the preset torque threshold, at which point the first drive device 21 stops. The relative positions of each component at this time are shown in Figure 9.

[0052] In the second to fourth detection modes, after successful slot finding, the clamping device switches to the released state, and then the pushing mechanism 6 taps the rotor 1 several times to release the stress generated in the previous step. After completing the action, the clamping mechanism 22 switches back to the clamping state, ready to feed the material to the winding mechanism.

[0053] Preferably, before the first driving device 21 drives the rotor 1 to rotate, when the mechanical positioning mechanism 3 is pressed down into place, the positioning sensor 4 indicates that the slot finding is successful. At this time, the controller controls the mechanical positioning mechanism 3 to be lifted again, rotates the rotor 1 by half the slot angle, and then repositions it to ensure that the initial positioning state of each rotor 1 is the same, thereby improving the accuracy of the slot finding and positioning results.

[0054] In addition, the slot-finding mode sets an upper limit parameter for the angle. This upper limit parameter is greater than the slot-crossing angle, meaning the slot must be found within this angle range. Otherwise, the mechanical positioning mechanism will be raised, rotated a certain angle, and then lowered again to reposition, preventing continuous rotation due to unsuccessful positioning. Simultaneously, the torque change of the first drive device 21 is monitored. If the torque exceeds the set upper limit and positioning is not completed, the mechanical positioning mechanism will be raised, rotated a certain angle, and then lowered again to reposition, again to prevent the rotor 1 from continuously rotating due to unsuccessful positioning.

[0055] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An automatic rotor core loading and unloading slot-finding mechanism, located on one side of the winding machine, is characterized in that... include: The feeding device includes a rotor fixing device and a first driving device. The rotor fixing device includes a clamping mechanism that switches between a clamping state and a loosening state. In the clamping state, the clamping mechanism clamps the rotor shaft and locks the rotor. In the loosening state, the clamping mechanism releases the lock on the rotor. The first driving device is connected to the rotor fixing device and drives the clamping mechanism and the rotor connected thereto to rotate synchronously. The mechanical positioning mechanism includes a positioning block and an elastic element. The mechanical positioning mechanism is driven by a third driving device to switch between an initial position and a detection position. In the detection position, the mechanical positioning mechanism is located on one side of the rotor radially, the front end of the positioning block is close to the rotor surface, and the elastic element has a tendency to push the front end of the positioning block into the tooth groove of the rotor. After the first driving device drives the rotor to rotate until the tooth groove on it is aligned with the front end of the positioning block, the positioning block, under the action of the elastic element, engages the front end into the corresponding tooth groove. The position sensor outputs different sensing signals depending on whether the front end of the positioning block enters the tooth groove of the rotor.

2. The automatic rotor core loading and unloading slot-finding mechanism according to claim 1, characterized in that, It also includes an axial limiting block and a pushing mechanism. The pushing mechanism includes a push block and a second driving device. At the slotting station, the axial limiting block and the push block are coaxially arranged with the rotor and located on opposite sides of the rotor axis. The push block is driven by the second driving device to push the rotor along the rotor axis until the rotor axis contacts the axial limiting device.

3. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 2, characterized in that, The axial limiting block is installed on the rotor fixing device. The axial limiting block is coaxially arranged with the clamping mechanism, and the axial limiting block is at least partially located in the inner cavity of the clamping mechanism.

4. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 2, characterized in that, The jacking mechanism is driven by a fourth driving device to switch between a first state and a second state. In the first state, the jacking mechanism as a whole is offset from the movement path of the rotor. In the second state, the push block is located on the axial direction of the rotor at the slotting station.

5. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 1, characterized in that, The device includes a lifting mechanism located at the slotting station. The lifting mechanism includes a support block and a fifth drive device. The support block is driven to move up and down by the fifth drive device. After the support block is raised to the position, it supports the rotor that is transported to the slotting station by the rotor fixing device from below.

6. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 5, characterized in that, The front end of the telescopic rod of the fifth drive device is provided with a first connecting block. The support block is fixed to the first connecting block through a connecting plate. The connecting plate and the connecting hole are connected in an adjustable manner through the elongated hole.

7. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 5, characterized in that, The upper end of the support block is designed with an arc shape.

8. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 1, characterized in that, It includes a base, on which a movable seat is provided, the movable seat being slidably connected relative to the base along the X-axis; a feeding device is provided on the movable seat, the feeding device being slidably connected relative to the movable seat along the Y-axis.

9. The automatic rotor core loading / unloading and slot-finding mechanism according to claim 8, characterized in that, The movable seat is also equipped with a feeding device, which includes a rotor fixing device. The feeding device is slidably connected to the movable seat along the Y-axis direction, and the feeding device transfers the wound rotor from the winding machine for feeding.

10. The automatic rotor core loading and unloading slot-finding mechanism according to claim 1, characterized in that, It includes a positioning judgment module, which is used to determine whether the slot finding was successful based on one or more of the sensing signals output by the positioning sensor and the torque signals of the first driving device.

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