Magnet insertion device

Abstract

To provide a magnet insertion device capable of smoothly inserting a set of magnets into a magnet housing hole of a rotor core.SOLUTION: A magnet insertion device 30 includes a magazine 50, a pusher 60, an alignment member 80, and an insertion mechanism 100. The magazine 50 includes a housing body 51 that houses a plurality of magnets 20 in a stacked state, and a pair of pushing portions 54 that sequentially push a set of magnets 20 to the outside of the housing body 51 in a state of being arranged in parallel with each other. The pusher 60 moves the set of magnets 20, which have been pushed out of the housing body 51, by collectively pressing in a direction different from a stacking direction. The alignment member 80 aligns the set of magnets 20 by coming into contact with both side portions in a parallel direction of the set of magnets 20 that are pushed and moved by the pusher 60. The insertion mechanism 100 collectively grips the set of magnets 20 aligned by the alignment member 80 and inserts the same into the magnet housing holes 13.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a magnet insertion device. [Background technology]

[0002] Patent Document 1 discloses a rotor assembly device that inserts permanent magnets into slots of a rotor core. The rotor assembly device includes a robot arm and a load sensor. A magnet holder that clamps and holds a permanent magnet is provided at the tip of the robot arm. The load sensor is attached to the magnet holder. The load sensor measures the load acting on the permanent magnet held by the magnet holder.

[0003] The robot arm moves the permanent magnet held by the magnet holding portion toward the opening of the slot to insert the permanent magnet into the slot. At this time, if the permanent magnet is misaligned with respect to the slot, the permanent magnet comes into contact with the rotor core, and a load acts on the permanent magnet. If the load acting on the permanent magnet exceeds the load limit, the robot arm stops moving the permanent magnet. Next, the robot arm moves the permanent magnet so that it can be inserted into the slot. After that, the robot arm moves the permanent magnet toward the opening of the slot again. If the load acting on the permanent magnet does not exceed the load limit, the permanent magnet is inserted into the slot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-23737 Summary of the Invention [Problem to be solved by the invention]

[0005] In a rotor, a plurality of permanent magnets may be inserted into one slot in a state where they are aligned in a direction perpendicular to the axial direction of the rotor. In this case, in order to increase the productivity of the rotor, it is preferable that the plurality of permanent magnets are inserted into the slot at once. However, when the magnet holding part holds the plurality of permanent magnets and inserts them into the slot at once, if the plurality of permanent magnets are not aligned in advance, the magnet holding part will hold the plurality of permanent magnets that are not aligned in advance. In this case, there is a risk that the permanent magnets and the rotor core may interfere with each other, making it difficult for the magnet holding part to smoothly insert the plurality of permanent magnets into the slot. For this reason, it is desirable to align the plurality of permanent magnets in advance when inserting them into the slot. [Means for solving the problem]

[0006] A magnet insertion device for solving the above problems is a magnet insertion device that inserts a set of magnets into a magnet accommodating hole formed in a rotor core, and includes a magazine including a container having an outlet and accommodating a plurality of the magnets in a stacked state, and an extrusion section that moves the magnets inside the container in the stacking direction and sequentially pushes the set of magnets in a parallel state to the outside of the container through the outlet, a pusher that moves the set of magnets by collectively pressing the set of magnets pushed out to the outside of the container in a direction different from the stacking direction, an alignment member that aligns the set of magnets by contacting both sides in the parallel direction of the set of magnets that are moved by being pressed by the pusher, and an insertion mechanism that grasps the set of magnets aligned by the alignment member collectively and inserts them into the magnet accommodating hole.

[0007] According to the above configuration, when the set of magnets pushed out of the housing by the pushing portion are pushed collectively by the pusher and moved, the set of magnets is aligned by the alignment member. The aligned set of magnets is collectively held by the insertion mechanism. As a result, the insertion mechanism inserts the aligned set of magnets into the magnet accommodating hole. Therefore, the set of magnets can be smoothly inserted into the magnet accommodating hole. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a plan view showing a rotor according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing the magnet insertion device of one embodiment. [Diagram 3] FIG. 3 is a perspective view showing the magnet insertion device of FIG. [Figure 4] FIG. 4 is an enlarged view of the alignment member of FIG. [Diagram 5] FIG. 5 is a front view showing the insertion mechanism of FIG. 2 gripping a magnet. [Figure 6] FIG. 6 is a schematic diagram showing a state in which the first camera in FIG. 2 is capturing an image of a magnet. [Figure 7] FIG. 7 is a schematic diagram showing a state in which the insertion mechanism of FIG. 2 is inserting a magnet into a magnet receiving hole. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, one embodiment of a magnet insertion device will be described with reference to FIGS. The magnet insertion machine 30 is a machine used to manufacture the rotor 10 used in an embedded magnet motor.

[0010] (Rotor 10) First, the rotor 10 will be described. As shown in FIG. 1, the rotor 10 includes a rotor core 11, a plurality of magnets 20, and a plurality of resin materials 21.

[0011] (Rotor core 11) The rotor core 11 has a substantially cylindrical shape. Hereinafter, the axial direction of rotor core 11 will be simply referred to as the axial direction, the radial direction of rotor core 11 will be simply referred to as the radial direction, and the circumferential direction of rotor core 11 will be simply referred to as the circumferential direction.

[0012] Rotor core 11 is formed, for example, by laminating a plurality of core pieces punched out from electromagnetic steel sheets. The rotor core 11 has a central hole 12 into which a shaft (not shown) is inserted, and a plurality of magnet accommodating holes 13 in which magnets 20 are accommodated. The central hole 12 and the magnet accommodating holes 13 penetrate the rotor core 11 in the axial direction.

[0013] The magnet accommodating holes 13 are located radially outward of the center hole 12 and are equally spaced in the circumferential direction. The opening of each magnet accommodating hole 13 has a generally rectangular shape in a plan view. Two magnet accommodating holes 13 adjacent to each other in the circumferential direction are inclined in opposite directions to each other with respect to the circumferential direction.

[0014] (Magnet 20) The magnet 20 has a quadrangular prism shape. The cross-sectional shape of the magnet 20 perpendicular to the longitudinal direction is a rectangle having long sides and short sides.

[0015] Hereinafter, a cross section perpendicular to the longitudinal direction of magnet 20 may be simply referred to as a cross section. For example, a plurality of magnets 20 are accommodated in each magnet accommodating hole 13. In this embodiment, a set of magnets 20 consisting of two magnets 20 is accommodated in each magnet accommodating hole 13 in a state where they are arranged side by side in the long side direction of the magnet accommodating hole 13, which is a direction perpendicular to the axial direction. The set of magnets 20 are arranged side by side with the end faces constituting the short sides in cross section in contact or facing each other. The set of magnets 20 is fixed to the rotor core 11 via a resin material 21 filled in the magnet accommodating hole 13.

[0016] The magnet 20 is, for example, a permanent magnet such as a neodymium magnet. (Resin material 21) The resin material 21 is filled, for example, between the inner surface of the magnet accommodating hole 13 and the outer surfaces of the set of magnets 20 .

[0017] The resin material 21 may be, for example, a thermosetting resin such as an epoxy resin, or a thermoplastic resin such as a liquid crystal polymer. (Magnet insertion device 30) Next, the magnet insertion device 30 will be described.

[0018] As shown in FIG. 2, the magnet insertion device 30 includes a support base 40, a magazine 50, a pusher 60, a pressing member 70, an alignment member 80, a guide member 90, an insertion mechanism 100, a first camera 111, a second camera 112, and a control unit 120.

[0019] (Support stand 40) Support base 40 supports the lower surface of rotor core 11 while rotor core 11 is fixed thereto. Support base 40 is configured to enable rotor core 11 to rotate around the central axis of rotor core 11 at any rotation angle.

[0020] (Magazine 50) The magazine 50 includes a housing body 51, a pair of support parts 53, and a pair of push parts 54. The housing body 51 houses a plurality of magnets 20 in a stacked state. The pair of support parts 53 support from below the lowest set of magnets 20 stacked inside the housing body 51. The pair of push parts 54 push the set of magnets 20 out of the housing body 51.

[0021] The container 51 contains a set of magnets 20 arranged in parallel in the horizontal direction, stacked in multiple layers in the vertical direction. The container 51 is cylindrical and has an outlet 52. The outlet 52 opens at the top of the container 51. Inside the container 51, a set of magnets 20 adjacent in the horizontal direction are in contact with each other at the end faces constituting the short sides in cross section.

[0022] Hereinafter, the parallel direction of a set of magnets 20 may be simply referred to as the parallel direction. The pair of support parts 53 are provided at a distance from each other in the longitudinal direction of the set of magnets 20 in the lower part of the housing body 51. Each support part 53 has, for example, a cylindrical shape that is long in the parallel direction.

[0023] The pair of push-out sections 54 move the magnets 20 stacked inside the container 51 in the stacking direction, thereby sequentially pushing out a set of magnets 20 in parallel with each other to the outside of the container 51 through the discharge outlet 52.

[0024] The pair of pushers 54 are disposed on both sides of the pair of support parts 53 in the longitudinal direction of the magnets 20. Each pusher 54 has, for example, a columnar shape that is long in the vertical direction. The pair of pushers 54 push both ends in the longitudinal direction of the lowest set of magnets 20 stacked inside the container 51 from below. The pair of pushers 54 are connected to an actuator (not shown) that moves up and down in the vertical direction. When the pair of pushers 54 is raised by the actuator, the magnets 20 are pushed out of the container 51 one set at a time through the outlet 52.

[0025] (Pusher 60) 3, the pusher 60 pushes the set of magnets 20 pushed out of the housing 51 in a direction different from the stacking direction of the magnets 20, thereby moving the set of magnets 20. More specifically, the pusher 60 pushes the set of magnets 20 in the longitudinal direction of the magnets 20 perpendicular to the stacking direction of the magnets 20. This causes the set of magnets 20 to slide in the longitudinal direction.

[0026] The pusher 60 presses the set of magnets 20 when the set of magnets 20, which moves in conjunction with the movement of the pair of pushers 54, is located at a pressing position. The pressing position is a position where the set of magnets 20 can be moved in the longitudinal direction by being pressed by the pusher 60, and where the lower surface of the uppermost set of magnets 20 is at a height equal to or higher than the bottom surface of a guide groove 91 described below. After the pusher 60 moves forward to press one set of magnets 20, it moves backward to press the next set of magnets 20.

[0027] (holding member 70) 4, the pressing member 70 presses the set of magnets 20, which are moved by being pressed by the pusher 60, from above, which is one side in the stacking direction. The pressing member 70 is disposed at a position facing the discharge outlet 52 above the discharge outlet 52. The pressing member 70 contacts the set of magnets 20, which are located at the pressing position, from the side opposite the pair of pushing portions 54. Therefore, it can be said that the pressing position is a position where the set of magnets 20, which moves in conjunction with the movement of the pair of pushing portions 54, contacts the pressing member 70.

[0028] The pressing member 70 has a built-in proximity sensor 71. The proximity sensor 71 detects when the pair of magnets 20 comes into contact with the lower surface of the pressing member 70. When the proximity sensor 71 detects that the pair of magnets 20 has come into contact with the lower surface of the pressing member 70, the pair of pushing portions 54 stops the movement of the magnets 20.

[0029] (Alignment member 80) As shown in FIG. 3, the alignment member 80 aligns a set of magnets 20 that are pushed and moved by the pusher 60 .

[0030] The alignment member 80 is disposed on the opposite side of the magazine 50 from the pusher 60. The alignment member 80 is connected to the container 51 via a bracket 82. The alignment member 80 has a passage opening 81 through which the set of magnets 20 pressed by the pusher 60 passes. The passage opening 81 has a rectangular opening. The opening edge on the inlet side of the passage opening 81 is chamfered all around.

[0031] When the set of magnets 20 pass through the passage opening 81, the inner surface of the passage opening 81 comes into contact with both sides of the set of magnets 20 in the parallel direction. This causes the set of magnets 20 to be aligned in the parallel direction. Also, when the set of magnets 20 pass through the passage opening 81, the inner surface of the passage opening 81 comes into contact with both sides of the set of magnets 20 in the up-down direction. This causes the set of magnets 20 to be aligned in the up-down direction. As described above, when the set of magnets 20 pass through the passage opening 81, the set of magnets 20 are aligned by sliding against the inner surface of the passage opening 81.

[0032] (Guide member 90) The guide member 90 guides the set of magnets 20 , which is pushed and moved by the pusher 60 , toward the alignment member 80 .

[0033] The guide member 90 covers the upper end of the container 51. The guide member 90 has a guide groove 91 that extends over the entire guide member 90 in the pressing direction of the pusher 60. The guide groove 91 faces the passage opening 81 of the alignment member 80 in the pressing direction of the pusher 60. The width of the guide groove 91 is set to be equal to or greater than the width of the passage opening 81.

[0034] 4, a portion of the upper opening of guide groove 91 is closed by pressing member 70. Guide groove 91 and pressing member 70 define a space that allows movement of a set of magnets 20.

[0035] The set of magnets 20 that is pushed and moved by the pusher 60 is restricted in its displacement in the parallel direction by the guide groove 91. In this way, the set of magnets 20 is guided to the passage opening 81 of the alignment member 80.

[0036] A communication hole 92 that communicates with the discharge port 52 of the housing body 51 is formed in the bottom surface of the guide groove 91. The magnet 20 inside the housing body 51 moves to the pressing position by passing through the discharge port 52 and the communication hole 92.

[0037] (insertion mechanism 100) As shown in FIG. 2, the insertion mechanism 100 collectively grasps a set of magnets 20 aligned by the alignment member 80 and inserts them into the magnet accommodating holes 13 of the rotor core 11.

[0038] The insertion mechanism 100 includes a chuck 101 and a robot arm 104. The chuck 101 holds a set of magnets 20. The chuck 101 is attached to the robot arm 104.

[0039] As shown in FIG. 5, the chuck 101 has a pair of first gripping parts 102 and a pair of second gripping parts 103. The pair of first gripping parts 102 grip the boundary part of the pair of magnets 20 from both sides in the direction perpendicular to both the pressing direction of the pusher 60 and the parallel direction. The pair of second gripping parts 103 grip the pair of magnets 20 from both sides in the parallel direction. Therefore, the pair of first gripping parts 102 contact the surface constituting the long side in the cross section of each magnet 20. The pair of second gripping parts 103 contact the surface constituting the short side in the cross section of each magnet 20. The contact area between the pair of first gripping parts 102 and the pair of magnets 20 is larger than the contact area between the pair of second gripping parts 103 and the pair of magnets 20. The gripping force of the pair of first gripping parts 102 is larger than the gripping force of the pair of second gripping parts 103.

[0040] 4, the insertion mechanism 100 grips the ends of the pair of magnets 20 protruding from the passage opening 81 of the alignment member 80. At this time, the insertion mechanism 100 grips the pair of magnets 20 in the order of the pair of second gripping portions 103 and the pair of first gripping portions 102.

[0041] The robot arm 104 can move and rotate the chuck 101 to move the set of magnets 20 to any position. (1st Camera 111) 6, the first camera 111 captures an image of the end faces of the pair of magnets 20 held by the chuck 101 at the end opposite to the held side. The end faces of the pair of magnets 20 captured by the first camera 111 are the end faces of the pair of magnets 20 in the insertion direction of the insertion mechanism 100.

[0042] (Second camera 112) Second camera 112 is disposed above support base 40. Second camera 112 captures an image of the upper surface of rotor core 11 including magnet accommodating holes 13.

[0043] (Control unit 120) The control unit 120 controls the operations of the support base 40, the magazine 50, the pusher 60, the insertion mechanism 100, the first camera 111, and the second camera 112. When the proximity sensor 71 detects that a set of magnets 20 has come into contact with the lower surface of the pressing member 70, a detection signal is input from the proximity sensor 71 to the control unit 120. Shooting data of the first camera 111 and the second camera 112 is input to the control unit 120.

[0044] The control unit 120 is composed of, for example, a processing circuit including a computer and a memory, and controls various operations executed by the magnet insertion device 30 according to programs stored in the memory.

[0045] (Operation of magnet insertion device 30) Next, the operation of the magnet insertion device 30 will be described. 2, when inserting magnets 20 into magnet accommodating holes 13 of rotor core 11, control unit 120 first raises the pair of push-out parts 54. As the pair of push-out parts 54 rise, the uppermost set of magnets 20 pushed out of accommodating body 51 comes into contact with the underside of pressing member 70. That is, the set of magnets 20 moves to the pressing position. This causes proximity sensor 71 to output a detection signal to control unit 120.

[0046] When the detection signal is input, the control unit 120 determines that the pair of magnets 20 is located at the pressing position, and stops the operation of the pair of pushers 54. This stops the movement of each magnet 20 in the stacking direction.

[0047] Next, the control unit 120 advances the pusher 60. As a result, the set of magnets 20 is pressed collectively by the pusher 60, and moves along the guide groove 91 of the guide member 90. Then, the end of the set of magnets 20 passes through the passage opening 81 of the alignment member 80. The pressing distance of the set of magnets 20 by the pusher 60 is set to a distance that allows the set of magnets 20 to protrude from the passage opening 81, but not to fall out of the passage opening 81.

[0048] The set of magnets 20 is aligned in the parallel direction and the up-down direction by passing through the passage opening 81. The set of magnets 20 is aligned in the pushing direction of the pusher 60 by being pressed collectively by the pusher 60.

[0049] Next, the control unit 120 causes the chuck 101 of the insertion mechanism 100 to grip the ends of the set of magnets 20 protruding from the passage opening 81. At this time, first, the pair of second gripping units 103 grip the set of magnets 20. Thereafter, the chuck 101 pulls the set of magnets 20 out of the passage opening 81 while the pair of first gripping units 102 grip the set of magnets 20.

[0050] Next, as shown in FIG. 6, the control unit 120 operates the robot arm 104 to move the set of magnets 20 held by the chuck 101 so that the end faces of the set of magnets 20 face the first camera 111.

[0051] Next, control unit 120 causes first camera 111 to capture an image of the end faces of the set of magnets 20. Control unit 120 also causes second camera 112 to capture an image of the top surface of rotor core 11. The control unit 120 receives first image data, which is image data of the end faces of the set of magnets 20 captured by the first camera 111, and second image data, which is image data of the top face of the rotor core 11 captured by the second camera 112. Based on the first image data, the control unit 120 calculates the geometric center of the end faces of the entire set of magnets 20 as a first central axis L1 of the end faces. Furthermore, based on the second image data, the control unit 120 calculates the geometric center of the opening of the magnet accommodating hole 13 into which the set of magnets 20 are inserted as a second central axis L2 of the opening.

[0052] 7, the control unit 120 operates the robot arm 104 to move the set of magnets 20 to a position where the first central axis L1 of the set of magnets 20 and the second central axis L2 of the magnet accommodating hole 13 coincide with each other. At this time, the control unit 120 rotates the chuck 101 so that the parallel direction of the set of magnets 20 coincides with the longitudinal direction of the magnet accommodating hole 13.

[0053] Next, the control unit 120 operates the robot arm 104 to insert the set of magnets 20 into the magnet accommodating hole 13 with the first central axis L1 and the second central axis L2 aligned. Note that after being inserted into the magnet accommodating hole 13, the set of magnets 20 may be spaced apart from each other inside the magnet accommodating hole 13.

[0054] Next, in order to insert a set of magnets 20 into the next magnet accommodating hole 13, the control unit 120 moves the chuck 101 away from the rotor core 11 and rotates the support base 40 by a predetermined rotation angle.

[0055] By repeating the above operation, a set of magnets 20 is inserted into each of the magnet accommodating holes 13 of the rotor core 11. The operation of this embodiment will be described.

[0056] When the set of magnets 20 pushed out of the housing 51 by the pair of pushers 54 are pushed and moved collectively by the pusher 60, the set of magnets 20 is aligned by the alignment member 80. The aligned set of magnets 20 is grasped collectively by the insertion mechanism 100. As a result, the insertion mechanism 100 inserts the aligned set of magnets 20 into the magnet accommodating hole 13.

[0057] The effects of this embodiment will be described. (1) The magazine 50 includes a housing 51 that houses a plurality of magnets 20 in a stacked state, and a pair of pushers 54 that sequentially push a set of magnets 20 out of the housing 51 while they are aligned side by side. The pusher 60 collectively presses the set of magnets 20 pushed out of the housing 51 in a direction different from the stacking direction, thereby moving the set of magnets 20. The alignment member 80 aligns the set of magnets 20 by contacting both sides in the juxtaposition direction of the set of magnets 20 that are moved by being pushed by the pusher 60. The insertion mechanism 100 collectively holds the set of magnets 20 aligned by the alignment member 80, and inserts them into the magnet accommodating holes 13.

[0058] According to this configuration, the above-mentioned effects are achieved, so that the set of magnets 20 can be smoothly inserted into the magnet accommodating holes 13. (2) The guide member 90 regulates the displacement of the set of magnets 20 in the parallel direction when the set of magnets 20 is pushed and moved by the pusher 60, thereby guiding the set of magnets 20 toward the alignment member 80.

[0059] According to this configuration, when the set of magnets 20 is pushed and moved by the pusher 60, the set of magnets 20 is guided to the alignment member 80 by the guide member 90. Therefore, the set of magnets 20 can be suitably aligned by the alignment member 80.

[0060] (3) The insertion mechanism 100 has a pair of first gripping portions 102 that grip the pair of magnets 20 from both sides in a direction perpendicular to both the pushing direction of the pusher 60 and the parallel direction, and a pair of second gripping portions 103 that sandwich and grip the pair of magnets 20 from both sides in the parallel direction. The contact area between the pair of first gripping portions 102 and the pair of magnets 20 is larger than the contact area between the pair of second gripping portions 103 and the pair of magnets 20. The gripping force of the pair of first gripping portions 102 is larger than the gripping force of the pair of second gripping portions 103.

[0061] According to this configuration, the pair of first gripping parts 102 have a larger contact area with the pair of magnets 20 and a larger gripping force than the pair of second gripping parts 103. Therefore, it is possible to suitably suppress the displacement of the pair of magnets 20 gripped by the insertion mechanism 100.

[0062] In addition, by holding a set of magnets 20 with a pair of second holding portions 103 in addition to a pair of first holding portions 102, misalignment of the magnets 20 due to inertial forces such as centrifugal force is suppressed when the insertion mechanism 100 moves the set of magnets 20.

[0063] (4) The pressing member 70 is disposed at a position facing the discharge port 52, and presses the set of magnets 20 that are pushed and moved by the pusher 60 from one side in the stacking direction. This configuration suppresses flapping of the set of magnets 20 that is pushed and moved by the pusher 60. Therefore, the set of magnets 20 can be moved toward the alignment member 80 smoothly.

[0064] (5) The insertion mechanism 100 inserts a set of magnets 20 into the magnet accommodating hole 13 while aligning the first central axis L1 of the end faces of the entire set of magnets 20 in the insertion direction with the second central axis L2 of the magnet accommodating hole 13.

[0065] According to the above configuration, the set of magnets 20 is inserted into the magnet accommodating hole 13 in a state in which the first central axis L1 of the end faces of the entire set of magnets 20 aligned in advance coincides with the second central axis L2 of the magnet accommodating hole 13. This allows the set of magnets 20 to be inserted into the magnet accommodating hole 13 smoothly.

[0066] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that there is no technical contradiction.

[0067] The insertion mechanism 100 may be configured to insert the magnets 20 into the magnet receiving holes 13 by moving the set of magnets 20 to a predetermined position. The magnet insertion device 30 may be provided with a sensor that detects when the uppermost set of magnets 20 is located in the pressing position, instead of the proximity sensor 71. An example of such a sensor is a photoelectric sensor.

[0068] The proximity sensor 71 does not have to be built into the pressing member 70. In this case, the pair of pushing portions 54 may move the magnet 20 by a predetermined movement amount. The magnet insertion device 30 does not have to include the retainer member 70.

[0069] The gripping force of the pair of second gripping portions 103 may be greater than the gripping force of the pair of first gripping portions 102. Moreover, the gripping force of the first gripping portions 102 and the gripping force of the second gripping portions 103 may be the same.

[0070] The insertion mechanism 100 may include only one of the first gripping portion 102 and the second gripping portion 103. The magnet insertion device 30 does not have to include the guide member 90.

[0071] The magazine 50 may include one pushing portion 54. In this case, it is preferable that the one pushing portion 54 is disposed between the pair of support portions 53. Although the magazine 50 in the above embodiment accommodates a plurality of magnets 20 stacked vertically, the magazine 50 may accommodate a plurality of magnets 20 with the juxtaposition direction of a set of magnets 20 aligned with the stacking direction. In this case, for example, the juxtaposition direction of a set of magnets 20 and the stacking direction may be aligned horizontally.

[0072] A gap may be provided between the inner surface of the passage opening 81 and the upper surfaces of the set of magnets 20 . An elastic member that elastically contacts at least one of the pair of magnets 20 may be provided on the inner surface of the passage opening 81. In this configuration, the dimensional variation of the magnets 20 is absorbed, and excessive sliding between the magnet 20 and the inner surface of the passage opening 81 can be suppressed.

[0073] The set of magnets 20 may include three or more magnets 20. The above embodiment includes the configurations described in the following supplementary notes. [Appendix 1] A magnet insertion device for inserting a set of magnets into a magnet accommodating hole formed in a rotor core, comprising: a magazine including a housing body having an ejection outlet and housing a plurality of the magnets in a stacked state; and an ejection section for moving the magnets inside the housing body in a stacking direction and sequentially pushing the set of magnets out of the housing body through the ejection outlet in a state in which the set of magnets are aligned side by side; a pusher for moving the set of magnets by collectively pressing the set of magnets pushed out to the outside of the housing body in a direction different from the stacking direction; an alignment member for aligning the set of magnets by contacting both sides in the parallel direction of the set of magnets that are moved by being pressed by the pusher; and an insertion mechanism for holding the set of magnets aligned by the alignment member collectively and inserting them into the magnet accommodating hole.

[0074] [Appendix 2] The magnet insertion device described in [Appendix 1], further comprising a guide member that guides the set of magnets toward the alignment member by regulating displacement of the set of magnets in the parallel direction as they are pushed and moved by the pusher.

[0075] [Appendix 3] The magnet insertion device described in [Appendix 1] or [Appendix 2], wherein the insertion mechanism has a pair of first gripping portions that grip the set of magnets from both sides in a direction perpendicular to both the pushing direction of the pusher and the parallel direction, and a pair of second gripping portions that sandwich and grip the set of magnets from both sides in the parallel direction, wherein a contact area between the pair of first gripping portions and the set of magnets is larger than a contact area between the pair of second gripping portions and the set of magnets, and a gripping force of the pair of first gripping portions is larger than the gripping force of the pair of second gripping portions.

[0076] [Appendix 4] The magnet insertion device described in any one of [Appendix 1] to [Appendix 3], further comprising a pressing member that is disposed at a position opposite the discharge outlet and presses down the set of magnets, which are moved by being pushed by the pusher, from one side in the stacking direction.

[0077] [Appendix 5] A magnet insertion device described in any one of [Appendix 1] to [Appendix 4], wherein the insertion mechanism inserts the set of magnets into the magnet accommodating hole while aligning the central axis of the end faces of the entire set of magnets in the insertion direction with the central axis of the magnet accommodating hole. [Explanation of symbols]

[0078] L1…1st center axis L2…Second central axis 10...Rotor 11...Rotor core 12...Center hole 13...Magnet receiving hole 20…Magnet 21...Resin material 30...Magnet insertion device 40...Support stand 50…Magazine 51…Containment Unit 52…Discharge port 53...Support part 54…Extrusion section 60…Pusher 70...Pressing member 71...Proximity sensor 80...Alignment member 81... Passage gate 82…Bracket 90...Guide member 91...Guide groove 92...Communication hole 100...insertion mechanism 101…Chuck 102...First gripping part 103...Second gripping part 104…Robot arm 111…1st camera 112…Second camera 120...Control unit

Claims

1. A magnet insertion device that inserts a set of magnets into a magnet accommodating hole formed in a rotor core, a magazine including a housing having an ejection port and housing a plurality of the magnets in a stacked state, and an ejection unit that sequentially ejects the set of magnets in a parallel state to the outside of the housing through the ejection port by moving the magnets in the housing in a stacking direction; a pusher that collectively presses the set of magnets pushed out of the housing in a direction different from the stacking direction to move the set of magnets; an alignment member that aligns the set of magnets by contacting both sides in a parallel direction of the set of magnets that are pushed and moved by the pusher; an insertion mechanism that collectively holds the set of magnets aligned by the alignment member and inserts them into the magnet accommodating hole; Magnet insertion device.

2. a guide member that guides the set of magnets toward the alignment member by restricting displacement of the set of magnets in the parallel direction when the set of magnets is pushed and moved by the pusher; The magnet insertion device of claim 1 .

3. The insertion mechanism includes: a pair of first gripping portions that grip the set of magnets from both sides in a direction perpendicular to both the pushing direction of the pusher and the parallel direction; a pair of second gripping portions that sandwich and grip the set of magnets from both sides in the parallel direction, a contact area between the pair of first gripping portions and the set of magnets is larger than a contact area between the pair of second gripping portions and the set of magnets; The gripping force of the pair of first gripping portions is greater than the gripping force of the pair of second gripping portions. The magnet insertion device according to claim 1 or 2.

4. a pressing member that is disposed at a position facing the discharge port and presses the set of magnets that are moved by being pressed by the pusher from one side in the stacking direction; The magnet insertion device according to claim 1 or 2.

5. the insertion mechanism inserts the set of magnets into the magnet accommodating hole in a state in which a central axis of an end face of the set of magnets in an insertion direction is aligned with a central axis of the magnet accommodating hole; The magnet insertion device according to claim 1 or 2.

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