CN109494943A - Motor rotor assembles positioning system, method, apparatus, equipment and medium - Google Patents
Motor rotor assembles positioning system, method, apparatus, equipment and medium Download PDFInfo
- Publication number
- CN109494943A CN109494943A CN201910012716.6A CN201910012716A CN109494943A CN 109494943 A CN109494943 A CN 109494943A CN 201910012716 A CN201910012716 A CN 201910012716A CN 109494943 A CN109494943 A CN 109494943A
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- China
- Prior art keywords
- motor rotor
- mounting hole
- press
- pin
- loading device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
Abstract
The embodiment of the invention discloses a kind of motor rotors to assemble positioning system, method, apparatus, equipment and medium, the system comprises: visual apparatus, rotating servo platform, controller and press-loading device；The visual apparatus and the controller communicate to connect, the location information of the pin press mounting hole for obtaining motor rotor, and the location information is sent to the controller；The rotating servo platform and the controller communicate to connect, for carrying the motor rotor rotation under the control of the controller, so that the pin press mounting hole of the motor rotor is aligned with the press-loading device；Pin is pressed the pin press mounting hole into the motor rotor for moving vertically under the control of the controller by the press-loading device.By using above system, it can be achieved that carrying out automatic and accurate positioning to the pin press mounting hole of motor rotor, and then improve the press fitting efficiency of pin.
Description
Technical field
The present embodiments relate to motor technology fields more particularly to a kind of motor rotor to assemble positioning system, side
Method, device, equipment and medium.
Background technique
New-energy automobile industry is quickly grown at present, motor be new-energy automobile development in most important application product it
One, therefore the rapid development of new-energy automobile has also driven the fast development of vehicle electric motor industry.Vehicle electric motor is such as it
The motor of his form is mainly made of stator case and the big major part of rotor two.When automobile is when running at high speed, apply
Motor in automobile, which is also at, to run at high speed, and dynamic equilibrium state when motor rotor high-speed rotation directly affect it is electronic
The quality of machine work, therefore, the dynamic balancing of motor rotor become the standard for measuring motor mass, and motor rotor moves
Balance has vital influence to the service life of motor and job security.Therefore, in the assembling process of motor
Dynamic balancing measurement can be carried out for motor rotor, and local weight gain is carried out to motor rotor according to the result of dynamic balancing measurement
Or loss of weight is to meet requirement for dynamic balance when motor rotor works.
Currently, the more commonly used mode for carrying out local weight gain or loss of weight to motor rotor is to pass through the conjunction in rotor
The drilling of the right position place of setting assembles pin to realize, therefore to realize the dynamic balancing of high standard, needs to the described suitable of rotor
Position is accurately positioned.
Summary of the invention
The embodiment of the present invention provides a kind of motor rotor assembling positioning system, method, apparatus, equipment and medium, passes through
The positioning system, which can be realized, carries out automatic and accurate positioning to the pin press mounting hole of motor rotor, and then improves the press fitting of pin
Efficiency.
In a first aspect, the embodiment of the invention provides a kind of motor rotors to assemble positioning system, the system comprises:
Visual apparatus, rotating servo platform, controller and press-loading device；
Wherein, the visual apparatus and the controller communicate to connect, for obtaining the pin press mounting hole of motor rotor
Location information, and the location information is sent to the controller；
The rotating servo platform and the controller communicate to connect, for described in the carrying under the control of the controller
Motor rotor rotation, so that the pin press mounting hole of the motor rotor is aligned with the press-loading device；
The controller is also communicated to connect with the press-loading device, for generating control instruction according to the positional information,
To control the rotary motion of the rotating servo platform, and the vertical movement of the control press-loading device；
Pin is pressed into the motor by the press-loading device for moving vertically under the control of the controller
The pin press mounting hole of rotor.
Second aspect, the embodiment of the invention provides a kind of motor rotor method for assembling and positioning, are applied to claim
The described in any item motor rotors of 1-3 assemble positioning system, which comprises
Obtain the location information of the pin press mounting hole of motor rotor；
The opposite position between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information
It sets；
The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor
Press mounting hole is aligned with the press-loading device；
The press-loading device vertical movement is controlled based on the relative position, pin is pressed into the motor rotor
Pin press mounting hole.
The third aspect, the embodiment of the invention provides a kind of motor rotors to assemble positioning device, is integrated in claim
The described in any item motor rotors of 1-3 assemble positioning system, and described device includes:
Obtain module, the location information of the pin press mounting hole for obtaining motor rotor；
Determining module, for determining the pin press mounting hole and press-loading device of the motor rotor according to the positional information
Between relative position；
Rotary motion control module, for controlling the rotating servo platform rotary motion based on the relative position, with
It is directed at the pin press mounting hole of the motor rotor with the press-loading device；
Move vertically control module, for controlling the press-loading device vertical movement based on the relative position, will sell
Nail is pressed the pin press mounting hole into the motor rotor.
Fourth aspect the embodiment of the invention provides a kind of electronic equipment, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, realize that such as right is wanted when the processor executes the computer program
Seek the described in any item motor rotor method for assembling and positioning of 4-7.
5th aspect, the embodiment of the invention provides a kind of storage medium comprising computer executable instructions, the meters
Calculation machine executable instruction realizes such as the described in any item motor rotor groups of claim 4-7 when being executed by computer processor
Assembling and positioning method.
A kind of motor rotor provided in an embodiment of the present invention assembles positioning system, comprising: visual apparatus, rotating servo are flat
Platform, controller and press-loading device；Wherein, the visual apparatus and the controller communicate to connect, and turn for obtaining motor
The location information of the pin press mounting hole of son, and the location information is sent to the controller；The rotating servo platform with
The controller communication connection, for carrying the motor rotor rotation under the control of the controller, so that the electricity
The pin press mounting hole of motivation rotor is aligned with the press-loading device；The controller is also communicated to connect with the press-loading device, is used
In generating control instruction according to the positional information, to control the rotary motion of the rotating servo platform, and described in control
The vertical movement of press-loading device；Pin is pressed by the press-loading device for moving vertically under the control of the controller
Into the pin press mounting hole of the motor rotor, it can be realized by the system and the pin press mounting hole of motor rotor is carried out certainly
It is dynamic to be accurately positioned, and then improve the press fitting efficiency of pin.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also implement according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic diagram that a kind of motor rotor that the embodiment of the present invention one provides assembles positioning system；
Fig. 2 is the structural schematic diagram that another motor rotor that the embodiment of the present invention one provides assembles positioning system；
Fig. 3 is a kind of structural schematic diagram for motor rotor that the embodiment of the present invention one provides；
Fig. 4 is a kind of motor rotor method for assembling and positioning flow diagram provided by Embodiment 2 of the present invention；
Fig. 5 is that a kind of motor rotor that the embodiment of the present invention three provides assembles positioning device structure schematic diagram；
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Embodiment one
Fig. 1 is the structural schematic diagram that a kind of motor rotor that the embodiment of the present invention one provides assembles positioning system.Referring to
Shown in Fig. 1, the motor rotor assembling positioning system includes: visual apparatus 110, rotating servo platform 120, controller 130
And press-loading device 140；Wherein, visual apparatus 110 and controller 130 communicate to connect, for obtaining the pin of motor rotor
The location information of press mounting hole, and the location information is sent to controller 130；Rotating servo platform 120 and controller 130 are logical
Letter connection, for carrying the motor rotor rotation under the control of controller 130, so that the pin of the motor rotor
Press mounting hole is aligned with press-loading device 140, is further the pin press mounting hole and press-loading device 140 for making the motor rotor
Pin alignment；Controller 130 is also communicated to connect with press-loading device 140, for generating control instruction according to the positional information, with
Control the rotary motion of rotating servo platform 120, and the vertical movement of control press-loading device 140；Press-loading device 140 is used for
It moves vertically under the control of controller 130, pin is pressed the pin press mounting hole into the motor rotor.
Specifically, the course of work of above-mentioned motor rotor assembling positioning system are as follows:
Controller 130 controls manipulator and motor rotor is placed on rotating servo platform 120 first, then passes through vision
Equipment 110 positions the pin press mounting hole on the motor rotor, obtains the location information of the pin press mounting hole, and
The location information is sent to controller 130, controller 130 generates control rotating servo platform 120 according to the positional information
The control instruction of rotary motion, and the control instruction that control press-loading device 140 moves vertically, rotating servo platform 120 are being controlled
It is rotated under the control of device 130 processed, is directed at the pin press mounting hole with press-loading device 140, press-loading device 140 is in controller 130
Control under vertically move, when the distance between press-loading device 140 and pin press mounting hole reach setting value, press-loading device 140
Press fitting operation is executed, pin is pressed into corresponding pin press mounting hole, is completed to the accurate fixed of motor rotor pin press mounting hole
Position and efficiently press fitting.
Further, visual apparatus 110 includes: first camera 111 and second camera 112；Referring specifically to shown in Fig. 2 another
A kind of structural schematic diagram of motor rotor assembling positioning system, wherein first camera 111 is set to rotating servo platform 120
Top, second camera 112 is set to the side of rotating servo platform 120；
Corresponding, first camera 111 is used to obtain the pin press mounting hole of motor rotor 100 and is set in advance in motor
The first relative position information between the label of rotor side surface, second camera 112 are set in advance in motor rotor for obtaining
The second location information of the label of 100 sides.The second location information is specially to be set in advance in motor rotor side
The location information of label, the label is set in advance in motor rotor side, for identifying motor rotor and press-loading device
Relative position between 140, the origin of coordinate system where usually setting press-loading device 140 and motor rotor for the label,
By calculating the relative position between pin press mounting hole and press-loading device 140 labeled as origin with this, and then control rotating servo
The vertical movement direction and distance of the direction of rotation of platform 120 and angle and press-loading device 140.
Further, the structural schematic diagram of a kind of motor rotor shown in Figure 3 includes small pin press mounting hole thereon
310 and big pin press mounting hole 320, motor rotor is a circular thin slice, when being pressed, usually many piece rotor stacks
It builds up a cylindrical body and is placed on rotating servo platform 120.When there is more than one pin press mounting hole on motor rotor, institute
Visual apparatus 110 is stated for obtaining the location information for the target pin press mounting hole for needing to be pressed pin.
Optionally, first camera 111 and second camera 112 can be area array cameras, and controller 130 specifically can be
PLC (Programmable Logic Controller, programmable logic controller (PLC)), is not shown controller 130 in Fig. 2.Rotation
Turning servo platform 120 can be driven by rotating servo motor, and press-loading device 140 can be real under the driving of translation servo-motors
Now move vertically.
A kind of motor rotor provided in this embodiment assembles positioning system, comprising: visual apparatus, rotating servo platform,
Controller and press-loading device；Wherein, the visual apparatus and the controller communicate to connect, for obtaining motor rotor
The location information of pin press mounting hole, and the location information is sent to the controller；The rotating servo platform with it is described
Controller communication connection, for carrying the motor rotor rotation under the control of the controller, so that the motor
The pin press mounting hole of rotor is aligned with the press-loading device；The controller is also communicated to connect with the press-loading device, is used for root
Control instruction is generated according to the location information, to control the rotary motion of the rotating servo platform, and the control press fitting
The vertical movement of equipment；Pin is pressed into institute by the press-loading device for moving vertically under the control of the controller
The pin press mounting hole for stating motor rotor can be realized by the system and carry out automatic precision to the pin press mounting hole of motor rotor
It determines position, and then improves the press fitting efficiency of pin.
Embodiment two
Fig. 4 is a kind of flow diagram of motor rotor method for assembling and positioning provided by Embodiment 2 of the present invention.Upper
On the basis of stating embodiment, localization method provided in this embodiment is applied to positioning system provided by the above embodiment.Specific ginseng
As shown in Figure 4, this method may include steps of:
Step 410, obtain motor rotor pin press mounting hole location information.
Specifically, by the first camera 111 obtain motor rotor pin press mounting hole be set in advance in it is electronic
The first relative position information between the label of machine rotor side；
The second location information for being set in advance in the label of motor rotor side is obtained by the second camera 112；
Wherein, the predeterminated position is usually identified using specific markers.The specific markers are set in advance in electronic
The label usually is set as pressing by machine rotor side for identifying the relative position between motor rotor and press-loading device 140
The origin of installing standby 140 and coordinate system where motor rotor, by calculating pin press mounting hole and press fitting labeled as origin with this
Relative position between equipment 140.In motor rotor assembling positioning system, the first camera, second camera and pressure
Standby horizontal position is installed to be fixed and invariable, therefore can be in advance in the specific position setting flag of rotor side surface, when the label quilt
When second camera photographed, the relative position between the label and press-loading device is known, therefore can be shot using first camera
The first relative position information between the pin press mounting hole and the label of rotor, and based on it is described label with press-loading device it
Between relative position can determine that the relative position between the pin press mounting hole and press-loading device.It can be by utilizing described first
Camera and second camera take pictures to motor rotor, obtain corresponding image, and carry out image point to the image of acquisition
Analysis and data processing, obtain the relative position between above-mentioned pin press mounting hole and press-loading device.
Step 420 is determined according to the positional information between the pin press mounting hole of the motor rotor and press-loading device
Relative position.
Specifically, using the second location information of the label for being set in advance in motor rotor side as changing coordinates
The coordinate origin of system；
According to pin press mounting hole and the first relative position information for being set in advance between the label of motor rotor side
Determine the pin press mounting hole in the coordinate position of current coordinate system；
In the coordinate position of current coordinate system and described motor rotor is set in advance in based on the pin press mounting hole
Relative position between the label and press-loading device of side determines opposite between the pin press mounting hole and the press-loading device
Position.
Step 430 controls the rotating servo platform rotary motion based on the relative position, so that the motor turns
The pin press mounting hole of son is aligned with the press-loading device.
Optionally, the rotating servo platform rotary motion is controlled based on the relative position, comprising:
The first control instruction for controlling the rotating servo platform rotary motion is generated depending on that relative position；
The rotating servo platform rotary motion is controlled based on first control instruction；
Wherein, first control instruction includes the angle information of the rotating servo platform rotation.
Step 440 controls the press-loading device vertical movement based on the relative position, and pin is pressed into the electricity
The pin press mounting hole of motivation rotor.
Specifically, generating the second control instruction for controlling the press-loading device vertical movement depending on that relative position；
The press-loading device vertical movement is controlled based on second control instruction；
Wherein, second control instruction includes the coordinate information of the press-loading device vertical movement.
A kind of motor rotor method for assembling and positioning provided in this embodiment, the pin by obtaining motor rotor are pressed
The location information in hole；The phase between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information
To position；The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor
Press mounting hole is aligned with the press-loading device；The press-loading device vertical movement is controlled based on the relative position, by pin pressure
The technological means for putting into the pin press mounting hole of the motor rotor is realized and is carried out certainly to the pin press mounting hole of motor rotor
It is dynamic to be accurately positioned, and then improve the press fitting efficiency of pin.
Embodiment three
Fig. 5 is the structural schematic diagram that a kind of motor rotor that the embodiment of the present invention three provides assembles positioning device.Referring to
Shown in Fig. 5, described device includes: to obtain module 510, determining module 520, rotary motion control module 530 and vertical movement control
Molding block 540；
Wherein, module 510, the location information of the pin press mounting hole for obtaining motor rotor are obtained；
Determining module 520, for determining pin press mounting hole and the press fitting of the motor rotor according to the positional information
Relative position between equipment；
Rotary motion control module 530, for controlling the rotating servo platform rotary motion based on the relative position,
So that the pin press mounting hole of the motor rotor is aligned with the press-loading device；
Move vertically control module 540, will for controlling the press-loading device vertical movement based on the relative position
Pin is pressed the pin press mounting hole into the motor rotor.
Further, module 510 is obtained, comprising:
First location information acquiring unit, for by the first camera obtain motor rotor pin press mounting hole with
The first relative position information being set in advance between the label of motor rotor side；
Second location information acquiring unit, for being set in advance in motor rotor side by second camera acquisition
Label second location information；
Further, determining module 520 includes:
Coordinate origin determination unit, for by the second confidence of the label for being set in advance in motor rotor side
Cease the coordinate origin as current coordinate system；
Pin press mounting hole coordinate position determination unit, for according to pin press mounting hole and being set in advance in motor rotor side
The first relative position information between the label in face determines the pin press mounting hole in the coordinate position of current coordinate system；
Relative position determination unit, for based on the pin press mounting hole in the coordinate position of current coordinate system and described
The relative position being set in advance between the label and press-loading device of motor rotor side determines the pin press mounting hole and institute
State the relative position between press-loading device.
Further, rotary motion control module 530 includes:
Generation unit, for generating the first control of the control rotating servo platform rotary motion depending on that relative position
System instruction；
Control unit, for controlling the rotating servo platform rotary motion based on first control instruction；
Wherein, first control instruction includes the angle information of the rotating servo platform rotation.
Further, vertical movement control module 540 includes:
Generation unit, the second control for generating the control press-loading device vertical movement depending on that relative position refer to
It enables；
Control unit, for controlling the press-loading device vertical movement based on second control instruction；
Wherein, second control instruction includes the coordinate information of the press-loading device vertical movement.
The present embodiment provides motor rotors to assemble positioning device, the position of the pin press mounting hole by obtaining motor rotor
Confidence breath；The opposite position between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information
It sets；The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor is pressed
Hole is aligned with the press-loading device；Control press-loading device vertical movement based on the relative position, by pin be pressed into
The technological means of the pin press mounting hole of the motor rotor realizes and carries out automatic precision to the pin press mounting hole of motor rotor
It determines position, and then improves the press fitting efficiency of pin.
Example IV
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that the embodiment of the present invention four provides.Fig. 6, which is shown, to be suitable for being used in fact
The block diagram of the example electronic device 12 of existing embodiment of the present invention.The electronic equipment 12 that Fig. 6 is shown is only an example, no
The function and use scope for coping with the embodiment of the present invention bring any restrictions.
As shown in fig. 6, electronic equipment 12 is showed in the form of universal computing device.The component of electronic equipment 12 may include
But be not limited to: one or more processor or processing unit 16, system storage 28, connect different system components (including
System storage 28 and processing unit 16) bus 18.
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Electronic equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be electric
The usable medium that sub- equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Electronic equipment 12 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 6 do not show, commonly referred to as " hard disk drive ").Although being not shown in Fig. 6, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (such as motor rotor assembling acquisition module 510 of positioning device, determining module 520, rotation
Turn motion-control module 530 and vertical movement control module 540) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
With one group (such as motor rotor assembling positioning device acquisition module 510, determining module 520, rotary motion
Control module 530 and vertical movement control module 540) program module 42 program/utility 40, can store and for example depositing
In reservoir 28, such program module 42 includes but is not limited to operating system, one or more application program, other program moulds
It may include the realization of network environment in block and program data, each of these examples or certain combination.Program module
42 usually execute function and/or method in embodiment described in the invention.
Electronic equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24 etc.)
Communication, can also be enabled a user to one or more equipment interact with the electronic equipment 12 communicate, and/or with make the electricity
Any equipment (such as network interface card, modem etc.) that sub- equipment 12 can be communicated with one or more of the other calculating equipment
Communication.This communication can be carried out by input/output (I/O) interface 22.Also, electronic equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of electronic equipment 12.Although should be understood that
It is not shown in the figure, other hardware and/or software module can be used in conjunction with electronic equipment 12, including but not limited to: microcode is set
Standby driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup storage system
System etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize motor rotor method for assembling and positioning provided by the embodiment of the present invention, this method comprises:
Obtain the location information of the pin press mounting hole of motor rotor；
The opposite position between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information
It sets；
The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor
Press mounting hole is aligned with the press-loading device；
The press-loading device vertical movement is controlled based on the relative position, pin is pressed into the motor rotor
Pin press mounting hole.
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize motor rotor method for assembling and positioning provided by the embodiment of the present invention.
Certainly, it will be understood by those skilled in the art that processor can also realize it is provided by any embodiment of the invention
The technical solution of audio recognition method.
Embodiment five
The embodiment of the present invention five additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
The motor rotor method for assembling and positioning as provided by the embodiment of the present invention, this method packet are realized when program is executed by processor
It includes:
Obtain the location information of the pin press mounting hole of motor rotor；
The opposite position between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information
It sets；
The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor
Press mounting hole is aligned with the press-loading device；
The press-loading device vertical movement is controlled based on the relative position, pin is pressed into the motor rotor
Pin press mounting hole.
Certainly, a kind of computer readable storage medium provided by the embodiment of the present invention, the computer program stored thereon
Motor rotor assembling positioning provided by any embodiment of the invention can also be performed in the method operation being not limited to the described above
Relevant operation in method.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of motor rotor assembles positioning system characterized by comprising visual apparatus, rotating servo platform, controller
And press-loading device；
Wherein, the visual apparatus and the controller communicate to connect, the position of the pin press mounting hole for obtaining motor rotor
Confidence breath, and the location information is sent to the controller；
The rotating servo platform and the controller communicate to connect, described electronic for carrying under the control of the controller
Machine rotor rotation, so that the pin press mounting hole of the motor rotor is aligned with the press-loading device；
The controller is also communicated to connect with the press-loading device, for generating control instruction according to the positional information, with control
Make the rotary motion of the rotating servo platform, and the vertical movement of the control press-loading device；
Pin is pressed into the motor rotor by the press-loading device for moving vertically under the control of the controller
Pin press mounting hole.
2. system according to claim 1, which is characterized in that the visual apparatus includes: first camera and second camera；
Wherein, the first camera is set to the top of the rotating servo platform, and the second camera is set to the rotation
The side of servo platform；
Corresponding, the first camera is used to obtain the pin press mounting hole of motor rotor and is set in advance in motor rotor side
The first relative position information between the label in face, the second camera are set in advance in motor rotor side for obtaining
The second location information of label.
3. system according to claim 2, which is characterized in that the first camera and the second camera are face battle array phase
Machine.
4. a kind of motor rotor method for assembling and positioning is applied to the described in any item systems of the claims 1-3, feature
It is, which comprises
Obtain the location information of the pin press mounting hole of motor rotor；
The relative position between the pin press mounting hole of the motor rotor and press-loading device is determined according to the positional information；
The rotating servo platform rotary motion is controlled based on the relative position, so that the pin of the motor rotor is pressed
Hole is aligned with the press-loading device；
The press-loading device vertical movement is controlled based on the relative position, pin is pressed the pin into the motor rotor
Follow closely press mounting hole.
5. according to the method described in claim 4, it is characterized in that, the position of the pin press mounting hole for obtaining motor rotor
Information, comprising:
The pin press mounting hole of motor rotor is obtained by the first camera and is set in advance in the mark of motor rotor side
The first relative position information between note；
The second location information for being set in advance in the label of motor rotor side is obtained by the second camera.
6. according to the method described in claim 5, it is characterized in that, determining the motor rotor according to the positional information
Relative position between pin press mounting hole and press-loading device, comprising:
It is former using the second location information of the label for being set in advance in motor rotor side as the coordinate of current coordinate system
Point；
It is determined according to pin press mounting hole with the first relative position information for being set in advance between the label of motor rotor side
Coordinate position of the pin press mounting hole in current coordinate system；
In the coordinate position of current coordinate system and described motor rotor side is set in advance in based on the pin press mounting hole
Label and press-loading device between relative position determine the relative position between the pin press mounting hole and the press-loading device.
7. according to the method described in claim 6, it is characterized in that, controlling the rotating servo platform based on the relative position
Rotary motion, so that the pin press mounting hole of the motor rotor is aligned with the press-loading device, comprising:
The first control instruction for controlling the rotating servo platform rotary motion is generated depending on that relative position；
The rotating servo platform rotary motion is controlled based on first control instruction；
Wherein, first control instruction includes the angle information of the rotating servo platform rotation.
8. a kind of motor rotor assembles positioning device, it is integrated in the described in any item systems of the claims 1-3, feature
It is, described device includes:
Obtain module, the location information of the pin press mounting hole for obtaining motor rotor；
Determining module, for being determined between the pin press mounting hole of the motor rotor and press-loading device according to the positional information
Relative position；
Rotary motion control module, for controlling the rotating servo platform rotary motion based on the relative position, so that institute
The pin press mounting hole for stating motor rotor is aligned with the press-loading device；
Move vertically control module, for controlling the press-loading device vertical movement based on the relative position, by pin pressure
Put into the pin press mounting hole of the motor rotor.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor is realized as described in any one of claim 4-7 when executing the computer program
Motor rotor method for assembling and positioning.
10. a kind of storage medium comprising computer executable instructions, the computer executable instructions are by computer disposal
The motor rotor method for assembling and positioning as described in any one of claim 4-7 is realized when device executes.
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| CN201910012716.6A CN109494943B (en) | 2019-01-07 | 2019-01-07 | Motor rotor assembly positioning system, method, device, equipment and medium |
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| CN201910012716.6A CN109494943B (en) | 2019-01-07 | 2019-01-07 | Motor rotor assembly positioning system, method, device, equipment and medium |
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| CN109494943B (en) | 2020-12-29 |
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