CN116952175A - Online detection method for bonding quality of rotor magnetic steel of surface-mounted multipole permanent magnet motor - Google Patents
Online detection method for bonding quality of rotor magnetic steel of surface-mounted multipole permanent magnet motor Download PDFInfo
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- CN116952175A CN116952175A CN202310783426.8A CN202310783426A CN116952175A CN 116952175 A CN116952175 A CN 116952175A CN 202310783426 A CN202310783426 A CN 202310783426A CN 116952175 A CN116952175 A CN 116952175A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 183
- 239000010959 steel Substances 0.000 title claims abstract description 183
- 238000001514 detection method Methods 0.000 title claims abstract description 68
- 230000005405 multipole Effects 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims abstract description 12
- 230000009191 jumping Effects 0.000 claims abstract description 3
- 238000004519 manufacturing process Methods 0.000 claims description 35
- 230000005389 magnetism Effects 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 238000000926 separation method Methods 0.000 claims description 15
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- 238000004364 calculation method Methods 0.000 claims description 7
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- 239000000523 sample Substances 0.000 abstract description 3
- 239000000463 material Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000003292 glue Substances 0.000 description 4
- 239000011248 coating agent Substances 0.000 description 3
- 238000000576 coating method Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910001172 neodymium magnet Inorganic materials 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000004381 surface treatment Methods 0.000 description 2
- 229910052779 Neodymium Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000001962 electrophoresis Methods 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003822 epoxy resin Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- QEFYFXOXNSNQGX-UHFFFAOYSA-N neodymium atom Chemical compound [Nd] QEFYFXOXNSNQGX-UHFFFAOYSA-N 0.000 description 1
- 229920000647 polyepoxide Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 229910052761 rare earth metal Inorganic materials 0.000 description 1
- 150000002910 rare earth metals Chemical class 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
- H02K15/03—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies having permanent magnets
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/10—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/12—Measuring magnetic properties of articles or specimens of solids or fluids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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- Condensed Matter Physics & Semiconductors (AREA)
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Abstract
The utility model provides a method for online detection of the bonding quality of magnet steel of a rotor of a surface-mounted multi-pole permanent magnet synchronous motor, and simultaneously provides a tool for pre-detecting the size of the magnet steel and a detection device for detecting the outer circumferential quality of the magnet steel, so that the pre-detection of the size of the magnetized magnet steel is realized, the magnetic pole detection of the magnet steel to be bonded is realized through a magnetic pole probe, the detection of the size and the form and position tolerance of the bonded magnet steel is realized through a method for detecting the jumping quantity of the outer circumference of the magnet steel through a contact or non-contact sensor, the online detection of the bonding quality of the magnet steel is realized, and the product quality is ensured.
Description
Technical Field
The utility model belongs to the field of automatic production of permanent magnet synchronous servo motors, and particularly relates to a method for realizing online detection of production quality of automatic production equipment for bonding rotor magnetic steel of a surface-mounted multi-pole permanent magnet synchronous servo motor.
Background
The permanent magnet synchronous servo motor is one kind of brushless motor and its main structure consists of stator with winding, permanent magnet rotor, end cover for support, casing, etc. The stator of the motor is generally assembled by a stator assembly wound with a winding coil and a shell supported by a structure, and is easy to dissipate heat; the permanent magnet is adhered to the rotor, no power winding exists, almost no loss and heat are generated, and the efficiency is high. The power range of the motor is large, so that large power can be achieved; the high inertia, the highest rotation speed is low, and the power is increased and rapidly reduced, so that the high inertia high-speed motor is suitable for low-speed smooth operation. The motor has the advantages of no maintenance, high efficiency, low operating temperature, small electromagnetic radiation, long service life and the like, can be used in various environments, and is widely applied to national defense fields such as aerospace, aviation, aerospace and the like and high-end civil fields such as new energy automobiles and the like.
As a main completion of torque transmission of the motor, the rotor is an important component of the motor. The permanent magnet servo motor rotor is generally assembled by rotating shafts, magnetic yokes, permanent magnets, electronic reversing elements, bearings and other parts, in order to ensure that the motor has good servo characteristics, a sinusoidal magnetic field is established, the structure of the magnetic steel is generally designed into a surface-mounted multipole structure, N poles and S poles are sequentially mounted on the magnetic yokes, as shown in figure 1, the bonding is a very convenient magnetic steel mounting mode, and structural reinforcement is carried out on the outer circle Zhou Retao sheath of the magnetic steel or wound composite material fibers after the bonding is completed. The motor rotor automatic assembly is realized in a plurality of civil fields such as automobile matched motors, electric tool matched motors and the like by foreign and domestic motor production enterprises, the automatic production line is various, and the function positioning is accurate.
However, if the position of the bonded magnetic steel is slightly deviated or the bonding surface is not tightly bonded, the outer circumference size and form and position tolerance of the bonded magnetic steel are out of tolerance, and great trouble is brought to the subsequent sheath assembly for structural reinforcement. In addition, if the arrangement of the magnetic poles of the multipole magnetic steel is wrong, the assembled motor cannot normally operate. Therefore, the magnetic steel poles and the assembly quality of the outer circumference of the bonded magnetic steel on the magnetic steel bonding automatic production line are detected on line, products with unqualified bonding quality can be removed in time, the repair treatment is convenient, the production efficiency is improved, the product quality is ensured, and the production cost is saved.
The utility model relates to a method for searching a domestic patent database and searching a patent of CN213783091U of a permanent magnet motor magnetic steel automatic bonding machine, which mainly adopts bayonet connection to replace bolt connection, improves working efficiency, solves the problems of larger occupied area and higher energy consumption of equipment, and does not have the function of online detection of product quality.
The neodymium-iron-boron permanent magnet material is the permanent magnet material with the highest magnetic performance at present, has high residual magnetic induction intensity Br, magnetic induction coercive force Hc and maximum magnetic energy product at room temperature, is rich in resources and has much cheaper price than rare earth cobalt permanent magnet. The permanent magnet motor is rapidly popularized and applied to industrial and civil permanent magnet motors. Because of the large amount of iron and neodymium contained in the material, the material is easy to rust and is a great weakness of the NdFeB permanent magnet material, the surface of the material is subjected to coating treatment, and the coating commonly used at present comprises epoxy resin spraying, electrophoresis, electroplating and the like. The surface treatment modes have certain influence on the processing size of the magnetic steel, and if the processing size is not detected, the quality of products produced by the magnetic steel bonding automatic production line can be influenced. In addition, if the arrangement sequence of the magnetic poles of the magnetic steel is wrong, the assembled motor cannot normally operate.
In summary, how to finish the online quality detection of the product, and how to detect the surface treatment mode and the arrangement sequence of the magnetic steel poles in the online quality detection are the problems to be solved.
Disclosure of Invention
The utility model solves the technical problems that: in order to solve the defect that the production quality of the rotor magnet steel bonding automatic equipment of the surface-mounted multi-pole permanent magnet synchronous servo motor cannot be detected on line in the prior art, the utility model provides a method for detecting the bonding quality of the rotor magnet steel of the surface-mounted multi-pole permanent magnet synchronous motor on line, and simultaneously provides a fixture for detecting the size of the magnet steel and a detection device for detecting the outer circumferential quality of the magnet steel, thereby realizing the pre-detection of the size of the magnetized magnet steel, realizing the magnetic pole detection of the magnet steel to be bonded through a magnetic pole probe, realizing the detection of the size and form and position tolerance of the bonded magnet steel through a contact or non-contact detection method of the outer circumferential runout of the magnet steel, realizing the on-line detection of the bonding quality of the magnet steel, ensuring the product quality, and the technology is not mentioned in related documents.
A frock for magnetic steel size pre-detection includes an inner ring and an outer ring;
the inner diameter of the outer ring is equal to the outer diameter of the magnetic steel, a plurality of grooves are axially formed in the inner wall of the outer ring, and the grooves are uniformly distributed in the circumferential direction; the axial length of the groove is the same as the length of the magnetic steel, and the width of the groove is the same as the width of the magnetism isolating sheet of the inner ring tooling;
the outer wall of the inner ring is uniformly provided with a plurality of magnetism isolating sheets, the quantity of the magnetism isolating sheets is consistent with that of the grooves, the positions of the magnetism isolating sheets are in one-to-one correspondence with the positions of the grooves, and the axial length of the magnetism isolating sheets is the same as that of the grooves on the inner wall of the outer ring;
the inner ring is coaxially inserted into the outer ring, and the magnetism isolating sheet is in clearance fit with a groove on the inner wall of the outer ring; the inner wall of the outer ring, the magnetism isolating sheet and the outer wall of the inner ring jointly form a plurality of separation cavities;
the magnetic steels are pushed into each separation cavity and are separated from each other through the magnetic separation sheets, so that the magnetic steels are not contacted with the adhesive surface of the rotating shaft in the initial state before the assembly.
The detection device for detecting the outer circumferential quality of the magnetic steel comprises a lower thimble 7, a normal direction adjusting sliding rail 8, a workpiece supporting sliding table 9, a displacement sensor, an axial direction adjusting sliding rail 11, an upper thimble 12, a dragging motor 14, a transmission belt pulley 15, a supporting frame 16, a first servo screw and a second servo screw; the support frame 16 is used for supporting other components of the detection device;
the workpiece supporting platform 9 is positioned on the normal adjusting slide rail 8, and a through hole is formed in the middle of the sliding table; the upper part of the workpiece supporting platform 9 is used for placing a rotor 13 to be detected, a lower thimble 7 is arranged below the workpiece supporting platform, and the lower thimble 7 can move up and down on an axial adjusting slide rail;
the dragging motor 14 and the driving belt pulley 15 are driven by a second servo screw rod to jointly cooperate with each other so that the rotor 13 to be detected rotates;
the displacement sensor is used for measuring size data of the rotor 13 to be detected;
the upper thimble 12 is located on the axial adjustment sliding rail 11 and above the rotor 13 to be detected, and can slide up and down on the axial adjustment sliding rail 11.
Further, the axial adjusting slide rail 11 and the normal adjusting slide rail 8 realize the alignment of the axis of the rotor to be detected and the axes of the upper thimble and the lower thimble.
Further, the first servo screw drives the upper thimble and the lower thimble to move, after the rotor to be detected is propped up, the second servo screw drives the dragging motor to move until the driving belt pulley is attached, the dragging motor drives the belt pulley to operate, and the belt pulley drags the rotor to be detected to circularly move and rotate.
The method for realizing the online detection of the bonding quality of the rotor magnetic steel automatic production equipment of the surface-mounted type multi-pole permanent magnet synchronous servo motor by combining the tool with the detection device is characterized by comprising the following steps of:
step 1: and (3) pre-detecting the size of the magnetic steel: pushing the magnetic steel into the separation cavity of the tool in sequence according to a N, S interval mode, and removing the magnetic steel if the situation that the separation cavity cannot be pushed into or the sizes of the magnetic steel after the pushing are not matched exists;
step 2: after the magnetic steel is bonded, detecting the arrangement sequence of the magnetic poles;
step 3: the outer circumference assembly quality detection after the magnetic steel is bonded comprises the following substeps:
step 3.1: the mechanical arm places the workpiece on a sliding table, the sliding table slides on a normal adjusting sliding rail, and the workpiece to be detected is moved to a detection station;
step 3.2: the upper thimble 1 and the lower thimble 2 are respectively coaxial below the workpiece, and the upper thimble and the lower thimble move on the axial adjusting slide rail under the action of the servo screw until the upper thimble and the lower thimble tightly push against the rotor workpiece to be detected, so that the workpiece is separated from the supporting sliding table and is in a suspended state;
step 3.3: the dragging motor is driven by another set of screw rod to approach the rotor, and the rotor to be detected is driven to rotate by friction of the rotor through the driving belt pulley;
step 3.4: the data acquisition is realized in a mode that the sensor acquires relative position data after the relative position is calibrated by a calibration shaft;
step 3.5: the displacement sensor laterally approaches the tool to be detected, and the approach is stopped until the size data are obtained;
step 3.6: the acquired data are calculated by an automatic production equipment control system, the runout of the outer circumference of the magnetic steel is obtained through calculation, and the diameter of the outer circumference of the magnetic steel is further obtained;
step 3.7: after all detection is completed, the manipulator moves the workpiece to the blanking area.
Further, in the step 1, the criterion of size mismatch is: if the linear size of the magnetic steel exceeds the lower tolerance limit, the magnetic steel is in a non-centering state after being pushed into the separation cavity, and an obvious gap exists between the magnetic steel and the inner wall of the separation cavity, and the magnetic steel is judged to be in a size mismatch at the moment.
Further, in the step 2, the detection is performed by using a magnetic pole detection sensor.
Further, in the step 3.6,
the calculation formula of the runout amount of the outer circumference of the magnetic steel is as follows:
Δ i ＝l-l 0
wherein: delta i -the outer circumferential runout of the magnetic steel of the ith sampling point, mm;
l i -sensor detection value of the ith sampling point, mm;
l 0 -base 0 point position sensor detection value, mm;
such as |delta i The absolute value is less than or equal to delta (the circular jumping amount set by the system), the magnetic steel bonding quality of the rotor is judged to be qualified, otherwise, the rotor is judged to be unqualified;
the calculation formula of the diameter of the magnetic steel is as follows
Wherein: d, measuring the diameter actual measurement value of the outer circle of the rotor magnetic steel, and mm;
D 0 -theoretical design value of diameter of outer circle of rotor magnetic steel, mm;
Δ i -the outer circumferential runout of the magnetic steel at the ith sampling point, mm;
n, the number of the collected data is not unit, and is regulated by an automatic production equipment control system;
if the calculated magnetic steel diameter meets the magnetic steel diameter threshold set by the control system of the automatic production equipment, the magnetic steel bonding quality of the rotor is judged to be qualified, otherwise, the rotor is judged to be unqualified.
Effects of the utility model
The utility model has the advantages that: the main process of the automatic rotor assembly production line is not changed, the online detection of the bonding quality of the rotor magnetic steel is realized only through a special tool and an independent functional unit, and the production efficiency of the automatic production line is ensured, and meanwhile, the product quality of the automatic production line is greatly improved.
1, through the design of a special fixture for assembling and positioning the magnetic steel, the preliminary screening of the machining precision of the magnetic steel is realized, so that the magnetic steel is effectively ensured to have uniform gaps and good sine characteristic of a magnetic field, and the bonded magnetic steel is ensured to have regular outer circumference and no high points or edges;
2, detecting the polarities of the pre-assembled 8 pieces of magnetic steel by a magnetic pole detection unit through a magnetic pole polarity detection sensor, so as to ensure that the polarities of N, S bonded by the magnetic steel are orderly staggered and correctly sequenced, and ensure that the whole machine can normally operate after being assembled;
3 through magnet steel bonding back outer circumference assembly quality detecting element, adopt contact displacement sensor or non-contact displacement sensor to detect magnet steel outer circumference's circle runout and magnet steel outer circumference diameter, solved the unable detection of magnet steel overall dimension, the problem that magnet steel outer circumference form and position tolerance is difficult to guarantee after bonding, guaranteed the smooth assembly of follow-up tight circle.
In summary, the on-line detection of the magnetic steel bonding quality of the rotor magnetic steel automatic bonding equipment is realized, products with unqualified bonding quality can be removed in time, the repairing treatment is convenient, the production efficiency is improved, the product quality is ensured, and the production cost is saved. The modification of the original equipment is very simple, the installation mode is flexible, the operation is simple, convenient and time-saving, and the safety and the reliability are realized.
Drawings
FIG. 1 is a schematic diagram of a surface mounted 8-pole magnetic steel structure
FIG. 2 is a schematic diagram of a magnetic steel assembly positioning tool structure, wherein a is an outer ring of the magnetic steel assembly tool, and b is an inner ring of the magnetic steel assembly tool; c is an inner ring and outer ring assembly drawing of the magnetic steel assembly tool
FIG. 3 is a schematic diagram of a rotor magnet steel outer circumference assembly quality detection unit
Reference numerals illustrate: 1-a rotor shaft; 2-a magnetic yoke; 3-magnetic steel; 4-spacers; 5-magnetic steel; 6-magnetic sheets; 7-a lower thimble; 8-normal direction adjusting sliding rails; 9-a workpiece supporting sliding table; 10-a displacement sensor; 11-axially adjusting the slide rail; 12-upper ejector pins; 13-a rotor to be detected; 14-a dragging motor; 15-a drive pulley; 16-a support frame.
Detailed Description
In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Referring to fig. 1-3, the method involved in the present utility model mainly comprises the following three steps:
1 magnetic steel size pre-detection
The mechanical size pre-detection of the magnetic steel is realized through a special tool for magnetic steel assembly. Taking 8-pole surface-mounted magnetic steel as an example, the tool is shown in figure 2, and can be used for pre-detecting the mechanical size of the magnetic steel and also can be used as a magnetic steel assembly guiding and positioning tool on an automatic production line.
The tool consists of an outer ring and an inner ring, and the inner ring and the outer ring are nested and combined for use. The outer ring structure is shown in a diagram a in fig. 2, and the outer ring tool outer structure such as a positioning table, a mounting hole and the like is designed according to a clamping mode of a rotor assembly automation production line; the diameter of the inner circle of the tool is consistent with the diameter of the outer circle of the assembled magnetic steel, 8 slender grooves are uniformly formed in the inner wall of the tool, the width of each groove is consistent with the width of each magnetism isolating sheet of the inner ring tool, the size of each groove is consistent with the gap of the assembled 8 magnetic steels in a design drawing of a specific model motor, and the axial length of each groove is consistent with the length of each magnetic steel.
The inner ring structure is a polygonal structure as shown in a diagram b in fig. 2, 8 magnetism isolating sheets are uniformly distributed on the outer wall, the magnetism isolating sheets are in small clearance fit with the outer ring narrow groove in width, and the axial length is consistent with that of the outer ring narrow groove.
The eight magnetism isolating sheets of the inner ring of the special tool for magnetic steel assembly are inserted into the narrow groove of the outer ring tool, and the end faces of the two workpieces are aligned, so that the combined assembly of the special tool for magnetic steel assembly can be completed, as shown in a graph c in fig. 2.
The combined tool can form 8 uniformly distributed cavities from the section observation, the inner dimension of each cavity is consistent with the appearance of a single magnetic steel in a motor design drawing, and the inner circle design dimension is slightly larger than the dimension of a rotating shaft of the magnetic steel to be bonded.
Special design is carried out to special frock of magnet steel assembly, and during actual production, the operator pushes 8 magnet steel into 8 separate rooms of frock in proper order according to N, S interval mode earlier, separates through the magnetism isolating sheet on the frock between the magnet steel, avoids the magnet steel to adsorb each other. If the linear dimension of the machined magnetic steel exceeds the upper limit of the tolerance, the magnetic steel cannot be assembled into 8 separation cavities; if the linear size of the magnetic steel exceeds the lower tolerance limit, the magnetic steel is in a non-centered state after being pushed into the separation cavity, and obvious gaps are formed between the magnetic steel and the inner wall of the separation cavity. Through simple and visual observation, the pre-detection of the linear dimension of the magnetic steel can be realized, and the magnetic steel with the out-of-tolerance dimension can be removed in the preparation step. And after all 8 pieces of magnetic steel are installed, the prepared magnetic steel assembly positioning tool combination is placed in a tray to wait for automatic assembly of the rotor.
During automatic equipment production, the mechanical arm takes the special fixture for magnetic steel assembly, which is filled with the magnetic steel, to the rotating shaft of the magnetic steel to be assembled, the proportioned glue solution is smeared on the magnetic steel installation surface of the rotating shaft through the glue coating nozzle, 8 pieces of magnetic steel are pushed out of the cavity of the fixture through the pressure head which is designed in a matched manner with the special fixture for magnetic steel assembly, the magnetic steel can not be adsorbed and collided with each other in the pushing process through the limiting of the fixture, and a certain gap is kept between the magnetic steel and the pasting surface of the rotating shaft before the magnetic steel completely exits from the cavity of the fixture, so that the glue solution smeared on the rotating shaft can not be extruded by the magnetic steel, and the enough glue solution can be reserved on the pasting surface, and the bonding strength of the magnetic steel is ensured.
The tool not only can stably fix the magnetic steel, but also can play a guiding role in the automatic assembly of the rotating shaft magnetic steel.
2 magnetic pole arrangement sequence detection after magnetic steel bonding
The magnetic steel assembled by the rotor of the surface-mounted type multi-pole permanent magnet synchronous servo motor is N, S poles which are orderly staggered, as shown in figure 1. The detection of the arrangement sequence of the magnetic steel can be realized by adopting a mode of detecting the magnetic poles of the magnetic steel.
The magnetic pole detection sensor can be selected for magnetic pole detection. The sensor has very various types and is easy to purchase, the N, S poles of the detected magnetic substances can be detected rapidly, signals can be output, and a system judges whether the requirements of the magnetic steel N, S in the figure 1 on sequential staggered arrangement are met.
When the magnetic pole arrangement sequence detecting unit is applied to the automatic rotor assembly production line, the magnetic pole arrangement sequence detecting unit can be arranged in front of the magnetic steel bonding unit in order to avoid waste caused by reworking of workpieces. The sensor is fixed on the front end of the production line, after the preassembling of the magnetic steel is finished, the robot grabs the magnetic steel assembly positioning tool assembly to perform encircling rotation, the magnetic pole detection sensors detect the polarities of the magnetic steel one by one, magnetic pole distribution data of the assembly are obtained and uploaded to the system, and after the data analysis of the system, whether the magnetic steel is neglected to be assembled or the magnetic poles are misplaced can be directly judged. The component with no error detection is moved to the next station by the manipulator, and the component with problems is moved to the unqualified product area to be refilled with magnetic steel.
Outer circumference assembly quality detection after 3 magnetic steel bonding
The assembly detection after the magnetic steel is bonded comprises the following steps: and detecting the outer circumferential runout of the assembled rotor magnetic steel and the outer diameter of the magnetic steel. The assembly quality detection unit is shown in fig. 3, and the functional structure mainly comprises: 1 fixing the upper and lower parts of the rotor workpiece
A thimble; 2 a dragging motor for driving the rotor to rotate through a transmission belt pulley; and 3, realizing the contact type displacement sensor for detecting the assembly quality of the outer circumference of the bonded magnetic steel. The alignment of the axis of the rotor to be detected and the axes of the upper thimble and the lower thimble is realized through the normal adjusting sliding rail and the axial adjusting sliding rail, and the assembly quality detection of the rotor workpiece bonded by the finished magnetic steel is realized through the modes of rotating the assembly and laterally detecting the distance between the contact type sensors.
It should be noted that, the displacement sensor needs to be selected with a transmission interface, and there are a contact sensor, similar to a dial indicator, etc., a non-contact sensor, similar to an infrared range finder, optionally one can collect detection data of the outer circumferential runout of the rotor magnetic steel, the difference is that the probe of the contact displacement sensor needs to contact the outer wall of the magnetic steel, and the point is 0 based on the count value of the sensor at this time; the non-contact displacement sensor does not need to be in contact with the outer wall of the magnetic steel, and the automatic production equipment control system sets a distance value between the non-contact displacement sensor and the outer wall of the magnetic steel as a basic 0 point.
When the quality of a rotor workpiece after the magnetic steel is bonded is detected after being assembled on an automatic rotor assembly production line, a manipulator installs a rotor to be detected on a workpiece supporting sliding table, the sliding table acts, the workpiece to be detected is moved to a detection station, an upper thimble acts and a lower thimble acts, and the workpiece is jacked up; the workpiece to be detected is rotated in a mode that a servo motor drives the friction wheel to rotate. The servo screw rod drives the upper thimble and the lower thimble to move along the axial adjusting slide rail until the rotor workpiece to be detected is tightly propped up, so that the workpiece is separated from the supporting slide table and is in a suspended state; the other set of lead screw drives the dragging motor to approach the rotor to be detected and contact the driving belt pulley, and the driving belt pulley can drive the rotor to rotate through friction in the state. During detection, the driving motor acts, and the driving belt pulley drives the rotor to be detected to rotate. The data acquisition is realized in a mode that the sensor acquires relative position data after the relative position is calibrated by a calibration shaft. The contact displacement sensor can also select a non-contact displacement sensor to laterally approach the tooling to be detected until the dimensional data is obtained. Because the workpiece rotates, the displacement sensor can acquire a group of data of the relative contact point distance, the runout of the outer circumference of the magnetic steel can be obtained through calculation, the diameter of the outer circumference of the magnetic steel is obtained, and a control system judges whether the bonding quality of the rotor magnetic steel is qualified or not. After the detection is completed, the manipulator moves the workpiece to the blanking area.
Claims (8)
1. The tool for pre-detecting the magnetic steel size is characterized by comprising an inner ring and an outer ring;
the inner diameter of the outer ring is equal to the outer diameter of the magnetic steel, a plurality of grooves are axially formed in the inner wall of the outer ring, and the grooves are uniformly distributed in the circumferential direction; the axial length of the groove is the same as the length of the magnetic steel, and the width of the groove is the same as the width of the magnetism isolating sheet of the inner ring tooling;
the outer wall of the inner ring is uniformly provided with a plurality of magnetism isolating sheets, the quantity of the magnetism isolating sheets is consistent with that of the grooves, the positions of the magnetism isolating sheets are in one-to-one correspondence with the positions of the grooves, and the axial length of the magnetism isolating sheets is the same as that of the grooves on the inner wall of the outer ring;
the inner ring is coaxially inserted into the outer ring, and the magnetism isolating sheet is in clearance fit with a groove on the inner wall of the outer ring; the inner wall of the outer ring, the magnetism isolating sheet and the outer wall of the inner ring jointly form a plurality of separation cavities;
the magnetic steels are pushed into each separation cavity and are separated from each other through the magnetic separation sheets, so that the magnetic steels are not contacted with the adhesive surface of the rotating shaft in the initial state before the assembly.
2. The detection device for detecting the outer circumferential quality of the magnetic steel is characterized by comprising a lower thimble (7), a normal adjusting sliding rail (8), a workpiece supporting sliding table (9), a displacement sensor, an axial adjusting sliding rail (11), an upper thimble (12), a dragging motor (14), a transmission belt pulley (15), a supporting frame (16), a first servo screw and a second servo screw; the support frame (16) is used for supporting other parts of the detection device;
the workpiece supporting platform (9) is positioned on the normal adjusting slide rail (8), and a through hole is formed in the middle of the slide table; the upper part of the workpiece supporting platform (9) is used for placing a rotor (13) to be detected, a lower thimble (7) is arranged below the workpiece supporting platform, and the lower thimble (7) can move up and down on an axial adjusting slide rail;
the dragging motor (14) and the driving belt pulley (15) are driven by a second servo screw rod to jointly cooperate with each other so that the rotor (13) to be detected rotates;
the displacement sensor is used for measuring size data of the rotor (13) to be detected;
the upper thimble (12) is positioned on the axial adjusting slide rail (11) and above the rotor (13) to be detected, and can slide up and down on the axial adjusting slide rail (11).
3. A detection device for detecting the outer circumferential quality of magnetic steel according to claim 2, characterized in that the axial adjustment slide rail (11) and the normal adjustment slide rail (8) realize the alignment of the axis of the rotor to be detected with the axes of the upper and lower ejector pins.
4. The detecting device for detecting the outer circumferential quality of magnetic steel according to claim 2, wherein the first servo screw drives the upper thimble and the lower thimble to move, and the second servo screw drives the dragging motor to move after the rotor to be detected is propped up until the dragging motor is attached to the driving belt pulley, the dragging motor drives the belt pulley to operate, and the belt pulley drags the rotor to be detected to rotate in a circumferential movement.
5. The method for realizing the online detection of the bonding quality of the rotor magnetic steel automatic production equipment of the surface-mounted multi-pole permanent magnet synchronous servo motor by combining the tool as claimed in claim 1 and the detection device as claimed in claim 2 is characterized by comprising the following steps:
step 1: and (3) pre-detecting the size of the magnetic steel: pushing the magnetic steel into the separation cavity of the tool in sequence according to a N, S interval mode, and removing the magnetic steel if the situation that the separation cavity cannot be pushed into or the sizes of the magnetic steel after the pushing are not matched exists;
step 2: after the magnetic steel is bonded, detecting the arrangement sequence of the magnetic poles;
step 3: the outer circumference assembly quality detection after the magnetic steel is bonded comprises the following substeps:
step 3.1: the mechanical arm places the workpiece on a sliding table, the sliding table slides on a normal adjusting sliding rail, and the workpiece to be detected is moved to a detection station;
step 3.2: the upper thimble (1) and the lower thimble (2) are respectively coaxial below the workpiece, the upper thimble and the lower thimble move on the axial adjusting slide rail under the action of the servo screw until the upper thimble and the lower thimble push against the rotor workpiece to be detected, so that the workpiece is separated from the supporting slide table and is in a suspended state;
step 3.3: the dragging motor is driven by another set of screw rod to approach the rotor, and the rotor to be detected is driven to rotate by friction of the rotor through the driving belt pulley;
step 3.4: the data acquisition is realized in a mode that the sensor acquires relative position data after the relative position is calibrated by a calibration shaft;
step 3.5: the displacement sensor laterally approaches the tool to be detected, and the approach is stopped until the size data are obtained;
step 3.6: the acquired data are calculated by an automatic production equipment control system, the runout of the outer circumference of the magnetic steel is obtained through calculation, and the diameter of the outer circumference of the magnetic steel is further obtained;
step 3.7: after all detection is completed, the manipulator moves the workpiece to the blanking area.
6. The method for realizing the online detection of the bonding quality of the rotor magnetic steel automatic production equipment of the surface-mounted multi-pole permanent magnet synchronous servo motor according to claim 5, wherein in the step 1, the judgment standard of size mismatch is as follows: if the linear size of the magnetic steel exceeds the lower tolerance limit, the magnetic steel is in a non-centering state after being pushed into the separation cavity, and an obvious gap exists between the magnetic steel and the inner wall of the separation cavity, and the magnetic steel is judged to be in a size mismatch at the moment.
7. The method for realizing the on-line detection of the bonding quality of the rotor magnetic steel automatic production equipment of the surface-mounted multi-pole permanent magnet synchronous servo motor according to claim 5, wherein in the step 2, the detection is performed by a pole detection sensor.
8. The method for realizing the on-line detection of the bonding quality of the rotor magnetic steel automatic production equipment of the surface-mounted type multi-pole permanent magnet synchronous servo motor according to claim 5, wherein in the step 3.6,
the calculation formula of the runout amount of the outer circumference of the magnetic steel is as follows:
Δ i ＝l-l 0
wherein: delta i -the outer circumferential runout of the magnetic steel of the ith sampling point, mm;
l i -sensor detection value of the ith sampling point, mm;
l 0 -base 0 point position sensor detection value, mm;
such as |delta i The absolute value is less than or equal to delta (the circular jumping amount set by the system), the magnetic steel bonding quality of the rotor is judged to be qualified, otherwise, the rotor is judged to be unqualified;
the calculation formula of the diameter of the magnetic steel is as follows
Wherein: d, measuring the diameter actual measurement value of the outer circle of the rotor magnetic steel, and mm;
D 0 -theoretical design value of diameter of outer circle of rotor magnetic steel, mm;
Δ i -the outer circumferential runout of the magnetic steel at the ith sampling point, mm;
n, the number of the collected data is not unit, and is regulated by an automatic production equipment control system;
if the calculated magnetic steel diameter meets the magnetic steel diameter threshold set by the control system of the automatic production equipment, the magnetic steel bonding quality of the rotor is judged to be qualified, otherwise, the rotor is judged to be unqualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310783426.8A CN116952175A (en) | 2023-06-29 | 2023-06-29 | Online detection method for bonding quality of rotor magnetic steel of surface-mounted multipole permanent magnet motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310783426.8A CN116952175A (en) | 2023-06-29 | 2023-06-29 | Online detection method for bonding quality of rotor magnetic steel of surface-mounted multipole permanent magnet motor |
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| CN116952175A true CN116952175A (en) | 2023-10-27 |
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| CN (1) | CN116952175A (en) |
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