JP2020156253A - Joint inspection method and joint inspection equipment - Google Patents

Abstract

To provide a joint inspection method and joint inspection equipment capable of inspecting a joint welded at the coil end between adjacent joints on one side of a stator of a rotary electric machine.SOLUTION: A reflection unit that reflects light on the joint side to a different direction is inserted between the adjacent joints. The quality of the joint is determined by observing the state of the joint reflected by the reflection unit.SELECTED DRAWING: Figure 17

Description

The present invention relates to a joint inspection method and a joint inspection device.

When the coil wound around the stator core of a rotary electric machine is configured by joining conductors, the coils are joined by welding each conductor at the coil end on one side of the stator. Welding methods include TIG welding and plasma arc welding, and all of these methods cause defects such as deformation of the welded portion and insufficient penetration due to the influence of coil shape accuracy and welding posture. Further, since a plurality of joints are provided adjacent to each other in the circumferential direction of the stator core, it is necessary to check the joint state of each joint.
Therefore, Patent Document 1 determines whether the joint state is good or bad by inspecting the joint portion from two directions using a camera that shoots from the tangential direction and a camera that shoots from the outside in the radial direction.

Japanese Unexamined Patent Publication No. 2015-137943

However, in the inspection method of Patent Document 1, it is not possible to confirm the joint state between adjacent joint portions, so that there is a possibility that the judgment of good or bad may be mistaken.
An object of the present invention is to enable inspection between adjacent joints.

In the present invention, preferably, a reflective portion that reflects light on the joint portion side in different directions is inserted between adjacent joint portions, and the state of the joint portion reflected by the reflective portion is observed. It is characterized by judging whether it is good or bad.

According to the present invention, it is possible to inspect the joint state between adjacent joints.

It is an exploded perspective view which shows the rotor and the stator of the rotary electric machine which concerns on Embodiment 1. FIG. It is a perspective view of the stator which concerns on Embodiment 1. FIG. It is a partially enlarged perspective view which shows the coil end of the pine needle coil segment of Embodiment 1. FIG. It is a partially enlarged view which saw the joint part of Embodiment 1 from the direction orthogonal to the motor rotation axis. It is a partial enlarged view of the joint part of Embodiment 1 as seen from the tangential direction in the circumferential direction. It is a figure which shows the good product and the defective product in the welded part of Embodiment 1. It is a perspective view which shows the inspection apparatus of the joint part of Embodiment 1. FIG. It is a lower perspective view of the prism for photographing of Embodiment 1. FIG. It is a front view of the prism for photography of Embodiment 1. FIG. It is a side view of the prism for photography of Embodiment 1. FIG. It is a top view of the prism for photography of Embodiment 1. FIG. It is a flowchart which shows the inspection method of the joint part of Embodiment 1. It is a figure which shows the state which puts the stator into the inspection apparatus of the joint part of Embodiment 1. It is a figure which shows the state which moved the put stator to the inspection position in the inspection apparatus of the joint part of Embodiment 1. It is a figure which shows the photographing state for performing the stator position detection of Embodiment 1. FIG. It is a figure which shows the positional relationship between the prism for photography and the joint part at the time of detecting the stator position of Embodiment 1. FIG. It is a figure which shows the state of the photographing by the photographing prism 307 of Embodiment 1. FIG. It is a figure which shows the state which raised the prism for photography of Embodiment 1. It is a figure which shows the state which rotated the stator of Embodiment 1. It is a figure which shows the state of paying out the stator after the inspection of Embodiment 1. It is a figure which shows the front surface and the side surface of the back plate of Embodiment 1. It is a figure which shows the positional relationship between the back plate of Embodiment 1 and a joint portion.

Hereinafter, a method for inspecting the joint portion of the present invention and a mode for realizing the inspection device will be described based on the embodiments shown in the drawings.

(Embodiment 1)

FIG. 1 is an exploded perspective view showing the rotor 10 and the stator 11 of the rotary electric machine 1 according to the first embodiment, and FIG. 2 is a perspective view of the stator 11 according to the first embodiment. The rotary electric machine 1 is, for example, a three-phase (U-phase, V-phase, W-phase) 8-pole AC permanent magnet synchronous motor that drives the drive wheels of an electric vehicle (not shown) or generates electricity by regenerative braking force from the drive wheels. It is composed. The rotary electric machine 1 includes a cylindrical stator 11 and a rotor 10 rotatably housed inside the stator 11.
The stator 11 is a coil 13U, 13V, 13W for three phases formed by a stator core 12 formed by laminating a plurality of annular electromagnetic steel plates and a flat wire wound around the stator core 12 in a wavy shape. Collectively, it is also referred to as a continuous coil 13). A large number of teeth and slots are alternately formed in the stator core 12 at equal intervals in the circumferential direction (same as the rotation direction of the rotary electric machine 1).

The continuous coil 13 is configured by combining a plurality of pine needle coil segments 131 in which a flat wire is bent into a pine needle shape in the circumferential direction in the stator core 12. The end of the coil on the first lap and the start of the coil on the second lap are connected by a subcoil segment.
The bent portion of the pine needle coil segment 131 on the apex side of the pine needle extends in the circumferential direction and shifts to the adjacent layer at the apex portion of the pine needle. Since the pine needle coil segment 131 extends diagonally in the circumferential direction, the pine needle coil segment 131 can be vertically overlapped with the pine needle coil segment displaced by one pitch. Since the vertices that shift to the adjacent layer are also shifted by one pitch, they do not interfere with each other, and the top and bottom intersect. At the welding position between the adjacent coil ends 131a (see FIG. 3), the layer shifts to the opposite layer to the above. Again, the top and bottom are swapped with the Matsuba coil segment, which is off by one pitch.

FIG. 3 is a partially enlarged perspective view showing the coil end of the Matsuba coil segment of the first embodiment. The pine needle coil segment 131 is inserted into the slot of the stator 11, projects on the surface 12a side opposite to the surface having the slot of the stator core 12, and welds and joins the coil ends 131a of the adjacent pine needle coil segments 131 to form a joint. Form 2. A weld ball 20 melted by welding is formed in the joint portion 2.

FIG. 4 is a partially enlarged view of the joint portion of the first embodiment as viewed from the direction orthogonal to the motor rotation axis. A plurality of joints 2 are arranged at equal intervals along the circumferential direction. When the joint portion 2 arranged along the circumferential direction is defined as the joint portion array layer, a plurality of joint portion array layers are arranged along the inner diameter side of the joint portion array layer.

FIG. 5 is a partially enlarged view of the joint portion of the first embodiment as viewed from the tangential direction in the circumferential direction. The number of each joint 2 of the outer peripheral side joint array layer 21 and the number of each joint 2 of the inner peripheral side joint array layer 22 are the same. Further, the outer peripheral side joint portion 2 and the inner peripheral side joint portion 2 are arranged side by side along the radial direction from the rotation axis Om of the rotary electric machine 1.

FIG. 6 is a diagram showing a non-defective product and a defective product in the welded portion of the first embodiment. In the case of a non-defective product, the welding ball 20 has a shape in which the welding ball 20 is appropriately raised in a semicircular shape without protruding from the side extension of the coil end 131a, and the effective cross section of the welding ball 20 is the effective flat line. Represents a state secured to about the cross section. On the other hand, if the amount of argon gas sprayed during welding is insufficient, or if sufficient arc is not secured, the ridge of the weld ball will be insufficient, and defective products such as soot, out of gas, small balls, and fire swelling will occur. Represents a unique appearance shape. In the first embodiment, a good product and a defective product in the welded portion are determined based on the appearance shape of the weld ball 20.

FIG. 7 is a perspective view showing the inspection device for the joint portion of the first embodiment. The inspection device 300 is positioned with the appearance inspection camera 301, the appearance inspection illumination 302, the back plate 305, and the photographing prism 307 (see FIGS. 8 to 11) arranged on the outer diameter side of the back plate 305. It has a lighting 303 and a positioning camera 304. Two sets of these are installed in the circumferential direction, and are configured so that visual inspections at two locations can be performed at the same time. Further, an elevating actuator 308 that raises and lowers each element of the appearance inspection camera 301, the appearance inspection lighting 302, the back plate 305, and the photographing prism 307, and a slide actuator 309 that slides the stator 11 to the inspection position after installing the stator 11. And a rotary actuator 306 that rotates the installed stator 11 at the inspection position. In addition, the control unit CU controls the operating state of each actuator, processes the captured image, and performs a pass / fail judgment.

8 is a downward perspective view of the photographing prism of the first embodiment, FIG. 9 is a front view of the photographing prism of the first embodiment, FIG. 10 is a side view of the photographing prism of the first embodiment, and FIG. 11 is a side view of the photographing prism of the first embodiment. It is a top view of the prism for photography. The photographing prism 307 includes a base member 30, two (pair) front photographing prisms 31 attached to the base member 30, and two (pair) side surface photographing prisms 32. The base member 30 has a fixing bolt through hole 30b (see FIG. 11) and a prism installation hole 30a for installing a front photography prism 31 and a side photography prism 32. The prism installation hole 30a is opened in a substantially rectangular shape. The base member 30 is attached to the elevating actuator 308 with a bolt (not shown).

The front photography prism 31 has a rectangular parallelepiped shape with the rotation axis Om direction as the longitudinal direction. The pair of frontal photographing prisms 31 have an inner side surface 31b facing the other frontal photographing prism 31, and an inclined surface 31a inclined at approximately 45 ° below the inner side surface 31b. The front photographing prism 31 is installed on the base member 30 in the longitudinal direction along the rotation axis Om direction. The front photographing prism 31 is attached to the base member 30 on the upper side when the inclined surface 31a is on the lower side. When the front photography prism 31 is attached to the base member 30, the upper end surface 31c of the front photography prism 31 is arranged along the short side of the prism installation hole 30a (see FIG. 11).

The side surface photographing prism 32 has a rectangular parallelepiped shape whose longitudinal direction is the tangential direction in the circumferential direction. The pair of side surface photographing prisms 32 have an inner side surface 32b facing the other side surface photographing prism 32, and an inclined surface 32a inclined at approximately 45 ° below the inner side surface 32b. The side photographing prism 32 is installed on the base member 30 in the lateral direction along the rotation axis Om direction. The side surface photographing prism 32 is attached to the base member 30 on the upper side when the inclined surface 32a is on the lower side. When the side surface photographing prism 32 is attached to the base member 30, the upper end surface 32c of the side surface photographing prism 32 is arranged along the longitudinal direction of the prism installation hole 30a (see FIG. 11).

When light is incident from the upper end faces 31c and 32c, the front-shooting prism 31 and the side-shooting prism 32 are refracted in substantially orthogonal directions on the inclined surfaces 31a and 32a, and are objects located on the inner side surfaces 31b and 32b, respectively. Irradiate an object with light. The light irradiation range is the range of the projection planes of the inclined surfaces 31a and 32a in the direction perpendicular to the rotation axis Om (hereinafter, referred to as an imaging range). After irradiating the object and reflecting the light, the light is refracted at the inclined surfaces 31a and 32a through the inner side surfaces 31b and 32b, reaches the upper end surfaces 31c and 32c, and reaches the upper end surfaces 31c and 32c. It is possible to project an image in the imaging range on 32c.

That is, the joint portion 2 of the rotary electric machine 1 cannot be determined as a non-defective product or a defective product in the welded portion as shown in FIG. 6 only when viewed from the radial direction. However, since a plurality of joint portions 2 are continuously installed in the circumferential direction, the distance between adjacent joint portions 2 is narrow, and it is difficult to inspect the side surface of the joint portions 2 based on an image. Therefore, in the first embodiment, a thin plate-shaped side surface photographing prism 32 having an inclined surface 32a can be used, and the side surface photographing prism 32 can be inserted into the gap between the joint portion 2 formed in the circumferential direction and the joint portion 2. And. Then, by photographing the side surface of the joint portion 2 using the inclined surface 32a, although the area that can be photographed at one time is limited, a plurality of divided images are combined by image processing and based on the combined image. It was decided to judge a good product or a defective product.

Similarly, the joint array layer 21 on the outer peripheral side can be photographed from the outer side in the radial direction, but the joint array layer 22 on the inner peripheral side cannot be photographed from the outer side in the radial direction. Therefore, frontal photographing prisms 31 are arranged on the outer peripheral side of the joint array layer 21 on the outer peripheral side and on the inner peripheral side of the joint array layer 22 on the inner peripheral side, and are joined using the inclined surface 31a. By photographing the front of part 2, although the area that can be photographed at one time is limited, it was decided to combine a plurality of divided images by image processing and determine a good product or a defective product based on the combined image. ..

Further, when the front surface photographing prism 31 and the side surface photographing prism 32 are attached to the base member 30, the upper end faces 31c and 32c are all arranged in the prism installation holes 30a, so that the prism installation holes 30a are used as the appearance inspection camera. The front and side surfaces of the two joints 2 arranged on the outer peripheral side and the inner peripheral side can be projected at the same time only by taking a picture with 301, and the appearance inspection can be efficiently performed without installing a plurality of cameras. ..

The vertical position of the inclined surface 31a of the front photography prism 31 is lower than the vertical position of the inclined surface 32a of the side photography prism 32, and the inclined surface 31a and the inclined surface 32a are in the radial direction. It is set so that it does not overlap when viewed. Thereby, for example, it is possible to prevent the light of the visual inspection illumination 302 refracted by the inclined surface 31a for photographing the front surface of the joint portion 2 from adversely affecting the inclined surface 32a for photographing the side surface of the joint portion 2. It should be noted that the inclined pine needle coil segment 131 exists below between the joint portions 2 adjacent to each other in the circumferential direction, while relatively no interference is present below the outer peripheral side and the inner peripheral side of the joint portion 2. Therefore, it is preferable to position the front photography prism 31 below the side photography prism 32.

FIG. 12 is a flowchart showing the inspection method of the joint portion of the first embodiment. Each step will be described with reference to the drawings.
In step S1, the stator 11 is charged. FIG. 13 is a diagram showing a state in which the stator is charged into the inspection device for the joint portion of the first embodiment. As shown in FIG. 13, in the inspection device 300, the slide actuator 309 is located at the left end in FIG. In this state, the stator 11 is installed above the rotary actuator 306.

In step S2, the installed stator 11 is moved to the inspection position. FIG. 14 is a diagram showing a state in which the inserted stator is moved to the inspection position in the inspection device for the joint portion of the first embodiment. As shown in FIG. 14, when the stator 11 is inserted, the inspection device 300 slides the slide actuator 309 to the right in FIG. 14 and installs the stator 11 below the appearance inspection camera 301 or the like.

In step S3, the repeated inspection is performed. The repeated inspection means that the repeated inspection is started while rotating the stator 11 in order to inspect the entire number of the plurality of joints 2 provided in the circumferential direction of the stator 11. In addition, when it is determined that the inspection of all the joints 2 has been completed by repeatedly performing the inspection in step S4 described later, the process proceeds to step S5.

In step S31, the joint portion 2 is imaged and the position is detected. FIG. 15 is a diagram showing a photographing state for detecting the stator position of the first embodiment. As shown in FIG. 15, when the stator 11 is installed at the inspection position, the elevating actuator 308 is lowered to a predetermined position, the back plate 305 is installed at a position that serves as the background of the joint portion 2, and the image is taken by the positioning illumination 303. Illuminate the prism 307 and the joint 2. Then, the imaging prism 307 and one of the joints 2 located on the outer peripheral side joint array layer 21 are simultaneously photographed by the positioning camera 304 when viewed from the radial direction of the rotation axis Om.

Here, the back plate 305 will be described. FIG. 21 is a diagram showing the front surface and side surfaces of the back plate of the first embodiment, and FIG. 22 is a diagram showing the positional relationship between the back plate of the first embodiment and the joint portion. The back plate 305 is a plate-shaped member made of a black material, and an inclined surface 305b is formed on the background surface 305a that opposes the joint portion 2. The inclined surface 305b is inclined by approximately 10 ° with respect to the background surface 305a. Then, in step S31, when the joint portion 2 is imaged, the inclined surface 305b of the back plate 305 and the joint portion 2 overlap each other when viewed from the radial direction. When the joint portion 2 is irradiated with the positioning illumination 303, the inclined surface 305b as the background reflects the irradiated light downward from the radial direction. Therefore, in the positioning camera 304, the background color is uneven due to the reflection of the light. Does not occur. Further, by forming the back plate 305 with a black material, the boundary between the joint portion 2 and the background can be clearly photographed. Therefore, the position of the joint portion 2 can be recognized with high accuracy.

In step S32, the stator is aligned. FIG. 16 is a diagram showing the positional relationship between the photographing prism and the joint portion when the stator position is detected in the first embodiment. As shown in FIG. 16A, from the image taken in step S32, among the shooting prisms 307, the prism axis O1 passing through the circumferential center of the front shooting prism 31 and the circumferential center of the joint portion 2 pass through. Among the joint shafts O2, the joint portion 2 having the joint shaft O2 closest to the prism shaft O1 in the circumferential direction is selected. Then, the amount of circumferential deviation between the joint axis O2 and the prism axis O2 of the selected joint portion 2 is detected from the image. Next, as shown in FIG. 16B, the rotary actuator 306 is rotated to match the prism shaft O1 and the joint shaft O2.

In step S33, the photographing prism 307 is lowered to perform split imaging, composition, and AI determination on the side surface of the joint. FIG. 17 is a diagram showing a state of photographing by the photographing prism 307 of the first embodiment. The photographing prism 307 is gradually lowered so as to overlap the joint portion 2 when viewed from the radial direction. At that time, as shown in the divided imaging of FIG. 17, light is applied to the visual inspection illumination 303 from above the photographing prism 307 toward the upper end faces 31c and 32c. At this time, the images reflected by the inclined surface 31a of the front photographing prism 31 and the inclined surface 32a of the side surface photographing prism 32 are projected on the upper end faces 31c and 32c. The visual inspection camera 301 captures images projected on the upper end faces 31c and 32c at predetermined intervals when the elevating actuator 308 lowers the photographing prism 307.

As shown in the lower part of FIG. 17, in the control unit CU (not shown), the divided images are arranged in chronological order, and the captured divided images are combined to form one image, so that the divided images are adjacent to each other in the circumferential direction. Even when the distance between the joints 2 is narrow, the side surface of the joints 2 can be photographed with high accuracy. The control unit CU (not shown) compares the synthesized image with the reference image regarded as a non-defective product, and automatically determines whether the product is non-defective or defective by AI (Artificial intelligence). The reference image is appropriately corrected by learning based on the quality determination of the images captured in the past, and the accuracy of the quality determination is improved.

In step S34, the elevating actuator 308 is operated to raise the photographing prism 307. FIG. 18 is a diagram showing a state in which the photographing prism of the first embodiment is raised. Even if the elevating actuator 308 is raised until the photographing prism 307 and the back plate 305 are located above the joint portion 2 and the stator 11 is rotated, the joining portion 2 and the like are the photographing prism 307 and the back plate 305. The position should not interfere with.

In step S35, the stator 11 is rotated to a position where the adjacent next joint 2 is in front. FIG. 19 is a diagram showing a state in which the stator of the first embodiment is rotated. The rotary actuator 306 is controlled to rotate by the circumferential interval of the joint portion 2, and the next joint portion 2 (uninspected) is installed in the radial front of the positioning camera 303.

In step S4, the inspection is repeatedly executed until the inspection for all the joints is completed. The repetitive inspection is a process of repeating the steps S31 to S35. That is, the inspections from steps S31 to S35 are repeated for all the joints 2. In the first embodiment, since two sets of the positioning camera 303 and the appearance inspection camera 301 are provided, the repeated inspection may be performed half the number of times with respect to the total number of joints. It should be noted that a plurality of appearance inspection cameras 301 and the like may be further provided.

In step S5, since the inspection of all the joints 2 is completed, the stator 11 is discharged from the inspection device 300. FIG. 20 is a diagram showing a state in which the stator is discharged after the inspection of the first embodiment is completed. When the visual inspection of all the joints is completed, the slide actuator 309 is located at the left end in FIG. 20, and the stator 11 and the visual inspection camera 301 or the like are positioned so as not to overlap in the rotation axis Om direction, and the stator 11 is inspected. Pay out from 300.

As described above, in the first embodiment, the actions and effects listed below can be obtained.
(1) The coil 13 wound around the stator core 12 is configured by joining conductors to each other at the coil end 131a on one side in the axial direction of the stator 11, and the joint portion 2 of the coil 13 is in the circumferential direction of the stator core 12. It is a method of inspecting the joint portion of the coil 13 in the stator 11 of the rotary electric machine 1 which is provided adjacent to each other.
A photographing prism 307 as a reflecting portion that reflects light on the joint portion side in different directions is inserted between adjacent joint portions 2.
The quality of the joint portion 2 is determined by observing the state of the joint portion 2 reflected by the photographing prism 307.
Therefore, the joint state between the adjacent joint portions 2 can be inspected.

(2) The reflecting portion includes inclined surfaces 31a and 32a as reflecting surfaces inclined with respect to a plane orthogonal to the rotation axis Om which is the axis of the stator 11.
Therefore, the space between the joints 2 can be observed from the reflection direction of the inclined surfaces 31a and 32a.
(3) The reflecting unit is composed of a photographing prism 307 which is a prism. Therefore, the light can be refracted in a desired direction.
(4) The reflecting portion is a photographing prism 307 having inclined surfaces 31a and 32a at its tip, and the reflected joint portion 2 is observed from the end portion on the direction side where the photographing prism 307 is separated from the joining portion 2. Therefore, even an image of a narrow gap can be easily observed from the end portion on the affected direction side from the joint portion 2.
(5) The reflecting portion is a photographing prism 307 whose tip is inclined to one side. Therefore, an image with a narrow gap can be observed with a simple configuration.
(6) Light is emitted from an end portion of the photographing prism 307 on the direction side away from the joint portion 2. Therefore, even if the region required for observation is in a direction different from the light irradiation direction, the observation region can be appropriately irradiated with light by refracting the light.
(7) Images reflected by the inclined surfaces 31a and 32a, which are reflecting portions, are imaged, and the quality of the joint portion 2 is determined based on the captured images. Therefore, the quality can be appropriately determined based on the appearance of the joint portion 2.
(8) The photographing prism 307 and the stator 11 are configured to be relatively movable in the direction of the rotation axis Om of the stator 11.
The quality of the joint portion 2 is determined based on a composite image of a plurality of images captured according to the moved position.
Therefore, even when the gap between the adjacent joints 2 is narrow and the area that can be photographed on the inclined surfaces 31a and 32a is narrow, the quality can be determined based on the entire image of the joints 2, and the accuracy of the quality determination can be improved. ..

(9) The quality of the captured image is automatically determined by comparing the quality judgment of the image captured in the past with the learned data. Therefore, the quality determination accuracy can be improved.
(10) At least two side photographing prisms 32 are provided, and are inserted into both sides of the joint portion 2 arranged in the circumferential direction of the stator core 12 in the circumferential direction. Therefore, both sides of the side surface of the joint portion 2 can be observed, and the quality determination accuracy can be further improved.
(11) The front photographing prism 31 is also provided on the outer peripheral side of the coil end 131a. Therefore, in the joint arrangement layer on the outer peripheral side arranged along the circumferential direction, an image from the radial outside of the joint 2 can be confirmed.
(12) The front photographing prism 31 is also provided on the inner peripheral side of the coil end 131a. Therefore, in the joint arrangement layer on the inner peripheral side arranged along the circumferential direction, an image from the radial inside of the joint 2 can be confirmed.
(13) The photographing prism 307 is provided by four prisms so that it can be inserted into four locations on both sides of the joint portion 2 arranged in the circumferential direction of the stator core 12, the outer peripheral side of the coil end 131a, and the inner peripheral side of the coil end 131a. It is a configured prism unit. Therefore, the front surface and the side surface of the joint portion 2 can be projected at the same time, and the appearance inspection can be efficiently performed without installing a plurality of cameras.
(14) The front photographing prisms 31 inserted on the outer peripheral side of the coil end 131a and the inner peripheral side of the coil end 131a are side surface photographing prisms inserted on both sides of the joint portion 2 arranged in the circumferential direction of the stator core 12 in the circumferential direction. The length in the moving direction is long so that the coil end 131a can be reached before 32.
Thereby, for example, it is possible to prevent the light of the visual inspection illumination 302 refracted by the inclined surface 31a for photographing the front surface of the joint portion 2 from adversely affecting the inclined surface 32a for photographing the side surface of the joint portion 2. In addition, the inclined pine needle coil segment 131 exists below between the joints 2 adjacent to each other in the circumferential direction, while relatively no interference is present below the outer peripheral side and the inner peripheral side of the joint 2. Therefore, it is preferable to position the front photography prism 31 below the side photography prism 32.

(15) A plurality of photographing prisms 307 are provided at a plurality of locations with respect to one stator 11. Therefore, the appearance inspection of the plurality of joints 2 can be performed at the same time, and the inspection efficiency can be improved.
(16) While rotating the stator 11 with respect to the rotation axis Om, the state of each joint 2 is observed by the photographing prism 307. Therefore, by rotating only the stator 11, it is possible to efficiently inspect the appearance of the plurality of joints 2.

(17) The position of the joint portion 2 is detected by using the positioning camera 304, which is a position detector, while rotating the stator 11 with respect to the axis, and the photographing prism 307 and the stator are in a state of being positioned at a desired position. 11 moves relatively in the direction of the rotation axis Om of the stator 11. Therefore, even when the gap between the joints 2 adjacent to each other in the circumferential direction is narrow, the appearance inspection can be performed with high accuracy.

(18) The position detector is a positioning camera 304 that observes the joint portion 2 from the outer peripheral side of the stator 11.
When determining the positioning of the joint portion 2, a back plate 305 (plate) having a color different from that of the joint portion 2 is arranged on the inner peripheral side of the joint portion 2 in the stator 11.
Therefore, the boundary between the joint portion 2 and the background can be clearly photographed, and the position of the joint portion 2 can be recognized with high accuracy.
(19) The back plate 305 has an inclined surface 305b (plane) that is inclined with respect to the rotation axis Om direction (the relative moving direction of the reflecting portion and the stator).
Therefore, when the joint portion 2 is irradiated with the positioning illumination 303, the inclined surface 305b, which is the background, reflects the irradiated light downward from the radial direction. Therefore, in the positioning camera 304, the background color is reflected by the light reflection. The position of the joint portion 2 can be recognized with high accuracy without causing unevenness.
(20) The photographing prism 307 is configured to be movable with respect to the stator 11.
The back plate 305 moves together with the photographing prism 307, and when the back plate 305 comes to the position of the joint portion 2, it temporarily stops to correct the misalignment.
After correcting the misalignment, the photographing prism 307 moves between the adjacent joints 2.
Therefore, after the misalignment between the photographing prism 307 and the joint portion 2 is corrected, the photographing prism 307, particularly the side surface photographing prism 32, is inserted into a narrow gap between the joining portions 2 adjacent to each other in the circumferential direction. Therefore, the appearance inspection can be performed with high accuracy without the side surface photographing prism 32 interfering with the joint portion 2.

[Other Embodiments]
Although the above description has been made based on the embodiments for realizing the present invention, the specific configuration of the present invention is not limited to the embodiments, and there are design changes and the like within a range that does not deviate from the gist of the invention. However, it is included in the present invention.
For example, in the first embodiment, an example in which a prism is used as the reflective portion is shown, but the present invention is not limited to the prism, and a reflective material such as a mirror may be used.
Further, in the first embodiment, the stator 11 is rotated for positioning, but the photographing prism 307 side may be rotated for positioning.
Further, in the first embodiment, the imaging prism 307 is moved in the vertical direction to perform the visual inspection, but the stator 11 may be moved in the vertical direction to perform the visual inspection.
Further, in the first embodiment, two sets of photographing prisms 307 and a visual inspection camera 301 are used, but one set may be used, or a large number of sets may be provided.
Further, in the first embodiment, an example in which the quality judgment is judged by AI is shown, but the manager or the like may visually judge based on the image.
Further, in the first embodiment, the frontal photographing prism 31 is arranged on the outer peripheral side of the joint array layer 21 on the outer peripheral side and on the inner peripheral side of the joint array layer 22 on the inner peripheral side. By arranging them on the outer peripheral side and the inner peripheral side of the joint array layer 21 and on the outer peripheral side and the inner peripheral side of the joint array layer 22 on the inner peripheral side, the joint portion 2 is located on the front side. However, both the outer peripheral side and the inner peripheral side may be visually inspected. As a result, the accuracy of the visual inspection can be further improved.

1 Rotating electric machine 2 Joint 10 Rotor 11 stator 12 stator core 13 coil 20 Welding ball 30 Base member 30a Prism installation hole 31 Front photography prism 31a Inclined surface 31c Upper end surface 32 Side photography prism 32a Inclined surface 32c Upper end surface 131 Matsuba Coil segment 131a Coil end 300 Inspection device 301 Visual inspection camera 302 Visual inspection lighting 303 Positioning lighting 304 Positioning camera 305 Back plate 306 Rotating actuator 307 Shooting prism 308 Lifting actuator 309 Slide actuator CU control unit

Claims (22)

A coil wound around the stator core is formed by joining conductors to each other at a coil end on one side in the axial direction of the stator, and a plurality of coil joints are provided adjacent to each other in the circumferential direction of the stator core. This is a method for inspecting coil joints in the stator of a rotary electric machine.
A reflective portion that reflects light on the joint portion side in different directions is inserted between the adjacent joint portions.
A method for inspecting a joint, characterized in that the quality of the joint is determined by observing the state of the joint reflected by the reflective portion. The method for inspecting a joint according to claim 1, wherein the reflective portion includes a reflective surface that is inclined with respect to a plane orthogonal to the axis of the stator. The method for inspecting a joint according to claim 2, wherein the reflective portion is composed of a prism. The joint according to claim 3, wherein the reflective portion is a prism having an inclined surface at its tip, and the reflected joint portion is observed from an end portion on the direction side where the prism is separated from the joint portion. Inspection method of the department. The method for inspecting a joint according to claim 4, wherein the reflective portion is a prism whose tip is inclined to one side. The method for inspecting a joint according to claim 4, wherein light is irradiated from an end of the prism on the direction side away from the joint. The method for inspecting a joint according to claim 1, wherein an image reflected by the reflection portion is imaged and the quality of the joint is determined based on the captured image. The reflecting portion and the stator are configured to be relatively movable in the axial direction of the stator.
The method for inspecting a joint according to claim 7, wherein the quality of the joint is determined based on a composite image of a plurality of images captured according to the moved position. The method for inspecting a joint according to claim 7, wherein the captured image is automatically judged to be good or bad by comparing with the data obtained by learning the quality judgment of the image captured in the past. The inspection of the joint portion according to claim 1, wherein at least two reflection portions are provided, and the joint portions arranged in the circumferential direction of the stator core are inserted on both sides in the circumferential direction. Method. The method for inspecting a joint according to claim 1, wherein the reflection portion is also provided on the outer peripheral side of the coil end. The method for inspecting a joint according to claim 1, wherein the reflection portion is also provided on the inner peripheral side of the coil end. The reflective portion is a prism unit composed of four prisms so that it can be inserted into four locations on both sides in the circumferential direction of the joints arranged in the circumferential direction of the stator core, the outer peripheral side of the coil end, and the inner peripheral side of the coil end. The method for inspecting a joint according to claim 1, wherein the joint portion is inspected. The prisms inserted on the outer peripheral side of the coil end and the inner peripheral side of the coil end can reach the coil end before the prisms inserted on both sides in the circumferential direction of the joints arranged in the circumferential direction of the stator core. The method for inspecting a joint according to claim 13, wherein the length in the moving direction is long. The method for inspecting a joint according to claim 13, wherein a plurality of prism units are provided at a plurality of locations with respect to one stator. The method for inspecting a joint according to claim 1, wherein the state of each joint is observed by the reflecting portion while rotating the stator with respect to the axis. The position of the joint is detected by using a position detector while rotating the stator with respect to the axis, and the reflecting portion and the stator are relative to the axial direction of the stator in a state where the joint is positioned at a desired position. The method for inspecting a joint according to claim 8, wherein the joint is moved to. The position detector is a camera that observes the joint portion from the outer peripheral side of the stator.
The joint according to claim 17, wherein when determining the positioning of the joint portion, a plate having a color different from that of the joint portion is arranged on the inner peripheral side of the joint portion of the stator. Inspection method of the department. The method for inspecting a joint according to claim 18, wherein the plate has a surface that is inclined with respect to a relative moving direction between the reflective portion and the stator. The reflective portion is configured to be movable with respect to the stator.
The plate moves together with the reflective portion, and when the plate reaches the position of the joint portion, it temporarily stops to correct the misalignment.
The method for inspecting a joint according to claim 19, wherein the reflective portion moves between the adjacent joints after the misalignment is corrected. A coil wound around the stator core is formed by joining conductors to each other at a coil end on one side in the axial direction of the stator, and a plurality of coil joints are provided adjacent to each other in the circumferential direction of the stator core. An inspection device for coil joints in the stator of a rotary electric machine.
A reflective part that is configured to be insertable or separable between the adjacent joints and reflects light on the joint side in different directions.
A quality determination means for determining the quality of the joint by observing the state of the joint reflected by the reflection unit, and
A joint inspection device characterized by being equipped with. A rotating device that rotates the stator with respect to the axis, and
A position detector that detects the position of the joint and
When the position detected by the position detector reaches a desired position, the position of the rotating device is stopped, and the pass / fail determination means is used while inserting the reflective portion between the adjacent joints. 21. The joint portion inspection device according to claim 21, further comprising a control device for separating the reflective portion from the adjacent joint portions when the determination is completed.