An automatic press-fit system for small motor rotor commutator

Abstract

The present invention discloses an automatic press-fitting system for a small motor rotor commutator, the system comprising a rotor feeding mechanism, a commutator feeding mechanism, a press-fitting mechanism, a rotor unloading and transporting mechanism, a handling robot and a control system, wherein the rotor feeding mechanism, the commutator feeding mechanism, the press-fitting mechanism, the rotor unloading and transporting mechanism and the handling robot are all connected to the control system; the commutator feeding mechanism comprises a commutator feeding table, a commutator transmission module and a commutator alignment module connected in sequence; the commutator alignment module is arranged at the first material taking place, and is used to align the commutator to be grasped; the rotor unloading and transporting mechanism is used to place the rotor with the commutator already pressed and installed, and serves as a feeding table for the next process; the handling robot is arranged adjacent to the rotor feeding mechanism and the commutator feeding mechanism, respectively. The present invention can realize the fully automatic feeding of the commutator, and is conducive to improving the press-fitting qualified rate and assembly efficiency.

Description

Technical Field

[0001] The invention relates to a small motor automatic assembly technology, in particular to an automatic press-fitting system for a small motor rotor commutator. Background Art

[0002] With the increase in labor costs of enterprises, the improvement and upgrading of manufacturing enterprises and the guidance of national policies, automated production has become a general trend. The motor manufacturing industry, including the small motor manufacturing industry, is also constantly promoting manufacturing upgrades and improvements. The commutator, as an important component of the small motor, has a great impact on the stability and reliability of the small motor's operation. Therefore, the quality of the motor rotor and commutator press-fitting determines the performance of the small motor.

[0003] The traditional commutator pressing tooling utilizes guide blocks and positioning grooves for positioning, and utilizes a spring clamping device for press-fitting. This type of press-fitting equipment is mainly completed by manual operation. Specifically, the manual press-fitting operation is completed by mechanical force and spring press-fitting. This requires production personnel to have sufficient experience and proficiency. Therefore, the press-fitting force, press-fitting accuracy and flexible switching between different small motor rotor models are still difficult to control. This results in low press-fitting qualification rate and work efficiency in the prior art. Summary of the invention

[0004] In order to solve the above technical problems, the present invention discloses an automatic press-fitting system for a small motor rotor commutator. The commutator feeding mechanism of the present invention realizes fully automatic feeding of the commutator through the cooperation of a vibration plate, a conveyor belt and a commutator alignment module, thereby improving the degree of automation of commutator feeding and significantly saving labor costs. A press-fitting mechanism is adopted, and during the press-fitting process, the fitting force between the rotor and the commutator is detected by a pressure sensing device, which is convenient for accurately grasping the press-fitting force and can significantly improve the press-fitting qualified rate and assembly efficiency. In addition, the present invention adopts a rotor transfer unloading table to remove the rotor with the press-fitted commutator from the press-fitting mechanism and convey it to the next process, so that the process of pressing the commutator on the rotor is well connected with the next process, which is beneficial to improving the assembly efficiency of the entire small motor.

[0005] In order to achieve the above-mentioned object, the present invention provides an automatic press-fitting system for a small motor rotor commutator, the system comprising a rotor feeding mechanism, a commutator feeding mechanism, a press-fitting mechanism, a rotor unloading and transporting mechanism, a handling robot and a control system, wherein the rotor feeding mechanism, the commutator feeding mechanism, the press-fitting mechanism, the rotor unloading and transporting mechanism and the handling robot are all connected to the control system;

[0006] The commutator feeding mechanism comprises a commutator feeding platform, a commutator conveying module and a commutator alignment module connected in sequence. The commutator conveying module conveys the commutators in the commutator feeding platform to the first material picking place one by one for the handling robot to grab; the commutator alignment module is arranged at the first material picking place, and is used to align the commutator to be grabbed, so as to facilitate the handling robot to grab;

[0007] The rotor feeding mechanism is used to provide the rotor to be pressed;

[0008] The press-fitting mechanism comprises a support frame, a press-fitting device and a positioning device. The positioning device is arranged at the bottom of the support frame and is used to position the rotor and the commutator. The press-fitting device is arranged at the upper end of the positioning device and is coaxially arranged with the positioning device and is used to perform a press-fitting action on the positioned commutator and rotor.

[0009] The rotor unloading and transfer mechanism is used to place the rotor with the commutator pressed and installed, and serves as a feeding platform for the next process;

[0010] The handling robot is respectively arranged adjacent to the rotor feeding mechanism and the commutator feeding mechanism. The handling robot grabs the rotor and the commutator at the rotor feeding mechanism and the commutator feeding mechanism, and places the rotor and the commutator at the rotor positioning device and the commutator positioning device, respectively.

[0011] Preferably, the commutator feeding table includes a vibrating plate, on which a first sensor is provided. The first sensor is connected to a control system for detecting whether there is sufficient residual material in the vibrating plate. The control system determines whether the commutator needs to be manually replenished based on the amount of residual material.

[0012] Preferably, the commutator transmission module includes a conveyor belt and a conveyor belt drive motor, wherein the conveyor belt is used to transport the commutator on the commutator feeding table to the first material collection location; the conveyor belt drive motor is connected to the conveyor belt and is used to drive the conveyor belt to rotate.

[0013] Preferably, a second sensor for detecting whether the vibration plate is rotating is provided at the entrance of the conveyor belt.

[0014] Preferably, the commutator conveying module also includes an isolation block arranged in the middle of the conveyor belt, and the isolation block is used to isolate the commutator to be grabbed at the first material picking place from other commutators, so that only one commutator is conveyed to the first material picking place in a single pressing process.

[0015] Preferably, the commutator alignment module includes a third sensor, an alignment block and an alignment block control module, the alignment block is used to position the commutator at the first material picking position and to align the commutator to prevent it from tilting; the alignment block control module is used to control and drive the alignment block to move, and the third sensor is used to detect whether the commutator at the first material picking position is grabbed by the handling robot.

[0016] Preferably, the positioning device comprises a rotor positioning device and a commutator positioning device, the rotor positioning device is arranged at the bottom of the support frame, and the commutator positioning device is arranged adjacent to the rotor positioning device above and below.

[0017] Preferably, the positioning device is detachably mounted on the supporting frame.

[0018] Preferably, the rotor unloading and transfer mechanism comprises a transfer platform, a rotor gripper, a gripper sliding guide rail, an unloading detection device and a rotor tightening cylinder;

[0019] The gripper sliding guide rail is fixed on the transfer platform and is used to provide a walking guide for the rotor gripper;

[0020] The rotor gripper is arranged on the gripper sliding guide rail, and is used to remove the rotor with the commutator pressed from the pressing mechanism, and transport it to the material taking place of the next process;

[0021] The rotor tightening cylinder is connected to the rotor gripper and is used to tighten the rotor during the process of pressing the commutator into the rotor.

[0022] Preferably, the control system includes a control cabinet, in which a PLC controller and a transformer, an interface module and a communication module connected thereto are arranged. The PLC controller is connected to the rotor feeding mechanism, the commutator feeding mechanism, the pressing mechanism, the rotor unloading and transfer mechanism and the handling robot respectively through the interface module to control the automatic pressing process of the rotor commutator.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1) The present invention solves the problems of quality inspection and performance testing of the motor rotor commutator during assembly through the coordination between the commutator feeding mechanism, the pressing mechanism, the rotor unloading and transporting mechanism and the control system, and can perform effective error prevention control to realize the automation of the rotor and commutator pressing process;

[0025] 2) The commutator feeding mechanism of the present invention realizes full-automatic feeding of the commutator through the cooperation of the vibration plate, the conveyor belt and the commutator alignment module, improves the automation degree of the commutator feeding, and significantly saves labor costs;

[0026] 3) The present invention adopts a press-fitting mechanism. During the press-fitting process, the fitting force between the rotor and the commutator is detected by a pressure sensor, which facilitates accurate control of the press-fitting force and can significantly improve the press-fitting qualified rate and assembly efficiency;

[0027] 4) The present invention adopts a rotor transfer unloading platform to remove the rotor with the commutator pressed from the pressing mechanism and transport it to the next process, so that the process of pressing the commutator on the rotor is well connected with the next process, which is beneficial to improving the assembly efficiency of the entire small motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0029] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention;

[0030] Figure 2 is a structural schematic diagram of a commutator feeding mechanism in Embodiment 1 of the present invention;

[0031] FIG3( a ) is an overall structural diagram of a press-fitting mechanism in Embodiment 1 of the present invention;

[0032] FIG3( b ) is a schematic structural diagram of a press-fitting device in Embodiment 1 of the present invention;

[0033] FIG3( c ) is an exploded view of the positioning device in Embodiment 1 of the present invention;

[0034] FIG3( d ) is a schematic structural diagram of a support frame and a press-fit detection device in Embodiment 1 of the present invention;

[0035] Figure 4 It is a structural schematic diagram of the rotor unloading and transferring mechanism in the first embodiment of the present invention.

[0036] Among them, 1. Commutator feeding mechanism; 2. Rotor feeding mechanism; 3. Pressing mechanism; 4. Rotor unloading and transfer mechanism; 5. Robot; 6. Control cabinet;

[0037] 11. Commutator feeding platform; 12. Commutator transmission module; 13. Commutator adjustment module;

[0038] 111. a vibration plate; 112. a first pressure sensor;

[0039] 121, conveyor belt; 122, conveyor belt driving motor; 123, second sensor; 124, belt correction block; 125, isolation plate; 126, isolation cylinder;

[0040] 131. The third sensor; 132. The adjusting block; 133. The adjusting block controls the cylinder;

[0041] 31. Support frame; 32. Press-fit device; 33. Positioning device;

[0042] 321, press-fit cylinder; 322, connecting rod; 323, guide rail assembly; 324, press rod;

[0043] 331. Rotor positioning device; 332. Commutator positioning device;

[0044] 3311, rotor limiter; 3312, magnet; 3313, commutator guide block positioning pin; 3314, mounting seat;

[0045] 3321, commutator guide block; 3322, convex edge; 3323, limit block;

[0046] 341, second pressure sensor; 342, rotor detection grating; 343, commutator detection grating; 344, distance detection sensor;

[0047] 41. Transfer platform; 42. Rotor gripper; 43. Gripper sliding guide rail; 44. Gripper rotation into position detection sensor; 45. Rotor tightening cylinder; 46. Gripper rotation and transmission drive electric cylinder; 47. Electric cylinder protection chain belt; 48. Rotor tilt detection sensor. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0049] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0050] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] In addition, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more, unless otherwise clearly specified.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0055] Example

[0056] This embodiment provides a small motor rotor commutator automatic press-fit system, such as Figure 1As shown, the system includes a rotor feeding mechanism 2, a commutator feeding mechanism 1, a pressing mechanism 3, a rotor unloading and transferring mechanism 4, a handling robot 5 and a control cabinet 6, wherein the rotor feeding mechanism 2, the commutator feeding mechanism 1, the pressing mechanism 3, the rotor unloading and transferring mechanism 4 and the handling robot 5 are all connected to the control cabinet 6, and the handling robot 5 respectively places the grasped rotor and commutator at the corresponding position of the pressing mechanism 3 after the rotor feeding mechanism 2 and the commutator feeding mechanism 1 grab the rotor and the commutator, and the pressing mechanism 3 performs the pressing action after detecting that the rotor and the commutator are in place; after the pressing is completed, the rotor unloading and transferring mechanism 4 transports the rotor with the pressed commutator to the material taking place of the next process; specifically:

[0057] See also Figure 2 The commutator feeding mechanism 1 includes a commutator feeding platform 11, a commutator conveying module 12 and a commutator adjusting module 13 which are connected in sequence. The commutator conveying module 12 conveys the commutators in the commutator feeding platform 11 one by one to the first material picking position of the handling robot for the handling robot to grab; the commutator adjusting module 13 is arranged at the first material picking position, and is used to adjust the commutator to be grabbed, so as to facilitate the handling robot to grab;

[0058] In this embodiment, the commutator feeding table 11 includes a vibration disk 111, and a first sensor is arranged on the vibration disk. The first sensor is connected to the control cabinet 6 and is used to detect whether there is sufficient residual material (commutator) in the vibration disk 111. The control cabinet 6 determines whether manual replenishment of the commutator is required based on the amount of residual material detected by the first sensor. In this embodiment, the first sensor is a first pressure sensor 112 arranged on the commutator bearing surface of the vibration disk 111. The first pressure sensor 112 detects the total weight of the commutator in the vibration disk 111 in real time and transmits the detection result to the control cabinet 6. The control cabinet 6 determines whether manual feeding is required based on the detection result.

[0059] In this embodiment, the commutator transmission module 12 includes a conveyor belt 121 and a conveyor belt drive motor 122. The entrance of the conveyor belt 121 is connected to the discharge port of the vibration disk 111, and is used to receive the commutator at the discharge port of the vibration disk 111 and transport the commutator to the first material collection point (the other end of the conveyor belt); the conveyor belt drive motor 122 is connected to the conveyor belt 121, and is used to drive the conveyor belt 121 to rotate. In addition, a second sensor 123 for detecting whether the vibration disk 111 is working is provided at the entrance of the conveyor belt 121. When the second sensor 123 detects that the vibration disk 111 is working, the control cabinet 6 controls the conveyor belt drive motor 122 to start, thereby driving the conveyor belt 121 to rotate and transport the commutator; in addition, a belt correction block 124 is provided at the discharge port of the vibration disk 111. The belt correction block 124 is used to correct the output orientation of the commutator at the discharge port of the vibration disk 111, and ensure that the commutators are output one by one from the discharge port of the vibration disk 111.

[0060] In this embodiment, an isolation block is provided in the middle of the conveyor belt 121, and the isolation block is used to isolate the commutator to be grabbed at the first material picking place from other commutators on the conveyor belt, so that only one commutator is conveyed to the first material picking place in a single pressing process. The isolation block specifically includes an isolation plate 125 and an isolation cylinder 126 connected thereto. The isolation cylinder 126 drives the isolation plate 125 to extend and retract forward and backward or move up and down to achieve the above-mentioned isolation purpose.

[0061] The commutator alignment mold 13 includes a third sensor 131, an alignment block 132 and an alignment block control module. The alignment block 132 is used to position the commutator at the first material picking position and to align the direction of the commutator to prevent it from tilting; the alignment block control module is used to control and drive the alignment block to move, and the alignment control module includes an alignment block control cylinder 133; the third sensor 131 is used to detect whether the commutator at the first material picking position is grabbed by the handling robot.

[0062] The rotor feeding mechanism 2 in this embodiment is used to provide the rotor to be pressed;

[0063] In addition, see Figure 1 The handling robot 5 is respectively arranged adjacent to the rotor feeding mechanism 2 and the commutator feeding mechanism 1. The handling robot 5 grabs the rotor and the commutator at the rotor feeding mechanism 2 and the commutator feeding mechanism 1, and places the rotor and the commutator at corresponding positions of the positioning device 33.

[0064] In this embodiment, as shown in FIG. 3( a ), the press-fitting mechanism 3 includes a support frame 31, a press-fitting device 32 and a positioning device 33. The positioning device 33 is detachably fixed to the support frame and is used to position the rotor and the commutator. The press-fitting device 32 is disposed at the upper end of the positioning device 33 and is used to perform a press-fitting action on the positioned commutator and the rotor.

[0065] As shown in FIG. 3( c ), the positioning device 33 includes a rotor positioning device 331 and a commutator positioning device 332 . The rotor positioning device 331 is disposed at the bottom of the support frame 31 , and the commutator positioning device 332 is disposed adjacent to the rotor positioning device 331 in the vertical direction. Specifically:

[0066] The rotor positioning device 331 includes a mounting seat 3314 and a rotor stopper 3311, wherein the mounting seat 3314 is detachably mounted on the support frame 31, and the rotor stopper 3311 is mounted on the upper end of the mounting seat;

[0067] The cross-section of the middle bottom of the rotor limit body 3311 is semicircular, which is used to embrace the rotor, and a magnet 3312 is fixed in the middle to improve the tightness of the rotor. The upper end of the rotor limit body 3311 is cylindrical, and a commutator guide block positioning pin 3313 is provided on its inner side wall to facilitate the installation and positioning of the commutator guide block.

[0068] The commutator positioning device 332 includes a commutator guide block 3321, which is embedded in the rotor limit body 3311 from the upper end of the rotor limit body 3311; a commutator guide channel is provided in the commutator guide block 3321, and at least one ridge 3322 for guiding the direction of the commutator is provided on the side wall of the guide channel. In addition, a limit block 3323 is embedded on the side wall of the commutator guide block 3321, and the limit block 3323 is used to further limit the position of the commutator to make the position of the commutator more precise.

[0069] Since the commutator positioning device 332 is embedded in the rotor positioning device 331, the rotor mounting seat 3314 is fixed to the support frame 331 by screws. When the rotor model is changed, the mounting seat 3314 is removed, and the entire positioning device 33 can be removed and replaced with a positioning device suitable for the rotor.

[0070] As shown in Figures 3(b) and (d), the press-fitting device 32 includes a driving device, a commutator pressing device and a press-fitting detection device, wherein the driving device includes a press-fitting cylinder 321, which is fixed to the upper end of the support frame 31 through a mounting frame, and the commutator pressing device includes a connecting rod 322, a guide rail assembly 323 and a press rod 324. The output end of the press-fitting cylinder 321 is connected to the press rod 324 through the connecting rod 322. At the same time, the connecting rod 322 is connected to the guide rail assembly 323. Under the drive of the press-fitting cylinder 321, the connecting rod 322 drives the press rod 324 to move along the sliding direction of the guide rail assembly 323 to realize the press-fitting action.

[0071] As shown in Figures 3(a) and (d), the press-fitting detection device includes a second pressure sensor 341, a rotor detection grating 342, a commutator detection grating 343 and a distance detection sensor 344, wherein the rotor detection grating 342 and the distance detection sensor 344 are respectively fixed to the front and rear ends of one side of the positioning device 33 through a bracket, and are used to detect whether the rotor is ready; the commutator detection grating 343 is fixed to the other side of the positioning device 33 through a bracket, and is used to detect whether the commutator is ready; the second pressure sensor is connected to the pressure rod 324 through a connecting rod 322, and is used to detect the pressure exerted on the pressure rod during the assembly process, and then detect the fitting force between the rotor and the commutator. When the fitting force between the rotor and the commutator reaches a preset size, the main controller in the control cabinet 6 controls the press-fitting cylinder 321 to operate, so that the connecting rod 322 drives the pressure rod 324 to return to its position, thereby completing the press-fitting.

[0072] like Figure 4As shown, the rotor unloading and transporting mechanism 4 is used to place the rotor with the commutator pressed and installed, and serves as a feeding platform for the next process; specifically, the rotor unloading and transporting mechanism 4 includes a transporting platform 41, a rotor gripper 42, a gripper sliding guide rail 43, an unloading detection device 44 and a rotor tightening cylinder 45;

[0073] Among them, the gripper sliding guide rail 43 is fixed on the transfer platform 41 and is used to provide a walking guide for the rotor gripper 42;

[0074] The rotor gripper 42 is arranged on the gripper sliding guide rail 43 through the gripper rotation and transmission drive electric cylinder 46, and is used to remove the rotor with the commutator pressed from the pressing mechanism 3 and transport it to the material taking place of the next process;

[0075] The rotor tightening cylinder 45 is connected to the rotor gripper 42 and is used to tighten the rotor during the press-fitting process of the rotor and the commutator to prevent the rotor from tilting and ensure the straightness of the press-fitting.

[0076] The material unloading detection device comprises a gripper rotation detection sensor 44 which is arranged at one end of the gripper sliding guide rail and connected to the rotor gripper, and a rotor anti-tilt detection sensor 48 which is arranged at the other end of the gripper guide rail.

[0077] In addition, see Figure 4 In the technical solution of this embodiment, an electric cylinder protection chain belt 47 is arranged on the outside of the gripper rotation and transmission driving electric cylinder 46 along the extension direction of the gripper sliding guide rail 43 to protect the gripper rotation and transmission driving electric cylinder.

[0078] In this embodiment, the control system includes a control cabinet, which is equipped with a PLC controller and a transformer, an interface module and a communication module connected thereto. The PLC controller is connected to the rotor feeding mechanism, the commutator feeding mechanism, the pressing mechanism, the rotor unloading and transfer mechanism and the handling robot through the interface module to control the automatic pressing process of the rotor commutator.

[0079] This embodiment solves the problems of quality inspection and performance testing of motor rotor commutator during assembly process through the cooperation between commutator feeding mechanism, pressing mechanism, rotor unloading and transfer mechanism and control system, and can perform effective error prevention control to realize the automation of rotor and commutator pressing process; the commutator feeding mechanism realizes full-automatic feeding of commutator through the cooperation of vibration plate, conveyor belt and commutator alignment module, improves the automation degree of commutator feeding and significantly saves labor cost; in addition, this embodiment adopts pressing mechanism, and during the pressing process, the fitting force between rotor and commutator is detected by pressure sensing device, which is convenient for accurately grasping the pressing force and can significantly improve the pressing qualified rate and assembly efficiency; the rotor transfer unloading table is used to remove the rotor with pressed commutator from the pressing mechanism and convey it to the next process, so that the process of rotor pressing commutator is well connected with the next process, which is beneficial to improve the assembly efficiency of the whole small motor.

[0080] In addition, it should be noted that:

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0082] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and purpose of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An automatic press-fitting system for a small motor rotor commutator, characterized in that: It includes a rotor feeding mechanism, a commutator feeding mechanism, a pressing mechanism, a rotor unloading and transferring mechanism, a handling robot and a control system, wherein the rotor feeding mechanism, the commutator feeding mechanism, the pressing mechanism, the rotor unloading and transferring mechanism and the handling robot are all connected to the control system; The commutator feeding mechanism comprises a commutator feeding platform, a commutator conveying module and a commutator alignment module connected in sequence. The commutator conveying module conveys the commutators in the commutator feeding platform to the first material picking place one by one for the handling robot to grab; the commutator alignment module is arranged at the first material picking place, and is used to align the commutator to be grabbed, so as to facilitate the handling robot to grab; The rotor feeding mechanism is used to provide the rotor to be pressed; The press-fitting mechanism comprises a support frame, a press-fitting device and a positioning device. The positioning device is arranged at the bottom of the support frame and is used to position the rotor and the commutator. The press-fitting device is arranged at the upper end of the positioning device and is coaxially arranged with the positioning device and is used to perform a press-fitting action on the positioned commutator and rotor. The rotor unloading and transfer mechanism is used to place the rotor with the commutator pressed and installed, and serves as a feeding platform for the next process; The handling robot is respectively arranged adjacent to the rotor feeding mechanism and the commutator feeding mechanism, and the handling robot grabs the rotor and the commutator at the rotor feeding mechanism and the commutator feeding mechanism, and places the rotor and the commutator at the rotor positioning device and the commutator positioning device, respectively; The press-fitting device comprises a driving device, a commutator pressing device and a press-fitting detection device, wherein the driving device comprises a press-fitting cylinder, which is fixed to the upper end of the support frame through a mounting frame, and the commutator pressing device comprises a connecting rod, a guide rail assembly and a press rod, and the output end of the press-fitting cylinder is connected to the press rod through the connecting rod, and at the same time, the connecting rod is connected to the guide rail assembly, and the connecting rod drives the press rod to move along the sliding direction of the guide rail assembly under the drive of the press-fitting cylinder to realize the press-fitting action; The press-fitting detection device includes a second pressure sensor, a rotor detection grating, a commutator detection grating and a distance detection sensor, wherein the rotor detection grating and the distance detection sensor are respectively fixed to the front and rear ends of one side of the positioning device through a bracket, and are used to detect whether the rotor is ready; the commutator detection grating is fixed to the other side of the positioning device through a bracket, and is used to detect whether the commutator is ready; the second pressure sensor is connected to the press rod through a connecting rod, and is used to detect the pressure exerted on the press rod during the assembly process, and then detect the fitting force between the rotor and the commutator. When the fitting force between the rotor and the commutator reaches a preset size, the press-fitting cylinder is actuated to make the connecting rod drive the press rod back to complete the press-fitting.

2. The automatic press-fitting system for small motor rotor commutator according to claim 1 is characterized in that: The commutator feeding table includes a vibrating plate, on which a first sensor is arranged. The first sensor is connected to a control system and is used to detect whether there is sufficient residual material in the vibrating plate. The control system determines whether the commutator needs to be manually replenished according to the amount of residual material.

3. The automatic press-fitting system for small motor rotor commutator according to claim 2 is characterized in that: The commutator transmission module includes a conveyor belt and a conveyor belt driving motor. The conveyor belt is used to transport the commutator on the commutator feeding table to the first material collection location; the conveyor belt driving motor is connected to the conveyor belt and is used to drive the conveyor belt to rotate.

4. The automatic press-fitting system for small motor rotor commutator according to claim 3 is characterized in that: A second sensor for detecting whether the vibration plate is rotating is arranged at the entrance of the conveyor belt.

5. The automatic press-fitting system for small motor rotor commutator according to claim 3 or 4, characterized in that: The commutator conveying module also includes an isolation block arranged in the middle of the conveyor belt, and the isolation block is used to isolate the commutator to be grabbed at the first material picking place from other commutators, so that only one commutator is conveyed to the first material picking place in a single pressing process.

6. The automatic press-fitting system for small motor rotor commutator according to claim 1 is characterized in that: The commutator alignment module includes a third sensor, an alignment block and an alignment block control module, wherein the alignment block is used to position the commutator at the first material taking position and align the commutator to prevent it from being skewed; The straightening block control module is used to control and drive the straightening block to move, and the third sensor is used to detect whether the commutator at the first material picking location is grabbed by the handling robot.

7. The automatic press-fitting system for small motor rotor commutator according to claim 1 is characterized in that: The positioning device comprises a rotor positioning device and a commutator positioning device. The rotor positioning device is arranged at the bottom of the support frame, and the commutator positioning device is arranged adjacent to the rotor positioning device up and down.

8. The automatic press-fitting system for small motor rotor commutator according to claim 7 is characterized in that: The positioning device is detachably mounted on the supporting frame.

9. The automatic press-fitting system for small motor rotor commutator according to claim 1, characterized in that: The rotor unloading and transfer mechanism comprises a transfer platform, a rotor gripper, a gripper sliding guide rail, an unloading detection device and a rotor tightening cylinder; The gripper sliding guide rail is fixed on the transfer platform and is used to provide a walking guide for the rotor gripper; The rotor gripper is arranged on the gripper sliding guide rail, and is used to remove the rotor with the commutator pressed from the pressing mechanism, and transport it to the material taking place of the next process; The rotor tightening cylinder is connected to the rotor gripper and is used to tighten the rotor during the process of pressing the commutator into the rotor.

10. The automatic press-fitting system for small motor rotor commutator according to claim 1, characterized in that: The control system includes a control cabinet, in which a PLC controller and a transformer, an interface module and a communication module connected thereto are arranged. The PLC controller is respectively connected to the rotor feeding mechanism, the commutator feeding mechanism, the pressing mechanism, the rotor unloading and transfer mechanism and the handling robot through the interface module to control the automatic pressing process of the rotor commutator.

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