A device and method for automatically pressing magnetic steel sheets into a rotor core

Abstract

The present invention is a device for automatically pressing magnetic steel sheets into rotor cores, comprising a workbench, with magnetic steel sheet conveyor belts and rotor core conveyor belts respectively provided at both ends of the workbench, the ends of the magnetic steel sheet conveyor belt and the rotor core conveyor belt both extending to the workbench, and magnetic steel sheet magnetization stations, magnetic steel sheet pressing stations and robot handling stations being provided in sequence from the end of the magnetic steel sheet conveyor belt to the end of the rotor core conveyor belt on the workbench. The beneficial effects are as follows: the device of the present invention can automatically feed, automatically magnetize, automatically press and automatically retrieve materials, and fully realize automated production in the field of pressing magnetic steel sheets into cores; and the device of the present invention can press and install two different products on the same device through the design of a turntable and two sets of pressing mechanisms, thereby improving work efficiency, reducing labor intensity, and saving production costs for enterprises.

Description

Technical Field

[0001] The invention belongs to the technical field of electronic product processing equipment, and in particular relates to a device and a method for automatically pressing magnetic steel sheets into a rotor core. Background Art

[0002] At present, motor rotors are mostly made of magnetic steel sheets, and the existing production method is to manually install the N-pole and S-pole magnetic steel sheets into the corresponding slots of the rotor core one by one. This not only consumes labor and has low production efficiency, but also has a considerable labor intensity, which makes workers easily fatigued, prone to missing or wrong installation, and is not conducive to production. In order to meet the needs of automatic filling of motor magnetic steel sheets, it is necessary to develop a device suitable for automatically pressing magnetic steel sheets into the rotor core. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a device for automatically pressing magnetic steel sheets into the rotor core, replacing manual assembly with fully automated pressing, thereby improving production efficiency and product quality and saving costs for the enterprise.

[0004] The technical solution is as follows:

[0005] A device for automatically pressing magnetic steel sheets into a rotor core, characterized in that it comprises a workbench, at both ends of which are provided a magnetic steel sheet conveyor belt and a rotor core conveyor belt, the ends of which both extend to the workbench, and on which, from the end of the magnetic steel sheet conveyor belt to the end of the rotor core conveyor belt, a magnetic steel sheet magnetization station, a magnetic steel sheet pressing station and a robot handling station are sequentially provided;

[0006] The magnetic steel sheet conveyor belt is driven by a magnetic steel sheet conveying motor and is used to convey magnetic steel sheets; a material taking manipulator is provided at the end of the magnetic steel sheet conveyor belt, and the material taking manipulator is installed on the workbench and is used to take out the magnetic steel sheets on the magnetic steel sheet conveyor belt and put them into the magnetic steel sheet magnetization station;

[0007] The magnetizing station of the magnetic steel sheet comprises a magnetizing conveying belt and a magnetizing fixture of the magnetic steel sheet. The magnetizing conveying belt is mounted on the workbench and driven by a magnetizing conveying motor. The magnetizing fixture of the magnetic steel sheet is arranged on the magnetizing conveying belt and is used to magnetize the magnetic steel sheet. A magnetizing steel sheet manipulator is arranged at the end of the magnetizing conveying belt and is used to take the magnetized magnetic steel sheet out of the magnetizing conveying belt and put it into the magnetic steel sheet pressing station.

[0008] The magnetic steel sheet press-fitting station includes a magnetic steel sheet fixture installation disk, which is installed on the workbench and located behind the magnetizing conveyor belt. A plurality of magnetic steel sheet fixtures are movably arranged on the magnetic steel sheet fixture installation disk. A pre-pressing station and a press-fitting station are provided at the magnetic steel sheet fixture. The pre-pressing station is used to pre-press the magnetic steel sheet on the magnetic steel sheet fixture, and the press-fitting station presses the magnetic steel sheet on the magnetic steel sheet fixture into the iron core by pressing up and down;

[0009] The robot handling station includes a robot gripper, which is mounted on the workbench through a robot gripper bracket and is located between the press-fit station and the rotor core conveyor belt, and is used to grab the core conveyed by the rotor core conveyor belt and place it on the magnetic steel sheet fixture on the magnetic steel sheet fixture installation disk, and also take the pressed rotor core out of the magnetic steel sheet fixture and put it on the rotor core conveyor belt;

[0010] The rotor core conveyor belt comprises a conveyor belt for rotors to be installed and a conveyor belt for finished products.

[0011] As a further improvement, the magnetic steel sheet clamp installation disk is a circular turntable, and six magnetic steel sheet clamps are evenly distributed on the turntable. The turntable can be rotated clockwise or counterclockwise by the turntable servo motor installed at the bottom; the pre-pressing station is arranged at the magnetic steel sheet clamp at the starting position of the turntable, and the pre-pressing station specifically includes a magnetic steel sheet pre-assembly mechanism and a magnetic steel sheet pre-pressing clamp. The magnetic steel sheet pre-assembly mechanism cooperates with the magnetic steel sheet pre-pressing clamp to perform a magnetic steel sheet pre-pressing process on the magnetic steel sheet clamp. The pressing station is arranged at the position reached when the turntable rotates 120°. The pressing station includes a magnetic steel sheet pressing mechanism and a magnetic steel sheet pressing clamp. The magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing clamp cooperate with each other to press the magnetic steel sheets and the rotor core on the magnetic steel sheet clamp.

[0012] As a further improvement, two sets of magnetic steel sheet pressing mechanisms and magnetic steel sheet pressing fixtures are arranged on the pressing station, one set is arranged at the position where the magnetic steel sheet fixture reaches when the turntable rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the turntable rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary. The magnetic steel sheet fixtures movably arranged on the turntable can also be replaced with different magnetic steel sheet fixtures according to different products. In this way, one device can press-fit a variety of products. The two sets of magnetic steel sheet pressing mechanisms are erected above the turntable through a magnetic steel sheet pressing mounting bracket, and the magnetic steel sheet pressing fixtures at both ends are installed on the bottom of the turntable, and each is aligned with the position of the upper magnetic steel sheet pressing mechanism.

[0013] As a further improvement, the magnetic steel sheet preassembly mechanism is installed at the bottom of the turntable, and the magnetic steel sheet pre-pressing clamp is installed on the side of the turntable; the magnetic steel sheet preassembly mechanism includes a magnetic steel sheet preassembly upper mounting plate and a magnetic steel sheet preassembly lower mounting plate arranged in parallel with each other, a magnetic steel sheet preassembly lifting column is provided on each side between the magnetic steel sheet preassembly upper mounting plate and the magnetic steel sheet preassembly lower mounting plate, and a magnetic steel sheet preassembly lifting bracket is also provided between the magnetic steel sheet preassembly upper mounting plate and the magnetic steel sheet preassembly lower mounting plate. A magnetic steel sheet pre-assembled lifting cylinder is provided at the bottom of the magnetic steel sheet pre-assembled lower mounting plate, and the output end of the magnetic steel sheet pre-assembled lifting cylinder extends upward through the magnetic steel sheet pre-assembled lower mounting plate until it abuts against the bottom of the magnetic steel sheet pre-assembled lifting bracket, and a magnetic steel sheet pre-assembled servo motor is provided at the bottom of the magnetic steel sheet pre-assembled upper mounting plate, and a magnetic steel sheet pre-assembled swivel bracket is also provided on the magnetic steel sheet pre-assembled upper mounting plate, and a magnetic steel sheet pre-assembled swivel is installed on the magnetic steel sheet pre-assembled swivel bracket, and the magnetic steel sheet pre-assembled swivel extends into the magnetic steel sheet In the fixture, the output end of the magnetic steel sheet pre-assembled servo motor extends upward through the magnetic steel sheet pre-assembled upper mounting plate until it is connected to the magnetic steel sheet pre-assembled rotating head; the magnetic steel sheet pre-compression fixture includes a magnetic steel sheet pre-compression fixture bracket installed on the workbench and located on the side of the turntable, a movable slide cylinder that can move up and down is installed on the magnetic steel sheet pre-compression fixture bracket, a pre-compression head mounting arm extending above the turntable is installed on the movable slide cylinder, and a detachable pre-compression head mounting arm is installed on the pre-compression head mounting arm. A clamping head, the pre-compression head is provided with a knob plunger, and is detachably mounted on the pre-compression head mounting arm through the knob plunger. Different pre-compression heads can be replaced according to different products. Different pressure head identification sensors are also provided on the pre-compression head mounting arm. A magnetic steel sheet detection sensor and an iron core detection sensor are also provided on the magnetic steel sheet pre-compression clamp bracket. The detection points of the magnetic steel sheet detection sensor and the iron core detection sensor are aligned with the magnetic steel sheet clamp at the starting position on the turntable.

[0014] As a further improvement, the two sets of magnetic steel sheet pressing mechanisms each include a magnetic steel sheet iron core pressing booster cylinder and a magnetic steel sheet pressing head. The magnetic steel sheet iron core pressing booster cylinder is installed on the magnetic steel sheet pressing mounting bracket, and its output end extends vertically downward to align with the magnetic steel sheet fixture on the turntable. The magnetic steel sheet pressing head is installed on the output end of the magnetic steel sheet iron core pressing booster cylinder, and different products use different magnetic steel sheet pressing heads; the two sets of magnetic steel sheet pressing fixtures each include a magnetic steel sheet pressing bottom composed of three pieces The magnetic steel sheet press-fitting bracket has a three-layer structure composed of plates, a press-fitting magnetic steel sheet lifting cylinder is provided at the bottom of the magnetic steel sheet press-fitting bottom plate of the bottom layer, the output end of the press-fitting magnetic steel sheet lifting cylinder extends upward through the magnetic steel sheet press-fitting bottom plate of the bottom layer, and abuts against the bottom of the magnetic steel sheet press-fitting bottom plate of the second layer, the first layer of the magnetic steel sheet press-fitting bracket is a fixed layer, the second layer of the magnetic steel sheet press-fitting bracket is a compressible active layer, and a buffer is provided in the middle of the magnetic steel sheet press-fitting bottom plate of the second layer. A punch shaft, a supporting shaft is provided on the buffer shaft, the supporting shaft extends upward through the third layer of the magnetic steel sheet pressing base plate, a magnetic steel sheet core pressing mounting seat is provided on the supporting shaft, the magnetic steel sheet core pressing is installed on the magnetic steel sheet core pressing mounting seat and extends upward, a magnetic steel sheet core pressing magnetic steel sheet core pressing mounting plate is supported on the third layer of the magnetic steel sheet pressing base plate through two pillars, a magnetic steel sheet press is provided on the magnetic steel sheet core pressing mounting plate, the magnetic steel sheet core pressing passes through the magnetic steel sheet press and can continue to extend upward until it reaches the magnetic steel sheet clamp, which is used to press the magnetic steel sheet on the magnetic steel sheet clamp onto the rotor core, and two guide cylinders and a cylinder with guide rods are also installed on the third layer of the magnetic steel sheet pressing base plate, the two guide cylinders are respectively located at the two ends of the magnetic steel sheet core pressing mounting plate, the cylinder with guide rods is located on the periphery of the magnetic steel sheet core pressing mounting seat, the magnetic steel sheet press is matched with the magnetic steel sheet core pressing shape, and different magnetic steel sheet cores and magnetic steel sheet presses can be used according to different products.

[0015] As a further improvement, the magnetic steel sheet conveyor belt can be set as two groups of magnetic steel sheet conveyor belts, each group of magnetic steel sheet conveyor belts is provided with two magnetic steel sheet conveyor lines, each magnetic steel sheet conveyor line is provided with a magnetic steel sheet detection sensor to detect whether there is a shortage of material, and a magnetic steel sheet limiting device is also provided at the end of each magnetic steel sheet conveyor line; a material picking manipulator is provided at the end of each group of magnetic steel sheet conveyor belts; the material picking manipulator includes a material picking manipulator bracket, the material picking manipulator bracket is installed on the workbench and is located at the end of the magnetic steel sheet conveyor belt, a material picking transverse moving component is provided on the material picking manipulator bracket, a material picking up and down moving slide cylinder is provided on the material picking transverse moving component, and a material picking claw is provided at the output end of the material picking up and down moving slide cylinder, and the material picking claw includes a material picking claw driving cylinder and a left material picking clamp block and a right material picking clamp block, and the left material picking clamp block and the right material picking clamp block are arranged opposite to each other, and the left material picking clamp block and the right material picking clamp block are driven by the material picking claw driving cylinder to open and pick up the material;

[0016] The magnetic steel sheet magnetizing station includes two magnetizing conveyor belts, the starting ends of the two magnetizing conveyor belts are respectively connected to the ends of the two groups of magnetic steel sheet conveyor belts, a magnetic steel sheet magnetizing clamp is provided on each magnetizing conveyor belt, and a magnetic steel sheet in-place detection sensor is also provided at the magnetizing clamp to detect whether the magnetic steel sheet has reached the magnetization position in the magnetizing clamp, and a magnetic steel sheet loading robot is provided at the end of each magnetizing conveyor belt, the magnetic steel sheet loading robot includes a magnetic steel sheet loading robot bracket, the magnetic steel sheet loading robot bracket is installed on the side of the workbench at the end of the magnetizing conveyor belt, a magnetic steel sheet loading lateral moving component is provided on the magnetic steel sheet loading robot bracket, a magnetic steel sheet loading up and down moving slide cylinder is provided on the magnetic steel sheet loading lateral moving component, and a magnetic steel sheet loading robot body is installed at the output end of the up and down moving slide cylinder.

[0017] As a further improvement, a magnetic steel sheet terminal positioning device is also provided at the end of the magnetized conveyor belt, and the magnetic steel sheet terminal positioning device includes a magnetic steel sheet terminal positioning mounting bracket, a product positioning clamp cylinder is installed on the magnetic steel sheet terminal positioning mounting bracket, a product positioning clamp is installed at the output end of the product positioning clamp cylinder, the product positioning clamp is located on the end of the magnetized conveyor belt, and a product presence detection sensor is also provided on the magnetic steel sheet terminal positioning mounting bracket.

[0018] A press-fitting method for automatically press-fitting magnetic steel sheets into a rotor core, characterized in that it comprises the following steps:

[0019] S1, magnetic steel sheet conveying, manually place the magnetic steel sheet on two sets of magnetic steel sheet conveyor belts, the magnetic steel sheet conveyor belts are equipped with magnetic steel sheet detection sensors to detect the lack of material reminder; the magnetic steel sheet is conveyed to the material taking place at the end of the magnetic steel sheet conveyor belt, and the material taking robot takes a magnetic steel sheet and places it on the magnetized conveyor belt;

[0020] S2, magnetizing the magnetic steel sheet. Two magnetizing conveyor belts operate simultaneously to convey the magnetic steel sheet to the magnetizing fixture for magnetization. The magnetizing fixture is provided with a magnetic steel sheet arrival detection sensor to detect whether the magnetic steel sheet has reached the magnetizing position in the magnetizing fixture. The magnetic steel sheet that has reached the magnetizing position is magnetized by the magnetizing fixture.

[0021] S3, after magnetization is completed, the magnetic steel sheet continues to be transported by the magnetization conveyor belt to the magnetic steel sheet terminal positioning device, waiting for the magnetic steel sheet loading manipulator to grab and load it into the magnetic steel sheet fixture; the magnetic steel sheet loading manipulators at the ends of the two magnetization conveyor belts can grab the magnetic steel sheet and load it into the magnetic steel sheet fixture at the same time;

[0022] S4, pre-pressing and installing the magnetic steel sheet. The magnetic steel sheet loading manipulator grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture. The magnetic steel sheet is evenly placed in the magnetic steel sheet fixture. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture synchronously descends to drive the pre-pressing pressure head to press down the magnetic steel sheet in the magnetic steel sheet fixture, and then resets. When pre-pressing and installing the magnetic steel sheet, different pre-pressing pressure heads can be replaced for different products.

[0023] S5, continue to load the magnetic steel sheet, the rotary table servo motor drives the rotary table to rotate so that the magnetic steel sheet fixtures on the rotary table are all rotated to the magnetic steel sheet loading manipulator, and the magnetic steel sheet loading manipulator loads the magnetic steel sheet into the magnetic steel sheet fixture;

[0024] S6, magnetic steel sheet press-fitting. After the magnetic steel sheet is installed in the magnetic steel sheet fixture, the turntable servo motor drives the turntable to rotate 120° to the press-fitting station. The robot gripper on the robot handling station grabs the iron core delivered by the rotor conveyor belt to be installed, rotates 180° and puts it into the magnetic steel sheet fixture that has arrived at the press-fitting station. Then the robot gripper releases the iron core and waits. The magnetic steel sheet iron core press-fitting booster cylinder of the magnetic steel sheet press-fitting mechanism drives the magnetic steel sheet pressing head to press down. At the same time, the guide cylinder of the magnetic steel sheet press-fitting fixture extends out, and the guide rod cylinder extends out. The press-fitting magnetic steel sheet lifting cylinder extends out to drive the magnetic steel sheet pressing head to extend into the magnetic steel sheet. In the sheet fixture, the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset; according to the characteristic that the rotating disk can rotate clockwise or counterclockwise, two sets of magnetic steel sheet pressing mechanisms and magnetic steel sheet pressing fixtures are arranged on the pressing station, one set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary, so that one device can press multiple products;

[0025] S7. After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

[0026] As a further improvement, when pressing and installing 8 iron cores, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 8 magnetic steel sheets are evenly distributed and placed in the magnetic steel sheet fixture. Two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one After the magnetic steel sheet on the magnetic steel sheet fixture is loaded, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 45°; the two assembled magnetic steel sheet manipulators grab the magnets again, rotate 180° and put them into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 8 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° counterclockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 8 magnetic steel sheets;

[0027] The robot gripper on the robot handling station grabs the iron core delivered by the rotor conveyor belt to be installed. After grabbing the iron core, it is rotated 180° and placed in the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 8-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends out, and the rear guide rod cylinder extends out, and the pressing magnetic steel sheet lifting cylinder extends out to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset.

[0028] After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

[0029] Further improvement, when press-fitting 10 iron cores, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 10 magnetic steel sheets are evenly placed in the magnetic steel sheet fixture, and two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one After the magnetic steel sheet is on the magnetic steel sheet fixture, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 72°; the two assembled magnetic steel sheet manipulators grab the magnet again, rotate 180° and put it into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 10 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° clockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 10 magnetic steel sheets;

[0030] The robot gripper on the robot handling station grabs the iron core conveyed by the rotor conveyor belt to be installed. After grabbing the iron core, it rotates 180 degrees and is placed on the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 10-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends and the guide rod cylinder extends, and the pressing magnetic steel sheet lifting cylinder extends to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset;

[0031] After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

[0032] Beneficial Effects

[0033] The beneficial effects are as follows: the equipment of the present invention can automatically feed, automatically magnetize, automatically press and automatically take out materials, and fully realize automated production in the field of pressing magnetic steel sheets into iron cores; and the equipment of the present invention can press two different products on the same equipment through the design of a turntable and two sets of pressing mechanisms, thereby improving work efficiency, reducing labor intensity, and saving production costs for the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described below with reference to the accompanying drawings and implementation examples.

[0035] Figure 1 It is the overall structure top view of the present invention:

[0036] Figure 2 It is a structural schematic diagram of the magnetic steel sheet pressing station and the robot handling station of the present invention;

[0037] Figure 3 It is a structural schematic diagram of the magnetic steel sheet press-fitting station of the present invention;

[0038] Figure 4 It is a structural schematic diagram of the magnetic steel sheet preassembly mechanism of the present invention;

[0039] Figure 5 It is a structural schematic diagram of the magnetic steel sheet pre-compression fixture of the present invention;

[0040] Figure 6 It is a structural schematic diagram of the magnetic steel sheet press-fitting fixture of the present invention;

[0041] Figure 7 This is the action flow chart of the rotating disk with 10 magnetic steel sheets;

[0042] Figure 8This is the action flow chart of the rotating disk with 8 magnetic steel sheets;

[0043] Fig. 9 It is a structural schematic diagram of the material taking manipulator of the present invention;

[0044] Fig.10 It is a structural schematic diagram of a magnetic steel sheet loading manipulator of the present invention;

[0045] Fig.11 It is a structural schematic diagram of the magnetic steel sheet terminal positioning device of the present invention;

[0046] Fig.12 It is a structural schematic diagram of the magnetizing station of the present invention. DETAILED DESCRIPTION

[0047] In order to have a further understanding and recognition of the structural features and the effects achieved by the present invention, a preferred embodiment and accompanying drawings are used for detailed description as follows:

[0048] like Figure 1-11 As shown, a device for automatically pressing magnetic steel sheets into a rotor core comprises a workbench 1, at both ends of which a magnetic steel sheet conveyor belt 2 and a rotor core conveyor belt 3 are provided, the ends of the magnetic steel sheet conveyor belt 1 and the rotor core conveyor belt 3 both extend onto the workbench 1, and on the workbench 1, from the end of the magnetic steel sheet conveyor belt 2 to the end of the rotor core conveyor belt 3, a magnetic steel sheet magnetizing station 4, a magnetic steel sheet pressing station 5 and a robot handling station 6 are provided in sequence;

[0049] The magnetic steel sheet conveyor belt 2 is driven by a magnetic steel sheet conveying motor and is used to convey the magnetic steel sheet; a material taking manipulator 7 is provided at the end of the magnetic steel sheet conveyor belt, and the material taking manipulator 7 is installed on the workbench 1 and is used to take out the magnetic steel sheet on the magnetic steel sheet conveyor belt 2 and put it into the magnetic steel sheet magnetizing station 4;

[0050] The magnetic steel sheet magnetizing station 4 includes a magnetizing conveying belt 41 and a magnetic steel sheet magnetizing fixture 42. The magnetizing conveying belt 41 is mounted on a workbench. The magnetizing conveying belt 41 is driven by a magnetizing conveying motor 43. The magnetic steel sheet magnetizing fixture 42 is arranged on the magnetizing conveying belt 41 for magnetizing the magnetic steel sheet. A magnetic steel sheet loading manipulator 8 is arranged at the end of the magnetizing conveying belt 41 for taking the magnetized magnetic steel sheet out of the magnetizing conveying belt and placing it in the magnetic steel sheet pressing station 5.

[0051] The magnetic steel sheet press-fitting station 5 includes a magnetic steel sheet fixture installation disk, which is installed on the workbench and located behind the magnetizing conveyor belt. A plurality of magnetic steel sheet fixtures are movably arranged on the magnetic steel sheet fixture installation disk. A pre-pressing station 51 and a press-fitting station 52 are arranged at the magnetic steel sheet fixture. The pre-pressing station 51 is used to pre-press the magnetic steel sheet on the magnetic steel sheet fixture, and the press-fitting station 52 presses the magnetic steel sheet on the magnetic steel sheet fixture into the iron core by pressing up and down.

[0052] The robot handling station 6 includes a robot gripper 61, which is mounted on the workbench 1 through a robot gripper bracket 62, and is located between the press-fitting station 52 and the rotor core conveyor belt 3, and is used to grab the core conveyed by the rotor core conveyor belt and place it on the magnetic steel sheet fixture on the magnetic steel sheet fixture mounting plate, and also take the pressed rotor core out of the magnetic steel sheet fixture and put it on the rotor core conveyor belt;

[0053] The rotor core conveyor belt 3 comprises a rotor conveyor belt 31 to be loaded and a finished product conveyor belt 32 .

[0054] The magnetic steel sheet fixture installation disk is a circular rotating disk 53, on which six magnetic steel sheet fixtures 54 are evenly distributed. The rotating disk 53 can be driven by a rotating disk servo motor installed at the bottom to rotate clockwise or counterclockwise. The pre-pressing station 51 is set at the magnetic steel sheet fixture 54 at the starting position of the rotating disk 53. The pre-pressing station 51 specifically includes a magnetic steel sheet pre-assembly mechanism 511 and a magnetic steel sheet pre-pressing fixture 512. The pre-assembly mechanism 511 cooperates with the magnetic steel sheet pre-pressing fixture 512 to perform the magnetic steel sheet pre-pressing process on the magnetic steel sheet fixture. The pressing station 52 is set at the position where the magnetic steel sheet fixture reaches when the turntable rotates 120°. The pressing station 52 includes a magnetic steel sheet pressing mechanism 521 and a magnetic steel sheet pressing fixture 522. The magnetic steel sheet pressing mechanism 521 and the magnetic steel sheet pressing fixture 522 cooperate with each other to press the magnetic steel sheets and the rotor core on the magnetic steel sheet fixture.

[0055] like Figure 2-3 As shown, two sets of magnetic steel sheet pressing mechanisms 521 and magnetic steel sheet pressing fixtures 522 are arranged on the pressing station 52, one set is arranged at the position where the magnetic steel sheet fixture reaches when the turntable rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the turntable rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary. The magnetic steel sheet fixtures movably arranged on the turntable can also be replaced with different magnetic steel sheet fixtures according to different products. In this way, one device can press-fit multiple products. The two sets of magnetic steel sheet pressing mechanisms are erected above the turntable through a magnetic steel sheet pressing mounting bracket 523, and the magnetic steel sheet pressing fixtures at both ends are installed on the bottom of the turntable, and each is aligned with the position of the upper magnetic steel sheet pressing mechanism.

[0056] like Figure 3-5 As shown, the magnetic steel sheet preassembly mechanism 511 is installed at the bottom of the rotating disk 53, and the magnetic steel sheet pre-pressing fixture 512 is installed on the side of the rotating disk 53; the magnetic steel sheet preassembly mechanism 511 includes a magnetic steel sheet preassembly upper mounting plate 5111 and a magnetic steel sheet preassembly lower mounting plate 5112 which are arranged in parallel with each other, and a magnetic steel sheet preassembly lifting column 5113 is respectively arranged on both sides between the magnetic steel sheet preassembly upper mounting plate 5111 and the magnetic steel sheet preassembly lower mounting plate 5112, and a magnetic steel sheet preassembly lifting bracket 5114 is also arranged between the magnetic steel sheet preassembly upper mounting plate 5111 and the magnetic steel sheet preassembly lower mounting plate 5112, A magnetic steel sheet pre-assembly lifting cylinder 5115 is provided at the bottom of the assembled lower mounting plate 5112, and the output end of the magnetic steel sheet pre-assembly lifting cylinder 5115 passes through the magnetic steel sheet pre-assembly lower mounting plate 5112 and extends upward until it abuts against the bottom of the magnetic steel sheet pre-assembly lifting bracket 5114, and a magnetic steel sheet pre-assembly servo motor 5116 is provided at the bottom of the magnetic steel sheet pre-assembly upper mounting plate 5111, and a magnetic steel sheet pre-assembly swivel bracket 5117 is also provided on the magnetic steel sheet pre-assembly upper mounting 5111, and a magnetic steel sheet pre-assembly swivel 5118 is installed on the magnetic steel sheet pre-assembly swivel bracket 5117, and the magnetic steel sheet pre-assembly swivel 5118 extends into the magnetic steel sheet clamp The output end of the magnetic steel sheet pre-assembly servo motor 5116 extends upward through the magnetic steel sheet pre-assembly upper mounting plate 5111 until it is connected to the magnetic steel sheet pre-assembly rotating head 5118; the magnetic steel sheet pre-compression fixture 512 includes a magnetic steel sheet pre-compression fixture bracket 5121 installed on the workbench and located on the side of the turntable 53, a movable slide cylinder 5122 that can move up and down is installed on the magnetic steel sheet pre-compression fixture bracket 5121, a pre-compression head mounting arm 5123 extending above the turntable is installed on the movable slide cylinder 5122, and a detachable pre-compression head 5124 is installed on the pre-compression head mounting arm 5123 A knob plunger 5125 is provided on the pre-pressing head 5124, and is detachably mounted on the pre-pressing head mounting arm 5123 through the knob plunger. The pre-pressing head 5125 can be replaced with different pre-pressing heads according to different products. Different pressure head identification sensors 5126 are also provided on the pre-pressing head mounting arm 5123. A magnetic steel sheet detection sensor 5127 and an iron core detection sensor 5128 are also provided on the magnetic steel sheet pre-pressing clamp bracket 5121. The detection points of the magnetic steel sheet detection sensor 5127 and the iron core detection sensor 5128 are both aligned with the magnetic steel sheet clamp at the starting position on the turntable.

[0057] like Figure 3 , Figure 6As shown, the two sets of magnetic steel sheet pressing mechanisms 521 both include a magnetic steel sheet iron core pressing booster cylinder 5211 and a magnetic steel sheet pressing head 5212. The magnetic steel sheet iron core pressing booster cylinder 5211 is installed on a magnetic steel sheet pressing mounting bracket 523, and its output end extends vertically downward to align with the magnetic steel sheet fixture on the rotating disk 53. The magnetic steel sheet pressing head 5212 is installed on the output end of the magnetic steel sheet iron core pressing booster cylinder 5211. Different products use different magnetic steel sheet pressing heads. The two sets of magnetic steel sheet pressing fixtures 522 both include a magnetic steel sheet pressing bottom plate composed of three magnetic steel sheet pressing bottom plates. The magnetic steel sheet press-fitting bracket 5221 has a three-layer structure. A press-fitting magnetic steel sheet lifting cylinder 5222 is provided at the bottom of the magnetic steel sheet press-fitting bottom plate of the bottom layer. The output end of the press-fitting magnetic steel sheet lifting cylinder 5222 extends upward through the magnetic steel sheet press-fitting bottom plate of the bottom layer and abuts against the bottom of the magnetic steel sheet press-fitting bottom plate of the second layer. The first layer of the magnetic steel sheet press-fitting bracket 5221 is a fixed layer, and the second layer of the magnetic steel sheet press-fitting bracket is a compressible movable layer. A buffer shaft 5223 is provided in the middle of the magnetic steel sheet press-fitting bottom plate of the second layer. A support shaft 5224 is provided on the top, and the support shaft 5224 extends upward through the third layer of the magnetic steel sheet pressing bottom plate, and a magnetic steel sheet pressing core mounting seat 5225 is provided on the support shaft 5224. The magnetic steel sheet pressing core 5226 is mounted on the magnetic steel sheet pressing core mounting seat 5225 and extends upward. A magnetic steel sheet pressing core magnetic steel sheet pressing core mounting plate 5227 is supported on the third layer of the magnetic steel sheet pressing bottom plate through two pillars, and a magnetic steel sheet pressing tool 5228 is provided on the magnetic steel sheet pressing core mounting plate 5227. The magnetic steel sheet pressing core 5226 is installed on the magnetic steel sheet pressing bottom plate 5227. The tool can continue to extend upward until it reaches the magnetic steel sheet clamp, which is used to press the magnetic steel sheet on the magnetic steel sheet clamp onto the rotor core. Two guide cylinders 5229 and a cylinder with guide rods 5220 are also installed on the magnetic steel sheet pressing base plate of the third layer. The two guide cylinders are respectively located at the two ends of the magnetic steel sheet core pressing mounting plate 5227, and the cylinder with guide rod 5220 is located on the periphery of the magnetic steel sheet core pressing mounting seat 5225. The magnetic steel sheet press is matched with the shape of the magnetic steel sheet core. Different magnetic steel sheet cores and magnetic steel sheet presses can be used according to different products.

[0058] like Figure 7-8As shown, specifically, the rotating disk is rotated 120° clockwise from the magnetic steel sheet pre-pressing station 51, and the position where the magnetic steel sheet clamp reaches is the pressing station 52A for pressing 10 magnetic steel sheets. Then the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of the iron core of 10 magnetic steel sheets; the rotating disk is rotated 120° counterclockwise from the magnetic steel sheet pre-pressing station 51, and the position where the magnetic steel sheet clamp reaches is the pressing station 52B for pressing 8 magnetic steel sheets. Then the magnetic steel sheet pressing mechanism here is The magnetic steel sheet pressing head and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are all in the shape of an 8-piece magnetic steel sheet iron core. The six magnetic steel sheet fixtures on the turntable, the 10-piece fixture and the 8-piece fixture are cross-arranged. When pressing 10-piece magnetic steel sheets, the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture of the pressing station 52B for pressing 8-piece magnetic steel sheets remain stationary, and this station is an empty station; when pressing 8-piece magnetic steel sheets, the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture of the pressing station 52A for pressing 10-piece magnetic steel sheets remain stationary, and this station is an empty station;

[0059] The magnetic steel sheet conveyor belt, magnetic steel sheet magnetizing station and rotor core conveyor belt can be shared by both products.

[0060] The magnetic steel sheet conveyor belt 2 can be set as two groups of magnetic steel sheet conveyor belts, and two magnetic steel sheet conveyor lines 21 are provided on each group of magnetic steel sheet conveyor belts. A magnetic steel sheet detection sensor is provided on each magnetic steel sheet conveyor line to detect whether there is a shortage of material. A magnetic steel sheet limiting device is also provided at the end of each magnetic steel sheet conveyor line; a material taking robot 7 is provided at the end of each group of magnetic steel sheet conveyor belts; Fig. 9 As shown, the material picking manipulator 7 includes a material picking manipulator bracket 71, which is installed on the workbench and located at the end of each group of magnetic steel sheet conveyor belts 2. A material picking transverse moving component 72 is provided on the material picking manipulator bracket 71, and a material picking up and down moving slide cylinder 73 is provided on the material picking transverse moving component 72. A material picking claw is provided at the output end of the material picking up and down moving slide cylinder 73, and the material picking claw includes a material picking claw driving cylinder 74 and a left material picking clamp block 75 and a right material picking clamp block 76. The left material picking clamp block 75 and the right material picking clamp block 76 are arranged opposite to each other, and the left material picking clamp block and the right material picking clamp block are driven by the material picking claw driving cylinder 74 to open and pick up materials;

[0061] The magnetic steel sheet magnetizing station includes two magnetizing conveying belts 41, the starting ends of the two magnetizing conveying belts are respectively connected to the ends of the two sets of magnetic steel sheet conveying belts 2, and a magnetic steel sheet magnetizing fixture 42 is provided on each magnetizing conveying belt. A magnetic steel sheet arrival detection sensor is also provided at the magnetizing fixture to detect whether the magnetic steel sheet has reached the magnetizing position in the magnetizing fixture. A magnetic steel sheet loading manipulator 8 is provided at the end of each magnetizing conveying belt. Fig.10As shown, the magnetic steel sheet loading robot 8 includes a magnetic steel sheet loading robot bracket 81, which is installed on the side of the workbench at the end of the magnetizing conveyor belt, and a magnetic steel sheet loading lateral moving component 82 is provided on the magnetic steel sheet loading robot bracket 81, and a magnetic steel sheet loading up and down moving slide cylinder 83 is provided on the magnetic steel sheet loading lateral moving component 82, and a magnetic steel sheet loading robot body 84 is installed at the output end of the up and down moving slide cylinder 83.

[0062] A magnetic steel sheet terminal positioning device 9 is also provided at the end of the magnetized conveyor belt. Fig.11 As shown, the magnetic steel sheet terminal positioning device 9 includes a magnetic steel sheet terminal positioning mounting bracket 91, a product positioning clamp cylinder 92 is installed on the magnetic steel sheet terminal positioning mounting bracket 91, a product positioning clamp 93 is installed at the output end of the product positioning clamp cylinder 92, the product positioning clamp 93 is located on the end of the magnetized conveyor belt, and a product presence detection sensor 94 is also provided on the magnetic steel sheet terminal positioning mounting bracket 91, which is used to detect whether there is a magnetic steel sheet at the end of the magnetized conveyor belt, so that the magnetic steel sheet robot can accurately clamp it.

[0063] A press-fitting method for automatically press-fitting magnetic steel sheets into a rotor core, characterized in that it comprises the following steps:

[0064] S1, magnetic steel sheet conveying, manually placing the magnetic steel sheet on two sets of magnetic steel sheet conveyor belts 2, the magnetic steel sheet conveyor belts are provided with magnetic steel sheet detection sensors, detecting and reminding of lack of material; the magnetic steel sheet is conveyed to the material taking place at the end of the magnetic steel sheet conveyor belt, and the material taking manipulator 7 takes a magnetic steel sheet and places it on the magnetizing conveyor belt 41;

[0065] S2, magnetizing the magnetic steel sheet. Two magnetizing conveying belts 41 operate simultaneously to convey the magnetic steel sheet to the magnetizing fixture 42 for magnetization. The magnetizing fixture is provided with a magnetic steel sheet arrival detection sensor to detect whether the magnetic steel sheet has arrived at the magnetizing position in the magnetizing fixture. The magnetic steel sheet that has arrived at the magnetizing position is magnetized through the magnetizing fixture 42;

[0066] S3, after magnetization is completed, the magnetic steel sheet continues to be transported by the magnetization conveyor belt 41 to the magnetic steel sheet terminal positioning device 9, waiting for the magnetic steel sheet loading manipulator 8 to grab and load it into the magnetic steel sheet fixture; the magnetic steel sheet loading manipulators at the ends of the two magnetization conveyor belts can grab the magnetic steel sheet at the same time and load it into the magnetic steel sheet fixture 54;

[0067] S4, pre-pressing the magnetic steel sheet, the magnetic steel sheet loading manipulator 8 grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture 54, the magnetic steel sheet is evenly placed in the magnetic steel sheet fixture, the moving slide cylinder 5122 of the magnetic steel sheet pre-pressing fixture 512 synchronously descends to drive the pre-pressing pressure head 5125 to press down the magnetic steel sheet in the magnetic steel sheet fixture, and then resets; when pre-pressing the magnetic steel sheet, different pre-pressing pressure heads can be replaced for different products;

[0068] S5, continue to load the magnetic steel sheet, the rotary table servo motor drives the rotary table 53 to rotate so that the magnetic steel sheet fixtures 54 on the rotary table are all rotated to the magnetic steel sheet loading manipulator 8, and the magnetic steel sheet loading manipulator 8 loads the magnetic steel sheet into the magnetic steel sheet fixture 54;

[0069] S6, magnetic steel sheet press-fitting. After the magnetic steel sheet is installed in the magnetic steel sheet fixture 54, the turntable servo motor drives the turntable 53 to rotate 120° to the press-fitting station. The robot gripper 61 on the robot handling station 6 grabs the iron core to be installed from the rotor conveyor belt 31, rotates 180° and puts it into the magnetic steel sheet fixture that has arrived at the press-fitting station. Then the robot gripper releases the iron core and waits. The magnetic steel sheet iron core press-fitting booster cylinder 5211 of the magnetic steel sheet press-fitting mechanism drives the magnetic steel sheet pressing head 5212 to press down. At the same time, the guide cylinder 5229 of the magnetic steel sheet press-fitting fixture 522 extends out, and the guide rod cylinder 5220 extends out to press the magnetic steel sheet lifting cylinder 522. 2. Extend the driving magnetic steel sheet pressure head and extend it into the magnetic steel sheet fixture. The magnetic steel sheet pressure head 5212 cooperates with the magnetic steel sheet pressure core 5226 to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset; according to the characteristics that the rotating disk can rotate clockwise or counterclockwise, two sets of magnetic steel sheet pressing mechanisms and magnetic steel sheet pressing fixtures are arranged on the pressing station, one set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary, so that one device can press and assemble multiple products;

[0070] S7, after the press-fitting is completed, the robot gripper 61 grabs the press-fitted product and places it on the finished product conveyor belt 32.

[0071] When pressing and installing 8 iron cores, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 8 magnetic steel sheets are evenly distributed and placed in the magnetic steel sheet fixture. Two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one magnetic steel sheet After the magnetic steel sheet on the fixture, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 45°; the two assembled magnetic steel sheet manipulators grab the magnet again, rotate 180° and put it into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 8 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° counterclockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 8 magnetic steel sheets;

[0072] The robot gripper on the robot handling station grabs the iron core delivered by the rotor conveyor belt to be installed. After grabbing the iron core, it is rotated 180° and placed in the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 8-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends out, and the rear guide rod cylinder extends out, and the pressing magnetic steel sheet lifting cylinder extends out to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset.

[0073] After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

[0074] When 10 iron cores are pressed, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 10 magnetic steel sheets are evenly distributed and placed in the magnetic steel sheet fixture. Two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one magnetic steel sheet After the magnetic steel sheet on the fixture, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 72°; the two assembled magnetic steel sheet manipulators grab the magnet again, rotate 180° and put it into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 10 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° clockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 10 magnetic steel sheets;

[0075] The robot gripper on the robot handling station grabs the iron core conveyed by the rotor conveyor belt to be installed. After grabbing the iron core, it rotates 180° and is placed on the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 10-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends and the guide rod cylinder extends, and the pressing magnetic steel sheet lifting cylinder extends to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset;

[0076] After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

[0077] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. All equivalent changes and modifications to the shapes, structures, features and spirits described in the claims of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A device for automatically pressing magnetic steel sheets into a rotor core, characterized in that: It comprises a workbench, at both ends of which a magnetic steel sheet conveyor belt and a rotor core conveyor belt are respectively provided, the ends of the magnetic steel sheet conveyor belt and the rotor core conveyor belt both extend to the workbench, and on the workbench, from the end of the magnetic steel sheet conveyor belt to the end of the rotor core conveyor belt, a magnetic steel sheet magnetization station, a magnetic steel sheet pressing station and a robot handling station are sequentially provided; The magnetic steel sheet conveyor belt is driven by a magnetic steel sheet conveying motor and is used to convey magnetic steel sheets; a material taking manipulator is provided at the end of the magnetic steel sheet conveyor belt, and the material taking manipulator is installed on the workbench and is used to take out the magnetic steel sheets on the magnetic steel sheet conveyor belt and put them into the magnetic steel sheet magnetization station; The magnetizing station of the magnetic steel sheet comprises a magnetizing conveying belt and a magnetizing fixture of the magnetic steel sheet. The magnetizing conveying belt is mounted on the workbench and driven by a magnetizing conveying motor. The magnetizing fixture of the magnetic steel sheet is arranged on the magnetizing conveying belt and is used to magnetize the magnetic steel sheet. A magnetizing steel sheet manipulator is arranged at the end of the magnetizing conveying belt and is used to take the magnetized magnetic steel sheet out of the magnetizing conveying belt and put it into the magnetic steel sheet pressing station. The magnetic steel sheet press-fitting station includes a magnetic steel sheet fixture installation disk, which is installed on the workbench and located behind the magnetizing conveyor belt. A plurality of magnetic steel sheet fixtures are movably arranged on the magnetic steel sheet fixture installation disk. A pre-pressing station and a press-fitting station are provided at the magnetic steel sheet fixture. The pre-pressing station is used to pre-press the magnetic steel sheet on the magnetic steel sheet fixture, and the press-fitting station presses the magnetic steel sheet on the magnetic steel sheet fixture into the iron core by pressing up and down; The robot handling station includes a robot gripper, which is mounted on the workbench through a robot gripper bracket and is located between the press-fit station and the rotor core conveyor belt, and is used to grab the core conveyed by the rotor core conveyor belt and place it on the magnetic steel sheet fixture on the magnetic steel sheet fixture installation disk, and also take the pressed rotor core out of the magnetic steel sheet fixture and put it on the rotor core conveyor belt; The rotor core conveyor belt includes a conveyor belt for rotors to be installed and a conveyor belt for finished products; The magnetic steel sheet fixture installation disk is a circular turntable, and six magnetic steel sheet fixtures are evenly distributed on the turntable. The turntable can be driven by a turntable servo motor installed at the bottom to rotate clockwise or counterclockwise; the pre-pressing station is arranged at the magnetic steel sheet fixture at the starting position of the turntable, and the pre-pressing station specifically includes a magnetic steel sheet pre-assembly mechanism and a magnetic steel sheet pre-pressing fixture, and the magnetic steel sheet pre-assembly mechanism cooperates with the magnetic steel sheet pre-pressing fixture to perform a magnetic steel sheet pre-pressing process on the magnetic steel sheet fixture, and the pressing station is arranged at the position reached by the turntable rotating 120°, and the pressing station includes a magnetic steel sheet pressing mechanism and a magnetic steel sheet pressing fixture, and the magnetic steel sheet pressing mechanism cooperates with the magnetic steel sheet pressing fixture to press the magnetic steel sheet and the rotor core on the magnetic steel sheet fixture; According to the characteristic that the rotating disk can rotate clockwise or counterclockwise, two sets of magnetic steel sheet pressing mechanisms and magnetic steel sheet pressing fixtures are arranged on the pressing station, one set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary. The magnetic steel sheet fixtures movably arranged on the rotating disk can also be replaced with different magnetic steel sheet fixtures according to different products. In this way, one device can press and assemble multiple products. The two sets of magnetic steel sheet pressing mechanisms are erected above the rotating disk through a magnetic steel sheet pressing installation bracket. The magnetic steel sheet pressing fixtures at both ends are installed at the bottom of the rotating disk, and each is aligned with the position of the magnetic steel sheet pressing mechanism above. The magnetic steel sheet preassembly mechanism is installed at the bottom of the turntable, and the magnetic steel sheet pre-pressing fixture is installed on the side of the turntable; the magnetic steel sheet preassembly mechanism includes a magnetic steel sheet preassembly upper mounting plate and a magnetic steel sheet preassembly lower mounting plate arranged in parallel with each other, a magnetic steel sheet preassembly lifting column is arranged on each side between the magnetic steel sheet preassembly upper mounting plate and the magnetic steel sheet preassembly lower mounting plate, and a magnetic steel sheet preassembly lifting bracket is also arranged between the magnetic steel sheet preassembly upper mounting plate and the magnetic steel sheet preassembly lower mounting plate. A magnetic steel sheet pre-assembled lifting cylinder is provided at the bottom of the lower mounting plate, and the output end of the magnetic steel sheet pre-assembled lifting cylinder extends upward through the magnetic steel sheet pre-assembled lower mounting plate until it abuts against the bottom of the magnetic steel sheet pre-assembled lifting bracket, and a magnetic steel sheet pre-assembled servo motor is provided at the bottom of the magnetic steel sheet pre-assembled upper mounting plate, and a magnetic steel sheet pre-assembled swivel bracket is also provided on the magnetic steel sheet pre-assembled upper mounting plate, and a magnetic steel sheet pre-assembled swivel is installed on the magnetic steel sheet pre-assembled swivel bracket, and the magnetic steel sheet pre-assembled swivel extends into the magnetic steel sheet fixture, The output end of the magnetic steel sheet pre-assembly servo motor extends upward through the magnetic steel sheet pre-assembly upper mounting plate until it is connected to the magnetic steel sheet pre-assembly rotary head; the magnetic steel sheet pre-compression clamp comprises a magnetic steel sheet pre-compression clamp bracket installed on the workbench and located on the side of the turntable, a movable slide cylinder that can move up and down is installed on the magnetic steel sheet pre-compression clamp bracket, a pre-compression head mounting arm extending above the turntable is installed on the movable slide cylinder, and a detachable pre-compression head mounting arm is installed on the pre-compression head mounting arm Head, the pre-pressing head is provided with a knob plunger, and is detachably mounted on the pre-pressing head mounting arm through the knob plunger, the pre-pressing head can be replaced with different pre-pressing heads according to different products, different head identification sensors are also provided on the pre-pressing head mounting arm, and the magnetic steel sheet pre-pressing clamp bracket is also provided with a magnetic steel sheet detection sensor and an iron core detection sensor, the detection points of the magnetic steel sheet detection sensor and the iron core detection sensor are both aligned with the magnetic steel sheet clamp at the starting position on the turntable.

2. The device for automatically pressing magnetic steel sheets into a rotor core according to claim 1, characterized in that: The two sets of magnetic steel sheet press-fitting mechanisms each include a magnetic steel sheet iron core press-fitting booster cylinder and a magnetic steel sheet pressing head. The magnetic steel sheet iron core press-fitting booster cylinder is installed on the magnetic steel sheet press-fitting mounting bracket, and its output end extends vertically downward to align with the magnetic steel sheet fixture on the rotary disk. The magnetic steel sheet pressing head is installed on the output end of the magnetic steel sheet iron core press-fitting booster cylinder. Different products use different magnetic steel sheet pressing heads. The two sets of magnetic steel sheet press-fitting fixtures each include a magnetic steel sheet press-fitting bottom plate composed of three magnetic steel sheet press-fitting bottom plates. A three-layer structure magnetic steel sheet press-fit bracket, a press-fit magnetic steel sheet lifting cylinder is provided at the bottom of the bottom magnetic steel sheet press-fit bottom plate, the output end of the press-fit magnetic steel sheet lifting cylinder extends upward through the bottom magnetic steel sheet press-fit bottom plate, and abuts against the bottom of the second magnetic steel sheet press-fit bottom plate, the first layer of the magnetic steel sheet press-fit bracket is a fixed layer, the second layer of the magnetic steel sheet press-fit bracket is a compressible active layer, a buffer shaft is provided in the middle of the second magnetic steel sheet press-fit bottom plate, A support shaft is provided on the buffer shaft, and the support shaft extends upward through the third-layer magnetic steel sheet pressing base plate, and a magnetic steel sheet core pressing mounting seat is provided on the support shaft. The magnetic steel sheet core is installed on the magnetic steel sheet core pressing mounting seat and extends upward. A magnetic steel sheet core pressing magnetic steel sheet core pressing mounting plate is supported on the third-layer magnetic steel sheet pressing base plate through two pillars, and a magnetic steel sheet press is provided on the magnetic steel sheet core pressing mounting plate. The magnetic steel sheet core passes through the magnetic steel sheet press and can continue to extend upward until it reaches the magnetic steel sheet clamp, which is used to press the magnetic steel sheet on the magnetic steel sheet clamp onto the rotor core. Two guide cylinders and a cylinder with guide rods are also installed on the third-layer magnetic steel sheet pressing base plate, and the two guide cylinders are respectively located at the two ends of the magnetic steel sheet core pressing mounting plate, and the cylinder with guide rods is located on the periphery of the magnetic steel sheet core pressing mounting seat. The magnetic steel sheet press is matched with the shape of the magnetic steel sheet core. Different magnetic steel sheet cores and magnetic steel sheet presses can be used according to different products.

3. The device for automatically pressing magnetic steel sheets into a rotor core according to claim 1, characterized in that: The magnetic steel sheet conveyor belt is set as two groups of magnetic steel sheet conveyor belts, and two magnetic steel sheet conveyor lines are arranged on each group of magnetic steel sheet conveyor belts, and a magnetic steel sheet detection sensor is arranged on each magnetic steel sheet conveyor line to detect whether there is a shortage of material, and a magnetic steel sheet limiting device is also arranged at the end of each magnetic steel sheet conveyor line; a material picking manipulator is arranged at the end of each group of magnetic steel sheet conveyor belts; the material picking manipulator includes a material picking manipulator bracket, and the material picking manipulator bracket is installed on the workbench and is located at the end of the magnetic steel sheet conveyor belt, and a material picking transverse moving component is arranged on the material picking manipulator bracket, and a material picking up and down moving slide cylinder is arranged on the material picking transverse moving component, and a material picking claw is arranged at the output end of the material picking up and down moving slide cylinder, and the material picking claw includes a material picking claw driving cylinder and a left material picking clamp block and a right material picking clamp block, and the left material picking clamp block and the right material picking clamp block are arranged opposite to each other, and the left material picking clamp block and the right material picking clamp block are driven by the material picking claw driving cylinder to open and pick up the material; The magnetic steel sheet magnetizing station includes two magnetizing conveyor belts, the starting ends of the two magnetizing conveyor belts are respectively connected to the ends of the two groups of magnetic steel sheet conveyor belts, a magnetic steel sheet magnetizing clamp is provided on each magnetizing conveyor belt, and a magnetic steel sheet in-place detection sensor is also provided at the magnetizing clamp to detect whether the magnetic steel sheet has reached the magnetization position in the magnetizing clamp, and a magnetic steel sheet loading robot is provided at the end of each magnetizing conveyor belt, the magnetic steel sheet loading robot includes a magnetic steel sheet loading robot bracket, the magnetic steel sheet loading robot bracket is installed on the side of the workbench at the end of the magnetizing conveyor belt, a magnetic steel sheet loading lateral moving component is provided on the magnetic steel sheet loading robot bracket, a magnetic steel sheet loading up and down moving slide cylinder is provided on the magnetic steel sheet loading lateral moving component, and a magnetic steel sheet loading robot body is installed at the output end of the up and down moving slide cylinder.

4. The device for automatically pressing magnetic steel sheets into a rotor core according to claim 3, characterized in that: A magnetic steel sheet terminal positioning device is also provided at the end of the magnetized conveyor belt, and the magnetic steel sheet terminal positioning device includes a magnetic steel sheet terminal positioning mounting bracket, a product positioning clamp cylinder is installed on the magnetic steel sheet terminal positioning mounting bracket, and a product positioning clamp is installed at the output end of the product positioning clamp cylinder, and the product positioning clamp is located on the end of the magnetized conveyor belt. A product presence detection sensor is also provided on the magnetic steel sheet terminal positioning mounting bracket.

5. A method for automatically pressing magnetic steel sheets into a rotor core, the method being implemented based on the device for automatically pressing magnetic steel sheets into a rotor core according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1, magnetic steel sheet conveying, manually place the magnetic steel sheet on two sets of magnetic steel sheet conveyor belts, the magnetic steel sheet conveyor belts are equipped with magnetic steel sheet detection sensors to detect the lack of material reminder; the magnetic steel sheet is conveyed to the material taking place at the end of the magnetic steel sheet conveyor belt, and the material taking robot takes a magnetic steel sheet and places it on the magnetized conveyor belt; S2, magnetizing the magnetic steel sheet. Two magnetizing conveyor belts operate simultaneously to convey the magnetic steel sheet to the magnetizing fixture for magnetization. The magnetizing fixture is provided with a magnetic steel sheet arrival detection sensor to detect whether the magnetic steel sheet has reached the magnetizing position in the magnetizing fixture. The magnetic steel sheet that has reached the magnetizing position is magnetized by the magnetizing fixture. S3, after magnetization is completed, the magnetic steel sheet continues to be transported by the magnetization conveyor belt to the magnetic steel sheet terminal positioning device, waiting for the magnetic steel sheet loading manipulator to grab and load it into the magnetic steel sheet fixture; the magnetic steel sheet loading manipulators at the ends of the two magnetization conveyor belts can grab the magnetic steel sheet and load it into the magnetic steel sheet fixture at the same time; S4, pre-pressing and installing the magnetic steel sheet. The magnetic steel sheet loading manipulator grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture. The magnetic steel sheet is evenly placed in the magnetic steel sheet fixture. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture synchronously descends to drive the pre-pressing pressure head to press down the magnetic steel sheet in the magnetic steel sheet fixture, and then resets. When pre-pressing and installing the magnetic steel sheet, different pre-pressing pressure heads can be replaced for different products. S5, continue to load the magnetic steel sheet, the rotary table servo motor drives the rotary table to rotate so that the magnetic steel sheet fixtures on the rotary table are all rotated to the magnetic steel sheet loading manipulator, and the magnetic steel sheet loading manipulator loads the magnetic steel sheet into the magnetic steel sheet fixture; S6, magnetic steel sheet press-fitting. After the magnetic steel sheet is installed in the magnetic steel sheet fixture, the turntable servo motor drives the turntable to rotate 120° to the press-fitting station. The robot gripper on the robot handling station grabs the iron core delivered by the rotor conveyor belt to be installed, rotates 180° and puts it into the magnetic steel sheet fixture that has arrived at the press-fitting station. Then the robot gripper releases the iron core and waits. The magnetic steel sheet iron core press-fitting booster cylinder of the magnetic steel sheet press-fitting mechanism drives the magnetic steel sheet pressing head to press down. At the same time, the guide cylinder of the magnetic steel sheet press-fitting fixture extends out, and the guide rod cylinder extends out. The press-fitting magnetic steel sheet lifting cylinder extends out to drive the magnetic steel sheet pressing head to extend into the magnetic steel sheet. In the sheet fixture, the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset; according to the characteristic that the rotating disk can rotate clockwise or counterclockwise, two sets of magnetic steel sheet pressing mechanisms and magnetic steel sheet pressing fixtures are arranged on the pressing station, one set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° clockwise; the other set is arranged at the position where the magnetic steel sheet fixture reaches when the rotating disk rotates 120° counterclockwise. When one set of pressing mechanisms is working, the other set of pressing mechanisms remains stationary, so that one device can press multiple products; S7. After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

6. A method for automatically pressing magnetic steel sheets into a rotor core according to claim 5, characterized in that: When pressing and installing 8 iron cores, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 8 magnetic steel sheets are evenly distributed and placed in the magnetic steel sheet fixture. Two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one magnetic steel sheet After the magnetic steel sheet on the fixture, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 45°; the two assembled magnetic steel sheet manipulators grab the magnet again, rotate 180° and put it into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 8 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° counterclockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 8 magnetic steel sheets; The robot gripper on the robot handling station grabs the iron core conveyed by the rotor conveyor belt to be installed. After grabbing the iron core, it rotates 180 degrees and is placed on the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 8-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends and the guide rod cylinder extends, and the pressing magnetic steel sheet lifting cylinder extends to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset; After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

7. A method for automatically pressing magnetic steel sheets into a rotor core according to claim 6, characterized in that: When 10 iron cores are pressed, the magnetic steel sheet loading robot grabs the magnetic steel sheet from the magnetizing conveyor belt and loads it into the magnetic steel sheet fixture at the magnetic steel sheet pre-pressing station. A total of 10 magnetic steel sheets are evenly distributed and placed in the magnetic steel sheet fixture. Two groups of robots each take four sheets and assemble them at 180 degrees; two groups of robots synchronously assemble each magnetic steel sheet, and the magnetic steel sheet is placed in the magnetic steel sheet fixture at the pre-pressing station. The moving slide cylinder of the magnetic steel sheet pre-pressing fixture is synchronously lowered for pre-pressing, and then all are reset; the two magnetic steel sheet assembly robots each install one magnetic steel sheet After the magnetic steel sheet on the fixture, the turntable servo motor drives the turntable to rotate and drive the magnetic steel sheet fixture to rotate 72°; the two assembled magnetic steel sheet manipulators grab the magnet again, rotate 180° and put it into the magnetic steel sheet fixture, and repeat the above actions until all the magnetic steel sheet fixtures are filled with 10 magnetic steel sheets; after the magnetic steel sheet fixture is loaded with magnetic steel sheets, the turntable rotates 120° clockwise to the pressing station, where the magnetic steel sheet pressing head of the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing core of the magnetic steel sheet pressing fixture are both in the shape of 10 magnetic steel sheets; The robot gripper on the robot handling station grabs the iron core conveyed by the rotor conveyor belt to be installed. After grabbing the iron core, it rotates 180° and is placed on the magnetic steel sheet fixture at the pressing station. At this time, the robot gripper releases the iron core and waits in position; the magnetic steel sheet iron core pressing booster cylinder of the magnetic steel sheet pressing mechanism drives the 10-piece magnetic steel sheet pressing head to press down, and the magnetic steel sheet pressing mechanism and the magnetic steel sheet pressing fixture on the other side are not started. While pressing down, the guide cylinder of the magnetic steel sheet pressing fixture extends and the guide rod cylinder extends, and the pressing magnetic steel sheet lifting cylinder extends to drive the magnetic steel sheet pressing head into the magnetic steel sheet fixture, and the magnetic steel sheet pressing head cooperates with the magnetic steel sheet pressing core to press the magnetic steel sheet in the magnetic steel sheet fixture onto the iron core, and then all the above cylinders are reset; After the pressing is completed, the robot gripper grabs the pressed product and puts it on the finished product conveyor belt.

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