Motor automatic assembly equipment and method

Abstract

The present invention discloses a motor automatic assembly device and method, which belongs to the field of equipment technology and is suitable for the assembly of a motor housing, a rubber cover and an armature. A vertical armature is installed inside the rubber cover, an armature shaft is arranged at the center of the armature, a metal pin is arranged on the back of the rubber cover, a buckle groove is preset on the circumferential side of the rubber cover, a buckle foot is preset at the bottom of the motor housing, and a positioning hole is preset on the side of the motor housing. The device includes a frame for the installation of a motor housing conveying and positioning mechanism, a motor assembly detection mechanism and a motor diversion mechanism. The present invention greatly reduces the dilemma of low quality caused by manual operation by automatically assembling and detecting the motor and the rubber cover, and improves the production capacity of motor automation to meet the increasing needs of enterprise production.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment, and in particular relates to a motor automatic assembly device and a method thereof. Background Art

[0002] Motors, also known as electric machines, are widely installed in equipment and products for use. The installation of the motor is to first install the armature with the armature shaft on the rubber cover, and then put it into the motor shell to fix the rubber cover on the motor shell. Traditional motor installation is manual operation, and there is no further inspection after the motor is assembled, which makes the reliability of the motor quality low, and the manual operation is unstable, which makes the motor pass rate low. In addition, the labor cost is getting higher and higher, and the burden on enterprises is getting heavier. The assembly, production and inspection of motors cannot be effectively improved, and it is difficult to meet the increasing needs of enterprise production. Summary of the invention

[0003] The present invention provides a motor automatic assembly device and method, aiming to solve the problems existing in the above-mentioned background technology. By automatically assembling and testing the motor and the rubber cover, the dilemma of low quality caused by manual operation is greatly reduced, and the production capacity of motor automation is improved to meet the increasing needs of enterprise production.

[0004] To achieve the above-mentioned purpose, the present invention provides a motor automatic assembly device, which is suitable for assembling a motor housing, a rubber cover and an armature, wherein a vertical armature is installed inside the rubber cover, an armature shaft is arranged at the center of the armature, a metal pin is arranged on the back of the rubber cover, a buckle groove is preset on the circumferential side of the rubber cover, a buckle foot is preset at the bottom of the motor housing, and a positioning hole is preset on the side of the motor housing, including:

[0005] The frame is used for installation of the motor housing conveying and positioning mechanism, the motor assembly and detection mechanism, and the motor diversion mechanism;

[0006] The motor housing conveying and positioning mechanism comprises a first conveying belt for conveying the motor housing, a material clamping mechanism and a motor housing positioning mechanism, wherein the first conveying belt is arranged in the horizontal direction at the front of the frame, the material clamping mechanism is located at the left end of the first conveying belt, and the motor housing positioning mechanism is located below the material clamping mechanism;

[0007] The motor assembly detection mechanism includes a second conveyor belt for conveying a rubber cover and an armature, a motor assembly device and a motor detection device. The second conveyor belt is arranged in the middle of the frame in a horizontal direction. The motor assembly device and the motor detection device are arranged in sequence on the second conveyor belt. The second conveyor belt is provided with at least one material seat moving from left to right, and a pre-installed rubber cover and an armature are arranged in the middle of the material seat;

[0008] A motor diversion mechanism is arranged on the right side of the frame and is used to divert good and defective motors obtained by assembly inspection in the second conveyor belt.

[0009] Preferably, the clamping mechanism includes a first bracket, a first longitudinal driving mechanism, a first sliding plate, a first lifting cylinder, a first front clamp and a first rear clamp, the first longitudinal driving mechanism is arranged on the first bracket, a first sliding plate is installed on one side of the first longitudinal driving mechanism, a first lifting cylinder is arranged on the first sliding plate, the first front clamp and the first rear clamp are connected to the lower part of the first lifting cylinder, the first front clamp is used to grab the motor housing on the first conveyor belt and place it on the motor housing positioning mechanism, the first rear clamp is used to grab the motor housing whose direction is determined by the motor housing positioning mechanism for use by the motor assembly device on the second conveyor belt.

[0010] Preferably, the motor housing positioning mechanism includes a second bracket, a second mounting plate, a second motor, a circular protrusion, a connecting rod drive module and a second detector. The second mounting plate is arranged on the second bracket, a second motor is arranged below the second mounting plate, a circular protrusion connected to the second motor shaft is arranged above the second mounting plate, a second detector is arranged on one side of the second mounting plate, a connecting rod drive module is arranged on the side of the second mounting plate, a positioning fork is arranged on one side of the top end of the connecting rod drive module, and the positioning fork is pressed against the outer wall of the motor housing. The second motor drives the motor housing to rotate so that the positioning fork is inserted into the positioning hole accordingly to determine the installation direction of the motor housing.

[0011] Preferably, the motor assembly device comprises a motor housing assembly component, a flip component and a foot bending component which are arranged in sequence from left to right.

[0012] Preferably, the motor housing assembly component includes a third bracket, a third pusher, a third side push cylinder, a third pneumatic side clamp, a third pushing mechanism, a third sliding plate and a third pushing cylinder. The third side push cylinder is arranged at the lower part of the third bracket, and a third pusher is provided on one side of the third side push cylinder. Clamps that can elastically clamp materials are preset on the upper left and right sides of the material seat. A third sliding plate is provided on one side of the third bracket, and a third pneumatic side clamp is provided at the lower end of the third sliding plate. A third pushing mechanism is provided on the top of the third bracket, and the third pushing mechanism is connected to the third sliding plate. A third pushing cylinder is provided on the side of the third sliding plate to push the motor housing down and connect with the rubber cover.

[0013] Preferably, the flipping assembly includes a fourth bracket, a fourth pusher, a fourth side push cylinder, a turntable cylinder, a connecting arm and a fourth pneumatic side clamp. The fourth side push cylinder is arranged on the left side of the fourth bracket, a fourth pusher is provided at the front end of the fourth side push cylinder, a turntable cylinder is provided at the front end of the fourth bracket, a connecting arm is provided on the turntable cylinder, and a fourth pneumatic side clamp is provided at the front end of the connecting arm to clamp the motor for flipping.

[0014] Preferably, the buckle foot bending assembly includes a fifth bracket, a fifth lifting cylinder, a push rod, a sleeve, a push ring and an arc-shaped pressing portion. The fifth lifting cylinder is arranged at the top of the fifth bracket. A push rod is provided at the lower end of the fifth lifting cylinder. A sleeve is fixedly connected to the lower end of the push rod. An elastically retractable push ring is provided in the sleeve. The lower end of the push ring has an arc-shaped pressing portion that can bend the buckle foot.

[0015] Preferably, the motor detection device comprises a rubber cover packaging detection component, an axon virtual position detection component, a metal pin length detection component and a magnetic pole detection component arranged in sequence from left to right, wherein:

[0016] The rubber cover packaging detection component includes a first CCD photo detector arranged on the frame, which is used to photograph whether the motor buckle foot after the buckle foot bending assembly is assembled is buckled on the rubber cover, and the bottom surface of the first CCD photo detector is provided with a fill light;

[0017] The axon virtual position detection component includes a sixth bracket, an upper lifting cylinder, an upper detector, an upper slider, a sixth cylinder, a hollow cylinder, a lower lifting cylinder, a lower detector, a lower slider and an ejector pin. The upper lifting cylinder is arranged on the upper part of the sixth bracket, an upper detector is arranged on the side of the upper lifting cylinder, an upper slider is arranged on the upper slider, the sixth cylinder is arranged on the bottom of the sixth cylinder for abutting against the upper end face of the rubber cover, the lower lifting cylinder is arranged on the lower part of the sixth bracket, a lower detector is arranged on the side of the lower lifting cylinder, a lower slider is arranged on the lower lifting cylinder, an ejector pin is arranged on the lower slider, and the ejector pin pushes the armature shaft upward and exceeds the length of the upper end face of the rubber cover as the movement amount of the armature shaft;

[0018] The metal pin length detection component includes an imager disposed on the rear side of the second conveyor belt, and a second CCD photo detector disposed on the front side of the second conveyor belt;

[0019] The magnetic pole detection component includes a proximity sensor and a magnetic pole detector. The proximity sensor is located above the magnetic pole detector. The proximity sensor is used to sense whether material is incoming. The magnetic pole detector determines whether the assembled motor poles are installed in reverse by the attraction or repulsion of the magnetic poles.

[0020] Preferably, the motor diversion mechanism includes a seventh bracket, a seventh longitudinal drive mechanism, a seventh sliding plate, a seventh lifting cylinder, a seventh clamp, a seventh transverse drive mechanism, a sliding frame, a temporary placement position, a side pushing mechanism, a defective recovery area and a third conveyor belt, wherein the seventh longitudinal drive mechanism is arranged on the seventh bracket, a seventh sliding plate is provided on one side of the seventh longitudinal drive mechanism, a seventh lifting cylinder is provided on the seventh sliding plate, a seventh clamp is provided on the bottom of the seventh lifting cylinder, a seventh transverse drive mechanism is provided on the rear end side of the seventh longitudinal drive mechanism, a sliding frame is provided on the seventh transverse drive mechanism, a motor temporary placement position is provided on the rear side of the upper end of the sliding frame, a side pushing mechanism is provided on the front side of the upper end of the sliding frame, a motor defective recovery area is provided at the rear of the sliding frame, and a third conveyor belt is provided on the front side of the seventh longitudinal drive mechanism to convey motors that have passed the component inspection, wherein the defective recovery area includes a rubber cover packaging defective area, an axon vacant position defective area, a metal pin length defective area and a motor pole defective area.

[0021] In addition, to achieve the above-mentioned purpose, the present invention provides a motor automatic assembly method, which is applied to the motor automatic assembly equipment as described in any one of the above, comprising the steps of:

[0022] S1, obtain the motor housing and place it on the first conveyor belt, and move it from right to left to the clamping mechanism, wherein the clamping mechanism includes a first front clamping hand and a first rear clamping hand;

[0023] S2, the first front gripper grips the motor housing on the first conveyor belt and places it on the motor housing positioning mechanism for rotation positioning to determine the installation direction of the motor housing;

[0024] S3, obtain the material holder pre-installed with the rubber cover and the armature, place it on the second conveyor belt, and move it from left to right;

[0025] S4, when the material holder moves to the motor housing assembly component, the first rear gripper grabs the motor housing with the determined installation direction from the motor housing positioning mechanism and transfers it to the motor housing assembly component, and the motor housing is clamped by the third pneumatic side gripper, and the third side push cylinder pushes the third pusher to open the clamp that can elastically clamp the material, and the third pneumatic side gripper is driven by the third push mechanism to move down to the upper end surface of the rubber cover, and then the third push cylinder pushes the motor housing downward, so that the buckle foot of the motor housing passes through the buckle groove of the rubber cover;

[0026] S5, when the material holder moves to the flip assembly, the fourth side push cylinder pushes the fourth push handle to open the clamp, the fourth pneumatic side clamp on the connecting arm clamps the outer wall of the motor, and the rotating disk cylinder drives the clamped motor to flip;

[0027] S6, when the material holder moves to the buckle foot bending assembly, the fifth lifting cylinder drives the push rod to move downward, so that the elastically retractable push ring in the sleeve presses against the rubber cover, and the buckle foot is bent and pressed by the arc-shaped pressing part at the lower end of the push ring;

[0028] S7, when the material holder moves to the rubber cover packaging detection assembly, the first CCD camera detector takes a picture of the buckle pin of the motor to detect whether the buckle pin is tightly buckled on the buckle groove of the rubber cover. If the buckle pin is tightly buckled, it is qualified;

[0029] S8. When the material holder moves to the axon virtual position detection component, the upper lifting cylinder drives the upper slider downward so that the bottom surface of the hollow cylinder connected to the sixth cylinder abuts against the upper end surface of the rubber cover, and the lower lifting cylinder drives the lower slider upward so that the ejector pin pushes the armature shaft upward and exceeds the length of the upper end surface of the rubber cover as the movement amount of the armature shaft. When the movement amount is within the preset movement amount threshold, the axon virtual position detection of the motor is qualified;

[0030] S9, when the material holder moves to the metal pin length detection component, the second CCD photo detector takes a photo and the imager takes an image, and the lengths of the metal pins are compared. If the lengths of the metal pins are the same, they are qualified;

[0031] S10, when the material holder moves to the magnetic pole detection assembly, the proximity sensor is used to sense whether there is material on the second conveyor belt. If there is material, the magnetic pole detector is triggered to determine whether the assembled motor magnetic poles are installed in reverse by magnetic pole attraction or repulsion;

[0032] S11, after the motor is assembled and tested on the second conveyor belt, if it is qualified, the seventh gripper will grip the assembled and tested motor and place it on the third conveyor belt;

[0033] S12. If the motor is unqualified, the seventh gripper will clamp the motor and place it in a temporary position, and the side push mechanism will push it to the corresponding defective recovery area, where the defective recovery area includes the rubber cover packaging defective area, the axon vacancy defective area, the metal pin length defective area and the motor pole defective area.

[0034] The beneficial effects of the present invention compared to the prior art are as follows:

[0035] (1) The motor housing positioning mechanism is used to determine the installation direction of the motor housing, so as to facilitate the corresponding assembly of the motor housing and the rubber cover;

[0036] (2) The motor housing and the rubber cover are first assembled, turned over and the buckle feet are bent by the motor assembly device, so that the motor buckle feet are tightly buckled in the buckle groove of the rubber cover, and then the rubber cover packaging, axon virtual position, metal pin length and magnetic pole of the motor are inspected. No manual operation is required, and a motor with reliable quality can be automatically assembled, which saves a lot of manual labor, speeds up assembly and improves the production efficiency of the enterprise;

[0037] (3) The motor diversion mechanism diverts the assembled and tested motors, placing unqualified motors in the defective recycling area and qualified motors on the third conveyor belt, thereby ensuring the quality of the motors and taking into account automated transportation to meet the increasing production needs of enterprises.

[0038] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the top view of the structure of the motor automatic assembly equipment of the present invention;

[0040] Figure 2 It is a first three-dimensional structural schematic diagram of the motor automatic assembly equipment of the present invention;

[0041] Figure 3 It is a second three-dimensional structural schematic diagram of the motor automatic assembly equipment of the present invention;

[0042] Figure 4 It is a schematic diagram of a first partial three-dimensional structure of the motor automatic assembly equipment of the present invention;

[0043] Figure 5 A second partial three-dimensional structural schematic diagram of the motor automatic assembly equipment of the present invention;

[0044] Figure 6 for Figure 2 An enlarged structural diagram of view A in FIG.

[0045] Figure 7 A schematic diagram of the structure of a motor housing of the motor automated assembly equipment of the present invention;

[0046] Figure 8 A schematic diagram of the structure of the motor buckle foot of the motor automatic assembly equipment of the present invention;

[0047] Fig. 9 for Figure 1 A schematic diagram of the three-dimensional structure of the clamping mechanism;

[0048] Fig.10 for Figure 1 A schematic diagram of the three-dimensional structure of the motor housing positioning mechanism;

[0049] Fig.11 for Figure 3 An enlarged structural diagram of view C in FIG.

[0050] Fig.12 for Figure 4 An enlarged structural diagram of view E in FIG.

[0051] Fig.13 for Figure 5 An enlarged structural diagram of view F in FIG.

[0052] Fig.14 for Figure 4 An enlarged structural diagram of the D view in FIG.

[0053] Fig.15 for Figure 4 Schematic diagram of the three-dimensional structure of the axonal virtual position detection component in the D view;

[0054] Fig.16 for Figure 2 An enlarged structural diagram of view B in FIG.

[0055] Fig.17 A flow chart of the motor automatic assembly method of the present invention; Description of the drawings:

[0057] 1. Frame; 101. First conveyor belt; 102. Second conveyor belt; 103. Material holder; 104. Clip; 105. Armature; 106. Rubber cover; 107. Armature shaft; 108. Metal pin; 109. Motor housing; 110. Positioning hole; 111. Buckle foot;

[0058] 2. Material clamping mechanism; 201. First bracket; 202. First longitudinal driving mechanism; 203. First sliding plate; 204. First lifting cylinder; 205. First front clamping hand; 206. First rear clamping hand;

[0059] 3. Motor housing positioning mechanism; 301. Second bracket; 302. Second mounting plate; 303. Second motor; 304. Round convex block; 305. Connecting rod driving module; 306. Second detector; 307. Positioning fork;

[0060] 4. Motor housing assembly; 401. Third bracket; 402. Third push handle; 403. Third side push cylinder; 404. Third pneumatic side gripper; 405. Third push mechanism; 406. Third sliding plate; 407. Third push cylinder;

[0061] 5. Flip assembly; 501. Fourth bracket; 502. Fourth push handle; 503. Fourth side push cylinder; 504. Turntable cylinder; 505. Connecting arm; 506. Fourth pneumatic side gripper;

[0062] 6. Buckle foot bending assembly; 601. Fifth bracket; 602. Fifth lifting cylinder; 603. Push rod; 604. Sleeve; 605. Pushing ring; 606. Arc-shaped pressing part;

[0063] 7. Rubber cover packaging detection component; 701. First CCD photo detector;

[0064] 8. Axon virtual position detection component; 801. Sixth bracket; 802. Upper lifting cylinder; 803. Upper slider; 804. Sixth cylinder; 805. Hollow cylinder; 806. Lower lifting cylinder; 807. Lower detector; 808. Lower slider; 809. Ejector pin;

[0065] 9. Magnetic pole detection component; 901. Proximity sensor; 902. Magnetic pole detector;

[0066] 10. Metal pin length detection component; 14. Imager; 15. Second CCD camera detector;

[0067] 11. Motor assembly device;

[0068] 12. Motor detection device;

[0069] 13. Motor diversion mechanism; 130. Third conveyor belt; 131. Seventh bracket; 132. Seventh longitudinal drive mechanism; 133. Seventh sliding plate; 134. Seventh lifting cylinder; 135. Seventh gripper; 136. Seventh transverse drive mechanism; 137. Sliding frame; 138. Side push mechanism; 139. Defective recovery area; 16. Temporary placement. DETAILED DESCRIPTION

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0071] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0072] To achieve the above purpose, refer to Figure 1-8As shown, an embodiment of the present invention provides a motor automated assembly device, which is suitable for assembling a motor housing 109, a rubber cover 106 and an armature 105, wherein a vertical armature 105 is installed inside the rubber cover 106, an armature 105 axis is arranged at the center of the armature 105, a metal pin 108 is arranged on the back of the rubber cover 106, a buckle groove is preset on the circumferential side of the rubber cover 106, a buckle foot 111 is preset at the bottom of the motor housing 109, and a positioning hole 110 is preset on the side of the motor housing 109, including:

[0073] The frame 1 is used for installing the motor housing conveying and positioning mechanism, the motor assembly and detection mechanism, and the motor diversion mechanism 13;

[0074] The motor housing conveying and positioning mechanism comprises a first conveyor belt 101 for conveying the motor housing 109, a clamping mechanism 2 and a motor housing positioning mechanism 3, wherein the first conveyor belt 101 is arranged in the horizontal direction at the front of the frame 1, the clamping mechanism 2 is located at the left end of the first conveyor belt 101, and the motor housing positioning mechanism 3 is located below the clamping mechanism 2;

[0075] The motor assembly detection mechanism includes a second conveyor belt 102 for conveying a rubber cover 106 and an armature 105, a motor assembly device 11 and a motor detection device 12. The second conveyor belt 102 is arranged in the middle of the frame 1 in a horizontal direction. The second conveyor belt 102 is provided with a motor assembly device 11 and a motor detection device 12 in sequence. The second conveyor belt 102 is provided with at least one material seat 103 moving from left to right, and a pre-installed rubber cover 106 and an armature 105 are provided in the middle of the material seat 103;

[0076] The motor diversion mechanism 13 is arranged on the right side of the frame 1 and is used to divert the motors assembled and tested in the second conveyor belt 102 into good products and defective products.

[0077] In this embodiment, an armature 105 with a rubber cover 106 installed on the bottom is pre-obtained, sleeved on a material seat 103, and placed on the second conveyor belt 102 for transmission, and a positioning hole 110 is preset on the side of the motor housing 109 for positioning and orienting the motor housing 109, and a buckle foot 111 is preset at the bottom of the motor housing 109, and a buckle groove (not marked in the figure) is preset on the circumferential side of the rubber cover 106, so that the buckle foot 111 can be bent and pressed tightly in the buckle groove, so that the rubber cover 106 is firmly connected to the motor housing 109. The motor automatic assembly equipment is provided by installing a motor housing conveying and positioning mechanism, a motor assembly detection mechanism and a motor diversion mechanism 13 on the frame 1, wherein the motor housing conveying and positioning mechanism is used to convey the motor housing 109, and to locate and orient the motor housing 109 to ensure that the motor housing 109 and the rubber cover 106 are assembled and combined in the corresponding direction; the motor assembly detection mechanism is used to assemble the motor housing 109 with the rubber cover 106 and the armature 105, and to detect the assembled motor to ensure the quality of the assembled motor; the motor diversion mechanism 13 is used to divert the assembled and tested motor, that is, if the detected motor is a qualified product, it is grabbed and placed on the third conveyor belt 130 for the next process or packaging. The entire setting is automated, without manual operation, which greatly reduces labor costs, has high production efficiency and reliable quality.

[0078] Further, refer to Fig. 9 As shown, the clamping mechanism 2 includes a first bracket 201, a first longitudinal driving mechanism 202, a first sliding plate 203, a first lifting cylinder 204, a first front clamp 205 and a first rear clamp 206. The first longitudinal driving mechanism 202 is arranged on the first bracket 201, and a first sliding plate 203 is installed on one side of the first longitudinal driving mechanism 202. The first sliding plate 203 is provided with a first lifting cylinder 204. The first front clamp 205 and the first rear clamp 206 are connected to the lower part of the first lifting cylinder 204. The first front clamp 205 is used to grab the motor housing 109 on the first conveyor belt 101 and place it on the motor housing positioning mechanism 3. The first rear clamp 206 is used to grab the motor housing 109 whose direction is determined by the motor housing positioning mechanism 3 for use by the motor assembly device 11 on the second conveyor belt 102.

[0079] Furthermore, refer to Fig.10As shown, the motor housing positioning mechanism 3 includes a second bracket 301, a second mounting plate 302, a second motor 303, a circular protrusion 304, a connecting rod driving module 305 and a second detector 306. The second mounting plate 302 is arranged on the second bracket 301, and the second motor 303 is arranged below the second mounting plate 302. A circular protrusion 304 connected to the axis of the second motor 303 is arranged above the second mounting plate 302. A second detector 306 is arranged on one side of the second mounting plate 302, and a connecting rod driving module 305 is arranged on the side of the second mounting plate 302. A positioning fork 307 that rests on the outer wall of the motor housing 109 is arranged on one side of the top of the connecting rod driving module 305. The second motor 303 drives the motor housing 109 to rotate, so that the positioning fork 307 is correspondingly inserted into the positioning hole 110 to determine the installation direction of the motor housing 109.

[0080] In one embodiment, the first front gripper 205 first grabs the motor housing 109 on the first conveyor belt 101 and places it on the circular protrusion 304. The positioning fork 307 on the connecting rod driving module 305 abuts against the side of the motor housing 109. When the second motor 303 drives the circular protrusion 304 to rotate, the positioning fork 307 is inserted into the positioning hole 110 of the motor housing 109. The first detector determines that the direction at this time is the installation direction of the motor housing 109. When receiving the next gripping instruction, the first rear gripper 206 grabs the motor housing 109 that has been rotated to determine the installation direction in the motor housing positioning mechanism 3 for transfer to the motor housing assembly 4 on the second conveyor belt 102. At the same time, the first front gripper 205 grabs the motor housing 109 on the first conveyor belt 101 again for placement in the motor housing positioning mechanism 3.

[0081] Furthermore, the motor assembly device 11 includes a motor housing assembly component 4, a flip component 5 and a foot bending component 6 which are arranged in sequence from left to right.

[0082] Specifically, refer to Fig.11 As shown, the motor housing assembly component 4 includes a third bracket 401, a third pusher 402, a third side push cylinder 403, a third pneumatic side clamp 404, a third pushing mechanism 405, a third sliding plate 406 and a third pushing cylinder 407. The third side push cylinder 403 is arranged at the lower part of the third bracket 401, and a third pusher 402 is provided on one side of the third side push cylinder 403. The upper parts of the left and right sides of the material holder 103 are preset with clamps 104 that can elastically clamp materials. A third sliding plate 406 is provided on one side of the third bracket 401, and a third pneumatic side clamp 404 is provided at the lower end of the third sliding plate 406. A third pushing mechanism 405 is provided on the top of the third bracket 401, and the third pushing mechanism 405 is connected to the third sliding plate 406. A third pushing cylinder 407 is provided on the side of the third sliding plate 406 to push the motor housing 109 downward and plug it into the rubber cover 106.

[0083] In this embodiment, clamps 104 that can elastically clamp materials are preset on the upper left and right sides of the material holder 103. A movable block is also provided on the left and right sides of the material holder 103. The end of the clamp 104 is connected to the lower end of the movable block through a connecting rod. A spring is provided between the lower end of the movable block and the material holder 103. The movable block presses the end connecting rod of the clamp 104 downward to drive the clamp 104 to open. First, the motor housing 109 transferred by the first rear clamp 206 is clamped by the third pneumatic side clamp 404 sideways just above the material base 103, and the third side push cylinder 403 pushes the third push hand 402 to slide toward the material base 103. The front end of the third push hand 402 is an inclined surface, which can guide the insertion to drive the movable block downward to open the clamp 104. The third pushing mechanism 405 drives the third pneumatic side clamp 404 to move downward to the upper end surface of the rubber cover 106, and then the third pushing cylinder 407 pushes the motor housing 109 downward, so that the buckle foot 111 of the motor housing 109 passes through the buckle groove of the rubber cover 106 to achieve automatic plug-in.

[0084] Specifically, refer to Fig.12 As shown, the flipping assembly 5 includes a fourth bracket 501, a fourth pusher 502, a fourth side-pushing cylinder 503, a turntable cylinder 504, a connecting arm 505 and a fourth pneumatic side clamp 506. The fourth side-pushing cylinder 503 is arranged on the left side of the fourth bracket 501, and a fourth pusher 502 is provided at the front end of the fourth side-pushing cylinder 503. A turntable cylinder 504 is provided at the front end of the fourth bracket 501. A connecting arm 505 is provided on the turntable cylinder 504, and a fourth pneumatic side clamp 506 is provided at the front end of the connecting arm 505 to clamp the motor for flipping.

[0085] In one embodiment, the fourth side push cylinder 503 first pushes the fourth push handle 502 to move the movable block downward to open the clamp 104, and then the fourth pneumatic side clamp 506 clamps the outer wall of the motor housing 109, and the turntable cylinder 504 rotates to drive the connecting arm 505 to rotate, so that the motor clamped by the fourth pneumatic side clamp 506 flips 180 degrees from the left side of the connecting arm 505 to the right side of the connecting arm 505, thereby realizing automatic flipping of the motor.

[0086] Specifically, refer to Fig.12 As shown, the buckle foot bending assembly 6 includes a fifth bracket 601, a fifth lifting cylinder 602, a push rod 603, a sleeve 604, a push ring 605 and an arc-shaped pressing portion 606. The fifth lifting cylinder 602 is arranged at the top of the fifth bracket 601. The lower end of the fifth lifting cylinder 602 is provided with a push rod 603. The lower end of the push rod 603 is fixedly connected with a sleeve 604. The sleeve 604 is provided with an elastically retractable push ring 605. The lower end of the push ring 605 has an arc-shaped pressing portion 606 that can bend the buckle foot 111.

[0087] In one embodiment, the fifth lifting cylinder 602 drives the push rod 603 downward, so that the elastically retractable push ring 605 in the sleeve 604 is pressed against the rubber cover 106, and the arc-shaped pressing portion 606 at the lower end of the push ring 605 is used to bend and press the buckle foot 111 to ensure that the motor housing 109 is tightly buckled in the buckle groove of the rubber cover 106.

[0088] Further, refer to Fig.14 , Fig.15 As shown, the motor detection device 12 includes a rubber cover packaging detection component 7, an axon virtual position detection component 8, a metal pin length detection component 10 and a magnetic pole detection component 9 which are arranged in sequence from left to right.

[0089] The rubber cover packaging detection component 7 includes a first CCD photo detector 701 arranged on the frame 1, which is used to photograph whether the motor buckle 111 after the buckle foot bending component 6 is assembled is buckled on the rubber cover 106. The bottom surface of the first CCD photo detector 701 is provided with a fill light. The first CCD photo detector 701 is used to photograph whether the motor buckle 111 after the buckle foot bending component 6 is assembled is buckled on the rubber cover 106. If the buckle 111 is buckled in the buckle groove of the rubber cover 106, the motor buckle 111 detected by the first CCD photo detector 701 is qualified, otherwise it is unqualified. Among them, the first CCD photo detector 701 is a lens with high resolution and low distortion, which can obtain high-contrast images and automatically identify whether the oil point position is uniform and qualified.

[0090] The axonal virtual position detection component 8 includes a sixth bracket 801, an upper lifting cylinder 802, an upper detector, an upper slider 803, a sixth cylinder 804, a hollow cylinder 805, a lower lifting cylinder 806, a lower detector 807, a lower slider 808 and an ejector pin 809. The upper lifting cylinder 802 is arranged on the upper part of the sixth bracket 801, and an upper detector is arranged on the side of the upper lifting cylinder 802. The upper lifting cylinder 802 is provided with an upper slider 803, and the upper slider 803 is provided with a sixth cylinder. Cylinder 804, a hollow cylinder 805 is provided at the bottom of the sixth cylinder 804 for abutting against the upper end surface of the rubber cover 106, the lower lifting cylinder 806 is arranged at the lower part of the sixth bracket 801, and a lower detector 807 is provided on the side of the lower lifting cylinder 806, and the lower lifting cylinder 806 is provided with a lower slider 808, and the lower slider 808 is provided with a ejector pin 809, and the ejector pin 809 pushes the armature shaft 107 to move upward and exceeds the length of the upper end surface of the rubber cover 106 as the movement amount of the armature shaft 107.

[0091] The amount of play is a value used to measure whether the installation of each motor armature shaft 107 is qualified. When the amount of play is within a preset play threshold, the armature shaft 107 of the motor is qualified.

[0092] The metal pin length detection component 10 includes an imager 14 disposed at the rear side of the second conveyor belt 102, and a second CCD photo detector 15 disposed at the front side of the second conveyor belt 102. The metal pin 108 is photographed by the second CCD photo detector 15, and the imager 14 forms a projection of the metal pin 108, and then compares the lengths of the photographed and imaged metal pins 108 to see if they are consistent. If they are consistent, the metal pin 108 of the motor is qualified.

[0093] The magnetic pole detection assembly 9 includes a proximity sensor 901 and a magnetic pole detector 902. The proximity sensor 901 is located above the magnetic pole detector 902. The proximity sensor 901 is used to sense whether there is material coming in. The magnetic pole detector 902 determines whether the assembled motor magnetic poles are reversed by magnetic pole attraction or repulsion. Of course, symmetrical positive and negative magnets are pre-attached in the motor housing 109, so that the magnetic pole detector 902 can use magnetic pole attraction or repulsion as a way to determine whether the motor magnetic poles are reversed during detection.

[0094] Further, refer to Fig.16 As shown, the motor diversion mechanism 13 includes a seventh bracket 131, a seventh longitudinal driving mechanism 132, a seventh sliding plate 133, a seventh lifting cylinder 134, a seventh gripper 135, a seventh transverse driving mechanism 136, a sliding frame 137, a temporary placement position 16, a side pushing mechanism 138, a bad recovery area 139 and a third conveyor belt 130. The seventh longitudinal driving mechanism 132 is arranged on the seventh bracket 131, a seventh sliding plate 133 is arranged on one side of the seventh longitudinal driving mechanism 132, a seventh lifting cylinder 134 is arranged on the seventh sliding plate 133, and a seventh gripper 135 is arranged at the bottom of the seventh lifting cylinder 134. A seventh transverse driving mechanism 136 is provided at one side of the rear end of the seventh longitudinal driving mechanism 132, a sliding frame 137 is provided on the seventh transverse driving mechanism 136, a motor temporary placement position 16 is provided at the rear side of the upper end of the sliding frame 137, a side pushing mechanism 138 is provided at the front side of the upper end of the sliding frame 137, a motor defect recovery area 139 is provided at the rear of the sliding frame 137, and a third conveyor belt 130 is provided at one side of the front end of the seventh longitudinal driving mechanism 132 to convey motors that have passed the component inspection, wherein the defect recovery area 139 includes a rubber cover packaging defect area, an axon vacant position defect area, a metal pin length defect area and a motor pole defect area.

[0095] In one embodiment, after the motor on the second conveyor belt 102 is assembled and tested, if the motor is qualified, the motor is clamped by the seventh gripper 135 and placed on the third conveyor belt 130; if the motor is unqualified, the motor is clamped by the seventh gripper 135 and placed on the placement rack, and pushed to the corresponding defective recovery area 139 by the side push mechanism 138.

[0096] In addition, to achieve the above purpose, reference Fig.17 As shown, the present invention provides a motor automated assembly method, which is applied to any of the motor automated assembly equipment described above, and the method comprises the steps of:

[0097] S1, obtain the motor housing 109 and place it on the first conveyor belt 101, and move it from right to left to the clamping mechanism 2, wherein the clamping mechanism 2 includes a first front clamping hand 205 and a first rear clamping hand 206;

[0098] S2, the first front gripper 205 grips the motor housing 109 on the first conveyor belt 101 and places it on the motor housing positioning mechanism 3 for rotational positioning to determine the installation direction of the motor housing 109;

[0099] S3, obtain the material holder 103 pre-installed with the rubber cover 106 and the armature 105, place it on the second conveyor belt 102, and move it from left to right;

[0100] S4, when the material holder 103 moves to the motor housing assembly component 4, the first rear gripper 206 grabs the motor housing 109 with the determined installation direction from the motor housing positioning mechanism 3 and transfers it to the motor housing assembly component 4, and clamps the motor housing 109 through the third pneumatic side gripper 404, and the third side push cylinder 403 pushes the third pusher 402 to open the clamp 104 that can elastically clamp the material, and the third pneumatic side gripper 404 is driven by the third push mechanism 405 to move down to the upper end surface of the rubber cover 106, and then the third push cylinder 407 pushes the motor housing 109 downward, so that the buckle foot 111 of the motor housing 109 passes through the buckle groove of the rubber cover 106;

[0101] S5, when the material holder 103 moves to the flip assembly 5, the fourth side push cylinder 503 pushes the fourth pusher 502 to open the clamp 104, and the fourth pneumatic side clamp 506 on the connecting arm 505 clamps the outer wall of the motor, and the rotating disk cylinder 504 drives the clamped motor to flip;

[0102] S6. When the material holder 103 moves to the buckle foot bending assembly 10, the fifth lifting cylinder 602 drives the push rod 603 to move downward, so that the elastic push ring 605 in the sleeve 604 is pressed against the rubber cover 106, and the buckle foot 111 is bent and pressed by the arc-shaped pressing part 606 at the lower end of the push ring 605;

[0103] S7, when the material holder 103 moves to the rubber cover packaging detection component 7, the first CCD camera detector 701 takes a picture of the buckle pin 111 of the motor to detect whether the buckle pin 111 is tightly buckled on the buckle groove of the rubber cover 106. If the buckle pin 111 is tightly buckled, it is qualified;

[0104] S8. When the material holder 103 moves to the axon virtual position detection component 8, the upper lifting cylinder 802 drives the upper slider 803 downward so that the bottom surface of the hollow cylinder 805 connected to the sixth cylinder 804 abuts against the upper end surface of the rubber cover 106, and the lower lifting cylinder 806 drives the lower slider 808 upward, so that the ejector pin 809 pushes the armature 105 shaft upward and exceeds the length of the upper end surface of the rubber cover 106 as the movement amount of the armature 105 shaft. When the movement amount is within the preset movement amount threshold, the axon virtual position detection of the motor is qualified;

[0105] S9, when the material holder 103 moves to the metal pin 108 length detection component, the second CCD photo detector takes a photo and the imager 14 forms an image, and the length of the metal pin 108 is compared. If the length of the metal pin 108 is the same, it is qualified;

[0106] S10, when the material holder 103 moves to the magnetic pole detection assembly 9, the proximity sensor 901 senses whether there is material on the second conveyor belt 102. If there is material, the magnetic pole detector 902 is triggered to determine whether the assembled motor magnetic poles are reversed by magnetic pole attraction or repulsion;

[0107] S11, after the motor is assembled and tested on the second conveyor belt 102, if it is qualified, the seventh gripper 135 grips the assembled and tested motor and places it on the third conveyor belt 130;

[0108] S12. If the motor is unqualified, the seventh gripper 135 will clamp the motor and place it on the temporary placement position 16, and the side push mechanism 138 will push it to the corresponding defective recovery area 139, wherein the defective recovery area 139 includes the defective packaging area of ​​the rubber cover 106, the defective area of ​​the axon vacancy, the defective area of ​​the metal pin 108 length and the defective area of ​​the motor pole.

[0109] The specific implementation of the motor automated assembly method of the present invention is substantially the same as the various embodiments of the above-mentioned motor automated assembly equipment, and will not be described again herein.

[0110] The technical principle of the present invention is described above in conjunction with the specific embodiments, which are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions under the idea of ​​the present invention belong to the protection scope of the present invention. Those skilled in the art can think of other specific implementations of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A motor automated assembly device, suitable for assembling a motor housing, a rubber cover and an armature, wherein a vertical armature is installed inside the rubber cover, an armature shaft is arranged at the center of the armature, a metal pin is arranged on the back of the rubber cover, a buckle groove is preset on the circumferential side of the rubber cover, a buckle foot is preset at the bottom of the motor housing, and a positioning hole is preset on the side of the motor housing. It is characterized in that It includes: a frame for installing the motor housing conveying and positioning mechanism, the motor assembly and detection mechanism, and the motor diversion mechanism; The motor housing conveying and positioning mechanism comprises a first conveying belt for conveying the motor housing, a material clamping mechanism and a motor housing positioning mechanism, wherein the first conveying belt is arranged in the horizontal direction at the front of the frame, the material clamping mechanism is located at the left end of the first conveying belt, and the motor housing positioning mechanism is located below the material clamping mechanism; The motor assembly detection mechanism includes a second conveyor belt for conveying a rubber cover and an armature, a motor assembly device and a motor detection device. The second conveyor belt is arranged in the middle of the frame in a horizontal direction. The motor assembly device and the motor detection device are arranged in sequence on the second conveyor belt. The second conveyor belt is provided with at least one material seat moving from left to right, and a pre-installed rubber cover and an armature are arranged in the middle of the material seat; A motor diversion mechanism, which is arranged on the right side of the frame and is used to divert good and bad motors obtained by assembly inspection in the second conveyor belt; The clamping mechanism includes a first bracket, a first longitudinal driving mechanism, a first sliding plate, a first lifting cylinder, a first front gripper and a first rear gripper, the first longitudinal driving mechanism is arranged on the first bracket, a first sliding plate is installed on one side of the first longitudinal driving mechanism, a first lifting cylinder is arranged on the first sliding plate, the first front gripper and the first rear gripper are connected to the lower part of the first lifting cylinder, the first front gripper is used to grab the motor housing on the first conveyor belt and place it on the motor housing positioning mechanism, and the first rear gripper is used to grab the motor housing whose direction is determined by the motor housing positioning mechanism for use by the motor assembly device on the second conveyor belt; The motor housing positioning mechanism includes a second bracket, a second mounting plate, a second motor, a circular protrusion, a connecting rod driving module and a second detector. The second mounting plate is arranged on the second bracket, a second motor is arranged below the second mounting plate, a circular protrusion connected to the second motor shaft is arranged above the second mounting plate, a second detector is arranged on one side of the second mounting plate, a connecting rod driving module is arranged on the side of the second mounting plate, a positioning fork is arranged on one side of the top end of the connecting rod driving module against the outer wall of the motor housing, and the second motor drives the motor housing to rotate so that the positioning fork is correspondingly inserted into the positioning hole to determine the installation direction of the motor housing; The motor assembly device comprises a motor housing assembly component, a flip component and a foot bending component which are arranged in sequence from left to right; The motor housing assembly component includes a third bracket, a third pusher, a third side push cylinder, a third pneumatic side clamp, a third pushing mechanism, a third sliding plate and a third pushing cylinder. The third side push cylinder is arranged at the lower part of the third bracket, and a third pusher is arranged on one side of the third side push cylinder. Clamps that can elastically clamp materials are preset on the upper left and right sides of the material seat. A third sliding plate is arranged on one side of the third bracket, and a third pneumatic side clamp is arranged at the lower end of the third sliding plate. A third pushing mechanism is arranged on the top of the third bracket, and the third pushing mechanism is connected to the third sliding plate. A third pushing cylinder is arranged on the side of the third sliding plate to push the motor housing down and plug it into the rubber cover.

2. The motor automated assembly equipment according to claim 1, characterized in that: The flipping assembly includes a fourth bracket, a fourth pusher, a fourth side push cylinder, a turntable cylinder, a connecting arm and a fourth pneumatic side clamp. The fourth side push cylinder is arranged on the left side of the fourth bracket, a fourth pusher is provided at the front end of the fourth side push cylinder, a turntable cylinder is provided at the front end of the fourth bracket, a connecting arm is provided on the turntable cylinder, and a fourth pneumatic side clamp is provided at the front end of the connecting arm to clamp the motor for flipping.

3. The motor automated assembly equipment according to claim 2, characterized in that: The buckle foot bending assembly includes a fifth bracket, a fifth lifting cylinder, a push rod, a sleeve, a push ring and an arc-shaped pressing portion. The fifth lifting cylinder is arranged at the top of the fifth bracket. A push rod is provided at the lower end of the fifth lifting cylinder. A sleeve is fixedly connected to the lower end of the push rod. An elastically retractable push ring is provided in the sleeve. The lower end of the push ring has an arc-shaped pressing portion that can bend the buckle foot.

4. The motor automated assembly equipment according to claim 3, characterized in that: The motor detection device includes a rubber cover packaging detection component, an axon virtual position detection component, a metal pin length detection component and a magnetic pole detection component which are arranged in sequence from left to right, wherein: The rubber cover packaging detection component includes a first CCD photo detector arranged on the frame, which is used to photograph whether the motor buckle foot after the buckle foot bending assembly is assembled is buckled on the rubber cover, and the bottom surface of the first CCD photo detector is provided with a fill light; The axon virtual position detection component includes a sixth bracket, an upper lifting cylinder, an upper detector, an upper slider, a sixth cylinder, a hollow cylinder, a lower lifting cylinder, a lower detector, a lower slider and an ejector pin. The upper lifting cylinder is arranged on the upper part of the sixth bracket, an upper detector is arranged on the side of the upper lifting cylinder, an upper slider is arranged on the upper slider, the sixth cylinder is arranged on the bottom of the sixth cylinder for abutting against the upper end face of the rubber cover, the lower lifting cylinder is arranged on the lower part of the sixth bracket, a lower detector is arranged on the side of the lower lifting cylinder, a lower slider is arranged on the lower lifting cylinder, an ejector pin is arranged on the lower slider, and the ejector pin pushes the armature shaft upward and exceeds the length of the upper end face of the rubber cover as the movement amount of the armature shaft; The metal pin length detection component includes an imager arranged at the rear side of the second conveyor belt, and a second CCD photo detector arranged at the front side of the second conveyor belt; The magnetic pole detection component includes a proximity sensor and a magnetic pole detector. The proximity sensor is located above the magnetic pole detector. The proximity sensor is used to sense whether material is incoming. The magnetic pole detector determines whether the assembled motor poles are installed in reverse by the attraction or repulsion of the magnetic poles.

5. The motor automated assembly equipment according to claim 1, characterized in that: The motor diversion mechanism includes a seventh bracket, a seventh longitudinal drive mechanism, a seventh sliding plate, a seventh lifting cylinder, a seventh clamp, a seventh transverse drive mechanism, a sliding frame, a temporary placement position, a side push mechanism, a defective recovery area and a third conveyor belt. The seventh longitudinal drive mechanism is arranged on the seventh bracket, a seventh sliding plate is provided on one side of the seventh longitudinal drive mechanism, a seventh lifting cylinder is provided on the seventh sliding plate, a seventh clamp is provided at the bottom of the seventh lifting cylinder, a seventh transverse drive mechanism is provided on the rear end side of the seventh longitudinal drive mechanism, a sliding frame is provided on the seventh transverse drive mechanism, a motor temporary placement position is provided on the rear side of the upper end of the sliding frame, a side push mechanism is provided on the front side of the upper end of the sliding frame, a motor defective recovery area is provided at the rear of the sliding frame, and a third conveyor belt is provided on the front side of the seventh longitudinal drive mechanism to convey motors that have passed the component inspection, wherein the defective recovery area includes a rubber cover packaging defective area, an axon vacant position defective area, a metal pin length defective area and a motor pole defective area.

6. A motor automated assembly method, characterized in that: Applied to the motor automated assembly equipment as described in claim 4 above, the method comprises the steps of: S1, obtain the motor housing and place it on the first conveyor belt, and move it from right to left to the clamping mechanism, wherein the clamping mechanism includes a first front clamping hand and a first rear clamping hand; S2, the first front gripper grips the motor housing on the first conveyor belt and places it on the motor housing positioning mechanism for rotation positioning to determine the installation direction of the motor housing; S3, obtain the material holder pre-installed with the rubber cover and the armature, place it on the second conveyor belt, and move it from left to right; S4, when the material holder moves to the motor housing assembly component, the first rear gripper grabs the motor housing with the determined installation direction from the motor housing positioning mechanism and transfers it to the motor housing assembly component, and the motor housing is clamped by the third pneumatic side gripper, and the third side push cylinder pushes the third pusher to open the clamp that can elastically clamp the material, and the third pneumatic side gripper is driven by the third push mechanism to move down to the upper end surface of the rubber cover, and then the third push cylinder pushes the motor housing downward, so that the buckle foot of the motor housing passes through the buckle groove of the rubber cover; S5, when the material holder moves to the flip assembly, the fourth side push cylinder pushes the fourth push handle to open the clamp, the fourth pneumatic side clamp on the connecting arm clamps the outer wall of the motor, and the rotating disk cylinder drives the clamped motor to flip; S6, when the material holder moves to the buckle foot bending assembly, the fifth lifting cylinder drives the push rod to move downward, so that the elastically retractable push ring in the sleeve presses against the rubber cover, and the buckle foot is bent and pressed by the arc-shaped pressing part at the lower end of the push ring; S7, when the material holder moves to the rubber cover packaging detection assembly, the first CCD camera detector takes a picture of the buckle pin of the motor to detect whether the buckle pin is tightly buckled on the buckle groove of the rubber cover. If the buckle pin is tightly buckled, it is qualified; S8. When the material holder moves to the axon virtual position detection component, the upper lifting cylinder drives the upper slider downward so that the bottom surface of the hollow cylinder connected to the sixth cylinder abuts against the upper end surface of the rubber cover, and the lower lifting cylinder drives the lower slider upward so that the ejector pin pushes the armature shaft upward and exceeds the length of the upper end surface of the rubber cover as the movement amount of the armature shaft. When the movement amount is within the preset movement amount threshold, the axon virtual position detection of the motor is qualified; S9, when the material holder moves to the metal pin length detection component, the second CCD photo detector takes a photo and the imager takes an image, and the lengths of the metal pins are compared. If the lengths of the metal pins are the same, they are qualified; S10, when the material holder moves to the magnetic pole detection assembly, the proximity sensor is used to sense whether there is material on the second conveyor belt. If there is material, the magnetic pole detector is triggered to determine whether the assembled motor magnetic poles are installed in reverse by magnetic pole attraction or repulsion; S11, after the motor is assembled and tested on the second conveyor belt, if it is qualified, the seventh gripper will grip the assembled and tested motor and place it on the third conveyor belt; S12. If the motor is unqualified, the seventh gripper will clamp the motor and place it in a temporary position, and the side push mechanism will push it to the corresponding defective recovery area, where the defective recovery area includes the rubber cover packaging defective area, the axon vacancy defective area, the metal pin length defective area and the motor pole defective area.

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