Automatic gasket installation machine, assembly control method, device and storage medium

Abstract

This invention proposes an automatic washer installation machine, assembly control method, device, equipment, and storage medium. Utilizing a first guide rail and a second guide rail, the washer gaskets to be assembled onto the upper and lower sides of the rotor are classified and transported to a first discharge trough and a second discharge trough respectively, achieving automatic gasket classification and automatic feeding. The washer suction nozzle and the first rotor suction nozzle move via a dual-axis moving bracket to automatically assemble the washer gaskets on the upper and lower sides of the rotor; while the second rotor suction nozzle transports the rotor to be assembled from the workstation collection plate to the positioning seat via a three-axis moving bracket, achieving automatic rotor feeding. Therefore, through the coordinated operation of the washer feeding mechanism, the washer installation mechanism, and the rotor feeding mechanism, automatic assembly of the washer gaskets on the upper and lower sides of the rotor can be achieved, improving assembly efficiency and product yield.

Description

Technical Field

[0001] This invention relates to the field of rotor assembly equipment technology, and in particular to an automatic washer installation machine, assembly control method, device and storage medium. Background Technology

[0002] Currently, the demand for motors in industrial products is very high, and with the continuous increase in motor production, the assembly process of motor rotor washers is currently done manually. This is prone to problems such as over-installation or omission of washers, resulting in low efficiency and low yield. Therefore, improving rotor washer assembly efficiency and product yield has become an urgent problem to be solved. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an automatic washer installation machine, assembly control method, device, and storage medium, which can realize the automatic assembly of washers on both sides of the rotor, improve assembly efficiency, and improve product yield.

[0004] In a first aspect, embodiments of the present invention provide an automatic gasket installation machine, comprising:

[0005] A washer feeding mechanism includes a vibratory feeder, a washer discharging module, a first guide rail for transporting forward-facing washers, and a second guide rail for transporting reverse-facing washers. The washer discharging module includes a first discharge trough and a second discharge trough. The vibratory feeder is connected to the first discharge trough via the first guide rail, and the vibratory feeder is connected to the second discharge trough via the second guide rail. A first fiber optic sensor is provided on one side of the first discharge trough, and a second fiber optic sensor is provided on one side of the second discharge trough.

[0006] The washer mounting mechanism includes a dual-axis moving bracket, a first transport module mounted on the dual-axis moving bracket, and a positioning seat located on one side of the washer discharge module. The dual-axis moving bracket includes a first transmission module for driving the first transport module to move longitudinally. The first transmission module extends from the positioning seat toward the washer discharge module. The first transport module includes a first rotor suction nozzle and a washer suction nozzle arranged parallel to the first rotor suction nozzle. The positioning seat has a positioning groove for placing the rotor.

[0007] The rotor loading mechanism is disposed on one side of the washer mounting mechanism. The rotor loading mechanism includes a three-axis moving bracket, a second transport module mounted on the three-axis moving bracket, and a station collection plate for placing the rotor to be assembled. The three-axis moving bracket includes a transverse transmission module for driving the second transport module to move laterally. The transverse transmission module extends from the station collection plate toward the positioning seat. The second transport module includes a second rotor suction nozzle.

[0008] The first rotor nozzle, the washer nozzle, the positioning groove, and the second rotor nozzle are all equipped with control connectors for connecting to the cylinder and pressure sensors for detecting air pressure status.

[0009] The automatic gasket installation machine provided by the embodiments of the present invention has at least the following beneficial effects: It uses a first guide rail and a second guide rail to classify the gaskets to be assembled on the upper and lower sides of the rotor and transport them to the first and second discharge troughs respectively, realizing automatic gasket classification and automatic feeding, reducing the occurrence of gasket reversal due to human error. Simultaneously, the first and second fiber optic sensors can detect whether the gaskets are in place, avoiding the occurrence of gasket omissions. The gasket suction nozzle and the first rotor suction nozzle move through a dual-axis moving bracket to automatically assemble the gaskets on the upper and lower sides of the rotor, while the second rotor suction nozzle can transport the rotor to be assembled on the workstation collection plate to the positioning seat through a three-axis moving bracket, realizing automatic rotor feeding. The first rotor suction nozzle, gasket suction nozzle, positioning trough, and second rotor suction nozzle are connected to a cylinder through a control connector, thereby enabling vacuum adsorption of the rotor and gaskets, realizing the transportation of the rotor and gaskets. Simultaneously, a pressure sensor can detect whether the rotor and gaskets have been successfully adsorbed, providing timely feedback on transportation failures and avoiding omissions. Therefore, by cooperating with the gasket feeding mechanism, the gasket installation mechanism, and the rotor feeding mechanism, the gaskets on the upper and lower sides of the rotor can be automatically assembled, improving assembly efficiency. At the same time, it can reduce the occurrence of reverse installation, over-installation, or omission of gaskets, thereby improving the product yield.

[0010] In the aforementioned automatic gasket installation machine, the height of the first fiber optic sensor is different from that of the second fiber optic sensor to detect the gasket orientation.

[0011] In the aforementioned automatic gasket installation machine, both the first guide rail and the second guide rail are spirally arranged inside the vibratory feeder and extend tangentially to the gasket discharge module. The first guide rail and the second guide rail are respectively provided with guide plates for screening gaskets. The guide plates are all arranged along the edge of the guide rail and extend outward. The guide plates are located inside the vibratory feeder.

[0012] In the aforementioned automatic gasket installation machine, the first transport module is further equipped with a laser sensor for detecting the height of the gasket. The laser sensor is located inside the first rotor nozzle or on the side of the first rotor nozzle away from the gasket nozzle.

[0013] In the aforementioned automatic washer installation machine, the second rotor suction nozzle is equipped with a rangefinder for measuring the length of the rotor shaft, and a waste collection plate for recycling rotors with substandard shaft lengths is provided between the workstation collection plate and the positioning seat.

[0014] In the aforementioned automatic washer installation machine, a slide rail module perpendicular to the extension direction of the transverse transmission module is also provided between the second rotor suction nozzle and the positioning seat, and the workstation collection plate and the waste collection plate are installed side by side on the slide rail module.

[0015] The aforementioned automatic gasket installation machine also includes a double-track conveyor belt with a gap in the middle. The double-track conveyor belt is located on the side of the gasket feeding mechanism away from the gasket installation mechanism, and is located below the first transmission module. The outlet end of the double-track conveyor belt is provided with a tensioning block for adjusting the gap width.

[0016] In the aforementioned automatic gasket installation machine, a stop block is also provided above the exit end of the dual-track conveyor belt to prevent products from falling off.

[0017] In the aforementioned automatic gasket installation machine, the first transport module is also equipped with a first displacement sensor, and the gasket discharge module is also equipped with a second displacement sensor that matches the first displacement sensor.

[0018] The aforementioned automatic gasket installation machine also includes a display module for displaying air pressure status, wherein the display module is connected to each of the air pressure sensors.

[0019] In a second aspect, embodiments of the present invention provide an assembly control method applied to an automatic gasket installation machine as described in the first aspect embodiment above. The assembly control method includes:

[0020] In response to the first trigger signal of the first fiber optic sensor, the gasket suction nozzle is controlled to move to the first discharge trough, and the control connector connected to the gasket suction nozzle is turned on until the air pressure state of the gasket suction nozzle meets the vacuum condition.

[0021] When the air pressure of the positioning seat meets the vacuum condition, control the gasket suction nozzle to move above the positioning seat and cut off the control connector connected to the gasket suction nozzle.

[0022] In response to the second trigger signal of the second fiber optic sensor, the first rotor nozzle is controlled to move above the positioning seat, the control connector connected to the first rotor nozzle is turned on and the control connector connected to the positioning seat is turned off.

[0023] When the air pressure of the first rotor suction nozzle meets the vacuum condition, control the first rotor suction nozzle to move above the second discharge trough, and control the first rotor suction nozzle to press down to assemble the washer under the rotor.

[0024] The assembly control method provided by the embodiments of the present invention has at least the following beneficial effects: After the first fiber optic sensor confirms that the positive washer has been successfully fed, the positive washer in the first discharge slot is adsorbed by the washer suction nozzle. After confirming that the rotor to be assembled is placed in the positioning seat by the air pressure state of the positioning seat, the positive washer in the washer suction nozzle is placed on the upper side of the rotor and sleeved on the rotating shaft. After confirming that the reverse washer in the second discharge slot is in place by the second trigger signal, the rotor with the positive washer is transferred from the positioning seat to the upper part of the second discharge slot by the first rotor suction nozzle, and the rotor is pressed down to assemble the washer below the rotor. Therefore, applying the assembly control method to the automatic washer installation machine can realize the automatic assembly of the washers on the upper and lower sides of the rotor, improve the rotor assembly efficiency, eliminate the need for manual assembly, avoid the situation of reverse installation, missing installation or over-installation of washers caused by human error, and improve the product yield.

[0025] Thirdly, embodiments of the present invention provide an operation control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the assembly control method described in the second aspect of the embodiments above.

[0026] The operation control device provided according to the embodiments of the present invention has at least the following beneficial effects: After the first fiber optic sensor confirms that the positive washer has been successfully fed, the positive washer in the first discharge slot is adsorbed by the washer suction nozzle. After confirming that the rotor to be assembled is placed in the positioning seat by the air pressure state of the positioning seat, the positive washer in the washer suction nozzle is placed on the upper side of the rotor and sleeved on the rotating shaft. After confirming that the reverse washer in the second discharge slot is in place by the second trigger signal, the rotor with the positive washer is transferred from the positioning seat to the upper part of the second discharge slot by the first rotor suction nozzle, and the rotor is pressed down to assemble the washer below the rotor. Therefore, applying the assembly control method to the automatic washer installation machine can realize the automatic assembly of the washers on the upper and lower sides of the rotor, improve the rotor assembly efficiency, eliminate the need for manual assembly, avoid the occurrence of reverse installation, missing installation or over-installation of washers caused by human error, and improve the product yield.

[0027] Thirdly, embodiments of the present invention provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the assembly control method described in the second aspect of the embodiments above.

[0028] The computer-readable storage medium provided according to embodiments of the present invention has at least the following beneficial effects: After the first fiber optic sensor confirms successful loading of the positive washer, the positive washer in the first discharge slot is adsorbed by the washer suction nozzle. After confirming that the rotor to be assembled is placed in the positioning seat by the air pressure state of the positioning seat, the positive washer in the washer suction nozzle is placed on the upper side of the rotor and sleeved on the rotating shaft. After confirming that the reverse washer in the second discharge slot is in place by the second trigger signal, the rotor with the positive washer is transferred from the positioning seat to the upper part of the second discharge slot by the first rotor suction nozzle, and the rotor is pressed down to assemble the washer below the rotor. Therefore, applying the assembly control method to the automatic washer installation machine can realize the automatic assembly of the washers on the upper and lower sides of the rotor, improve the rotor assembly efficiency, eliminate the need for manual assembly, avoid the occurrence of reverse installation, missing installation or over-installation of washers caused by human error, and improve the product yield.

[0029] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description and the drawings. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0031] Figure 1 This is a schematic diagram of the automatic gasket installation machine provided in an embodiment of the present invention;

[0032] Figure 2 This is a partial structural schematic diagram of the gasket feeding mechanism provided in an embodiment of the present invention;

[0033] Figure 3 This is a partial structural schematic diagram of the gasket mounting mechanism provided in an embodiment of the present invention;

[0034] Figure 4 This is a partial structural schematic diagram of the rotor feeding mechanism provided in an embodiment of the present invention.

[0035] Figure 5 This is a flowchart of the assembly control method provided in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of an operation control device provided in an embodiment of the present invention. Detailed Implementation

[0037] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0038] It should be understood that in the description of the embodiments of the present invention, the use of terms such as "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or implicitly indicating the order of the technical features indicated. "At least one" means one or more, and "more than one" means two or more. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or multiple items.

[0039] Furthermore, unless otherwise explicitly specified and limited, the term "connection / linkage" should be interpreted broadly, for example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium.

[0040] In the description of the embodiments of this invention, the terms "one embodiment / implementation," "another embodiment / implementation," or "some embodiments / implementations," "in the above embodiments / implementations," etc., refer to specific features, structures, materials, or characteristics described in conjunction with embodiments or examples that are included in at least two embodiments or implementations disclosed in this invention. In this disclosure, the illustrative expressions of the above terms do not necessarily refer to the same illustrative embodiment or implementation. It should be noted that although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than that shown in the flowcharts.

[0041] It should be noted that the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0042] This invention provides an automatic washer installation machine. It utilizes a first guide rail and a second guide rail to classify and transport washers to be assembled on the upper and lower sides of a rotor, respectively, to a first discharge trough and a second discharge trough, achieving automatic washer classification and feeding. The washer suction nozzle and the first rotor suction nozzle move via a dual-axis moving bracket to automatically assemble washers on the upper and lower sides of the rotor; while the second rotor suction nozzle transports the rotor to be assembled from the workstation collection plate to the positioning seat via a three-axis moving bracket, achieving automatic rotor feeding. Therefore, through the cooperation of the washer feeding mechanism, the washer installation mechanism, and the rotor feeding mechanism, automatic assembly of washers on the upper and lower sides of the rotor can be achieved, improving assembly efficiency and product yield.

[0043] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0044] Firstly, referring to Figure 1 , Figure 1 This is a schematic diagram of the automatic gasket installation machine provided in an embodiment of the present invention.

[0045] It is understood that the automatic gasket installation machine includes a base, on which a gasket feeding mechanism 100, a gasket installation mechanism 200 and a rotor feeding mechanism 300 are respectively installed. The gasket installation mechanism 200 and the rotor feeding mechanism 300 are arranged opposite to each other, and the gasket installation mechanism 200 and the rotor feeding mechanism 300 are located on the same side of the gasket feeding mechanism 100.

[0046] Reference Figure 2 , Figure 2This is a partial structural schematic diagram of the washer feeding mechanism 100 provided in an embodiment of the present invention. The washer feeding mechanism 100 includes a vibratory feeder 101, a washer discharging module, a first guide rail 102, and a second guide rail 103. The vibratory feeder 101 is used to store washers and to transport the washers to the first guide rail 102 and the second guide rail 103 through vibration. One of the first guide rails 102 and the second guide rail 103 has a flipping part. Since the washers in the two guide rails face the same direction after the vibratory feeder 101 transfers the washers to the first guide rail 102 and the second guide rail 103, in order to facilitate the subsequent assembly of the washers and to avoid the situation of reversed installation of the washers, the flipping part reverses all the washers in one of the guide rails, thereby realizing the classification and transportation of positive and negative washers to the washer discharging module. The positive washers are the washers used to be assembled on the upper side of the rotor, and the negative washers are the washers used to be assembled on the lower side of the rotor. The washer discharge module includes a base plate, a discharge seat, and a sealing seat. Both the discharge seat and the sealing seat are mounted on the base plate. The first discharge groove 108 and the second discharge groove 109 are located on the sealing seat. The discharge seat has a first sliding groove 104 and a second sliding groove 105. A first guide rail 102 is connected to the first discharge groove 108 via the first sliding groove 104, and a second guide rail 103 is connected to the second discharge groove 109 via the second sliding groove 105. The first sliding groove 104 and the second sliding groove 105 can limit the movement of the washer.

[0047] In addition, the cross-section of the first groove 104 is different from that of the second groove 105. The cross-section of the first groove 104 matches the cross-section of the positive washer, and the cross-section of the second groove 105 matches the cross-section of the reverse washer. Thus, the first groove 104 and the second groove 105 can perform secondary inspection on the washer to avoid the washer being installed backwards.

[0048] The first fiber optic sensor 106 is provided on one side of the first discharge trough 108, and the second fiber optic sensor 107 is provided on one side of the second discharge trough 109. The first fiber optic sensor 106 and the second fiber optic sensor 107 can detect whether the gasket reaches the first discharge trough 108 and the second discharge trough 109, that is, they can detect whether the gasket is stuck, thus avoiding the occurrence of gasket missing installation.

[0049] refer to Figure 3 , Figure 3This is a partial structural schematic diagram of the gasket mounting mechanism 200 provided in an embodiment of the present invention. The gasket mounting mechanism 200 includes a dual-axis moving bracket 206, a first transport module 201, and a positioning seat 202, with the positioning seat 202 mounted on one side of the gasket discharge module. The first transport module 201 includes a first rotor suction nozzle 203 and a gasket suction nozzle 204. The first rotor suction nozzle 203 and the gasket suction nozzle 204 are respectively provided with a control connector 205 and a pressure sensor. The first rotor suction nozzle 203 and the gasket suction nozzle 204 can be connected to a cylinder through their respective control connectors 205, thereby realizing the vacuum adsorption function of the first rotor suction nozzle 203 and the gasket suction nozzle 204. The feeding and unloading functions can be realized by adjusting the conduction and cutoff states of the control connectors 205. In addition, by changing the gas flow direction of the cylinder and through the air jet function of the first rotor suction nozzle 203 and the gasket suction nozzle 204, material jamming can be avoided. When the first rotor suction nozzle 203 and the washer suction nozzle 204 are successfully adsorbed, a vacuum environment is formed inside the first rotor suction nozzle 203 and the washer suction nozzle 204. Therefore, a pressure sensor can be used to detect the pressure state to determine whether the first rotor suction nozzle 203 and the washer suction nozzle 204 have been successfully adsorbed. In addition, the positioning seat 202 is also equipped with a control connector 205 for connection to the cylinder, and a pressure sensor for detecting the pressure state of the positioning seat 202. The control connector 205 and the pressure sensor determine whether the rotor has been placed inside the positioning seat 202. Simultaneously, when the positioning seat 202 is connected to the cylinder, i.e., the control connector 205 is conductive, the rotor can be fixed on the positioning seat 202 under vacuum adsorption, improving the stability of the positive washer assembly.

[0050] The first transport module 201 is installed on the dual-axis moving bracket 206. The first transport module 201 can slide horizontally and lift vertically through the dual-axis moving bracket 206. The dual-axis moving bracket 206 includes a first transmission module 207. The positioning seat 202 is located below one end of the first transmission module 207. The first transmission module 207 extends from the positioning seat 202 toward the washer discharge module. Therefore, the first transport module 201 can reciprocate between the positioning seat 202 and the washer discharge module using the first transmission module 207. In the first transport module 201, the washer suction nozzle 204 and the first rotor suction nozzle 203 are arranged along the positioning seat 202 towards the washer discharge module. Thus, the washer suction nozzle 204 and the first rotor suction nozzle 203, combined with the vertical lifting function of the dual-axis moving bracket 206 and the reciprocating movement function between the positioning seat 202 and the washer discharge module, can realize the automatic assembly function of the washer on the upper and lower sides of the rotor. That is, the washer suction nozzle 204 is used to adsorb and move the positive washer of the first discharge groove 108 and assemble it on the upper part of the rotor in the positioning seat 202. After the positive washer is assembled, the rotor with the positive washer is adsorbed and moved by the first rotor suction nozzle 203 and placed in the reverse washer in the second discharge groove 109. At the same time, by continuing to lower the first rotor suction nozzle 203, the reverse washer is pressed and fixed to the lower side of the rotor, thus completing the automatic assembly of the washer on the upper and lower sides of the rotor.

[0051] refer to Figure 4 , Figure 4 This is a partial structural schematic diagram of the rotor loading mechanism 300 provided in an embodiment of the present invention. The rotor loading mechanism 300 includes a three-axis moving support 301, a second transport module 302, and a station collection plate 303. The station collection plate 303 is provided with multiple assembly slots, the shape of which matches the shape of the rotor, thus allowing the station collection plate 303 to hold multiple devices to be assembled, facilitating rotor loading. The second transport module 302 includes a second rotor suction nozzle 308, which is also equipped with a control connector 205 and a pressure sensor. The control connector 205 and the pressure sensor determine whether the rotor has been successfully adsorbed.

[0052] The second transport module 302 is mounted on the three-axis moving bracket 301. This allows the second rotor suction nozzle 308 to slide horizontally and lift vertically via the three-axis moving bracket 301. The three-axis moving bracket 301 includes a transverse transmission module 304. A station collection plate 303 is located below one end of the transverse transmission module 304, and a positioning seat 202 is located below the other end of the transverse transmission module 304. The transverse transmission module 304 extends from the station collection plate 303 towards the positioning seat 202. Additionally, the three-axis moving bracket 301 includes a longitudinal transmission module 305, which extends perpendicularly to the transverse transmission module 304. Therefore, the second rotor suction nozzle 308 can use the three-axis moving bracket 301 to automatically transfer the rotor to be assembled from the station collection plate 303 to the positioning seat 202, achieving automatic rotor feeding and improving production efficiency.

[0053] Understandably, the first fiber optic sensor 106 and the second fiber optic sensor 107 can detect whether the gasket in the first discharge trough 108 and the second discharge trough 109 has been successfully fed by measuring the distance between them and the gasket. Since the gasket consists of two annular structures with different diameters, the distance between the upper and lower parts of the gasket and the sensors is not the same. Therefore, by adjusting the height of the first fiber optic sensor 106 and the second fiber optic sensor 107 so that their heights are different, the current orientation of the gasket can be identified, preventing the gasket from being installed backwards.

[0054] It is understood that both the first guide rail 102 and the second guide rail 103 are spirally arranged within the vibratory feeder 101, and both extend tangentially out of the vibratory feeder 101 and connect to the washer feeding module. The vibratory feeder 101 feeds the washers onto the first guide rail 102 and the second guide rail 103 through vibration. Therefore, during the feeding stage, the washers on the same guide rail have different orientations. Since the washers are composed of two annular structures with different diameters, in the spirally arranged track, the washers with different orientations slide within the track and have different contact positions with the track sidewalls. Therefore, both the first guide rail 102 and the second guide rail 103 have guide plates that are arranged along the edges and extend outwards. The guide plates guide the washers with higher contact positions to slide out of the guide rail, so that the washers on the same guide rail have the same orientation. Specifically, before the washers pass through the flipping section, the washers on both guide rails have the same orientation. The guide plate is located inside the vibratory feeder 101. Therefore, the gaskets that have slid out of the guide rail fall into the vibratory feeder 101, allowing for secondary feeding using the vibration of the vibratory feeder 101. This achieves automatic recycling and automatic feeding, improving production efficiency. The guide plate and the spirally arranged first guide rail 102 and second guide rail 103 work together to automatically screen gaskets facing different directions, reducing the occurrence of reversed gasket installation and improving product yield.

[0055] Understandably, the first transport module 201 is also equipped with a laser sensor. The laser sensor can be located inside the first rotor suction nozzle 203, or it can be located on the side of the first rotor suction nozzle 203 away from the washer suction nozzle 204. The first transport module 201 uses the laser sensor to detect the distance to the upper side of the rotor. Since the distance between the rotor and the laser sensor changes after the washer is installed, the laser sensor can detect whether the washer has been successfully installed on the upper side of the rotor, avoiding the possibility of missing washer installation. Simultaneously, since the washer consists of two ring structures with different diameters, detecting the height of the outer ring of the washer can determine the orientation of the washer, thereby determining whether the washer is installed backwards and improving the product yield.

[0056] Understandably, the second rotor suction nozzle 308 is equipped with a distance measuring instrument, i.e., a micrometer thickness gauge. This gauge measures the rotor shaft length, checking if the shaft length of the rotor to be assembled meets the standard. This avoids wasting materials by assembling washers on rotors with substandard shaft lengths, thus improving yield. Simultaneously, since the shaft lengths of some rotors to be assembled are different on the upper and lower sides (i.e., the rotors have a front and back orientation), detecting the rotor shaft length prevents reversed washer installation. Furthermore, a waste collection plate 306 is provided between the station collection plate 303 and the positioning seat 202. The waste collection plate 306 is used to collect rotors with substandard shaft lengths. The second rotor suction nozzle 308 can utilize the transverse transmission module 304 to transport rotors with substandard shaft lengths from the station collection plate 303 to the waste collection plate 306, achieving automatic waste detection and improving production efficiency.

[0057] It is understandable that a slide rail module 307 is also provided between the second rotor suction nozzle 308 and the positioning seat 202, that is, the slide rail module 307 is located between the longitudinal transmission module 305 and the positioning seat 202. The slide rail module 307 is parallel to the longitudinal transmission module 305 in the three-axis moving bracket 301, that is, the slide rail module 307 is perpendicular to the extension direction of the transverse transmission module 304. The station collection plate 303 and the waste collection plate 306 are installed side-by-side on the slide rail module 307. Therefore, the station collection plate 303 and the waste collection plate 306 can slide along the slide rail module 307, facilitating the loading of the rotor to be assembled onto the station collection plate 303, and simultaneously facilitating the recovery of the rotor from the waste collection plate 306.

[0058] Understandably, the automatic gasket installation machine also includes a double-track conveyor belt 400 for rotor unloading. The double-track conveyor belt 400 has a gap in the middle, allowing the rotor shaft on its underside to pass through. The rotor body is transported using the support of the double-track conveyor belt 400. The double-track conveyor belt 400 is located on the side of the gasket feeding mechanism 100 away from the gasket installation mechanism 200, and is located below the first transmission module 207. Therefore, the first rotor suction nozzle 203 can use the first transmission module 207 to suction and transfer the rotor located in the second discharge trough 109 onto the double-track conveyor belt 400, thus unloading the rotor after gaskets have been installed on both its upper and lower sides. Since different rotors have different sizes, in order to improve the adaptability of the equipment, tensioning blocks 401 are provided at the outlet end of the double-track conveyor belt 400. That is, tensioning blocks 401 are provided on both sides of the outlet end of the double-track conveyor belt 400. By adjusting the distance between the tensioning blocks 401 on both sides, the gap width of the middle part of the double-track conveyor belt 400 can be adjusted to achieve the effect of adapting to rotors of different sizes.

[0059] Understandably, a stop 402 is installed above the exit end of the dual-track conveyor belt 400. The stop 402 can block the rotor body or the shaft on the upper side of the rotor, so that the rotor cannot continue to move and avoid the rotor falling and being damaged.

[0060] Understandably, the first transport module 201 is also equipped with a first displacement sensor, and the washer discharge module is equipped with a second displacement sensor. The first displacement sensor and the second displacement sensor are matched, so that the relative position can be used for accurate positioning and improve the accuracy of material transport.

[0061] Understandably, the automatic gasket installation machine also includes a display module, which is connected to various pressure sensors: the pressure sensor connected to the first rotor nozzle 203, the pressure sensor connected to the second rotor nozzle 308, the pressure sensor connected to the gasket nozzle 204, and the pressure sensor connected to the positioning seat 202. The display module shows the pressure status detected by each sensor, thus providing a clear view of the assembly status of the first rotor nozzle 203, the second rotor nozzle 308, the gasket nozzle 204, and the positioning seat 202.

[0062] It will be understood by those skilled in the art that Figure 1 , Figure 2 , Figure 3 and Figure 4 The structure of the automatic gasket installation machine shown in the figure does not constitute a limitation on the embodiments of the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0063] Based on the structure of the aforementioned automatic washer installation machine, various embodiments of the assembly control method of the second aspect of the present invention are proposed.

[0064] Reference Figure 5 , Figure 5 This is a flowchart of an assembly control method provided in an embodiment of the present invention. This assembly control method can be applied to, for example... Figures 1 to 4 The automatic gasket installation machine shown includes, but is not limited to, the following steps in its assembly control method:

[0065] Step S101: In response to the first trigger signal of the first fiber optic sensor, control the gasket suction nozzle to move to the first discharge trough, and connect the control connector connected to the gasket suction nozzle until the air pressure state of the gasket suction nozzle meets the vacuum condition.

[0066] Step S102: When the air pressure of the positioning seat meets the vacuum condition, control the gasket suction nozzle to move above the positioning seat and cut off the control connector connected to the gasket suction nozzle.

[0067] Step S103: In response to the second trigger signal of the second fiber optic sensor, control the first rotor nozzle to move above the positioning seat, connect the control connector connected to the first rotor nozzle and disconnect the control connector connected to the positioning seat.

[0068] Step S104: When the air pressure of the first rotor suction nozzle meets the vacuum condition, control the first rotor suction nozzle to move above the second discharge trough, and control the first rotor suction nozzle to press down to assemble the washer under the rotor.

[0069] Understandably, when the positive washer is fed into the first discharge trough via the first guide rail, the first fiber optic sensor located on one side of the first discharge trough is triggered, generating a first trigger signal. Therefore, upon receiving the first trigger signal from the first fiber optic sensor, it can be assumed that the positive washer is already within the first discharge trough, and it can be retrieved using the washer suction nozzle. Thus, after controlling the washer suction nozzle to move above the first discharge trough, the washer suction nozzle is lowered using a dual-axis moving bracket, simultaneously activating the control suction head connected to the washer suction nozzle, connecting the cylinder to the washer suction nozzle. A negative pressure is generated at the washer suction nozzle to adsorb the positive washer in the first discharge trough. A pressure sensor is installed inside the washer suction nozzle. When the washer suction nozzle successfully adsorbs the washer, the pressure state of the washer suction nozzle changes, meaning the pressure state of the washer suction nozzle meets the vacuum condition. Correspondingly, since the positioning seat also contains a control connector and a pressure sensor, the cylinder can be connected to the positioning seat by activating the control connector connected to the positioning seat. When a rotor is present in the positioning seat, the air pressure within the positioning seat changes to a vacuum state, meaning the air pressure in the positioning seat meets the vacuum condition. Therefore, when the air pressure in the positioning seat meets the vacuum condition, it can be assumed that the rotor to be assembled is already in the positioning seat. The gasket suction nozzle is then moved above the positioning seat and lowered for a preset time, causing the gasket suction nozzle to move above the rotor. After the control connector connected to the gasket suction nozzle is cut off, the gasket can be stably fitted onto the rotor shaft, completing the automatic assembly of the gasket on the upper side of the rotor.

[0070] When a second trigger signal is received from the second fiber optic sensor, it can be assumed that the reverse washer has reached the second discharge chute via the second guide rail. Therefore, after the control connector connected to the washer suction nozzle is cut off, the first rotor suction nozzle is controlled to move above the positioning seat and then descend above the rotor. The control connector connected to the first rotor suction nozzle is then activated, while the control connector connected to the positioning seat is cut off, causing the positioning seat to lose its ability to attract the rotor. The first rotor suction nozzle can then successfully attract the rotor and drive it to move. If the air pressure at the first rotor suction nozzle meets the vacuum condition, it can be assumed that the first rotor suction nozzle has successfully attracted the rotor. The first rotor suction nozzle is then controlled to move, transporting the rotor to the top of the second discharge chute, and then pressed down to assemble the washer below the rotor. This achieves automatic assembly of the washers on both sides of the rotor, eliminating the need for manual assembly and improving assembly efficiency. The first trigger signal and / or the second trigger signal can be detected in real time, or periodically. For example, the first trigger signal can be periodically detected, while the second trigger signal can be detected in real time, so as to achieve automatic assembly of the rotor at regular intervals. This avoids the situation of over-assembly caused by the mismatch between the positive washer feeding speed and the positive washer assembly speed. The second trigger signal can be detected in real time after the positive washer is assembled, which can improve the assembly speed of the reverse washer.

[0071] It should be noted that this assembly control method can use the displacement signals emitted by the first displacement sensor in the first transport module and the second displacement sensor in the washer discharge module to accurately position the washer and rotor, thereby improving the accuracy of assembly.

[0072] It should be noted that this assembly control method can also control the second rotor suction nozzle to move to the corresponding position on the workstation collection plate, and simultaneously connect the control connector to the second rotor suction nozzle to adsorb the rotor on the workstation collection plate. Since the second rotor suction nozzle is equipped with a micrometer thickness gauge (i.e., a distance measuring instrument), it can detect and judge the length of the rotor shaft during adsorption. When the rotor shaft length does not meet the preset length threshold, the second rotor suction nozzle is controlled to transport the rotor to the waste collection plate. Conversely, when the rotor shaft length meets the preset length threshold but the air pressure of the positioning seat does not meet the vacuum condition, the second rotor suction nozzle is controlled to transport the rotor to the positioning seat. If the air pressure of the positioning seat meets the vacuum condition, the second rotor suction nozzle remains stationary until the air pressure of the positioning seat no longer meets the vacuum condition.

[0073] It should be noted that this assembly control method can also control the first rotor suction nozzle to rise and move along the direction of the double-track conveyor belt after controlling the first rotor suction nozzle to press down to assemble the washer under the rotor. When the first rotor suction nozzle reaches the top of the double-track conveyor belt, the first rotor suction nozzle drives the assembled rotor to fall down and cuts off the control connector connected to the first rotor suction nozzle, placing the assembled rotor on the double-track conveyor belt for unloading.

[0074] It should be noted that this assembly method can also perform vacuum testing after the control connector is disconnected. Specifically, after disconnecting the control connectors to the washer suction nozzle, the first rotor suction nozzle, the second rotor suction nozzle, and the positioning seat, the air pressure status is detected using an air pressure sensor. If the air pressure still meets the vacuum requirements, the control connector is reopened, causing the cylinder to spray air into the washer suction nozzle, the first rotor suction nozzle, the second rotor suction nozzle, or the positioning seat, causing the washer or rotor to detach and ensuring material feeding.

[0075] refer to Figure 6 , Figure 6 The present invention provides a schematic diagram of the structure of an operation control device 600 according to a third aspect embodiment of the present invention. The operation control device 600 includes: a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620. When the processor 620 executes the computer program, it implements the assembly control method as described in the above embodiment.

[0076] The memory 610, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the assembly control method in the above embodiments of the present invention. The processor 620 implements the assembly control method in the above embodiments of the present invention by running the non-transitory software program and instructions stored in the memory 610.

[0077] The memory 610 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data required for executing the assembly control method in the above embodiments. Furthermore, the memory 610 may include a high-speed random access memory 610, and may also include non-transitory memory 610, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. It should be noted that the memory 610 may optionally include memory 610 remotely located relative to the processor 620, and these remote memories 610 can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0078] The non-transient software program and instructions required to implement the assembly control method in the above embodiments are stored in memory. When executed by one or more processors, the assembly control method in the above embodiments is executed, for example, the method described above is executed. Figure 5 The method steps S101 to S104.

[0079] A fourth aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions that can be used to cause a computer to perform the assembly control method of the second aspect embodiment above, for example, to perform the above-described assembly control method. Figure 5 The method steps S101 to S104.

[0080] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which may include computer storage media or non-transitory media and communication media or transient media. As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc DVD or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0081] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An assembly control method, characterized in that, The assembly control method is implemented using an automatic washer installation machine, which includes: A washer feeding mechanism includes a vibratory feeder, a washer discharging module, a first guide rail for transporting forward-facing washers, and a second guide rail for transporting reverse-facing washers. The washer discharging module includes a first discharge trough and a second discharge trough. The vibratory feeder is connected to the first discharge trough via the first guide rail, and the vibratory feeder is connected to the second discharge trough via the second guide rail. A first fiber optic sensor is provided on one side of the first discharge trough, and a second fiber optic sensor is provided on one side of the second discharge trough. The washer mounting mechanism includes a dual-axis moving bracket, a first transport module mounted on the dual-axis moving bracket, and a positioning seat located on one side of the washer discharge module. The dual-axis moving bracket includes a first transmission module for driving the first transport module to move longitudinally. The first transmission module extends from the positioning seat toward the washer discharge module. The first transport module includes a first rotor suction nozzle and a washer suction nozzle arranged parallel to the first rotor suction nozzle. The positioning seat has a positioning groove for placing the rotor. The rotor loading mechanism is disposed on one side of the washer mounting mechanism. The rotor loading mechanism includes a three-axis moving bracket, a second transport module mounted on the three-axis moving bracket, and a station collection plate for placing the rotor to be assembled. The three-axis moving bracket includes a transverse transmission module for driving the second transport module to move laterally. The transverse transmission module extends from the station collection plate toward the positioning seat. The second transport module includes a second rotor suction nozzle. The first rotor suction nozzle, the washer suction nozzle, the positioning groove, and the second rotor suction nozzle are all provided with control connectors for connecting to cylinders and air pressure sensors for detecting air pressure status. The assembly control method includes: In response to the first trigger signal of the first fiber optic sensor, the gasket suction nozzle is controlled to move to the first discharge trough, and the control connector connected to the gasket suction nozzle is turned on until the air pressure state of the gasket suction nozzle meets the vacuum condition. When the positioning seat has a rotor and the air pressure of the positioning seat meets the vacuum condition, control the washer suction nozzle to move above the positioning seat and then descend, so that the washer suction nozzle moves above the rotor; cut off the control connector connected to the washer suction nozzle so that the washer is fitted on the rotor shaft, completing the assembly of the upper washer of the rotor. In response to the second trigger signal of the second fiber optic sensor, the first rotor nozzle is controlled to move above the positioning seat, the control connector connected to the first rotor nozzle is turned on and the control connector connected to the positioning seat is turned off. When the air pressure of the first rotor suction nozzle meets the vacuum condition, control the first rotor suction nozzle to move above the second discharge trough, and control the first rotor suction nozzle to press down to assemble the washer under the rotor.

2. The assembly control method according to claim 1, characterized in that, The first fiber optic sensor is positioned at a different height than the second fiber optic sensor to detect the direction of the washer.

3. The assembly control method according to claim 1, characterized in that, Both the first guide rail and the second guide rail are spirally arranged inside the vibratory feeder and extend tangentially to the gasket discharge module. The first guide rail and the second guide rail are respectively provided with guide plates for screening gaskets. The guide plates are arranged along the edge of the guide rail and extend outward. The guide plates are located inside the vibratory feeder.

4. The assembly control method according to claim 1, characterized in that, The first transport module is also equipped with a laser sensor for detecting the height of the gasket. The laser sensor is located inside the first rotor nozzle or on the side of the first rotor nozzle away from the gasket nozzle.

5. The assembly control method according to claim 1, characterized in that, The second rotor suction nozzle is equipped with a rangefinder for measuring the length of the rotor shaft, and a waste collection plate for recycling rotors whose shaft length does not meet the standard is provided between the workstation collection plate and the positioning seat.

6. The assembly control method according to claim 5, characterized in that, A slide rail module perpendicular to the extension direction of the transverse transmission module is also provided between the workstation collection plate and the positioning seat. The workstation collection plate and the waste collection plate are installed side by side on the slide rail module.

7. The assembly control method according to claim 1, characterized in that, The automatic gasket installation machine also includes a double-track conveyor belt with a gap in the middle. The double-track conveyor belt is located on the side of the gasket feeding mechanism away from the gasket installation mechanism, and is located below the first transmission module. The exit end of the double-track conveyor belt is provided with a tensioning block for adjusting the gap width, and a stop block for preventing products from falling is also provided above the exit end of the double-track conveyor belt.

8. An operation control device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the assembly control method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the assembly control method as described in any one of claims 1 to 7.

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