Bearing entry front support automatic assembly equipment and motor automatic assembly line

Abstract

The application discloses a bearing-into-front-support automatic assembling device and a motor automatic assembling line, and relates to the technical field of motor production equipment. The bearing-into-front-support automatic assembling device comprises a rack, a first feeding device, a second feeding device, a transfer conveying device, a first mechanical arm, a second mechanical arm and a pressing device. The first feeding device is used for automatic feeding of front supports, the second feeding device is used for automatic feeding of bearings, then the first mechanical arm is used for transferring the front supports fed to the transfer conveying device, the transfer conveying device is used for transferring the front supports to an assembling station, the second mechanical arm is used for transferring the bearings fed to the assembling station, then the pressing device is used for pressing the bearings into the front supports to obtain a combined part, and then the transfer conveying device is used for discharging, so that the whole operation process of the bearing-into-front-support automatic assembling device does not need manual participation, the degree of automation is high, the labor intensity is greatly reduced, and the production efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of motor production equipment technology, specifically to an automatic assembly equipment for bearing front support and an automatic motor assembly line. Background Technology

[0002] Motors, also known as electric motors, are widely used in equipment and products. Currently, motor assembly and production often employs assembly lines, with different workstations performing different assembly processes. Especially during the pressing of bearings onto the motor's front bracket, manual handling of loading, unloading, and pressing of the front bracket and bearing is still required. This results in low automation, and the manual pressing force cannot be guaranteed, thus compromising product yield.

[0003] The Chinese patent application number is CN202122366459.1, the application date is September 28, 2021, and the patent name is Motor Bearing Press-fitting Mechanism. The motor bearing press-fitting mechanism realizes the automatic pressing of the motor body and the bearing by driving the press head with an electric cylinder. Although it improves the product yield to a certain extent, the loading and unloading of the motor body and the bearing still have to be done manually. The manual labor intensity is high, the degree of automation is low, and the production efficiency is low. Summary of the Invention

[0004] The purpose of this application is to provide an automatic assembly equipment for bearing front brackets and an automatic assembly line for motors, in order to overcome the shortcomings of the prior art.

[0005] To achieve the above objectives, in a first aspect, this application provides an automatic bearing front bracket assembly device for pressing bearings into the front bracket of a motor, the automatic bearing front bracket assembly device comprising:

[0006] A frame, wherein the frame is provided with a first loading station, a second loading station, an assembly station and an unloading station;

[0007] The first feeding device is set at the first feeding station and is used for automatic feeding of the front support;

[0008] The second feeding device is set at the second feeding station and is used for automatic feeding of the bearing;

[0009] A transfer conveying device is installed on the frame, and the conveying direction of the transfer conveying device passes through the assembly station and the unloading station;

[0010] A first robotic arm, mounted on the frame, is used to transfer the front support fed by the first feeding device to the transfer conveying device, and then to the assembly station by the transfer conveying device.

[0011] A second robotic arm, mounted on the frame, is used to transfer the bearing fed by the second feeding device to the assembly station; and

[0012] A pressing device, located at the assembly station, is used to press the bearing into the front bracket in the vertical direction to form an assembly.

[0013] The transfer conveying device is also used to transfer the assembly to the unloading station.

[0014] As a further improvement to the above technical solution:

[0015] In conjunction with the first aspect, in one possible implementation, the transfer conveying device includes:

[0016] A linear drive module is mounted on the frame;

[0017] A lifting drive module is disposed at the output end of the linear drive module, the linear drive module being used to drive the lifting drive module to perform linear reciprocating motion along the conveying direction; and

[0018] At least one conveying gripper is disposed in the lifting drive module, the lifting drive module being used to drive the conveying gripper to perform linear reciprocating motion in the vertical direction;

[0019] The linear drive module and the lifting drive module work together to enable the conveying gripper to grasp the front support for transfer.

[0020] In conjunction with the first aspect, in one possible implementation, the lifting drive module includes:

[0021] A lifting base is disposed at the output end of the linear drive module;

[0022] A lifting drive mechanism is disposed on the lifting base;

[0023] A mounting plate is disposed at the output end of the lifting drive mechanism, and the mounting plate is provided with the conveying gripper; and

[0024] The guide post has one end set on the lifting base and the other end passing through the mounting plate in the vertical direction and fitting with the mounting plate with a clearance. The other end of the guide post is also provided with a limiting member, which is used to limit the travel of the mounting plate moving upward in the vertical direction.

[0025] In conjunction with the first aspect, in one possible implementation, the first feeding device includes:

[0026] A vibratory feeder module is used to load a preset number of the front supports and to sequentially output the front supports from the outlet of the vibratory feeder module in a preset placement posture through vibration.

[0027] A first feeding positioning seat is disposed on the frame, and the first feeding positioning seat is connected to the outlet of the vibratory feeder module through a first feeding track; and

[0028] Two calibration clamps are disposed on the first feeding positioning seat and are respectively located on both sides of the feeding direction of the first feeding track. The two calibration clamps are used to output the movement of moving closer to each other and moving away from each other.

[0029] The first loading positioning seat is equipped with a first sensor, which is used to detect the front bracket on the first loading positioning seat and is linked with the two calibration clamps.

[0030] In conjunction with the first aspect, in one possible implementation, the second feeding device includes:

[0031] A vibrating hopper is installed on the frame;

[0032] A second feeding positioning seat is disposed on the frame. The second feeding positioning seat is connected to the discharge port of the vibrating hopper via a second feeding track. The second feeding positioning seat is provided with a positioning groove for positioning the bearing.

[0033] A sensor is mounted on the second feeding positioning seat to detect the bearing on the second feeding positioning seat.

[0034] In conjunction with the first aspect, in one possible implementation, the vibrating hopper includes:

[0035] The hopper rack is vertically mounted on the frame;

[0036] A hopper is slidably mounted on the silo frame, with the side of the hopper facing away from the silo frame being open;

[0037] A discharge seat is disposed on the frame and abuts against the side of the hopper facing away from the hopper frame. A receiving space for accommodating a predetermined number of bearings is formed between the discharge seat and the hopper. The discharge seat is provided with a discharge port, and a guide step is provided on the side of the discharge seat near the hopper, one end of which extends to the discharge port.

[0038] A discharge drive unit is disposed on the hopper frame and connected to the hopper. The discharge drive unit is used to drive the hopper to reciprocate in the vertical direction to transfer the bearing in the accommodating space to the guide step.

[0039] The width of the guide step is less than or equal to the thickness of the bearing.

[0040] In conjunction with the first aspect, in one possible implementation, the bottom of the hopper is provided with a ramp surface that slopes toward the discharge seat.

[0041] In conjunction with the first aspect, in one possible implementation, the pressing device includes:

[0042] The press-fitting execution module is mounted on the frame and located at the assembly station;

[0043] A sliding module is mounted on the frame and located below the pressing execution module; and

[0044] A press-fit positioning module is disposed on the sliding module;

[0045] The sliding module is used to drive the press-fit positioning module to move between the second loading station and the assembly station, and is used to receive and position the bearing and the front bracket respectively. The press-fit execution module presses the bearing into the front bracket in the vertical direction to form the assembly.

[0046] To achieve the above objectives, in a second aspect, this application also provides an automatic motor assembly line, including a third robot and an automatic assembly device for bearing front support according to the first aspect, wherein the third robot is disposed at the unloading station of the frame and is used to transfer the assembly to the next process.

[0047] Compared to existing technologies, the beneficial effects of this application are:

[0048] This application provides an automated assembly equipment for bearing front brackets and an automated motor assembly line. The automated assembly equipment uses a first feeding device for automatically feeding the front bracket and a second feeding device for automatically feeding the bearing. A first robotic arm then transfers the front bracket from the first feeding device to a transfer conveyor, which then transfers it to the assembly station. A second robotic arm transfers the bearing from the second feeding device to the assembly station. A pressing device then presses the bearing into the front bracket to form an assembly. Finally, the transfer conveyor unloads the assembly. The entire assembly process, from feeding and pressing to unloading, requires no manual intervention. Therefore, the automated assembly equipment for bearing front brackets provided by this application, through the coordinated operation of the first feeding device, the second feeding device, the transfer conveyor, the first robotic arm, the second robotic arm, and the pressing device, achieves automated feeding, pressing, and unloading of bearings and front brackets. The entire operation requires no manual intervention, has a high degree of automation, greatly reduces labor intensity, and improves production efficiency.

[0049] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0050] The accompanying drawings are provided to further illustrate this application and form part of the specification. They are used together with the following detailed description to explain this application. It should be understood that the following drawings only show some embodiments of this application and should not be considered as limiting the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort. In the drawings:

[0051] Figure 1 An exploded view of a front bracket and bearing provided in an embodiment of this application is shown;

[0052] Figure 2 This paper shows a top view of an automatic assembly device for bearing pre-mounted brackets provided in an embodiment of this application;

[0053] Figure 3 It shows Figure 2 The diagram shows a three-dimensional structural schematic of the automatic assembly equipment for bearing front support.

[0054] Figure 4 It shows Figure 3 The diagram shows a three-dimensional structure of the first feeding device and the first robotic arm in the automatic assembly equipment for bearing front support.

[0055] Figure 5 It shows Figure 4 A three-dimensional structural diagram of the first feeding positioning seat and the correction clamp in the first feeding device shown;

[0056] Figure 6 It shows Figure 4 A three-dimensional structural diagram of a partial mechanism of the first feeding device and the first robotic arm;

[0057] Figure 7 It shows Figure 3 The diagram shows a three-dimensional structural schematic of the transfer and conveying device in the automatic assembly equipment for bearing front support.

[0058] Figure 8 It shows Figure 3 The diagram shows a three-dimensional structural schematic of the second feeding device in the automatic assembly equipment for bearing front support.

[0059] Figure 9 It shows Figure 3 The diagram shows a three-dimensional structure of the second robotic arm in the automatic assembly equipment for bearing front support.

[0060] Figure 10 It shows Figure 9A magnified view of a portion of point A in the middle;

[0061] Figure 11 It shows Figure 3 The diagram shows a three-dimensional structural schematic of the press-fitting device in the automatic assembly equipment for bearing front support.

[0062] Figure 12 It shows Figure 11 A three-dimensional structural diagram of the pressing and positioning module in the pressing device shown.

[0063] Explanation of reference numerals in the attached figures:

[0064] 10. Front bracket; 11. Positioning protrusion; 20. Bearing;

[0065] 100. Frame; 110. First loading station; 120. Second loading station; 130. Assembly station; 140. Unloading station;

[0066] 200. First feeding device; 210. Vibratory feeder module; 220. First feeding positioning seat; 221. Positioning mounting frame; 222. Positioning seat body; 2220. First positioning groove; 223. Stop block; 230. First feeding track; 240. Correction clamp; 241. Correction drive component; 242. Correction clamp plate; 243. Sensor; 244. Probe; 250. Vibration damping seat; 260. First sensor; 270. Conveyor belt;

[0067] 300. First robotic arm; 310. First upright; 320. First drive assembly; 330. Second drive assembly; 340. Third drive assembly; 350. First pneumatic gripper;

[0068] 400. Transfer and conveying device; 410. Linear drive module; 420. Lifting drive module; 421. Lifting base; 422. Lifting drive mechanism; 423. Mounting plate; 424. Guide column; 425. Limiting component; 430. Conveying gripper;

[0069] 500. Second feeding device; 510. Vibrating hopper; 511. Hopper frame; 512. Hopper; 513. Discharge seat; 5130. Guide step; 514. Discharge drive component; 520. Second feeding positioning seat; 530. Second feeding track; 540. Second sensor;

[0070] 600. Second robotic arm; 610. Second upright; 620. Fourth drive assembly; 630. Fifth drive assembly; 640. Material handling module; 641. First material handling assembly; 6410. Material handling cylinder; 6411. Material handling bar; 642. Second material handling assembly;

[0071] 700. Pressing device; 710. Pressing execution module; 711. Pressing frame; 712. Pressing drive assembly; 713. Pressure sensor; 714. Pressing head; 720. Pressing positioning module; 721. Pressing fixed seat; 722. Movable positioning seat; 723. Positioning top rod; 724. Buffer assembly; 725. Stepped shaft; 726. Positioning step; 727. Third positioning groove; 730. Sliding module; 731. Fixed base; 732. Slide rail; 733. Sliding seat body; 734. Sliding drive assembly;

[0072] 800. Temporary storage positioning seat; 810. Material unloading positioning seat;

[0073] 900. The third robotic arm. Detailed Implementation

[0074] The specific implementation methods of the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation methods described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application.

[0075] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0076] In the embodiments of this application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0077] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0078] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0079] The present application will now be described in detail with reference to the accompanying drawings and exemplary embodiments.

[0080] Please see Figure 1 , Figure 2 and Figure 3 This embodiment provides an automatic assembly device for inserting a bearing into a front bracket. The automatic assembly device for inserting a bearing into a front bracket is used to press the bearing 20 into the front bracket 10 of the motor, thereby realizing the assembly of the bearing 20 and the front bracket 10.

[0081] In this embodiment, the automatic assembly equipment for bearing pre-support includes a frame 100, a first feeding device 200, a second feeding device 500, a transfer conveying device 400, a first robotic arm 300, a second robotic arm 600, and a pressing device 700.

[0082] The frame 100 is supported on the foundation and is equipped with a first loading station 110, a second loading station 120, an assembly station 130 and an unloading station 140.

[0083] The first feeding device 200 is mounted on the frame 100 and located at the first feeding station 110. The first feeding device 200 is used for automatic feeding of the front support 10.

[0084] The second feeding device 500 is mounted on the frame 100 and located at the second feeding station 120. The second feeding device 500 is used for automatic feeding of the bearing 20.

[0085] The transfer conveyor 400 is mounted on the frame 100, and the conveying direction of the transfer conveyor 400 passes through the assembly station 130 and the unloading station 140.

[0086] The first robotic arm 300 is mounted on the frame 100. The first robotic arm 300 is used to transfer the front support 10 fed by the first feeding device 200 to the transfer conveying device 400, and the transfer conveying device 400 transfers the front support 10 to the assembly station 130.

[0087] The second robotic arm 600 is mounted on the frame 100 and is used to transfer the bearing 20 fed by the second feeding device 500 to the assembly station 130. In this embodiment, after both the front support 10 and the bearing 20 are transferred to the assembly station 130, the front support 10 and the bearing 20 are arranged vertically, with the front support 10 located directly above the bearing 20.

[0088] The press-fitting device 700 is mounted on the frame 100 and located at the assembly station 130. It is used to press the bearing 20 into the front bracket 10 in the vertical direction to form an assembly. Specifically, during press-fitting, the bearing 20 remains relatively stationary, and the press-fitting device 700 applies a downward pressure to the front bracket 10 in the vertical direction, thereby pressing the bearing 20 into the front bracket 10. The part formed after the bearing 20 and the front bracket 10 are assembled is defined as an assembly.

[0089] In this embodiment, the transfer conveying device 400 is also used to transfer the assembly to the unloading station 140 to realize automatic unloading, ensure that the assembly of the bearing 20 and the front bracket 10 at the assembly station 130 can be carried out continuously, improve automation, and thus improve production efficiency.

[0090] The automatic assembly equipment for bearing front brackets provided in this embodiment uses a first feeding device 200 for automatic feeding of the front bracket 10 and a second feeding device 500 for automatic feeding of the bearing 20. Then, a first robotic arm 300 transfers the front bracket 10 fed by the first feeding device 200 to a transfer conveying device 400, which then transfers it to an assembly station 130. A second robotic arm 600 transfers the bearing 20 fed by the second feeding device 500 to the assembly station 130. After that, a pressing device 700 presses the bearing 20 into the front bracket 10 to obtain an assembly. Then, the transfer conveying device 400 unloads the assembly. The entire assembly process, from feeding and pressing to unloading, does not require manual intervention. Therefore, the automatic assembly equipment for bearing front bracket provided in this application achieves automatic feeding, pressing and unloading of bearing 20 and front bracket 10 through the coordinated operation of the first feeding device 200, the second feeding device 500, the transfer conveying device 400, the first robot 300, the second robot 600 and the pressing device 700. The entire operation process does not require manual intervention, has a high degree of automation, greatly reduces the intensity of manual labor and improves production efficiency.

[0091] Understandably, the actions of the first feeding device 200, the second feeding device 500, the transfer conveying device 400, the first robot arm 300, the second robot arm 600, and the pressing device 700 in the automatic assembly equipment for bearing front support are all coordinated and controlled by the program in the control system.

[0092] Please see Figure 1 ,Figure 2 , Figure 3 and Figure 4 Specifically, the first feeding device 200 includes a vibratory feeder module 210, a first feeding positioning seat 220, and two calibration clamps 240. The vibratory feeder module 210 is used to load a preset number of front supports 10, and the front supports 10 are sequentially output from the outlet of the vibratory feeder module 210 in a preset placement posture through vibration. In this embodiment, the vibratory feeder module 210 uses a direct vibration feeding method to prevent scratching the surface of the front supports 10.

[0093] Furthermore, the vibratory feeder module 210 is supported on the foundation by a support frame, thereby preventing the vibration generated by the vibratory feeder module 210 from being directly transmitted to the frame 100 and affecting the accuracy of subsequent pressing.

[0094] In some embodiments, the vibratory feeder module 210 is further provided with a feed inlet for loading the front support 10 to be loaded into the vibratory feeder module 210. Further, a conveyor belt 270 can be provided at the feed inlet. During loading, the front support 10 is placed on the conveyor belt 270, and then the conveyor belt 270 outputs the front support 10 to the feed inlet, so that the front support 10 automatically enters the vibratory feeder module 210.

[0095] The first feeding positioning seat 220 is disposed on the frame 100. The first feeding positioning seat 220 is connected to the outlet of the vibratory feeder module 210 through the first feeding track 230. The first feeding track 230 is used to transport the front support 10 output from the outlet of the vibratory feeder module 210 to the first feeding positioning seat 220.

[0096] Furthermore, the frame 100 is provided with vibration damping seats 250 for supporting the first feeding track 230. The vibration damping seats 250 serve two purposes: supporting the first feeding track 230 and reducing vibration transmission to the frame 100, which could affect the operation of other equipment. In some embodiments, there can be multiple vibration damping seats 250, distributed along the extension direction of the first feeding track 230. It is understood that the specific number of vibration damping seats 250 can be set according to the length of the first feeding track 230; therefore, this embodiment does not limit the number of vibration damping seats 250.

[0097] Please refer to the following: Figure 5 Both correction clamps 240 are set on the first loading positioning seat 220, and the two correction clamps 240 are respectively located on both sides of the feeding direction of the first feeding track 230. The two correction clamps 240 are used to output the movement of moving closer to each other and moving away from each other, so as to realize the positioning correction of the front support 10 by clamping the front support 10 on the first loading positioning seat 220, thereby facilitating the first robot arm 300 to accurately grasp the front support 10 on the first loading positioning seat 220.

[0098] Furthermore, the first feeding positioning seat 220 includes a positioning mounting frame 221, a positioning seat body 222, and a stop block 223. The positioning mounting frame 221 is vertically mounted on the frame 100, and the positioning seat body 222 is mounted on the positioning mounting frame 221. The positioning seat body 222 is provided with a first positioning groove 2220. One end of the first positioning groove 2220 is connected to the first feeding track 230, so that the front support 10 conveyed by the first feeding track 230 can smoothly enter the first positioning groove 2220. The stop block 223 is disposed on the positioning seat body 222 and located at the other end of the first positioning groove 2220. The stop block 223 is used to restrict the movement of the front support 10 in the first positioning groove 2220, so as to achieve the purpose of positioning the front support 10 in the first positioning groove 2220. Understandably, when the front support 10 enters the first positioning groove 2220 and the front support 10 abuts against the stop block 223, the front support 10 reaches the loading position and waits for the first robotic arm 300 to grab and transfer it.

[0099] In this embodiment, the two calibration clamps 240 are arranged opposite to each other, and each calibration clamp 240 includes a calibration drive 241 and a calibration clamp 242. The calibration drive 241 is disposed on the positioning mounting bracket 221, and the calibration clamp 242 is disposed at the output end of the calibration drive 241. The calibration drive 241 can drive the calibration clamp 242 to move back and forth to the other calibration clamp 240. The end of the calibration clamp 242 away from the calibration drive 241 is provided with a calibration notch that matches the outer peripheral surface of the front bracket 10.

[0100] Optionally, the correction drive component 241 can be a cylinder, hydraulic cylinder, electric actuator, linear motor, or electric cylinder, etc. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0101] In some embodiments, each calibration clamp 240 further includes a sensor 243 and a probe 244. The sensor 243 is disposed on the calibration clamp 242, and the probe 244 is movably disposed on the calibration clamp 242. The probe 244 and the sensor 243 are inductively coupled. When the two calibration clamps 242 clamp the front bracket 10, the end of the probe 244 abuts against the front bracket 10, while the other end of the probe 244 acts on the sensor 243 through a reaction force. The sensor 243 can sense the magnitude of the reaction force. When the force is greater than a preset value, the calibration drive 241 controls the clamping force of the two calibration clamps 242 on the front bracket 10 to prevent damage to the front bracket 10 during calibration.

[0102] In addition, because the front bracket 10 has a positioning protrusion 11 on its outer peripheral surface (such as... Figure 1As shown), during normal conveying, the positioning protrusion 11 faces the first feeding track 230. When the front support 10 reaches the first positioning groove 2220, at least one probe 244 on the correction clamp 242 abuts against the positioning protrusion 11, thereby determining that the front support 10 has reached the first positioning groove 2220. Figure 4 As shown, when the probe 244 on the left-side correction clamp 242 abuts against the positioning protrusion 11, it is determined that the placement angle of the front bracket 10 meets the preset requirements; when the probe 244 on the right-side correction clamp 242 abuts against the positioning protrusion 11, it is determined that the placement angle of the front bracket 10 does not meet the preset requirements. During subsequent installation, the front bracket 10 should be rotated 180° so that the positioning protrusion 11 of the front bracket 10 faces to the left. Specifically, the first robotic arm 300 can be controlled to grasp the front bracket 10 and rotate it 180° to straighten the front bracket 10 so that the subsequent assembly work can proceed normally. It should be understood that the above is only an example and is not intended to limit the scope of protection of this application.

[0103] Furthermore, a first sensor 260 is provided on the first loading positioning seat 220. The first sensor 260 is used to detect the front support 10 on the first loading positioning seat 220 and is linked with the two calibration clamps 240. Specifically, when the first sensor 260 detects the front support 10 in the first positioning groove 2220, the two calibration clamps 240 perform a calibration action.

[0104] In some embodiments, there are two first sensors 260, which are arranged opposite to each other on the positioning mounting bracket 221. One of the two first sensors 260 emits an optical signal, and the other receives the optical signal. Optionally, the two first sensors 260 are through-beam laser sensors or infrared sensors.

[0105] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6The aforementioned first robotic arm 300 includes a first upright 310, a first drive assembly 320, a second drive assembly 330, a third drive assembly 340, and a first pneumatic gripper 350. The first upright 310 is mounted on the frame 100, the first drive assembly 320 is mounted on the first upright 310, the second drive assembly is mounted on the first drive assembly 320, the third drive assembly 340 is mounted on the second drive assembly 330, and the first pneumatic gripper 350 is mounted on the third drive assembly 340. Specifically, the first drive assembly 320 drives the second drive assembly 330, the third drive assembly 340, and the first pneumatic gripper 350 to move together in a horizontal direction; the third drive assembly 340 drives the third drive assembly 340 and the first pneumatic gripper 350 to move together in a vertical direction; and the third drive assembly 340 drives the first pneumatic gripper 350 to rotate around the vertical direction, and the first pneumatic gripper 350 is used to grip the front support 10.

[0106] Optionally, the first drive assembly 320 and the second drive assembly 330 can both be selected as cylinders, hydraulic cylinders, electric actuators, linear motors, electric cylinders, or motor screw mechanisms. The third drive assembly 340 can be selected as a motor, a rotary cylinder, or a rotary hydraulic cylinder.

[0107] Please see Figure 1 , Figure 3 and Figure 7 Furthermore, in this embodiment, a temporary storage positioning seat 800 is also provided on the frame 100. The temporary storage positioning seat 800 is located between the first loading positioning seat 220 and the transfer conveying device 400. The first robot arm 300 grabs the front support 10 and places it on the temporary storage positioning seat 800. Then, the transfer conveying device 400 transfers the front support 10 to the assembly station 130.

[0108] Please see Figure 1 , Figure 2 , Figure 3 and Figure 7 The aforementioned transfer and conveying device 400 includes a linear drive module 410, a lifting drive module 420, and at least one conveying gripper 430. The linear drive module 410 is mounted on the frame 100, and the lifting drive module 420 is located at the output end of the linear drive module 410. The linear drive module 410 drives the lifting drive module 420 to perform linear reciprocating motion along the conveying direction. The conveying gripper 430 is located on the lifting drive module 420, and the lifting drive module 420 drives the conveying gripper 430 to perform linear reciprocating motion in the vertical direction. Through the cooperation of the linear drive module and the lifting drive module 420, the conveying gripper 430 can grip the front support 10 for transfer.

[0109] Specifically, the lifting drive module 420 includes a lifting base 421, a lifting drive mechanism 422, a mounting plate 423, and a guide post 424. The lifting base 421 is located at the output end of the linear drive module 410. The lifting drive mechanism 422 is located on the lifting base 421. The mounting plate 423 is located at the output end of the lifting drive mechanism 422, and a conveying gripper 430 is provided on the mounting plate 423. One end of the guide post 424 is located on the lifting base 421, and the other end extends vertically through the mounting plate 423 and is clearance-fitted with the mounting plate 423. The other end of the guide post 424 is also provided with a limiting member 425, which is used to limit the stroke of the mounting plate 423 moving upward in the vertical direction.

[0110] Of course, in some embodiments, the lifting base 421 may also be provided with a limiting member 425 to limit the travel of the mounting plate 423 as it moves downward in the vertical direction. Optionally, the limiting member 425 is a mechanical limiter.

[0111] Optionally, both the lifting drive mechanism 422 and the linear drive module 410 can be selected as a cylinder, hydraulic cylinder, electric push rod, linear motor, electric cylinder or motor screw mechanism.

[0112] Optionally, the conveying gripper 430 is a second pneumatic gripper.

[0113] In this embodiment, four conveying grippers 430 are provided, and the four conveying grippers 430 are evenly distributed on the mounting plate 423 along the transfer direction of the front support 10. Furthermore, three temporary storage positioning seats 800 are provided, and the three temporary storage positioning seats 800 are sequentially distributed along the transfer direction of the front support 10. The three temporary storage positioning seats 800 are located between the pressing device 700 and the first robotic arm 300. The unloading station 140 is provided with one unloading positioning seat 810. The three temporary storage positioning seats 800, the pressing device 700, and the unloading positioning seat 810 are evenly distributed along the transfer direction of the front support 10 with a spacing of L, and the spacing between any two conveying grippers 430 is also L.

[0114] Therefore, it can be understood that with the cooperation of the linear drive module and the lifting drive module 420, each conveying gripper 430 can grab the corresponding front support 10 for transfer, and the transfer distance of each conveying gripper 430 is L. Through the four conveying grippers 430, the pressing device 700 can be continuously loaded and unloaded. At the same time, the design of reducing the travel of the linear drive module 410 improves the transfer accuracy.

[0115] Please see Figure 1 , Figure 2 , Figure 3 and Figure 8The aforementioned second feeding device 500 includes a vibrating hopper 510, a second feeding positioning seat 520, and a second sensor 540. The vibrating hopper 510 is mounted on the frame 100 and discharges material using a direct vibration method to reduce damage to the bearing 20. The second feeding positioning seat 520 is mounted on the frame 100 and is connected to the discharge port of the vibrating hopper 510 via a second feeding track 530. The second feeding positioning seat 520 has a second positioning groove for positioning the bearing 20. The second sensor 540 is mounted on the second feeding positioning seat 520 and is used to detect the bearing 20 on the second feeding positioning seat 520 to determine whether the bearing 20 is in the second positioning groove.

[0116] Specifically, the vibrating hopper 510 includes a hopper frame 511, a hopper 512, a discharge seat 513, and a discharge drive component 514. The hopper frame 511 is vertically mounted on the frame 100. The hopper 512 is slidably mounted on the hopper frame 511, with the side of the hopper 512 facing away from the hopper frame 511 being open. The discharge seat 513 is mounted on the frame 100 and abuts against the side of the hopper 512 facing away from the hopper frame 511. Thus, the discharge seat 513 covers the openness of the hopper 512, forming a receiving space between the discharge seat 513 and the hopper 512 for accommodating a predetermined number of bearings 20.

[0117] Furthermore, the discharge seat 513 is provided with a discharge port, and the side of the discharge seat 513 near the bin 512 is provided with a guide step 5130, one end of which extends to the discharge port.

[0118] The discharge drive unit 514 is disposed on the hopper frame 511 and connected to the hopper 512. The discharge drive unit 514 is used to drive the hopper 512 to reciprocate in the vertical direction to transfer the bearing 20 in the accommodating space to the guide step 5130. The width of the guide step 5130 is less than or equal to the thickness of the bearing 20.

[0119] Therefore, it can be understood that when the discharge drive 514 drives the bin 512 to move back and forth in the vertical direction, the bearing 20 in the accommodating space will be transferred to the guide step 5130. Since the width of the guide step 5130 is less than or equal to the thickness of the bearing 20, when the bearing 20 is transferred to the guide step 5130, the bearing 20 can only stay on the guide step 5130 in an upright position (the bearing 20 in a horizontal position will automatically fall off), and then be transported to the second positioning groove by the second feeding track 530. At this time, the bearing 20 turns to a horizontal position.

[0120] Furthermore, the bottom of the hopper 512 is provided with a ramp (not shown) that slopes toward the discharge seat 513 to facilitate the transfer of the bearing 20 to the guide step 5130.

[0121] In some embodiments, there are two second sensors 540, which are arranged opposite to each other on the calibration second loading positioning seat 520. One of the two second sensors 540 emits an optical signal, and the other receives the optical signal. Optionally, the two second sensors 540 are through-beam laser sensors or infrared sensors.

[0122] Please see Figure 1 , Figure 2 , Figure 3 and Figure 9 The aforementioned second robotic arm 600 includes a second support frame 610, a fourth drive assembly 620, a fifth drive assembly 630, and a material handling module 640. The second support frame 610 is mounted on the frame 100, the fourth drive assembly 620 is mounted on the second support frame 610, the fifth drive assembly 630 is mounted on the fourth drive assembly 620, and the material handling module 640 is mounted on the fifth drive assembly 630. Specifically, the fourth drive assembly 620 drives the fifth drive assembly 630 and the material handling module 640 to move together horizontally; the fifth drive assembly 630 drives the material handling module 640 to move vertically; and the material handling module 640 is used to grip the bearing 20.

[0123] Please refer to the following: Figure 10 Furthermore, the material handling module 640 includes a first material handling component 641 and a second material handling component 642, both of which are disposed on the fifth drive component 630. The second material handling component 642 is located on one side of the first material handling component 641 and has two material handling grippers.

[0124] Understandably, when the second robotic arm 600 is picking up the bearing 20, the first picking assembly 641 extends vertically into the positioning groove to abut against the inner ring of the bearing 20 in the positioning groove, and then, with the cooperation of the fifth drive assembly 630, removes the bearing 20. Afterwards, the two picking jaws in the second picking assembly 642 clamp the outer ring of the bearing 20 removed by the first picking assembly 641, while the first picking assembly 641 releases its contact with the inner ring of the bearing 20. Finally, with the cooperation of the fourth drive assembly 620, the bearing 20 is transferred to the pressing device 700 by the two picking jaws.

[0125] Furthermore, the first material handling assembly 641 includes a material handling cylinder 6410 and a material handling rod 6411. The material handling rod 6411 is connected to the piston rod of the material handling cylinder 6410, and the material handling cylinder 6410 can drive the material handling rod 6411 to extend and retract in the vertical direction. The material handling rod 6411 is interference-fitted with the inner ring of the bearing 20, and the end of the material handling rod 6411 is tapered. The two material handling jaws of the second material handling assembly 642 are located on both sides of the material handling rod 6411.

[0126] Optionally, the second material handling component 642 is selected as a third pneumatic gripper.

[0127] Optionally, both the fourth drive assembly 620 and the fifth drive assembly 630 can be selected as a cylinder, hydraulic cylinder, electric actuator, linear motor, electric cylinder or motor screw mechanism.

[0128] Please see Figure 1 , Figure 2 , Figure 3 and Figure 11 The aforementioned pressing device 700 includes a pressing execution module 710, a pressing positioning module 720, and a sliding module 730. The pressing execution module 710 is mounted on the frame 100 and located at the assembly station 130. The sliding module 730 is mounted on the frame 100 and located below the pressing execution module 710. The pressing positioning module 720 is mounted on the sliding module 730, and the sliding module 730 can drive the pressing positioning module 720 to move between the second loading station 120 and the assembly station 130. Thus, the pressing positioning module 720 can first receive the bearing 20 transferred from the second robot 600 at the second loading station 120 and position the bearing 20. Then, driven by the sliding module 730, it can return to the assembly station 130 to receive the front support 10 transferred from the transfer conveyor 400 and position the front support 10. Finally, the pressing execution module 710 presses the bearing 20 into the front bracket 10 in the vertical direction to form an assembly.

[0129] Specifically, the press-fit execution module 710 includes a press-fit frame 711, a press-fit drive assembly 712, a pressure sensor 713, and a press-fit head 714. The press-fit frame 711 is vertically mounted on the frame 100 and is U-shaped, thus forming a working space between the interior of the press-fit frame 711 and the frame 100. The press-fit drive assembly 712 is disposed on the press-fit frame 711, with its output end facing the frame 100 and extending into the working space of the press-fit frame 711. The output end of the press-fit drive assembly 712 can output linear reciprocating motion in the vertical direction. The pressure sensor 713 is disposed at the output end of the press-fit drive assembly 712, and the press-fit head 714 is disposed at the end of the pressure sensor 713 furthest from the press-fit drive assembly 712. The pressure sensor 713 is used to detect the reaction force that the pressing head 714 experiences during pressing, and controls the stroke of the pressing drive assembly 712 in the vertical direction according to the magnitude of the force, thereby preventing damage to the product due to excessive pressure.

[0130] The sliding module 730 includes a fixed base 731, a slide rail 732, a sliding seat 733, and a sliding drive assembly 734. The fixed base 731 is disposed on the frame 100 and passes through the interior of the pressing frame 711, forming a working space with the frame 100. Two slide rails 732 are provided, arranged parallel to each other on the fixed base 731, with both ends extending towards the second loading station 120 and the assembly station 130, respectively. The sliding seat 733 slides in cooperation with the slide rails 732 via a slider. The sliding drive assembly 734 is disposed on the fixed base, and its output end is connected to the sliding seat 733. The pressing positioning module 720 is disposed on the sliding seat 733. Therefore, by driving the sliding seat 733 to slide along the slide rail 732 via the sliding drive component 734, the press-fit positioning module 720 can be moved between the second loading station 120 and the assembly station 130 to facilitate the loading of the bearing 20 and the front bracket 10 during press-fitting. Simultaneously, the first loading device 200, the second loading device 500, the transfer conveying device 400, the first robot arm 300, and the second robot arm 600 can be rationally arranged. This makes efficient use of the space on the frame 100, resulting in a more compact overall structure for the automatic bearing-to-front bracket assembly equipment.

[0131] Furthermore, mechanical limits are provided at both ends of the slide rail 732 to prevent the sliding seat 733 from disengaging from the slide rail 732.

[0132] Please refer to the following: Figure 12 The press-fit positioning module 720 includes a press-fit fixed base 721, a movable positioning base 722, a positioning push rod 723, and a buffer assembly 724. The press-fit fixed base 721 is mounted on the sliding seat 733, and the movable positioning base 722 is positioned above the press-fit fixed base 721, with the buffer assembly 724 positioned between the movable positioning base 722 and the press-fit fixed base 721. One end of the positioning push rod 723 is mounted on the press-fit fixed base 721, and the other end of the positioning push rod 723 passes vertically through the movable positioning base 722 and is clearance-fitted with the movable positioning base 722.

[0133] Furthermore, the end of the positioning rod 723 that passes through the movable positioning seat 722 is machined with a stepped shaft portion 725. The stepped shaft portion 725 can be adapted to the inner ring of the bearing 20. The transition between the stepped shaft portion 725 and the positioning rod 723 itself forms a positioning step 726. The positioning step 726 is used to abut against the side of the bearing 20 to prevent the bearing 20 from moving downward along the axis of the positioning rod 723. Optionally, the width of the positioning step 726 is greater than or equal to the thickness from the inner ring to the outer ring of the bearing 20.

[0134] Furthermore, a third positioning groove 727 is provided on the side of the movable positioning seat 722 away from the press-fit fixing seat 721. The axis of the third positioning groove 727 coincides with the axis of the positioning push rod 723. Thus, the third positioning groove 727 and the positioning push rod 723 form an annular groove adapted to the front bracket 10. The third positioning groove 727 can be used for positioning the front bracket 10. At the same time, the third positioning groove 727 can also provide clearance space for the two picking claws in the second picking assembly 642, so that the second picking assembly 642 can transfer the bearing 20 onto the stepped shaft portion 725 of the positioning push rod 723 for positioning.

[0135] Understandably, during the press-fitting operation, the front bracket 10 is placed in the third positioning groove 727, and pressure is applied to the front bracket 10 by the press-fitting drive assembly 712. The front bracket 10 and the movable positioning seat 722 move downwards together along the axis of the positioning push rod 723. Correspondingly, the bearing 20 is pushed into the front bracket 10 by the positioning push rod 723, thereby completing the press-fitting. After the press-fitting is completed, the press-fitting drive assembly 712 resets, and the movable positioning seat 722 automatically resets under the action of the buffer assembly 724, waiting for the next press-fitting operation.

[0136] Multiple buffer assemblies 724 are provided, evenly distributed around the axis of the positioning push rod 723. Each buffer assembly 724 includes a guide shaft and a spring. One end of the guide shaft is fitted with the pressing fixed seat 721, and the other end is clearance-fitted with a guide hole provided on the movable positioning seat 722. The spring is sleeved on the guide shaft, and its two ends abut against the pressing fixed seat 721 and the movable positioning seat 722 respectively. Thus, the spring can drive the movable positioning seat 722 to reset and provide cushioning during pressing, protecting the product from damage. The guide shaft can also act as a guide, preventing the movable positioning seat 722 from deviating during pressing, ensuring that the bearing 20 is accurately pushed into the front bracket 10, improving the accuracy and reliability of pressing, increasing the yield rate, and protecting the product from damage.

[0137] Please see Figures 1 to 12 Furthermore, this embodiment also provides an automatic motor assembly line, including a third robot 900 and the aforementioned automatic assembly equipment for the bearing front bracket. The third robot 900 is located at the unloading station 140 of the frame 100. The third robot 900 is used to transfer the assembly to the next process, which involves installing the assembly of the front bracket 10 and the bearing 20 onto the motor housing, while simultaneously installing magnets and a rear bracket into the housing.

[0138] The specific structural scheme of the third robotic arm 900 can be referred to the structural scheme of the first robotic arm 300 provided above, and therefore will not be described in detail in this embodiment.

[0139] The optional embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present application are not limited to the specific details in the above embodiments. Within the scope of the technical concept of the embodiments of the present application, various simple modifications can be made to the technical solutions of the embodiments of the present application, and these simple modifications all fall within the protection scope of the embodiments of the present application.

[0140] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, the embodiments of this application will not describe the various possible combinations separately.

[0141] Furthermore, various different implementation methods of the embodiments of this application can be combined arbitrarily, as long as they do not violate the spirit of the embodiments of this application, they should also be regarded as the content disclosed in the embodiments of this application.

Claims

1. An automatic assembly device for inserting a bearing into a front bracket, used to press a bearing (20) into a front bracket (10) of a motor, characterized in that, The automatic assembly equipment for bearing pre-mount brackets includes: A frame (100) is provided with a first loading station (110), a second loading station (120), an assembly station (130) and an unloading station (140). The first feeding device (200) is set at the first feeding station (110) and is used for automatic feeding of the front support (10); The second feeding device (500) is set at the second feeding station (120) for automatic feeding of the bearing (20); A transfer conveying device (400) is provided on the frame (100), and the conveying direction of the transfer conveying device (400) passes through the assembly station (130) and the unloading station (140). The first robotic arm (300) is mounted on the frame (100) and is used to transfer the front support (10) fed by the first feeding device (200) to the transfer conveying device (400), and then to the assembly station (130) by the transfer conveying device (400). A second robotic arm (600), mounted on the frame (100), is used to transfer the bearing (20) fed by the second feeding device (500) to the assembly station (130); and A pressing device (700) is provided at the assembly station (130) for pressing the bearing (20) into the front bracket (10) in the vertical direction to form an assembly; The transfer conveying device (400) is also used to transfer the assembly to the unloading station (140). The transfer and conveying device (400) includes: A linear drive module (410) is disposed on the frame (100). A lifting drive module (420) is disposed at the output end of the linear drive module (410), the linear drive module (410) being used to drive the lifting drive module (420) to perform linear reciprocating motion along the conveying direction; and At least one conveying gripper (430) is disposed on the lifting drive module (420), the lifting drive module (420) being used to drive the conveying gripper (430) to perform linear reciprocating motion in the vertical direction; The linear drive module (410) and the lifting drive module (420) work together to enable the conveying gripper (430) to grip the front support (10) for transfer. The lifting drive module (420) includes: A lifting base (421) is disposed at the output end of the linear drive module (410); A lifting drive mechanism (422) is disposed on the lifting base (421). Mounting plate (423) is disposed at the output end of the lifting drive mechanism (422), and the mounting plate (423) is provided with the conveying gripper (430); and The guide post (424) has one end set on the lifting base (421) and the other end passes through the mounting plate (423) in the vertical direction and is in clearance fit with the mounting plate (423). The other end of the guide post (424) is also provided with a limiting member (425), which is used to limit the stroke of the mounting plate (423) moving upward in the vertical direction.

2. The automatic assembly equipment for bearing pre-installation brackets according to claim 1, characterized in that, The first feeding device (200) includes: The vibratory feeder module (210) is used to load a preset number of the front supports (10) and to output the front supports (10) sequentially from the outlet of the vibratory feeder module (210) in a preset placement posture through vibration; A first feeding positioning seat (220) is disposed on the frame (100), and the first feeding positioning seat (220) is connected to the outlet of the vibratory feeder module (210) through a first feeding track (230); and Two calibration clamps (240) are disposed on the first feeding positioning seat (220) and are respectively located on both sides of the feeding direction of the first feeding track (230). The two calibration clamps (240) are used to output the movement of moving closer to each other and moving away from each other.

3. The automatic assembly equipment for bearing pre-installation brackets according to claim 1, characterized in that, The second feeding device (500) includes: Vibrating hopper (510) is installed on the frame (100); A second feeding positioning seat (520) is disposed on the frame (100). The second feeding positioning seat (520) is connected to the discharge port of the vibrating hopper (510) through a second feeding track (530). The second feeding positioning seat (520) is provided with a positioning groove for positioning the bearing (20); and A sensor (540) is disposed on the second loading positioning seat (520) for detecting the bearing (20) on the second loading positioning seat (520).

4. The automatic assembly equipment for bearing pre-installation brackets according to claim 3, characterized in that, The vibrating hopper (510) includes: The hopper rack (511) is vertically mounted on the frame (100); A hopper (512) is slidably mounted on the silo frame (511), and the side of the hopper (512) facing away from the silo frame (511) is open; A discharge seat (513) is disposed on the frame (100) and abuts against the side of the hopper (512) facing away from the hopper frame (511). A receiving space is formed between the discharge seat (513) and the hopper (512) to accommodate a predetermined number of bearings (20). The discharge seat (513) is provided with a discharge port. A guide step (5130) is provided on the side of the discharge seat (513) near the hopper (512), and one end of the guide step (5130) extends to the discharge port. The discharge drive unit (514) is disposed on the hopper frame (511) and connected to the hopper (512). The discharge drive unit (514) is used to drive the hopper (512) to reciprocate in the vertical direction to transfer the bearing (20) in the accommodating space to the guide step (5130). The width of the guide step (5130) is less than or equal to the thickness of the bearing (20).

5. The automatic assembly equipment for bearing pre-installation brackets according to claim 4, characterized in that, The bottom of the hopper (512) is provided with a sloping surface that is inclined toward the discharge seat (513).

6. The automatic assembly equipment for bearing pre-installation brackets according to claim 3, characterized in that, The second robotic arm (600) is equipped with a material handling module (640), the material handling module (640) comprising: A first material handling component (641) is disposed on the second robotic arm (600). The first material handling component (641) is used to extend vertically into the positioning groove to abut against the inner ring of the bearing (20) in the positioning groove; and The second material handling component (642) is disposed on the second robotic arm (600) and located on one side of the first material handling component (641). The second material handling component (642) has two material handling jaws, which are used to hold the outer ring of the bearing (20) taken out by the first material handling component (641).

7. The automatic assembly equipment for bearing pre-installation brackets according to claim 1, characterized in that, The pressing device (700) includes: The press-fitting execution module (710) is mounted on the frame (100) and located at the assembly station (130). A sliding module (730) is disposed on the frame (100) and located below the press-fitting execution module (710); and A press-fit positioning module (720) is disposed on the sliding module (730); The sliding module (730) is used to drive the press-fit positioning module (720) to move between the second loading station (120) and the assembly station (130), and is used to receive and position the bearing (20) and the front bracket (10) respectively. The press-fit execution module (710) presses the bearing (20) into the front bracket (10) in the vertical direction to form the assembly.

8. An automatic motor assembly line, characterized in that, The device includes a third robot (900) and an automatic assembly equipment for bearing pre-support according to any one of claims 1-7, wherein the third robot (900) is disposed at the unloading station (140) of the frame (100) and is used to transfer the assembly to the next process.

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