Automatic installation of end effector for steel wire sleeve and installation machine and installation method

Abstract

The application discloses an automatic installation end effector for a steel wire sleeve, which comprises a rear end cover, a shell, a motor assembly, a front end cover and a bit shaft. One end of the rear end cover is connected with a robot flange, and the other end is connected with the shell in a sliding fit. The shell reciprocates along the inner cavity of the rear end cover. The motor assembly is located in the shell and can slide in the shell. The front end cover is connected with the motor assembly. One end of the bit shaft is coaxially connected with the front end cover, and the other end is used for installing the steel wire sleeve. The rod body is threadedly connected with the shell. Under the driving of the motor, the front end cover and the bit shaft can reciprocate in the shell. The external thread formed on the bit shaft is the same as the thread formed on the steel wire sleeve. The axial feeding amount of the bit shaft driven by one rotation of the motor is equal to the axial feeding amount of the steel wire sleeve screwed into the threaded hole. The application further discloses an automatic installation machine and an installation method comprising the end effector. The problems that the initial circle of the threaded hole is damaged by extrusion and the jump buckle is generated during installation are solved, and the installation efficiency and quality are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot technology, and particularly relates to an automatic installation end effector of a steel wire screw, an installation machine and an installation method. BACKGROUND

[0002] In the field of aerospace, such as space engine shell parts, and railway transportation, engineering machinery, textile machinery, medical devices, papermaking, weapons, radar, rockets, ships, steam turbines, chemical products, etc. all involve the installation of steel wire screw. At present, the market mostly adopts manual installation method, that is, the operator uses a manual tightening gun to install manually. Manual installation has many problems: such as the efficiency of factory batch installation is too low, which cannot adapt to the fierce competition and huge demand of the market; the product quality is extremely dependent on the proficiency of the operator, and there are problems such as low installation precision, uneven quality, installation depth not meeting standards, missing and misinstalling; the labor intensity is large, the working environment is poor, and the health of workers cannot be guaranteed.

[0003] In order to improve the installation efficiency of steel wire screw, the automatic installation machine based on robot has a good development prospect, but there are the following problems in research and design: 1. The length of the robot end is too long, which will cause the camera at the end of the mechanical arm to be unable to recognize the screw hole at close range, reducing the recognition accuracy of the camera. 2. Since the initial circle opening of each screw hole is random, that is, the first buckle opening direction is random, it is easy to cause damage to the first buckle during installation. There is no strict requirement for the first buckle in other fields, but in the field of aviation engines, it is required that when installing the screw on the shell of the space engine, the first buckle opening position of the screw hole cannot be damaged by extrusion, and the existing automatic steel wire installation machine cannot meet the installation requirements of the first buckle of the aviation engine when in use. 3. In the automatic installation process of steel wire screw, it is necessary to ensure that the rotation speed and the descending speed of the bit shaft end are completely consistent with the matching speed required when the screw is tightened. However, if the internal motor of the electric bit is a brushless motor, the speed and position of the bit end cannot be accurately controlled. When the rotation speed of the electric bit cannot match the descending height of the robot, the robot feed speed will be either higher than the screw descending speed or lower than the screw descending speed, which is easy to cause the screw hole and the screw to be damaged, and even the motor of the electric bit is locked, causing damage to the electric bit. SUMMARY

[0004] In order to solve the problems of low installation efficiency and low precision of steel wire screw in the background art, the present application provides an automatic installation end effector of a steel wire screw, an installation machine and an installation method.

[0005] The technical scheme of the present application is:

[0006] The application relates to an automatic installation end effector for a steel wire sleeve, which is characterized in that the end effector comprises a rear end cover 1, a shell 2, a motor assembly, a front end cover 5 and a batch head shaft 6; one end of the rear end cover is connected with a robot flange, the other end is connected with the shell 2 in a sliding fit mode, and the shell 2 reciprocates along the inner cavity of the rear end cover 1; the motor assembly is located in the shell and can slide in the shell; the front end cover 5 is connected with the motor assembly; one end of the batch head shaft 6 is coaxially connected with the front end cover 5, and the other end is used for installing the steel wire sleeve; the rod body is in threaded fit with the shell 2; under the driving of a motor in the motor assembly, the front end cover 5 and the batch head shaft 6 can reciprocate in the shell 2.

[0007] The external thread formed on the batch head shaft 6 is the same as the thread formed on the steel wire sleeve.

[0008] The axial feeding amount of the batch head shaft 6 driven by the motor in one rotation is equal to the axial feeding amount of the steel wire sleeve screwed into the threaded hole.

[0009] Further, the motor assembly comprises a motor and a motor shell, the motor is fixedly installed in the motor shell, the stator of the motor is fixedly connected with the motor shell, and the rotor of the motor is coaxially fixedly connected with the front end cover; a protrusion is arranged on the outer wall of the motor shell in the axial direction, and a sliding groove matched with the protrusion is arranged on the inner wall of the shell 2.

[0010] Further, a stepped through hole is formed in the middle of the rear end cover 1 along the axis, a sliding groove is arranged on the inner wall in the axial direction, and a protrusion matched with the sliding groove of the rear end cover is arranged on the outer wall of the shell 2.

[0011] Further, an annular boss is arranged at the opening end of the shell 2, the protrusion matched with the sliding groove of the rear end cover is arranged on the annular boss, the end face of the annular boss is matched with the stepped face in the rear end cover 1, and the shell 2 is prevented from being separated from the rear end cover 1 during sliding.

[0012] Further, a stepped through hole is formed in the shell 2 along the axis, a sliding groove is arranged on the inner wall of the large-diameter hole in the axial direction and matched with the protrusion on the motor shell, and an internal thread matched with the external thread of the batch head shaft 6 is arranged on the inner wall of the small-diameter hole.

[0013] Further, a hexagonal mounting hole is formed in the middle of the front end cover 5 and is in interference fit with a hexagonal block fixedly arranged at the end of the batch head shaft 6, so that the batch head shaft is prevented from moving during rotation.

[0014] Further, a stepped hole is formed in the motor shell along the axis, the motor is located in the large-diameter hole, and a mounting hole is arranged on the end face of the small-diameter hole and used for fixedly connecting the stator of the motor with the motor shell through bolts.

[0015] Further, the sliding groove is an ear-shaped groove, and the protrusion is a semicolumnar protrusion matched with the ear-shaped groove.

[0016] An automatic installation machine for steel wire sleeve, comprising the automatic installation end effector for steel wire sleeve, which is fixed on the flange of the robot end.

[0017] The method for automatic installation by the automatic installation machine for steel wire sleeve comprises the following steps:

[0018] Step 1: according to the model of the screw hole, the matching batch head shaft is selected, and the end effector is fixedly installed on the flange of the robot end;

[0019] Step 2: after the equipment is powered on, the motor is reversed, and the motor shell moves along the axis together with the motor, the front end cover and the batch head shaft to the direction close to the flange of the robot end;

[0020] Step 3: the steel wire sleeve is fixed on the material taking table, and the opening direction of each steel wire sleeve is ensured to be consistent, so as to facilitate the robot to take the material;

[0021] Step 4: the robot drives the end effector to move and approach the steel wire sleeve, and feeds along the axis of the steel wire sleeve, after the end face of the batch head shaft 6 contacts the contact end face of the steel wire sleeve, the robot moves to make the shell 2 slide along the rear end cover 3, and the sliding distance is less than the length of the large diameter hole in the rear end cover;

[0022] Step 5: the number of rotation of the motor is set to be equal to the number of threads of the steel wire sleeve; the motor is positively rotated, and the front end cover 1 and the batch head shaft 6 perform the composite motion of rotation and axial feeding, until the batch head shaft 6 moves along the axial direction by a distance of the length of the steel wire sleeve, the batch head shaft is matched with the internal thread of the steel wire sleeve, and the taking of the steel wire sleeve is completed;

[0023] Step 6: the robot carries the end effector and the steel wire sleeve out of the material taking station;

[0024] Step 7: the motor is reversed, and the number of reverse rotation is equal to the number of threads of the steel wire sleeve, so that the shell, the motor, the motor shell and the batch head shaft drive the steel wire sleeve to move reversely along the axial direction and return to the position before taking the material;

[0025] Step 8: the robot drives the end effector to move to the position directly above the screw hole, feeds along the axis of the screw hole, and after the end face of the steel wire sleeve on the batch head shaft contacts the screw hole, the robot feeds along the axial direction of the screw hole to make the shell 2 slide in the rear end cover, and the sliding distance is less than the length of the large diameter hole in the rear end cover;

[0026] Step 9: the motor is positively rotated, and after the motor rotates for one circle, the steel wire sleeve can be rotated into the initial opening of the screw hole; then the motor rotates for the same number of circles as the steel wire sleeve, and the steel wire sleeve is completely installed in the screw hole;

[0027] Step 10: the motor is reversed, and the end effector moves reversely to return to the initial installation position.

[0028] The beneficial effects of the present application are:

[0029] 1. The end effector in this invention has a neat and compact structure. The housing, motor, bit shaft, etc. can slide and extend within the rear cover, which reduces the distance between the robot end and the workpiece surface when the robot positions the screw hole through the industrial camera, thereby improving the recognition accuracy of the industrial camera.

[0030] 2. This invention employs a method where the tail shank of the wire thread insert on the bit shaft actively seeks the opening direction of the initial ring of the threaded hole. Specifically, the tail shank of the wire thread insert first contacts the initial ring of the threaded hole, and then the wire thread insert is rotated under the drive of the motor, causing it to slide on the upper surface of the initial ring. When the tail shank contacts the opening of the initial ring, the wire thread insert automatically enters the threaded hole from that point, thus avoiding damage to the initial ring of the threaded hole when the robot automatically installs the wire thread insert.

[0031] 3. The screwdriver bit shaft and the outer shell of this invention are threaded together, which is the same as the threaded connection between the wire thread sleeve and the threaded hole. This ensures that the rotational speed of the wire thread sleeve and the axial movement speed are perfectly matched during the installation of the wire thread sleeve, thus avoiding the problem of skipping threads caused by the mismatch between the rotational speed and the axial movement speed during the installation of the wire thread sleeve.

[0032] 4. The automatic wire thread insert installation machine based on robots of this invention is not only suitable for the installation of wire thread inserts in general fields, but also for the automatic installation of wire thread inserts on the casing of aerospace engines with high precision requirements. It reduces the labor cost in the aero-engine production process, improves the installation efficiency of wire thread inserts, and increases the pass rate of wire thread insert installation from 80% to 100% for manual installation, thus providing a guarantee for the final production process of aero-engines. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of the robot-based automatic wire thread sleeve installation end effector of the present invention;

[0034] Figure 2 for Figure 1 Schematic diagram of the middle shell Figure 1 ;

[0035] Figure 3 for Figure 1 Schematic diagram of the middle shell Figure 2 ;

[0036] Figure 4 for Figure 1 Schematic diagram of the middle batching head shaft structure;

[0037] Figure 5 for Figure 1 Schematic diagram of the front end cap structure;

[0038] Figure 6 forFigure 1 Schematic diagram of motor housing mechanism;

[0039] Figure 7 For Figure 1 Schematic diagram of rear end cover structure.

[0040] In the figure: 1-rear end cover, 2-housing, 3-motor housing, 4-motor, 5-front end cover, 6-bit head shaft. DETAILED DESCRIPTION

[0041] In view of the problems in the background art that the bit head shaft of the steel wire bush automatic installation machine is too long, which leads to low recognition accuracy of the screw hole by the camera on the robot, and the initial circle of the screw hole is easily damaged during installation, the present application provides a steel wire bush automatic installation end effector, which comprises a rear end cover, a housing, a motor assembly, a front end cover and a bit head shaft; one end of the rear end cover is connected with a robot, and the other end is connected with the housing in a sliding fit; the housing reciprocates along the inner cavity of the rear end cover; the motor assembly is located in the housing, and the motor assembly can slide in the housing; the front end cover is connected with the motor assembly; one end of the bit head shaft is connected with the front end cover in a coaxial manner, and the other end is used for installing a steel wire bush; the rod body is threadedly connected with the housing; under the driving of the motor in the motor assembly, the front end cover and the bit head shaft can reciprocate in the housing together.

[0042] The external thread formed on the bit head shaft is the same as the thread formed on the steel wire bush.

[0043] The axial feed amount of the bit head shaft driven by one rotation of the motor is equal to the axial feed amount of the steel wire bush when it is screwed into the screw hole.

[0044] A steel wire bush automatic installation machine comprises the above-mentioned steel wire bush automatic installation end effector, and the end effector is fixed on the robot end flange through the rear end cover.

[0045] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0046] Reference Figures 1-7The application discloses an automatic installation end effector of a steel wire sleeve, which is controlled by a small servo motor and comprises a rear end cover 1, a motor 4, a shell 2, a motor shell 3, a front end cover 5 and a bit shaft 6. The rear end cover 1 is connected with a robot flange through bolts, so that the connection between the robot and the end effector is realized; one end of the shell 2 is located in a stepped through hole in the middle of the rear end cover, a ring-shaped boss on the outer wall of the shell is limited through an inner stepped surface of the rear end cover, so that the shell is prevented from being separated from the rear end cover 1; an ear-shaped groove in the inner wall of the rear end cover 1 is connected with a semi-cylindrical slider arranged axially on the outer wall of the shell 2 in a sliding fit, the shell 2 can reciprocate along the axial direction, a motor assembly composed of the motor shell 3, the motor 5 and the bit shaft 6 and the front end cover 5 are installed in a stepped hole in the middle of the shell 2, a slider is arranged on the outer wall of the motor shell 3 and matched with a sliding groove arranged on the inner wall of the shell 2, the motor shell 3 can reciprocate along the axial direction in the large-diameter hole of the shell 2; the motor 4 is coaxially installed in the motor shell 3, a stator of the motor 4 is fixedly connected with the motor shell, a rotor of the motor is coaxially and fixedly connected with the front end cover 5, one end of the bit shaft 6 is coaxially and fixedly connected with the front end cover 5, and the other end of the bit shaft 6 extends out of a small-diameter hole of the shell 2, the small-diameter hole is a threaded hole. Under the driving action of the motor, the bit shaft 6 is driven to reciprocate along the small-diameter hole through the threaded fit between the shaft and the shell 2, and the motor, the motor shell, the bit shaft and the front end cover are driven to move along the axial direction as a whole.

[0047] Referring to Figure 7 The rear end cover 1 is a two-order columnar body, eight countersunk holes are arranged on a circumferential surface of a large end of the rear end cover 1, and the rear end cover 1 is fixedly connected with a robot flange. A stepped through hole is arranged in the rear end cover along an axial line, two ear-shaped grooves are symmetrically arranged on an inner wall of a large-diameter hole, a protrusion on a ring-shaped boss of the shell 2 can slide along the ear-shaped grooves in the large-diameter hole of the rear end cover, so that the circumferential rotation of the shell 2 is limited; a ring-shaped boss end surface of the shell 2 is matched with an inner stepped surface of the rear end cover, so that the sliding of the shell 2 in the rear end cover is limited, and the shell 2 is prevented from being separated from the rear end cover. Rectangular through holes are further arranged in side walls of the rear end cover 1, and the rectangular through holes are used for wiring of the motor 4.

[0048] Referring to Figure 2 and Figure 3 The shell 2 is a funnel-shaped body, a ring-shaped boss is arranged on a columnar body end, two semi-cylindrical protrusions are symmetrically arranged on the ring-shaped boss along an axial direction, the semi-cylindrical protrusions are matched with the ear-shaped grooves in the rear end cover 1, and a rectangular groove is further arranged on an end surface, and the rectangular groove is used for wiring of the motor. A stepped hole is arranged in the shell along an axial line, a large-diameter hole is located in a columnar body segment, an ear-shaped groove is arranged on an inner wall, a protrusion on an outer wall of the motor shell 3 can slide along the sliding groove in the large-diameter hole; a small-diameter hole is located in a conical body segment, a thread is arranged on a hole wall, the thread is same as a thread specification of the steel wire sleeve, the bit shaft 6 is threadedly matched with the small-diameter hole, and the bit shaft 6 reciprocates along the small-diameter hole under the driving of the motor. In the installation process, the robot moves along an axial direction to a position close to a workpiece by a distance of one steel wire sleeve, so that the bit shaft 6 is in contact with a screw hole of the workpiece, and an initial position of screwing of the steel wire sleeve is a first unthreading opening position of the screw hole, and the steel wire sleeve is prevented from being pressed and damaged in the first unthreading during the installation of the steel wire sleeve.

[0049] Referring to Figure 6 ; motor housing 3 is a rotary body, motor housing 3 middle part along the axis open stepped hole, motor 4 is installed in the large diameter hole, the end face of the small diameter hole is provided with a plurality of countersunk hole for fixing and connecting the stator of the motor with the motor housing 3 through bolt. The outer wall of the motor housing 3 is symmetrically provided with two semicircular protrusions along the axial direction, which cooperates with the ear-shaped groove provided on the inner wall of the shell 2, and the motor housing 3 can reciprocate along the axial direction in the large diameter hole of the stepped hole of the shell 2. A rectangular notch is formed at the end face of the small diameter hole of the motor housing 3 for motor wiring.

[0050] The motor 4 can be a servo motor, and the motor 4 is coaxially installed in the middle through hole of the motor housing 3, and the motor stator is fixed with the motor housing 3. By controlling the number of rotations of the motor, the required rotation and feed motion of the chuck shaft 6 during installation of the screw sleeve can be realized. In this embodiment, a single motor design is adopted to realize simultaneous movement in the rotation direction and the axial direction.

[0051] Referring to Figure 5 ; the front end cover 5 is a disc, the outer diameter is the same as the outer diameter of the motor rotor, a hexagonal hole is formed in the middle of the front end cover along the axis, and the chuck shaft 6 is installed. A plurality of mounting holes are formed on the end face of the front end cover for fixing and connecting the rotor end face of the motor through bolts.

[0052] Referring to Figure 4 ; the chuck shaft 6 is a threaded rod body, one end of which is fixedly installed with a hexagonal block, and the hexagonal block is in interference fit with the chuck shaft. The chuck shaft is installed in the middle of the front end cover 5 through the hexagonal block, and the interference fit prevents the chuck shaft from moving. The chuck shaft rod body is in threaded fit with the small diameter hole of the stepped through hole of the shell 2, and the other end extends out of the small diameter hole. The chuck shaft can reciprocate along the shell 2 under the drive of the motor. In this embodiment, M7X1 threads are formed on the outer wall of the chuck shaft and the inner wall of the small diameter hole of the shell 2, so that the rotation speed and the descending speed of the chuck shaft are completely consistent with the matching speed required during screw sleeve installation. When the chuck shaft rotates one revolution, the axial movement amount is consistent with the axial movement amount when the steel wire sleeve is screwed into the screw hole, that is, the threaded fit of the chuck shaft and the shell 2, the fit of the chuck shaft and the steel wire sleeve, and the threaded fit of the steel wire sleeve and the screw hole are consistent.

[0053] A steel wire sleeve automatic installation machine comprises the steel wire sleeve automatic installation end effector described in the embodiment, and the end effector is fixed on the robot end flange.

[0054] The method for automatically installing the steel wire sleeve by using the steel wire sleeve automatic installation machine comprises the following steps:

[0055] Step 1: select a matching chuck shaft according to the model of the screw hole, and fix and install the end effector on the robot end flange;

[0056] Step 2: After the device is powered on, the motor reverses, and the motor housing, together with the motor, the front end cover and the bit shaft, moves along the axis to the direction close to the flange at the end of the robot;

[0057] Step 3: Fix the steel wire sleeve on the material taking table, and ensure that the opening direction of each steel wire sleeve is consistent to facilitate the robot to take materials;

[0058] Step 4: The robot moves and approaches the steel wire sleeve with the end effector, feeds along the axis of the steel wire sleeve, and after the end face of the bit shaft 6 contacts the contact end face of the steel wire sleeve, the robot moves to make the shell 2 slide along the rear end cover 3, and the sliding distance is less than the length of the large diameter hole in the rear end cover;

[0059] Step 5: Set the number of motor rotation to equal the number of threads of the steel wire sleeve; the motor rotates forward, and the front end cover 1 and the bit shaft 6 perform a combined motion of rotation and axial feeding until the bit shaft 6 moves axially by a distance of the length of the steel wire sleeve, and the bit shaft cooperates with the internal thread of the steel wire sleeve to complete the taking of the steel wire sleeve;

[0060] Step 6: The robot carries the end effector and the steel wire sleeve out of the material taking station;

[0061] Step 7: The motor reverses, and the number of reverses is equal to the number of threads of the steel wire sleeve, so that the shell, the motor, the motor housing and the bit shaft drive the steel wire sleeve to move reversely along the axis direction and return to the position before taking;

[0062] Step 8: The robot moves to the screw hole directly above with the end effector, feeds along the axis of the screw hole, and after the end face of the steel wire sleeve on the bit shaft contacts the screw hole, the robot feeds axially along the screw hole to make the shell 2 slide in the rear end cover, and the sliding distance is less than the length of the large diameter hole in the rear end cover;

[0063] Step 9: The motor rotates forward, and after the motor rotates for one revolution, the steel wire sleeve can be rotated into the initial opening of the screw hole; then the motor rotates for the same number of turns as the steel wire sleeve to completely install the steel wire sleeve in the screw hole;

[0064] Step 10: The motor reverses, and the end effector reverses to return to the initial installation position.

Claims

1. A method of automatic installation of a steel wire thread insert, characterized in that: The automatic installation method utilizes an end effector, wherein: The end effector comprises a rear end cover (1), a shell (2), a motor assembly, a front end cover (5) and a bit shaft (6); One end of the rear end cover is used to connect with the robot end, and the other end is connected with the shell (2) in a sliding fit, and the shell (2) reciprocates along the inner cavity of the rear end cover (1); The motor assembly is located in the shell, and the motor assembly can slide in the shell; The front end cover (5) is connected with the motor assembly; One end of the bit shaft (6) is coaxially connected with the front end cover (5), and the other end is used to install a steel wire screw sleeve; the rod body is threadedly connected with the shell (2); under the driving of the motor in the motor assembly, the front end cover (5) and the bit shaft (6) can reciprocate in the shell (2) together; The external thread formed on the bit shaft (6) is the same as the thread formed on the steel wire screw sleeve; The axial feeding amount of the bit shaft (6) driven by the motor rotating one round is equal to the axial feeding amount of the steel wire screw sleeve screwing into the screw hole; The automatic installation method comprises the following steps: Step 1: according to the model of the screw hole, a matching bit shaft is selected, and the rear end cover of the end effector is fixedly installed on the robot end flange; Step 2: after the equipment is powered on, the motor is reversed, and the motor shell moves together with the motor, the front end cover and the bit shaft along the axis to the direction close to the robot end flange; Step 3: the steel wire screw sleeve is fixed on the material taking table, and it is ensured that the opening direction of each steel wire screw sleeve is consistent, so as to facilitate the robot to take materials; Step 4: the robot drives the end effector to move and approach the steel wire screw sleeve, feeds along the axis of the steel wire screw sleeve, and after the end face of the bit shaft (6) contacts the contact end face of the steel wire screw sleeve, the robot moves to make the shell (2) slide along the rear end cover (1), and the sliding distance is less than the length of the large diameter hole in the rear end cover; Step 5: the number of rotation of the motor is set to be equal to the number of threads of the steel wire screw sleeve; the motor is positively rotated, the front end cover (5) and the bit shaft (6) are rotated and axially fed in a combined motion, until the bit shaft moves axially by a distance of the length of the steel wire screw sleeve, the bit shaft is threadedly connected with the steel wire screw sleeve, and the taking of the steel wire screw sleeve is completed; Step 6: the robot carries the end effector and the steel wire screw sleeve out of the material taking station; Step 7: the motor is reversed, and the number of reverse rotation is equal to the number of threads of the steel wire screw sleeve, so that the shell, the motor, the motor shell, the bit shaft and the steel wire screw sleeve move reversely along the axis, and return to the position before taking materials; Step 8: the robot drives the end effector to move to the position directly above the screw hole, feeds along the axis of the screw hole, and after the end face of the steel wire screw sleeve on the bit shaft contacts the screw hole, the robot feeds axially along the screw hole to make the shell (2) slide in the rear end cover, and the sliding distance is less than the length of the large diameter hole in the rear end cover; Step 9: the motor is positively rotated, and the steel wire screw sleeve is screwed into the initial opening of the screw hole after the motor rotates one round; then the motor rotates the same number of rounds as the steel wire screw sleeve, and the steel wire screw sleeve is completely installed in the screw hole; Step 10: the motor is reversed, and the end effector moves reversely to return to the initial installation position.

2. The automatic mounting method according to claim 1, wherein The motor of the motor assembly is fixedly installed in the motor shell, the stator of the motor is fixedly connected with the motor shell, and the rotor of the motor is coaxially fixedly connected with the front end cover; a protrusion is arranged on the outer wall of the motor shell in the axial direction, and a sliding groove is arranged on the inner wall of the shell (2) and matched with the protrusion.

3. The automatic mounting method according to claim 2, wherein: A stepped through hole is arranged in the middle of the rear end cover (1) along the axis, a sliding groove is arranged on the inner wall in the axial direction, and a protrusion matched with the sliding groove of the rear end cover is arranged on the outer wall of the shell (2).

4. The automatic mounting method according to claim 3, wherein: The annular boss is arranged on the opening end of the shell (2), the protrusion matched with the sliding groove of the rear end cover is arranged on the annular boss, the end face of the annular boss is matched with the inner stepped face of the rear end cover (1), and the shell (2) is prevented from being separated from the rear end cover (1) when sliding.

5. The automatic mounting method according to claim 4, wherein: A stepped through hole is arranged in the shell (2) along the axis, a sliding groove is arranged on the inner wall of the large-diameter hole in the axial direction and matched with the protrusion of the motor shell (3), and an inner thread matched with the outer thread of the bit shaft (6) is arranged on the inner wall of the small-diameter hole.

6. The automatic mounting method according to claim 5, wherein A stepped hole is arranged in the motor shell along the axis, the motor is arranged in the large-diameter hole, and a mounting hole is arranged on the end face of the small-diameter hole, so that the stator of the motor is fixedly connected with the motor shell through bolts.

7. The automatic mounting method according to claim 6, wherein: The sliding grooves arranged on the inner walls of the shell (2) and the rear end cover (1) are ear-shaped grooves, and the protrusions arranged on the outer walls of the motor shell and the shell (2) are half-cylindrical protrusions matched with the corresponding ear-shaped grooves.

8. The automatic mounting method of claim 1, wherein: A hexagonal mounting hole is arranged in the middle of the front end cover (5) and matched with the hexagonal block fixedly arranged on the end of the bit shaft (6) in interference, so that the bit shaft is prevented from moving when rotating.

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