A rotor lamination grasping, positioning and assembling device and its assembling method

Abstract

The present invention provides a rotor lamination grasping, positioning and assembling device and an assembling method thereof, including a conveyor belt, on which a fine positioning tray is moved. Along the conveyor belt, a rough positioning tray, a lamination grasping mechanism, a slot bar assembling mechanism and a guide bar assembling mechanism are arranged; the lamination grasping mechanism includes a clamping component, on which a pressing component is arranged. The clamping component and the pressing component enclose to form a grasping inner cavity, and a floating component is arranged at the top of the clamping component; the slot bar assembling mechanism includes a bar material positioning component and a bar material pressing component which are arranged oppositely up and down. The bar material positioning component has a plurality of inserting stations arranged in an annular array, and the bar material pressing component has a plurality of inserting bars corresponding to the plurality of inserting stations one by one; the guide bar assembling mechanism includes a guide bar positioning plate and a bar installing manipulator. By setting multiple assembly stations and forming an assembly line through clamping and material taking and translation conveying, the accuracy and firmness of assembly are ensured, the assembly efficiency is effectively improved, and the yield and quality of the assembled finished products are ensured.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical technology, and relates to an electric motor assembly line, in particular to a rotor lamination grasping, positioning and assembling device and an assembling method thereof. Background Art

[0002] With the rise of new energy vehicles, in existing new energy vehicles, most pure electric vehicles or hybrid electric vehicles adopt centralized electric motor drive. Facing multiple pressures such as emission requirements, fuel consumption, and cost, the automotive parts industry has encountered many challenges and opportunities.

[0003] The rotor is an important component of an electric motor. The use of laminations can reduce magnetic energy consumption and improve the efficiency of the electric motor. The main difficulties in the lamination assembly of the rotor production line are divided into the overall positioning of the rotor laminations, the grasping and placement of the overall rotor laminations, the insertion of the rotor slot sample bar, and the insertion of the rotor bars. Improving the assembly efficiency of the lamination-related parts can effectively improve the manufacturing efficiency of the electric motor.

[0004] For example, a Chinese patent document has disclosed a micro-motor rotor automatic assembly device [Chinese Patent No.: 201420323642.0]. This utility model relates to a micro-motor rotor automatic assembly device, including a frame. The frame includes a first workbench and a second workbench. A material pushing device and a shaft-inverting clamping device are provided on the upper surface of the first workbench. A riveting and pressing device is provided above the material pushing device. A feeding device is arranged above the shaft-inverting clamping device. A sorting device is provided between the second workbench and the first workbench. A material tray running device is provided on the second workbench. A rotor arranging device is provided on the upper surface of the second workbench. This utility model adopts a mobile feeding device to accelerate the feeding speed of the laminations, thereby improving production efficiency and reducing labor intensity. An industrial camera is added to the frame in cooperation with mechanical finger blocks to realize the whole-process control of rotor production and automatically sort out unqualified products, ensuring product quality, eliminating secondary damage to products, controlling the finished product rejection rate, reducing production costs, and at the same time adopting an X-axis and Y-axis module in cooperation with a finger device to realize the self-arrangement of the rotors.

[0005] The above technical solution mainly discloses the automatic transportation and monitoring of the laminations, and does not specifically disclose the insertion structure and assembly function of the bar stock and sheet stock on the laminations. Therefore, it still needs to be further improved. Summary of the Invention

[0006] The object of the present invention is to address the above problems existing in the prior art, and propose a rotor lamination grasping, positioning and assembling device and an assembling method thereof that respectively perform insertion operations on bar stock and sheet stock, combine multiple positioning and transportation, and correspondingly realize a complete assembly line.

[0007] The object of the present invention can be achieved by the following technical solutions: A rotor lamination grasping, positioning and assembling device, including a conveyor belt, on which a fine positioning tray is transferred. Along the conveyor belt, a rough positioning tray, a lamination grasping mechanism, a slot bar assembling mechanism and a guide bar assembling mechanism are arranged; The lamination grasping mechanism includes a clamping component, on which a pressing component is arranged. The clamping component and the pressing component enclose a grasping inner cavity, and a floating component is arranged at the top of the clamping component; The slot bar assembling mechanism includes a bar positioning component and a bar pressing component which are arranged opposite to each other up and down. The bar positioning component has a number of inserting stations arranged in an annular array, and the bar pressing component has a number of inserting bars corresponding to the number of inserting stations one by one; The guide bar assembling mechanism includes a guide bar positioning plate and a bar loading manipulator.

[0008] In the above rotor lamination grasping, positioning and assembling device, the fine positioning tray includes a bottom plate one, a flange positioning column is convexly arranged at the center of the bottom plate one, and at least two fine positioning columns and at least one tooth positioning block are erected on the bottom plate one outside the flange positioning column.

[0009] In the above rotor lamination grasping, positioning and assembling device, the rough positioning tray includes a bottom plate two, a central hole is opened on the bottom plate two, and at least two rough positioning columns are erected on the bottom plate two outside the central hole.

[0010] In the above rotor lamination grasping, positioning and assembling device, the clamping component includes a connecting frame, on which an opposed lead screw module is installed. The opposed lead screw module is driven and connected by a servo motor. A pair of clamping jaws are driven to slide relatively on the opposed lead screw module. The bottom end of the clamping jaw is turned inwards to form a claw piece. The opposed lead screw module has a slide rail, and the top of the clamping jaw is connected with a slider. The slider is clamped on the slide rail to form a sliding connection. An L-shaped positioning block is fixedly arranged outside the slider at the top of the clamping jaw. The L-shaped positioning block abuts against the slider to form a relative limit. Two limit blocks are symmetrically and fixedly arranged on the connecting frame between the pair of clamping jaws. A locking pin is vertically movably inserted on the connecting frame. A locking hole is correspondingly recessed at the top of the clamping jaw. The locking pin is inserted into the locking hole to form a plug-in fixation.

[0011] In the above rotor lamination grasping, positioning and assembling device, the pressing component includes a central positioning column and a circumferential angular positioning column fixedly installed at the bottom of the connecting frame. A pressing cylinder is installed on the connecting frame. The pressing rod of the pressing cylinder facing downwards is connected with a pressing plate. A central opening and an eccentric opening are opened on the pressing plate. The central positioning column passes through the central opening to form a sliding connection. The circumferential angular positioning column passes through the eccentric opening to form a sliding connection. A number of guide rods are erected upwards on the pressing plate. A number of guide cylinders are correspondingly installed on the connecting frame. The guide rods pass through the guide cylinders to form a sliding connection. A stop block is fixedly arranged at the top of the guide rod. The stop block and the top opening of the guide cylinder form a limit and resistance.

[0012] In the above-mentioned rotor lamination grasping, positioning and assembling device, the floating assembly includes a connecting plate fixedly arranged on the top surface of the connecting frame. The connecting plate is fixedly provided with a first connecting shaft at four corners. A first positive plain bearing is sleeved on the first connecting shaft. Four first connecting shafts are sleeved with connecting arms above the first positive plain bearing. A first reverse plain bearing is sleeved on the first connecting shaft above the connecting arm. The protruding top end of the first connecting shaft is sleeved with a first nut for locking. A first locking pin is movably inserted into the connecting arm, and a first locking hole is correspondingly opened on the connecting plate. The first locking pin is inserted into the first locking hole to form a plug-in fixation.

[0013] In the above-mentioned rotor lamination grasping, positioning and assembling device, the bar stock positioning assembly includes a support frame. The support frame is composed of a top extending mounting plate. The mounting plate is fixedly provided with a second connecting shaft in a matrix. A second positive plain bearing is sleeved on the second connecting shaft. Four second connecting shafts are sleeved with a floating plate above the second positive plain bearing. A second reverse plain bearing is sleeved on the second connecting shaft above the floating plate. The protruding top end of the second connecting shaft is sleeved with a second nut for locking. A second locking pin is movably inserted into the floating plate, and a second locking hole is correspondingly opened on the mounting plate. The second locking pin is inserted into the second locking hole to form a plug-in fixation. A plurality of bar stock positioning and guiding plates are annularly arrayed on the floating plate. A first guiding through groove is opened on the bar stock positioning and guiding plate, and a second guiding through groove is correspondingly communicated on the mounting plate.

[0014] In the above-mentioned rotor lamination grasping, positioning and assembling device, the bar stock pressing assembly includes a truss. A pressing cylinder is installed on the cross bar of the truss. The telescopic shaft of the pressing cylinder facing downwards is fixedly connected with a pressing seat. A sliding plate is fixedly connected to the back side of the pressing seat. A vertical rail is fixedly arranged on the vertical column of the truss. A vertical block is correspondingly arranged on the sliding plate. The vertical block is clamped with the vertical rail to form a sliding connection. A plurality of pressing strips are annularly arrayed on the bottom surface of the pressing seat. A plurality of pressing strips are correspondingly inserted and matched with a plurality of first guiding through grooves.

[0015] In the above-mentioned rotor lamination grasping, positioning and assembling device, a plurality of guiding inlets are opened along the circumference of the guiding strip positioning plate. The plurality of guiding inlets are annularly arrayed. The guiding inlet is a trapezoidal opening, and the trapezoidal opening points to the center of the guiding strip positioning plate from the upper base.

[0016] An assembling method for a rotor lamination grasping, positioning and assembling device includes the following steps:

[0017] S1. Place the rotor lamination on the rough positioning tray, make the inverted flange located on the central hole, and two rough positioning columns respectively pass through two through holes with a gap left, so as to roughly position the rotor lamination.

[0018] S2. The lamination gripping mechanism moves above the rough positioning tray. The servo motor drives the opposed lead screw module to drive a pair of jaws to open synchronously. The lamination gripping mechanism descends so that the pair of jaws are located on both sides of the rotor lamination, and the central positioning post penetrates into the central hole of the rotor lamination, and the circumferential angular positioning post penetrates into the circumferential angular hole of the rotor lamination for circumferential positioning, so that the initial angles of the rotor laminations are the same; the servo motor drives the opposed lead screw module to drive a pair of jaws to merge synchronously until they collide with the limit block, clamping both sides of the rotor lamination, inserting the locking pin into the locking hole to fix the clamping position of the jaws; at the same time, a pair of claw pieces support the bottom edge of the rotor lamination, and the pressing cylinder is started to lower the pressing plate to press the top surface of the rotor lamination, so that the pressing plate and the claw pieces clamp the rotor lamination up and down for axial fixation;

[0019] S3. The lamination gripping mechanism moves the rotor lamination to the fine positioning tray, sleeving the inverted flange at the bottom of the rotor lamination on the flange positioning post, two fine positioning posts respectively penetrate through two through holes in a one-to-one correspondence, and the tooth positioning block correspondingly penetrates into the positioning hole, forming precise positioning for the rotor lamination; pulling out the locking pin, the servo motor drives the opposed lead screw module to drive a pair of jaws to open synchronously, and the pressing cylinder raises the pressing plate to release the rotor lamination;

[0020] S4. The conveyor belt transfers the fine positioning tray and the rotor lamination to directly below the mounting plate, so that the guiding through slot 1 of the bar stock positioning guide plate corresponds and communicates with the guiding through slot 2 of the mounting plate to the bar stock slot on the rotor lamination; inserting a number of groove sample bars into the guiding through slot 1 of the bar stock positioning guide plate one by one, and inserting the locking pin 2 into the locking hole 2 to fix the floating plate; the pressing cylinder drives the pressing seat to drive a number of pressing strips to move downward, and a number of pressing strips are aligned with the groove sample bars one by one and press them downward until the groove sample bars are completely pressed into the bar stock slot of the rotor lamination through the guiding through slot 1 and the guiding through slot 2;

[0021] S5. The conveyor belt transfers the fine positioning tray and the rotor lamination to the next station, and the bar loading manipulator places the bar guiding plate above the rotor lamination, so that a number of guiding inlets of the bar guiding plate correspond and communicate with a number of inserting bar slots of the rotor lamination one by one, and the bar loading manipulator inserts the bars into the inserting bar slots through the guiding inlets one by one.

[0022] Compared with the prior art, the present rotor lamination gripping, positioning and assembling equipment and its assembling method have the following beneficial effects:

[0023] 1. According to the insertion requirements of the bar stock and sheet stock on the rotor lamination, a number of assembling stations are set up and an assembling production line is formed through clamping and picking up materials and translational conveying, and positioning is carried out multiple times in each processing station to ensure the accuracy and firmness of the assembly, which can not only effectively improve the assembly efficiency, but also ensure the yield and quality of the assembled finished products.

[0024] 2. A floating structure is added to the clamping structure and the insertion structure, which can not only provide a free movement amount before clamping and insertion preparation, so as to achieve adaptive adjustment, avoid clamping or misalignment of the product, and then lock and fix it with a pin shaft after stable positioning to ensure the stability of transportation and the accuracy of insertion, and further ensure the product safety and assembly effect. Description of the Drawings

[0025] Figure 1 is the overall structure diagram of this rotor lamination grasping and positioning assembly equipment.

[0026] Figure 2 is the three-dimensional structure diagram of the rough positioning tray in this rotor lamination grasping and positioning assembly equipment.

[0027] Figure 3 is the three-dimensional structure diagram of the lamination grasping mechanism in this rotor lamination grasping and positioning assembly equipment.

[0028] Figure 4 is the front view structure diagram of the lamination grasping mechanism in this rotor lamination grasping and positioning assembly equipment.

[0029] Figure 5 is the sectional view structure diagram of the fine positioning tray in this rotor lamination grasping and positioning assembly equipment.

[0030] Figure 6 is the three-dimensional structure diagram of the bar positioning component in this rotor lamination grasping and positioning assembly equipment.

[0031] Figure 7 is the three-dimensional structure diagram of the bar pressing component in this rotor lamination grasping and positioning assembly equipment.

[0032] In the figure, 1 is a conveyor belt; 2 is a rough positioning tray; 201 is the second bottom plate; 202 are rough positioning columns; 3 is a lamination grabbing mechanism; 301 is a servo motor; 302 is an opposed lead screw module; 303 are clamping jaws; 304 are claw pieces; 305 is an L-shaped positioning block; 306 is a limit block; 307 is a locking pin; 308 is a central positioning column; 309 are circumferential angular positioning columns; 310 is a pressing cylinder; 311 is a pressing plate; 312 is a guide cylinder; 313 is a guide rod; 314 is a stop block; 315 is a connecting plate; 316 is the first connecting shaft; 317 is the first forward plain bearing; 318 is the first reverse plain bearing; 319 is a connecting arm; 320 is the first locking pin; 4 is a fine positioning tray; 401 is the first bottom plate; 402 are flange positioning columns; 403 are fine positioning columns; 404 are tooth positioning blocks; 5 is a bar stock positioning assembly; 501 is a support frame; 502 is a mounting plate; 503 is the second connecting shaft; 504 is a floating plate; 505 is the second reverse plain bearing; 506 is the second locking pin; 507 is a bar stock positioning guide plate; 6 is a bar stock pressing assembly; 601 is a truss; 602 is a pressing cylinder; 603 is a pressing seat; 604 is a pressing strip; 605 is a sliding plate; 606 is a vertical rail; 7 is a guide bar positioning plate; 8 is a rotor lamination; 9 is a groove sample bar; 10 is a guide bar. Detailed implementation manners

[0033] The following are specific embodiments of the present invention in combination with the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0034] As Figure 1 shown, this rotor lamination grabbing, positioning and assembling device includes a conveyor belt 1. A fine positioning tray 4 is transferred on the conveyor belt 1. Along the conveyor belt 1, a rough positioning tray 2, a lamination grabbing mechanism 3, a groove sample bar assembling mechanism and a guide bar assembling mechanism are arranged. The lamination grabbing mechanism 3 includes a clamping assembly. A pressing assembly is arranged on the clamping assembly. The clamping assembly and the pressing assembly enclose a grabbing inner cavity. A floating assembly is arranged at the top of the clamping assembly. The groove sample bar assembling mechanism includes a bar stock positioning assembly 5 and a bar stock pressing assembly 6 which are arranged oppositely up and down. The bar stock positioning assembly 5 has a plurality of inserting stations arranged in an annular array. The bar stock pressing assembly 6 has a plurality of inserting strips corresponding to the plurality of inserting stations one by one. The guide bar assembling mechanism includes a guide bar positioning plate 7 and a bar stock loading manipulator.

[0035] As Figure 2 shown, the rough positioning tray 2 includes a second bottom plate 201. A central hole is opened on the second bottom plate 201. At least two rough positioning columns 202 are erected on the second bottom plate 201 outside the central hole. The rotor lamination 8 is placed on the rough positioning tray 2 so that the inverted flange is located on the central hole. The two rough positioning columns 202 are respectively inserted into two through holes with a gap remaining, forming a rough positioning for the rotor lamination 8.

[0036] As Figure 3 and4 As shown, the clamping assembly includes a connecting frame. A counter-rotating lead screw module 302 is installed on the connecting frame. The counter-rotating lead screw module 302 is driven and connected by a servo motor 301. A pair of clamping jaws 303 are driven to slide relatively on the counter-rotating lead screw module 302. The bottom end of the clamping jaw 303 is turned inwards to form a claw piece 304. The counter-rotating lead screw module 302 has a slide rail. The top of the clamping jaw 303 is connected to a slider. The slider is snap-connected to the slide rail to form a sliding connection. An L-shaped positioning block 305 is fixedly arranged outside the slider at the top of the clamping jaw 303. The L-shaped positioning block 305 abuts against the slider to form a relative limit. Two limiting blocks 306 are symmetrically and fixedly arranged on the connecting frame between a pair of clamping jaws 303. A locking pin 307 is vertically and movably inserted into the connecting frame. A locking hole is correspondingly recessed at the top of the clamping jaw 303. The locking pin 307 is inserted into the locking hole to form a plug-in fixation.

[0037] The servo motor 301 drives the counter-rotating lead screw module 302 to realize the synchronous opening and closing actions of a pair of clamping jaws 303. When the pair of clamping jaws 303 perform the opening and closing actions, they translate along the slide rail. The rotor laminations 8 are bilaterally clamped by the closing of the pair of clamping jaws 303. The bottom edge of the rotor laminations 8 is supported by a pair of claw pieces 304. After the pair of clamping jaws 303 clamp the rotor laminations 8, the locking pin 307 is inserted into the locking hole to fix the clamping position, preventing the rotor laminations 8 from shifting or falling off. The relative positions of the clamping jaw 303 and the slider are positioned by the L-shaped positioning block 305 to ensure the parallelism of the two clamping jaws 303. The minimum clamping distance between the two clamping jaws 303 is correspondingly limited by the two limiting blocks 306, thus preventing the rotor laminations 8 from being damaged by excessive clamping.

[0038] The pressing assembly includes a central positioning column 308 and a circumferential angular positioning column 309 fixedly installed at the bottom of the connecting frame. A pressing cylinder 310 is installed on the connecting frame. The pressing rod of the pressing cylinder 310 facing downwards is connected to a pressing plate 311. A central opening and an eccentric opening are formed on the pressing plate 311. The central positioning column 308 passes through the central opening to form a sliding connection. The circumferential angular positioning column 309 passes through the eccentric opening to form a sliding connection. A number of guide rods 313 are erected upwards on the pressing plate 311. A number of guide cylinders 312 are correspondingly installed on the connecting frame. The guide rods 313 pass through the guide cylinders 312 to form a sliding connection. A stop block 314 is fixedly arranged at the top of the guide rod 313. The stop block 314 forms a limiting resistance with the top opening of the guide cylinder 312.

[0039] After the clamping jaws 303 clamp the rotor lamination 8, the central positioning post 308 penetrates into the central hole of the rotor lamination 8, and the circumferential angular positioning post 309 penetrates into the circumferential angular holes of the rotor lamination 8. The pressing cylinder 310 is started to lower the pressing plate 311 through the pressing rod until it presses the top surface of the rotor lamination 8, and the axial fixation of the rotor lamination 8 is realized by the upper and lower clamping of the pressing plate 311 and the claw piece 304. During the lifting and lowering process of the pressing plate 311, the guide rod 313 slides up and down along the guide cylinder 312, thereby improving the vertical guiding property and stability. When the pressing plate 311 descends to the limit position, it is forced to stop descending by the stop block 314 against the top opening of the guide cylinder 312, so as to avoid damage to the rotor lamination 8 caused by excessive downward pressing.

[0040] The floating assembly includes a connecting plate 315 fixedly arranged on the top surface of the connecting frame. The connecting plate 315 is fixedly provided with a first connecting shaft 316 at four corners. A first positive plain bearing 317 is sleeved on the first connecting shaft 316. Four first connecting shafts 316 are sleeved with connecting arms 319 above the first positive plain bearing 317. A first reverse plain bearing 318 is sleeved on the first connecting shaft 316 above the connecting arm 319. The protruding top end of the first connecting shaft 316 is sleeved with a nut to lock; A first locking pin 320 is movably inserted and locked on the connecting arm 319, and a first locking hole is correspondingly opened on the connecting plate 315. The first locking pin 320 is inserted into the first locking hole to form a plug-in fixation.

[0041] By assembling two plain bearings in a positive and reverse manner, the plane contacts the ball, and the two plate bodies are connected by a shaft in the middle. In the unlocked state between the two plate bodies, the connecting plate 315 can freely float in the XY plane, and then the mechanism can slightly float to achieve the self-adaptive purpose. After grasping the rotor lamination 8, in order to ensure its moving stability, the first locking pin 320 is inserted into the first locking hole for floating fixation.

[0042] As Figure 5 shown, the precise positioning tray 4 includes a first bottom plate 401, a flange positioning post 402 convexly provided at the center of the first bottom plate 401, at least two precise positioning posts 403 erected on the outer periphery of the flange positioning post 402 of the first bottom plate 401, and at least one tooth positioning block 404. Two precise positioning posts 403 and one tooth positioning block 404 are on the same straight line. An inverted flange is fixedly provided at the bottom of the rotor lamination 8, two through holes are opened on the inverted flange, and a positioning hole is opened on the tooth plate of the rotor lamination 8. The rotor lamination 8 is placed on the precise positioning tray 4, so that the inverted flange is sleeved on the flange positioning post 402, the two precise positioning posts 403 are correspondingly inserted into the two through holes one by one, and the tooth positioning block 404 is correspondingly inserted into the positioning hole, so as to form precise positioning for the rotor lamination 8.

[0043] As Figure 6As shown in the figure, the bar positioning component 5 includes a support frame 501. The support frame 501 is extended and installed with a top plate 502. On the installation plate 502, connecting shafts II 503 are fixedly arranged in a matrix. Positive plain bearings II are sleeved on the connecting shafts II 503. A floating plate 504 is sleeved on the four connecting shafts II 503 above the positive plain bearings II. Reverse plain bearings II 505 are sleeved on the connecting shafts II 503 above the floating plate 504. The protruding top ends of the connecting shafts II 503 are sleeved with nuts II for locking. A locking pin II 506 is movably inserted into the floating plate 504. A locking hole II is correspondingly opened on the installation plate 502. The locking pin II 506 is inserted into the locking hole II to form a plug-in fixation. A number of bar positioning and guiding plates 507 are arranged in a circular array on the floating plate 504. A guiding through groove I is opened on the bar positioning and guiding plate 507. A guiding through groove II is correspondingly communicated on the installation plate 502.

[0044] The installation plate 502 extends above the conveyor belt 1. When the fine positioning tray 4 carrying the rotor lamination 8 moves to directly below the installation plate 502, the guiding through groove I of the bar positioning and guiding plate 507 corresponds to and communicates with the guiding through groove II on the installation plate 502 to the bar groove on the rotor lamination 8. By assembling the two plain bearings in a positive and negative manner, the plane contacts the ball bearings, and the two plate bodies are connected by a shaft in the middle. When the two plate bodies are not locked, the connecting plate 315 can freely float in the XY plane, and thus the mechanism can slightly float to achieve the self-adaptive purpose. The locking pin II 506 is inserted into the locking hole II for floating fixation.

[0045] As Figure 7 As shown in the figure, the bar press-fitting component 6 includes a truss 601. A press-fitting cylinder 602 is installed on the cross bar of the truss 601. The telescopic shaft of the press-fitting cylinder 602 facing down is fixedly connected with a press seat 603. A sliding plate 605 is fixedly connected to the back side of the press seat 603. A vertical rail 606 is fixedly arranged on the column of the truss 601. A vertical block is correspondingly arranged on the sliding plate 605. The vertical block is clamped with the vertical rail 606 to form a sliding connection. A number of pressure strips 604 are arranged in a circular array on the bottom surface of the press seat 603. The number of pressure strips 604 is in plug-in fit with the number of guiding through grooves I. The press-fitting cylinder 602 is started to extend the telescopic shaft downward, so that the press seat 603 drives the number of pressure strips 604 to move downward. At the same time, the sliding plate 605 slides down along the vertical rail 606 to ensure the descending stability. The number of pressure strips 604 are aligned with the groove sample bar 9 one by one and press it down until the groove sample bar 9 is completely pressed into the bar groove of the rotor lamination 8 through the guiding through groove I and the guiding through groove II.

[0046] As Figure 1 As shown in the figure, a number of guiding inlets are opened along the circumference of the guide bar positioning plate 7. The number of guiding inlets are arranged in a circular array. The guiding inlets are trapezoidal openings, and the trapezoidal openings point to the center of the guide bar positioning plate 7 from the upper base. A number of insertion strip grooves are annularly arranged on the circumference of the rotor lamination 8. The number of guiding inlets of the guide bar positioning plate 7 are correspondingly communicated with the number of insertion strip grooves. Thus, the guide bar 10 is accurately inserted into the insertion strip groove of the rotor lamination 8 through the guiding function of the guiding inlets.

[0047] An assembly method for a rotor lamination grasping and positioning assembly device, comprising the following steps:

[0048] S1. Place the rotor lamination 8 on the rough positioning tray 2, with the inverted flange located on the central hole. Two rough positioning posts 202 are respectively inserted through two through holes with a clearance left, forming a rough positioning for the rotor lamination 8.

[0049] S2. The lamination grasping mechanism 3 moves above the rough positioning tray 2. The servo motor 301 drives the opposed lead screw module 302 to drive a pair of clamping jaws 303 to open synchronously. The lamination grasping mechanism 3 descends so that a pair of clamping jaws 303 are located on both sides of the rotor lamination 8, and the central positioning post 308 is inserted into the central hole of the rotor lamination 8, and the circumferential angular positioning post 309 is inserted into the circumferential angular hole of the rotor lamination 8 for circumferential positioning, making the initial angles of the rotor lamination 8 the same. The servo motor 301 drives the opposed lead screw module 302 to drive a pair of clamping jaws 303 to merge synchronously until they collide with the limit block 306, clamping both sides of the rotor lamination 8. Insert the locking pin 307 into the locking hole to fix the clamping position of the clamping jaws 303. At the same time, a pair of claw pieces 304 support the bottom edge of the rotor lamination 8, and the pressing cylinder 310 is started to lower the pressing plate 311 to press the top surface of the rotor lamination 8, so that the pressing plate 311 and the claw pieces 304 clamp the rotor lamination 8 up and down for axial fixation.

[0050] S3. The lamination grasping mechanism 3 moves the rotor lamination 8 to the fine positioning tray 4. The inverted flange at the bottom of the rotor lamination 8 is sleeved on the flange positioning post 402. Two fine positioning posts 403 are respectively inserted through two through holes, and the tooth positioning block 404 is correspondingly inserted into the positioning hole, forming a precise positioning for the rotor lamination 8. Pull out the locking pin 307. The servo motor 301 drives the opposed lead screw module 302 to drive a pair of clamping jaws 303 to open synchronously, and the pressing cylinder 310 raises the pressing plate 311 to release the rotor lamination 8.

[0051] S4. The conveyor belt 1 transfers the fine positioning tray 4 and the rotor lamination 8 to directly below the mounting plate 502, so that the guiding through slot 1 of the bar stock positioning and guiding plate 507 corresponds and communicates with the guiding through slot 2 of the mounting plate 502 to the bar stock slot on the rotor lamination 8. Insert a number of groove sample bars 9 into the guiding through slot 1 of the bar stock positioning and guiding plate 507 one by one, and insert the locking pin 2 506 into the locking hole 2 to fix the floating plate 504. The pressing cylinder 602 drives the pressing seat 603 to drive a number of pressing strips 604 to move downward. A number of pressing strips 604 are aligned with the groove sample bars 9 one by one and press them down until the groove sample bars 9 are completely pressed into the bar stock slots of the rotor lamination 8 through the guiding through slot 1 and the guiding through slot 2.

[0052] S5. The conveyor belt 1 transfers the fine-positioning tray 4 and the rotor lamination 8 to the next station. The bar loading manipulator places the bar guide plate 7 above the rotor lamination 8, making several guide inlets of the bar guide plate 7 communicate with several bar insertion slots of the rotor lamination 8 one by one. The bar loading manipulator inserts the bars 10 into the insertion slots one by one through the guide inlets.

[0053] Compared with the prior art, the rotor lamination grasping, positioning and assembling device and its assembling method have the following beneficial effects:

[0054] 1. According to the insertion requirements of the bars and laminations on the rotor lamination, multiple assembly stations are set up, and an assembly line is formed through clamping and picking and translational conveying. Multiple positionings are carried out within each processing station to ensure the accuracy and firmness of the assembly, which can not only effectively improve the assembly efficiency, but also ensure the yield and quality of the assembled finished products.

[0055] 2. A floating structure is added to the clamping structure and the insertion structure. Thereby, it can not only provide a free movement amount before clamping and insertion preparation, so as to achieve adaptive adjustment, avoid clamping or misalignment of the product, and then lock and fix it with a pin shaft after stable positioning to ensure the stability of transportation and the accuracy of insertion, and further ensure the safety of the product and the assembly effect.

[0056] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0057] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Claims

1. A rotor lamination grasping, positioning and assembling device, including a conveyor belt, characterized in that, A precisely positioned pallet is transferred on the conveyor belt, and a roughly positioned pallet, a stack sheet gripping mechanism, a grooved bar assembling mechanism, and a guide bar assembling mechanism are arranged along the conveyor belt; the stack sheet gripping mechanism includes a clamping assembly, a pressing assembly is arranged on the clamping assembly, a gripping inner cavity is formed by surrounding the clamping assembly and the pressing assembly, and a floating assembly is arranged at the top of the clamping assembly; the grooved bar assembling mechanism includes a bar positioning assembly and a bar pressing assembly which are arranged oppositely up and down, the bar positioning assembly has a plurality of material inserting stations arranged in an annular array, and the bar pressing assembly has a plurality of material inserting bars corresponding to the plurality of material inserting stations one by one; the guide bar assembling mechanism includes a guide bar positioning plate and a bar loading manipulator; the bar positioning assembly includes a support frame, the support frame is extended from the top to an installation plate, a second connecting shaft is fixedly arranged on the installation plate in a matrix, a positive plane bearing two is sleeved on the second connecting shaft, a floating plate is sleeved on the four second connecting shafts above the positive plane bearing two, a reverse plane bearing two is sleeved on the second connecting shaft above the floating plate, and the top end of the second connecting shaft passing through is sleeved with a second nut for locking; a second locking pin is movably inserted and locked on the floating plate, a second locking hole is correspondingly opened on the installation plate, and the second locking pin is inserted into the second locking hole to form plug-in fixation; a plurality of bar positioning guide plates are annularly arrayed on the floating plate, a first guide through groove is opened on the bar positioning guide plate, and a second guide through groove is correspondingly communicated on the installation plate.

2. The rotor lamination grasping, positioning and assembling device according to claim 1, wherein The precisely positioned pallet includes a first bottom plate, a flange positioning column is convexly arranged in the center of the first bottom plate, and at least two precisely positioning columns and at least one tooth positioning block are erected on the first bottom plate outside the flange positioning column.

3. The rotor lamination grasping, positioning and assembling device according to claim 1, wherein, The roughly positioned pallet includes a second bottom plate, a central hole is opened on the second bottom plate, and at least two roughly positioning columns are erected on the second bottom plate outside the central hole.

4. The rotor lamination grasping, positioning and assembling device according to claim 1, characterized in that, The clamping assembly includes a connecting frame, an opposed lead screw module is installed on the connecting frame, the opposed lead screw module is driven and connected by a servo motor, a pair of clamping jaws are relatively slidably driven on the opposed lead screw module, the bottom end of the clamping jaw is turned inwards to form a claw piece, the opposed lead screw module has a slide rail, the top of the clamping jaw is connected with a slider, and the slider is clamped on the slide rail to form a sliding connection. An L-shaped positioning block is fixedly arranged on the outside of the slider at the top of the clamping jaw, and the L-shaped positioning block abuts against the slider to form relative limitation. Two limiting blocks are symmetrically fixedly arranged on the connecting frame between the pair of clamping jaws, a locking pin is vertically and movably inserted on the connecting frame, a locking hole is correspondingly recessed at the top of the clamping jaw, and the locking pin is inserted into the locking hole to form plug-in fixation.

5. The rotor lamination grasping, positioning and assembling device according to claim 4, characterized in that, The pressing component includes a central positioning column and a circumferential angular positioning column fixedly installed at the bottom of the connecting frame. A pressing cylinder is installed on the connecting frame. The pressing rod of the pressing cylinder facing downward is connected to a pressing plate. A central opening and an eccentric opening are formed on the pressing plate. The central positioning column passes through the central opening to form a sliding connection. The circumferential angular positioning column passes through the eccentric opening to form a sliding connection. A plurality of guide rods are erected upward on the pressing plate. A plurality of guide cylinders are correspondingly installed on the connecting frame. The guide rods pass through the guide cylinders to form a sliding connection. A stop block is fixedly arranged at the top end of the guide rod. The stop block forms a limit resistance with the top opening of the guide cylinder.

6. The rotor lamination grasping, positioning and assembling device according to claim 4, wherein The floating component includes a connecting plate fixedly arranged on the top surface of the connecting frame. Connecting shafts I are fixedly arranged at the four corners of the connecting plate. Positive plain bearings I are sleeved on the connecting shafts I. Four connecting shafts I are sleeved with connecting arms above the positive plain bearings I. Reverse plain bearings I are sleeved on the connecting shafts I above the connecting arms. The protruding top ends of the connecting shafts I are sleeved with nuts I for locking; A locking pin I is movably inserted into the connecting arm. A locking hole I is correspondingly formed on the connecting plate. The locking pin I is inserted into the locking hole I to form a plug-in fixation.

7. The rotor lamination grasping, positioning and assembling device according to claim 1, wherein, The bar stock pressing component includes a truss. A pressing cylinder is installed on the cross bar of the truss. The telescopic shaft of the pressing cylinder facing downward is fixedly connected to a pressing seat. A sliding plate is fixedly connected to the back side of the pressing seat. A vertical rail is fixedly arranged on the upright column of the truss. A vertical block is correspondingly arranged on the sliding plate. The vertical block is clamped with the vertical rail to form a sliding connection. A plurality of pressing strips are annularly arranged on the bottom surface of the pressing seat. A plurality of pressing strips are correspondingly inserted and matched with a plurality of guide through slots I.

8. The rotor lamination grasping, positioning and assembling device according to claim 1, wherein, A plurality of guide inlets are opened along the circumference of the guide strip positioning plate. A plurality of guide inlets are arranged in an annular array. The guide inlet is a trapezoidal opening. The trapezoidal opening points to the center of the guide strip positioning plate from the upper base.

9. An assembly method of a rotor lamination grasping, positioning and assembling device, characterized in that, Including the following steps: S1. Place the rotor lamination on the rough positioning tray, so that the inverted flange is located on the central hole. Two rough positioning columns correspondingly pass through two through holes and leave a gap, forming a rough positioning for the rotor lamination; S2. The lamination gripping mechanism moves above the rough positioning tray. The servo motor drives the opposed lead screw module to drive a pair of jaws to open synchronously. The lamination gripping mechanism descends so that a pair of jaws are located on both sides of the rotor lamination. And the central positioning column penetrates into the central hole of the rotor lamination, and the circumferential angular positioning column penetrates into the circumferential angular hole of the rotor lamination for circumferential positioning, so that the initial angles of the rotor laminations are the same; The servo motor drives the opposed lead screw module to drive a pair of jaws to merge synchronously until they collide with the limit block, clamping the two sides of the rotor lamination. Insert the locking pin into the locking hole to fix the clamping position of the jaws; At the same time, a pair of claw pieces support the bottom edge of the rotor lamination. Start the pressing cylinder to lower the pressing plate to press the top surface of the rotor lamination, so that the pressing plate and the claw pieces clamp the rotor lamination up and down for axial fixation; S3. The lamination gripping mechanism moves the rotor lamination to the precision positioning tray, sleeving the inverted flange at the bottom of the rotor lamination onto the flange positioning post. Two precision positioning posts respectively pass through two through holes in a one-to-one correspondence, and the tooth positioning block correspondingly penetrates into the positioning hole to form precise positioning of the rotor lamination. Pull out the locking pin, and the servo motor drives the opposed lead screw module to drive a pair of jaws to open synchronously. The pressing cylinder lifts the pressing plate to release the rotor lamination. S4. The conveyor belt transfers the precision positioning tray and the rotor lamination to directly below the mounting plate, aligning the guiding through slot 1 of the bar stock positioning and guiding plate with the guiding through slot 2 of the mounting plate to communicate with the bar stock slot on the rotor lamination. Insert a number of grooved bars into the guiding through slot 1 of the bar stock positioning and guiding plate one by one, and insert the locking pin 2 into the locking hole 2 to fix the floating plate. The pressing cylinder drives the pressing seat to drive a number of pressing strips to move downward. The number of pressing strips respectively align with the grooved bars and press them downward until the grooved bars are completely pressed into the bar stock slot of the rotor lamination through the guiding through slot 1 and the guiding through slot 2. S5. The conveyor belt transfers the precision positioning tray and the rotor lamination to the next station. The strip loading manipulator places the guide strip positioning plate above the rotor lamination, aligning a number of guiding inlets of the guide strip positioning plate with a number of strip insertion slots of the rotor lamination in a one-to-one correspondence. The strip loading manipulator inserts the guide strips into the strip insertion slots through the guiding inlets one by one.

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