Iron core feeding and commutator assembly machine and method

Abstract

This invention relates to a core feeding and commutator assembly machine, comprising a base, a storage station for storing cores, a core detection mechanism, an oiling mechanism, a clamping mechanism, a pressing mechanism, a feeding mechanism, a positioning mechanism for commutator angle positioning, a defective product recycling mechanism, and a conveying mechanism. The base also includes a robotic arm for conveying cores between the storage station, oiling mechanism, clamping mechanism, conveying mechanism, and defective product recycling mechanism. The clamping mechanism positions the cores to prevent movement that could lead to improper pressing. The clamping mechanism also centers the cores, ensuring the core's axis of rotation is coaxial with the commutator on the pressing mechanism, thus improving pressing accuracy. The positioning mechanism on the feeding mechanism positions the commutator angle, thereby improving the angular accuracy of the commutator on the core after pressing.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing and processing, and more specifically, to a core feeding and commutator assembly machine and method. Background Technology

[0002] In the motor manufacturing process, there is a step of feeding the commutator and pressing it onto the rotor core. The conventional method mostly relies on manual feeding of the commutator, identification of the angle between the commutator and the rotor core, and angular alignment and rough pressing positioning before placing it into the pressing machine for pressing. Although production can be carried out, the product processing efficiency is very low, the consistency is poor, and the labor intensity of workers is high. At present, the fully automatic equipment for assembling rotor cores and commutators on the market basically adopts the transverse pressing method. The disadvantage of this method is that the overall pressing accuracy is affected by the weight of the rotor core and commutator. Therefore, a core feeding and commutator assembly machine is needed to achieve automated production while meeting the pressing accuracy requirements. Summary of the Invention

[0003] To address the aforementioned shortcomings of existing technologies, a core feeding and commutator assembly machine is provided.

[0004] The technical solution adopted by this invention to solve its technical problem is: a core feeding and commutator assembly machine, including a base, a storage station for storing cores on the base, a core detection mechanism on the base, an oiling mechanism for oiling the cores on the base, a clamping mechanism for positioning and centering the cores on the base, a pressing mechanism for pressing the commutator onto the clamping mechanism on the base, a feeding mechanism for feeding the commutator onto the pressing mechanism on the base, a positioning mechanism for positioning the commutator angle on the feeding mechanism, a defective product recycling mechanism on the base, a conveying mechanism for conveying the assembled cores on the base, and a robotic arm for conveying the cores at the storage station, the oiling mechanism, the clamping mechanism, the conveying mechanism, and the defective product recycling mechanism on the base.

[0005] Preferably, the clamping mechanism includes a first motor, a baffle, a first cylinder, a first bracket, and a vertical plate. The first bracket and the vertical plate are spaced apart on the base. The vertical plate has a clearance through hole for avoiding the iron core shaft. A bearing block for supporting the iron core is provided on the surface of the vertical plate away from the first bracket. A positioning groove for positioning the iron core is provided on the bearing block. The end of the positioning groove away from the vertical plate is open. The baffle blocks the opening of the positioning groove. The first cylinder is provided on the base and drives the baffle to rise and fall. Three grippers for clamping and centering the iron core are provided on the vertical plate. The three grippers are circumferentially arranged at equal intervals with the clearance through hole as the center. The bearing block has a clearance notch for avoiding the grippers. The first motor is provided on the first bracket and drives the three grippers to clamp the iron core synchronously.

[0006] Preferably, the output end of the first motor is connected to a lead screw coaxial with the clearance through hole, and a slider is threaded onto the lead screw. The slider is slidably mounted on the first bracket. The vertical plate is provided with three circumferentially arranged claw through holes with the clearance through hole as the center. Each claw includes a hinge part and a clamping part, which together form an L-shaped claw structure. The middle position of the hinge part is hinged in the corresponding claw through hole. One end of the hinge part is hinged to a connecting rod, and the end of the connecting rod away from the hinge part is hinged to the slider.

[0007] Preferably, the feeding mechanism includes a vibratory feeder, a linear vibrator, a guide rail, a receiving structure, an XY automatic slide table, and an inner support fixture for gripping the commutator. The vibratory feeder and the linear vibrator are mounted on a base, the guide rail is mounted on the linear vibrator, and the guide rail has a guide rail groove for conveying the commutator. The two ends of the guide rail groove are located at the outlet of the vibratory feeder and the inlet of the receiving structure, respectively. The XY automatic slide table is mounted on the base, and a second support is mounted on the XY automatic slide table. The inner support fixture is mounted on the second support.

[0008] Preferably, the positioning mechanism includes a positioning pin of a positioning commutator and a second motor that drives the inner support clamp to rotate. The positioning pin is mounted on a second bracket, and the second motor is also mounted on the second bracket.

[0009] Preferably, the receiving structure includes a receiving block, a holding block, a blocking block, and a second cylinder for driving the blocking block to move. A third bracket for supporting the receiving block is provided on the base. A receiving groove is provided on the upper surface of the receiving block. A strip-shaped positioning groove for positioning the commutator is provided at the bottom of the receiving groove. The second cylinder is provided on the third bracket. The blocking block is located at the output end of the second cylinder and blocks the outlet of the receiving groove. The holding block is movably located directly above the outlet of the receiving groove. A third cylinder for driving the holding block to rise and fall is provided on the third bracket. A first material sensor for detecting whether the commutator has reached the outlet of the receiving groove is provided on the third bracket. A distance sensor is also provided on the third bracket. The distance sensor detects the distance between any two adjacent lugs on the commutator at the outlet of the receiving groove.

[0010] Preferably, the pressing mechanism includes a commutator clamp for holding the outer wall of the commutator and a linear slide for driving the commutator clamp to move and press. The linear slide is mounted on a base, and a fourth bracket is mounted on the linear slide. The commutator clamp is mounted on the fourth bracket.

[0011] Preferably, the oiling mechanism includes a positioning fixture for positioning the iron core, a third motor for driving the positioning fixture to rotate, and an oiling needle. A fifth bracket supporting the positioning fixture is provided on the base, and the third motor is also provided on the fifth bracket. A second material sensor for sensing the iron core on the positioning fixture is provided on the fifth bracket. A sixth bracket is provided on the base, and the oiling needle is movably mounted on the sixth bracket. A drive cylinder for driving the oiling needle to approach and move away from the iron core on the positioning fixture is provided on the sixth bracket.

[0012] Preferably, the iron core detection mechanism includes a contact displacement sensor and a carrier for carrying the iron core. The base is provided with a carrier support bracket for supporting the carrier. The carrier support bracket is also provided with a slide cylinder. The contact displacement sensor is installed on the slide cylinder. The robotic arm also transports the iron core to the carrier.

[0013] A method for feeding iron cores and assembling commutators, the method comprising the following steps:

[0014] S101, the robotic arm transports the iron cores from the storage station to the iron core inspection mechanism. The iron core inspection mechanism inspects the length of the iron core shaft, and the robotic arm transports the unqualified iron cores to the defective product recycling mechanism.

[0015] S102, the robotic arm transports the qualified iron core from the iron core inspection mechanism to the oiling mechanism. The oiling mechanism applies oil to the iron core's rotating shaft. At this time, the positioning mechanism positions the angle of the commutator on the feeding mechanism. The feeding mechanism then feeds the positioned commutator onto the pressing mechanism.

[0016] S103, the robotic arm transports the oiled iron core to the clamping mechanism, and the pressing mechanism presses the commutator onto the iron core on the clamping mechanism.

[0017] S104, the robotic arm transports the qualified pressed iron core to the conveying mechanism, the conveying mechanism transports the iron core to the next station, and the robotic arm also transports the unqualified pressed iron core to the defective product recycling mechanism.

[0018] The beneficial effects of this invention are as follows: the robotic arm transports the iron core to the clamping mechanism, which positions the iron core to prevent it from moving when the pressing mechanism presses the commutator, thus avoiding poor pressing due to iron core movement. The clamping mechanism centers the iron core, keeping the iron core's axis of rotation coaxial with the commutator on the pressing mechanism, thereby improving the pressing accuracy. The positioning mechanism on the feeding mechanism positions the commutator angle, thereby improving the angular accuracy of the commutator on the iron core after pressing. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0020] Figure 2 This is an embodiment of the present invention. Figure 1 Enlarged view of region A in the middle;

[0021] Figure 3 This is a schematic diagram of the iron core detection mechanism according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the clamping mechanism, pressing mechanism, and feeding mechanism according to an embodiment of the present invention;

[0023] Figure 5 This is an embodiment of the present invention. Figure 4 Enlarged view of region B in the middle;

[0024] Figure 6 This is an embodiment of the present invention. Figure 5 Enlarged diagram of region C in the middle;

[0025] Figure 7 This is a schematic diagram of the clamping mechanism according to an embodiment of the present invention;

[0026] Figure 8 This is a cross-sectional structural schematic diagram of the clamping mechanism according to an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the pressing mechanism and the feeding mechanism according to an embodiment of the present invention;

[0028] Figure 10 This is an embodiment of the present invention. Figure 9 Enlarged schematic diagram of region D in the middle.

[0029] Reference numerals: 1. Base; 10. Storage station; 11. Defective product recycling mechanism; 2. Core detection mechanism; 20. Contact displacement sensor; 21. Carrier; 22. Carrier support; 23. Slide cylinder; 3. Oiling mechanism; 30. Positioning fixture; 31. Third motor; 32. Oiling needle; 33. Fifth support; 34. Sixth support; 35. Second material sensor; 36. Drive cylinder; 4. Clamping mechanism; 40. First motor; 41. Baffle; 42. First cylinder; 43. First support; 44. Vertical plate; 440. Clearance through hole; 441. Gripper through hole; 45. Bearing block; 450. Positioning groove; 451. Clearance notch; 46. Gripper; 460. Hinge. 461 Clamping part, 47 Lead screw, 48 Slider, 49 Connecting rod, 5 Pressing mechanism, 50 Reversing clamp, 51 Linear slide, 52 Fourth support, 6 Feeding mechanism, 60 Vibratory feeder, 61 Straight vibrator, 62 Guide rail, 620 Guide rail groove, 63 Receiving structure, 630 Receiving block, 631 Receiving chute, 632 Positioning groove, 633 Pressing block, 634 Stopping block, 635 Second cylinder, 636 Third support, 64 XY automatic slide, 65 Internal support clamp, 66 Second support, 67 Third cylinder, 68 First material sensor, 69 Distance sensor, 7 Positioning pin, 70 Second motor, 8 Conveying mechanism, 9 Robotic arm. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be given below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention. In addition, the directional terms mentioned in the present invention, such as "up," "down," "front," "back," "left," "right," "inner," and "outer," are only for reference to the directions in the accompanying illustrations. The use of directional terms is for better and clearer explanation and understanding of the present invention, and is not intended to indicate or imply any necessary orientation of the present invention, and therefore should not be construed as a limitation of the present invention.

[0031] Examples of embodiments of the present invention Figures 1 to 10As shown, a core feeding and commutator assembly machine includes a base 1. A storage station 10 for storing cores is provided on the base 1, located on the rear side of the top surface of the base 1. A core detection mechanism 2 is provided on the base 1, located to the right front of the storage station 10 on the top surface of the base 1. The core detection mechanism 2 detects the length of the core shaft to prevent mixing of cores with different shaft lengths. An oiling mechanism 3 for oiling the cores is provided on the base 1, located directly in front of the core detection mechanism 2. Oiling the cores facilitates the pressing of the commutator and subsequent assembly. A clamping mechanism 4 for positioning and centering the cores is provided on the base 1, located directly to the left of the oiling mechanism 3 on the top surface of the base 1. A pressing mechanism for pressing the commutator onto the cores is provided on the base 1. Mechanism 5, the base 1 is provided with a feeding mechanism 6 for feeding the commutator to the pressing mechanism 5, the feeding mechanism 6 is provided with a positioning mechanism for positioning the angle of the commutator, the pressing mechanism 5 and the feeding mechanism 6 are both located on the left side of the clamping mechanism 4 on the top surface of the base 1, the base 1 is provided with a defective product recycling mechanism 11, the defective product recycling mechanism 11 is located on the left side of the storage station 10 on the top surface of the base 1, the base 1 is provided with a conveying mechanism 8 for conveying the assembled iron core, the conveying mechanism 8 is located on the front side of the top surface of the base 1, the conveying mechanism 8 is a chain conveyor line, the conveying direction of the conveying mechanism 8 is left and right, the base 1 is also provided with a robotic arm 9 for conveying iron cores to the storage station 10, the oiling mechanism 3, the clamping mechanism 4, the conveying mechanism 8 and the defective product recycling mechanism 11, the robotic arm 9 is located on the top surface of the base 1 near the center.

[0032] Further improvements, such as Figure 7 and Figure 8As shown, the clamping mechanism 4 includes a first motor 40, a baffle 41, a first cylinder 42, a first bracket 43, and a vertical plate 44. The first bracket 43 and the vertical plate 44 are spaced apart on the top surface of the base 1. The first bracket 43 is located directly to the right of the vertical plate 44. The vertical plate 44 is provided with a clearance through hole 440 to avoid the iron core shaft. A bearing block 45 for supporting the iron core is provided on the surface of the vertical plate 44 away from the first bracket 43, that is, the bearing block 45 is provided on the left side of the vertical plate 44. A positioning groove 450 for positioning the iron core is provided on the upper surface of the bearing block 45. The positioning groove 450 is a semi-cylindrical structure extending in the left and right direction. The axis of the positioning groove 450 is coaxial with the axis of the clearance through hole 440. The end of the positioning groove 450 away from the vertical plate 44 is an open structure, that is, the left end of the positioning groove 450 is an open structure. The baffle 41 blocks the positioning groove 450. The opening is provided. The first cylinder 42 is mounted on the base 1 and drives the baffle 41 to rise and fall. The baffle 41 positions the iron core to prevent it from moving when the commutator is pressed in. The first cylinder 42 drives the baffle 41 to fall so that the baffle 41 no longer blocks the opening of the positioning groove 450, thereby facilitating the placement or removal of the iron core by the robotic arm 9. Preferably, the top surface of the bearing block 45 is provided with a bearing block notch at the left end of the positioning groove 450 to facilitate the placement or removal of the iron core by the robotic arm 9. The vertical plate 44 is provided with three grippers 46 for clamping and centering the iron core. The three grippers 46 are arranged circumferentially at equal intervals with the avoidance through hole 440 as the center. The bearing block 45 is provided with an avoidance notch 451 for avoiding the grippers 46. The avoidance notch 451 is located at the middle right end of the bottom of the positioning groove 450. The first motor 40 is mounted on the first bracket 43 and drives the three grippers 46 to clamp the iron core synchronously.

[0033] Further improvements, such as Figure 7 and Figure 8As shown, the output end of the first motor 40 is connected to a lead screw 47 coaxial with the clearance through hole 440. A slider 48 is threaded onto the lead screw 47. The slider 48 is slidably mounted on the first bracket 43. Preferably, the first bracket 43 is provided with a limiting tube of a circular tube structure. The slider is a cylindrical structure and is slidably mounted inside the limiting tube. The left end of the slider 48 extends out of the limiting tube. The bottom end of the limiting tube is provided with a limiting groove extending in the left and right direction. The right end of the slider 48 is provided with a limiting block that is slidably mounted in the limiting groove. The vertical plate 44 is provided with three gripper through holes 441 arranged circumferentially at equal intervals with the clearance through hole 440 as the center. The gripper 46 includes a hinge part 460 and a clamping part 461. The hinge portion 460 and the clamping portion 461 form an L-shaped gripper 46. The middle position of the hinge portion 460 is hinged in the corresponding gripper through hole 441. One end of the hinge portion 460 is hinged to a connecting rod 49. Preferably, the connecting rod 49 is hinged to the end of the hinge portion 460 near the clearance through hole 440. The end of the connecting rod 49 away from the hinge portion 460 is hinged to the slider 48. The end of the connecting rod 49 away from the hinge portion 460 is hinged to the left side of the side wall of the slider 48. The first motor 40 drives the lead screw 47 to rotate, thereby allowing the slider 48 to slide in the left and right directions. When the slider 48 slides to the left, the three grippers 46 simultaneously release the iron core. When the slider 48 slides to the right, the three grippers 46 simultaneously center and clamp the iron core.

[0034] Further improvements, such as Figures 4 to 6 As shown, the feeding mechanism 6 includes a vibratory feeder 60, a linear vibrator 61, a guide rail 62, a receiving structure 63, an XY automatic slide 64, and an inner support clamp 65 for gripping the commutator. The vibratory feeder 61 and the linear vibrator 62 are mounted on the base 1. The vibratory feeder 60, the linear vibrator 61, the receiving structure 63, and the XY automatic slide 64 are arranged sequentially from left to right. The guide rail 62 is mounted on the linear vibrator 61, and a guide rail groove 620 for conveying the commutator is provided on the guide rail 62. The two ends of the guide rail groove 620 correspond to... Located at the outlet of the vibratory feeder 60 and the inlet of the receiving structure 63, the commutator slides from the outlet of the vibratory feeder 60 into the inlet of the receiving structure 63 through the guide rail groove 620. The linear vibrator 61 provides power for the sliding of the commutator. The XY automatic slide table 64 is set on the base 1. The XY automatic slide table 64 is provided with a second bracket 66. The inner support clamp 65 is set on the second bracket 66. The XY automatic slide table 64 cooperates with the inner support clamp 65 to clamp the commutator at the outlet of the receiving structure 63 onto the pressing mechanism 5.

[0035] Further improvements, such as Figure 5 and Figure 6As shown, the positioning mechanism includes a positioning pin 7 for positioning the commutator and a second motor 70 for driving the inner support clamp to rotate. The positioning pin 7 is mounted on the second bracket 66, and the second motor 70 is also mounted on the second bracket 66. After the inner support clamp 65 clamps the commutator, the positioning pin 7 is inserted between two adjacent lugs of the commutator. At this time, the second motor 70 drives the inner support clamp 70 to rotate, so that the positioning pin 7 is tightly attached to the side wall of one lug, thereby precisely positioning the commutator angle and improving the angular accuracy of the commutator on the iron core after pressing.

[0036] Further improvements, such as Figure 9 and Figure 10 As shown, the receiving structure 63 includes a receiving block 630, a pressing block 633, a blocking block 634, and a second cylinder 635 for driving the blocking block 634 to move. A third bracket 636 supporting the receiving block 630 is provided on the base 1. A receiving groove 631 is provided on the upper surface of the receiving block 630. A strip-shaped positioning groove 632 for positioning the commutator is provided at the bottom of the receiving groove 631. The commutator's lugs slide in the positioning groove 632, and the commutator's angle is coarsely positioned by the positioning groove 632. The second cylinder 635 is mounted on the third bracket 636, and the blocking block 634 is mounted on the third bracket 636. The output end of the second cylinder 635 is blocked at the outlet of the receiving chute 631. The pressing block 633 is movably positioned directly above the outlet of the receiving chute 631. The third support 636 is equipped with a third cylinder 67 that drives the pressing block 633 to rise and fall. The third support 636 is equipped with a first material sensor 68 that detects whether the commutator has reached the outlet of the receiving chute 631. The third support 636 is also equipped with a distance sensor 69. The distance sensor 69 detects the distance between any two adjacent lugs on the commutator at the outlet of the receiving chute 631 and preliminarily detects the angle of the commutator.

[0037] Further improvements, such as Figure 4 and Figure 9 As shown, the pressing mechanism 5 includes a commutator clamp 50 that holds the outer wall of the commutator and a linear slide 51 that drives the commutator clamp 50 to move and press the commutator. The linear slide 51 is mounted on the base 1 and a fourth bracket 52 is mounted on the linear slide 51. The commutator clamp 50 is mounted on the fourth bracket 52. The linear slide 51 drives the commutator clamp 50 to press the commutator onto the rotating shaft of the iron core.

[0038] Further improvements, such as Figure 1 and Figure 2As shown, the oiling mechanism 3 includes a positioning fixture 30 for positioning the iron core, a third motor 31 for driving the positioning fixture to rotate, and an oiling needle 32. A fifth bracket 33 supporting the positioning fixture 30 is provided on the base 1. The third motor 31 is also mounted on the fifth bracket 33. A second material sensor 35 for sensing the iron core of the positioning fixture 30 is provided on the fifth bracket 33. A sixth bracket 34 is provided on the base 1, and the oiling needle 32 is movably mounted on the sixth bracket 34. The 34 is equipped with a drive cylinder 36 that drives the oiling needle 32 to approach and move away from the iron core on the positioning fixture 30. After the second material sensor 35 senses that there is an iron core on the positioning fixture 30, the drive cylinder 36 drives the oiling needle 32 to approach the iron core on the positioning fixture 30. The third motor 31 drives the positioning fixture 30 to rotate, thereby cooperating with the oiling needle 32 to apply oil to the rotating shaft of the iron core. After the iron core is oiled, the drive cylinder 36 drives the oiling needle 32 to move away from the iron core on the positioning fixture 30, thereby facilitating the conveying of the iron core by the robotic arm 9.

[0039] Further improvements, such as Figure 1 and Figure 3 As shown, the iron core detection mechanism 2 includes a contact displacement sensor 20 and a carrier 21 that carries the iron core. The base 1 is provided with a carrier bracket 22 that supports the carrier 21. The carrier bracket 22 is also provided with a slide cylinder 23. The contact displacement sensor 20 is installed on the slide cylinder 23. The robotic arm 9 also transports the iron core to the carrier 21. The slide cylinder 23 drives the contact displacement sensor 20 to move towards the shaft of the iron core on the carrier 21, thereby testing the length of the shaft of the iron core on the carrier 21 through the contact displacement sensor 20, avoiding the mixing of iron cores with shafts of different lengths or the defective incoming iron cores.

[0040] A method for feeding iron cores and assembling commutators, the method comprising the following steps:

[0041] S101, the robotic arm 9 transports the iron core in the storage station 10 to the iron core inspection mechanism 2. The iron core inspection mechanism 2 inspects the length of the iron core shaft. The robotic arm 9 transports the unqualified iron core to the defective product recycling mechanism 11.

[0042] S102, the robotic arm 9 transports the qualified iron core from the iron core inspection mechanism 2 to the oiling mechanism 3. The oiling mechanism 3 applies oil to the iron core's rotating shaft. At this time, the positioning mechanism positions the angle of the commutator on the feeding mechanism 6. The feeding mechanism 6 feeds the positioned commutator onto the pressing mechanism 5.

[0043] S103, the robotic arm 9 transports the oiled iron core to the clamping mechanism 4, and the pressing mechanism 5 presses the commutator onto the iron core on the clamping mechanism 4.

[0044] S104, the robotic arm 9 transports the qualified pressed iron core to the conveying mechanism 8, the conveying mechanism 8 transports the iron core to the next work station, and the robotic arm 9 also transports the unqualified pressed iron core to the defective product recycling mechanism 11.

[0045] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A core feeding and commutator assembly machine, comprising a base; characterized in that, The base is equipped with a storage station for storing iron cores; an iron core inspection mechanism; an oiling mechanism for oiling the iron cores; a clamping mechanism for positioning and centering the iron cores; a pressing mechanism for pressing the commutator onto the clamping mechanism; a feeding mechanism for feeding the commutator onto the pressing mechanism; a positioning mechanism for positioning the commutator angle; a defective product recycling mechanism; and a conveying and assembly system. The base is equipped with a conveying mechanism for iron cores; a robotic arm is also provided on the base for conveying iron cores at the storage station, oiling mechanism, clamping mechanism, conveying mechanism, and defective product recycling mechanism. The feeding mechanism includes a vibratory feeder, a linear vibrator, a guide rail, a receiving structure, an XY automatic slide table, and an inner support clamp for gripping the commutator. The vibratory feeder and linear vibrator are mounted on the base. The guide rail is mounted on the linear vibrator. The guide rail has a guide rail groove for conveying the commutator. The two ends of the guide rail groove are located at the outlet of the vibratory feeder and the inlet of the receiving structure, respectively. The XY automatic slide table is mounted on the base. The XY automatic slide is equipped with a second bracket; the inner support clamp is mounted on the second bracket; the positioning mechanism includes a positioning pin for the positioning commutator and a second motor for driving the inner support clamp to rotate; the positioning pin is mounted on the second bracket; the second motor is also mounted on the second bracket; the material receiving structure includes a material receiving block, a pressing block, a blocking block, and a second cylinder for driving the blocking block to move; a third bracket for supporting the material receiving block is mounted on the base; a material receiving groove is provided on the upper surface of the material receiving block; a positioning mechanism for the commutator is provided at the bottom of the material receiving groove. The third support has a strip-shaped positioning groove; the second cylinder is mounted on the third support; the baffle block is mounted on the output end of the second cylinder and blocks the outlet of the receiving chute; the pressing block is movably mounted directly above the outlet of the receiving chute; the third support has a third cylinder for driving the pressing block to rise and fall; the third support has a first material sensor for detecting whether the commutator has reached the outlet of the receiving chute; the third support also has a distance sensor; the distance sensor detects the distance between any two adjacent lugs on the commutator at the outlet of the receiving chute.

2. The iron core feeding and commutator assembly machine according to claim 1, characterized in that, The clamping mechanism includes a first motor, a baffle, a first cylinder, a first bracket, and a vertical plate; the first bracket and the vertical plate are spaced apart on the base; the vertical plate is provided with a clearance through hole to avoid the iron core shaft; a bearing block for supporting the iron core is provided on the surface of the vertical plate away from the first bracket; a positioning groove for positioning the iron core is provided on the bearing block; the end of the positioning groove away from the vertical plate is open; the baffle blocks the opening of the positioning groove; the first cylinder is provided on the base and drives the baffle to rise and fall; three grippers for clamping and centering the iron core are provided on the vertical plate; the three grippers are arranged circumferentially at equal intervals with the clearance through hole as the center; a clearance notch for the grippers is provided on the bearing block; the first motor is provided on the first bracket; the first motor drives the three grippers to clamp the iron core synchronously.

3. The iron core feeding and commutator assembly machine according to claim 2, characterized in that, The output end of the first motor is connected to a lead screw coaxial with the clearance through hole; a slider is threaded onto the lead screw; the slider is slidably mounted on the first bracket; the vertical plate is provided with three circumferentially arranged claw through holes with the clearance through hole as the center; the claw includes a hinge part and a clamping part; the hinge part and the clamping part form an L-shaped claw structure; the middle position of the hinge part is hinged in the corresponding claw through hole; one end of the hinge part is hinged to a connecting rod; the end of the connecting rod away from the hinge part is hinged to the slider.

4. The iron core feeding and commutator assembly machine according to claim 1, characterized in that, The pressing mechanism includes a commutator clamp that holds the outer wall of the commutator and a linear slide that drives the commutator clamp to move and press. The linear slide is mounted on a base. A fourth bracket is mounted on the linear slide. The commutator clamp is mounted on the fourth bracket.

5. The iron core feeding and commutator assembly machine according to claim 1, characterized in that, The oiling mechanism includes a positioning fixture for positioning the iron core, a third motor for driving the positioning fixture to rotate, and an oiling needle; a fifth bracket for supporting the positioning fixture is provided on the base; the third motor is also provided on the fifth bracket; a second material sensor for sensing the iron core on the positioning fixture is provided on the fifth bracket; a sixth bracket is provided on the base; the oiling needle is movably mounted on the sixth bracket; and a drive cylinder for driving the oiling needle to move closer to or away from the iron core on the positioning fixture is provided on the sixth bracket.

6. The iron core feeding and commutator assembly machine according to claim 1, characterized in that, The iron core detection mechanism includes a contact displacement sensor and a carrier for carrying the iron core; a carrier support is provided on the base; a slide cylinder is also provided on the carrier support; the contact displacement sensor is provided on the slide cylinder; and the robotic arm also transports the iron core onto the carrier.

7. A method for core feeding and commutator assembly, based on the core feeding and commutator assembly machine according to any one of claims 1-6, characterized in that, The method includes the following steps: S101, the robotic arm transports the iron core in the storage station to the iron core inspection mechanism. The iron core inspection mechanism inspects the length of the iron core shaft. The robotic arm then transports the unqualified iron core to the defective product recycling mechanism. S102, the robotic arm transports the qualified iron core from the iron core inspection mechanism to the oiling mechanism. The oiling mechanism applies oil to the iron core's rotating shaft. At this time, the positioning mechanism positions the angle of the commutator on the feeding mechanism. The feeding mechanism then feeds the positioned commutator onto the pressing mechanism. S103, the robotic arm transports the oiled iron core to the clamping mechanism, and the pressing mechanism presses the commutator onto the iron core on the clamping mechanism. S104, the robotic arm transports the qualified pressed iron core to the conveying mechanism, the conveying mechanism transports the iron core to the next station, and the robotic arm also transports the unqualified pressed iron core to the defective product recycling mechanism.

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