Automatic assembling equipment for motor

Abstract

The invention discloses automatic motor assembling equipment which is used for assembling an upper cover and / or a middle cover of a motor with a motor body and comprises a machine base, a middle cover and upper cover placing assembly, a product taking assembly, a shifting spring placing assembly, a three-axis tightening assembly, a top transplanting assembly and a rotary alignment assembly. The design is used for mounting and fixing the middle cover and / or the upper cover of the motor and the inner cover of the motor, and since the inner cover of the motor is not fixed in the motor and cannot be directly tightened by bolts when not connected with the middle cover and / or the upper cover, the inner cover needs to be lifted firstly and then can be fixed by the bolts, so that the assembly of the part is generally manually assembled at present, and the assembly efficiency is greatly improved. The invention designs equipment capable of automatically mounting the upper cover and / or the middle cover of the motor and fixedly connecting the upper cover and / or the middle cover of the motor with the inner cover of the motor.

Description

Technical Field

[0001] The invention relates to the field of mechanical manufacturing, and in particular to a device capable of automatically installing an inner cover and a middle cover and / or an upper cover of a motor. Background Art

[0002] A motor is a device that converts electrical energy into mechanical energy. It is mainly composed of a stator, a rotor, a casing and end covers. The stator and rotor of the motor are its two core components. The stator contains winding coils for generating a magnetic field, while the rotor carries permanent magnets or electromagnetic coils, which rotate under the action of the magnetic field generated by the stator, thereby realizing the function of the motor.

[0003] When assembling the stator and rotor into the motor housing, the housing is usually positioned on the work surface first, and then the stator is placed into the housing. During the placement process, it is necessary to ensure that the windings on the stator will not be squeezed or damaged. The rotor is then inserted into the stator and connected to the housing, and then the end cover is installed on the housing. The end cover of the motor is divided into a middle cover and / or an upper cover according to different models. It not only needs to be fixedly connected to the housing, but also needs to be connected to the inner cover of the motor in the housing to complete the packaging. However, the inner cover of the motor is located inside the housing, and its position is not fixed. The inner cover needs to be positioned before the assembly can be completed. Since the inner cover is located inside the housing and needs to be rotated and positioned, this type of motor is generally assembled manually at present, and manual installation is also very difficult due to limited space, which seriously affects production efficiency. Summary of the invention

[0004] The problem to be solved by the present invention is to propose an innovative solution to the above-mentioned shortcomings of the prior art, especially a device that can quickly and automatically install the middle cover and / or upper cover of the motor.

[0005] To solve the above problems, the solution adopted by the present invention is as follows: an automatic motor assembly equipment, used to assemble the upper cover and / or middle cover of the motor with the motor body, characterized in that it includes a machine base, a middle cover and upper cover placement assembly, a product taking assembly, a spring placement assembly, a three-axis tightening assembly, a top transplanting assembly and a rotation alignment assembly.

[0006] The base is arranged on the bottom plate for placing the motor body to be assembled; the top transfer assembly is mounted on the top of the bottom plate, and the product taking assembly and the rotation alignment assembly are movably arranged on the top transfer assembly and driven to the top of the base by the top transfer assembly; the torsion spring placement assembly is arranged on the bottom plate, located on one side of the rotation alignment assembly, and is used to place the torsion spring for the rotation alignment assembly to grab and transfer to the motor rotor bearing; the middle cover and upper cover placement assembly is arranged on the bottom plate, located on one side of the product taking assembly, and is used to place and position the middle cover and / or upper cover for the product taking assembly to grab and transfer to the motor On the machine body; the three-axis tightening assembly is arranged on the bottom plate, located behind the machine base, and after the toggle spring, the middle cover and / or the upper cover are placed, the middle cover and / or the upper cover are connected to the inner cover of the motor; the rotation alignment assembly includes an electric turntable, an inner cover alignment, and an inner cover lifting double head; the electric turntable is arranged on the top transplanting assembly through the electric turntable mounting plate; the inner cover alignment and the inner cover lifting double head are connected to the electric turntable through the alignment mounting plate, and the electric turntable is controlled to rotate by a servo motor; the inner cover alignment includes a slewing support fixing, a slewing support, a hole finding outer ring, a hole finding inner ring, a probe assembly, A torsion spring material-picking part, an electromagnet, and a servo motor; the slewing support fixing part is fixed to the bottom of the alignment mounting plate through a hole-finding mounting plate; the torsion spring material-picking part is connected to the slewing support fixing part through a hole-finding inner ring, the shape and structure of the torsion spring material-picking part matches the torsion spring, and the electromagnet is arranged in the torsion spring material-picking part; the slewing support and the hole-finding outer ring are sleeved on the slewing support fixing part, the hole-finding outer ring is fixedly connected to the slewing support, and a gear is arranged on the outer wall of the slewing support, and is connected to the servo motor through the gear; the probe assembly is arranged below the hole-finding outer ring, and is used to find the threaded hole of the inner cover and rotate the inner cover to a specified position. Position; the inner cover lifting double heads include an inner cover lifting adjustment plate, a servo motor, and a long screw; the inner cover lifting adjustment plate is fixedly connected to the alignment mounting plate, the servo motor is fixedly set on the inner cover lifting adjustment plate, the long screw is set on the inner cover lifting adjustment plate through the lifting rotary shaft and the bearing seat, the servo motor is connected to the lifting rotary shaft through a synchronous belt and a synchronous wheel, and drives the long screw to temporarily connect the inner cover with the middle cover and / or the upper cover, so that the three-axis tightening assembly uses bolts to connect the inner cover with the middle cover and / or the upper cover; an optical fiber sensor is provided on the spring picking part to detect whether the spring picking is completed.

[0007] Furthermore, the motor automatic assembly equipment is characterized in that the inner cover lifting double heads are provided with two long screws, the installation positions of the two long screws match the threaded holes on the inner cover, the two long screws are connected to the servo motor through a synchronous belt and a synchronous wheel, and a limit block and a follower wheel are provided in the middle of the synchronous belt, the limit block is fixed on the inner cover lifting adjustment plate, the follower wheel is arranged on the limit block, the synchronous belt is limited by the follower wheel, and space is left for the motor rotor bearing to move; the inner cover lifting adjustment plate is a triangular structure, and a plurality of waist-shaped holes are provided on it for adjusting its position relationship with the alignment mounting plate.

[0008] Further, the motor automatic assembly equipment is characterized in that the probe assembly includes a ejector pin, an ejector sleeve, a hole-finding ejector sleeve seat, a push rod compression sleeve, a spring and two optical fiber sensors; the ejector sleeve is fixedly arranged on a hole-finding outer ring through a hole-finding ejector sleeve seat, the push rod compression sleeve is fixedly arranged on a slewing support, through holes are arranged on the slewing support and the hole-finding outer ring, a cavity is arranged in the push rod compression sleeve, one end of the ejector pin passes through the ejector sleeve and the through hole and is arranged in the cavity of the push rod compression sleeve, the spring is arranged in the cavity to provide thrust for the ejector pin, two monitoring holes are arranged on the push rod compression sleeve and are connected to the cavity, and two optical fiber sensors are arranged on the outside of the push rod compression sleeve through a hole-finding optical fiber adjustment plate and match the monitoring holes.

[0009] Furthermore, the motor automatic assembly equipment is characterized in that the machine base includes a plane floating bottom plate, a plane floating middle plate, a machine base rotary support bottom plate, a machine base rotary support, a machine base clamping claw mounting plate, a machine base placement plate, a rotary positioning pin and a servo motor; the plane floating bottom plate is fixedly arranged under the bottom plate through a guide shaft; the plane floating middle plate and the machine base rotary support bottom plate are sequentially arranged on the plane floating bottom plate through linear guide rails to form a two-way free adjustment platform; the machine base rotary support is arranged on the machine base rotary support bottom plate and is connected to the servo motor through gears, and the servo motor is fixedly arranged on the machine base rotary support bottom plate; the machine base clamping claw mounting plate The plate is fixedly set on the base slewing support and can rotate with the base slewing support; the base placement plate is set on the base claw mounting plate through a linear bearing and a floating support shaft, and a spring is arranged in the floating support shaft to provide a buffering effect for the base placement plate; the rotary positioning pin is set on the plane floating bottom plate through a positioning pin fixing seat, and is located directly below the base claw mounting plate. The rotary positioning pin is connected to the cylinder and controlled by the cylinder; a trumpet-shaped positioning hole matching the rotary positioning pin is provided on the base claw mounting plate; a limit groove and a lower cover limit shaft matching the motor body are provided on the base placement plate; a group of plane floating limit blocks are symmetrically arranged on the plane floating bottom plate.

[0010] Further, the motor automatic assembly equipment is characterized in that the three-axis tightening assembly includes a three-axis tightening platform base plate, a Y-axis moving assembly, an X-axis moving assembly, a Z-axis moving assembly, a bolt tightening mechanism and a bolt feeding mechanism; the three-axis tightening platform base plate is mounted on the base plate through a guide shaft and is located behind the machine base; the Y-axis moving assembly is arranged on the three-axis tightening platform base plate, the X-axis moving assembly is arranged on the Y-axis moving assembly, and the Z-axis moving assembly is arranged on the X-axis moving assembly to form a three-axis moving platform; the bolt tightening mechanism is arranged on the Z-axis moving assembly; the bolt feeding mechanism is arranged on the three-axis tightening platform base plate, located on the front side of the three-axis tightening platform base plate and matched with the bolt tightening mechanism, and is used to provide bolts to the bolt tightening mechanism.

[0011] Furthermore, the motor automatic assembly equipment is characterized in that the top transplanting component includes a top transplanting installation platform, a transplanting linear guide rail, a left transplanting component, and a right transplanting component; the top transplanting installation platform is mounted above the machine base through a guide shaft; the transplanting linear guide rail is fixedly arranged on the top transplanting installation platform, and the left transplanting component and the right transplanting component are arranged on the transplanting linear guide rail; the left transplanting component is connected to the left transplanting guide rod cylinder through the left transplanting connecting plate, and the right transplanting component is connected to the right transplanting guide rod cylinder through the right transplanting connecting plate; the left transplanting component and the right transplanting component are both connected by the transplanting installation plate, the top push rod cylinder The invention relates to a movable connecting plate, a transplanting cylinder, a guide shaft and a linear bearing; the transplanting mounting plate is arranged on the transplanting linear guide rail, and is respectively connected with the left transplanting guide rod cylinder or the right transplanting guide rod cylinder through the left transplanting connecting plate or the right transplanting connecting plate; the transplanting cylinder is fixedly arranged on the transplanting mounting plate, and its telescopic rod passes through the transplanting mounting plate and is arranged downward; the top pushing connecting plate is fixedly connected with the guide shaft and the telescopic rod of the transplanting cylinder; the guide shaft is movably arranged on the transplanting mounting plate through a linear bearing; the top pushing connecting plate can be driven by the transplanting cylinder to move along the guide shaft; the top pushing connecting plate is respectively connected with the product taking component and the rotation alignment component.

[0012] Furthermore, the motor automatic assembly equipment is characterized in that the middle cover and upper cover placement assembly includes a middle cover and upper cover placement plate, which is provided with positioning columns around it. The middle cover and upper cover placement plate is movably connected to the base plate through a guide shaft and a linear bearing. A guide rod cylinder is provided at the bottom of the middle cover and upper cover placement plate, one end of the guide rod cylinder is connected to the base plate, and the other end is connected to the middle cover and upper cover placement plate. The middle cover and upper cover placement plate can be driven by the guide rod cylinder to move along the guide shaft; an infrared sensor is provided on the middle cover and upper cover placement plate for detecting whether a motor end cover is placed.

[0013] Further, the motor automatic assembly equipment is characterized in that the torsion spring placement assembly includes a torsion spring lifting connecting plate, a tubular column, a torsion spring center axis, a torsion spring discharge base, and a torsion spring discharge shaft; the torsion spring lifting connecting plate is movably connected to the base plate through a guide shaft and a linear bearing, and a guide rod cylinder is provided at the bottom of the torsion spring lifting connecting plate, one end of the guide rod cylinder is connected to the base plate, and is controlled by the guide rod cylinder to move along the guide shaft; the tubular column is fixedly arranged on the torsion spring lifting connecting plate, the torsion spring discharge base is arranged on the top of the tubular column, and a hole matching the cavity of the tubular column is provided in the center of the torsion spring discharge base; the torsion spring center axis is fixedly arranged in the center of the tubular column, and a spring is sleeved thereon; the torsion spring discharge shaft is sleeved on the torsion spring center axis, and the top of the torsion spring center axis is encapsulated by a limit gasket, and the torsion spring discharge shaft can move along the torsion spring center axis.

[0014] Furthermore, the motor automatic assembly equipment is characterized in that the product taking component includes a clamping plate, a top ejector, a clamping cylinder, and a material taking fixture; the clamping plate is connected to the top transfer component through a guide shaft and an installation mechanism fixing plate, and is driven by the top transfer component to move on the X-axis and Z-axis; a total of four groups of clamping cylinders and material taking fixtures are provided, which are respectively located at the four corners of the clamping plate; the top ejector is arranged in the center of the clamping plate, and its ejector passes through the clamping plate, and is used to cooperate with the center hole of the end face of the motor rotor during the installation process of the middle cover and / or upper cover with the motor body, so that the motor rotor is in a vertical state, and the center of the motor rotor is at the center position of the middle cover and / or upper cover to ensure the installation and matching accuracy; a sensor is also provided on the clamping plate to detect whether the middle cover and / or upper cover is grasped.

[0015] Further, the motor automatic assembly equipment is characterized in that the bolt tightening mechanism includes a tightening hanger mounting plate, a tightening back plate, a tightening pad, a tightening cylinder, a tightening reducer, and a tightening clamp; the tightening hanger mounting plate is fixedly set on the Z-axis moving assembly; the tightening back plate is fixedly connected to the tightening hanger mounting plate, and a tightening pad is arranged between the two to adjust the installation position; the tightening reducer is movably connected to the tightening back plate through the reducer bracket and the linear guide rail; the tightening cylinder is fixedly set on the tightening back plate, and the cylinder is connected to the reducer bracket for driving the tightening reducer to move along the linear guide rail; the tightening clamp includes a clamp cylinder and a tightening clip, the tightening clip is connected to the clamp cylinder, the clamp cylinder is fixedly set on the tightening back plate through the clamp mounting block, and the tightening clip installation position matches the screwdriver bit on the tightening reducer for clamping bolts.

[0016] Furthermore, the motor automatic assembly equipment is characterized in that the bolt feeding mechanism includes a bolt pipe, a transition jaw, a transfer jaw, and a guide rod cylinder; the bolt pipe is arranged directly above the transition jaw through a pipe fixing block, and the transition jaw is connected to the transition cylinder for controlling the output of bolts in the bolt pipe; the transfer jaw is arranged directly below the transition jaw, and the transfer jaw is connected to the transfer cylinder for receiving the bolts output by the transition jaw; the guide rod cylinder is fixedly arranged on the bottom plate of the three-axis tightening platform and connected to the transfer cylinder for pushing the transfer jaw to move to the bottom of the bolt tightening mechanism to convey bolts to the bolt tightening mechanism; an optical fiber sensor is provided at the discharge port of the bolt pipe for detecting whether the discharge is correct.

[0017] The technical effects of the present invention are as follows: the rotation alignment function of the motor inner cover and the torsion spring installation function are combined into a set of devices, making the structure simpler and taking up less space. The inner cover alignment adopts a combination of an ejector pin and a dual optical fiber sensor, which can accurately determine whether the threaded hole on the inner cover is found. After the ejector pin is inserted into the threaded hole on the inner cover, the slewing support is driven by a servo motor, thereby driving the ejector pin and the motor inner cover to rotate until the predetermined position of the installation bolt is reached. Compared with designing an inner cover alignment unit separately, the structure is simpler and takes up less space. The torsion spring material is grabbed by an electromagnet, and an optical fiber sensor is set for detection to ensure that the torsion spring is accurately installed and will not be missed. The torsion spring placement assembly adopts an automatic lifting structure to facilitate the contact between the electromagnet and the torsion spring to complete the absorption of the torsion spring.

[0018] The rotating alignment component and the product removal component are integrated into a set of motion devices (top transfer components), which reduces space occupation and makes the structure of the automatic assembly equipment of this design more concise.

[0019] The middle cover and upper cover placement components and the spring placement components are both designed with guide rod cylinders, which can place more prepared materials. When the upper materials are taken, the height can be automatically raised under the action of the guide rod cylinder for easy access.

[0020] The present application designs a double-headed inner cover lifting device that is convenient for connecting the motor inner cover with the middle cover and / or the upper cover. The servo motor drives two long screws to connect the inner cover and lift the inner cover. Since the inner cover is rotated to the specified position by the practical rotation alignment assembly in advance, the long screw can be connected to the inner cover very easily. The two long screws are driven together by the synchronous wheel and the synchronous belt to ensure that the number of rotations of the long screws is consistent, so that the inner cover always remains balanced.

[0021] The three-axis tightening platform is designed with a Y-axis moving component, an X-axis moving component and a Z-axis moving component. The bolt tightening mechanism is set on the Z-axis moving component, so that it can adapt to the installation of various types of motor end covers. The present application also designs an automatic feeding device (bolt feeding mechanism) for the three-axis tightening platform to achieve fully automatic assembly without manual assistance. When the first bolt is fixed, the inner cover lifts the double heads and evacuates, and the motor body is driven to rotate by the base, aligning the other bolt hole with the bolt tightening mechanism, and then completing the bolt tightening process in sequence.

[0022] The machine base adopts a floating support shaft design to provide buffering capacity for the machine base and prevent the motor from directly impacting the machine base and causing wear. Since the motor body is very heavy, even the robot finds it difficult to place it on the machine base with 100% accuracy. For this reason, this design uses a flat floating middle plate, a machine base rotary support bottom plate, and a linear guide to form a two-way free adjustment platform, so that the machine base can passively match the motor body, allowing the motor body to have errors when transferred to the machine base. A rotary positioning pin is also designed to adjust the two-way free adjustment platform back to the exact position. The rotary positioning pin is controlled by a cylinder, and when it is ejected, it will be inserted into the trumpet-shaped positioning hole on the machine base claw mounting plate to complete the positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the automatic motor assembly equipment.

[0024] Figure 2 This is a schematic diagram of the rotation alignment component.

[0025] Figure 3 This is a schematic diagram of the machine base.

[0026] Figure 4 Align the schematic diagram for the inner cover.

[0027] Figure 5 Schematic diagram of the inner cover lifting double heads.

[0028] Figure 6 This is a schematic diagram of the product components.

[0029] Figure 7 This is a schematic diagram of the placement of components on the middle cover and upper cover.

[0030] Figure 8 Schematic diagram of the three-axis tightening assembly.

[0031] Fig. 9 This is a schematic diagram of the spring placement assembly.

[0032] Fig.10 This is a cross-sectional diagram of the spring placement assembly.

[0033] Fig.11 Schematic diagram of the top transplanting assembly.

[0034] Among them, 1 is the bottom plate, 2 is the base, 3 is the middle cover and upper cover placement assembly, 4 is the product removal assembly, 5 is the spring placement assembly, 6 is the three-axis tightening assembly, 7 is the top transplanting assembly, 8 is the rotation alignment assembly, 21 is the plane floating bottom plate, 22 is the plane floating middle plate, 23 is the base swivel support bottom plate, 24 is the base claw mounting plate, 25 is the base placement plate, 26 is the floating support shaft, 27 is the swivel positioning pin, 28 is the base swivel support, 31 is the middle cover and upper cover placement plate, 32 is the infrared sensor, 41 is the installation Mechanism fixing plate, 42 is clamping fixing plate, 43 is top ejector, 44 is clamping cylinder, 45 is material taking fixing part, 51 is torsion spring lifting connecting plate, 52 is tubular column, 54 is torsion spring center axis, 53 is torsion spring material discharge base, 55 is torsion spring material discharge shaft, 56 is limit gasket, 66 is three-axis tightening platform bottom plate, 61 is Y-axis moving assembly, 62 is X-axis moving assembly, 63 is Z-axis moving assembly, 64 is bolt tightening mechanism, 65 is bolt feeding mechanism, 641 is tightening hanger mounting plate, 642 is tightening Pad, 643 is tightening cylinder, 644 is tightening reducer, 645 is tightening fixture, 651 is bolt pipe, 652 is transition clamp, 653 is transfer clamp, 654 is guide rod cylinder, 71 is top transplanting installation platform, 74 is transplanting linear guide, 72 is left transplanting assembly, 73 is right transplanting assembly, 75 is transplanting installation plate, 76 is top push connecting plate, 77 is transplanting cylinder, 81 is electric turntable, 83 is inner cover alignment, 82 is inner cover lifting double head, 84 is alignment installation plate, 811 is electric The movable turntable mounting plate, 821 is the inner cover lifting adjustment plate, 822 is the long screw, 823 is the synchronous belt, 824 is the synchronous wheel, 825 is the limit block, 826 is the follower wheel, 831 is the hole finding mounting plate, 832 is the slewing support fixing part, 833 is the slewing support, 834 is the hole finding outer ring, 837 is the probe assembly, 835 is the spring material picking part, 836 is the electromagnet, 8371 is the ejector pin, 8372 is the sleeve, 8373 is the hole finding sleeve seat, 8374 is the push rod compression sleeve, and 8375 is the optical fiber sensor. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below with reference to the accompanying drawings.

[0036] Example: Figure 1 As shown, an automatic motor assembly device is used to assemble the upper cover and / or middle cover of the motor with the motor body, including a base, a middle cover and upper cover placement assembly, a product removal assembly, a spring placement assembly, a three-axis tightening assembly, a top transplanting assembly and a rotation alignment assembly.

[0037] like Figure 2 , Figure 4 , Figure 5As shown, the machine base is arranged on the bottom plate for placing the motor body to be assembled; the top transfer assembly is mounted above the bottom plate, and the product taking assembly and the rotation alignment assembly are movably arranged on the top transfer assembly and driven to the top of the machine base by the top transfer assembly; the torsion spring placement assembly is arranged on the bottom plate, located on one side of the rotation alignment assembly, and is used to place the torsion spring for the rotation alignment assembly to grab and transfer to the motor rotor bearing; the middle cover and upper cover placement assembly is arranged on the bottom plate, located on one side of the product taking assembly, and is used to place and position the middle cover and / or upper cover for the product taking assembly to grab and transfer to the motor The three-axis tightening assembly is arranged on the bottom plate and is located behind the machine base. After the torsion spring, the middle cover and / or the upper cover are placed, the middle cover and / or the upper cover are connected to the inner cover of the motor. The rotation alignment assembly includes an electric turntable, an inner cover alignment, and an inner cover lifting double head. The electric turntable is arranged on the top transplanting assembly through an electric turntable mounting plate. The inner cover alignment and the inner cover lifting double head are connected to the electric turntable through the alignment mounting plate, and the electric turntable is controlled to rotate by a servo motor. The inner cover alignment includes a slewing support fixing, a slewing support, a hole finding outer ring, a hole finding inner ring, a probe assembly, a torsion spring, a middle cover and a upper cover. The toggle spring pick-up piece, electromagnet and servo motor; the slewing support fixing piece is fixed to the bottom of the alignment mounting plate through the hole-finding mounting plate; the toggle spring pick-up piece is connected to the slewing support fixing piece through the hole-finding inner ring, the shape and structure of the toggle spring pick-up piece match the toggle spring, and the electromagnet is arranged in the toggle spring pick-up piece; the slewing support and the hole-finding outer ring are sleeved on the slewing support fixing piece, the hole-finding outer ring is fixedly connected to the slewing support, the outer wall of the slewing support is provided with a gear, and is connected to the servo motor through the gear; the probe assembly is arranged below the hole-finding outer ring, and is used to find the threaded hole of the inner cover and rotate the inner cover to the specified position The inner cover lifting double head includes an inner cover lifting adjustment plate, a servo motor and a long screw; the inner cover lifting adjustment plate is fixedly connected to the alignment mounting plate, the servo motor is fixedly arranged on the inner cover lifting adjustment plate, the long screw is arranged on the inner cover lifting adjustment plate through a lifting rotating shaft and a bearing seat, the servo motor is connected to the lifting rotating shaft through a synchronous belt and a synchronous wheel, and drives the long screw to temporarily connect the inner cover with the middle cover and / or the upper cover, so that the three-axis tightening assembly uses bolts to connect the inner cover with the middle cover and / or the upper cover; an optical fiber sensor is arranged on the torsion spring material picking part for detecting whether the torsion spring material picking is completed.

[0038] The inner cover lifting double heads of this embodiment are provided with two long screws, the installation positions of the two long screws match the threaded holes on the inner cover, the two long screws are connected to the servo motor through a synchronous belt and a synchronous wheel, and a limit block and a follower wheel are provided in the middle of the synchronous belt, the limit block is fixed on the inner cover lifting adjustment plate, the follower wheel is arranged on the limit block, the synchronous belt is limited by the follower wheel, and space is left for the movement of the motor rotor bearing; the inner cover lifting adjustment plate is a triangular structure, and a plurality of waist-shaped holes are provided on it for adjusting its position relationship with the alignment mounting plate.

[0039] Among them, the probe assembly includes a pin, a sleeve, a hole-finding sleeve seat, a push rod compression sleeve, a spring and two optical fiber sensors; the sleeve is fixedly arranged on the hole-finding outer ring through the hole-finding sleeve seat, the push rod compression sleeve is fixedly arranged on the slewing support, the slewing support and the hole-finding outer ring are provided with through holes, a cavity is provided in the push rod compression sleeve, one end of the pin passes through the sleeve and the through hole and is arranged in the cavity of the push rod compression sleeve, the spring is arranged in the cavity to provide thrust for the pin, two monitoring holes are provided on the push rod compression sleeve and connected to the cavity, and two optical fiber sensors are arranged on the outside of the push rod compression sleeve through the hole-finding optical fiber adjustment plate and matched with the monitoring holes.

[0040] like Figure 3 As shown, the machine base includes a plane floating bottom plate, a plane floating middle plate, a machine base rotary support bottom plate, a machine base rotary support, a machine base clamping claw mounting plate, a machine base placement plate, a rotary positioning pin and a servo motor; the plane floating bottom plate is fixedly arranged under the bottom plate through a guide shaft; the plane floating middle plate and the machine base rotary support bottom plate are sequentially arranged on the plane floating bottom plate through linear guide rails to form a two-way free adjustment platform; the machine base rotary support is arranged on the machine base rotary support bottom plate and is connected to the servo motor through gears, and the servo motor is fixedly arranged on the machine base rotary support bottom plate; the machine base clamping claw mounting plate is fixedly arranged on the machine base rotary support bottom plate The support is on the support and can rotate with the base rotary support; the base placement plate is arranged on the base clamping claw mounting plate through a linear bearing and a floating support shaft, and a spring is arranged in the floating support shaft to provide a buffering effect for the base placement plate; the rotary positioning pin is arranged on the plane floating bottom plate through a positioning pin fixing seat, and is located directly below the base clamping claw mounting plate. The rotary positioning pin is connected to the cylinder and controlled by the cylinder; a trumpet-shaped positioning hole matching the rotary positioning pin is provided on the base clamping claw mounting plate; a limit groove and a lower cover limit shaft matching the motor body are provided on the base placement plate; a group of plane floating limit blocks are symmetrically provided on the plane floating bottom plate.

[0041] like Figure 8 As shown, the three-axis tightening assembly includes a three-axis tightening platform bottom plate, a Y-axis moving assembly, an X-axis moving assembly, a Z-axis moving assembly, a bolt tightening mechanism and a bolt feeding mechanism; the three-axis tightening platform bottom plate is mounted on the bottom plate through a guide shaft and is located behind the machine base; the Y-axis moving assembly is arranged on the three-axis tightening platform bottom plate, the X-axis moving assembly is arranged on the Y-axis moving assembly, and the Z-axis moving assembly is arranged on the X-axis moving assembly to form a three-axis moving platform; the bolt tightening mechanism is arranged on the Z-axis moving assembly; the bolt feeding mechanism is arranged on the three-axis tightening platform bottom plate, located on the front side of the three-axis tightening platform bottom plate and matched with the bolt tightening mechanism, and is used to provide bolts to the bolt tightening mechanism.

[0042] like Fig.11As shown, the top transplanting assembly includes a top transplanting installation platform, a transplanting linear guide rail, a left transplanting assembly, and a right transplanting assembly; the top transplanting installation platform is mounted above the machine base through a guide shaft; the transplanting linear guide rail is fixedly arranged on the top transplanting installation platform, and the left transplanting assembly and the right transplanting assembly are arranged on the transplanting linear guide rail; the left transplanting assembly is connected to the left transplanting guide rod cylinder through a left transplanting connecting plate, and the right transplanting assembly is connected to the right transplanting guide rod cylinder through a right transplanting connecting plate; the left transplanting assembly and the right transplanting assembly are both composed of a transplanting installation plate, a top push connecting plate, a transplanting cylinder, The transplanting mounting plate is composed of a guide shaft and a linear bearing; the transplanting mounting plate is arranged on the transplanting linear guide rail, and is respectively connected to the left transplanting guide rod cylinder or the right transplanting guide rod cylinder through the left transplanting connecting plate or the right transplanting connecting plate; the transplanting cylinder is fixedly arranged on the transplanting mounting plate, and its telescopic rod passes through the transplanting mounting plate and is arranged downward; the top pushing connecting plate is fixedly connected to the guide shaft and the telescopic rod of the transplanting cylinder; the guide shaft is movably arranged on the transplanting mounting plate through a linear bearing; the top pushing connecting plate can be driven by the transplanting cylinder to move along the guide shaft; the top pushing connecting plate is respectively connected to the product taking component and the rotation alignment component.

[0043] like Figure 7 As shown, the middle cover upper cover placement assembly includes a middle cover upper cover placement plate, which is provided with positioning columns around it. The middle cover upper cover placement plate is movably connected to the base plate through a guide shaft and a linear bearing. A guide rod cylinder is provided at the bottom of the middle cover upper cover placement plate, one end of the guide rod cylinder is connected to the base plate, and the other end is connected to the middle cover upper cover placement plate. The middle cover upper cover placement plate can be driven by the guide rod cylinder to move along the guide shaft; an infrared sensor is provided on the middle cover upper cover placement plate for detecting whether a motor end cover is placed.

[0044] like Fig. 9 , Fig.10 As shown, the torsion spring placement assembly includes a torsion spring lifting connection plate, a tubular column, a torsion spring center axis, a torsion spring discharge base, and a torsion spring discharge shaft; the torsion spring lifting connection plate is movably connected to the base plate through a guide shaft and a linear bearing, and the bottom of the torsion spring lifting connection plate is connected to the base plate through a guide rod cylinder, and is controlled by the guide rod cylinder to move along the guide shaft; the tubular column is fixedly arranged on the torsion spring lifting connection plate, the torsion spring discharge base is arranged on the top of the tubular column, and a hole matching the cavity of the tubular column is arranged in the center of the torsion spring discharge base; the torsion spring center axis is fixedly arranged in the center of the tubular column, and a spring is sleeved thereon; the torsion spring discharge shaft is sleeved on the torsion spring center axis, and the top of the torsion spring center axis is encapsulated by a limit gasket, and the torsion spring discharge shaft can move along the torsion spring center axis.

[0045] like Figure 6As shown, the product taking component includes a clamping plate, a top ejector, a clamping cylinder, and a material taking fixture; the clamping plate is connected to the top transfer component through a guide shaft and a mounting mechanism fixing plate, and is driven by the top transfer component to move on the X-axis and Z-axis; there are four groups of clamping cylinders and material taking fixtures, which are respectively located at the four corners of the clamping plate; the top ejector is arranged in the center of the clamping plate, and its ejector passes through the clamping plate, and is used to cooperate with the center hole of the end face of the motor rotor during the installation of the middle cover and / or the upper cover with the motor body, so that the motor rotor is in a vertical state, and the center of the motor rotor is at the center position of the middle cover and / or the upper cover, so as to ensure the installation and matching accuracy; a sensor is also provided on the clamping plate to detect whether the middle cover and / or the upper cover are grasped.

[0046] like Figure 8 As shown, the bolt tightening mechanism includes a tightening hanger mounting plate, a tightening back plate, a tightening pad, a tightening cylinder, a tightening reducer, and a tightening clamp; the tightening hanger mounting plate is fixedly set on the Z-axis moving assembly; the tightening back plate is fixedly connected to the tightening hanger mounting plate, and a tightening pad is set between the two to adjust the installation position; the tightening reducer is movably connected to the tightening back plate through the reducer bracket and the linear guide rail; the tightening cylinder is fixedly set on the tightening back plate, and the cylinder is connected to the reducer bracket, which is used to drive the tightening reducer to move along the linear guide rail; the tightening clamp includes a clamp cylinder and a tightening clip, the tightening clip is connected to the clamp cylinder, the clamp cylinder is fixedly set on the tightening back plate through the clamp mounting block, and the tightening clip installation position matches the bit on the tightening reducer, which is used to clamp the bolt.

[0047] Among them, the bolt feeding mechanism includes a bolt pipe, a transition jaw, a transfer jaw, and a guide rod cylinder; the bolt pipe is arranged directly above the transition jaw through a pipe fixing block, and the transition jaw is connected to the transition cylinder for controlling the output of bolts in the bolt pipe; the transfer jaw is arranged directly below the transition jaw, and the transfer jaw is connected to the transfer cylinder for receiving the bolts output by the transition jaw; the guide rod cylinder is fixedly arranged on the bottom plate of the three-axis tightening platform and connected to the transfer cylinder for pushing the transfer jaw to move to the bottom of the bolt tightening mechanism to convey bolts to the bolt tightening mechanism; an optical fiber sensor is provided at the discharge port of the bolt pipe for detecting whether the discharge is correct.

[0048] When working, first place the materials to be used on the middle cover and upper cover placement assembly and the torsion spring placement assembly, then the manipulator transfers the motor body to the machine base, and then completes the position adjustment and positioning by rotating the positioning pin. The inner cover alignment moves to the top of the torsion spring placement assembly under the drive of the top transfer assembly to absorb the torsion spring. The torsion spring absorption adopts the method of electromagnet, and the optical fiber sensor is used for detection to ensure the absorption of the torsion spring. Then it is transferred to the top of the motor body, and the torsion spring is put on the motor rotor bearing. At this time, the ejector on the inner cover alignment is against the upper surface of the inner cover, and the servo motor is started to drive the ejector to rotate on the surface of the inner cover to find the threaded hole. When the ejector finds the threaded hole, it is inserted into the threaded hole under the action of the spring. This action is monitored by the optical fiber sensor. After receiving the signal, it continues to be driven by the servo motor to drive the inner cover to rotate until the predetermined position, and then the inner cover alignment unit is evacuated. The middle cover and / or upper cover of the motor is transferred to the motor body by taking out the product assembly, and then the inner cover is lifted and the double heads are moved to the top of the motor body, and the two long screws on it are inserted into the threaded holes of the inner cover of the motor and threadedly connected, and then the inner cover is lifted, and finally the three-axis tightening platform starts to work, and the bolt tightening mechanism is transferred from the three-axis mobile platform to the top of the motor body, and the electric screwdriver head is aligned with the threaded hole on the motor end cover to complete the installation of the first bolt, and then the bolt feeding mechanism supplies the electric screwdriver head with bolts, and at the same time the inner cover is lifted and the double heads are evacuated, and then the machine base is rotated, and the other threaded hole on the motor end cover is rotated to the predetermined position for bolt connection, and the above steps are repeated until all bolts are installed.

Claims

1. An automatic motor assembly device for assembling an upper cover and / or a middle cover of a motor with a motor body, characterized in that: It includes a machine base, a middle cover and upper cover placement assembly, a product removal assembly, a spring placement assembly, a three-axis tightening assembly, a top transfer assembly and a rotation alignment assembly; The base is arranged on the bottom plate and is used for placing the motor body to be assembled; The top transfer assembly is mounted above the bottom plate, and the product taking assembly and the rotation alignment assembly are movably arranged on the top transfer assembly and driven to the top of the machine base by the top transfer assembly; The torsion spring placement assembly is arranged on the bottom plate, located on one side of the rotation alignment assembly, and is used to place the torsion spring for the rotation alignment assembly to grab and transfer to the motor rotor bearing; The middle cover and upper cover placement assembly is arranged on the bottom plate, located on one side of the product taking assembly, and is used to place and position the middle cover and / or upper cover for the product taking assembly to grab and transfer to the motor body; The three-axis tightening assembly is arranged on the bottom plate, located behind the machine base, and after the toggle spring, the middle cover and / or the upper cover are placed, the middle cover and / or the upper cover are connected to the inner cover of the motor; The rotary alignment component includes an electric turntable, an inner cover alignment, and an inner cover lifting double head; the electric turntable is arranged on the top transplanting component through the electric turntable mounting plate; the inner cover alignment and the inner cover lifting double head are connected to the electric turntable through the alignment mounting plate, and the electric turntable is controlled to rotate by a servo motor; the inner cover alignment includes a slewing support fixing part, a slewing support, a hole finding outer ring, a hole finding inner ring, a probe assembly, a torsion spring material picking part, an electromagnet, and a servo motor; the slewing support fixing part is fixed under the alignment mounting plate through the hole finding mounting plate; the torsion spring material picking part is connected to the slewing support fixing part through the hole finding inner ring, the shape and structure of the torsion spring material picking part matches the torsion spring, and the electromagnet is arranged in the torsion spring material picking part; the slewing support and the hole finding outer ring are sleeved on the slewing support fixing part, and the hole finding outer ring and the slewing support The support is fixedly connected, and the outer wall of the slewing support is provided with a gear, and is connected to the servo motor through the gear; the probe assembly is arranged below the hole-finding outer ring, and is used to find the threaded hole of the inner cover and rotate the inner cover to the specified position; the inner cover lifting double head includes an inner cover lifting adjustment plate, a servo motor, and a long screw; the inner cover lifting adjustment plate is fixedly connected to the alignment mounting plate, the servo motor is fixedly set on the inner cover lifting adjustment plate, the long screw is set on the inner cover lifting adjustment plate through the lifting rotary shaft and the bearing seat, the servo motor is connected to the lifting rotary shaft through a synchronous belt and a synchronous wheel, and drives the long screw to temporarily connect the inner cover with the middle cover and / or the upper cover, so that the three-axis tightening assembly uses bolts to connect the inner cover with the middle cover and / or the upper cover; the spring picking part is provided with an optical fiber sensor, which is used to detect whether the spring picking is completed.

2. The motor automatic assembly equipment according to claim 1, characterized in that: The inner cover lifting double heads are provided with two long screws, the installation positions of the two long screws match the threaded holes on the inner cover, the two long screws are connected to the servo motor through a synchronous belt and a synchronous wheel, and a limit block and a follower wheel are provided in the middle of the synchronous belt, the limit block is fixed on the inner cover lifting adjustment plate, the follower wheel is arranged on the limit block, the synchronous belt is limited by the follower wheel, and space is left for the movement of the motor rotor bearing; the inner cover lifting adjustment plate is a triangular structure, and a plurality of waist-shaped holes are provided on it for adjusting its position relationship with the alignment mounting plate.

3. The motor automatic assembly equipment according to claim 1, characterized in that: The probe assembly includes a ejector pin, a sleeve, a hole-finding sleeve seat, a push rod compression sleeve, a spring and two optical fiber sensors; the sleeve is fixedly arranged on a hole-finding outer ring through a hole-finding sleeve seat, the push rod compression sleeve is fixedly arranged on a slewing support, through holes are arranged on the slewing support and the hole-finding outer ring, a cavity is arranged in the push rod compression sleeve, one end of the ejector pin passes through the sleeve and the through hole and is arranged in the cavity of the push rod compression sleeve, a spring is arranged in the cavity to provide thrust for the ejector pin, two monitoring holes are arranged on the push rod compression sleeve and are connected to the cavity, and two optical fiber sensors are arranged on the outside of the push rod compression sleeve through a hole-finding optical fiber adjustment plate and match the monitoring holes.

4. The motor automatic assembly equipment according to claim 1, characterized in that: The machine base includes a plane floating bottom plate, a plane floating middle plate, a machine base rotary support bottom plate, a machine base rotary support, a machine base clamping claw mounting plate, a machine base placement plate, a rotary positioning pin and a servo motor; the plane floating bottom plate is fixedly arranged under the bottom plate through a guide shaft; the plane floating middle plate and the machine base rotary support bottom plate are sequentially arranged on the plane floating bottom plate through linear guide rails to form a two-way free adjustment platform; the machine base rotary support is arranged on the machine base rotary support bottom plate and is connected to the servo motor through gears, and the servo motor is fixedly arranged on the machine base rotary support bottom plate; the machine base clamping claw mounting plate is fixedly arranged on the machine base rotary support The support is on the base and can rotate with the base rotary support; the base placement plate is arranged on the base claw mounting plate through a linear bearing and a floating support shaft, and a spring is arranged in the floating support shaft to provide a buffering effect for the base placement plate; the rotary positioning pin is arranged on the plane floating bottom plate through a positioning pin fixing seat, and is located directly below the base claw mounting plate. The rotary positioning pin is connected to the cylinder and controlled by the cylinder; a trumpet-shaped positioning hole matching the rotary positioning pin is provided on the base claw mounting plate; a limiting groove and a lower cover limiting shaft matching the motor body are provided on the base placement plate; a group of plane floating limiting blocks are symmetrically provided on the plane floating bottom plate.

5. The motor automatic assembly equipment according to claim 1, characterized in that: The three-axis tightening assembly comprises a three-axis tightening platform bottom plate, a Y-axis moving assembly, an X-axis moving assembly, a Z-axis moving assembly, a bolt tightening mechanism and a bolt feeding mechanism; the three-axis tightening platform bottom plate is mounted on the bottom plate through a guide shaft and is located behind the machine base; the Y-axis moving assembly is arranged on the three-axis tightening platform bottom plate, the X-axis moving assembly is arranged on the Y-axis moving assembly, and the Z-axis moving assembly is arranged on the X-moving assembly to form a three-axis moving platform; the bolt tightening mechanism is arranged on the Z-axis moving assembly; the bolt feeding mechanism is arranged on the three-axis tightening platform bottom plate, located on the front side of the three-axis tightening platform bottom plate and matched with the bolt tightening mechanism, and is used to provide bolts to the bolt tightening mechanism.

6. The motor automatic assembly equipment according to claim 1, characterized in that: The top transplanting assembly includes a top transplanting installation platform, a transplanting linear guide rail, a left transplanting assembly, and a right transplanting assembly; the top transplanting installation platform is mounted above the machine base through a guide shaft; the transplanting linear guide rail is fixedly arranged on the top transplanting installation platform, and the left transplanting assembly and the right transplanting assembly are arranged on the transplanting linear guide rail; the left transplanting assembly is connected to the left transplanting guide rod cylinder through the left transplanting connecting plate, and the right transplanting assembly is connected to the right transplanting guide rod cylinder through the right transplanting connecting plate; the left transplanting assembly and the right transplanting assembly are both composed of a transplanting installation plate, a top push connecting plate, a transplanting cylinder, The transplanting mounting plate is composed of a guide shaft and a linear bearing; the transplanting mounting plate is arranged on the transplanting linear guide rail, and is respectively connected to the left transplanting guide rod cylinder or the right transplanting guide rod cylinder through the left transplanting connecting plate or the right transplanting connecting plate; the transplanting cylinder is fixedly arranged on the transplanting mounting plate, and its telescopic rod passes through the transplanting mounting plate and is arranged downward; the top pushing connecting plate is fixedly connected to the guide shaft and the telescopic rod of the transplanting cylinder; the guide shaft is movably arranged on the transplanting mounting plate through a linear bearing; the top pushing connecting plate can be driven by the transplanting cylinder to move along the guide shaft; the top pushing connecting plate is respectively connected to the product taking component and the rotation alignment component.

7. The motor automatic assembly equipment according to claim 1, characterized in that: The middle cover upper cover placement assembly includes a middle cover upper cover placement plate, which is provided with positioning columns around it. The middle cover upper cover placement plate is movably connected to the base plate through a guide shaft and a linear bearing. A guide rod cylinder is provided at the bottom of the middle cover upper cover placement plate, one end of the guide rod cylinder is connected to the base plate, and the other end is connected to the middle cover upper cover placement plate. The middle cover upper cover placement plate can be driven by the guide rod cylinder to move along the guide shaft; an infrared sensor is provided on the middle cover upper cover placement plate for detecting whether a motor end cover is placed.

8. The motor automatic assembly equipment according to claim 1, characterized in that: The torsion spring placement assembly includes a torsion spring lifting connection plate, a tubular column, a torsion spring center axis, a torsion spring discharge base, and a torsion spring discharge shaft; the torsion spring lifting connection plate is movably connected to the base plate through a guide shaft and a linear bearing, a guide rod cylinder is provided at the bottom of the torsion spring lifting connection plate, one end of the guide rod cylinder is connected to the base plate, and is controlled by the guide rod cylinder to move along the guide shaft; the tubular column is fixedly arranged on the torsion spring lifting connection plate, the torsion spring discharge base is arranged on the top of the tubular column, and a hole matching the cavity of the tubular column is provided in the center of the torsion spring discharge base; the torsion spring center axis is fixedly arranged in the center of the tubular column, and a spring is sleeved thereon; the torsion spring discharge shaft is sleeved on the torsion spring center axis, the top of the torsion spring center axis is encapsulated by a limit gasket, and the torsion spring discharge shaft can move along the torsion spring center axis.

9. The motor automatic assembly equipment according to claim 1, characterized in that: The product taking component includes a clamping plate, a top ejector, a clamping cylinder, and a material taking fixture; the clamping plate is connected to the top transfer component through a guide shaft and a mounting mechanism fixing plate, and is driven by the top transfer component to move on the X-axis and the Z-axis; a total of four groups of clamping cylinders and material taking fixtures are provided, which are respectively located at the four corners of the clamping plate; the top ejector is arranged in the center of the clamping plate, and its ejector passes through the clamping plate, and is used to cooperate with the center hole of the end face of the motor rotor during the installation of the middle cover and / or the upper cover with the motor body, so that the motor rotor is in a vertical state, and the center of the motor rotor is at the center position of the middle cover and / or the upper cover, so as to ensure the installation and matching accuracy; a sensor is also provided on the clamping plate to detect whether the middle cover and / or the upper cover are grasped.

10. The motor automatic assembly equipment according to claim 5, characterized in that: The bolt tightening mechanism includes a tightening hanger mounting plate, a tightening back plate, a tightening pad, a tightening cylinder, a tightening reducer, and a tightening clamp; the tightening hanger mounting plate is fixedly arranged on the Z-axis moving assembly; the tightening back plate is fixedly connected to the tightening hanger mounting plate, and a tightening pad is arranged between the two to adjust the installation position; the tightening reducer is movably connected to the tightening back plate through the reducer bracket and the linear guide rail; the tightening cylinder is fixedly arranged on the tightening back plate, and the cylinder is connected to the reducer bracket for driving the tightening reducer to move along the linear guide rail; the tightening clamp includes a clamp cylinder and a tightening clip, the tightening clip is connected to the clamp cylinder, the clamp cylinder is fixedly arranged on the tightening back plate through the clamp mounting block, and the tightening clip installation position matches the screwdriver bit on the tightening reducer for clamping bolts.

11. The motor automatic assembly equipment according to claim 5, characterized in that: The bolt feeding mechanism includes a bolt pipeline, a transition jaw, a transfer jaw, and a guide rod cylinder; the bolt pipeline is arranged directly above the transition jaw through a pipeline fixing block, and the transition jaw is connected to the transition cylinder for controlling the output of bolts in the bolt pipeline; the transfer jaw is arranged directly below the transition jaw, and the transfer jaw is connected to the transfer cylinder for receiving the bolts output by the transition jaw; the guide rod cylinder is fixedly arranged on the bottom plate of the three-axis tightening platform and connected to the transfer cylinder for pushing the transfer jaw to move to the bottom of the bolt tightening mechanism to convey bolts to the bolt tightening mechanism; an optical fiber sensor is provided at the discharge port of the bolt pipeline for detecting whether the discharge is correct.

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