An automatic motor assembly device

Abstract

The present invention discloses an automatic motor assembly device for assembling the upper cover and / or middle cover of a motor with the motor main body, which includes a machine base, a middle-cover and upper-cover placing assembly, a product picking assembly, a spring placing assembly, a three-axis tightening assembly, a top transplanting assembly and a rotary alignment assembly. This design is used for the installation and fixation of the middle cover and / or upper cover of the motor with the inner cover of the motor. Since the inner cover of the motor is not fixed in position within the motor when not connected to the middle cover and / or upper cover and cannot be directly tightened with bolts, it is necessary to first lift the inner cover and then bolts can be used for fixation. Therefore, at present, manual assembly is generally adopted for this part of the assembly. For this reason, the present application designs a device that can automatically install the upper cover and / or middle cover of the motor and fixedly connect it with the inner cover of the motor.

Description

Technical Field

[0001] The present invention relates to the field of mechanical manufacturing, and particularly relates to a device capable of automatically installing an inner cover of a motor and an end cover of the motor. Background Art

[0002] A motor is a device that converts electrical energy into mechanical energy, mainly composed of a stator, a rotor, a housing, and an end cover. 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 is equipped with permanent magnets or electromagnetic coils and rotates 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, usually the housing is first positioned on the workbench, then the stator is placed into the housing, and during the placement process, it is necessary to ensure that the windings on the stator are not squeezed or damaged. Then the rotor is 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 further 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 inside the housing to complete the encapsulation. However, the inner cover of the motor is located inside the housing and its position is not fixed, and it needs to be positioned first before assembly can be completed. Since the inner cover is located inside the housing and needs to be rotationally positioned, currently, such motors generally adopt manual assembly, and due to limited space, manual installation is also very difficult, seriously affecting production efficiency. Summary of the Invention

[0004] The problem to be solved by the present invention is to propose an innovative solution for the above-mentioned shortcomings in the prior art, particularly a device capable of quickly and automatically installing the end cover of a motor.

[0005] To solve the above problems, the solution adopted by the present invention is as follows: An automatic motor assembly device for assembling an end cover of a motor with a motor main body, where the end cover of the motor is an upper cover, a middle cover, or an upper cover and a middle cover, and is characterized by comprising a machine base, a motor end cover placement assembly, a product picking assembly, a spring placing assembly, a three-axis tightening assembly, a top transplanting assembly, and a rotary alignment assembly.

[0006] Among them, the machine base is arranged on the bottom plate and is used to place the motor body to be assembled; the top transplanting component is erected above the bottom plate, and the product taking component and the rotation alignment component are movably arranged on the top transplanting component and are driven by the top transplanting component to above the machine base; the spring placing component is arranged on the bottom plate and is located on one side of the rotation alignment component and is used to place the spring for the rotation alignment component to grab and transfer to the motor rotor bearing; the motor end cover placing component is arranged on the bottom plate and is located on one side of the product taking component and is used to place and position the motor end cover for the product taking component to grab and transfer to the motor body; the three-axis tightening component is arranged on the bottom plate and is located behind the machine base. After the spring and the motor end cover are placed, the motor end cover is connected to the inner cover of the motor; the rotation 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 an electric turntable mounting plate; the inner cover alignment and the inner cover lifting double head are connected to the electric turntable through an alignment mounting plate, and the electric turntable is controlled to rotate by a servo motor; the inner cover alignment includes a slewing bearing fixing piece, a slewing bearing, a hole-finding outer ring, a hole-finding inner ring, a probe assembly, a spring taking piece, an electromagnet, and a servo motor; the slewing bearing fixing piece is fixed below the alignment mounting plate through a hole-finding mounting plate; the spring taking piece is connected to the slewing bearing fixing piece through the hole-finding inner ring, and the shape and structure of the spring taking piece match the spring, and the electromagnet is arranged inside the spring taking piece; the slewing bearing and the hole-finding outer ring are sleeved on the slewing bearing fixing piece, the hole-finding outer ring is fixedly connected to the slewing bearing, a gear is arranged on the outer side wall of the slewing bearing 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 inner cover thread hole and rotate the inner cover to a 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, and the servo motor is connected to the lifting rotating shaft through a synchronous belt and a synchronous pulley to drive the long screw to temporarily connect the inner cover to the motor end cover, facilitating the three-axis tightening component to use bolts to connect the inner cover to the motor end cover; a fiber optic sensor is arranged on the spring taking piece and is used to detect whether the spring taking is completed.

[0007] Further, for the motor automatic assembly equipment, it is characterized in that the inner cover lifting double head is provided with two long screws, the installation positions of the two long screws match the thread holes on the inner cover, the two long screws are connected to the servo motor through a synchronous belt and a synchronous pulley, and a limiting block and a follower pulley are arranged in the middle of the synchronous belt. The limiting block is fixed on the inner cover lifting adjustment plate, the follower pulley is arranged on the limiting block, and the synchronous belt is restricted by the follower pulley to leave a space for the motor rotor bearing to move; the inner cover lifting adjustment plate is in a triangular structure and is provided with a plurality of waist-shaped holes for adjusting its positional relationship with the alignment mounting plate.

[0008] Further, the motor automatic assembly equipment is characterized in that the probe assembly includes a thimble, a thimble barrel, a hole-finding thimble seat, a push rod compression sleeve, a spring and two fiber optic sensors; the thimble barrel is fixedly arranged on the hole-finding outer ring through the hole-finding thimble seat, the push rod compression sleeve is fixedly arranged on the rotary support, through holes are provided on the rotary support and the hole-finding outer ring, a cavity is arranged inside the push rod compression sleeve, one end of the thimble passes through the thimble barrel 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 a thrust force for the thimble, two monitoring holes are arranged on the push rod compression sleeve and communicated with the cavity, and the two fiber optic sensors are arranged outside the push rod compression sleeve through the hole-finding fiber optic adjusting plate and are matched with the monitoring holes.

[0009] Further, the motor automatic assembly equipment is characterized in that the machine base includes a planar floating bottom plate, a planar floating middle plate, a machine base rotary support bottom plate, a machine base rotary support, a machine base claw mounting plate, a machine base placement plate, a rotary positioning pin and a servo motor; the planar floating bottom plate is fixedly arranged below the bottom plate through a guide shaft; the planar floating middle plate and the machine base rotary support bottom plate are sequentially arranged on the planar 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 with the servo motor through a gear, and the servo motor is fixedly arranged on the machine base rotary support bottom plate; the machine base claw mounting plate is fixedly arranged on the machine base rotary support and can rotate along with the machine base rotary support; the machine base placement plate is arranged on the machine base claw mounting plate through a linear bearing and a floating support shaft, and a spring is arranged inside the floating support shaft to provide a buffering effect for the machine base placement plate; the rotary positioning pin is arranged on the planar floating bottom plate through a positioning pin fixing seat, directly below the machine base claw mounting plate, the rotary positioning pin is connected with a cylinder and is controlled by the cylinder; a horn-shaped positioning hole matched with the rotary positioning pin is arranged on the machine base claw mounting plate; a limiting groove and a lower cover limiting shaft matched with the motor main body are arranged on the machine base placement plate; a group of planar floating limiting blocks are symmetrically arranged on the planar 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 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 erected 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 in front of the three-axis tightening platform bottom plate and matched with the bolt tightening mechanism for providing bolts to the bolt tightening mechanism.

[0011] Furthermore, the motor automatic assembly equipment is characterized in that the top transplanting component comprises 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 erected above the machine base through a guiding 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 with a left transplanting guide rod cylinder through a left transplanting connecting plate, and the right transplanting component is connected with a right transplanting guide rod cylinder through a right transplanting connecting plate; both the left transplanting component and the right transplanting component are composed of a transplanting installation plate, a top pushing connecting plate, a transplanting cylinder, a guiding shaft, and a linear bearing; the transplanting installation 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 installation plate, and its telescopic rod extends downward through the transplanting installation plate, the top pushing connecting plate is fixedly connected with the guiding shaft and the telescopic rod of the transplanting cylinder, the guiding shaft is movably arranged on the transplanting installation plate through the linear bearing, the top pushing connecting plate can be driven by the transplanting cylinder to move along the guiding shaft, and the top pushing connecting plate is respectively connected with a product taking component and a rotating alignment component.

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

[0013] Furthermore, the motor automatic assembly equipment is characterized in that the spring dialing placing component comprises a spring dialing lifting connecting plate, a tubular column, a spring dialing central shaft, a spring dialing feeding base, and a spring dialing feeding shaft; the spring dialing lifting connecting plate is movably connected with the bottom plate through a guiding shaft and a linear bearing, a guide rod cylinder is arranged at the bottom of the spring dialing lifting connecting plate, one end of the guide rod cylinder is connected with the bottom plate, and the spring dialing lifting connecting plate is controlled by the guide rod cylinder to move along the guiding shaft; the tubular column is fixedly arranged on the spring dialing lifting connecting plate, the spring dialing feeding base is arranged on the top of the tubular column, and a hole matching the cavity of the tubular column is arranged at the center of the spring dialing feeding base; the spring dialing central shaft is fixedly arranged in the center of the tubular column, and a spring is sleeved on it; the spring dialing feeding shaft is sleeved on the spring dialing central shaft, the top of the spring dialing central shaft is sealed through a limit gasket, and the spring dialing feeding shaft can move along the spring dialing central shaft.

[0014] Further, the motor automatic assembly equipment is characterized in that the product component taking mechanism comprises a clamping fixing plate, a top ejector pin, a clamping cylinder and a material taking fixing piece; the clamping fixing plate is connected to the top transplanting component through a guiding shaft and a mounting mechanism fixing plate, and is driven by the top transplanting component to move on the X-axis and the Z-axis; there are four groups of the clamping cylinders and the material taking fixing pieces, which are respectively located at the four corners of the clamping fixing plate; the top ejector pin is arranged in the center of the clamping fixing plate, and its ejector pin passes through the clamping fixing plate and is used for cooperating with the center hole of the end face of the motor rotor during the installation process of the motor end cover and 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 motor end cover, ensuring the installation and matching accuracy; a sensor is further arranged on the clamping fixing plate and is used for detecting whether the motor end cover is grabbed.

[0015] Further, the motor automatic assembly equipment is characterized in that the bolt tightening mechanism comprises a tightening hanging piece mounting plate, a tightening back plate, a tightening cushion block, a tightening cylinder, a tightening reduction gear and a tightening fixture; the tightening hanging piece mounting plate is fixedly arranged on the Z-axis moving component; the tightening back plate is fixedly connected to the tightening hanging piece mounting plate, and a tightening cushion block is arranged between the two to adjust the mounting position; the tightening reduction gear is movably connected to the tightening back plate through a reduction gear support and a linear guide rail; the tightening cylinder is fixedly arranged on the tightening back plate, and the tightening cylinder is connected to the reduction gear support and is used for driving the tightening reduction gear to move along the linear guide rail; the tightening fixture comprises a fixture cylinder and a tightening clip, the tightening clip is connected to the fixture cylinder, the fixture cylinder is fixedly arranged on the tightening back plate through a fixture mounting block, and the mounting position of the tightening clip is matched with the bit on the tightening reduction gear and is used for clamping the bolt.

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

[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 motor end cover placement assembly and the spring placement assembly both adopt the guide rod cylinder design, 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 an inner cover lifting double head that is convenient for connecting the motor inner cover with the motor end 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 base is designed with a floating support shaft to provide buffering capacity for the base and prevent the motor from directly impacting the base and causing wear. Since the motor body is very heavy, it is difficult for even a manipulator to place it accurately on the base by a certain percentage. Therefore, this design forms a two-way free adjustment platform through a planar floating middle plate, a base slewing support bottom plate, and linear guide rails, allowing the base to passively match the motor body and permitting errors when the motor body is transferred to the base. A rotary positioning pin is also designed to adjust the two-way free adjustment platform back to the accurate position. The rotary positioning pin is controlled by a cylinder. When it ejects, it will insert into the flared positioning hole on the base jaw mounting plate to complete the positioning. Description of the Drawings

[0023] Figure 1 Schematic diagram of the motor automatic assembly equipment.

[0024] Figure 2 Schematic diagram of the rotary alignment component.

[0025] Figure 3 Schematic diagram of the base.

[0026] Figure 4 Schematic diagram of the inner cover alignment.

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

[0028] Figure 6 Schematic diagram of the product picking component.

[0029] Figure 7 Schematic diagram of the motor end cover placement component.

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

[0031] Figure 9 Schematic diagram of the spring dialing placement component.

[0032] Figure 10 Cross-sectional schematic diagram of the spring dialing placement component.

[0033] Figure 11 Schematic diagram of the top transplanting component.

[0034] Among them, 1 is the bottom plate, 2 is the machine base, 3 is the motor end cover placement component, 4 is the product taking component, 5 is the spring placing component, 6 is the three-axis tightening component, 7 is the top transplanting component, 8 is the rotary alignment component, 21 is the planar floating bottom plate, 22 is the planar floating middle plate, 23 is the machine base rotary support bottom plate, 24 is the machine base jaw mounting plate, 25 is the machine base placement plate, 26 is the floating support shaft, 27 is the rotary positioning pin, 28 is the machine base rotary support, 31 is the end cover placement plate, 32 is the infrared sensor, 41 is the mounting mechanism fixing plate, 42 is the clamping fixing plate, 43 is the top ejector pin, 44 is the clamping cylinder, 45 is the material taking fixing part, 51 is the spring lifting connecting plate, 52 is the tubular column, 54 is the spring central axis, 53 is the spring feeding base, 55 is the spring feeding shaft, 56 is the limit gasket, 66 is the three-axis tightening platform bottom plate, 61 is the Y-axis moving component, 62 is the X-axis moving component, 63 is the Z-axis moving component, 64 is the bolt tightening mechanism, 65 is the bolt feeding mechanism, 641 is the tightening hanging part mounting plate, 642 is the tightening cushion block, 643 is the tightening cylinder, 644 is the tightening reducer, 645 is the tightening fixture, 651 is the bolt pipeline, 652 is the transition jaw, 653 is the transfer jaw, 654 is the guide rod cylinder, 71 is the top transplanting mounting platform, 74 is the transplanting linear guide rail, 72 is the left transplanting component, 73 is the right transplanting component, 75 is the transplanting mounting plate, 76 is the top pushing connecting plate, 77 is the transplanting cylinder, 81 is the electric turntable, 83 is the inner cover alignment, 82 is the inner cover lifting double head, 84 is the alignment mounting plate, 811 is the electric 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 pulley, 825 is the limit block, 826 is the follower wheel, 831 is the hole finding mounting plate, 832 is the rotary support fixing part, 833 is the rotary support, 834 is the hole finding outer ring, 837 is the probe assembly, 835 is the spring taking part, 836 is the electromagnet, 8371 is the ejector pin, 8372 is the guide tube, 8373 is the hole finding guide tube seat, 8374 is the push rod compression sleeve, 8375 is the fiber optic sensor. Detailed implementation manners

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

[0036] Embodiment: As Figure 1 shown, an automatic motor assembly device for assembling a motor end cover and a motor main body includes a machine base 2, a motor end cover placement component 3, a product taking component 4, a spring placing component 5, a three-axis tightening component 6, a top transplanting component 7, and a rotary alignment component 8.

[0037] As Figure 2 , Figure 4 , Figure 5As shown in the figure, the machine base 2 is arranged on the bottom plate 1 and is used to place the motor body to be assembled; the top transplanting assembly 7 is erected above the bottom plate 1, and the product taking assembly 4 and the rotary alignment assembly 8 are movably arranged on the top transplanting assembly 7 and are driven by the top transplanting assembly 7 to above the machine base 2; the spring placing assembly 5 is arranged on the bottom plate 1 and is located on one side of the rotary alignment assembly 8 and is used to place the spring for the rotary alignment assembly 8 to grab and transfer to the motor rotor bearing; the motor end cover placing assembly 3 is arranged on the bottom plate 1 and is located on one side of the product taking assembly 4 and is used to place and position the motor end cover for the product taking assembly 4 to grab and transfer to the motor body; the three-axis tightening assembly 6 is arranged on the bottom plate 1 and is located behind the machine base 2. After the spring and the motor end cover are placed, the motor end cover is connected to the motor inner cover; the rotary alignment assembly 8 includes an electric turntable 81, an inner cover alignment 83, and an inner cover lifting double head 82; the electric turntable 81 is arranged on the top transplanting assembly 7 through an electric turntable mounting plate 811; the inner cover alignment 83 and the inner cover lifting double head 82 are connected to the electric turntable 81 through an alignment mounting plate 84, and the electric turntable 81 is controlled to rotate by a servo motor; the inner cover alignment 83 includes a slewing bearing fixing part 832, a slewing bearing 833, a hole-finding outer ring 834, a hole-finding inner ring, a probe assembly 837, a spring taking part 835, an electromagnet 836, and a servo motor; the slewing bearing fixing part 832 is fixed below the alignment mounting plate 84 through a hole-finding mounting plate 831; the spring taking part 835 is connected to the slewing bearing fixing part 832 through the hole-finding inner ring, the shape and structure of the spring taking part 835 match that of the spring, and the electromagnet 836 is arranged inside the spring taking part 835; the slewing bearing 833 and the hole-finding outer ring 834 are sleeved on the slewing bearing fixing part 832, the hole-finding outer ring 834 is fixedly connected to the slewing bearing, a gear is arranged on the outer side wall of the slewing bearing 833 and is connected to the servo motor through the gear; the probe assembly 837 is arranged below the hole-finding outer ring 834 and is used to find the inner cover thread hole and rotate the inner cover to a specified position; the inner cover lifting double head 82 includes an inner cover lifting adjustment plate 821, a servo motor, and a long screw 822; the inner cover lifting adjustment plate 821 is fixedly connected to the alignment mounting plate 84, the servo motor is fixedly arranged on the inner cover lifting adjustment plate 821, the long screw 822 is arranged on the inner cover lifting adjustment plate 821 through a lifting rotating shaft and a bearing seat, and the servo motor is connected to the lifting rotating shaft through a synchronous belt 823 and a synchronous pulley 824 to drive the long screw 822 to temporarily connect the inner cover to the motor end cover, facilitating the three-axis tightening assembly 6 to use bolts to connect the inner cover to the motor end cover; a fiber optic sensor 8375 is arranged on the spring taking part 835 to detect whether the spring taking is completed.

[0038] The inner cover lifting double head 82 of this embodiment is provided with two long screw rods 822. The installation positions of the two long screw rods 822 match the threaded holes on the inner cover. The two long screw rods 822 are connected to the servo motor through a synchronous belt 823 and synchronous pulleys 824. A limit block 825 and a follower pulley 826 are arranged in the middle of the synchronous belt 823. The limit block 825 is fixed on the inner cover lifting adjustment plate 821, and the follower pulley 826 is arranged on the limit block 825. The synchronous belt 823 is restricted by the follower pulley 826, leaving a space for the motor rotor bearing to move; a plurality of waist-shaped holes are provided on the inner cover lifting adjustment plate 821 for adjusting its positional relationship with the alignment mounting plate 84.

[0039] Among them, the probe assembly 837 includes a thimble 8371, a sleeve 8372, a hole-finding sleeve seat 8373, a push rod compression sleeve 8374, a spring and two fiber optic sensors 8375; the sleeve 8372 is fixedly arranged on the hole-finding outer ring 834 through the hole-finding sleeve seat 8373. The push rod compression sleeve 8374 is fixedly arranged on the slewing support 833. Through holes are provided on the slewing support 833 and the hole-finding outer ring 834. A cavity is provided inside the push rod compression sleeve 8374. One end of the thimble 8371 passes through the sleeve 8372 and the through hole and is arranged in the cavity of the push rod compression sleeve 8374. The spring is arranged in the cavity to provide a thrust for the thimble 8371. Two monitoring holes are provided on the push rod compression sleeve 8374 and communicate with the cavity. The two fiber optic sensors 8375 are arranged outside the push rod compression sleeve 8374 through the hole-finding fiber optic adjustment plate and match the monitoring holes.

[0040] Such as Figure 3As shown in the figure, the machine base 2 includes a planar floating bottom plate 21, a planar floating middle plate 22, a machine base rotary support bottom plate 23, a machine base rotary support 28, a machine base jaw mounting plate 24, a machine base placement plate 25, a rotary positioning pin 27 and a servo motor; the planar floating bottom plate 21 is fixedly arranged below the bottom plate 1 through a guide shaft; the planar floating middle plate 22 and the machine base rotary support bottom plate 23 are sequentially arranged on the planar floating bottom plate 21 through linear guide rails to form a two-way free adjustment platform; the machine base rotary support 28 is arranged on the machine base rotary support bottom plate 23 and is connected to the servo motor through a gear, and the servo motor is fixedly arranged on the machine base rotary support bottom plate 23; the machine base jaw mounting plate 24 is fixedly arranged on the machine base rotary support 28 and can rotate along with the machine base rotary support 28; the machine base placement plate 25 is arranged on the machine base jaw mounting plate 24 through a linear bearing and a floating support shaft 26, and a spring is arranged inside the floating support shaft 26 to provide a buffering effect for the machine base placement plate 25; the rotary positioning pin 27 is arranged on the planar floating bottom plate 21 through a positioning pin fixing seat, directly below the machine base jaw mounting plate 24, and the rotary positioning pin 27 is connected to a cylinder and controlled by the cylinder; a horn-shaped positioning hole matching the rotary positioning pin 27 is arranged on the machine base jaw mounting plate 24; a limiting groove and a lower cover limiting shaft matching the motor body are arranged on the machine base placement plate 25; a group of planar floating limiting blocks are symmetrically arranged on the planar floating bottom plate 21.

[0041] As Figure 8 shown, the three-axis tightening assembly 6 includes a three-axis tightening platform bottom plate 66, a Y-axis moving assembly 61, an X-axis moving assembly 62, a Z-axis moving assembly 63, a bolt tightening mechanism 64 and a bolt feeding mechanism 65; the three-axis tightening platform bottom plate 66 is erected on the bottom plate 1 through a guide shaft and is located behind the machine base 2; the Y-axis moving assembly 61 is arranged on the three-axis tightening platform bottom plate 66, the X-axis moving assembly 62 is arranged on the Y-axis moving assembly 61, and the Z-axis moving assembly 63 is arranged on the X moving assembly to form a three-axis moving platform; the bolt tightening mechanism 64 is arranged on the Z-axis moving assembly 63; the bolt feeding mechanism 65 is arranged on the three-axis tightening platform bottom plate 66, located on the front side of the three-axis tightening platform bottom plate 66 and matching the bolt tightening mechanism 64 for supplying bolts to the bolt tightening mechanism 64.

[0042] As Figure 11As shown in the figure, the top transplanting assembly 7 includes a top transplanting mounting platform 71, a transplanting linear guide rail 74, a left transplanting assembly 72, and a right transplanting assembly 73. The top transplanting mounting platform 71 is erected above the machine base 2 through a guide shaft. The transplanting linear guide rail 74 is fixedly arranged on the top transplanting mounting platform 71, and the left transplanting assembly 72 and the right transplanting assembly 73 are arranged on the transplanting linear guide rail 74. The left transplanting assembly 72 is connected with a left transplanting guide rod cylinder through a left transplanting connecting plate, and the right transplanting assembly 73 is connected with a right transplanting guide rod cylinder through a right transplanting connecting plate. Both the left transplanting assembly 72 and the right transplanting assembly 73 are composed of a transplanting mounting plate 75, a top pushing connecting plate 76, a transplanting cylinder 77, a guide shaft, and a linear bearing. The transplanting mounting plate 75 is arranged on the transplanting linear guide rail 74 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 77 is fixedly arranged on the transplanting mounting plate 75, and its telescopic rod is arranged downward through the transplanting mounting plate 75. The top pushing connecting plate 76 is fixedly connected with the guide shaft and the telescopic rod of the transplanting cylinder 77. The guide shaft is movably arranged on the transplanting mounting plate 75 through a linear bearing. The top pushing connecting plate 76 can be driven by the transplanting cylinder 77 to move along the guide shaft. The top pushing connecting plate 76 is respectively connected with the product picking component 4 and the rotary alignment component 8.

[0043] As Figure 7 shown in the figure, the motor end cover placing assembly 3 includes an end cover placing plate 31, which is provided with positioning columns around it. The end cover placing plate 31 is movably connected with the bottom plate 1 through a guide shaft and a linear bearing. A guide rod cylinder is arranged at the bottom of the end cover placing plate 31. One end of the guide rod cylinder is connected with the bottom plate 1, and the other end is connected with the end cover placing plate 31. The end cover placing plate 31 can be driven by the guide rod cylinder to move along the guide shaft. An infrared sensor 32 is arranged on the end cover placing plate 31 for detecting whether a motor end cover is placed.

[0044] As Figure 9 、 Figure 10 shown in the figure, the spring dialing placing assembly 5 includes a spring dialing lifting connecting plate 51, a tubular column 52, a spring dialing central shaft 54, a spring dialing placing base 53, and a spring dialing placing shaft 55. The spring dialing lifting connecting plate 51 is movably connected with the bottom plate 1 through a guide shaft and a linear bearing. The bottom of the spring dialing lifting connecting plate 51 is connected with the bottom plate 1 through a guide rod cylinder and is controlled by the guide rod cylinder to move along the guide shaft. The tubular column 52 is fixedly arranged on the spring dialing lifting connecting plate 51. The spring dialing placing base 53 is arranged on the top of the tubular column 52, and a hole matching the cavity of the tubular column 52 is provided at the center of the spring dialing placing base 53. The spring dialing central shaft 54 is fixedly arranged in the center of the tubular column 52, and a spring is sleeved on it. The spring dialing placing shaft 55 is sleeved on the spring dialing central shaft 54. The top of the spring dialing central shaft 54 is sealed through a limit gasket 56. The spring dialing placing shaft 55 can move along the spring dialing central shaft 54.

[0045] As shown Figure 6 in the figure, the product component 4 includes a clamping fixing plate 42, a top ejector pin 43, a clamping cylinder 44, and a material taking fixing part 45; the clamping fixing plate 42 is connected to the top transplanting component 7 through a guiding shaft and a mounting mechanism fixing plate 41, and is driven by the top transplanting component 7 to move on the X-axis and Z-axis; four groups of the clamping cylinder 44 and the material taking fixing part 45 are provided, and are respectively located at the four corners of the clamping fixing plate 42; the top ejector pin 43 is arranged in the center of the clamping fixing plate 42, and its ejector pin passes through the clamping fixing plate 42, and is used for cooperating with the center hole of the end face of the motor rotor during the installation process of the motor end cover and the motor body, so that the motor rotor is in a vertical state, and the center of the motor rotor is in the center position of the motor end cover, ensuring the installation and matching accuracy; a sensor is further arranged on the clamping fixing plate 42, and is used for detecting whether the motor end cover is grabbed.

[0046] As shown Figure 8 in the figure, the bolt tightening mechanism 64 includes a tightening hanging part mounting plate 641, a tightening back plate, a tightening cushion block 642, a tightening cylinder 643, a tightening speed reducer 644, and a tightening fixture 645; the tightening hanging part mounting plate 641 is fixedly arranged on the Z-axis moving component 63; the tightening back plate is fixedly connected to the tightening hanging part mounting plate 641, and the tightening cushion block 642 is arranged between the two to adjust the mounting position; the tightening speed reducer 644 is movably connected to the tightening back plate through a speed reducer bracket and a linear guide rail; the tightening cylinder 643 is fixedly arranged on the tightening back plate, and the tightening cylinder 643 is connected to the speed reducer bracket, and is used for driving the tightening speed reducer 644 to move along the linear guide rail; the tightening fixture 645 includes a fixture cylinder and a tightening clip, the tightening clip is connected to the fixture cylinder, the fixture cylinder is fixedly arranged on the tightening back plate through a fixture mounting block, and the mounting position of the tightening clip matches the bit on the tightening speed reducer 644, and is used for clamping the bolt.

[0047] Among them, the bolt feeding mechanism 65 includes a bolt pipeline 651, a transition gripper 652, a transfer gripper 653, and a guide rod cylinder 654; the bolt pipeline 651 is arranged directly above the transition gripper 652 through a pipeline fixing block, the transition gripper 652 is connected to a transition cylinder, and is used for controlling the output of the bolts in the bolt pipeline 651; the transfer gripper 653 is arranged directly below the transition gripper 652, the transfer gripper 653 is connected to a transfer cylinder, and is used for receiving the bolts output by the transition gripper 652; the guide rod cylinder 654 is fixedly arranged on the three-axis tightening platform bottom plate 66 and is connected to the transfer cylinder, and is used for pushing the transfer gripper 653 to move below the bolt tightening mechanism 64 to convey bolts to the bolt tightening mechanism 64; an optical fiber sensor 8375 is arranged at the discharge port of the bolt pipeline 651, and is used for detecting whether the material is discharged correctly.

[0048] During operation, first place the materials to be used on the motor end cover placing assembly 3 and the spring placing assembly 5. Then, the manipulator transfers the motor body to the machine base 2, and then completes the position adjustment and positioning through the rotary positioning pin 27. The inner cover alignment 83 moves to directly above the spring placing assembly 5 under the drive of the top transfer assembly 7 to pick up the spring. The spring is picked up by means of an electromagnet 836 and detected by an optical fiber sensor 8375 to ensure the successful picking up of the spring. Then it is transferred above the motor body, and the spring is sleeved on the motor rotor bearing. At this time, the ejector pin 8371 on the inner cover alignment 83 abuts against the upper surface of the inner cover, and the servo motor is started to drive the ejector pin 8371 to rotate on the inner cover surface to find the threaded hole. When the ejector pin 8371 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 8375. 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 withdraws. The motor end cover of the motor is transferred to the motor body by the product taking assembly 4. Then, the inner cover lifting double head 82 moves above the motor body, and its two long screw rods 822 are inserted into the threaded holes of the motor inner cover and threaded connection is carried out. Then the inner cover is lifted. Finally, the three-axis tightening platform starts to work. The bolt tightening mechanism 64 is transferred above the motor body by the three-axis moving platform, and the electric screwdriver bit is aligned with the threaded hole on the motor end cover to complete the installation of the first bolt. Then, the bolt feeding mechanism 65 supplies bolts to the electric screwdriver bit. At the same time, the inner cover lifting double head 82 withdraws. Then the machine base 2 rotates to rotate another threaded hole on the motor end cover to the predetermined position for bolt connection. Repeat the above steps until all bolts are installed.

Claims

1. An automatic motor assembly device for assembling a motor end cover with a motor body, wherein the motor end cover is an upper cover, a middle cover, or an upper cover and a middle cover, characterized in that: It includes a machine base, a motor end 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 machine 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 motor end 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 motor end cover so that the product taking assembly can grab and transfer it to the motor body; The three-axis tightening assembly is set on the bottom plate, located behind the machine base. After the toggle spring and motor end cover are placed, the motor end cover is connected to the motor inner cover; 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 is connected to 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, and the long screw is set on the inner cover lifting adjustment plate through the lifting rotary shaft and the bearing seat, and 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 motor end cover, so that the three-axis tightening assembly uses bolts to connect the inner cover with the motor end cover; an optical fiber sensor is provided on the spring picking part 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, and 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 synchronous belts and synchronous wheels, 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, and the follower wheel is set on the limit block. The synchronous belt is restricted by the follower wheel, leaving space for the motor rotor bearing to move; a plurality of waist-shaped holes are provided on the inner cover lifting adjustment plate 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 an 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 the hole-finding outer ring through the hole-finding ejector 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 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 provided 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 the 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 flat floating bottom plate, a flat floating middle plate, a machine base slewing support bottom plate, a machine base slewing support, a machine base clamping claw mounting plate, a machine base placement plate, a slewing positioning pin and a servo motor; the flat floating bottom plate is fixedly arranged under the bottom plate through a guide shaft; the flat floating middle plate and the machine base slewing support bottom plate are sequentially arranged on the flat floating bottom plate through linear guide rails to form a two-way free adjustment platform; the machine base slewing support is arranged on the machine base slewing support bottom plate and is connected to the servo motor through gears, and the servo motor is fixedly arranged on the machine base slewing support bottom plate; the machine base clamping claw mounting plate is fixedly arranged on the machine base slewing support The base plate is supported on the plane floating bottom plate 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 arranged on the base clamping claw mounting plate; a limit groove and a lower cover limit shaft matching the motor body are arranged on the base placement plate; a group of plane floating limit blocks are symmetrically arranged 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; 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, is located on the front side of the three-axis tightening platform bottom plate and matches the bolt tightening mechanism, and is used to provide bolts to the bolt tightening mechanism.

6. The motor automatic assembly equipment according to claim 5, 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 mounted on the top transplanting installation platform, and the left transplanting assembly and the right transplanting assembly are mounted 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, a guide shaft, 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 the 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.

7. The motor automatic assembly equipment according to claim 1, characterized in that: The motor end cover placement assembly includes an end cover placement plate, which is provided with positioning columns around it. The end 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 end cover placement plate, one end of the guide rod cylinder is connected to the base plate, and the other end is connected to the end cover placement plate. The end cover placement plate can be driven by the guide rod cylinder to move along the guide shaft; an infrared sensor is provided on the end 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 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, 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 the torsion spring lifting connecting plate 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.

9. The motor automatic assembly equipment according to claim 6, 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; 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 process of the motor end cover and 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 motor end cover, so as to ensure the installation and matching accuracy; a sensor is also provided on the clamping plate to detect whether the motor end cover is grabbed.

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 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 tightening 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 screwdriver bit on the tightening reducer, which is used to clamp the bolt.

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 is connected to the transfer cylinder for pushing the transfer jaw to move to the bottom of the bolt tightening mechanism to transport 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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