A motor flange riveting device and method

Abstract

This invention relates to a motor flange riveting device and method, comprising a processing table on which a loading / unloading conveyor belt, a material transfer robot, a riveting mechanism, a flatness detection mechanism, and a waste recycling unit are arranged. The riveting mechanism, flatness detection mechanism, and waste recycling unit are sequentially distributed along the material transfer direction of the material transfer robot. The material transfer robot is used to pick up and place workpieces from the loading / unloading conveyor belt. The riveting mechanism includes a loading platform, a loading tray, and a transverse transfer unit that drives the loading tray to move laterally. The loading tray is laterally rotatably connected to the movable end of the transverse transfer unit. A riveting frame is arranged on the loading platform, and a riveting unit, a pressing head for holding the flange, and a lifting unit for driving the pressing head to rise and fall are arranged on the riveting frame. This invention enables automatic riveting detection, and during riveting, it can automatically initialize and accurately locate the riveting position. Simultaneously, the rotation of the motor housing is completed under the pressing state during riveting, which can effectively save time in this step and significantly improve riveting efficiency.

Description

Technical Field

[0001] This invention relates to the field of motor processing technology, and more specifically, to a motor flange riveting device and method. Background Technology

[0002] In some motor manufacturing processes, flanges need to be riveted to the ends of the motor housing. This process often involves forming multiple riveting structures on the housing and corresponding riveting grooves on the flange. Each position is riveted individually, and the flange is rotated at a certain angle after each riveting. While this method can complete the riveting, the workpiece is prone to wobbling during the process, requiring re-clamping and repositioning. This makes the overall riveting efficiency very low. For example, for a motor with eight riveting feet, completing the riveting of all eight feet usually takes more than one minute. Therefore, a motor flange riveting device and method that can improve the efficiency of flange riveting is needed. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a motor flange riveting device and a motor flange riveting method, in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] A motor flange riveting device is constructed, comprising a processing table, on which are arranged a loading and unloading conveyor belt, a material transfer robot, a riveting mechanism, a flatness detection mechanism, and a waste recycling unit; the riveting mechanism, the flatness detection mechanism, and the waste recycling unit are sequentially distributed along the material transfer direction of the material transfer robot; the material transfer robot is used to pick up and place workpieces from the loading and unloading conveyor belt; the riveting mechanism includes a loading platform, a loading tray, and a lateral movement unit that drives the loading tray to move laterally, the loading tray being laterally rotatably connected to the movable end of the lateral movement unit; a riveting frame is arranged on the loading platform, and the riveting frame is equipped with a riveting unit, a pressing head for pressing the flange, and a lifting unit that drives the pressing head to rise and fall; the pressing head includes a connecting arm, the front end of which is provided with a first pressing arm and a second pressing arm of uniform arc shape; the first pressing arm and the second pressing arm together form a pressing head. The ring has gaps between the two ends of the first and second holding arms; one of the gaps is for the motor shaft to pass through, and the other is directly opposite the riveting head of the riveting unit and has a guide surface on its peripheral surface; the lower surfaces of the first and second holding arms are provided with clearance grooves to avoid the unriveted connectors on the motor housing; the lower surface of the connecting arm is provided with a deflector wheel for rotating the motor housing and a drive unit for driving the deflector wheel to rotate. The drive unit includes a sensor, a time delay relay, a drive motor, and an initialization unit. After the sensor senses that the riveting head has riveted once, it sends a sensing signal to control the drive motor to run once with a delay under the action of the time delay relay. When the motor runs, it drives the deflector wheel to rotate; the initialization unit is used to control the drive motor to run and rotate the motor housing to a set initial position.

[0006] The motor flange riveting device of the present invention includes a drive motor mounted upside down on the lower surface of the connecting arm; the initialization unit includes a sensing head passing through the guide surface, the sensing head being used to sense notches on the flange; during initialization, the drive motor drives the connecting arm, records the position of the notch sensed by the sensing head, and selects one notch position as the initial position, controls the drive motor to rotate the motor housing, so that the selected notch reaches the initial position; when in the initial position, an unriveted connector on the motor housing reaches the riveting position.

[0007] The motor flange riveting device of the present invention includes an initialization unit comprising a driven gear rotatably disposed on the lower surface of the connecting arm and a rotary encoder for detecting the driven gear; a drive gear is coaxially disposed on the actuating wheel, and the drive gear meshes with the driven gear; the driven gear is located on the rear side of the actuating wheel.

[0008] The motor flange riveting device of the present invention includes a longitudinal mounting plate slidably disposed on the riveting frame, and a connecting arm and a reinforcing plate fixed on the mounting plate; the reinforcing plate is longitudinally disposed and one side is fixedly connected to the mounting plate, and the bottom side is fixedly connected to the connecting arm.

[0009] The motor flange riveting device of the present invention includes a lifting unit comprising a lifting cylinder and a coupling, wherein the coupling is connected to the lower end of the mounting plate.

[0010] The motor flange riveting device of the present invention includes a slide rail slider connected to the mounting plate on the riveting frame.

[0011] In the motor flange riveting device of the present invention, a plurality of glass beads are provided on the inner top of the clearance groove to press against the upper surface of the motor housing.

[0012] The motor flange riveting device of the present invention includes a flatness detection mechanism comprising a detection frame and a cylinder for driving the detection frame to rise and fall. The detection frame is provided with a detection cylinder and a pressure sensor for monitoring the pressure of the detection cylinder. The outer diameter of the detection cylinder is approximately equal to that of the motor housing.

[0013] The motor flange riveting device of the present invention includes a detection frame comprising a vertical plate, a horizontal plate fixed to the lower end of the vertical plate, a plurality of guide rods fixedly mounted on the horizontal plate, a detection cylinder slidably mounted on the guide rods, a first spring sleeved on the guide rods, one end of the first spring connected to the horizontal plate and the other end connected to the detection cylinder; an inverted concave frame for mounting the pressure sensor is provided on the horizontal plate, a second spring for transmitting pressure is mounted on the horizontal plate, one end of the second spring connected to the detection cylinder and the other end connected to the detection end of the pressure sensor.

[0014] A method for riveting a motor flange, using the motor flange riveting device described above, wherein the method includes the following steps:

[0015] After the flange is fitted onto the motor housing, it is transported to the material picking position by the loading and unloading conveyor belt. The material transfer robot picks up the material and places it on the material carrying tray.

[0016] The lateral movement unit moves the material tray directly below the riveting unit. The motor shaft passes through the outer gap, and at the same time, the lifting unit moves and drives the pressing head down. The unriveted connector on the motor housing enters the clearance groove, and the actuating wheel contacts and presses the motor housing laterally.

[0017] The initialization unit controls the drive motor to rotate the motor housing to the set initial position;

[0018] Performing riveting operation: The riveting unit runs and drives the riveting head to move down and rivet once. After the sensor detects that the riveting head has moved down and riveted once, it sends a sensing signal to control the drive motor to run once after a delay relay. When the motor is running, it drives the dial wheel to rotate.

[0019] Repeat the riveting operation until the riveting is complete;

[0020] The transverse unit moves and resets the material tray, and the material transfer robot grabs the motor housing and moves it to the flatness detection mechanism to detect the flatness of the upper surface of the motor housing;

[0021] The material handling robot places motor housings that do not meet the flatness requirements into the waste recycling unit, while motor housings that meet the flatness requirements are transferred back to the loading and unloading conveyor belt.

[0022] The beneficial effects of this invention are as follows: After the flange is fitted onto the motor housing, it is transported to the material picking position by the loading and unloading conveyor belt. The material handling robot picks up the material and places it on the material carrying tray. The lateral movement unit moves the material carrying tray directly below the riveting unit, and the motor shaft passes through the outer gap. At the same time, the lifting unit moves and drives the pressing head to descend. The unriveted connector on the motor housing enters the clearance groove, and the actuating wheel contacts and laterally presses the motor housing. The initialization unit controls the drive motor to rotate the motor housing to the set initial position. The riveting operation is then performed: the riveting unit moves and drives the riveting... Each downward riveting operation of the riveting head triggers a sensor signal to control the drive motor to run once after a delay relay. During operation, the motor drives the actuating wheel to rotate via the transmission unit. The riveting operation is repeated until the riveting is completed. The transverse unit moves and resets the material tray. The transfer robot grabs the motor housing and moves it to the flatness detection mechanism to check the flatness of the upper surface of the motor housing. The transfer robot places motor housings that do not meet the flatness requirements into the waste recycling unit, while motor housings that meet the flatness requirements are transferred back to the loading and unloading conveyor belt.

[0023] By applying the improved method of this application, automatic riveting detection can be achieved. During riveting, the riveting position can be automatically initialized and accurately located. At the same time, the rotation of the motor housing is completed under the holding state during riveting, which can effectively save time in this step. Taking a motor with 8 riveting feet as an example, the time to complete the riveting operation of 8 feet can be shortened to less than 30 seconds, which significantly improves the riveting efficiency. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort:

[0025] Figure 1 This is a schematic diagram of the motor flange riveting device according to a preferred embodiment of the present invention;

[0026] Figure 2 This is a top view of the motor flange riveting device according to a preferred embodiment of the present invention;

[0027] Figure 3 yes Figure 1 Enlarged view of point A in the middle;

[0028] Figure 4 This is a schematic diagram of the riveting mechanism of the motor flange riveting device according to a preferred embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the motor assembly structure of the motor flange riveting device according to a preferred embodiment of the present invention.

[0030] Figure 6 This is a block diagram of the initialization unit of the motor flange riveting device according to a preferred embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the motor structure after the motor flange riveting device of the preferred embodiment of the present invention has riveted the flange;

[0032] Figure 8 This is a flowchart of a preferred embodiment of the motor flange riveting method of the present invention. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0034] The preferred embodiment of the motor flange riveting device of the present invention, such as Figure 1 As shown, see also Figures 2-7 The system includes a processing table 1, on which are installed a loading and unloading conveyor belt 2, a material transfer robot 3, a riveting mechanism 4, a flatness detection mechanism 5, and a waste recycling unit 6; the riveting mechanism 4, the flatness detection mechanism 5, and the waste recycling unit 6 are distributed sequentially along the material transfer direction of the material transfer robot 3; the material transfer robot 3 is used to pick up and place workpieces from the loading and unloading conveyor belt 2.

[0035] The riveting mechanism 4 includes a material platform 40, a material tray 41, and a transverse moving unit 42 that drives the material tray 41 to move laterally. The material tray 41 is rotatably connected to the movable end of the transverse moving unit 42. A riveting frame 43 is provided on the material platform 40. A riveting unit 44, a pressing head 45 for pressing the flange, and a lifting unit 46 for driving the pressing head 45 to rise and fall are provided on the riveting frame 43.

[0036] The clamping head 45 includes a connecting arm 450. The front end of the connecting arm 450 is provided with a first clamping arm 451 and a second clamping arm 452, both of which are circular arc shapes. The first clamping arm 451 and the second clamping arm 452 form a clamping ring, and there are gaps between the two ends of the first clamping arm 451 and the two ends of the second clamping arm 452. One gap is used for the passage of the motor shaft, and the other is directly opposite the riveting head of the riveting unit 44, with a guide surface 453 on its circumferential surface. The lower surfaces of both the first clamping arm 451 and the second clamping arm 452 are provided with clearance grooves 454 to avoid unriveted connectors on the motor housing. The lower surface of 50 is provided with a rotary wheel 455 for rotating the motor housing and a drive unit 456 for driving the rotary wheel to rotate. The drive unit 456 includes a sensor 4560, a time delay relay 4561, a drive motor 4562 and an initialization unit 4563. After the sensor 4560 senses that the riveting head has riveted once, it sends a sensing signal to control the drive motor 4562 to run once with a delay under the action of the time delay relay 4561. When the drive motor 4562 runs, it drives the rotary wheel 455 to rotate. The initialization unit 4563 is used to control the operation of the drive motor 4562 and rotate the motor housing to the set initial position.

[0037] After the flange is fitted onto the motor housing, it is transported to the material picking position by the loading and unloading conveyor belt 2. The material transfer robot 3 picks up the material and places it on the material carrying tray 41.

[0038] The lateral movement unit 42 moves the material tray 41 directly below the riveting unit 44. The motor shaft passes through the outer gap. At the same time, the lifting unit 46 moves and drives the pressing head 45 to descend. The unriveted connector on the motor housing enters the clearance groove 454. The actuating wheel 455 contacts and presses the motor housing laterally.

[0039] The initialization unit 4563 controls the drive motor 4562 to run, rotating the motor housing to the set initial position;

[0040] Perform riveting operation: The riveting unit 44 drives the riveting head to move down and rivet once. After the sensor detects that the riveting head has moved down and riveted once, it sends a sensing signal to control the drive motor to run once after a delay relay. When the drive motor is running, it drives the dial wheel to rotate.

[0041] Repeat the riveting operation until the riveting is complete;

[0042] The transverse unit 42 moves and resets the material tray 41, and the material transfer robot 3 grabs the motor housing and moves it to the flatness detection mechanism 5 to detect the flatness of the upper surface of the motor housing.

[0043] The material handling robot 3 places motor housings that do not meet the flatness requirements into the waste recycling unit 6, while motor housings that meet the flatness requirements are transferred back to the loading and unloading conveyor belt 1.

[0044] By applying the improved method of this application, automatic riveting detection can be achieved. During riveting, the riveting position can be automatically initialized and accurately located. At the same time, the rotation of the motor housing is completed under the holding state during riveting, which can effectively save time in this step. Taking a motor with 8 riveting feet as an example, the time to complete the riveting operation of 8 feet can be shortened to less than 30 seconds, which significantly improves the riveting efficiency.

[0045] Preferably, the drive motor 4562 is inverted and mounted on the lower surface of the connecting arm 450; the initialization unit includes a sensor head 45630 4563 passing through the guide surface, which is used to sense the notch on the flange; during initialization, the drive motor 4562 drives the motor housing to rotate, records the notch position sensed by the sensor head 45630, and selects one notch position as the initial position, controls the drive motor 4562 to run so that the motor housing rotates, so that the selected notch reaches the initial position; when in the initial position, an unriveted connector on the motor housing reaches the riveting position; in this way, the positioning mechanism can be eliminated, and initialization and positioning can be performed automatically. After initialization, the riveting operation at the first connector can be performed directly. After this riveting operation, the flange and the motor housing have a preliminary connection (one leg has been riveted), and subsequent actions can accurately find the rotation drive angle by using the recorded notch position, ensuring processing accuracy.

[0046] Preferably, the initialization unit 4563 includes a driven gear 45631 rotatably mounted on the lower surface of the connecting arm 450 and a rotary encoder 45632 for detecting the driven gear. A drive gear 4550 is coaxially mounted on the actuating wheel 455, and the drive gear 4550 meshes with the driven gear 45631. The driven gear 45631 is located on the rear side of the actuating wheel 455. The driven gear 45631 can serve as a transition to facilitate the rotary encoder 45632 in obtaining the actual number of rotations of the actuating wheel 455 for accurate measurement, and also provides a supporting force to the actuating wheel 455 to ensure the reliability of the actuating wheel 455.

[0047] Preferably, a longitudinal mounting plate 430 is slidably arranged on the riveting frame 43, and a connecting arm 450 and a reinforcing plate 431 are fixed on the mounting plate 430; the reinforcing plate 431 is arranged longitudinally and one side is fixedly connected to the mounting plate 430, and the bottom side is fixedly connected to the connecting arm 450; the lifting unit 46 includes a lifting cylinder 460 and a coupling 461, and the coupling 461 is connected to the lower end of the mounting plate 430; a slide rail slider 432 connected to the mounting plate 430 is provided on the riveting frame 43; the structure is simple, reasonable and compact, and has high strength.

[0048] Preferably, the inner top of the clearance groove 454 is provided with multiple glass beads that press against the upper surface of the motor housing, ensuring the pressing effect while also ensuring the smoothness of the motor housing rotation.

[0049] Preferably, the flatness testing mechanism 5 includes a testing frame 50 and a cylinder 51 for driving the testing frame to rise and fall. The testing frame 50 is equipped with a testing cylinder 52 and a pressure sensor 53 for monitoring the pressure of the testing cylinder. The outer diameter of the testing cylinder 52 is approximately equal to that of the motor housing. The testing frame 50 includes a vertical plate 500, with a horizontal plate 501 fixed to its lower end. Multiple guide rods 502 are fixedly threaded through the horizontal plate 501. The testing cylinder 52 slides along the guide rods 502. A first spring is sleeved on the guide rods 502, with one end of the first spring connected to the horizontal plate 501 and the other end connected to... The detection cylinder 52; a concave bracket 503 for mounting a pressure sensor is provided on the horizontal plate 501, and a second spring 504 for transmitting pressure is passed through the horizontal plate 501. One end of the second spring 504 is connected to the detection cylinder 52, and the other end is connected to the detection end of the pressure sensor 53. During detection, the detection cylinder 52 is moved down by the cylinder 51, and the height value of the detection cylinder 52 is calculated by the pressure sensor reading. If the riveting is relatively flat at this time, the height value will meet the set threshold; otherwise, it will exceed the set value, thus achieving the effect of quickly detecting flatness.

[0050] A method for riveting motor flanges, using the motor flange riveting device described above, such as... Figure 8 As shown, the method includes the following steps:

[0051] S01: After the flange is fitted onto the motor housing, it is transported to the material picking position by the loading and unloading conveyor belt. The material transfer robot picks up the material and places it on the material carrying tray.

[0052] S02: The lateral movement unit moves the material tray directly below the riveting unit. The motor shaft passes through the outer gap. At the same time, the lifting unit moves and drives the pressing head down. The unriveted connector on the motor housing enters the clearance groove. The actuating wheel contacts and presses the motor housing laterally.

[0053] S03: The initialization unit controls the drive motor to rotate the motor housing to the set initial position;

[0054] S04: Perform riveting operation: The riveting unit runs and drives the riveting head to move down and rivet once. After the sensor detects that the riveting head has moved down and riveted once, it sends a sensing signal to control the drive motor to run once after a delay relay. When the drive motor runs, it drives the dial wheel to rotate.

[0055] S05: Repeat the riveting operation until the riveting is completed;

[0056] S06: The transverse unit moves and resets the material tray, and the material transfer robot grabs the motor housing and moves it to the flatness detection mechanism to detect the flatness of the upper surface of the motor housing;

[0057] S07: The material handling robot puts motor housings that do not meet the flatness requirements into the waste recycling unit, and motor housings that meet the flatness requirements are transferred back to the loading and unloading conveyor belt;

[0058] By applying the improved method of this application, automatic riveting detection can be achieved. During riveting, the riveting position can be automatically initialized and accurately located. At the same time, the rotation of the motor housing is completed under the holding state during riveting, which can effectively save time in this step. Taking a motor with 8 riveting feet as an example, the time to complete the riveting operation of 8 feet can be shortened to less than 30 seconds, which significantly improves the riveting efficiency.

[0059] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A motor flange riveting device, characterized in that, The system includes a processing table, on which are mounted a loading / unloading conveyor belt, a transfer robot, a riveting mechanism, a flatness detection mechanism, and a waste recycling unit. The riveting mechanism, flatness detection mechanism, and waste recycling unit are sequentially distributed along the transfer direction of the transfer robot. The transfer robot is used to pick up and place workpieces from the loading / unloading conveyor belt. The riveting mechanism includes a loading platform, a loading tray, and a lateral movement unit that drives the loading tray to move laterally. The loading tray is laterally rotatably connected to the movable end of the lateral movement unit. A riveting frame is mounted on the loading platform, and the riveting frame is equipped with a riveting unit, a pressing head for pressing a flange, and a lifting unit that drives the pressing head to rise and fall. The pressing head includes a connecting arm, the front end of which is provided with a first pressing arm and a second pressing arm, both of which are arc-shaped. The first pressing arm and the second pressing arm together form a pressing ring, and the first pressing arm... There are gaps between both ends of the first and second holding arms; one of the gaps is for the motor shaft to pass through, and the other is directly opposite the riveting head of the riveting unit and has a guide surface on its peripheral surface; the lower surfaces of both the first and second holding arms are provided with clearance grooves to avoid unriveted connectors on the motor housing; the lower surface of the connecting arm is provided with a deflector wheel that rotates the motor housing and a drive unit that drives the deflector wheel to rotate. The drive unit includes a sensor, a time delay relay, a drive motor, and an initialization unit. After the sensor detects that the riveting head has riveted once, it sends a sensing signal to control the drive motor to run once with a delay under the action of the time delay relay. When the drive motor runs, it drives the deflector wheel to rotate; the initialization unit is used to control the operation of the drive motor and rotate the motor housing to a set initial position. The drive motor is inverted and mounted on the lower surface of the connecting arm; the initialization unit includes a sensing head that passes through the guide surface, the sensing head being used to sense the notch or groove on the flange; during initialization, the drive motor drives the motor housing to rotate, records the notch or groove position sensed by the sensing head, and selects one notch or groove position as the initial position, controls the drive motor to run so that the motor housing rotates, so that the selected notch or groove reaches the initial position; when in the initial position, an unriveted connector on the motor housing reaches the riveted position.

2. The motor flange riveting device according to claim 1, characterized in that, The initialization unit includes a driven gear rotatably disposed on the lower surface of the connecting arm and a rotary encoder for detecting the driven gear. A drive gear is coaxially disposed on the actuating wheel, and the drive gear meshes with the driven gear. The driven gear is located behind the actuating wheel.

3. The motor flange riveting device according to claim 1, characterized in that, A longitudinal mounting plate is slidably arranged on the riveting frame, and the connecting arm and the reinforcing plate are fixed on the mounting plate; the reinforcing plate is arranged longitudinally and one side is fixedly connected to the mounting plate, and the bottom edge of the reinforcing plate is fixedly connected to the connecting arm.

4. The motor flange riveting device according to claim 3, characterized in that, The lifting unit includes a lifting cylinder and a coupling, which is connected to the lower end of the mounting plate.

5. The motor flange riveting device according to claim 3, characterized in that, The riveting frame is equipped with a slide rail slider that connects to the mounting plate.

6. The motor flange riveting device according to claim 1, characterized in that, The inner top of the clearance groove is provided with a plurality of glass beads that press against the upper surface of the motor housing.

7. The motor flange riveting device according to claim 1, characterized in that, The flatness detection mechanism includes a detection frame and a cylinder that drives the detection frame to rise and fall. The detection frame is equipped with a detection cylinder and a pressure sensor that monitors the pressure of the detection cylinder. The outer diameter of the detection cylinder is approximately the same as that of the motor housing.

8. The motor flange riveting device according to claim 7, characterized in that, The testing frame includes an upright plate, a horizontal plate fixed to the lower end of the upright plate, multiple guide rods fixedly threaded through the horizontal plate, a testing cylinder slidably threaded through the guide rods, a first spring sleeved on the guide rods, one end of the first spring connected to the horizontal plate and the other end connected to the testing cylinder; an inverted concave frame for mounting the pressure sensor is provided on the horizontal plate, a second spring for transmitting pressure is threaded through the horizontal plate, one end of the second spring connected to the testing cylinder and the other end connected to the detection end of the pressure sensor.

9. A method for riveting a motor flange, using the motor flange riveting device as described in any one of claims 1-8, characterized in that, The method includes the following steps: After the flange is fitted onto the motor housing, it is transported to the material picking position by the loading and unloading conveyor belt. The material transfer robot picks up the material and places it on the material carrying tray. The lateral movement unit moves the material tray directly below the riveting unit. The motor shaft passes through the outer gap, and at the same time, the lifting unit moves and drives the pressing head down. The unriveted connector on the motor housing enters the clearance groove, and the actuating wheel contacts and presses the motor housing laterally. The initialization unit controls the drive motor to rotate the motor housing to the set initial position; Performing riveting operation: The riveting unit runs and drives the riveting head to move down and rivet once. After the sensor detects that the riveting head has moved down and riveted once, it sends a sensing signal to control the drive motor to run once after a delay relay. When the drive motor runs, it drives the dial wheel to rotate. Repeat the riveting operation until the riveting is complete; The transverse unit moves and resets the material tray, and the material transfer robot grabs the motor housing and moves it to the flatness detection mechanism to detect the flatness of the upper surface of the motor housing; The material handling robot places motor housings that do not meet the flatness requirements into the waste recycling unit, while motor housings that meet the flatness requirements are transferred back to the loading and unloading conveyor belt.

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