Automatic assembly production line for glue pouring and film covering of motor rotor coil and commutator

Abstract

The invention discloses an automatic assembly production line for glue pouring and film covering of a motor rotor coil and a commutator. The automatic assembly production line is used for pouring glue between the rotor coil and the commutator and forming a glue sealing ring. The cover film is further used for covering the glue sealing ring with the cover film; the cover film is a protective film, and the protective film comprises a cover film and a bottom film which are bonded up and down; the commutator is inserted into the rotor coil and combined with the rotor coil to form a rotor assembly; the device comprises a positioning carrier, a material conveying line, a jig carrying disc which is arranged on the material conveying line and moves along with the material conveying line, and a feeding unit, a glue filling unit, a curing unit and a film tearing and laminating unit which are sequentially arranged in the conveying direction of the material conveying line. Compared with the prior art, the continuous dispensing and laminating operation of the rotor coil and the commutator can be realized, the coaxiality of the rotor coil and the commutator can be ensured, the film tearing mechanism is simple and reliable, and the film tearing process is simplified.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic assembly production of motors, and in particular relates to an automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators. Background Art

[0002] The coreless motor adopts an iron coreless rotor, also called a coreless rotor. This rotor structure completely eliminates the power loss caused by the eddy current formed by the iron core, and at the same time its weight and moment of inertia are greatly reduced, thereby reducing the mechanical energy loss of the rotor itself. The main features of the coreless motor are energy saving, controllability, operation stability, high energy density, small volume with the same power, and space saving. It is widely used in aerospace, intelligent robots, medical equipment, industrial automation, etc.

[0003] When assembling the coreless motor rotor, the following procedures are required: first insert the commutator into the rotor coil, then press the vertical wire head at the top of the rotor coil horizontally, then spot weld each wire head end to connect the wire head and the commutator, and then pour glue into the spot welding end of the commutator to encapsulate the spot welding position and realize the potting reinforcement between the coreless motor rotor coil and the commutator. After the glue pouring is completed, it is also necessary to go through polishing, fine turning and other procedures. In actual production, after the glue pouring is completed, because it cannot be immediately transferred to the next process for processing or the glue pouring is not fully cured, in order to reduce external dust from entering the coil or sticking to the glue pouring place, it is necessary to stick a covering film on the outer surface of the glue after the glue pouring process is completed. The covering film plays a temporary dustproof role; when the conditions for the next process are met, the covering film can be removed. The covering film comes from the protective film, and the protective film includes a covering film and a base film bonded together. When applying the film, it is necessary to separate the base film and the covering film first, and then cover the single covering film on the glue-filled surface of one or more motor commutators (this paragraph only provides background information related to the disclosure of the present invention and does not constitute prior art).

[0004] The prior art lacks an integrated mechanism for realizing the above-mentioned glue filling and film laminating functions.

[0005] In the prior art, Chinese patent CN109245349A discloses a hollow cup motor rotor and a manufacturing method, including the following contents: In order to realize the glue filling between the rotor coil and the commutator, the method adopted is to first process the glue filling mold, then insert the rotor assembly into the glue filling mold, and inject epoxy resin. That is, the prior art discloses a specific automatic mechanism for realizing the glue filling process between the rotor coil and the commutator. The mechanism for realizing the film tearing operation alone in the prior art (publication number: CN115072061B, invention name: a double-sided rotating automatic film tearing mechanism for FPC covering film) has poor overall performance, which is specifically manifested as follows: the structure for jointly completing the film tearing operation includes a film tearing pretreatment structure (a first film sticking roller, a second film sticking roller, etc.) and a thorough film tearing structure (a separation drive component, a bottom paper clamping component, etc.), which has a complex structure and a large number, occupies a large working space, and the film tearing process includes a film tearing pretreatment, and the overall film tearing process is complex and takes a long time.

[0006] Therefore, it is necessary to provide a new automatic assembly production line for motor rotor coil and commutator glue filling and laminating to solve the above technical problems. Summary of the invention

[0007] 1. Technical issues to be resolved Based on this, the present invention provides an automatic assembly production line for glue pouring and laminating of motor rotor coils and commutator, so as to solve the technical problem of lack of an automated mechanism capable of realizing glue pouring and laminating of rotor coils and commutator in the prior art.

[0008] (II) Technical solution In order to solve the above technical problems, the present invention proposes an automatic assembly production line for glue pouring and coating of motor rotor coils and commutator, wherein the automatic assembly production line for glue pouring and coating of motor rotor coils and commutator is used to pour glue between the rotor coils and the commutator and form a glue sealing ring; the automatic assembly production line for glue pouring and coating of motor rotor coils and commutator is also used to cover the covering film on the glue sealing ring; the covering film comes from a protective film, and the protective film includes a covering film and a bottom film bonded up and down; the commutator is inserted into the rotor coil and the two are combined to form a rotor assembly; the automatic assembly production line for glue pouring and coating of motor rotor coils and commutator includes: a positioning carrier, a material conveying line, and a device A jig carrier plate is arranged on the material conveying line and moves with the material conveying line, and a loading unit, a glue pouring unit, a curing unit, and a film tearing and laminating unit are arranged in sequence along the conveying direction of the material conveying line; the positioning carrier is used to support and position the rotor assembly, and the positioning carrier includes a positioning column and a base connected up and down, the top surface of the positioning column is provided with a positioning cavity which is concave and whose shape matches the shape of the lower part of the commutator, the contour of the outer side surface of the positioning column matches the contour of the inner side surface of the rotor coil, and the positioning cavity is coaxially arranged with the positioning column; the upper surface of the jig carrier plate is provided with a concave workpiece receiving groove, and the shape of the workpiece receiving groove matches the shape of the rotor coil. The outer contour shape of the base matches the above-mentioned base; the loading unit includes a material-grabbing manipulator and a loading claw loaded on the material-grabbing manipulator; each set of rotor assemblies is sleeved on one of the positioning carriers and combined to form a set of rotor carrier assemblies; the loading claws are used to clamp the rotor carrier assemblies and transfer them into the workpiece receiving slot; the film-tearing and coating unit includes an adsorption and rotary film-tearing mechanism, and the adsorption and rotary film-tearing mechanism includes: a film-tearing support vertical frame, a film-removing roller, an adsorption and rotary film-tearing roller, a first rotary drive and a second rotary drive; the film-tearing support vertical frame is a frame structure as a whole, the film-removing roller and the adsorption and rotary film-tearing roller are arranged at intervals, and the film-removing roller and the adsorption and rotary film-tearing roller are rotatably installed on the respective positioning carriers. The film-tearing support vertical frame; the first rotary drive is installed on one side of the film-tearing support vertical frame, the first rotary drive is connected to one end of the film-tearing roller and is used to drive the film-tearing roller to rotate; the second rotary drive is installed on one side of the film-tearing support vertical frame, the second rotary drive is connected to one end of the adsorption rotary film-tearing roller and is used to drive the adsorption rotary film-tearing roller to rotate; the outer side of the adsorption rotary film-tearing roller has an adsorption plane with a planar structure, the interior of the adsorption rotary film-tearing roller is provided with an adsorption air channel formed therein, the adsorption plane is provided with a vacuum film-tearing adsorption hole connected to the adsorption air channel, and one end of the adsorption rotary film-tearing roller is provided with a rotary joint connected to the adsorption air channel. Beneficial Effects

[0009] Compared with the prior art, the present invention supports and positions the rotor assembly through a positioning carrier to ensure the coaxiality between the rotor coil and the commutator. The shape of the workpiece receiving groove of the fixture carrier is matched with the bottom of the positioning carrier, which can ensure the position accuracy after the positioning carrier is placed, and is conducive to the precise completion of the glue filling operation. The adsorption and rotary film tearing mechanism in the present invention has the advantages of simple and reliable structure. The adsorption and rotary film tearing roller adsorbs one side of the bottom film and rotates, so that the covering film and the bottom film can be completely separated. There is no separate film tearing pretreatment process, and the process is simplified. Compared with the structure of clamping and tearing off the bottom film by the clamping claw, the structure of the present invention does not require the edge of the bottom film to exceed the edge of the covering film. Regardless of whether the edge of the bottom film exceeds the edge of the covering film, the bottom film can be easily torn off, and the scope of application is wide. In addition, the present invention removes the excess protective film mistakenly sucked by the film suction manipulator through the additional film removal roller, which can solve the problem of accidentally sucking multiple protective films at a time due to the adhesion of multiple protective films when actually sucking the protective film, and can quickly and accurately complete the film tearing operation of a single protective film. The film tearing and laminating unit in the present invention applies the above-mentioned adsorption and rotary film tearing mechanism, and cooperates with the film suction manipulator and the film positioning stacking rack to quickly and accurately complete the automatic and continuous film tearing operation of a single protective film, providing conditions for the next film laminating process.

[0010] In addition, the present invention has the advantages of high integration, small overall volume and high safety, and is an integrated device for continuously realizing the glue filling and film coating operations of the rotor coil and the commutator. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0012] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 The present invention is a three-dimensional schematic diagram of a feeding unit and a glue pouring unit; Figure 3 for Figure 2 A schematic diagram of the main view; Figure 4 The present invention is a schematic diagram of the structure of the fixture carrier; Figure 5 This is a schematic diagram of the structure of the rotor coil, commutator and rubber seal ring in the present invention; Figure 6 The present invention is a schematic diagram of the structure of the rotor assembly and the positioning carrier; Figure 7 The present invention is: a schematic diagram of the main view of the protective film; Figure 8 for Figure 7 A partial enlarged view of the middle A; Fig. 9 The present invention is a bottom view schematic diagram of a protective film; Fig.10 This is a schematic diagram of the overall structure of the film peeling and laminating unit in the present invention; Fig.11 for Fig.10 A three-dimensional schematic diagram of Fig.12 The present invention is a three-dimensional schematic diagram of an adsorption and rotation film-tearing mechanism; Fig.13 This is a structural schematic diagram of the adsorption rotating film-tearing roller and related components in the present invention; Fig.14 For along Fig.13 Schematic cross-sectional view of the middle BB line; Fig.15 This is a structural schematic diagram of a membrane positioning stacking frame in the present invention; Fig.16 The present invention is a three-dimensional schematic diagram of the partial structure of the film suction robot Figure 1 ; Fig.17 The present invention is a three-dimensional schematic diagram of the partial structure of the film suction robot Figure 2 .

[0013] Description of reference numerals: 100, feeding unit; 200, glue pouring unit; 300, curing unit; 400, film peeling and laminating unit; 500, positioning carrier; 600, empty tray rising mechanism; 700, full tray descending mechanism; 00, protective film; 01, base film; 02, cover film; 03, adhesive; 04, positioning hole; 05, rotor assembly; 08, curing station; 09, film tearing station; 010, pressure holding station; 011, unloading station; 012, adhesive seal ring; 013, membrane commutator avoidance hole; 051, rotor coil; 052, commutator; 1. Adsorption and rotary film tearing mechanism; 2. Installing substrate; 3. Film suction manipulator; 4. Film positioning stacking rack; 6. Material conveying line; 7. Fixture carrier; 10. Drying oven; 0011. Air drying oven; 11. Film tearing support vertical frame; 12. Film removal roller; 13. Adsorption and rotation film tearing roller; 14. First rotation drive; 15. Second rotation drive; 16. Rotary joint; 17. Blanking guide cylinder; 18. Film tearing waist mounting plate; 19. Bottom film receiving and discharging channel; 20. Joint mounting frame; 21. Air blowing joint; 23. Film tearing rotation angle positioning sensor; 24. Film tearing photoelectric sensor; 31. Flexible adsorption component; 32. Adsorption visual module; 33. X-axis linear module; 34. Y-axis linear module; 35. Z-axis linear module; 41. Bin bottom plate; 43. Protective film stacking chamber; 44. Positioning rod; 45. Proximity sensor; 51. Loading jaws; 52. Retrieving manipulator; 61. Loading station; 62. Gluing station; 63. Laminating station; 71. Workpiece receiving slot; 82. Loading frame; 83. Loading visual module; 91. Glue filling machine; 92. Glue filling visual module; 111. Observation port; 112. Power side; 131, first connecting shaft; 132, film-tearing roller body; 133, second connecting shaft; 151. Stepper motor; 152. Toothed belt; 211, gas outlet; 311, vacuum suction cup; 312, adapter plate; 313, vacuum suction tube; 314, connecting ear plate; 315, sliding rod; 316, compression spring; 831, feeding visual mounting frame; 832, feeding camera; 921, glue-filling visual mounting frame; 922, glue-filling camera; 1311, first airway; 1321, adsorption plane; 1322, second air channel; 1323, adsorption slot; 1324, film tearing adsorption hole; 1325, first docking hole; 1326, second docking hole; 1327, first side locking pin hole; 1328, second side locking pin hole; 3111, suction hole; 3112, avoidance hole; 3113, suction cup commutator avoidance hole; 501, positioning column; 502, base; 503, set screw; 5011, positioning cavity. DETAILED DESCRIPTION

[0014] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0015] The following is combined with Figure 1-17The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutator of the present invention is further described.

[0016] Please focus on Figure 1-9The present invention discloses an automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators. The present invention is used to pour glue between the rotor coil 051 and the commutator 052 to form a glue seal ring 012; it is also used to cover the covering film 02 on the glue seal ring 012; the covering film 02 comes from the protective film 00, and the protective film 00 includes a covering film 02 and a bottom film 01 bonded up and down; the commutator 052 is inserted into the rotor coil 051 and the two are combined to form a rotor assembly 05; the automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators includes: a positioning carrier 500, a material conveying line 6, a fixture carrier 7 arranged on the material conveying line 6 and moving with the material conveying line 6, and a conveying direction along the material conveying line 6 The loading unit 100, the glue pouring unit 200, the curing unit 300, and the film tearing and laminating unit 400 are arranged in sequence; the positioning carrier 500 is used to support and position the rotor assembly 05, and the positioning carrier 500 includes a positioning column 501 and a base 502 connected up and down, and the top surface of the positioning column 501 is provided with a positioning cavity 5011 which is concave and whose shape matches the shape of the lower part of the commutator 052, and the contour of the outer side surface of the positioning column 501 matches the contour of the inner side surface of the rotor coil 051, and the positioning cavity 5011 is coaxially arranged with the positioning column 501; the upper surface of the fixture carrier 7 is provided with a concave workpiece receiving groove 71, and the shape of the workpiece receiving groove 71 matches the outer contour of the base 502; The unit 100 includes a material picking robot 52 and a feeding clamp 51 loaded on the material picking robot 52; each set of rotor components 05 is mounted on a positioning carrier 500, and is combined to form a set of rotor carrier components; the feeding clamp 51 is used to clamp the rotor carrier component and transfer it to the workpiece receiving groove 71; the film peeling and laminating unit 400 includes an adsorption and rotary film peeling mechanism 1, and the adsorption and rotary film peeling mechanism 1 includes: a film peeling support vertical frame 11, a film removal roller 12, an adsorption and rotary film peeling roller 13, a first rotary drive 14 and a second rotary drive 15; the film peeling support vertical frame 11 is a frame structure as a whole, the film removal roller 12 and the adsorption and rotary film peeling roller 13 are arranged at intervals, and the film removal roller 12 and the adsorption and rotary film peeling roller 13 are respectively rotatably installed on the film peeling On the supporting vertical frame 11; the first rotary drive 14 is installed on one side of the film tearing supporting vertical frame 11, the first rotary drive 14 is connected to one end of the film removal roller 12 and is used to drive the film removal roller 12 to rotate; the second rotary drive 15 is installed on one side of the film tearing supporting vertical frame 11, the second rotary drive 15 is connected to one end of the adsorption rotary film tearing roller 13 and is used to drive the adsorption rotary film tearing roller 13 to rotate; the outer side of the adsorption rotary film tearing roller 13 has an adsorption plane 1321 with a planar structure, the interior of the adsorption rotary film tearing roller 13 is provided with an adsorption air channel formed therein, the adsorption plane 1321 is provided with a vacuum film tearing adsorption hole 1324 connected to the adsorption air channel, and one end of the adsorption rotary film tearing roller 13 is provided with a rotary joint 16 connected to the adsorption air channel.

[0017] The structure and function of the components in this embodiment are described in detail below.

[0018] The positioning carrier 500 has two functions: one is to support the rotor assembly 05, and the other is to improve the position accuracy between the commutator 052 and the rotor coil 051. Specifically, the positioning carrier 500 itself can be placed vertically stably, and the rotor assembly 05 formed by the commutator 052 inserted into and penetrating the rotor coil 051 cannot be placed stably by itself. After the positioning carrier 500 is set, the lower part of the commutator 052 is just inserted into the positioning cavity 5011 that matches its shape, and the inner circle of the rotor coil 051 is just sleeved on the outer side of the positioning column 501; ensuring that the rotor assembly 05 is stably placed on the positioning carrier 500. Since the shape of the positioning cavity 5011 matches the shape of the lower part of the commutator 052, and the shape of the workpiece receiving groove 71 matches the outer contour of the base 502; after ensuring that the positioning cavity 5011 and the positioning column 501 are coaxially arranged, the coaxiality between the commutator 052 and the rotor coil 051 can be guaranteed. After the glue is poured and solidified, the commutator 052 and the rotor coil 051 are firmly bonded. After the positioning carrier 500 is removed subsequently, the coaxiality between the commutator 052 and the rotor coil 051 can also be guaranteed, thereby ensuring the assembly accuracy of the product.

[0019] The material conveying line 6 is used to pass through each station in turn to provide conditions for automatic continuous glue filling and film laminating operations. The material conveying line 6 is a belt drive conveying line or a chain drive conveying line.

[0020] The jig carrier plate 7 is used to hold materials. The rotor carrier assembly is accommodated in a workpiece receiving groove 71 whose shape matches the shape of the base 502, thereby ensuring the position accuracy of the rotor carrier assembly on the jig carrier plate 7. The rotor carrier assembly is confined in the workpiece receiving groove 71, thereby ensuring the position accuracy of the rotor carrier assembly when it circulates in each workstation, thereby facilitating improving the accuracy of glue pouring and coating.

[0021] The loading unit 100 is used to realize automatic loading of the rotor carrier assembly.

[0022] The material picking robot 52 is used to provide moving power for the feeding clamp 51. The material picking robot 52 is a purchased part. During specific implementation, an existing multi-axis robot can be selected according to the needs of the action, or the material picking robot 52 is assembled from multiple existing linear moving modules. The feeding clamp 51 can be an existing two-finger pneumatic clamp that can be directly purchased. The feeding clamp 51 is used to directly act on the rotor carrier assembly, and the outer side of the positioning carrier 500 is clamped by two clamping fingers arranged opposite to each other, so as to clamp the entire set of rotor carrier assemblies. The rotor carrier assembly can be sequentially loaded into the workpiece receiving groove 71 of the fixture carrier 7 through the feeding unit 100. During specific implementation, a concave arc-shaped clamping surface can be set on the inner side of the two clamping fingers of the feeding clamp 51 to form a structure that imitates the outer side of the base 502, which is conducive to stable clamping.

[0023] About the film tearing and laminating unit 400. The film tearing support vertical frame 11 is used to provide an installation foundation for components such as the film removal roller 12, the adsorption rotating film tearing roller 13, the first rotary drive 14 and the second rotary drive 15. The first rotary drive 14 and the second rotary drive 15 are both used to provide rotational power. The rotary joint 16 is used to connect an external vacuum air source (such as a vacuum pump) and an adsorption air duct to provide negative pressure adsorption power for the vacuum adsorption hole. The adsorption rotary film tearing mechanism 1 is used for film tearing of the protective film 00, and the protective film 00 includes a bonded base film 01 and a covering film 02; the film suction manipulator 3 is used to adsorb the protective film 00 and move it to the top of the film removal roller 12 and the adsorption rotating film tearing roller 13 in turn; the film removal roller 12 is used to remove the excess protective film 00 mistakenly adsorbed by the film suction manipulator 3; the adsorption rotating film tearing roller 13 is used to adsorb one side of the base film 01 and rotate it at a preset angle to separate the base film 01 and the covering film 02. When the film suction manipulator 3 absorbs the protective film 00, it absorbs one side of the protective film 00 (the side with the covering film 02). Under normal circumstances, the film suction robot 3 only sucks one protective film 00 at a time, but if adjacent protective films 00 are adhered, it may suck two or more protective films 00 at a time. When the film suction robot 3 carries the sucked protective film 00 and passes over the film removal roller 12, the film removal roller 12 rotates and removes the extra protective film 00 sucked by the film suction robot 3. Since there is only one protective film 00 directly sucked by the film suction robot 3, the protective film 00 still remains on the film suction robot 3. The angle of the adsorption rotating film tearing roller 13 is pre-set to ensure that the adsorption plane 1321 faces upward. The film suction robot 3 sucks the protective film 00 and moves it above the adsorption rotating film tearing roller 13, and fits the side of the bottom film 01 away from the film removal roller 12 with the adsorption plane 1321. This side of the bottom film 01 is adsorbed and fixed by the adsorption rotating film tearing roller 13. Under the action of the first rotary drive 14, the suction rotary film tearing roller 13 rotates a preset angle to tear off the base film 01, and the cover film 02 is still suctioned on the film suction robot 3, and is transferred to the laminating station 63 by the film suction robot 3 and covered on the rubber sealing ring 012 that needs to be coated.

[0024] The adsorption and rotary film-tearing mechanism 1 in the present invention adopts a relatively simple structure, which can reliably realize the film-tearing operation of a single protective film 00. When in use, the adsorption and rotary film-tearing roller 13 adsorbs one side of the base film 01 and rotates, so as to realize the complete separation of the covering film 02 and the base film 01. There is no separate film-tearing pretreatment process, and the process is simplified. Compared with the existing structure of clamping and tearing off the base film 01 by the clamping claws, the structure of the present invention does not require the edge of the base film 01 to exceed the edge of the covering film 02. Regardless of whether the edge of the base film 01 exceeds the edge of the covering film 02, the base film 01 can be easily torn off, and the scope of application is wide. In addition, the present invention removes the excess protective film 00 mistakenly sucked by the film-absorbing manipulator 3 through the additional film removal roller 12, which can solve the problem of accidentally sucking multiple protective films 00 at a single time due to the adhesion of multiple protective films 00 when actually sucking the protective film 00, and can quickly and accurately complete the film-tearing operation of a single protective film 00.

[0025] The film peeling and laminating unit 400 is used for peeling the protective film 00. There is adhesive 03 between the base film 01 and the covering film 02. The adhesive 03 is firmly bonded to the covering film 02. When the base film 01 is peeled off, the adhesive 03 is still on the covering film 02, so that the covering film 02 is firmly bonded to the rubber sealing ring 012 when the film is pasted.

[0026] It should be noted that when designing the present invention, the following technical problems need to be solved: how to realize automatic and continuous glue pouring and film coating operations; how to ensure the position accuracy of the rotor assembly 05 when it circulates in each workstation, and how to ensure the overall glue pouring efficiency; how to design a simple and efficient film tearing and coating structure.

[0027] The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators of this embodiment is designed for the structure of the rotor assembly 05 composed of the commutator 052 and the rotor coil 051 and their combination. The positioning carrier 500, the material conveying line 6, the fixture carrier 7, the loading unit 100, the glue pouring unit 200, the curing unit 300, and the film tearing and film coating unit 400 work together to realize automatic continuous glue pouring, curing and film coating operations. The designed positioning carrier 500 can firmly support the rotor assembly 05 and ensure the coaxiality of the rotor coil 051 and the commutator 052. The continuous operation of the rotor carrier assembly is realized by the material taking manipulator 52 cooperating with the feeding clamp 51. The carrier designed to be used in conjunction with the rotor carrier assembly cooperates with the material conveying line 6 to ensure the position accuracy of the rotor assembly 05 when it circulates in each workstation. The film tearing and film coating unit 400 has a simple structure and can efficiently realize the film tearing and film coating operations.

[0028] Please focus on Figure 16-17According to a specific embodiment of the present invention, a laminating station 63 is provided on the material conveying line 6, and the film tearing and laminating unit 400 also includes: a mounting substrate 2 and a film suction manipulator 3 and a film positioning stacking rack 4 respectively mounted on the mounting substrate 2, the film positioning stacking rack 4 is used to position the stacked protective film 00, the film suction manipulator 3 is used to absorb the protective film 00 from the film positioning stacking rack 4 and move it to the top of the film removal roller 12 and the absorption rotating film tearing roller 13 in sequence; after tearing off the base film 01, the film suction manipulator 3 is also used to transfer the covering film 02 to the laminating station 63; the protective film 00 is provided with three positioning holes 04 running through it, wherein: one side of the protective film 00 is provided with a positioning hole 04, and the other side of the protective film 00 is provided with two positioning holes 04. Please focus on Fig.15 The film positioning stacking rack 4 includes a rectangular warehouse bottom plate 41 and a positioning rod 44 fixed on the warehouse bottom plate 41, and the warehouse bottom plate 41 and the positioning rod 44 together form a protective film stacking cavity 43; the number of the positioning rods 44 is three, and when the film positioning stacking rack 4 is used to store materials, the three positioning rods 44 pass through the three positioning holes 04 in a one-to-one correspondence; the film suction manipulator 3 includes: a three-axis module installed on the mounting substrate 2 at the bottom, a flexible adsorption component 31 and an adsorption visual module 32 respectively loaded on the three-axis module; the flexible adsorption component 31 includes a vacuum suction cup 311 whose shape matches the protective film stacking cavity 43, and the bottom of the vacuum suction cup 311 A suction hole 3111 is provided, and three avoidance holes 3112 are also provided on the vacuum suction cup 311, and when the vacuum suction cup 311 extends into the protective film stacking cavity 43, the three positioning rods 44 penetrate the three avoidance holes 3112 one by one; the bottom of the positioning rod 44 is fixed to the warehouse bottom plate 41; the protective film 00 is provided with a film commutator avoidance hole 013 penetrating therethrough, and the bottom of the vacuum suction cup 311 is provided with a recessed suction cup commutator avoidance hole 3113, and when the vacuum suction cup 311 covers the covering film 02 on the rubber sealing ring 012, the upper part of the commutator 052 simultaneously penetrates the film commutator avoidance hole 013 and the suction cup commutator avoidance hole 3113.

[0029] In this embodiment, the mounting substrate 2 is used to provide a mounting base for other modules. The film positioning stacking rack 4 is used to accommodate the sequentially stacked protective films 00, and the film suction manipulator 3 is used to absorb the protective films 00 from the film positioning stacking rack 4 and sequentially move them to the top of the film removal roller 12 and the absorption rotating film tearing roller 13; after tearing off the bottom film 01, the film suction manipulator 3 is also used to transfer the covering film 02 to the laminating station 63, and use the adhesive 03 under the covering film 02 to cover and bond the covering film 02 to one or more adhesive sealing rings 012 to complete the film laminating process.

[0030] When in use, the protective films 00 are stacked one by one and the three positioning rods 44 are passed through the three positioning holes 04 of each protective film 00 one by one, ensuring that all protective films 00 in the film positioning stacking rack 4 are aligned up and down, which is conducive to the positioning and absorption of the flexible adsorption component 31. When in use, the vacuum suction cup 311 extends into the protective film stacking cavity 43, and the three positioning rods 44 are passed through the three avoidance holes 3112 one by one, ensuring that the vacuum suction cup 311 can smoothly move downward and absorb the protective film 00.

[0031] It should be noted that if a traditional frame or box-shaped silo structure is used to accommodate the protective film 00, the requirements for the external dimensions of the protective film 00 are high. If the protective film 00 has different external shapes, or the protective film 00 is not precisely fitted to the silo wall (especially after the protective film 00 is stacked to a high height), the position accuracy of the protective film 00 cannot be guaranteed. The film positioning stacking frame 4 of this embodiment is simple and practical in structure. It can ensure the accuracy of the position of the protective film 00 by using a simple positioning rod 44 in conjunction with the positioning hole 04, and it is not easy to deform after stacking.

[0032] Since the upper part of the commutator 052 is a shaft-shaped protrusion, in order to ensure that the covering film 02 is smoothly attached to the rubber seal ring 012, the film commutator avoidance hole 013 and the suction cup commutator avoidance hole 3113 are used to avoid the shaft-shaped protrusion on the upper part of the commutator 052, which is conducive to the smooth attachment of the covering film 02 to the rubber seal ring 012. In specific implementation, the depth of the suction cup commutator avoidance hole 3113 can be reasonably set according to the height of the shaft-shaped protrusion on the upper part of the commutator 052, and the suction cup commutator avoidance hole 3113 can be set as a through hole if necessary.

[0033] According to a specific embodiment of the present invention, the film positioning stacking rack 4 also includes a proximity sensor 45 for detecting the presence of material. The lower end of the proximity sensor 45 is mounted on the mounting substrate 2, and the upper end of the proximity sensor 45 extends into the bottom of the protective film stacking cavity 43.

[0034] In this embodiment, the proximity sensor is used to detect whether there is a protective film 00 in the film positioning stacking rack 4. When the protective film 00 is exhausted, the proximity sensor 45 detects that there is no material and can send a refill signal to the electrical control system.

[0035] More specifically, there are two film positioning stacking racks 4. When the protective film 00 on one film positioning stacking rack 4 is exhausted, the vacuum suction cup 311 sucks the protective film 00 in another film positioning stacking rack 4, and at the same time replenishes the exhausted film positioning stacking rack 4 to ensure continuous operation.

[0036] According to a specific embodiment of the present invention, the adsorption and rotary film tearing mechanism 1 also includes: a blanking material guide cylinder 17, a film tearing waist mounting plate 18 and a blowing unit. The blanking material guide cylinder 17 is fixed to the lower part of the film tearing support vertical frame 11. The blanking material guide cylinder 17 and the film tearing support vertical frame 11 together form a bottom film receiving and discharging channel 19. The blowing unit includes: a joint mounting frame 20 and a blowing joint 21 mounted on the joint mounting frame 20. One end of the blowing joint 21 has an air outlet 211. The blowing joint 21 is located between the film removal roller 12 and the adsorption and rotary film tearing roller 13, and the air outlet 211 faces the bottom film receiving and discharging channel 19.

[0037] In this embodiment, the air blowing connector 21 is used to introduce pressurized gas, and the pressurized gas is used to blow the material (the bottom film 01 torn off by the adsorption rotating film tearing roller 13 and the excess protective film 00 rolled off by the film removal roller 12) to the bottom of the groove of the bottom film receiving and discharging channel 19 in time, effectively avoiding the situation where the material sticks to the adsorption rotating film tearing roller 13 or the film removal roller 12, and is conducive to the bottom film receiving and discharging channel 19 to accommodate more materials, which is conducive to smooth and continuous film tearing operations. In this embodiment, the film tearing waist mounting plate 18, the blanking guide cylinder 17 and the film tearing support vertical frame 11 are an integrated structure, and the blanking guide cylinder 17 is used to guide the fallen material to the bottom of the mounting base plate 2.

[0038] More specifically, the two opposite sides of the film tearing support vertical frame 11 are respectively a power side 112 and an observation side, and the observation side is provided with an observation port 111 connected to the bottom film receiving and discharging channel 19; the first rotary drive 14 and the second rotary drive 15 are both located on the power side 112; there are two film tearing waist mounting plates 18, and the two film tearing waist mounting plates 18 are respectively fixed to the outer middle section of the film tearing support vertical frame 11; the joint mounting frame 20 is installed on the top of the power side 112.

[0039] In this embodiment, when in use, the film tearing waist mounting plate 18 is fixed to the mounting substrate 2, and the material guide cylinder 17 is located below the mounting substrate 2, so as to facilitate the smooth discharge of the material (the base film 01 torn off by the adsorption rotating film tearing roller 13 and the excess protective film 00 rolled off by the film removal roller 12).

[0040] The film tearing support vertical frame 11 has both supporting and receiving functions. Specifically, the bottom film receiving and discharging channel 19 is mainly used to receive the bottom film 01 torn off by the adsorbed rotating film tearing roller 13, and the bottom film receiving and discharging channel 19 is also used to receive the protective film 00 rolled off by the film removal roller 12. The observation port 111 is convenient for observing the material suction situation. The power side 112 is used for centralized installation of the rotating power parts, and the observation side is arranged opposite to the power side 112. This design is conducive to improving the safety of the adsorbed rotating film tearing mechanism 1.

[0041] More specifically, the film removal roller 12 is cylindrical, and bristles are distributed on the outside of the film removal roller 12. In this embodiment, the bristles (not shown) rotate with the film removal roller 12, and can simply and reliably sweep off the excess protective film 00 sucked by the suction manipulator.

[0042] More specifically, there are multiple air blowing joints 21, and the multiple air blowing joints 21 are sequentially spaced along the direction from the adsorbing rotating film tearing roller 13 to the film removing roller 12. In this embodiment, the structure is used to form a pressure air curtain, and the effect of blowing away the material is better.

[0043] Please focus on Figure 12-14 According to a specific embodiment of the present invention, the adsorption rotating film-tearing roller 13 includes: a first connecting shaft 131, a film-tearing roller body 132, and a second connecting shaft 133 which are fixedly connected in sequence; the first connecting shaft 131 is cylindrical as a whole, the second connecting shaft 133 is cylindrical as a whole, the film-tearing roller body 132 is a rectangular plate as a whole, and the top surface of the film-tearing roller body 132 is an adsorption plane 1321; the adsorption air channel includes: a first air channel 1311 formed in the first connecting shaft 131 and a second air channel 1322 formed in the film-tearing roller body 132, the first air channel 1311 passes through the first connecting shaft 131, one end of the second air channel 1322 is connected to one end of the first air channel 1311, and the other end of the second air channel 1322 is connected to the first air channel 1311. The end extends into the film-tearing roller body 132; the rotary joint 16 is installed on the side of the first connecting shaft 131 away from the film-tearing roller body 132, and the rotary joint 16 is connected to the other end of the first air duct 1311; the vacuum adsorption hole includes a rectangular adsorption groove 1323 and a plurality of film-tearing adsorption holes 1324 arranged side by side in a line, the first connecting shaft 131 and the second connecting shaft 133 are coaxial, the adsorption groove 1323 is located directly above the axis of the first connecting shaft 131, and the film-tearing adsorption hole 1324 is arranged on the side of the adsorption groove 1323 away from the film-tearing roller 12; the second rotary drive 15 is a structure driven by a toothed belt 152 driven by a stepping motor 151; and the second rotary drive 15 is connected to the outer wall of the first connecting shaft 131.

[0044] In this embodiment, the adsorption rotating film-tearing roller 13 is composed of three sections: a first connecting shaft 131, a film-tearing roller body 132, and a second connecting shaft 133, which is convenient for segmented processing and assembly. The first connecting shaft 131 and the second connecting shaft 133 are both cylindrical, which is convenient for forming a rotating connection structure with the film-tearing support vertical frame 11. The film-tearing roller body 132 is a rectangular plate as a whole, which can form a large adsorption plane 1321, which can ensure that the film-tearing roller body 132 has enough area to adsorb the bottom film 01; it can also ensure that there is enough space to form an adsorption groove 1323 and a film-tearing adsorption hole 1324.

[0045] For the vacuum adsorption holes, if they are individually set into a plurality of rectangular adsorption grooves 1323, the adsorption grooves 1323 are a long continuous structure, and the protective film 00 is easily deformed by suction. If they are individually set into a circular small tearing film adsorption hole 1324 structure, the adsorption force is small and it is difficult to adsorb stably. In this embodiment, the adsorption grooves 1323 and the tearing film adsorption holes 1324 are used in combination to ensure the adsorption force while avoiding deformation by suction as much as possible. The specific analysis is as follows: the adsorption grooves 1323 are elongated rectangles as a whole, which can provide a large adsorption force. The tearing film adsorption holes 1324 are circular holes or elliptical holes, preferably circular holes. The tearing film adsorption holes 1324 are arranged in a line with a plurality of small circular holes set at intervals, which are used to disperse the adsorption positions. When adsorbing the bottom film 01, since the edge of the protective film 00 is more easily deformed by suction than other parts, the distance between the adsorption grooves 1323 and the edge of the bottom film 01 is greater than the distance between the tearing film adsorption holes 1324 and the edge of the bottom film 01, and the protective film 00 is less likely to be deformed by suction.

[0046] In this embodiment, the belt transmission structure cooperates with the rotary joint 16 to realize the rotation of the adsorption rotary film tearing roller 13, and will not affect the connection of the vacuum air source. Specifically, the rotary joint 16 is an existing purchased part, one end of the rotary joint 16 is connected to the end of the first connecting shaft 131, and rotates with the adsorption rotary film tearing roller 13, the other end of the rotary joint 16 is used to connect to the vacuum air source, the second rotary drive 15 adopts a belt transmission structure driven by a motor, and the second rotary drive 15 is connected to the outer side wall of the first connecting shaft 131. One end of the first connecting shaft 131 is used to connect to the rotary joint 16, and the outer side wall of the first connecting shaft 131 is used to connect to the second rotary drive 15, which can realize the simultaneous connection of the vacuum air source and the rotary power.

[0047] More specifically, the two ends of the film-tearing roller body 132 are respectively provided with a recessed first docking hole 1325 and a second docking hole 1326, one end of the first connecting shaft 131 is inserted into the first docking hole 1325, and one end of the second connecting shaft 133 is inserted into the second docking hole 1326; the side portion of the film-tearing roller body 132 is provided with a first side locking pin hole 1327 connected to the first docking hole 1325, and a lateral locking screw is provided in the first side locking pin hole 1327, and the lateral locking screw abuts against and fixes the outer side wall of the first connecting shaft 131; the side portion of the film-tearing roller body 132 is provided with a second side locking pin hole 1328 connected to the second docking hole 1326 A lateral locking screw is provided in the second side locking pin hole 1328, and the lateral locking screw abuts and fixes the outer wall of the second connecting shaft 133; the first connecting shaft 131 and the second connecting shaft 133 are respectively rotatably connected to the film tearing support vertical frame 11 via bearings; a film tearing rotation angle positioning sensor piece 23 is fixedly provided on the side of the second connecting shaft 133 away from the second docking hole 1326, and a film tearing rotation angle positioning sensor piece 23 is provided below the film tearing rotation angle positioning sensor piece 23, which is used in conjunction with the film tearing rotation angle positioning sensor piece 23 and is used to detect the rotation angle of the adsorbed rotating film tearing roller 13; the film tearing photoelectric sensor 24 is fixed on the side wall of the film tearing support vertical frame 11.

[0048] In this embodiment, the first connecting shaft 131 and the second connecting shaft 133 are respectively plugged into the film tearing roller body 132 and locked with locking screws, which is conducive to improving the stability of the connection and improving the compactness of the structure. The film tearing rotation angle positioning sensor sheet 23 rotates with the adsorption rotating film tearing roller 13, and the film tearing photoelectric sensor 24 senses the film tearing rotation angle positioning sensor sheet 23 passing by, and can obtain the rotation angle information of the adsorption rotating film tearing roller 13, provide angle information for the electrical control system, and provide conditions for realizing the precise control of the rotation angle of the adsorption rotating film tearing roller 13.

[0049] According to a specific embodiment of the present invention, the film tearing waist mounting plate 18 is fixed on the mounting base plate 2, the blanking guide cylinder 17 is located below the mounting base plate 2, and the bottom film receiving discharge channel 19 passes through the mounting base plate 2; the three-axis module includes: an X-axis linear module 33 mounted on the mounting base plate 2, a Y-axis linear module 34 loaded on the X-axis linear module 33, and a Z-axis linear module 35 loaded on the Y-axis linear module 34, and the flexible adsorption component 31 and the adsorption visual module 32 are respectively loaded side by side on the Z-axis linear module 35; the flexible adsorption component 31 also includes: an adapter plate 312, a vacuum suction pipe 313 and a connecting ear plate 31 4; The adapter plate 312 is in the shape of a rectangular corner plate as a whole, the lower part of the vacuum suction tube 313 is fixed to the vacuum suction cup 311, and the vacuum suction tube 313 is connected to the suction hole 3111, and the upper part of the vacuum suction tube 313 passes through the adapter plate 312 and is fixed on the adapter plate 312; the connecting ear plate 314 is fixed on the Z-axis linear module 35, and a sliding rod 315 is fixed on the top of the adapter plate 312, the sliding rod 315 passes through the connecting ear plate 314, and the top of the sliding rod 315 is located above the connecting ear plate 314, and a compression spring 316 is provided between the adapter plate 312 and the connecting ear plate 314, and the compression spring 316 is sleeved on the sliding rod 315.

[0050] The flexible adsorption component 31 and the adsorption visual module 32 move together with the three-axis module. The adsorption visual module 32 is an existing direct outsourced part. The adsorption visual module 32 is composed of a camera, a lens, a light source, an adjustment structure, etc., and is used for photo positioning. It can accurately obtain the position information of the film positioning stacking rack 4, the film removal roller 12, the adsorption rotating film tearing roller 13, the laminating station 63, etc., and combine with the electrical control system to control the action of the three-axis module to accurately move the flexible adsorption component 31 to the required station to realize fully automated film tearing operations. When in use, the upper part of the vacuum pipette 313 is connected to a vacuum air source to ultimately provide suction for the suction hole 3111 to absorb the protective film 00.

[0051] When the three-axis module carries the protective film 00 and moves downward to contact with components (such as the film removal roller 12, the adsorbed rotating film tearing roller 13 and the stacked protective film 00), the compression spring 316 is compressed to avoid direct collision with the components, achieve flexible contact, and improve the safety of use; and when laminating, the covering film 02 is attached to the workpiece. After the lamination is completed, the elasticity of the compression spring 316 is used to maintain the pressure for a period of time, which is conducive to the flat and stable lamination of the covering film 02, without the need to add a special pressure-maintaining mechanism. The overall volume of the present invention is further reduced.

[0052] Please focus on Figure 6According to a specific embodiment of the present invention, the base 502 is generally cylindrical and annular, the lower part of the positioning column 501 is inserted into the base 502 and is slidably connected to the base 502, a locking screw hole is provided on the outer side of the base 502, and a locking screw 503 is provided in the locking screw for limiting the relative sliding between the positioning column 501 and the base 502.

[0053] In this embodiment, the structure can be used to adjust the distance that the upper portion of the positioning column 501 extends from the base 502 to match different lengths of the rotor coil 051 , thereby expanding the applicable scope of the positioning carrier 500 .

[0054] According to a specific embodiment of the present invention, the loading unit 100 further includes a loading frame 82 , and the loading frame 82 is used to place the rotor carrier assembly.

[0055] In this embodiment, the loading frame 82 is located at the input end of the material conveying line 6, and the loading frame 82 is frame-shaped as a whole.

[0056] According to a specific embodiment of the present invention, the loading unit 100 also includes a loading vision module 83; the loading vision module 83 is used to take pictures to determine the position information of the rotor carrier assembly, the workpiece receiving slots 71 are distributed in a rectangular array, and the protective film 00 is rectangular as a whole; the picking robot 52 is used to grab the rotor carrier assembly from the loading frame 82 and place it into the workpiece receiving slot 71 according to the position information of the rotor carrier assembly determined by the loading vision module 83.

[0057] Please focus on Figure 2-3 According to a specific embodiment of the present invention, a loading station 61 is also provided on the material conveying line 6, and the discharge bin is located on one side of the loading station 61. The loading vision module 83 includes: a loading vision mounting frame 831 located directly above the loading frame 82 and the loading station 61, and a loading camera 832 installed on the loading vision mounting frame 831.

[0058] In the present embodiment, the loading vision mounting frame 831 is a fixed mounting structure. After the loading camera 832 is installed on the loading vision mounting frame 831, it can take a picture of the loading frame 82, obtain the front and back sides and position information of the workpiece in the loading frame 82, and send it to the picking robot 52. The loading camera 832 can also take a picture of the fixture carrier 7 located at the loading station 61, obtain the position information of the workpiece receiving slot 71 in the fixture carrier 7, and send it to the picking robot 52. The picking robot 52 clamps the rotor carrier assembly according to the position information of the rotor carrier assembly, and places it in the workpiece receiving slot 71.

[0059] Compared with the structure in which the visual camera is mounted on the material picking robot 52, in this embodiment, the loading camera 832 is a fixed structure. The material picking robot 52 does not need to be moved to the top of the loading frame 82 or the loading station 61, and can obtain the position information of the rotor carrier assembly and the workpiece receiving slot 71 to be loaded in advance, thereby improving the loading efficiency of the material picking robot 52.

[0060] More specifically, there are two loading stations 61, and the two loading stations 61 are arranged at intervals along the conveying direction of the material conveying line 6; there is also a glue pouring station 62 on the material conveying line 6, and the glue pouring unit 200 includes a glue pouring machine 91 and a glue pouring vision module 92. The glue pouring machine 91 is installed on one side of the glue pouring station 62, and the glue pouring vision module 92 includes: a glue pouring vision mounting frame 921 installed directly above the glue pouring station 62, and a glue pouring camera 922 installed on the camera mounting frame. The glue pouring machine 91 is used to pour glue between the rotor coil 051 and the commutator 052 according to the position information obtained by the glue pouring vision module 92.

[0061] In this embodiment, since the material taking manipulator 52 needs to go back and forth multiple times to complete the loading of a jig carrier plate 7, two loading stations 61 are set up to cooperate with a glue filling station 62, which can avoid waiting, ensure continuous glue filling operation, and further improve glue filling efficiency. The glue filling camera 922 is used to provide the glue filling machine 91 with the position information of the rotor carrier assembly to be filled with glue. Similar to the material feeding camera 832, the glue filling camera 922 is a fixed structure. The position information of the rotor carrier assembly to be filled with glue can be obtained in advance without the manipulator of the glue filling machine 91 being moved to the top of the glue filling station 62, which can further improve the glue filling efficiency.

[0062] More specifically, the material conveying line 6 passes through the curing unit 300, and the curing unit 300 includes a drying oven 10 and an air drying oven 0011 which are sequentially arranged along the conveying direction of the material conveying line 6. The position corresponding to the curing unit 300 is the curing station 08.

[0063] In this embodiment, the workpiece after glue filling passes through the drying oven 10 and the air drying oven 0011 in sequence to achieve rapid curing.

[0064] More specifically, the material taking manipulator 52 is a four-axis horizontal robot, and the upper part of the material feeding clamp 51 is loaded on the end of the four-axis horizontal robot. In this embodiment, a four-axis horizontal robot is used, and the overall occupied volume is smaller.

[0065] It should be noted that in the present invention, the visual module and the four-axis horizontal robot can be directly purchased. The present invention does not disclose its specific structure in detail, which does not affect the full disclosure of the present invention. The visual module is used for positioning and detection of the loading frame 82, the material picking, and the glue filling.

[0066] The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators of the present invention includes a structure for realizing the functions of loading, glue pouring, curing, film tearing, laminating, pressure holding and unloading. The actions of each part of the structure are all independent actions, corresponding to: loading station 61, glue pouring station 62, curing station 08, film tearing station 09, laminating station 63, pressure holding station 010, and unloading station 011.

[0067] The loading of the empty jig carrier plate 7 can be achieved by the empty plate lifting mechanism 600 located at the front end of the material conveying line 6, and the unloading of the full plate after lamination can be achieved by the full plate descending mechanism 700 located at the rear end of the material conveying line 6. The structures of the empty plate lifting mechanism 600 and the full plate descending mechanism 700 can be symmetrical to each other, including a lifting plate and a lifting power for driving the lifting plate to rise and fall.

[0068] It should be noted that the present invention is designed to realize automatic glue filling and coating of hollow cup motor rotor coils and commutators, and can also be applied to other workpieces with similar structures that require continuous glue dispensing and coating.

[0069] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

Claims

1. An automatic assembly production line for motor rotor coils and commutator glue filling and laminating, characterized in that: The automatic assembly production line for glue pouring and film coating of motor rotor coil and commutator is used to pour glue between the rotor coil and the commutator to form a glue sealing ring; the automatic assembly production line for glue pouring and film coating of motor rotor coil and commutator is also used to cover the covering film on the glue sealing ring; the covering film comes from the protective film, and the protective film includes a covering film and a bottom film bonded up and down; the commutator is inserted into the rotor coil and the two are combined to form a rotor assembly; The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators comprises: a positioning carrier, a material conveying line, a fixture carrier arranged on the material conveying line and moving with the material conveying line, and a loading unit, a glue pouring unit, a curing unit, and a film peeling and film coating unit arranged in sequence along the conveying direction of the material conveying line; the positioning carrier is used to support and position the rotor assembly, and the positioning carrier comprises a positioning column and a base connected up and down, and the top surface of the positioning column is provided with a depression whose shape matches the shape of the lower part of the commutator A positioning cavity, wherein the contour of the outer side surface of the positioning column matches the contour of the inner side surface of the rotor coil, and the positioning cavity is coaxially arranged with the positioning column; a concave workpiece receiving groove is arranged on the upper surface of the fixture carrier, and the shape of the workpiece receiving groove matches the outer contour shape of the base; the loading unit comprises a material picking manipulator and a loading clamp loaded on the material picking manipulator; each set of rotor assemblies is sleeved on one of the positioning carriers, and combined to form a set of rotor carrier assemblies; the loading clamp is used to clamp the rotor carrier assembly and transfer it into the workpiece receiving groove; The film-tearing and laminating unit comprises an adsorption and rotary film-tearing mechanism, and the adsorption and rotary film-tearing mechanism comprises: a film-tearing supporting vertical frame, a film-removing roller, an adsorption and rotary film-tearing roller, a first rotation drive and a second rotation drive; the film-tearing supporting vertical frame is a frame structure as a whole, and the film-tearing roller and the adsorption and rotary film-tearing roller are arranged at intervals, and the film-tearing roller and the adsorption and rotary film-tearing roller are rotatably installed on the film-tearing supporting vertical frame; the first rotation drive is installed on one side of the film-tearing supporting vertical frame, and the first rotation drive is connected to one end of the film-tearing roller and is used to drive the film-tearing roller to rotate; the outer side of the adsorption and rotary film-tearing roller has an adsorption plane with a planar structure, and the interior of the adsorption and rotary film-tearing roller is provided with an adsorption air channel formed therein, and the adsorption plane is provided with a vacuum film-tearing adsorption hole connected to the adsorption air channel, and one end of the adsorption and rotary film-tearing roller is provided with a rotary joint connected to the adsorption air channel.

2. The automatic assembly production line for motor rotor coil and commutator glue pouring and film coating according to claim 1 is characterized in that: The material conveying line is provided with a laminating station, and the film tearing and coating unit also includes: an installation base plate and a film suction manipulator and a film positioning stacking rack respectively installed on the installation base plate, wherein the film positioning stacking rack is used to position the stacked protective film, and the film suction manipulator is used to absorb the protective film from the film positioning stacking rack and move it in turn above the film removal roller and the adsorption rotating film tearing roller; after tearing off the base film, the film suction manipulator is also used to move the covering film to the laminating station; the protective film is provided with three positioning holes running through it, wherein: one side of the protective film is provided with one positioning hole, and the other side of the protective film is provided with two positioning holes; the film positioning stacking rack includes a rectangular warehouse bottom plate and a positioning rod fixed on the warehouse bottom plate, and the warehouse bottom plate and the positioning rod together form a protective film stacking cavity; the number of the positioning rods is three, and the film is positioned and stacked by using When the rack is storing materials, the three positioning rods pass through the three positioning holes in a one-to-one correspondence; the film suction manipulator comprises: a three-axis module with a bottom installed on the mounting base plate, a flexible adsorption component and an adsorption vision module respectively loaded on the three-axis module; the flexible adsorption component comprises a vacuum suction cup whose shape matches the protective film stacking cavity, a suction hole is provided at the bottom of the vacuum suction cup, and three avoidance holes passing through the vacuum suction cup are also provided on the vacuum suction cup. When the vacuum suction cup extends into the protective film stacking cavity, the three positioning rods pass through the three avoidance holes one by one; the bottom of the positioning rod is fixed to the bottom plate of the warehouse; the protective film is provided with a film commutator avoidance hole passing through it, and the bottom of the vacuum suction cup is provided with a recessed suction cup commutator avoidance hole. When the vacuum suction cup covers the covering film on the rubber sealing ring, the upper part of the commutator simultaneously passes through the film commutator avoidance hole and the suction cup commutator avoidance hole.

3. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 2 is characterized in that: The membrane positioning stacking rack also includes a proximity sensor for detecting the presence of material, the lower end of the proximity sensor is mounted on the mounting substrate, and the upper end of the proximity sensor extends into the bottom of the protective film stacking cavity; the number of the membrane positioning stacking racks is two.

4. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 3 is characterized in that: The adsorption and rotary film tearing mechanism also includes: a blanking guide cylinder, a film tearing waist mounting plate and a blowing unit, the blanking guide cylinder is fixed to the lower part of the film tearing support vertical frame, the blanking guide cylinder and the film tearing support vertical frame together form a bottom film receiving and discharging channel, the blowing unit includes: a joint mounting frame and a blowing joint mounted on the joint mounting frame, one end of the blowing joint has an air outlet, the blowing joint is located between the film removal roller and the adsorption and rotary film tearing roller, and the air outlet faces the bottom film receiving and discharging channel; the opposite sides of the film tearing support vertical frame are respectively A power side and an observation side, the observation side is provided with an observation port connected to the bottom film receiving and discharging channel; the first rotary drive and the second rotary drive are both located on the power side; there are two film tearing waist mounting plates, and the two film tearing waist mounting plates are respectively fixed to the outer middle sections of the film tearing support vertical frame; the joint mounting frame is installed on the top of the power side; the film removal roller is cylindrical, and bristles are distributed on the outer side of the film removal roller; there are multiple air blowing joints, and the multiple air blowing joints are arranged in sequence along the direction from the adsorption rotating film tearing roller to the film removal roller.

5. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 4 is characterized in that: The adsorption rotary film-tearing roller comprises: a first connecting shaft, a film-tearing roller body and a second connecting shaft which are fixedly connected in sequence; the first connecting shaft is cylindrical as a whole, the second connecting shaft is cylindrical as a whole, the film-tearing roller body is rectangular plate-shaped as a whole, and the top surface of the film-tearing roller body is the adsorption plane; the adsorption air channel comprises: a first air channel formed in the first connecting shaft and a second air channel formed in the film-tearing roller body, the first air channel runs through the first connecting shaft, one end of the second air channel is connected to one end of the first air channel, and the other end of the second air channel extends into the film-tearing roller body; the rotary joint is installed on the side of the first connecting shaft away from the film-tearing roller body, and the rotary joint is connected to the other end of the first air channel; the vacuum adsorption hole comprises a rectangular adsorption groove and a plurality of film-tearing adsorption holes arranged side by side in a line, the first connecting shaft and the second connecting shaft are coaxial, the adsorption groove is located directly above the axis of the first connecting shaft, and the film-tearing adsorption hole is arranged on the side of the adsorption groove away from the film-tearing roller; the second rotary drive is a toothed belt transmission structure driven by a stepping motor; and the second rotary drive and the The outer wall of the first connecting shaft is connected; the two ends of the film-tearing roller body are respectively provided with a concave first docking hole and a second docking hole, one end of the first connecting shaft is inserted into the first docking hole, and one end of the second connecting shaft is inserted into the second docking hole; the side of the film-tearing roller body is provided with a first side locking pin hole connected with the first docking hole, and a lateral locking screw is provided in the first side locking pin hole, and the lateral locking screw abuts and fixes the outer wall of the first connecting shaft; the side of the film-tearing roller body is provided with a second side locking pin hole connected with the second docking hole, and a lateral locking screw is provided in the second side locking pin hole, and the lateral locking screw abuts and fixes the outer wall of the second connecting shaft; the first connecting shaft and the second connecting shaft are respectively connected to the film-tearing support vertical frame for rotation via bearings; a film-tearing rotation angle positioning sensing sheet is fixedly provided on the side of the second connecting shaft away from the second docking hole, and a film-tearing photoelectric sensor used in conjunction with the film-tearing rotation angle positioning sensing sheet and used to detect the rotation angle of the adsorption and rotation film-tearing roller is provided below the film-tearing photoelectric sensor; the film-tearing photoelectric sensor is fixed on the side wall of the film-tearing support vertical frame.

6. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 5 is characterized in that: The film tearing waist mounting plate is fixed on the mounting base plate, the blanking guide cylinder is located below the mounting base plate, and the bottom film receiving and discharging channel passes through the mounting base plate; The three-axis module includes: an X-axis linear module installed on the mounting base plate, a Y-axis linear module loaded on the X-axis linear module, and a Z-axis linear module loaded on the Y-axis linear module, and the flexible adsorption component and the adsorption visual module are respectively loaded side by side on the Z-axis linear module; the flexible adsorption component also includes: an adapter plate, a vacuum suction pipe and a connecting ear plate; the adapter plate is in the shape of a rectangular corner plate as a whole, the lower part of the vacuum suction pipe is fixed to the vacuum suction cup, and the vacuum suction pipe is connected to the suction hole, and the upper part of the vacuum suction pipe passes through the adapter plate and is fixed on the adapter plate; the connecting ear plate is fixed on the Z-axis linear module, and a sliding rod is fixed on the top of the adapter plate, the sliding rod passes through the connecting ear plate, and the top of the sliding rod is located above the connecting ear plate, and a compression spring is provided between the adapter plate and the connecting ear plate, and the compression spring is sleeved on the sliding rod.

7. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 6 is characterized in that: The base is in the shape of a cylindrical ring as a whole, the lower part of the positioning column is inserted into the base and is slidably connected to the base, a locking screw hole is provided on the outer side of the base, and a set screw for limiting the relative sliding between the positioning column and the base is provided in the locking screw.

8. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 7 is characterized in that: The loading unit further comprises a loading frame, and the loading frame is used for placing the rotor carrier assembly.

9. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 8 is characterized in that: The loading unit also includes a loading vision module; the loading vision module is used to take pictures to determine the position information of the rotor carrier assembly, the workpiece receiving slots are distributed in a rectangular array, and the protective film is rectangular as a whole; the picking robot is used to grab the rotor carrier assembly from the loading frame and place it into the workpiece receiving slot according to the position information of the rotor carrier assembly determined by the loading vision module.

10. The automatic assembly production line for glue pouring and film coating of motor rotor coils and commutators according to claim 9, characterized in that: The material conveying line is also provided with a loading station, the discharge bin is located at one side of the loading station, and the loading vision module includes: a loading vision mounting frame located directly above the loading frame and the loading station, and a loading camera installed on the loading vision mounting frame; there are two loading stations, and the two loading stations are arranged at intervals along the conveying direction of the material conveying line; the material conveying line is also provided with a glue filling station, the glue filling unit includes a glue filling machine and a glue filling vision module, the glue filling machine is installed at one side of the glue filling station, and the glue filling vision module includes: a glue filling vision mounting frame installed directly above the glue filling station, and a glue filling camera installed on the camera mounting frame, the glue filling machine is used to fill glue between the rotor coil and the commutator according to the position information obtained by the glue filling vision module; the material conveying line runs through the curing unit, and the curing unit includes a drying furnace and an air drying furnace arranged in sequence along the conveying direction of the material conveying line.

Images