Automatic assembly line for motor rotor coils and commutator glue casting and lamination

Abstract

This invention discloses an automated assembly line for glue application and film coating of motor rotor coils and commutators. The line is used to apply glue between the rotor coil and the commutator to form a sealant ring; it also covers the sealant ring with a cover film. The cover film is derived from a protective film, which includes an upper and lower adhesive cover film and a bottom film. The commutator is inserted into the rotor coil, and the two components combine to form a rotor assembly. The invention includes: a positioning carrier, a material conveying line, a fixture tray positioned on and moving along the material conveying line, and a feeding unit, a glue application unit, a curing unit, and a film peeling and coating unit arranged sequentially along the conveying direction of the material conveying line. Compared with existing technologies, this invention enables continuous glue application and film coating of the rotor coil and commutator, ensures the coaxiality of the rotor coil and commutator, and features a simple and reliable film peeling mechanism and a streamlined film peeling process.

Description

Technical Field

[0001] This invention belongs to the field of automatic motor assembly and production technology, and particularly relates to an automatic assembly production line for potting and coating motor rotor coils and commutators. Background Technology

[0002] Coreless motors utilize a coreless rotor, also known as a hollow cup rotor. This rotor structure completely eliminates energy losses caused by eddy currents formed in the iron core, while significantly reducing its weight and moment of inertia, thereby minimizing mechanical energy losses. Key features of coreless motors include energy efficiency, controllability, operational stability, high energy density, and small size for the same power output, saving space. They are widely used in aerospace, intelligent robotics, medical equipment, and industrial automation.

[0003] Assembling the rotor of a coreless motor involves the following steps: First, insert the commutator into the rotor coil. Then, press the vertical ends of the rotor coils horizontally. Next, spot weld each wire end to connect the wire and the commutator. Then, apply adhesive to the spot-welded ends of the commutator to seal the spot welds and reinforce the connection between the coreless motor rotor coil and the commutator. After adhesive application, polishing and precision machining are required. In actual production, after adhesive application, if the process cannot be immediately transferred to the next step or the adhesive has not fully cured, a covering film is applied to the outer surface of the adhesive after the adhesive application process to reduce external dust from entering the coil or adhering to the adhesive application area. The covering film serves as a temporary dustproof measure; it is removed when conditions are suitable for the next step. The cover film is derived from the protective film, which includes an upper and lower cover film and a bottom film that are bonded together. When applying the film, the bottom film and the cover film need to be separated first, and then a single cover film is applied to the glued surface of one or more motor commutators (this paragraph only provides background information related to the disclosure of this invention and does not constitute prior art).

[0004] The existing technology lacks an integrated mechanism to achieve the above-mentioned glue-filling and film-coating functions.

[0005] In the prior art, Chinese patent CN109245349A discloses a hollow cup motor rotor and its manufacturing method, including the following: To achieve glue filling between the rotor coil and the commutator, the method is to first process a glue filling mold, then insert the rotor assembly into the glue filling mold, and inject epoxy resin. That is, the prior art does not disclose a specific automated mechanism for the glue filling process between the rotor coil and the commutator. The existing mechanism for separately performing the film-tearing operation (publication number: CN115072061B, invention title: A double-sided rotating automatic film-tearing mechanism for FPC cover film) has poor overall performance. Specifically, the structure that jointly completes the film-tearing operation includes a film-tearing pretreatment structure (first adhesive roller, second adhesive roller, etc.) and a complete film-tearing structure (separation drive component, bottom paper clamping component, etc.), which is complex and numerous, occupies a large working space, and the film-tearing process, including the film-tearing pretreatment, is complex and time-consuming.

[0006] Therefore, it is necessary to provide a new automated assembly line for potting and coating motor rotor coils and commutators to solve the above-mentioned technical problems. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] Based on this, the present invention provides an automated assembly line for potting and coating motor rotor coils and commutators, in order to solve the technical problem that the prior art lacks an automated mechanism capable of potting and coating rotor coils and commutators.

[0009] (II) Technical Solution

[0010] To address the aforementioned technical problems, this invention proposes an automated assembly line for potting and coating a motor rotor coil and commutator. This automated assembly line is used to pot adhesive between the rotor coil and the commutator to form a sealant ring. It also covers the sealant ring with a cover film. The cover film is derived from a protective film, which includes an upper and lower adhesive cover film and a bottom film. The commutator is inserted into the rotor coil, and the two components are combined to form a rotor assembly. The automated assembly line for potting and coating a motor rotor coil and commutator includes: a positioning carrier, a material conveying line, and a [missing information - likely a device or equipment]. The fixture carrier is located on the material conveying line and moves with the material conveying line, and a feeding unit, a dispensing unit, a curing unit, and a film-peeling and coating unit are arranged sequentially along the conveying direction of the material conveying line; the positioning carrier is used to support the rotor assembly and position the rotor assembly, and the positioning carrier includes a positioning column and a base connected vertically, the top surface of the positioning column is provided with a recessed positioning cavity whose shape matches the lower shape of the commutator, the outline of the outer side of the positioning column matches the outline of the inner side of the rotor coil, and the positioning cavity is coaxially arranged with the positioning column; the upper surface of the fixture carrier is provided with a recessed workpiece receiving groove, the shape of which matches the shape of the workpiece receiving groove. The outer contour shape of the base is matched; the feeding unit includes a picking robot and a feeding gripper mounted on the picking robot; each rotor assembly is fitted onto one of the positioning carriers and combined to form a rotor carrier assembly; the feeding gripper is used to hold the rotor carrier assembly and transfer it into the workpiece receiving slot; the film-tearing and coating unit includes an adsorption rotary film-tearing mechanism, which includes: a film-tearing support frame, a film-removing roller, an adsorption rotary film-tearing roller, a first rotary drive, and a second rotary drive; the film-tearing support frame is a frame structure, the film-removing roller and the adsorption rotary film-tearing roller are spaced apart, and the film-removing roller and the adsorption rotary film-tearing roller are rotatably mounted on the positioning carrier. The film-tearing support frame is described above; a first rotary drive is installed on one side of the film-tearing support frame, and the first rotary drive is connected to one end of the film-removing roller and is used to drive the film-removing roller to rotate; a second rotary drive is installed on one side of the film-tearing support frame, and 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 inside 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 communicating with the adsorption air channel, and one end of the adsorption rotary film-tearing roller is provided with a rotary joint communicating with the adsorption air channel. Beneficial effects

[0011] Compared with existing technologies, this invention uses a positioning carrier to support and position the rotor assembly, ensuring the coaxiality between the rotor coil and the commutator. The shape of the workpiece receiving groove on the fixture carrier plate matches the bottom of the positioning carrier, ensuring the positional accuracy of the positioning carrier after placement, which is beneficial for accurately completing the glue-pouring operation. The adsorption-rotating film-tearing mechanism in this invention has the advantages of simple and reliable structure. The adsorption-rotating film-tearing roller adsorbs one side of the bottom film and rotates, which can achieve complete separation of the cover film and the bottom film, without a separate film-tearing pretreatment process, simplifying the process. Compared with the structure of gripping and tearing the bottom film by claws, the structure of this invention does not require the edge of the bottom film to exceed the edge of the cover film. Regardless of whether the edge of the bottom film exceeds the edge of the cover film, the bottom film can be easily torn, making it widely applicable. Moreover, this invention removes excess protective film accidentally sucked up by the suction robot by adding a film-removing roller, which can solve the problem of multiple protective films being accidentally sucked up at one time due to adhesion of multiple protective films during actual suction, and can quickly and accurately complete the film-tearing operation of a single protective film. The film-peeling and film-coating unit in this invention utilizes the aforementioned adsorption-rotation film-peeling mechanism, which, in conjunction with the film-suction robot and the film positioning and stacking frame, can quickly and accurately complete the automatic continuous film-peeling operation of a single protective film, providing conditions for the next film-coating process.

[0012] In addition, the present invention has the advantages of high integration, small overall size and high safety, and is an integrated device for continuously realizing the glue filling and film coating operations of rotor coil and commutator. Attached Figure Description

[0013] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, 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.

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a three-dimensional schematic diagram of the feeding unit and the dispensing unit in this invention;

[0016] Figure 3 for Figure 2 The main schematic diagram of

[0017] Figure 4 This is a schematic diagram of the structure of the jig carrier in this invention;

[0018] Figure 5 This is a schematic diagram of the structure of the rotor coil, commutator, and sealing ring in this invention;

[0019] Figure 6This is a schematic diagram of the rotor assembly and positioning carrier in this invention;

[0020] Figure 7 This is a front view schematic diagram of the protective film in this invention;

[0021] Figure 8 for Figure 7 A magnified view of a section at point A in the middle;

[0022] Figure 9 This is a bottom view of the protective film in this invention;

[0023] Figure 10 This is a schematic front view of the overall structure of the film-peeling and film-coating unit in this invention.

[0024] Figure 11 for Figure 10 A three-dimensional schematic diagram;

[0025] Figure 12 This is a three-dimensional schematic diagram of the adsorption-rotation tearing film mechanism in this invention;

[0026] Figure 13 This is a schematic diagram of the structure of the adsorption rotating film-tearing roller and related components in this invention;

[0027] Figure 14 For along Figure 13 Schematic diagram of the cross section of the middle BB line;

[0028] Figure 15 This is a schematic diagram of the structure of the diaphragm positioning and stacking frame in this invention;

[0029] Figure 16 This is a three-dimensional schematic diagram of a portion of the structure of the membrane suction robot in this invention. Figure 1 ;

[0030] Figure 17 This is a three-dimensional schematic diagram of a portion of the structure of the membrane suction robot in this invention. Figure 2 .

[0031] Explanation of reference numerals in the attached figures:

[0032] 100. Feeding unit; 200. Dispensing unit; 300. Curing unit; 400. Film peeling and coating unit; 500. Positioning carrier; 600. Empty pallet lifting mechanism; 700. Fully loaded pallet lowering mechanism;

[0033] 00. Protective film; 01. Base film; 02. Covering film; 03. Adhesive; 04. Positioning hole; 05. Rotor assembly; 08. Curing station; 09. Film peeling station; 010. Pressure holding station; 011. Unloading station; 012. Sealing ring; 013. Membrane commutator clearance hole;

[0034] 051. Rotor coil; 052. Commutator;

[0035] 1. Adsorption and rotary film-tearing mechanism; 2. Mounting substrate; 3. Film suction robot; 4. Film positioning and stacking rack; 6. Material conveying line; 7. Fixture tray; 10. Drying oven; 0011. Air drying oven;

[0036] 11. Film-tearing support frame; 12. Film-removing roller; 13. Adsorption rotating film-tearing roller; 14. First rotation drive; 15. Second rotation drive; 16. Rotary joint; 17. Material discharge guide cylinder; 18. Film-tearing waist mounting plate; 19. Bottom film receiving and discharge channel; 20. Joint mounting frame; 21. Air blowing joint; 23. Film-tearing rotation angle positioning sensor; 24. Film-tearing photoelectric sensor;

[0037] 31. Flexible adsorption component; 32. Adsorption vision module; 33. X-axis linear module; 34. Y-axis linear module; 35. Z-axis linear module;

[0038] 41. Silo bottom plate; 43. Protective film stacking cavity; 44. Positioning rod; 45. Proximity sensor;

[0039] 51. Feeding gripper; 52. Material handling robot;

[0040] 61. Material loading station; 62. Glue dispensing station; 63. Bonding station;

[0041] 71. Workpiece receiving groove;

[0042] 82. Feeding frame; 83. Feeding vision module;

[0043] 91. Dispensing machine; 92. Dispensing vision module;

[0044] 111. Observation port; 112. Power side;

[0045] 131. First connecting shaft; 132. Film tearing roller body; 133. Second connecting shaft;

[0046] 151. Stepper motor; 152. Toothed belt;

[0047] 211. Gas outlet;

[0048] 311. Vacuum suction cup; 312. Adapter plate; 313. Vacuum suction tube; 314. Connecting ear plate; 315. Sliding rod; 316. Compression spring;

[0049] 831. Loading vision mounting frame; 832. Loading camera;

[0050] 921. Glue-dispensing vision mounting frame; 922. Glue-dispensing camera;

[0051] 1311. First airway;

[0052] 1321. Adsorption plane; 1322. Second air passage; 1323. Adsorption groove; 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;

[0053] 3111, Suction hole; 3112, Clearance hole; 3113, Suction cup commutator clearance hole;

[0054] 501. Positioning pin; 502. Base; 503. Set screw;

[0055] 5011, Positioning cavity. Detailed Implementation

[0056] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0057] The following is in conjunction with the appendix Figure 1-17 The automated assembly line for potting and coating motor rotor coils and commutators according to the present invention will be further described.

[0058] Please refer to this carefully. Figure 1-9This invention discloses an automated assembly line for potting and coating a motor rotor coil and commutator. The invention is used to pot glue between the rotor coil 051 and the commutator 052 to form a sealing ring 012; it is also used to cover the sealing ring 012 with a covering film 02. The covering film 02 is derived from a protective film 00, which includes an upper and lower adhesive covering film 02 and a bottom film 01. The commutator 052 is inserted into the rotor coil 051, and the two are combined to form a rotor assembly 05. The automated assembly line for potting and coating a motor rotor coil and commutator includes: a positioning carrier 500, a material conveying line 6, a fixture carrier 7 disposed on the material conveying line 6 and moving along the material conveying line 6, and a conveying method along the material conveying line 6. The system includes a feeding unit 100, a dispensing unit 200, a curing unit 300, and a film-peeling and coating unit 400 arranged sequentially. A positioning carrier 500 supports and positions the rotor assembly 05. The positioning carrier 500 includes a positioning post 501 and a base 502 connected vertically. The top surface of the positioning post 501 has a recessed positioning cavity 5011 whose shape matches the lower part of the commutator 052. The outline of the outer side of the positioning post 501 matches the outline of the inner side of the rotor coil 051. The positioning cavity 5011 is coaxially arranged with the positioning post 501. The upper surface of the fixture carrier 7 has a recessed workpiece receiving groove 71, the shape of which matches the outer contour of the base 502. The feeding... Unit 100 includes a material handling robot 52 and a loading gripper 51 mounted on the material handling robot 52; each rotor assembly 05 is mounted on a positioning carrier 500 and combined to form a rotor carrier assembly; the loading gripper 51 is used to hold the rotor carrier assembly and transfer it into the workpiece receiving groove 71; the film peeling and coating unit 400 includes an adsorption rotary film peeling mechanism 1, which includes: a film peeling support frame 11, a film removal roller 12, an adsorption rotary film peeling roller 13, a first rotary drive 14, and a second rotary drive 15; the film peeling support frame 11 is a frame structure, the film removal roller 12 and the adsorption rotary film peeling roller 13 are spaced apart, and the film removal roller 12 and the adsorption rotary film peeling roller 13 are rotatably mounted on the film peeling frame. On the support frame 11; a first rotary drive 14 is installed on one side of the film-tearing support frame 11, the first rotary drive 14 is connected to one end of the film-removing roller 12 and is used to drive the film-removing roller 12 to rotate; a second rotary drive 15 is installed on one side of the film-tearing support 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 inside 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 communicating with the adsorption air channel, and one end of the adsorption rotary film-tearing roller 13 is provided with a rotary joint 16 communicating with the adsorption air channel.

[0059] The structure and function of the components in this embodiment will be described in detail below.

[0060] The positioning carrier 500 serves two purposes: first, to support the rotor assembly 05; and second, to improve the positional accuracy between the commutator 052 and the rotor coil 051. Specifically, the positioning carrier 500 itself can be placed stably and vertically. The rotor assembly 05, formed by the commutator 052 inserting into and passing through the rotor coil 051, cannot be placed stably on its own. After setting the positioning carrier 500, the lower part of the commutator 052 is precisely inserted into the positioning cavity 5011, which matches its shape, and the inner ring of the rotor coil 051 is precisely fitted onto the outer side of the positioning post 501; thus ensuring that the rotor assembly 05 is placed stably on the positioning carrier 500. Since the shape of the positioning cavity 5011 matches the lower shape of the commutator 052, and the shape of the workpiece receiving groove 71 matches the outer contour of the base 502, ensuring that the positioning cavity 5011 and the positioning column 501 are coaxially set will ensure the coaxiality between the commutator 052 and the rotor coil 051. After the glue is potted and cured, the commutator 052 and the rotor coil 051 are firmly bonded. After the positioning carrier 500 is removed, the coaxiality between the commutator 052 and the rotor coil 051 can also be guaranteed, thus ensuring the assembly accuracy of the product.

[0061] Material conveyor line 6 passes sequentially through each workstation, providing conditions for automated continuous glue dispensing and laminating operations. Material conveyor line 6 is either a belt-driven conveyor line or a chain-driven conveyor line.

[0062] The jig tray 7 is used to hold materials. The rotor carrier assembly is received by the workpiece receiving groove 71, which matches the shape of the base 502. This ensures the positional accuracy of the rotor carrier assembly on the jig tray 7. The rotor carrier assembly is confined within the workpiece receiving groove 71, which ensures the positional accuracy of the rotor carrier assembly when it moves to each station, thereby improving the accuracy of dispensing and coating.

[0063] The feeding unit 100 is used to realize the automatic feeding of the rotor carrier assembly.

[0064] The picking robot 52 provides the moving power for the loading gripper 51. The picking robot 52 is an outsourced component; in practice, an existing multi-axis robot can be selected based on the action requirements, or the picking robot 52 can be assembled from multiple existing linear motion modules. The loading gripper 51 can be an existing, directly available two-finger pneumatic gripper. The loading gripper 51 acts directly on the rotor carrier assembly, gripping the outer side of the positioning carrier 500 through its two opposing gripping fingers, thereby achieving the gripping of the entire rotor carrier assembly. The loading unit 100 can sequentially load the rotor carrier assembly into the workpiece receiving slot 71 of the fixture tray 7. In practice, the inner sides of the two gripping fingers of the loading gripper 51 can be provided with concave arc-shaped gripping surfaces to form a structure that conforms to the outer side of the base 502, facilitating stable gripping.

[0065] Regarding the film-tearing and coating unit 400: The film-tearing support frame 11 provides a mounting base for components such as the film-removing roller 12, the adsorption rotary film-tearing roller 13, the first rotary drive 14, and the second rotary drive 15. Both the first rotary drive 14 and the second rotary drive 15 provide rotational power. The rotary joint 16 connects an external vacuum source (such as a vacuum pump) to the adsorption air channel, providing negative pressure adsorption power for the vacuum adsorption holes. The adsorption rotary film-tearing mechanism 1 is used for the film-tearing operation of the protective film 00, which includes an adhesive base film 01 and a cover film 02. The suction robot 3 is used to adsorb the protective film 00 and move it sequentially above the film-removing roller 12 and the adsorption rotary film-tearing roller 13. The film-removing roller 12 is used to remove excess protective film 00 that is mistakenly sucked up by the suction robot 3. The adsorption rotary 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 cover film 02. When the suction robot 3 sucks up the protective film 00, it sucks up one side of the protective film 00 (the side with the cover film 02). Normally, the suction robot 3 picks up only one protective film 00 at a time. However, if adjacent protective films 00 stick together, it may pick up two or even more protective films 00 at a time. When the suction robot 3 carries the picked-up protective film 00 over the film removal roller 12, the film removal roller 12 rotates and removes the extra protective film 00 picked up by the suction robot 3. Since only one protective film 00 is directly picked up by the suction robot 3, this protective film 00 remains on the suction robot 3. The angle of the adsorption rotating film tearing roller 13 is preset to ensure that the adsorption plane 1321 faces upward. The suction robot 3 picks up the protective film 00 and moves it above the adsorption rotating film tearing roller 13, adhering the side of the bottom film 01 away from the film removal roller 12 to 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 rotation drive 14, the adsorption rotating film-tearing roller 13 rotates at a preset angle to tear off the bottom film 01. The cover film 02 is still adsorbed on the film suction robot 3 and is transferred by the film suction robot 3 to the lamination station 63 and covered on the adhesive sealing ring 012 that needs to be laminated.

[0066] The adsorption-rotational film-tearing mechanism 1 of this invention adopts a relatively simple structure, reliably realizing the film-tearing operation of a single protective film 00. In use, the adsorption-rotational film-tearing roller 13 adsorbs one side of the bottom film 01 and rotates, thus achieving complete separation of the cover film 02 and the bottom film 01. There is no separate film-tearing pretreatment process, simplifying the process. Compared to existing structures that use grippers to hold and tear off the bottom film 01, the structure of this invention does not require the edge of the bottom film 01 to extend beyond the edge of the cover film 02. Regardless of whether the edge of the bottom film 01 extends beyond the edge of the cover film 02, the bottom film 01 can be easily torn off, making it widely applicable. Furthermore, this invention, by adding a film-removing roller 12 to remove excess protective film 00 mistakenly sucked up by the film-suction robot 3, solves the problem of multiple protective films 00 being mistakenly sucked up at once due to adhesion during actual film suction, enabling fast and accurate completion of the film-tearing operation of a single protective film 00.

[0067] The film peeling and coating unit 400 is used for the film peeling operation of the protective film 00. There is an adhesive 03 between the bottom film 01 and the cover film 02. The adhesive 03 is firmly bonded to the cover film 02. When the bottom film 01 is peeled off, the adhesive 03 is still on the cover film 02, which makes it easy for the cover film 02 to be firmly bonded to the adhesive sealing ring 012 when applying the film.

[0068] It should be noted that the following technical problems need to be solved when designing this invention: how to realize automatic continuous glue dispensing and film coating operations; how to ensure the positional accuracy of the rotor assembly 05 when it flows through each station, and how to ensure the overall glue dispensing efficiency; and how to design a simple and efficient film peeling and film coating structure.

[0069] This embodiment of the automated assembly line for glue filling and film coating of motor rotor coils and commutators is designed for the structure of the rotor assembly 05, which consists of the commutator 052, the rotor coil 051, and their combination. The positioning carrier 500, material conveying line 6, jig tray 7, feeding unit 100, glue filling unit 200, curing unit 300, and film peeling and coating unit 400 work together to achieve automated and continuous glue filling, curing, and film coating operations. The designed positioning carrier 500 can stably 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 achieved through the use of a material handling robot 52 and a feeding gripper 51. The tray designed to work with the rotor carrier assembly, in conjunction with the material conveying line 6, ensures the positional accuracy of the rotor assembly 05 as it moves through each station. The film peeling and coating unit 400 has a simple structure and can efficiently perform film peeling and coating operations.

[0070] Please refer to this carefully. Figure 16-17According to a specific embodiment of the present invention, the material conveying line 6 is provided with a bonding station 63. The film peeling and coating unit 400 further includes: a mounting base plate 2 and a film suction robot 3 and a film positioning stacking frame 4 respectively mounted on the mounting base plate 2. The film positioning stacking frame 4 is used to position the stacked protective film 00. The film suction robot 3 is used to suction the protective film 00 from the film positioning stacking frame 4 and move it sequentially above the film removal roller 12 and the suction rotating film peeling roller 13. After peeling off the bottom film 01, the film suction robot 3 is also used to transfer the cover film 02 to the bonding station 63. The protective film 00 is provided with three positioning holes 04 penetrating through it, wherein: one positioning hole 04 is provided on one side of the protective film 00, and two positioning holes 04 are provided on the other side of the protective film 00. Please refer to the following for details. Figure 15 The film positioning and stacking frame 4 includes a rectangular bottom plate 41 and positioning rods 44 fixed on the bottom plate 41. The bottom plate 41 and the positioning rods 44 together form a protective film stacking cavity 43. There are three positioning rods 44, and when storing materials using the film positioning and stacking frame 4, the three positioning rods 44 pass through the three positioning holes 04 one by one. The film suction robot 3 includes: a three-axis module mounted on the mounting base plate 2, a flexible adsorption component 31 and an adsorption vision module 32 respectively mounted 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. Below the vacuum suction cup 311 The vacuum suction cup 3111 is provided with a suction hole 3111 and three clearance holes 3112 that pass through it. When the vacuum suction cup 311 is inserted into the protective film stacking cavity 43, the three positioning rods 44 pass through the three clearance holes 3112 one by one. The bottom of the positioning rods 44 is fixed to the bottom plate 41. The protective film 00 is provided with a membrane commutator clearance hole 013 that passes through it. The bottom of the vacuum suction cup 311 is provided with a recessed suction cup commutator clearance hole 3113. When the vacuum suction cup 311 covers the covering film 02 onto the sealing ring 012, the upper part of the commutator 052 passes through both the membrane commutator clearance hole 013 and the suction cup commutator clearance hole 3113.

[0071] In this embodiment, the mounting base 2 is used to provide a mounting foundation for other modules. The film positioning and stacking rack 4 is used to accommodate the protective films 00 stacked sequentially. The suction robot 3 is used to suction the protective films 00 from the film positioning and stacking rack 4 and move them sequentially above the film removal roller 12 and the suction rotating film tearing roller 13. After removing the bottom film 01, the suction robot 3 is also used to transfer the cover film 02 to the bonding station 63. Using the adhesive 03 under the cover film 02, the cover film 02 is covered and bonded to one or more adhesive sealing rings 012 to complete the film bonding process.

[0072] In use, the protective films 00 are stacked one by one, with three positioning rods 44 corresponding to the three positioning holes 04 of each protective film 00, ensuring that all the protective films 00 in the film positioning and stacking frame 4 are aligned vertically, which facilitates the positioning and suction of the flexible adsorption component 31. In use, the vacuum suction cup 311 extends into the protective film stacking cavity 43, with the three positioning rods 44 corresponding to the three clearance holes 3112, ensuring that the vacuum suction cup 311 can move downward smoothly and adsorb the protective film 00.

[0073] It should be noted that if a traditional frame or box-shaped silo structure is used to house the protective film 00, the external dimensions of the protective film 00 are critical. If the protective film 00 has an inconsistent shape, or if it does not fit precisely against the silo wall (especially after the protective film 00 is stacked to a high height), the accuracy of the protective film 00's position cannot be guaranteed. The film positioning and stacking frame 4 of this embodiment has a simple and practical structure. By using a simple positioning rod 44 in conjunction with the positioning hole 04, the accuracy of the protective film 00's position can be guaranteed, and it is not easy for it to deform after stacking.

[0074] Since the upper part of the commutator 052 has a shaft-shaped protrusion, in order to ensure that the cover film 02 can be smoothly applied to the sealing ring 012, both the membrane commutator clearance hole 013 and the suction cup commutator clearance hole 3113 are used to avoid the shaft-shaped protrusion on the upper part of the commutator 052, which facilitates the smooth application of the cover film 02 to the sealing ring 012. In specific implementation, the depth of the suction cup commutator clearance hole 3113 can be reasonably set according to the height of the shaft-shaped protrusion on the upper part of the commutator 052. If necessary, the suction cup commutator clearance hole 3113 can be set as a through hole.

[0075] According to a specific embodiment of the present invention, the membrane positioning stacking rack 4 further includes a proximity sensor 45 for detecting the presence or absence of material. The lower end of the proximity sensor 45 is mounted on the mounting base plate 2, and the upper end of the proximity sensor 45 extends into the bottom of the protective membrane stacking cavity 43.

[0076] In this embodiment, the proximity sensor is used to detect whether there is a protective film 00 in the diaphragm positioning stacking rack 4. When the protective film 00 is exhausted, the proximity sensor 45 detects the lack of material and can send a replenishment signal to the electrical control system.

[0077] More specifically, there are two diaphragm positioning stacking frames 4. When the protective film 00 on one diaphragm positioning stacking frame 4 is exhausted, the vacuum suction cup 311 picks up the protective film 00 from the other diaphragm positioning stacking frame 4, and at the same time replenishes the diaphragm positioning stacking frame 4 that has run out of material, so as to ensure continuous operation.

[0078] According to a specific embodiment of the present invention, the adsorption rotary film-tearing mechanism 1 further includes: a material feeding guide cylinder 17, a film-tearing waist mounting plate 18, and a blowing unit. The material feeding guide cylinder 17 is fixed to the lower part of the film-tearing support vertical frame 11. The material feeding guide cylinder 17 and the film-tearing support vertical frame 11 together form a bottom film receiving and discharge channel 19. The blowing unit includes: a connector mounting frame 20 and an air blowing connector 21 mounted on the connector mounting frame 20. One end of the air blowing connector 21 has an air outlet 211. The air blowing connector 21 is located between the film removal roller 12 and the adsorption rotary film-tearing roller 13, and the air outlet 211 faces the bottom film receiving and discharge channel 19.

[0079] In this embodiment, the air blowing connector 21 is used to introduce pressurized gas, which is used to blow the material (the bottom film 01 torn off by the adsorption rotary tearing roller 13 and the excess protective film 00 rolled off by the film removal roller 12) to the bottom of the bottom film receiving and discharging channel 19 in a timely manner. This effectively avoids the material from sticking to the adsorption rotary tearing roller 13 or the film removal roller 12, and allows the bottom film receiving and discharging channel 19 to hold more material, which is conducive to the smooth and continuous tearing operation. In this embodiment, the tearing waist mounting plate 18, the material drop guide cylinder 17, and the tearing support vertical frame 11 are integrated into one structure. The material drop guide cylinder 17 is used to guide the falling material to the bottom of the mounting base plate 2.

[0080] More specifically, the two sides of the film-tearing support frame 11 are the power side 112 and the observation side, respectively. The observation side is provided with an observation port 111 that connects to the bottom film receiving and discharge 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 frame 11. The joint mounting bracket 20 is installed on the top of the power side 112.

[0081] In this embodiment, during use, the film-tearing waist mounting plate 18 is fixed to the mounting base plate 2, and the material discharge guide cylinder 17 is located below the mounting base plate 2, which facilitates the smooth discharge of materials (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).

[0082] The film-tearing support frame 11 serves both as a support and a storage unit. Specifically, the bottom film receiving and discharging channel 19 is mainly used to receive the bottom film 01 torn off by the adsorption rotating film-tearing roller 13, and also to receive the protective film 00 that rolls off the film removal roller 12. The observation port 111 facilitates observation of the material suction. The power side 112 is used to centrally install the rotating power components, and the observation side is positioned opposite to the power side 112. This design helps improve the safety of the adsorption rotating film-tearing mechanism 1.

[0083] More specifically, the film removal roller 12 is cylindrical, and bristles are distributed on the outer side of the film removal roller 12. In this embodiment, the bristles (not shown) rotate with the film removal roller 12, which can easily and reliably sweep away the excess protective film 00 picked up by the suction robot.

[0084] More specifically, there are multiple air blowing joints 21, and these joints are arranged at intervals along the direction from the adsorption rotating film-tearing roller 13 to the film-removing roller 12. In this embodiment, this structure facilitates the formation of a pressure air curtain, resulting in a better effect of blowing away the material.

[0085] Please refer to this carefully. Figure 12-14 According to a specific embodiment of the present invention, the adsorption rotary tearing roller 13 includes, in sequence, a first connecting shaft 131, a tearing roller body 132, and a second connecting shaft 133; the first connecting shaft 131 is cylindrical in shape, the second connecting shaft 133 is cylindrical in shape, the tearing roller body 132 is rectangular plate in shape, and the top surface of the tearing roller body 132 is an adsorption plane 1321; the adsorption air passage includes a first air passage 1311 formed in the first connecting shaft 131 and a second air passage 1322 formed in the tearing roller body 132, the first air passage 1311 penetrates the first connecting shaft 131, one end of the second air passage 1322 communicates with one end of the first air passage 1311, and the other end of the second air passage 1322... The end extends into the body 132 of the film-tearing roller; the rotary joint 16 is installed on the side of the first connecting shaft 131 away from the body 132 of the film-tearing roller, and the rotary joint 16 is connected to the other end of the first air passage 1311; the vacuum adsorption hole includes a rectangular adsorption groove 1323 and a plurality of film-tearing adsorption holes 1324 arranged in a row, 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 holes 1324 are located on the side of the adsorption groove 1323 away from the film-removing roller 12; the second rotary drive 15 is a structure driven by a toothed belt 152 driven by a stepper motor 151; and the second rotary drive 15 is connected to the outer wall of the first connecting shaft 131.

[0086] In this embodiment, the adsorption rotary 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 facilitates segmented processing and assembly. Both the first connecting shaft 131 and the second connecting shaft 133 are cylindrical, which facilitates forming a rotating connection structure with the film-tearing support frame 11. The film-tearing roller body 132 is generally rectangular plate-shaped. This structure can form a large adsorption plane 1321, ensuring that the film-tearing roller body 132 has sufficient area to adsorb the bottom film 01; it also ensures sufficient space to form the adsorption groove 1323 and the film-tearing adsorption hole 1324.

[0087] For the vacuum adsorption holes, if they are individually configured as multiple rectangular adsorption grooves 1323, the adsorption grooves 1323 are long and continuous structures, and the protective film 00 is easily deformed by adsorption. If they are individually configured as small circular tear-off adsorption holes 1324, the adsorption force is small and it is difficult to achieve stable adsorption. In this embodiment, the adsorption grooves 1323 and tear-off adsorption holes 1324 are used in combination to ensure adsorption force while minimizing adsorption deformation. The specific analysis is as follows: The adsorption grooves 1323 are generally long and narrow rectangles, which can provide a large adsorption force. The tear-off adsorption holes 1324 are round or elliptical holes, preferably round holes. The tear-off adsorption holes 1324 consist of multiple small round holes arranged in a row at intervals to disperse the adsorption position. When adsorbing the bottom film 01, since the edges of the protective film 00 are more easily deformed 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 tear-off adsorption holes 1324 and the edge of the bottom film 01, making it less likely for the protective film 00 to be deformed by adsorption.

[0088] In this embodiment, the belt drive structure, in conjunction with the rotary joint 16, enables the rotation of the adsorption-rotating film-tearing roller 13 without affecting the connection of the vacuum source. Specifically, the rotary joint 16 is a readily available purchased component. One end of the rotary joint 16 is connected to the end of the first connecting shaft 131 and rotates with the adsorption-rotating film-tearing roller 13. The other end of the rotary joint 16 is used to connect to the vacuum source. The second rotation drive 15 adopts a motor-driven belt drive structure and is connected to the outer 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 one outer wall of the first connecting shaft 131 is used to connect to the second rotation drive 15, enabling simultaneous connection of the vacuum source and rotational power.

[0089] More specifically, the two ends of the tear film roller body 132 are respectively provided with a recessed first mating hole 1325 and a second mating hole 1326. One end of the first connecting shaft 131 is inserted into the first mating hole 1325, and one end of the second connecting shaft 133 is inserted into the second mating hole 1326. The side of the tear film roller body 132 is provided with a first side locking pin hole 1327 communicating with the first mating hole 1325. A side locking screw is provided in the first side locking pin hole 1327, and the side locking screw abuts and fixes the outer side wall of the first connecting shaft 131. The side of the tear film roller body 132 is provided with a second side locking pin hole 1328 communicating with the second mating hole 1326. A lateral locking screw is provided in the second side locking pin hole 1328, and the lateral locking screw abuts against and fixes the outer side wall of the second connecting shaft 133; the first connecting shaft 131 and the second connecting shaft 133 are rotatably connected to the film-tearing support frame 11 via bearings; a film-tearing rotation angle positioning sensor 23 is fixedly provided on the side of the second connecting shaft 133 away from the second docking hole 1326, and a film-tearing photoelectric sensor 24 is provided below the film-tearing rotation angle positioning sensor 23 for use in conjunction with the film-tearing rotation angle positioning sensor 23 and for detecting the rotation angle of the adsorption rotating film-tearing roller 13; the film-tearing photoelectric sensor 24 is fixed on the side wall of the film-tearing support frame 11.

[0090] In this embodiment, the first connecting shaft 131 and the second connecting shaft 133 are respectively inserted into the body 132 of the film-tearing roller and locked with locking screws, which helps to improve the stability of the connection and the compactness of the structure. The film-tearing rotation angle positioning sensor 23 rotates with the adsorption rotating film-tearing roller 13. When the film-tearing photoelectric sensor 24 senses the passing of the film-tearing rotation angle positioning sensor 23, it can obtain the rotation angle information of the adsorption rotating film-tearing roller 13, providing angle information to the electrical control system and providing conditions for the precise control of the rotation angle of the adsorption rotating film-tearing roller 13.

[0091] According to a specific embodiment of the present invention, the film-tearable waist mounting plate 18 is fixed on the mounting base plate 2, the material discharge guide cylinder 17 is located below the mounting base plate 2, and the bottom film receiving and discharge channel 19 penetrates 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 mounted on the X-axis linear module 33, and a Z-axis linear module 35 mounted on the Y-axis linear module 34; the flexible adsorption component 31 and the adsorption vision module 32 are respectively mounted side by side on the Z-axis linear module 35; the flexible adsorption component 31 further includes: an adapter plate 312, a vacuum suction tube 313, and a connecting ear plate 31. 4; The adapter plate 312 is generally rectangular. 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. 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. The top of the adapter plate 312 is fixed with a sliding rod 315. 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. A compression spring 316 is provided between the adapter plate 312 and the connecting ear plate 314. The compression spring 316 is sleeved on the sliding rod 315.

[0092] The flexible adsorption component 31 and the adsorption vision module 32 move together with the three-axis module. The adsorption vision module 32 is an existing directly purchased component, consisting of a camera, lens, light source, and adjustment structure, used for image positioning. It can accurately acquire the position information of the film positioning stacking frame 4, the film removal roller 12, the adsorption rotating film-tearing roller 13, and the bonding station 63. Combined with the electrical control system, it controls the movement of the three-axis module, precisely moving the flexible adsorption component 31 to the required station to achieve fully automated film-tearing operation. In use, the upper part of the vacuum suction tube 313 is connected to a vacuum air source to ultimately provide suction force to the suction hole 3111, sucking up the protective film 00.

[0093] When the three-axis module carrying the protective film 00 moves downwards to contact the components (such as the film removal roller 12, the adsorption rotating film-tearing roller 13, and the stacked protective film 00), the compression spring 316 is compressed, which avoids direct impact with the components, achieving flexible contact and improving safety during use. Furthermore, during film application, the covering film 02 is applied to the workpiece, and after application, the elasticity of the compression spring 316 maintains pressure for a period of time, ensuring a smooth and stable adhesion of the covering film 02, eliminating the need for an additional dedicated pressure-maintaining mechanism. This further reduces the overall size of the invention.

[0094] Please refer to this carefully. Figure 6According to a specific embodiment of the present invention, the base 502 is generally cylindrical and annular. The lower part of the positioning post 501 is inserted into the base 502 and slidably connected to the base 502. The outer side of the base 502 is provided with a locking screw hole, and the locking screw is provided with a set screw 503 for limiting the relative sliding between the positioning post 501 and the base 502.

[0095] In this embodiment, the structure allows for adjustment of the distance by which the upper part of the positioning column 501 extends out of the base 502 to match the length of different rotor coils 051, thereby expanding the applicability of the positioning carrier 500.

[0096] According to a specific embodiment of the present invention, the feeding unit 100 further includes a feeding frame 82, which is used to place the rotor carrier assembly.

[0097] In this embodiment, the feeding frame 82 is located at the input end of the material conveying line 6, and the feeding frame 82 is in the form of a frame.

[0098] According to a specific embodiment of the present invention, the feeding unit 100 further includes a feeding vision module 83; the feeding vision module 83 is used to take pictures to determine the position information of the rotor carrier assembly, the workpiece receiving slot 71 is distributed in a rectangular array, and the protective film 00 is rectangular in shape; the picking robot 52 is used to pick up the rotor carrier assembly from the feeding frame 82 and put it into the workpiece receiving slot 71 according to the position information of the rotor carrier assembly determined by the feeding vision module 83.

[0099] Please refer to this carefully. Figure 2-3 According to a specific embodiment of the present invention, the material conveying line 6 is also provided with a feeding station 61, and the discharge bin is located on one side of the feeding station 61. The feeding vision module 83 includes: a feeding vision mounting frame 831 located directly above the feeding frame 82 and the feeding station 61, and a feeding camera 832 mounted on the feeding vision mounting frame 831.

[0100] In this embodiment, the loading vision mounting frame 831 is a fixed installation structure. After the loading camera 832 is installed on the loading vision mounting frame 831, it can take pictures of the loading frame 82, obtain the front and back sides and position information of the workpiece in the loading frame 82, and send them to the picking robot 52. The loading camera 832 can also take pictures of the fixture tray 7 located at the loading station 61, obtain the position information of the workpiece receiving slot 71 in the fixture tray 7, and send it to the picking robot 52. The picking robot 52, according to the position information of the rotor carrier assembly, clamps the rotor carrier assembly and places it in the workpiece receiving slot 71.

[0101] Compared to the structure of mounting a vision camera on the picking robot 52, in this embodiment, the loading camera 832 is a fixed structure. The picking robot 52 does not need to be moved to the top of the loading frame 82 or the loading station 61 to obtain the position information of the rotor carrier assembly and the workpiece receiving slot 71 to be loaded in advance, which can improve the loading efficiency of the picking robot 52.

[0102] More specifically, there are two feeding stations 61, and the two feeding stations 61 are spaced apart along the conveying direction of the material conveying line 6; the material conveying line 6 is also provided with a glue dispensing station 62. The glue dispensing unit 200 includes a glue dispensing machine 91 and a glue dispensing vision module 92. The glue dispensing machine 91 is installed on one side of the glue dispensing station 62. The glue dispensing vision module 92 includes a glue dispensing vision mounting bracket 921 installed directly above the glue dispensing station 62 and a glue dispensing camera 922 installed on a camera mounting bracket. The glue dispensing machine 91 is used to dispense glue between the rotor coil 051 and the commutator 052 according to the position information obtained by the glue dispensing vision module 92.

[0103] In this embodiment, since the material handling robot 52 needs to make multiple round trips to load one jig tray 7, two loading stations 61 are set up in conjunction with one dispensing station 62. This avoids waiting, ensures continuous dispensing operations, and further improves dispensing efficiency. The dispensing camera 922 is used to provide the dispensing machine 91 with the position information of the rotor carrier assembly to be dispensed. Similar to the loading camera 832, the dispensing camera 922 has a fixed structure. It can obtain the position information of the rotor carrier assembly to be dispensed in advance without the robot arm of the dispensing machine 91 moving it above the dispensing station 62, which can further improve dispensing efficiency.

[0104] More specifically, the material conveying line 6 passes through the curing unit 300, which includes a drying oven 10 and an air-drying oven 0011 arranged sequentially along the conveying direction of the material conveying line 6. The position corresponding to the curing unit 300 is the curing station 08.

[0105] In this embodiment, the workpiece after glue application passes through the drying oven 10 and the air drying oven 0011 in sequence to achieve rapid curing.

[0106] More specifically, the material handling robot 52 is a four-axis horizontal robot, and the upper part of the loading gripper 51 is mounted on the end of the four-axis horizontal robot. In this embodiment, a four-axis horizontal robot is used, which reduces the overall volume occupied.

[0107] It should be noted that in this invention, both the vision module and the four-axis horizontal robot can be directly purchased components. The specific structure of these components is not disclosed in detail, but this does not affect the full disclosure of this invention. The vision module is used for positioning and detection at the feeding frame 82, material handling, and glue dispensing points.

[0108] The automatic assembly line for potting and coating motor rotor coils and commutators of the present invention includes a structure that realizes the functions of feeding, potting, curing, film peeling, bonding, pressure holding and unloading. The actions of each part of the structure are independent actions, and include: feeding station 61, potting station 62, curing station 08, film peeling station 09, bonding station 63, pressure holding station 010, and unloading station 011.

[0109] The empty jig tray 7 can be loaded by the empty tray lifting mechanism 600 located at the front end of the material conveying line 6, and the full tray after film coating can be unloaded by the full tray lowering mechanism 700 located at the rear end of the material conveying line 6. The structures of the empty tray lifting mechanism 600 and the full tray lowering mechanism 700 can be symmetrical, including a lifting plate and a lifting power that drives the lifting plate to lift.

[0110] It should be noted that the design of this invention for realizing automatic glue dispensing and film coating of the rotor coil and commutator of a hollow cup motor can also be applied to other workpieces with similar structures that require continuous glue dispensing and film coating.

[0111] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. An automated assembly line for potting and coating motor rotor coils and commutators, characterized in that, The automated assembly line for potting and coating the motor rotor coil and commutator is used to pot glue between the rotor coil and the commutator and form a sealant ring; the automated assembly line for potting and coating the motor rotor coil and commutator is also used to cover the sealant ring with a cover film; the cover film is derived from a protective film, and the protective film includes an upper and lower adhesive cover film and a bottom film; the commutator is inserted into the rotor coil and the two are combined to form a rotor assembly; The automated assembly line for potting and coating motor rotor coils and commutators includes: a positioning carrier, a material conveying line, a jig tray disposed on and moving along the material conveying line, and a feeding unit, a potting unit, a curing unit, and a film-peeling and coating unit arranged sequentially along the conveying direction of the material conveying line. The positioning carrier supports and positions the rotor assembly, and includes a positioning column and a base connected vertically. The top surface of the positioning column has a recess that matches the shape of the lower part of the commutator. The positioning cavity has an outer contour that matches the inner contour of the rotor coil, and the positioning cavity is coaxially arranged with the positioning column. The upper surface of the fixture carrier has a recessed workpiece receiving groove, the shape of which matches the outer contour of the base. The loading unit includes a picking robot and loading grippers mounted on the picking robot. Each rotor assembly is fitted onto one of the positioning carriers, and together they form a rotor carrier assembly. The loading grippers are used to hold the rotor carrier assembly and transfer it into the workpiece receiving groove. The film-tearing and coating unit includes an adsorption-rotating film-tearing mechanism, which comprises: a film-tearing support frame, a film-removing roller, an adsorption-rotating film-tearing roller, a first rotation drive, and a second rotation drive. The film-tearing support frame is a frame structure. The film-removing roller and the adsorption-rotating film-tearing roller are spaced apart and rotatably mounted on the film-tearing support frame. The first rotation drive is mounted on one side of the film-tearing support frame and is connected to one end of the film-removing roller, driving the film-removing roller to rotate. The second rotation drive is mounted on one side of the film-tearing support frame and is connected to one end of the adsorption-rotating film-tearing roller, driving the adsorption-rotating film-tearing roller to rotate. The outer side of the adsorption-rotating film-tearing roller has a planar adsorption surface, and the interior of the adsorption-rotating film-tearing roller has an adsorption air channel. The adsorption surface has a vacuum film-tearing adsorption hole communicating with the adsorption air channel, and one end of the adsorption-rotating film-tearing roller has a rotary joint communicating with the adsorption air channel.

2. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 1, characterized in that, The material conveying line is equipped with a bonding station. The film-tearing and coating unit further includes: a mounting base and a film-suction robot and a film positioning and stacking frame respectively mounted on the mounting base. The film positioning and stacking frame is used to position the stacked protective film. The film-suction robot is used to suction the protective film from the film positioning and stacking frame and move it sequentially above the film removal roller and the suction rotating film-tearing roller. After the bottom film is removed, the film-suction robot is also used to transfer the cover film to the bonding station. The protective film has three positioning holes penetrating through it, wherein: one positioning hole is provided on one side of the protective film, and two positioning holes are provided on the other side of the protective film. The film positioning and stacking frame includes a rectangular bottom plate and positioning rods fixed to the bottom plate. The bottom plate and the positioning rods together form a protective film stacking cavity. There are three positioning rods, and the film positioning and stacking are utilized. When storing materials, the three positioning rods pass through the three positioning holes one by one; the suction robot includes: a three-axis module mounted on the mounting base, a flexible adsorption component and an adsorption vision module respectively mounted on the three-axis module; the flexible adsorption component includes a vacuum suction cup whose shape matches the protective film stacking cavity, a suction hole is provided below the vacuum suction cup, and three clearance holes 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 clearance holes one by one; the bottom of the positioning rods is fixed to the bottom plate of the silo; the protective film is provided with a membrane commutator clearance hole, and the bottom of the vacuum suction cup is provided with a recessed suction cup commutator clearance hole. When the vacuum suction cup covers the sealing ring with the covering film, the upper part of the commutator passes through both the membrane commutator clearance hole and the suction cup commutator clearance hole.

3. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 2, characterized in that, The diaphragm positioning and stacking rack also includes a proximity sensor for detecting the presence or absence of material. The lower end of the proximity sensor is mounted on the mounting base plate, and the upper end of the proximity sensor extends into the bottom of the protective film stacking cavity. There are two diaphragm positioning and stacking racks.

4. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 3, characterized in that, The adsorption-rotating film-tearing mechanism further includes: a material feeding guide cylinder, a film-tearing waist mounting plate, and a blowing unit. The material feeding guide cylinder is fixed to the lower part of the film-tearing support vertical frame. The material feeding guide cylinder and the film-tearing support vertical frame together form a bottom film receiving and discharging channel. The blowing unit includes: a connector mounting frame and an air blowing connector mounted on the connector mounting frame. One end of the air blowing connector has an air outlet. The air blowing connector is located between the film removal roller and the adsorption-rotating film-tearing roller, and the air outlet faces the bottom film receiving and discharging channel. The two opposite sides of the film-tearing support vertical frame are respectively... The device comprises a power side and an observation side. The observation side is provided with an observation port that connects 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 section of the film-tearing support vertical frame. The joint mounting frame is installed on the top of the power side. The film-removing roller is cylindrical, and the outer side of the film-removing roller is covered with bristles. There are multiple air-blowing joints, and the multiple air-blowing joints are arranged at intervals along the direction from the adsorption rotary film-tearing roller to the film-removing roller.

5. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 4, characterized in that, The adsorption rotary film-tearing roller includes, in sequence, a first connecting shaft, a film-tearing roller body, and a second connecting shaft; the first connecting shaft is cylindrical, the second connecting shaft is cylindrical, and the film-tearing roller body is rectangular plate-shaped, with the top surface of the film-tearing roller body being the adsorption plane; the adsorption air passage includes a first air passage formed within the first connecting shaft and a second air passage formed within the film-tearing roller body, the first air passage penetrating the first connecting shaft, one end of the second air passage communicating with one end of the first air passage, and the other end of the second air passage extending 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 passage; the vacuum film-tearing adsorption hole includes a rectangular adsorption groove and multiple film-tearing adsorption holes arranged in a straight 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 holes are located on the side of the adsorption groove away from the film-removing roller; the second rotation drive is a toothed belt drive structure driven by a stepper motor; and the second rotation drive and The outer wall of the first connecting shaft is connected; the two ends of the tearing roller body are respectively provided with a 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 tearing roller body is provided with a first side locking pin hole communicating with the first docking hole, and a side locking screw is provided in the first side locking pin hole, the side locking screw abuts and fixes the outer wall of the first connecting shaft; the side of the tearing roller body is provided with a second side locking pin hole communicating with the second docking hole, the second side locking pin hole is provided with a side locking screw, the side locking screw abuts and fixes the outer wall of the second connecting shaft; the first connecting shaft and the second connecting shaft are respectively rotatably connected to the tearing support frame via bearings; a tearing rotation angle positioning sensor is fixedly provided on the side of the second connecting shaft away from the second docking hole, and a tearing photoelectric sensor is provided below the tearing rotation angle positioning sensor to cooperate with the tearing rotation angle positioning sensor and to detect the rotation angle of the adsorption rotating tearing roller; the tearing photoelectric sensor is fixed on the side wall of the tearing support frame.

6. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 5, characterized in that, The film-tearable waist mounting plate is fixed on the mounting base plate, the material feeding guide cylinder is located below the mounting base plate, and the bottom film receiving and discharging channel passes through the mounting base plate. The triaxial module includes: an X-axis linear module mounted on the mounting base plate, a Y-axis linear module mounted on the X-axis linear module, and a Z-axis linear module mounted on the Y-axis linear module. The flexible adsorption component and the adsorption vision module are respectively mounted side by side on the Z-axis linear module. The flexible adsorption component also includes: an adapter plate, a vacuum suction tube, and a connecting ear plate. The adapter plate is generally rectangular. The lower part of the vacuum suction tube is fixed to the vacuum suction cup and communicates with the suction hole. The upper part of the vacuum suction tube passes through the adapter plate and is fixed to the adapter plate. The connecting ear plate is fixed to the Z-axis linear module. A sliding rod is fixed to 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. 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 automated assembly line for potting and coating motor rotor coils and commutators according to claim 6, characterized in that, The base is cylindrical and ring-shaped. The lower part of the positioning post is inserted into the base and slidably connected to the base. The outer side of the base is provided with a locking screw hole, and a set screw is provided in the locking screw hole to limit the relative sliding between the positioning post and the base.

8. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 7, characterized in that, The feeding unit also includes a feeding frame for placing the rotor carrier assembly.

9. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 8, characterized in that, The feeding unit also includes a feeding vision module; the feeding 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 in shape; the picking robot is used to pick up the rotor carrier assembly from the feeding frame and put it into the workpiece receiving slot according to the position information of the rotor carrier assembly determined by the feeding vision module.

10. The automated assembly line for potting and coating motor rotor coils and commutators according to claim 9, characterized in that, The material conveying line is also equipped with a feeding station, and the discharge bin is located on one side of the feeding station. The feeding vision module includes: a feeding vision mounting frame located directly above the feeding frame and the feeding station, and a feeding camera mounted on the feeding vision mounting frame. There are two feeding stations, and the two feeding stations are spaced apart along the conveying direction of the material conveying line. The material conveying line is also equipped with a glue dispensing station. The glue dispensing unit includes a glue dispensing machine and a glue dispensing vision module. The glue dispensing machine is installed on one side of the glue dispensing station. The glue dispensing vision module includes: a glue dispensing vision mounting frame installed directly above the glue dispensing station, and a glue dispensing camera mounted on the glue dispensing vision mounting frame. The glue dispensing machine is used to dispense glue between the rotor coil and the commutator according to the position information obtained by the glue dispensing vision module. The material conveying line passes through the curing unit, and the curing unit includes a drying oven and an air drying oven arranged sequentially along the conveying direction of the material conveying line.

Images