Automatic assembly system and method of busbar

Abstract

The invention discloses an automatic assembly system and method for a bus bar, the system comprises an incoming material angle correction mechanism, an incoming material angle positioning camera and a plug-in mounting mechanism, the incoming material angle positioning camera is used for visually detecting the incoming material angle of the bus bar and generating angle compensation data; the incoming material angle correction mechanism adjusts the angle of the busbar according to angle compensation data fed back by the incoming material angle positioning camera; and the inserting mechanism clamps and inserts the busbar subjected to angle adjustment into the stator so as to complete assembly. According to the automatic assembly system, through cooperation of the incoming material angle correction mechanism, the incoming material angle positioning camera and the plug-in mounting mechanism, automatic assembly of the busbar is achieved, and the assembly efficiency and the yield are improved.

Description

Technical Field

[0001] The present invention relates to the field of motor assembly, and in particular to an automatic assembly system and method for a bus bar. Background Art

[0002] A bus bar is a conductive component for efficiently transmitting large currents, and is widely used in key fields such as power electronic devices, new energy vehicle drive systems, industrial motors, and automotive electric power steering systems (EPS). In the EPS system, as the core power transmission component, the bus bar directly provides stable current for the stator and rotor of the motor, and its assembly accuracy and connection reliability directly affect the performance and safety of the steering system.

[0003] Currently, the assembly of bus bars mainly relies on manual operation, with a low degree of automation. Since bus bars are usually manufactured by combining stamping formed sheet metal parts with injection molding coating processes, their structures have regular or irregular shapes. However, regardless of the shape, as an integrated terminal, they need to achieve high-precision matching with the terminals of the stator inside the motor. However, the existing manual assembly methods have the following problems: 1. Poor consistency and low yield rate: Ideally, the bus bar needs to be accurately inserted into the stator terminal horizontally or vertically. However, manual alignment is prone to initial deviation, and secondary adjustment (such as twisting or knocking) needs to be carried out with tools such as pliers, resulting in position deviation or angular inclination of the assembled bus bar. This inconsistency may cause problems such as increased contact resistance and local overheating, reducing the reliability of the product.

[0004] 2. Insufficient assembly accuracy: It is difficult for manual operation to accurately control the insertion force and alignment angle, which may cause terminal deformation, insulation layer damage, or poor electrical connection, thereby affecting the performance of the motor and even causing faults in the EPS system.

[0005] 3. Low assembly efficiency: Manual operation depends on the experience of operators, with a slow assembly speed, and it is difficult to meet the large-scale and high-tempo production requirements of the automotive industry.

[0006] With the rapid development of new energy vehicles and intelligent driving technologies, the EPS system has increasingly strict requirements for the assembly accuracy and consistency of bus bars. The traditional manual assembly method can no longer meet the production requirements of high reliability and high efficiency. It is urgent to develop an automatic assembly solution to ensure the precise matching of the bus bar and the stator terminal, and improve the product yield rate and long-term operation stability. Summary of the Invention

[0007] The present invention aims to at least solve one of the technical problems existing in the prior art. For this reason, the present invention provides an automatic assembly system for a bus bar, which can realize the automatic assembly of the bus bar, with high assembly efficiency and high yield rate.

[0008] An automated assembly system for a bus bar according to the first aspect of the present invention includes: A feeding angle correction mechanism for mechanically adjusting the initial position of the bus bar; A feeding angle positioning camera for visually detecting the feeding angle of the bus bar and generating angle compensation data; An insertion mechanism for performing precise insertion assembly after the angles of the bus bar and the stator terminals are matched; Wherein, the feeding angle correction mechanism adjusts the angle of the bus bar according to the angle compensation data fed back by the feeding angle positioning camera; the insertion mechanism clamps the bus bar with the adjusted angle and inserts it into the stator to complete the assembly.

[0009] In some embodiments of the present invention, the feeding angle correction mechanism includes: A first moving module for conveying the bus bar; A feeding angle correction component, which includes a first bracket, a first rotating mechanism installed on the first bracket, and a first tray installed at the movable end of the first rotating mechanism, and the first tray is used for placing the bus bar; Wherein, the first bracket is installed on the first moving module, and when the first moving module works, the first bracket can move along its axial direction; the feeding angle positioning camera is arranged above the first moving module.

[0010] In some embodiments of the present invention, the insertion mechanism includes: A support frame, A second moving module, which is horizontally arranged and installed on the support frame; A first telescopic mechanism, which is vertically arranged and installed on the second moving module; A clamping mechanism, which is installed at the piston end of the first telescopic mechanism and is used for clamping the bus bar; When the second moving module works, the first telescopic mechanism can move along the axial direction of the second moving module.

[0011] In some embodiments of the present invention, the clamping mechanism includes a first driving mechanism and a first clamping component, and the first clamping component includes: A jacket, which forms a first receiving cavity with an open bottom; A collet, which defines a second receiving cavity therein, the collet is arranged in the first receiving cavity, and the top of the collet is connected to the jacket; An expansion core, which is arranged in the second receiving cavity and can move up and down; Wherein, the driving mechanism is installed at the piston end of the first telescopic mechanism, and the output end of the driving mechanism extends into the second accommodation cavity and is connected to the top end of the expansion core.

[0012] In some embodiments of the present invention, the clamping mechanism includes a rotating assembly and a second clamping assembly. The second clamping assembly includes: A clamping cylinder, the fixed end of the clamping cylinder is connected to the preloading assembly; A three-jaw chuck, the three-jaw chuck is installed on the output end of the clamping cylinder, and the inner side wall of the three-jaw chuck is matched with the outer side wall of the upper column of the busbar; A limiting bracket, a first through hole is provided at the center of the limiting bracket, and a U-shaped groove matched with the upper column of the busbar is provided on the outer side wall of the limiting bracket; a position sensor, a torsion spring and a fan-shaped hole are provided on the limiting bracket; A connecting piece, a second through hole is provided at the center of the connecting piece, and the connecting piece is arranged below the limiting bracket; A connecting rod, the connecting rod is arranged in the fan-shaped ring hole, its upper end passes through the clamping cylinder and is connected to the preloading assembly, and its lower end is connected to the connecting piece; Wherein, the rotating group is installed at the piston end of the first telescopic mechanism and is used to drive the second clamping assembly to rotate in its circumferential direction.

[0013] In some embodiments of the present invention, it further includes a motor angle compensation mechanism, and the motor angle compensation mechanism is used to synchronously adjust the alignment angle of the stator terminals according to the correction angle of the busbar. In some embodiments of the present invention, the motor angle compensation mechanism includes: A third moving module, A motor angle adjustment assembly, the motor angle adjustment assembly includes a second bracket, a second rotating mechanism installed on the second bracket, and a second tray installed at the movable end of the second rotating mechanism. The second tray is used to place the motor of the busbar to be inserted; Wherein, the second bracket is installed on the third moving module. When the third moving module works, the third bracket can move along its axial direction.

[0014] According to the automated assembly method of the busbar of the second aspect of the present invention, it uses the above-mentioned automated assembly system, including the following steps: S1. The incoming material angle positioning camera checks the angle of the incoming busbar and calculates the angle correction data; S2. The incoming material angle correction mechanism adjusts the angle of the busbar according to the feedback data; S3. The insertion mechanism clamps and inserts the busbar with the adjusted angle into the stator to complete the assembly Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned by the practice of the present invention. Brief Description of the Drawings

[0015] Figure 1 is a schematic diagram of a regular bus bar involved in the present invention; Figure 2 is a schematic diagram of an irregular bus bar involved in the present invention; Figure 3 is a schematic diagram of a motor structure with an assembled bus bar in the present invention; Figure 4 is a schematic diagram of an automated assembly system for a bus bar in an embodiment of the present invention; Figure 5 is Figure 4 another perspective schematic diagram of; Figure 6 is a schematic diagram of the structure of a clamping mechanism in the present invention; Figure 7 is Figure 6 cross-sectional view of; Figure 8 is a schematic diagram of a collet in the present invention; Figure 9 is Figure 6 schematic diagram of the use state of the clamping mechanism in; Figure 10 is a cross-sectional view of the present invention after clamping the bus bar and putting it into the motor; Figure 11 is a schematic diagram of the structure of another clamping mechanism in the present invention.

[0016] Figure 12 is Figure 11 cross-sectional view of; Figure 13 is a schematic diagram of a limit bracket in the present invention; Figure 14 is Figure 13 another perspective schematic diagram of.

[0017] Reference Signs: 100, automated assembly system; 10, incoming material angle correction mechanism; 11, first moving module; 12, incoming material angle correction component; 121, first bracket; 122, first rotating mechanism; 123, first tray; 20, insertion mechanism; 21, clamping mechanism; 211, first driving mechanism; 212, first clamping component; 2121, collet; 2122, collet; 2123, expansion core; 2124, first connecting piece; 2125, stop bolt; 213. Rotating assembly; 214. Second clamping assembly; 2141. Clamping cylinder; 2142. Three-jaw chuck; 2143. Limit bracket; 2144. Second connecting piece; 2145. Connecting rod; 2146. Position sensor; 2147. Torsion spring; 215. Preloading assembly; 2151. Upper connecting plate; 2152. Lower connecting plate; 2153. Cylinder mounting plate; 2154. Guide post; 2155. Spring; 22. Support frame; 23. Second moving module; 24. First telescoping mechanism; 30. Incoming material angle positioning camera; 40. Motor angle compensation mechanism; 41. Third moving module; 42. Motor angle adjustment assembly; 50. Chassis; 200. Busbar; 300. Motor; 301. Central shaft. Detailed implementation manners

[0018] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0019] For the sake of easy understanding, before introducing the embodiments of the present disclosure, the relevant technical background and the application scenarios of the busbar are briefly described first. The busbar involved in the present invention is dedicated to the motor of the automotive electric power steering system (EPS), and its core function is to provide stable power transmission for key components such as the rotor and stator inside the motor.

[0020] Currently, in the manufacturing process of the EPS motor, the assembly of the busbar still faces major challenges. As Figures 1 to 3 shown, the shape of the busbar 200 has two types: regular and irregular. Regardless of the structure of the busbar, as an integrated terminal as a whole, it needs to be accurately installed inside the motor 300 and achieve reliable connection with the stator terminal. Moreover, during the insertion process, it is also necessary to ensure that it does not touch the central shaft 301 inside the motor 300, because once touched, it is likely to cause the entire motor 300 to be scrapped. There is still a lack of automated assembly equipment suitable for such complex structures in the prior art, resulting in the assembly of the busbar still highly dependent on manual operation. Specifically, the operator needs to manually complete a series of processes such as clamping, precise positioning of the busbar, and assembling it into the motor, which is not only inefficient but also difficult to ensure the assembly accuracy and consistency.

[0021] Below, refer to Figures 1 - 14Describe an automated assembly system 100 for a busbar according to an embodiment of the present invention, including a feeding angle correction mechanism 10, a feeding angle positioning camera 20, and an insertion mechanism 30. The feeding angle correction mechanism 10 is used to mechanically adjust the initial position of the busbar 200; the feeding angle positioning camera 20 is used to visually detect the feeding angle of the busbar 200 and generate angle compensation data; the insertion mechanism 30 is used to perform precise insertion and assembly after the angles of the busbar 200 and the stator terminals match. Among them, the feeding angle correction mechanism 10 adjusts the angle of the busbar 200 according to the angle compensation data fed back by the feeding angle positioning camera 20; the insertion mechanism 30 clamps and inserts the busbar 200 with the adjusted angle into the stator to complete the assembly.

[0022] For example, the feeding angle correction mechanism 10 can be used not only for the transportation of the busbar 200 but also for the adjustment of the angle of the busbar 200. The feeding angle positioning camera 20 can consist of an ordinary camera with a photographing function and an analysis and processing module for pictures. The analysis and processing module can process and analyze the taken photos to obtain the initial angle of the busbar 200 on the feeding angle correction mechanism 10, and then obtain the angle required for it to rotate from the initial position to the preset position. At the same time, the angle data can be fed back to the feeding angle correction mechanism 10, and the feeding angle correction mechanism 10 can realize the adjustment of the angle of the busbar 200. The insertion mechanism 30 can have clamping and transportation functions. It is placed above the feeding angle correction mechanism 10, can clamp the busbar 200 with the adjusted angle, and transfer it above the motor to be assembled, and release the busbar 200 from above the motor to be assembled to realize the automatic assembly of the busbar 200. Among them, the position and angle of the motor to be assembled can be designed in advance. In this way, only by adjusting the angle of the busbar 200, precise assembly between the two can be achieved, improving the efficiency and the qualified product rate.

[0023] It can be understood that the motor is arranged according to the preset position and angle. In this way, during assembly, only the angle of the busbar 200 needs to be matched with it. The feeding angle positioning camera 20 is placed above the feeding angle correction mechanism 10 and can obtain the initial angle of the busbar 200 and the angle information required for rotation by taking pictures. The feeding angle correction mechanism 10 realizes the angle adjustment of the busbar 200, and then under the action of the insertion mechanism 30, the automatic assembly of the busbar can be completed, with high assembly accuracy and strong operability.

[0024] In some embodiments of the present invention, refer to Figures 4 to 14As shown, the incoming material angle correction mechanism 10 may include a first moving module 11 and an incoming material angle correction component 12. The first moving module 11 is used for the conveyance of the bus bar 200. The incoming material angle correction component 12 includes a first support 121, a first rotating mechanism 122 mounted on the first support 121, and a first tray 123 mounted on the movable end of the first rotating mechanism 122. The first tray 123 is used for placing the bus bar 200. Among them, the first support 121 is mounted on the first moving module 11. When the first moving module 11 operates, the first support 121 can move along its axial direction. The incoming material angle positioning camera is arranged above the first moving module.

[0025] Specifically, the first moving module 11 can adopt a commonly used mechanism with both moving and positioning functions. For example, the first moving module 11 can be composed of a servo motor, a lead screw, and a slide rail. The lead screw is coaxially arranged inside the slide rail and is driven to rotate by the servo motor. There is a slider on the slide rail, and the slider is simultaneously mounted on the lead screw. When the lead screw rotates, the slider can move along the axial direction of the lead screw to achieve the conveyance of the fixed component on the slider. The first support 121 can be mounted on the slider. The first rotating motor 122 is fixedly mounted on the first support 121. The first tray 123 can be rotatably mounted on the first support 121 through a bearing block and is connected to the rotating end of the first rotating motor 122. Starting the first rotating motor 122 can drive the first tray 123 to rotate to achieve the adjustment of the angle of the bus bar 200 above it. It should be noted that positioning columns or positioning blocks can be provided on the first tray 123. While achieving the positioning of the bus bar 200, it can ensure that its position remains unchanged during the rotation process, avoiding displacement and affecting subsequent assembly.

[0026] In some embodiments of the present invention, referring to Figures 4 to 14 As shown, the insertion mechanism 20 may include a clamping mechanism 21, a support frame 22, a second moving module 23, and a first telescopic mechanism 24. The second moving module 23 is horizontally arranged and mounted on the support frame 22. The first telescopic mechanism 24 is vertically arranged and mounted on the second moving module 23. The clamping mechanism 21 is mounted on the piston end of the first telescopic mechanism 24. The clamping mechanism 21 is used for clamping the bus bar 200. When the second moving module 23 operates, the first telescopic mechanism 24 can move along the axial direction of the second moving module 23.

[0027] For example, the second moving module 23 may be the same as the first moving module 11 and has the functions of moving and positioning. The first telescopic mechanism 24 is installed on the second moving module 23. When the second moving module 23 works, the first telescopic mechanism 24 can move along its axial direction and can stop positioning in time during the movement as needed. The specific structure of the second moving module 23 will not be described in detail. The first telescopic mechanism 24 can be a cylinder or an electric telescopic rod with a telescopic function. The clamping mechanism 21 is installed at the piston end of the first telescopic mechanism 24. By controlling the first telescopic mechanism 24, the height position of the busbar 200 can be adjusted. The second moving module 23 and the first telescopic mechanism 24 work together to adjust the position of the busbar 200 in the horizontal and vertical directions. Specifically, the clamping mechanism 21 can be first moved above the busbar 200 after the angle adjustment, and then the clamping mechanism 21 is controlled to pick up the busbar 200. Then, the second moving module 23 and the first telescopic mechanism 24 are controlled to move the picked-up busbar 200 above the motor and control it to fall and be inserted into the motor to complete the assembly of the busbar 200.

[0028] In some embodiments of the present invention, with reference to Figures 4 to 10 as shown, the clamping mechanism 21 can be used for clamping irregular busbars. The entire clamping mechanism 21 may include a first driving mechanism 211 and a first clamping assembly 212. The first clamping assembly 212 may include a clamping sleeve 2121, a collet 2122, and an expansion core 2123. The clamping sleeve 2121 forms a first accommodating cavity with an open bottom. A second accommodating cavity is defined in the collet 2122. The collet 2122 is disposed in the first accommodating cavity, and the top of the collet 2122 is connected to the clamping sleeve 2121. The expansion core 2123 is disposed in the second accommodating cavity and can move up and down. The driving mechanism 211 is installed at the piston end of the first telescopic mechanism 24, and the output end of the driving mechanism 211 extends into the second accommodating cavity and is connected to the top end of the expansion core 2123. Among them, the clamping mechanism 21 clamps the busbar 200 through the through hole at the center of the busbar 200.

[0029] For example, the collet 2122 is generally in a T-shaped structure and may include a frustum plate and an annular column plate provided on one side of the frustum plate. A plurality of third through holes arranged along its axial direction are equally spaced at the end of the annular column plate away from the frustum plate. A limiting step matching the through hole at the center of the busbar 200 is provided on the outer side wall of the annular column plate away from the frustum plate end. An inclined surface is provided on the inner side wall of the annular column plate. When the expansion core 2123 moves downward along the inclined surface, a thrust can be applied to the annular column plate so that the outer wall of the annular column plate closely adheres to the inner wall of the through hole. Continuing to move downward can increase the applied force on the annular column plate to increase the clamping force of the annular column plate on the through hole, thereby realizing the clamping of the busbar 200 at the through hole. Among them, the position of the expansion core 2123 is adjusted by the first driving mechanism 211. The first driving mechanism 211 can be a cylinder, and the piston rod end of the cylinder is connected to the top end of the expansion core 2123.

[0030] It can be understood that by controlling the first driving mechanism 211, the position of the expansion core 2123 can be adjusted. When the first driving mechanism 211 contracts, the expansion core 2123 is located in the upper middle part of the collet 2122, and does not generate an outward thrust on the collet 2122, and the collet 2122 is in a natural state; when the first driving mechanism 211 extends, it can push the expansion core 2123 downward to the lower part of the second accommodating cavity, generating an outward thrust on the collet 2122, and the bottom end of the collet 2122 expands outward to abut against the inner wall of the through hole, so as to realize the clamping of the bus bar 200.

[0031] It can be first moved above the bus bar 200 with the adjusted angle, and the first driving mechanism 211 is controlled to extend to clamp the bus bar 200. Then, the second moving module 23 and the first telescopic mechanism 24 are controlled to move the first clamping assembly 212 together with the bus bar 200 clamped at the lower part above the motor to be installed. Then, the first telescopic mechanism 24 is controlled to insert it into the motor. Finally, the first driving mechanism 211 is controlled to retract, and the collet 2122 disengages from the through hole to release the bus bar 200.

[0032] Considering that when the bus bar 200 is assembled into the motor, there is also a central shaft 301 in the motor 300. If the shaft is touched during the assembly process, the motor product will be scrapped. Therefore, it is necessary to ensure that neither the collet 2122 nor the expansion core 2123 touches the shaft during the operation. In other words, the operable space of the collet 2122 and the expansion core 2123 is limited to the gap between the through hole and the shaft. To ensure the stability during the operation and avoid product scrapping, a conical surface is provided on the outer side of the bottom of the expansion core 2123. The expansion core 2123 defines a third accommodating cavity with an open bottom end, and the third accommodating cavity can accommodate the central shaft 301 in the motor 300 to be assembled, and the size of the third accommodating cavity is larger than the size of the shaft. At the same time, the bottom end of the circular ring column plate should be able to penetrate into the through hole, and at the same time, it should be avoided that it touches the central shaft in the motor to be assembled during the process of state conversion between the two states. Therefore, the thickness of the bottom end of the circular ring column plate is small, and it gradually increases from the direction away from the frustum plate to the direction close to the frustum plate, but the overall thickness is less than the gap between the through hole and the shaft to ensure the stability and reliability of the entire clamping process.

[0033] In some embodiments of the present invention, referring to Figures 4 to 10As shown, it further includes a preloading assembly 215. The preloading assembly 215 includes an upper connecting plate 2151, a lower connecting plate 2152, and a cylinder mounting plate 2153. The upper connecting plate 2151 is provided with a first through hole for the fixed end of the cylinder to pass through; the lower connecting plate 2152 is arranged below the upper connecting plate 2151, and the lower connecting plate 2152 is provided with a second through hole; the cylinder mounting plate is arranged between the upper connecting plate 2151 and the lower connecting plate 2152 and is connected to the lower connecting plate 2152; the cylinder mounting plate 2153 is provided with a mounting hole for the piston rod of the cylinder to pass through. Among them, the first clamping assembly 212 is mounted on the lower connecting plate 2152; the cylinder is mounted on the cylinder mounting plate 2153, and the piston rod passes through the mounting hole and is connected to the first clamping assembly 212; a plurality of guide posts 2154 are arranged between the upper connecting plate 2151 and the lower connecting plate 2152, and a spring 2155 is mounted on each guide post 2154.

[0034] To achieve the reliability and stability of the entire clamping mechanism during use, the first clamping assembly 212 and the first driving mechanism 211 can be assembled together with the aid of the preloading assembly 215, and then the assembled component can be installed on the operating table to prepare for continuous automatic operation. Specifically, the cylinder mounting plate 2153 can be fixedly connected to the lower connecting plate 2152, and the cylinder can be fixedly mounted on the cylinder mounting plate 2153 to ensure that the piston rod can pass through the mounting hole and the second through hole and can reciprocate along the mounting hole and the second through hole. Then, the positioning plate of the collet 2121 is connected to the lower connecting plate 2152 to ensure that the first connecting member 2124 coaxially connected to the end of the piston rod can extend into the upper mounting cavity, and the stop bolt 2125 passes through the top of the expansion core 2123 and is also coaxially connected to the first connecting member 2124. It should be noted that the clamping assembly can be installed on the lower connecting plate 2152 as an independent module for modular installation. The upper connecting plate 2151 and the lower connecting plate 2152 are connected by the guide posts 2154 and the springs 2155, and the fixed end of the cylinder passes through the first through hole and is arranged. That is, the preloading assembly 215 can form another module with the cylinder to achieve modular design, which is convenient for installation and disassembly.

[0035] In use, the upper connecting plate 2151 can be installed on the slider of a certain moving module of the workbench through multiple mounting posts. By adjusting the position of the slider, the adjustment of the height, front and back positions, etc. of the entire clamping mechanism can be achieved. When the clamping mechanism is moved above the busbar 200 to be clamped, the entire clamping mechanism can be moved downward so that the lower part of the collet 2123 is inserted into the through hole 201. Due to the arrangement of the guide post 2154 and the spring 2155 in the preloading assembly 215, the pre-compression during the downward movement of the collet 2123 can be realized, so as to avoid damage to components such as the busbar 200 during the downward movement. After the collet 2123 is moved into the through hole 201, control the piston rod to extend, and the bottom of the collet 2123 expands outward to clamp the busbar 200 at the through hole 201; then control the entire clamping mechanism to move upward and move above the motor to be installed, and move the entire clamping mechanism downward. During the downward movement, avoid touching the shaft at the center of the motor. After falling into the motor, control the piston rod to retract, and the collet 2123 returns to the first state to complete the release of the busbar 200.

[0036] In some embodiments of the present invention, referring to Figures 1 to 5 , Figures 11 to 14 As shown, the clamping mechanism 21 can be used to clamp a regular busbar. The clamping mechanism 21 clamps the busbar through a pedestal at the center of the busbar. The clamping mechanism 21 includes a rotating assembly 213 and a second clamping assembly 214. The rotating assembly 213 is installed at the piston end of the first telescopic mechanism and is used to drive the second clamping assembly 214 to rotate in its circumferential direction. The second clamping assembly 214 includes a clamping cylinder 2141, a three-jaw chuck 2142, a limit bracket 2143, a second connecting member 2144, and a connecting rod 2145. The fixed end of the clamping cylinder 2141 is connected to the rotating assembly 213; the three-jaw chuck 2142 is installed at the output end of the clamping cylinder 2141, and the inner side wall of the three-jaw chuck 2142 cooperates with the outer side wall of the pedestal on the busbar 200; a first through hole is provided at the center of the limit bracket 2143, and a U-shaped groove matching the upright column on the busbar is provided on the outer side wall of the limit bracket 2143; a position sensor, a torsion spring, and a fan-shaped hole are provided on the limit bracket 2143; a second through hole is provided at the center of the connecting member, and the second connecting member 2144 is arranged below the limit bracket 2143; the connecting rod 2145 is arranged in the fan-shaped ring hole, its upper end passes through the clamping cylinder 2141 and is connected to the rotating assembly 213, and its lower end is connected to the second connecting member 2144.

[0037] For example, the clamping cylinder 2141 and the three-jaw chuck 2142 adopt a commonly used existing three-jaw fixture. By controlling the clamping cylinder 2141, synchronous control of the three jaws in the three-jaw chuck can be achieved, and the three jaws can be controlled to move inwards or outwards synchronously at the same time. The clamping space formed by the three jaws matches the outer side wall of the table column. To ensure uniform distribution of the clamping force, the three jaws are evenly distributed along the circumferential direction of the clamping cylinder 2141. The limit bracket 2143 can be a limit plate with a certain thickness. The first through hole is opened at the center of the limit plate. Three protruding parts are arranged on the outer side of the limit plate, and a U-shaped groove matching the column is opened in each protruding part. The three U-shaped grooves can be respectively clamped with the three columns on the bus bar 200. The second connecting piece 2144 can be of an annular columnar structure, and the connecting rod 2145 can sequentially pass through the second connecting piece 2144, the limit bracket 2143, the clamping cylinder 2141 and be connected with the preloading assembly.

[0038] It can be understood that, under normal circumstances, the bottom end (i.e., the clamping part) of the three-jaw chuck extends below the second connecting piece 2144. When clamping the bus bar 200, according to the position of the column, the rotation assembly 213 can be first controlled to drive the entire clamping mechanism to rotate so that the U-shaped grooves correspond to the columns one by one. Then, control the entire clamping mechanism to move downwards until the clamping part of the three-jaw chuck moves to the table column, and then control the clamping cylinder 2141 to work so that the three-jaw chuck clamps the table column, thereby realizing the clamping of the entire bus bar 200. Of course, during the clamping process, when the clamping of the three-jaw chuck fails, under the action of the rotation assembly 213, components such as the clamping cylinder 2141, the three-jaw chuck, and the second connecting piece 2144 can continue to rotate, while the limit bracket 2143 does not rotate therewith, and the connecting rod 2145 can move in the fan-shaped ring hole. Under the action of the torsion spring, the rotation range is limited. When reaching the stroke of the torsion spring, the rotation will stop. Under the action of the torsion spring, the relevant components are reset to generate fine adjustment, and fine adjustment operations during the clamping and positioning process can be realized. At the same time, the position sensor can also detect whether the clamping is in place. When the clamping is not in place, corresponding adjustments can be made through the cooperation between various components until the clamping meets the requirements. At the same time, the setting of the torsion spring and the position sensor can also play a protective role for the entire clamping mechanism by limiting the relative rotation stroke. Moreover, through the small torque generated after the deformation of the torsion spring and then checking whether it is in place through the position sensor and then performing the insertion and clamping operation, the clamping accuracy is improved.

[0039] Of course, two types of clamping mechanisms can be installed simultaneously below the first telescopic mechanism 24, which are respectively used for clamping regular and irregular busbars 200. A preloading component 215 can also be provided in the clamping mechanism 21 for regular busbars. It is slightly different from the clamping mechanism for irregular busbars, but the overall function is the same. The differences can be determined meaninglessly from the attached drawings. Therefore, here, the specific structure of the preloading component 215 in the clamping mechanism 21 for regular busbars will not be described in detail.

[0040] In view of this, in some embodiments of the present invention, with reference to Figures 1 to 14 as shown, a motor angle compensation mechanism 40 can also be included. The motor angle compensation mechanism 40 is used to synchronously adjust the alignment angle of the stator terminals according to the correction angle of the busbar 200.

[0041] In some embodiments of the present invention, the motor angle compensation mechanism 40 can include a third moving module 41 and a motor angle adjustment component 42. The motor angle adjustment component 42 includes a second bracket 421, a second rotating mechanism 422 installed on the second bracket 421, and a second tray 423 installed at the movable end of the second rotating mechanism 422. The second tray 423 is used to place the motor of the busbar to be inserted; wherein, the second bracket 421 is installed on the third moving module 41. When the third moving module 41 works, the third bracket 421 can move along its axial direction.

[0042] It should be noted that the third moving module 41 is similar in structure to the first moving module and the second moving module, and has both moving and positioning functions. Conventional components available on the market can be directly used. Its specific structure is not the focus of protection of the present invention, so it will not be elaborated here. Moreover, the motor angle adjustment component 42 is similar in function to the incoming material angle correction component 12 and can adjust the angle of the motor above it, which will not be elaborated here either. At this time, the angles of both the motor and the busbar can be adjusted, and the applicable range is wider.

[0043] According to the automated assembly method of the busbar according to the second aspect of the present invention, which uses the above-mentioned automated assembly system, it includes the following steps: S1. The incoming material angle positioning camera checks the angle of the incoming busbar and calculates the angle correction data; S2. The incoming material angle correction mechanism adjusts the angle of the busbar according to the feedback data; S3. The insertion mechanism clamps and inserts the busbar with the adjusted angle into the stator to complete the assembly.

[0044] It can be understood that the startable incoming material angle positioning camera can detect the initial state of the bus bar 200 to be installed to obtain the angle that needs to be adjusted. The incoming material angle correction mechanism adjusts the angle of the bus bar according to the feedback data to meet the angle requirements for assembly. It should be noted that the angle requirements for bus bar assembly can be set according to the position and angle of the motor positioning installation. In this way, during assembly, only the angle of the bus bar 200 needs to be adjusted to match the angle of the motor. After the angle adjustment is completed, the insertion mechanism 30 can be controlled to insert the bus bar into the motor. Throughout the process, the automatic assembly of the bus bar can be completed, with high automation, high assembly accuracy, and strong operability.

[0045] In summary, the present invention can use different clamping mechanisms to clamp different types of bus bars. Then, with the cooperation of other components, the automatic assembly of the bus bar can be achieved, improving the assembly efficiency, having high assembly accuracy, and the qualified product rate can reach more than 99.5%.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0047] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0048] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0049] In the present invention, unless otherwise clearly specified or limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or the first and second features are indirectly in contact via an intermediate medium. Moreover, a first feature being "above", "over" and "on top of" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the first feature is higher than that of the second feature. A first feature being "under", "below" and "beneath" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the first feature is less than that of the second feature.

[0050] In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the present specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art may combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples.

[0051] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An automated assembly system for a bus bar, characterized in that, Including: An incoming material angle correction mechanism for mechanically adjusting the initial position of the bus bar; An incoming material angle positioning camera for visually detecting the incoming material angle of the bus bar and generating angle compensation data; An insertion mechanism for performing precise insertion and assembly after the angles of the bus bar and the stator terminal are matched; Wherein, the incoming material angle correction mechanism adjusts the angle of the bus bar according to the angle compensation data fed back by the incoming material angle positioning camera; the insertion mechanism clamps and inserts the bus bar with the adjusted angle into the stator to complete the assembly.

2. The automated assembly system according to claim 1, wherein The incoming material angle correction mechanism includes: A first moving module for conveying the bus bar; An incoming material angle correction component, which includes a first bracket, a first rotating mechanism installed on the first bracket, and a first tray installed at the movable end of the first rotating mechanism, and the first tray is used for placing the bus bar; Wherein, the first bracket is installed on the first moving module, and when the first moving module works, the first bracket can move along its axial direction; the incoming material angle positioning camera is arranged above the first moving module.

3. The automated assembly system according to claim 1, wherein The insertion mechanism includes: A support frame, A second moving module horizontally arranged and installed on the support frame; A first telescopic mechanism vertically arranged and installed on the second moving module; A clamping mechanism installed at the piston end of the first telescopic mechanism for clamping the bus bar; When the second moving module works, the first telescopic mechanism can move along the axial direction of the second moving module.

4. The automated assembly system according to claim 3, wherein The clamping mechanism includes a first driving mechanism and a first clamping component, and the first clamping component includes: A collet forming a first accommodating cavity with an open bottom; A cartridge holder defining a second accommodating cavity therein, the cartridge holder is arranged in the first accommodating cavity, and the top of the cartridge holder is connected to the collet; An expansion core capable of moving up and down in the second accommodating cavity; Wherein, the driving mechanism is installed at the piston end of the first telescopic mechanism, and the output end of the driving mechanism extends into the second accommodating cavity and is connected to the top end of the expansion core.

5. The automated assembly system according to claim 3, characterized in that, The clamping mechanism includes a rotating component and a second clamping component, and the second clamping component includes: A clamping cylinder, the fixed end of which is connected to the preloading component; A three-jaw chuck installed on the output end of the clamping cylinder, and the inner side wall of the three-jaw chuck is matched with the outer side wall of the upper column of the bus bar; A limit bracket having a first through hole at the center, and a U-shaped groove matched with the upper column of the bus bar on the outer side wall of the limit bracket; the limit bracket is provided with a position sensor, a torsion spring and a fan-shaped ring hole; A connecting piece having a second through hole at the center, and the connecting piece is arranged below the limit bracket; A connecting rod arranged in the fan-shaped ring hole, the upper end of which passes through the clamping cylinder and is connected to the preloading component, and the lower end is connected to the connecting piece; Wherein, the rotation group is installed at the piston end of the first telescopic mechanism and is used to drive the second clamping component to rotate in its circumferential direction.

6. The automated assembly system according to claim 1, wherein, It further includes a motor angle compensation mechanism, which is used to synchronously adjust the alignment angle of the stator terminals according to the correction angle of the bus bar.

7. The automated assembly system according to claim 6, characterized in that The motor angle compensation mechanism includes: A third moving module, A motor angle adjustment component, which includes a second bracket, a second rotating mechanism installed on the second bracket, and a second tray installed at the movable end of the second rotating mechanism. The second tray is used to place the motor of the bus bar to be inserted. Wherein, the second bracket is installed on the third moving module. When the third moving module works, the third bracket can move along its axial direction.

8. An automated assembly method for a busbar, using the automated assembly system according to any one of claims 1-7, characterized in that, It includes the following steps: S1. The incoming material angle positioning camera checks the angle of the incoming bus bar and calculates the angle correction data. S2. The incoming material angle correction mechanism adjusts the angle of the bus bar according to the feedback data. S3. The insertion mechanism clamps and inserts the bus bar with the adjusted angle into the stator to complete the assembly.

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