Machine for automatically feeding rotor into steel sleeve

Abstract

The invention provides an automatic rotor steel sleeve feeding machine, a manipulator grabs a steel sleeve to a detection position, the steel sleeve is moved to a gluing position after being detected to be qualified by a detection mechanism, and the steel sleeve is glued by a gluing mechanism; the rotor is conveyed to a second loading table located at the rotor feeding position to achieve first-time feeding; the manipulator places the glued steel sleeve on the first loading platform at the loading and unloading position to realize loading, and the rotor on the second loading platform at the press-fitting position is grabbed to move upwards; after the steel sleeve moved to the first loading table at the press-fitting position is coaxially aligned with the rotor above, the press-fitting mechanism moves downwards to press the rotor into the steel sleeve, and the rotor is conveyed to a second loading table at a rotor feeding position; and the press-fitting platform moves until the first loading platform is located at the feeding and discharging position, and the manipulator grabs the rotor subjected to press-fitting of the steel sleeve to achieve discharging. According to the automatic rotor steel jacket entering machine, the automatic processes of detecting and gluing of the steel jacket and press fitting of the rotor can be achieved, and the production efficiency is greatly improved.

Description

Technical Field

[0001] The present application belongs to the technical field of motor production equipment, and more specifically, relates to an automated rotor steel casing machine. Background Art

[0002] A motor, a device that converts electrical energy into mechanical energy, typically consists of a stator and a rotor. The rotor, as the rotating component in the motor, is primarily categorized into two types of rotation: inner rotor and outer rotor. In the inner rotor rotation method, the magnets on the rotor are prone to falling off during use, causing damage to the rotor and even the motor. Therefore, a steel sleeve is required to prevent the magnets from falling off. However, in actual assembly, the steel sleeve inspection and gluing process and the rotor pressing process into the sleeve are typically performed on separate machines. Furthermore, the rotor installation process is typically performed using a hydraulic press, which is cumbersome and difficult to install. The steel sleeve and rotor are typically loaded manually. Furthermore, because the steel sleeve is typically thin, inaccurate axial alignment between the sleeve and rotor often results in deformation or even damage to the sleeve when the rotor is pressed into the sleeve. Consequently, these technical issues result in low production efficiency and a high defect rate in the rotor pressing process. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an automated rotor steel casing machine to solve the technical problem of low assembly efficiency of the rotor and the steel casing in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in the present application is as follows: providing an automated rotor steel casing machine for press-fitting a rotor into a steel casing, comprising a manipulator, a detection and gluing device, and a press-fitting device, all of which are arranged on a machine platform; the detection and gluing device comprises a detection mechanism with a detection position below, a gluing mechanism with a gluing position below, and a detection and gluing platform; the press-fitting device comprises a press-fitting mechanism and a press-fitting platform; the press-fitting mechanism comprises a rotor clamping member; the press-fitting platform comprises a first loading platform and a second loading platform, and is movable between a press-fitting position, a rotor loading position, and upper and lower loading positions, wherein the upper and lower loading positions and the rotor loading position are respectively arranged on both sides of the press-fitting position located below the press-fitting mechanism; The steel sleeve is grabbed by the manipulator and placed on the detection and gluing platform. After passing the detection by the detection mechanism, the detection and gluing platform moves from the detection position to the gluing position, and the gluing mechanism applies glue to the inner wall surface of the steel sleeve at the gluing position. The pressing device has an initial state and a first state, a second state and a third state that are cycled in sequence after the initial state; in the initial state, the rotor is transferred to the second loading platform located at the rotor upper material position to realize the first loading; in the first state, the first loading platform located at the upper and lower material positions is placed with the glue-coated steel sleeve by the manipulator, and the rotor on the second loading platform located at the pressing position is grasped by the rotor clamping member and moves upward; in the second state, the first loading platform is located at the pressing position, the pressing mechanism moves downward to press the rotor into the steel sleeve, and the rotor is transferred to the second loading platform located at the rotor upper material position; in the third state, the first loading platform is located at the upper and lower material positions, the second loading platform is located at the pressing position, and the manipulator grasps the rotor with the steel sleeve pressed to realize unloading.

[0005] Optionally, the press-fitting platform further includes a press-fitting sliding assembly and a plurality of connecting rods; the press-fitting sliding assembly includes a press-fitting slideway, a press-fitting sliding driving member, a press-fitting sliding transmission member and a plurality of sliders; The first loading platform includes a first bottom plate, a first carrier plate spaced above the first bottom plate, and a plurality of first pillars connecting the first bottom plate and the first carrier plate; The second loading platform includes a second base plate, a second carrier plate spaced above the second base plate, and a plurality of second pillars connecting the second base plate and the second carrier plate; a slider is connected to each end of the second base plate; the slider can slide on the press-fitting slideway; The second base plate is connected to the first base plate via a plurality of connecting rods, and the press-fitted sliding driving member is connected to the first base plate via a press-fitted sliding transmission member to drive the first loading platform and the second loading platform to move synchronously.

[0006] Optionally, the press-fitting mechanism further includes a press-fitting driving member, a press-fitting bracket and a press-fitting transmission member, the press-fitting bracket includes a mounting top plate and a press-fitting support supporting the mounting top plate, and the press-fitting position is located below the mounting top plate; The press-fit transmission member is located below the mounting top plate, the press-fit drive member is mounted on the mounting top plate, the lower end of the press-fit drive member passes through the mounting top plate and is connected to the press-fit transmission member, and the rotor clamping member is located at the lower end of the press-fit transmission member.

[0007] Optionally, the press-fitting mechanism further comprises a lower driving member located below the second bottom plate, and an upper core rod and a lower core rod coaxially arranged with the steel sleeve; The upper end surface of the central axis of the rotor is provided with an inwardly concave upper hole, and the lower end surface of the central axis of the rotor is provided with an inwardly concave lower hole; the upper core rod is coaxially sleeved in the press-fit transmission member, the upper coaxial sleeve of the upper core rod is provided with a spring, and the lower end of the upper core rod is provided with a conical upper alignment convex portion; the lower end of the lower core rod is connected to the lower driving member, and the upper end of the lower core rod is provided with a conical lower alignment convex portion; In the second state, the first loading platform is located at the press-fitting position, and before the rotor is pressed into the steel sleeve, the press-fitting drive member drives the upper core rod to move downward, and the lower drive member drives the lower core rod to move upward, and the coaxial alignment of the rotor and the steel sleeve is achieved through the adaptive alignment connection between the upper alignment protrusion of the upper core rod and the upper concave hole, and the adaptive alignment connection between the lower alignment protrusion of the lower core rod and the lower concave hole.

[0008] Optionally, the press-fitting device further includes a press-fitting rotating mechanism, which is disposed below the first base plate; when the first loading platform is located at the press-fitting position, while the rotor is pressed downward into the steel sleeve, the press-fitting rotating mechanism drives the steel sleeve to rotate axially.

[0009] Optionally, the manipulator includes a moving arm and a gripper assembly provided at the free end of the moving arm; the gripper assembly includes a first gripper and a second gripper, both of which are installed at the free end of the moving arm, and the first gripper and the second gripper are arranged at an angle; the first gripper is used to grip the steel sleeve, and the second gripper is used to grip the rotor with the steel sleeve pressed in.

[0010] Optionally, the gripper assembly further includes a gripper connecting plate, and the first gripper and the second gripper are both connected to the motion arm via the gripper connecting plate; The first gripper includes a first connecting member, a first clamping cylinder, a pressure regulating valve and two oppositely arranged detachable first clamping jaws. The first clamping jaw is transmission-connected to the lower end of the first clamping cylinder. The pressure regulating valve is located beside the first clamping jaw, and the pressure regulating valve is connected to the first clamping cylinder. The inner side surfaces of the two opposite first clamping jaws are arc-shaped surfaces that are adapted to the outer side surfaces of the steel sleeve, and the arc-shaped surfaces are inlaid with multiple anti-sliding blocks made of elastic material.

[0011] Optionally, the gluing detection device further comprises an assembly plate, a gluing detection moving mechanism, and a gluing rotation mechanism, wherein the assembly plate is vertically fixed to the side of the gluing detection moving mechanism, and the gluing rotation mechanism is arranged below the gluing detection platform; the gluing mechanism comprises a gluing connection plate and a gluing head, and the gluing head is arranged at the free end of the gluing connection plate away from the assembly plate; the gluing detection moving mechanism is driven to move on the assembly plate and drives the gluing head to move up and down; After the detection and gluing platform is driven to move from the detection position to the gluing position, the gluing head moves downward to extend into the steel sleeve to apply glue. While applying glue, the gluing rotation mechanism is driven to drive the steel sleeve to rotate axially.

[0012] Optionally, the detection mechanism includes a camera and a camera connector, the camera is connected to the assembly plate via the camera connector and extends out of the assembly plate; The detection position is located below the camera. When the steel sleeve is located at the detection position, the camera will take pictures of the steel sleeve for detection.

[0013] Optionally, on the machine platform, the gluing detection device and the pressing device are respectively arranged on the left and right sides, and the robot is arranged in front of the gluing detection device and the pressing device, and is located between the gluing detection device and the pressing device.

[0014] The beneficial effects of the automated rotor steel sleeve machine provided by the present application are: first, the automated rotor steel sleeve machine is integrated with a manipulator, a detection and gluing device, and a pressing device on a single machine, thereby enabling the detection and gluing of the steel sleeve and the pressing of the rotor and the steel sleeve to be achieved on a single machine, thereby integrating the two currently common process flows into a complete set of process flows, realizing automatic loading, unloading, and pressing, thereby greatly improving production efficiency and saving production space. Secondly, in the press-fitting device, by automatically controlling the movement of the press-fitting platform, the first loading platform and the second loading platform can be in different positions under different conditions, so that press-fitting and loading can be carried out simultaneously. For example, when the rotor and the steel sleeve are press-fitted, the rotor to be used next time can be loaded synchronously. When the steel sleeve is automatically loaded, the rotor to be pressed at the press-fitting position can be grabbed and lifted. These settings are conducive to further improving production efficiency. Thirdly, by automatically controlling the movement of the press-fitting platform, the first loading platform and the second transfer platform can be located in the correct position under the corresponding state, thereby ensuring that the steel sleeve and the rotor at the press-fitting position can be accurately coaxially aligned, thereby reducing the occurrence of press-fitting failures and steel sleeve deformation and damage caused by inaccurate alignment of the two. In summary, this automated rotor into steel sleeve machine can realize automated steel sleeve inspection and gluing as well as precise press-fitting of the rotor and steel sleeve, effectively improving assembly efficiency and finished product yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 A schematic structural diagram of an automated rotor steel casing machine provided in an embodiment of the present application; Figure 2 A schematic structural diagram of a press-fitting device provided in an embodiment of the present application; Figure 3 A top view of the press-fitting device provided in an embodiment of the present application; Figure 4 for Figure 3 Cross-sectional view along SS direction; Figure 5 for Figure 4 A magnified schematic diagram of point A in the middle; Figure 6A schematic diagram of the structure of the manipulator provided in an embodiment of the present application; Figure 7 for Figure 6 A magnified schematic diagram of point B in the middle; Figure 8 A schematic diagram of the structure of a gluing detection device provided in an embodiment of the present application; Figure 9 for Figure 8 Enlarged schematic diagram of point C in the middle.

[0017] Description of the accompanying figures: machine 100, robot 200, gluing detection device 300, pressing device 400, moving arm 210, gripper assembly 220, detection mechanism 310, gluing mechanism 320, gluing detection platform 330, pressing mechanism 410, pressing platform 420, pressing drive 411, rotor clamping member 412, first loading platform 421, second loading platform 422, rotor 510, steel sleeve 520, steel sleeve conveyor disc 610, steel sleeve conveyor belt 620, placement groove 611, assembly plate 340, gluing detection moving mechanism 350, gluing rotating mechanism 360, camera 311, camera connecting member 312, gluing connecting plate 321, gluing head 322, drag chain 370, slide rail 351, slide plate 352, gluing tube 323, first The gripper 221, the second gripper 222, the gripper connecting plate 223, the first connecting part 224, the first clamping cylinder 225, the pressure regulating valve 226, the first clamping jaw 227, the anti-slider 228, the press-fit sliding assembly 423, the connecting rod 424, the press-fit slide 425, the slider 428, the first base plate 421a, the first carrier plate 421b, the first pillar 421c, the second base plate 422a, the second carrier plate 422b, the second pillar 422c, the press-fit bracket 413, the press-fit transmission part 414, the installation top plate 413a, the press-fit pillar 413b, the guide shaft 415, the press-fitting plate 416, the upper core rod 417, the lower core rod 418, the spring 419, the upper concave hole 511, the upper alignment protrusion 417a, the press-fit rotation mechanism 430, and the V-shaped clamping jaw 222a. DETAILED DESCRIPTION

[0018] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0019] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0020] It should also be noted that the directional terms such as left, right, up and down in the embodiments of the present application are merely relative concepts or are based on the normal use status of the product, and should not be considered as restrictive.

[0021] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply 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 on this application.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0023] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0024] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] An embodiment of the present application provides an automated rotor steel casing machine.

[0026] See also Figures 1 to 9In one embodiment, the automated rotor steel casing machine is used to sleeve a steel casing 520 onto the rotor 510 of the motor. The steel casing 520 is cylindrical and extends axially up and down. Specifically, the automated rotor steel casing machine includes a machine 100, a manipulator 200, a detection and gluing device 300, and a press-fitting device 400. The manipulator 200, the detection and gluing device 300, and the press-fitting device 400 are all arranged on the same machine 100. The manipulator 200 includes a moving arm 210 and a gripper assembly 220 provided at the free end of the moving arm 210. The detection and gluing device 300 includes a detection mechanism 310, a gluing mechanism 320, and a movable detection and gluing platform 330. The detection position is located below the detection mechanism 310, and the gluing position is located below the gluing mechanism 320. The pressing device 400 includes a rotor conveying mechanism, a pressing mechanism 410 and a pressing platform 420; the rotor conveying mechanism is located next to the pressing mechanism 410, and the pressing mechanism 410 includes a pressing drive 411 and a rotor clamping member 412 for grabbing the rotor 510; the pressing platform 420 includes a first loading platform 421 and a second loading platform 422 connected to each other, and the pressing platform 420 can move to three positions: the pressing position, the rotor loading position, and the upper and lower loading positions. The pressing position is located below the pressing mechanism 410, and the upper and lower loading positions and the rotor loading position are respectively arranged on both sides of the pressing position along the moving direction.

[0027] Among them, the robot 200 grabs the steel sleeve 520 through the gripper assembly 220 and places it on the detection and gluing platform 330. After the steel sleeve 520 is inspected and qualified by the inspection mechanism 310 at the inspection position, the inspection and gluing platform 330 is driven to move from the inspection position to the gluing position, and the gluing mechanism 320 glues the inner wall surface of the steel sleeve 520 at the gluing position. The pressing device 400 has an initial state and a first state, a second state and a third state which are cycled in sequence after the initial state; in the initial state, the pressing platform 420 moves to the second loading platform 422 and is located at the rotor loading position, the first loading platform 421 is located at the pressing position, and the rotor 510 is conveyed to the second loading platform 422 by the rotor conveying mechanism to realize the first loading of the rotor 510; in the first state, the second loading platform 422 is located at the pressing position, the first loading platform 421 is located at the upper and lower positions, the manipulator 200 places the glued steel sleeve 520 on the first loading platform 421 to realize the loading of the steel sleeve 520, and at the same time, the rotor 510 is clamped by the rotor The pick-up 412 grabs and moves upward; in the second state, the pressing platform 420 moves until the second loading platform 422 is located at the upper material position of the rotor 510, the first loading platform 421 is located at the pressing position, and the steel sleeve 520 and the rotor 510 located above the steel sleeve 520 are coaxially aligned, and the pressing mechanism 410 moves downward to press the rotor 510 into the steel sleeve 520. At the same time, the rotor 510 is transferred to the second loading platform 422; in the third state, the pressing platform 420 moves until the first loading platform 421 is located at the upper and lower material positions, and the second loading platform 422 is located at the pressing position, and the manipulator 200 grabs the rotor 510 with the steel sleeve 520 pressed to realize unloading.

[0028] In other words, the use of this automated rotor into steel sleeve machine can realize the automated process of detecting and gluing the steel sleeve 520 and accurately pressing the rotor 510 and the steel sleeve 520, which specifically includes the following steps: First, the robot 200 will automatically convey the steel sleeve 520 to the machine 100 to grab it and place it on the detection and gluing platform 330 of the detection and gluing device 300. The detection and gluing platform 330 is first located in the detection position to facilitate the detection mechanism 310 to take pictures and detect the steel sleeve 520 below it. If the steel sleeve 520 passes the inspection, the detection and gluing platform 330 will drive the steel sleeve 520 to move to the gluing position to facilitate the gluing mechanism 320 to glue the inner side of the steel sleeve 520. After the steel sleeve 520 is coated with glue, it will be grabbed by the robot 200 and placed on the first loading platform 421 of the press-fitting device 400 for automatic loading of the steel sleeve 520. At this time, the first loading platform 421 is located at the upper and lower loading positions, and the second loading platform 422 is located at the press-fitting position. The rotor 510 on the second loading platform 422 will be grabbed by the rotor gripper 412, so that the rotor 510 is located above the press-fitting position, that is, the press-fitting device 400 is in the aforementioned first state. Of course, before this, the rotor 510 should be loaded for the first time, that is, the press-fitting device 400 is in the initial state, the press-fitting platform 420 moves to the second loading platform 422 at the rotor loading position, the first loading platform 421 is in the press-fitting position, and the rotor 510 is transferred to the second loading platform 422 via the rotor conveying mechanism. After the first state, the press-fitting device 400 enters the second state, in which the press-fitting platform 420 moves, the first loading platform 421 is positioned at the press-fitting position, and after the steel sleeve 520 and the rotor 510 above it are accurately coaxially aligned, the press-fitting mechanism 410 moves downward to press the rotor 510 into the steel sleeve 520. Simultaneously, because the second loading platform 422 is positioned at the rotor loading position, the rotor 510 can also be loaded simultaneously. The press-fitting device 400 then enters the third state, in which the press-fitting platform 420 moves, the first loading platform 421 is positioned at the upper and lower loading positions, and the second loading platform 422 is positioned at the press-fitting position. The robot 200 grabs the rotor 510, with the steel sleeve 520 pressed onto it, to unload the rotor. The press-fitting device 400 then automatically cycles through the first to third states, achieving automated and precise press-fitting of the glue-coated steel sleeve 520 and rotor 510.

[0029] Based on this design, in this embodiment, first, the automated rotor steel sleeve machine is integrated with a robot 200, a detection and gluing device 300 and a pressing device 400 on a machine platform 100, so that the detection and gluing of the steel sleeve 520 and the pressing of the rotor 510 and the steel sleeve 520 can be realized on one machine, and then the two currently common process flows are integrated into a complete set of process flows, realizing automatic loading, unloading and pressing, greatly improving production efficiency and saving production space. Secondly, in the pressing device 400, by automatically controlling the movement of the pressing platform 420, the first loading platform 421 and the second loading platform 422 can be in different positions under different conditions, so that pressing and loading can be carried out simultaneously. For example, when the rotor 510 and the steel sleeve 520 are press-fitted, the rotor 510 to be used next can be loaded synchronously. When the steel sleeve 520 is automatically loaded, the rotor 510 to be pressed at the pressing position can be grabbed and lifted. These settings are all conducive to further improving production efficiency; thirdly, by automatically controlling the movement of the pressing platform 420, the first loading platform 421 and the second loading platform 422 can be located in the correct position under the corresponding state, thereby ensuring that the steel sleeve 520 and the rotor 510 at the pressing position can be accurately coaxially aligned, thereby reducing the occurrence of adverse phenomena such as pressing failure due to inaccurate alignment of the two and deformation and damage of the steel sleeve 520. In summary, the automatic rotor steel sleeve insertion machine can realize the automatic detection and gluing of the steel sleeve 520 and the precise press-fitting of the rotor 510 and the steel sleeve 520, effectively improving the assembly efficiency and the finished product yield.

[0030] It should be noted that the glue coating mechanism 320 primarily applies glue to the inner surface of the steel sleeve 520 in the upper region of the inner surface. After the inner surface of the steel sleeve 520 is coated with glue, the rotor 510 is press-fitted into the steel sleeve 520. The adhesive bonding prevents the magnets of the rotor 510 from falling off. This automated rotor sleeve machine also includes a control system and a steel sleeve conveyor mechanism. The control system is interconnected with the robot 200, the inspection and glue coating device 300, and the press-fitting device 400, enabling automated control of all three. The steel sleeve conveyor mechanism includes a steel sleeve conveyor tray 610 and a steel sleeve conveyor belt 620. The steel sleeve conveyor tray 610 is provided with a plurality of placement slots 611 arranged in an array. Multiple steel sleeves 520 are placed in corresponding placement slots 611 and transported to the machine platform 100 via the steel sleeve conveyor belt 620. The robot 200 then sequentially grasps the steel sleeves 520 and places them on the inspection and glue coating platform 330. Similarly, the rotor conveying mechanism also includes corresponding conveying discs and conveying belts, etc., to achieve automatic conveyance of the rotor 510 .

[0031] Here, if Figure 1As shown, on the machine 100, the detection and gluing device 300 and the pressing device 400 are respectively arranged on the left and right sides, and the manipulator 200 is arranged in front of the detection and gluing device 300 and the pressing device 400, and is located between the detection and gluing device 300 and the pressing device 400. Specifically, the movement direction of the detection and gluing platform 330 is perpendicular to the movement direction of the pressing platform 420. Of course, in other embodiments, the manipulator 200, the detection and gluing device 300, and the pressing device 400 can also be distributed in other positions, but in this embodiment, the distribution positions of each device as described above can occupy a smaller production area and help shorten the transportation time of materials through the manipulator 200, thereby helping to further improve production efficiency and save production space.

[0032] Furthermore, if Figure 1 、 Figure 8 as well as Figure 9 As shown, in this embodiment, the gluing detection device 300 further includes an assembly plate 340, a gluing detection moving mechanism 350, and a gluing rotation mechanism 360. The assembly plate 340 is vertically fixed to the side of the gluing detection moving mechanism 350, and the gluing rotation mechanism 360 is located below the gluing detection platform 330. Specifically, the detection mechanism 310 includes a camera 311 and a camera connector 312. The camera 311 is connected to the assembly plate 340 via the camera connector 312 and extends out of the assembly plate 340. The bottom of the camera 311 is a detection position. When the steel sleeve 520 is in the detection position, the camera 311 takes a picture of the steel sleeve 520 for detection. Here, the detection of the steel sleeve 520 mainly focuses on its shape detection to prevent deformation of the steel sleeve 520 and affect the next step of press-fitting the rotor 510 and the steel sleeve 520. First, the camera 311 takes a picture of the steel sleeve 520 below it, and the image is transmitted to the control system; then, the control system compares the actual image taken with the pre-stored standard image. If the two are consistent, it can be determined that the steel sleeve 520 has passed the inspection; then, the control system controls the inspection glue coating platform 330 to move to the glue coating position.

[0033] Furthermore, if Figure 1 、 Figure 8 as well as Figure 9As shown, in this embodiment, the gluing mechanism 320 includes a gluing connection plate 321 and a gluing head 322. The gluing head 322 is located at the free end of the gluing connection plate 321 away from the assembly plate 340. The detection and gluing movement mechanism 350 is driven to move on the assembly plate 340 and drives the gluing head 322 to move up and down. After the detection and gluing platform 330 is driven to move from the detection position to the gluing position, the gluing head 322 moves downward and extends into the steel sleeve 520 to apply glue. Simultaneously, the gluing rotation mechanism 360 is driven to cause the steel sleeve 520 to rotate axially. Specifically, a drag chain 370 is provided alongside the assembly plate 340. The gluing detection mechanism 350 includes a slide rail 351 mounted on the assembly plate 340 and a slide plate 352 that slides on the rail 351. A gluing head 322 is connected to the slide plate 352 via a forward-extending gluing connection plate 321. When a corresponding drive element (such as, but not limited to, a cylinder or motor) drives the slide plate 352 up and down along the rail 351, the gluing head 322 also moves up and down. The gluing head 322 includes a downwardly inclined gluing tube 323, the opening of which serves as the glue outlet. When the steel sleeve 520 requires glue application, the gluing head 322 moves downward, and the gluing tube 323 extends into the sleeve 520, with the glue outlet contacting the inner surface of the sleeve 520. Simultaneously, the gluing mechanism 360 drives the sleeve 520 to rotate axially. This rotation of the sleeve 520 allows the glue to be applied all around the sleeve. Here, the glue coating area of ​​the steel sleeve 520 is primarily located on the upper portion of the inner side, near the upper end of the steel sleeve 520. The amount of glue applied and the area covered can be controlled by adjusting the size of the glue outlet of the detachable glue coating head 322, controlling the rotation speed of the steel sleeve 520, and controlling the descent speed of the glue coating head 322. Once glue coating is complete, the steel sleeve 520 stops rotating, and the glue coating head 322 is controlled to move upward until it clears the steel sleeve 520.

[0034] Specific as Figure 1 、 Figure 6 as well as Figure 7As shown, in this embodiment, the gripper assembly 220 includes a first gripper 221 and a second gripper 222. The first gripper 221 and the second gripper 222 are both mounted on the free end of the motion arm 210, and are arranged at an angle therebetween. The first gripper 221 is used to grasp the steel sleeve 520, and the second gripper 222 is used to grasp the rotor 510 that has been press-fitted with the steel sleeve 520. In this way, a single manipulator 200 can simultaneously grasp the steel sleeve 520 and the rotor 510 that has been press-fitted with the steel sleeve 520, without requiring two manipulators 200, thereby reducing machine costs. Specifically, the gripper assembly 220 also includes a gripper connecting plate 223, through which the first gripper 221 and the second gripper 222 are both connected to the moving arm 210; the gripper connecting plate 223 is rectangular, and the first gripper 221 and the second gripper 222 are respectively connected to the adjacent two sides of the gripper connecting plate 223, so that the angle between the first gripper 221 and the second gripper 222 is a right angle, thereby facilitating different grippers to grab corresponding materials.

[0035] Furthermore, if Figure 7 As shown, the first gripper 221 includes a first connecting member 224, a first clamping cylinder 225, a pressure regulating valve 226, and two oppositely disposed, detachable first clamping jaws 227. The first clamping jaws 227 are drivingly connected to the lower end of the first clamping cylinder 225. The pressure regulating valve 226 is located beside the first clamping jaws 227 and is connected to the first clamping cylinder 225. The inner side surfaces of the two opposing first clamping jaws 227 are curved surfaces that adapt to the outer side surface of the steel sleeve 520. The curved surfaces are inlaid with multiple anti-slip blocks 228 made of elastic material. Specifically, the anti-slip blocks 228 are preferably made of elastomeric rubber to increase friction and prevent damage to the steel sleeve 520. Of course, in other embodiments, other suitable materials may also be used. As will be appreciated, since the steel sleeve 520 is relatively thin—for example, some rotor 510 products use a steel sleeve 520 that is only 0.2 mm thick—the curved inner surface of the first clamping jaw 227 facilitates more secure gripping of the steel sleeve 520 and minimizes deformation or damage to the steel sleeve 520. The first clamping cylinder 225 primarily drives and controls the opening, closing, and clamping of the two first clamping jaws 227, while the pressure regulating valve 226 regulates the clamping pressure of the first clamping jaws 227. Furthermore, the two opposing first clamping jaws 227 are removable, allowing for replacement of different types of first clamping jaws 227 to accommodate steel sleeves 520 of varying sizes. Furthermore, the second gripper 222 includes a V-shaped clamping jaw 222a suitable for gripping the upper portion of the central axis of the rotor 510, onto which the steel sleeve 520 has been press-fitted.

[0036] Specifically, if Figures 1 to 5As shown, in this embodiment, the press-fitting platform 420 further includes a press-fitting slide assembly 423 and a plurality of connecting rods 424. The press-fitting slide assembly 423 includes a press-fitting slideway 425, a press-fitting slide driver, a press-fitting slide transmission member, and a plurality of sliders 428. The first loading platform 421 includes a first base plate 421a, a first carrier plate 421b positioned above the first base plate 421a, and a plurality of first pillars 421c connecting the first base plate 421a and the first carrier plate 421b. The second loading platform 422 includes a second base plate 422a, a second carrier plate 422b positioned above the second base plate 422a, and a plurality of second pillars 422c connecting the second base plate 422a and the second carrier plate 422b. A slider 428 is connected to each end of the second base plate 422a. The sliders 428 are slidable on the press-fitting slideway 425. The second base plate 422a and the first base plate 421a are connected by a plurality of connecting rods 424. A press-fit sliding drive member is connected to the first base plate 421a via a press-fit sliding transmission member to drive the synchronous movement of the first loading platform 421 and the second loading platform 422. The synchronous movement of the second base plate 422a and the first base plate 421a enables the first loading platform 421 and the second loading platform 422 to simultaneously reach their designated positions in all states without requiring individual adjustments, resulting in a simpler and more reliable motion design. Of course, in other embodiments, other structural solutions can be used to achieve fixed-point movement of the press-fitting platform 420, and this is not particularly limited here.

[0037] Furthermore, if Figure 2 and Figure 4As shown, in this embodiment, the press-fitting mechanism 410 further includes a press-fitting bracket 413 and a press-fitting transmission member 414. The press-fitting bracket 413 includes a mounting top plate 413a and a press-fitting support 413b that supports the mounting top plate 413a. The press-fitting position is located below the mounting top plate 413a. The press-fitting transmission member 414 is located below the mounting top plate 413a. The press-fitting driver 411 is mounted on the mounting top plate 413a. The lower end of the press-fitting driver 411 passes through the mounting top plate 413a and connects to the press-fitting transmission member 414. The rotor gripper 412 is located at the lower end of the press-fitting transmission member 414. Specifically, in this embodiment, the press-fitting driver 411 is a cylinder. Of course, in other embodiments, it can also be, but is not limited to, a motor. In addition, to ensure that the rotor 510 being grasped moves vertically up and down, multiple vertically axial guide shafts 415 are provided beside the press-fitting drive member 411. These guide shafts 415 pass through the mounting top plate 413a and are connected to the press-fitting plate 416 located below it. The upper end of the press-fitting transmission member 414 is connected to the press-fitting plate 416, while the lower end is provided with a rotor clamping member 412 with a controllable opening and closing jaws. In this way, before press-fitting, the rotor clamping member 412 can lift the rotor 510 to be press-fitted upward. When the steel sleeve 520 is in place and ready for press-fitting, the piston of the cylinder moves downward, pressing the press-fitting plate 416 and driving the press-fitting transmission member 414, the rotor clamping member 412, and the rotor 510 to move downward together until they are press-fitted into the steel sleeve 520.

[0038] Furthermore, if Figure 4 and Figure 5As shown, in this embodiment, the press-fitting mechanism 410 further includes a lower driving member located below the second base plate 422a, and an upper core rod 417 and a lower core rod 418 coaxially arranged with the steel sleeve 520. The upper end surface of the central axis of the rotor 510 is provided with an inwardly concave upper recessed hole 511, and the lower end surface of the central axis of the rotor 510 is provided with an inwardly concave lower recessed hole. The upper core rod 417 is coaxially sleeved within the press-fitting transmission member 414. A spring 419 is coaxially sleeved on the upper core rod 417, and a conical upper alignment protrusion 417a is provided at the lower end of the upper core rod 417. The lower end of the lower core rod 418 is connected to the lower driving member, and a conical lower alignment protrusion is provided at the upper end of the lower core rod 418. In the second state, the first loading platform 421 is located at the press-fitting position, and before the rotor 510 is pressed into the steel sleeve 520, the press-fitting driver 411 drives the upper alignment rod 417 downward, and the lower driver drives the lower alignment rod 418 upward. The upper alignment protrusion 417a of the upper alignment rod 417 is aligned with the upper recessed hole 511, and the lower alignment protrusion 418 is aligned with the lower recessed hole, thereby achieving coaxial alignment of the rotor 510 and the steel sleeve 520. It is understood that to ensure smooth press-fitting of the rotor 510 and the steel sleeve 520 and minimize damage to the steel sleeve 520, ensuring coaxial alignment of the rotor 510 and the steel sleeve 520 before the rotor 510 is pressed into the steel sleeve 520 is a critical step. The provision of the upper alignment rod 417 and the lower alignment rod 418 can solve this problem, thereby achieving precise press-fitting of the rotor 510 and the steel sleeve 520.

[0039] Furthermore, if Figure 2 As shown, in this embodiment, the press-fitting device 400 further includes a press-fitting rotation mechanism 430, which is disposed below the first base plate 421a. When the first loading platform 421 is in the press-fitting position, the press-fitting rotation mechanism 430 simultaneously drives the steel sleeve 520 to rotate axially as the rotor 510 is pressed downwardly into the steel sleeve 520. Because the glue applied to the upper area of ​​the inner surface of the steel sleeve 520 has not yet fully solidified when the rotor 510 is first pressed into the steel sleeve 520, the rotation of the steel sleeve 520 during the press-fitting process more evenly distributes the glue onto the inner surface of the steel sleeve 520. This results in a larger bonding surface between the steel sleeve 520 and the rotor 510, more evenly distributed glue, and better bonding. This rotary press-fitting solution also helps reduce resistance when the rotor 510 is pressed into the steel sleeve 520, further minimizing damage to the steel sleeve 520 during the press-fitting process.

[0040] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic rotor steel casing machine, used for pressing a rotor into a steel casing, characterized in that: The machine comprises a robot, a detection and gluing device, and a pressing device, all of which are arranged on the machine platform; the detection and gluing device comprises a detection mechanism with a detection position below, a gluing mechanism with a gluing position below, and a detection and gluing platform; the pressing device comprises a pressing mechanism and a pressing platform; the pressing mechanism comprises a rotor clamping member; the pressing platform comprises a first loading platform and a second loading platform, and is movable between the pressing position, the rotor loading position, and the upper and lower loading positions, wherein the upper and lower loading positions and the rotor loading position are respectively arranged on both sides of the pressing position below the pressing mechanism; The steel sleeve is grabbed by the manipulator and placed on the detection and gluing platform. After passing the detection by the detection mechanism, the detection and gluing platform moves from the detection position to the gluing position, and the gluing mechanism applies glue to the inner wall surface of the steel sleeve at the gluing position. The pressing device has an initial state and a first state, a second state and a third state that are cycled in sequence after the initial state; in the initial state, the rotor is transferred to the second loading platform located at the rotor upper material position to realize the first loading; in the first state, the first loading platform located at the upper and lower material positions is placed with the glue-coated steel sleeve by the manipulator, and the rotor on the second loading platform located at the pressing position is grasped by the rotor clamping member and moves upward; in the second state, the first loading platform is located at the pressing position, the pressing mechanism moves downward to press the rotor into the steel sleeve, and the rotor is transferred to the second loading platform located at the rotor upper material position; in the third state, the first loading platform is located at the upper and lower material positions, the second loading platform is located at the pressing position, and the manipulator grasps the rotor with the steel sleeve pressed to realize unloading.

2. The automatic rotor casing machine according to claim 1, characterized in that: The press-fitting platform further comprises a press-fitting sliding assembly and a plurality of connecting rods; the press-fitting sliding assembly comprises a press-fitting slideway, a press-fitting sliding driving member, a press-fitting sliding transmission member and a plurality of sliders; The first loading platform includes a first bottom plate, a first carrier plate spaced above the first bottom plate, and a plurality of first pillars connecting the first bottom plate and the first carrier plate; The second loading platform includes a second base plate, a second carrier plate spaced above the second base plate, and a plurality of second pillars connecting the second base plate and the second carrier plate; a slider is connected to each end of the second base plate; and the slider can slide on the press-fitting slideway; The second base plate and the first base plate are connected via a plurality of the connecting rods, and the press-fit sliding driving member is connected to the first base plate via the press-fit sliding transmission member to drive the first loading platform and the second loading platform to move synchronously.

3. The automatic rotor casing machine according to claim 2, characterized in that: The press-fitting mechanism further includes a press-fitting driving member, a press-fitting bracket and a press-fitting transmission member. The press-fitting bracket includes a mounting top plate and a press-fitting support supporting the mounting top plate. The press-fitting position is located below the mounting top plate. The press-fit transmission member is located below the mounting top plate, the press-fit drive member is mounted on the mounting top plate, the lower end of the press-fit drive member passes through the mounting top plate and is connected to the press-fit transmission member, and the rotor clamping member is provided at the lower end of the press-fit transmission member.

4. The automatic rotor casing machine according to claim 3, characterized in that: The press-fitting mechanism further includes a lower driving member located below the second bottom plate, and an upper core rod and a lower core rod coaxially arranged with the steel sleeve; The upper end surface of the central axis of the rotor is provided with an inwardly concave upper hole, and the lower end surface of the central axis of the rotor is provided with an inwardly concave lower hole; the upper core rod is coaxially sleeved in the press-fit transmission member, the upper coaxial sleeve of the upper core rod is provided with a spring, and the lower end of the upper core rod is provided with a conical upper alignment convex portion; the lower end of the lower core rod is connected to the lower driving member, and the upper end of the lower core rod is provided with a conical lower alignment convex portion; In the second state, the first loading platform is located at the press-fitting position, and before the rotor is pressed into the steel sleeve, the press-fitting drive member drives the upper core rod to move downward, and the lower drive member drives the lower core rod to move upward, and the coaxial alignment of the rotor and the steel sleeve is achieved through the adaptive alignment connection between the upper alignment protrusion of the upper core rod and the upper concave hole, and the adaptive alignment connection between the lower alignment protrusion of the lower core rod and the lower concave hole.

5. The automatic rotor casing machine according to claim 2, characterized in that: The press-fitting device also includes a press-fitting rotating mechanism, which is arranged below the first base plate. When the first loading platform is located at the press-fitting position, the press-fitting rotating mechanism drives the steel sleeve to rotate axially while the rotor is pressed downward into the steel sleeve.

6. The automatic rotor casing machine according to claim 1, characterized in that: The manipulator includes a moving arm and a gripper assembly provided at the free end of the moving arm; the gripper assembly includes a first gripper and a second gripper, both of which are installed at the free end of the moving arm, and the first gripper and the second gripper are arranged at an angle; the first gripper is used to grip the steel sleeve, and the second gripper is used to grip the rotor with the steel sleeve pressed in.

7. The automatic rotor casing machine according to claim 6, characterized in that: The gripper assembly further includes a gripper connecting plate, and the first gripper and the second gripper are both connected to the motion arm via the gripper connecting plate; The first gripper includes a first connecting member, a first clamping cylinder, a pressure regulating valve and two oppositely arranged detachable first clamping jaws, the first clamping jaw is transmission-connected to the lower end of the first clamping cylinder, the pressure regulating valve is located beside the first clamping jaw, and the pressure regulating valve is connected to the first clamping cylinder, the inner side surfaces of the two opposite first clamping jaws are arc-shaped surfaces adapted to the outer side surfaces of the steel sleeve, and the arc-shaped surfaces are inlaid with multiple anti-sliding blocks made of elastic material.

8. The automatic rotor casing machine according to claim 1, characterized in that: The gluing detection device further includes an assembly plate, a gluing detection moving mechanism, and a gluing rotation mechanism. The assembly plate is vertically fixed to the side of the gluing detection moving mechanism, and the gluing rotation mechanism is arranged below the gluing detection platform. The gluing mechanism includes a gluing connection plate and a gluing head, and the gluing head is arranged at the free end of the gluing connection plate away from the assembly plate. The gluing detection moving mechanism is driven to move on the assembly plate and drives the gluing head to move up and down. After the detection and gluing platform is driven to move from the detection position to the gluing position, the gluing head moves downward to extend into the steel sleeve to apply glue. While applying glue, the gluing rotation mechanism is driven to drive the steel sleeve to rotate axially.

9. The automatic rotor casing machine according to claim 8, characterized in that: The detection mechanism includes a camera and a camera connector, wherein the camera is connected to the assembly plate through the camera connector and extends out of the assembly plate; The detection position is located below the camera. When the steel sleeve is located at the detection position, the camera shoots and detects the steel sleeve.

10. The automatic rotor casing machine according to any one of claims 1 to 9, characterized in that: On the machine platform, the gluing detection device and the pressing device are respectively arranged on the left and right sides, and the robot is arranged in front of the gluing detection device and the pressing device and is located between the gluing detection device and the pressing device.

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