An automated rotor entry into a steel sleeve machine

Abstract

The application provides an automatic rotor-steel sleeve feeding machine. A manipulator places a steel sleeve at a detection position. After detection by a detection mechanism, the steel sleeve is moved to a rubber coating position. A rubber coating mechanism coats the steel sleeve. A rotor is conveyed to a second loading table at a rotor loading position to realize first loading. The manipulator places the coated steel sleeve on a first loading table at a loading and unloading position to realize loading. The rotor on the second loading table at a pressing position is grabbed and moved upward. After coaxial alignment of the steel sleeve on the first loading table at the pressing position and the rotor above, a pressing mechanism moves downward to press the rotor into the steel sleeve. The rotor is conveyed to the second loading table at the rotor loading position. The pressing platform moves until the first loading table is at the loading and unloading position. The manipulator grabs the rotor with the pressed steel sleeve to realize unloading. The automatic rotor-steel sleeve feeding machine can realize automatic detection, rubber coating and pressing of the steel sleeve and the rotor, greatly improving production efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor production equipment, and more particularly to an automatic rotor steel sleeve entering machine. BACKGROUND

[0002] As a kind of conversion device of electrical energy and mechanical energy, motor usually includes stator and rotor. Among them, the rotor as the rotating part in the motor is mainly divided into two ways of internal rotor and external rotor rotation. In the internal rotor rotation mode, the magnetic steel on the rotor is easy to fall off during use, thereby causing damage to the rotor and even the motor, so a steel sleeve is needed to be sleeved on the rotor to prevent the magnetic steel from falling off. However, in the actual assembly process, the process flow of detecting and gluing of the steel sleeve and the process flow of pressing the rotor into the steel sleeve are usually carried out on different machines, and the process of installing the steel sleeve on the rotor is usually completed by using a hydraulic machine, which is relatively complicated and difficult to install. The feeding of the steel sleeve and the rotor is usually completed by using manual work. In addition, since the wall thickness of the steel sleeve is usually thin, the axial alignment of the steel sleeve and the rotor is not accurate enough, so that the steel sleeve is easy to be deformed or even damaged when the rotor is pressed into the steel sleeve. Therefore, these technical problems result in low production efficiency and high defective rate of the assembly process of pressing the rotor into the steel sleeve. SUMMARY

[0003] The purpose of the embodiment of the present application is to provide an automatic rotor steel sleeve entering machine to solve the technical problem of low assembly efficiency of the rotor and the steel sleeve in the prior art.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present application is to provide an automatic rotor steel sleeve entering machine for pressing the rotor into the steel sleeve, which comprises a mechanical hand, a detection and gluing device and a pressing device, which are all arranged on a machine table. The detection and gluing device comprises a detection mechanism below a detection position, a gluing mechanism below a gluing position and a detection and gluing platform. The pressing device comprises a pressing mechanism and a pressing platform. The pressing mechanism comprises a rotor clamping part. The pressing platform comprises a first loading table and a second loading table, and can move at a pressing position, a rotor feeding position and an up and down feeding position. The up and down feeding position and the rotor feeding position are arranged on both sides of the pressing position below the pressing mechanism.

[0005] The steel sleeve is placed on the detection and gluing platform by the mechanical hand. After being detected by the detection mechanism, the detection and gluing platform moves from the detection position to the gluing position, and the gluing mechanism glues the inner wall surface of the steel sleeve at the gluing position.

[0006] The pressing device has an initial state and a first state, a second state and a third state which are sequentially cycled after the initial state; in the initial state, the rotor is first fed onto the second loading table at the rotor feeding position; in the first state, the first loading table at the feeding and discharging position is placed with the rubber-coated steel sleeve by the mechanical hand, and the rotor on the second loading table at the pressing position is grabbed upward by the rotor gripping member; in the second state, the first loading table is 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 table at the rotor feeding position; in the third state, the first loading table is at the feeding and discharging position, the second loading table is at the pressing position, and the mechanical hand grabs the rotor with the pressed steel sleeve to realize discharging.

[0007] Optionally, the pressing platform further comprises a pressing sliding assembly and a plurality of connecting rods; the pressing sliding assembly comprises a pressing sliding rail, a pressing sliding driving member, a pressing sliding transmission member and a plurality of sliding blocks;

[0008] The first loading table comprises a first bottom plate, a first loading plate spaced above the first bottom plate, and a plurality of first supporting columns connecting the first bottom plate and the first loading plate;

[0009] The second loading table comprises a second bottom plate, a second loading plate spaced above the second bottom plate, and a plurality of second supporting columns connecting the second bottom plate and the second loading plate; both ends of the second bottom plate are respectively connected with a sliding block; the sliding block is slidable on the pressing sliding rail;

[0010] The second bottom plate and the first bottom plate are connected by the plurality of connecting rods, and the pressing sliding driving member is connected with the first bottom plate through the pressing sliding transmission member to drive the first loading table and the second loading table to move synchronously.

[0011] Optionally, the pressing mechanism further comprises a pressing driving member, a pressing support and a pressing transmission member; the pressing support comprises a mounting top plate and a pressing supporting column supporting the mounting top plate, and the pressing position is located below the mounting top plate;

[0012] The pressing transmission member is located below the mounting top plate, the pressing driving member is mounted on the mounting top plate, the lower end of the pressing driving member passes through the mounting top plate and is connected with the pressing transmission member, and the rotor gripping member is arranged at the lower end of the pressing transmission member.

[0013] Optionally, the pressing 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;

[0014] The upper end face of the central shaft of the rotor is provided with an inner concave upper recess, and the lower end face of the central shaft of the rotor is provided with an inner concave lower recess; the upper alignment rod is coaxially sleeved in the pressing driving part, the upper alignment rod is coaxially sleeved with a spring, and the lower end of the upper alignment rod is provided with a tapered upper alignment protrusion; the lower end of the lower alignment rod is connected with the lower driving part, and the upper end of the lower alignment rod is provided with a tapered lower alignment protrusion;

[0015] In the second state, the first loading table is located at the pressing position, and before the rotor is pressed into the steel sleeve, the pressing driving part drives the upper alignment rod to move downward, the lower driving part drives the lower alignment rod to move upward, and the upper alignment protrusion of the upper alignment rod is connected with the upper recess through adaptive alignment, and the lower alignment protrusion of the lower alignment rod is connected with the lower recess through adaptive alignment, so that the coaxial alignment of the rotor and the steel sleeve is realized.

[0016] Optionally, the pressing device further comprises a pressing rotating mechanism, and the pressing rotating mechanism is arranged below the first bottom plate; when the first loading table is located at the pressing position, the pressing rotating mechanism drives the steel sleeve to rotate axially while the rotor is pressed into the steel sleeve.

[0017] Optionally, the mechanical arm comprises a moving arm and a gripper assembly arranged at the free end of the moving arm; the gripper assembly comprises a first gripper and a second gripper, both of which are mounted at the free end of the moving arm and are arranged at an included angle therebetween; the first gripper is used for grabbing the steel sleeve, and the second gripper is used for grabbing the rotor with the steel sleeve pressed thereon.

[0018] Optionally, the gripper assembly further comprises a gripper connecting plate, and the first gripper and the second gripper are connected with the moving arm through the gripper connecting plate.

[0019] The first gripper comprises a first connecting piece, a first clamping cylinder, a pressure regulating valve and two oppositely arranged detachable first clamping jaws, the first clamping jaws are in transmission connection with the lower end of the first clamping cylinder, the pressure regulating valve is located beside the first clamping jaws and connected with the first clamping cylinder, the inner side surfaces of the two opposite first clamping jaws are arc surfaces matched with the outer side surface of the steel sleeve, and a plurality of anti-skid blocks made of elastic material are inlaid on the arc surfaces.

[0020] Optionally, the detection and gluing device further comprises an assembly plate, a detection and gluing moving mechanism and a gluing rotating mechanism, the assembly plate is vertically fixed beside the detection and gluing moving mechanism, and the gluing rotating mechanism is arranged below the detection and gluing platform; the gluing mechanism comprises a gluing connecting plate and a gluing head, and the gluing head is arranged at the free end of the gluing connecting plate away from the assembly plate; the detection and gluing moving mechanism is driven to move on the assembly plate and drive the gluing head to move up and down.

[0021] 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 for gluing, and at the same time, the gluing rotating mechanism is driven to drive the steel sleeve to rotate axially.

[0022] Optionally, the detection mechanism comprises a camera and a camera connecting member, the camera is connected with the assembly plate through the camera connecting member and extends out of the assembly plate.

[0023] The camera is below the detection position, and the camera detects the steel sleeve when the steel sleeve is located at the detection position.

[0024] Optionally, on the machine table, the detection and gluing device and the press-fitting device are arranged on the left and right sides, the mechanical arm is arranged in front of and between the detection and gluing device and the press-fitting device.

[0025] The automatic rotor-steel sleeve machine provided by the application has the following advantages: first, the automatic rotor-steel sleeve machine integrates the mechanical arm, the detection and gluing device, and the press-fitting device on one machine table, so that the detection and gluing of the steel sleeve and the press-fitting of the rotor and the steel sleeve can be realized on one machine, thereby integrating the two common process flows into one complete process flow, realizing automatic feeding, discharging, and press-fitting, and greatly improving the production efficiency and saving the production space. Second, in the press-fitting device, the movement of the press-fitting platform is automatically controlled, so that the first loading table and the second loading table can be located at different positions in different states, thereby realizing simultaneous press-fitting and feeding, for example, when the rotor and the steel sleeve are press-fitted, the next rotor to be used can be fed synchronously, and when the steel sleeve is automatically fed, the rotor to be press-fitted at the press-fitting position can be grabbed and lifted. These settings are all conducive to further improving the production efficiency. Third, by automatically controlling the movement of the press-fitting platform, the first loading table and the second loading table can be located at accurate positions in corresponding states, 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 failure and steel sleeve deformation and damage caused by inaccurate alignment. In summary, the automatic rotor-steel sleeve machine can realize automatic detection and gluing of the steel sleeve and accurate press-fitting of the rotor and the steel sleeve, effectively improving the assembly efficiency and the yield of finished products. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.

[0027] Figure 1 The structure schematic diagram of the automatic rotor-steel sleeve machine provided by the embodiment of the application is shown in the figure.

[0028] Figure 2 The structure schematic diagram of the press-fitting device provided by the embodiment of the application is shown in the figure.

[0029] Figure 3 A top view of the press-fitting device provided by the embodiment of the present application;

[0030] Figure 4 A Figure 3 A sectional view along the direction S-S in the middle;

[0031] Figure 5 A Figure 4 An enlarged schematic view of A in the middle;

[0032] Figure 6 A structural schematic view of the mechanical hand provided by the embodiment of the present application;

[0033] Figure 7 A Figure 6 An enlarged schematic view of B in the middle;

[0034] Figure 8 A structural schematic view of the detection and gluing device provided by the embodiment of the present application;

[0035] Figure 9 A Figure 8 An enlarged schematic view of C in the middle.

[0036] BRIEF DESCRIPTION OF DRAWINGS: machine table 100, mechanical hand 200, detection and gluing device 300, press-fitting device 400, movement arm 210, gripper assembly 220, detection mechanism 310, gluing mechanism 320, detection and gluing platform 330, press-fitting mechanism 410, press-fitting platform 420, press-fitting driving member 411, rotor clamping member 412, first loading table 421, second loading table 422, rotor 510, steel sleeve 520, steel sleeve conveying disc 610, steel sleeve conveying belt 620, placement groove 611, assembly plate 340, detection and gluing movement 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 pipe 323, first gripper 221, second gripper 222, gripper connecting plate 223, first connecting member 224, first clamping cylinder 225, pressure regulating valve 226, first clamping jaw 227, anti-skid block 228, press-fitting sliding assembly 423, connecting rod 424, press-fitting slide 425, slide block 428, first bottom plate 421a, first loading plate 421b, first support column 421c, second bottom plate 422a, second loading plate 422b, second support column 422c, press-fitting support 413, press-fitting driving member 414, mounting top plate 413a, press-fitting support column 413b, guide shaft 415, press connecting plate 416, upper core aligning rod 417, lower core aligning rod 418, spring 419, upper recess 511, upper aligning protrusion 417a, press-fitting rotating mechanism 430, V-shaped clamping jaw 222a. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended to explain the present application and should not be used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can 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 can be directly connected to the other element or indirectly connected to the other element.

[0039] It should also be noted that the terms "left", "right", "top", and "bottom" and the like in the embodiments of the present application are merely relative concepts or are with reference to the normal use state of the product, and should not be considered as limiting.

[0040] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be understood as limiting the present application.

[0041] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0042] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] Embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0044] The present application provides an automatic rotor sleeve machine.

[0045] Referring to Figures 1 to 9 In an embodiment, the automatic rotor sleeve machine is used for sleeving a sleeve 520 on a rotor 510 of an electric machine, the sleeve 520 being in a cylindrical shape along an up-down axial direction. Specifically, the automatic rotor sleeve machine comprises a machine table 100, a manipulator 200, a detection and gluing device 300, and a pressing device 400. The manipulator 200, the detection and gluing device 300, and the pressing device 400 are all arranged on the same machine table 100. The manipulator 200 comprises a moving arm 210 and a gripper assembly 220 arranged at a free end of the moving arm 210. The detection and gluing device 300 comprises a detection mechanism 310, a gluing mechanism 320, and a movable detection and gluing platform 330. A detection position is arranged below the detection mechanism 310, and a gluing position is arranged below the gluing mechanism 320. The pressing device 400 comprises a rotor conveying mechanism, a pressing mechanism 410, and a pressing platform 420. The rotor conveying mechanism is arranged beside the pressing mechanism 410. The pressing mechanism 410 comprises a pressing driving member 411 and a rotor clamping member 412 for clamping the rotor 510. The pressing platform 420 comprises a first loading table 421 and a second loading table 422 connected to each other. The pressing platform 420 is movable among a pressing position, a rotor loading position, and an up-down loading position. The pressing position is arranged below the pressing mechanism 410. The up-down loading position and the rotor loading position are arranged on two sides of the pressing position along a moving direction.

[0046] The manipulator 200 places the steel sleeve 520 on the detection and gluing platform 330 by the gripper assembly 220. After the steel sleeve 520 is detected and qualified by the detection mechanism 310, the detection and gluing platform 330 is driven to move from the detection position to the gluing position, and the gluing mechanism 320 glues the inner wall surface of the steel sleeve 520 located at the gluing position. The press-fitting device 400 has an initial state and a first state, a second state and a third state which are sequentially cycled after the initial state. In the initial state, the press-fitting platform 420 moves to the second loading platform 422 located at the rotor loading position, and the first loading platform 421 is located at the press-fitting position. 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 press-fitting position, and the first loading platform 421 is located at the loading and unloading position. The manipulator 200 places the glued steel sleeve 520 on the first loading platform 421 to realize the loading of the steel sleeve 520. At the same time, the rotor 510 is grabbed by the rotor grabbing piece 412 and moves upward. In the second state, the press-fitting platform 420 moves until the second loading platform 422 is located at the rotor 510 loading position, and the first loading platform 421 is located at the press-fitting position. After the steel sleeve 520 and the rotor 510 located above the steel sleeve 520 are coaxially aligned, the press-fitting mechanism 410 moves downward to press the rotor 510 into the steel sleeve 520. At the same time, the rotor 510 is conveyed to the second loading platform 422. In the third state, the press-fitting platform 420 moves until the first loading platform 421 is located at the loading and unloading position, and the second loading platform 422 is located at the press-fitting position. The manipulator 200 grabs the rotor 510 with the press-fitted steel sleeve 520 to realize the unloading.

[0047] In other words, the use of the automatic rotor sleeve machine can realize the automatic process of detecting and gluing the sleeve 520 and the accurate press-fitting of the rotor 510 and the sleeve 520, which specifically includes the following steps: first, the robot 200 automatically conveys the sleeve 520 to the machine table 100 and places it on the detection and gluing platform 330 of the detection and gluing device 300. The detection and gluing platform 330 is first located at the detection position to facilitate the detection mechanism 310 to take a photo of the sleeve 520 below for detection. If the sleeve 520 is detected to be qualified, the detection and gluing platform 330 will move the sleeve 520 to the gluing position to facilitate the gluing mechanism 320 to glue the inner side of the sleeve 520. After the sleeve 520 is glued, it will be grabbed by the robot 200 and placed on the first loading table 421 of the press-fitting device 400 to realize the automatic feeding of the sleeve 520. At this time, the first loading table 421 is located at the feeding and discharging position, the second loading table 422 is located at the press-fitting position, and the rotor 510 on the second loading table 422 will be grabbed by the rotor clamping piece 412 to make the rotor 510 located above the press-fitting position, i.e., the press-fitting device 400 is in the first state. Of course, before this, the first feeding of the rotor 510 should be realized, i.e., the press-fitting device 400 is in the initial state, the press-fitting platform 420 moves to the second loading table 422 located at the rotor feeding position, the first loading table 421 is located at the press-fitting position, and the rotor 510 is conveyed to the second loading table 422 by the rotor conveying mechanism. After the first state, the press-fitting device 400 enters the second state, i.e., the press-fitting platform 420 moves, the first loading table 421 is located at the press-fitting position, and after the 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 sleeve 520. At the same time, since the second loading table 422 is located at the rotor feeding position, the feeding of the rotor 510 can also be realized synchronously. Then, the press-fitting device 400 enters the third state, i.e., the press-fitting platform 420 moves, the first loading table 421 is located at the feeding and discharging position, and the second loading table 422 is located at the press-fitting position. The robot 200 grabs the rotor 510 with the press-fitted sleeve 520 to realize discharging. Then, the press-fitting device 400 will automatically cycle from the first state to the third state to realize the automatic and accurate press-fitting of the glued sleeve 520 and the rotor 510.

[0048] Based on the design, in the embodiment, firstly, the automatic rotor into steel sleeve machine is integrally provided with the manipulator 200, the detection and gluing device 300 and the press-fitting device 400 on the machine table 100, so that the detection and gluing of the steel sleeve 520 and the press-fitting of the rotor 510 and the steel sleeve 520 can be realized on one machine, thereby integrating the two common process flows into one complete process flow, realizing automatic feeding, discharging and press-fitting, and greatly improving the production efficiency and saving the production space. Secondly, in the press-fitting device 400, the movement of the press-fitting platform 420 is automatically controlled, so that the first loading table 421 and the second loading table 422 can be located at different positions in different states, so that the press-fitting and feeding can be carried out at the same time, for example, when the rotor 510 and the steel sleeve 520 are press-fitted, the rotor 510 for next use can be fed synchronously, when the steel sleeve 520 is automatically fed, the rotor 510 to be press-fitted at the press-fitting position can be grabbed and lifted. These settings are all conducive to further improving the production efficiency; thirdly, by automatically controlling the movement of the press-fitting platform 420, the first loading table 421 and the second loading table 422 can be located at accurate positions in the corresponding states, so as to ensure that the steel sleeve 520 and the rotor 510 at the press-fitting position can be accurately coaxially aligned, thereby reducing the occurrence of press-fitting failure and deformation and damage of the steel sleeve 520 due to inaccurate alignment. In summary, the automatic rotor into steel sleeve machine can realize automatic detection and gluing of the steel sleeve 520 and accurate press-fitting of the rotor 510 and the steel sleeve 520, effectively improving the assembly efficiency and the yield of finished products.

[0049] It should be noted that the gluing of the gluing mechanism 320 to the inner side of the steel sleeve 520 is mainly located in the upper region of the inner side, and after the rotor 510 is press-fitted into the steel sleeve 520, the magnetic steel of the rotor 510 is less likely to fall off through the bonding effect of the adhesive. The automatic rotor into steel sleeve machine also includes a control system and a steel sleeve conveying mechanism. The control system is in information connection with the manipulator 200, the detection and gluing device 300 and the press-fitting device 400, thereby realizing automatic control of the three. The steel sleeve conveying mechanism includes a steel sleeve conveying disc 610 and a steel sleeve conveying belt 620, and the steel sleeve conveying disc 610 is provided with a plurality of arrayed placement grooves 611, a plurality of steel sleeves 520 are respectively placed in the corresponding placement grooves 611, and are conveyed to the machine table 100 through the steel sleeve conveying belt 620, and then the manipulator 200 successively grabs the steel sleeves 520 and places them on the detection and gluing platform 330. Similarly, the rotor conveying mechanism also includes a corresponding conveying disc and a conveying belt, etc., to realize automatic conveying of the rotor 510.

[0050] Here, as Figure 1As shown in the figure, on the machine 100, the detection gluing device 300 and the pressing device 400 are arranged on the left and right sides respectively, and the manipulator 200 is arranged in front of and between the detection gluing device 300 and the pressing device 400. Specifically, the moving direction of the detection gluing platform 330 is perpendicular to the moving direction of the pressing platform 420. Of course, in other embodiments, the manipulator 200, the detection gluing device 300 and the pressing device 400 can also be arranged in other positions, but in the present embodiment, the arrangement of the devices as described above can occupy a smaller production area and is beneficial to shorten the transfer time of the materials through the manipulator 200, thereby being beneficial to further improve the production efficiency and save the production space.

[0051] Further, as shown in the figures, Figure 1 , Figure 8 and Figure 9 In the present embodiment, the detection gluing device 300 further comprises an assembly plate 340, a detection gluing moving mechanism 350 and a gluing rotating mechanism 360, the assembly plate 340 is vertically fixed beside the detection gluing moving mechanism 350, and the gluing rotating mechanism 360 is arranged below the detection gluing platform 330. Specifically, the detection mechanism 310 comprises a camera 311 and a camera connecting member 312, the camera 311 is connected with the assembly plate 340 through the camera connecting member 312 and extends out of the assembly plate 340; the camera 311 is below the detection position, when the steel sleeve 520 is located at the detection position, the camera 311 detects the steel sleeve 520 by shooting. Here, the detection of the steel sleeve 520 is mainly the detection of its shape, so as to avoid the deformation of the steel sleeve 520 affecting the pressing of the rotor 510 and the steel sleeve 520. First, the camera 311 takes a photo 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 they are consistent, it can be determined that the steel sleeve 520 is detected qualified; then, the control system controls the detection gluing platform 330 to move to the gluing position.

[0052] Further, as shown in the figures, Figure 1 , Figure 8 and Figure 9As shown, in the present embodiment, the gluing mechanism 320 comprises a gluing connecting plate 321 and a gluing head 322, the gluing head 322 is arranged at the free end of the gluing connecting plate 321 away from the assembling plate 340; the detection gluing moving mechanism 350 is driven to move on the assembling plate 340 and drive the gluing head 322 to move up and down. After the detection 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 perform gluing, at the same time of gluing, the gluing rotating mechanism 360 is driven to drive the steel sleeve 520 to rotate axially. Specifically, a drag chain 370 is arranged beside the assembling plate 340, the detection gluing moving mechanism 350 comprises a slide rail 351 arranged on the assembling plate 340 and a slide plate 352 which can slide on the slide rail 351, the gluing head 322 is connected with the slide plate 352 through a gluing connecting plate 321 extending forward, when the matched driving member (for example but not limited to a cylinder or a motor, etc.) drives the slide plate 352 to move up and down along the slide rail 351, the gluing head 322 also moves up and down. The gluing head 322 has a gluing pipe 323 which is inclined downward, the opening of the gluing pipe 323 is the glue outlet. When the steel sleeve 520 needs to be glued, the gluing head 322 moves downward, the gluing pipe 323 extends into the steel sleeve 520, and the glue outlet abuts against the inner side surface of the steel sleeve 520, at the same time of glueing, the gluing rotating mechanism 360 drives the steel sleeve 520 to rotate axially, thus, through the rotation of the steel sleeve 520, the adhesive can be coated around. Here, the gluing area of the steel sleeve 520 is mainly in the upper area of the inner side surface, i.e. the area close to the upper end of the steel sleeve 520. The size of the gluing amount and the gluing area can be realized by the size of the glue outlet of the detachable gluing head 322, the control of the rotation speed of the steel sleeve 520 and the control of the descending speed of the gluing head 322, etc. When the gluing of the steel sleeve 520 is completed, the steel sleeve 520 stops rotating, and the gluing head 322 is also controlled to move upward until leaving the steel sleeve 520.

[0053] Specifically as Figure 1 , Figure 6 and Figure 7As shown, in the present embodiment, the gripper assembly 220 comprises a first gripper 221 and a second gripper 222, both of which are mounted at the free end of the moving arm 210 and are arranged at an angle between the first gripper 221 and the second gripper 222; the first gripper 221 is used to grab the steel sleeve 520, and the second gripper 222 is used to grab the rotor 510 with the steel sleeve 520 pressed and assembled. In this way, through one manipulator 200, the grabbing of the steel sleeve 520 and the grabbing of the rotor 510 with the steel sleeve 520 pressed and assembled can be simultaneously realized, without the need for two manipulators 200 to complete, thereby reducing the cost of the machine. Specifically, the gripper assembly 220 further comprises a gripper connecting plate 223, and the first gripper 221 and the second gripper 222 are both connected to the moving arm 210 through the gripper connecting plate 223; the gripper connecting plate 223 is rectangular, and the first gripper 221 and the second gripper 222 are connected to two adjacent sides of the gripper connecting plate 223 respectively, 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.

[0054] Further, as shown in the figure, Figure 7 The first gripper 221 comprises a first connecting piece 224, a first clamping cylinder 225, a pressure regulating valve 226, and two oppositely arranged detachable first clamping jaws 227; the first clamping jaws 227 are in transmission connection with the lower end of the first clamping cylinder 225, the pressure regulating valve 226 is located beside the first clamping jaws 227, and the pressure regulating valve 226 is connected to the first clamping cylinder 225; the inner side surface of the two opposite first clamping jaws 227 is an arc surface adapted to the outer surface of the steel sleeve 520, and a plurality of anti-slip blocks 228 made of elastic material are inlaid on the arc surface. Specifically, the anti-slip blocks 228 are preferably made of super glue, which has the effect of increasing friction to prevent damage to the steel sleeve 520. Of course, in other embodiments, other suitable materials can also be used. It can be understood that, since the wall thickness of the steel sleeve 520 is relatively thin, for example, the steel sleeve 520 used in some rotor 510 products is only 0.2 mm thick, therefore, the inner side surface of the first clamping jaws 227 is arc-shaped, which is beneficial to more stable clamping of the steel sleeve 520 and to avoiding deformation or damage to the steel sleeve 520 as much as possible. The first clamping cylinder 225 is mainly used to drive control the opening and closing and clamping process of the two first clamping jaws 227, and the pressure regulating valve 226 is used to adjust the clamping pressure of the first clamping jaws 227. In addition, the two opposite first clamping jaws 227 are arranged to be detachable, so as to replace different types of first clamping jaws 227 to adapt to different types and sizes of steel sleeves 520. In addition, the second gripper 222 comprises a V-shaped clamping jaw 222a, which is suitable for clamping the upper part of the central shaft of the rotor 510 with the steel sleeve 520 pressed and assembled.

[0055] Specifically, as shown in the figure, Figures 1 to 5As shown, in the present embodiment, the press-fitting platform 420 further comprises a press-fitting sliding assembly 423 and a plurality of connecting rods 424; the press-fitting sliding assembly 423 comprises a press-fitting sliding rail 425, a press-fitting sliding drive member, a press-fitting sliding transmission member and a plurality of sliding blocks 428. The first loading platform 421 comprises a first bottom plate 421a, a first loading plate 421b spaced above the first bottom plate 421a and a plurality of first supporting columns 421c connecting the first bottom plate 421a and the first loading plate 421b. The second loading platform 422 comprises a second bottom plate 422a, a second loading plate 422b spaced above the second bottom plate 422a and a plurality of second supporting columns 422c connecting the second bottom plate 422a and the second loading plate 422b; the two ends of the second bottom plate 422a are respectively connected with a sliding block 428; the sliding block 428 is slidable on the press-fitting sliding rail 425. The second bottom plate 422a and the first bottom plate 421a are connected through the plurality of connecting rods 424; the press-fitting sliding drive member is connected with the first bottom plate 421a through the press-fitting sliding transmission member to drive the first loading platform 421 and the second loading platform 422 to move synchronously. Here, the synchronous movement of the second bottom plate 422a and the first bottom plate 421a can make the first loading platform 421 and the second loading platform 422 reach the accurate specified positions at the same time in each state without the need of adjustment, and the design of the movement scheme is simpler and more reliable. Of course, in other embodiments, the press-fitting platform 420 can also be realized by other structural schemes to achieve the fixed-point movement, which is not particularly limited here.

[0056] Further, as Figure 2 and Figure 4As shown, in the present embodiment, the press-fitting mechanism 410 further comprises a press-fitting support 413 and a press-fitting transmission member 414. The press-fitting support 413 comprises a mounting top plate 413a and a press-fitting support column 413b supporting the mounting top plate 413a, and 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, and the press-fitting driving member 411 is mounted on the mounting top plate 413a, the lower end of the press-fitting driving member 411 is connected with the press-fitting transmission member 414 after passing through the mounting top plate 413a, and the rotor clamping member 412 is arranged at the lower end of the press-fitting transmission member 414. In the present embodiment, the press-fitting driving member 411 is a cylinder, of course, in other embodiments, it can also be, but not limited to, a motor, etc. In addition, in order to ensure that the clamped rotor 510 moves up and down in the vertical direction, a plurality of upward and downward axial guide shafts 415 are arranged beside the press-fitting driving member 411, and the guide shafts 415 all pass through the mounting top plate 413a and are connected with the press connecting plate 416 located below. The upper end of the press-fitting transmission member 414 is connected with the press connecting plate 416, and the lower end is provided with the rotor clamping member 412 which can be controlled to open and close. In this way, before press-fitting, the rotor clamping member 412 can lift the rotor 510 to be press-fitted upward, and when the steel sleeve 520 is in place and ready for press-fitting, the piston of the cylinder moves downward, presses the press connecting plate 416, and drives the press-fitting transmission member 414, the rotor clamping member 412 and the rotor 510 to move downward together until the rotor 510 is press-fitted into the steel sleeve 520.

[0057] Further, as Figure 4 and Figure 5As shown, in this embodiment, the pressing mechanism 410 further includes a lower drive member located below the second base plate 422a, and an upper mandrel 417 and a lower mandrel 418 coaxially arranged with the steel sleeve 520. The upper end face of the central shaft of the rotor 510 is provided with an inwardly recessed upper hole 511, and the lower end face of the central shaft of the rotor 510 is provided with an inwardly recessed lower hole; the upper mandrel 417 is coaxially sleeved in the pressing transmission member 414, and a spring 419 is coaxially sleeved on the upper mandrel 417; the lower end of the upper mandrel 417 is provided with a tapered upper alignment protrusion 417a; the lower end of the lower mandrel 418 is connected to the lower drive member, and the upper end of the lower mandrel 418 is provided with a tapered lower alignment protrusion. In the second state, with the first loading platform 421 in the pressing position and before the rotor 510 is pressed into the steel sleeve 520, the pressing drive 411 drives the upper alignment rod 417 downward, and the lower drive drives the lower alignment rod 418 upward. Through the matching alignment connection between the upper alignment protrusion 417a of the upper alignment rod 417 and the upper concave hole 511, and the matching alignment connection between the lower alignment protrusion of the lower alignment rod 418 and the lower concave hole, the coaxial alignment of the rotor 510 and the steel sleeve 520 is achieved. It can be understood that to ensure the smooth pressing of the rotor 510 and the steel sleeve 520 and reduce damage to the steel sleeve 520, ensuring coaxial alignment of the rotor 510 and the steel sleeve 520 before pressing them into the steel sleeve 520 is a crucial step. The design of the upper alignment rod 417 and the lower alignment rod 418 solves this problem, thereby achieving precise pressing of the rotor 510 and the steel sleeve 520.

[0058] Furthermore, such as Figure 2 As shown, in this embodiment, the pressing device 400 further includes a pressing rotation mechanism 430, which is located below the first base plate 421a. When the first loading platform 421 is in the pressing position, while the rotor 510 is pressed downward into the steel sleeve 520, the pressing rotation mechanism 430 drives the steel sleeve 520 to rotate axially. Since the adhesive on the upper part of the inner side of the steel sleeve 520 has not completely solidified when the rotor 510 is just pressed into the steel sleeve 520, the rotation of the steel sleeve 520 can more evenly distribute the adhesive into the inner side of the steel sleeve 520, thereby making the bonding surface between the steel sleeve 520 and the rotor 510 larger, the adhesive distribution more uniform, and the bonding effect better. Of course, this rotating pressing scheme also helps to reduce the resistance when the rotor 510 is pressed into the steel sleeve 520, further reducing damage to the steel sleeve 520 during the pressing process.

[0059] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated rotor-in-can machine for press-fitting a rotor into a can, characterized by, The detection and glue coating device and the pressing device are arranged on the machine table; the detection and glue coating device comprises a detection mechanism, a glue coating mechanism and a detection and glue coating 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 table and a second loading table and can move in a pressing position, a rotor loading position and an up and down loading position; the up and down loading position and the rotor loading position are arranged on the two sides of the pressing position below the pressing mechanism; The steel sleeve is placed on the detection and glue coating platform by the mechanical arm, and after being detected by the detection mechanism, the detection and glue coating platform moves from the detection position to the glue coating position, and the glue coating mechanism coats glue on the inner wall of the steel sleeve in the glue coating position; The pressing device has an initial state and a first state, a second state and a third state which are sequentially cycled after the initial state; in the initial state, the rotor is conveyed to the second loading table in the rotor loading position to realize first loading; in the first state, the first loading table in the up and down loading position is placed with the steel sleeve coated with glue by the mechanical arm, and the rotor on the second loading table in the pressing position is grabbed upward by the rotor clamping member; in the second state, the first loading table is in the pressing position, the pressing mechanism moves downward to press the rotor into the steel sleeve, and the rotor is conveyed to the second loading table in the rotor loading position; in the third state, the first loading table is in the up and down loading position, the second loading table is in the pressing position, and the rotor in the steel sleeve is grabbed by the mechanical arm to realize unloading.

2. The automated rotor steel canning machine of claim 1, wherein, The pressing platform further comprises a pressing sliding assembly and a plurality of connecting rods; the pressing sliding assembly comprises a pressing sliding rail, a pressing sliding driving member, a pressing sliding transmission member and a plurality of sliding blocks; The first loading table comprises a first bottom plate, a first loading plate spaced above the first bottom plate and a plurality of first supporting columns connecting the first bottom plate and the first loading plate; The second loading table comprises a second bottom plate, a second loading plate spaced above the second bottom plate and a plurality of second supporting columns connecting the second bottom plate and the second loading plate; the two ends of the second bottom plate are respectively connected with a sliding block; the sliding block can slide on the pressing sliding rail; The second bottom plate and the first bottom plate are connected by a plurality of connecting rods, and the pressing sliding driving member is connected with the first bottom plate through the pressing sliding transmission member to drive the first loading table and the second loading table to move synchronously.

3. The automated rotor steel canning machine of claim 2, wherein, The pressing mechanism further comprises a pressing driving member, a pressing support and a pressing transmission member; the pressing support comprises a mounting top plate and a pressing support column supporting the mounting top plate; the pressing position is below the mounting top plate; The pressing transmission member is below the mounting top plate, the pressing driving member is mounted on the mounting top plate, the lower end of the pressing driving member is connected with the pressing transmission member after penetrating through the mounting top plate, and the rotor clamping member is arranged at the lower end of the pressing transmission member.

4. The automated rotor steel canning machine of claim 3, wherein, The pressing mechanism further comprises a lower driving member located below the second bottom plate and upper and lower core alignment rods coaxially arranged with the steel sleeve; The upper end face of the central shaft of the rotor is provided with an upper concave hole, and the lower end face of the central shaft of the rotor is provided with a lower concave hole; the upper core alignment rod is coaxially sleeved in the pressing transmission member, a spring is coaxially sleeved on the upper core alignment rod, and the lower end of the upper core alignment rod is provided with a tapered upper alignment protrusion; the lower end of the lower core alignment rod is connected with the lower driving member, and the upper end of the lower core alignment rod is provided with a tapered lower alignment protrusion; In the second state, the first loading table is located at the pressing position, and before the rotor is pressed into the steel sleeve, the pressing driving member drives the upper core alignment rod to move downward, the lower driving member drives the lower core alignment rod to move upward, and the upper alignment protrusion of the upper core alignment rod is connected with the upper concave hole in a matched alignment manner, and the lower alignment protrusion of the lower core alignment rod is connected with the lower concave hole in a matched alignment manner, so that the rotor and the steel sleeve are coaxially aligned.

5. The automated rotor steel canning machine of claim 2, wherein, The pressing device further comprises a pressing rotating mechanism located below the first bottom plate; when the first loading table is located at the pressing position, the pressing rotating mechanism drives the steel sleeve to rotate axially while the rotor is pressed downward into the steel sleeve.

6. The automated rotor steel canning machine of claim 1, wherein, The mechanical arm comprises a moving arm and a gripper assembly located at the free end of the moving arm; the gripper assembly comprises a first gripper and a second gripper, both of which are mounted at the free end of the moving arm and are arranged at an angle between the first gripper and the second gripper; the first gripper is used to grasp the steel sleeve, and the second gripper is used to grasp the rotor with the steel sleeve pressed thereon.

7. The automated rotor steel canning machine of claim 6, wherein; The gripper assembly further comprises a gripper connecting plate, and the first gripper and the second gripper are connected with the moving arm through the gripper connecting plate; The first gripper comprises a first connecting member, a first clamping cylinder, a pressure regulating valve, and two oppositely arranged detachable first clamping jaws, the first clamping jaws are in transmission connection with the lower end of the first clamping cylinder, the pressure regulating valve is located beside the first clamping jaws, and the pressure regulating valve is connected with the first clamping cylinder, the inner side surface of the two opposite first clamping jaws is an arc surface matched with the outer surface of the steel sleeve, and a plurality of anti-slip blocks made of elastic material are inlaid on the arc surface.

8. The automated rotor steel canning machine of claim 1, wherein, The detection and gluing device further comprises an assembly plate, a detection and gluing moving mechanism, and a gluing rotating mechanism, the assembly plate is vertically fixed beside the detection and gluing moving mechanism, and the gluing rotating mechanism is located below the detection and gluing platform; the gluing mechanism comprises a gluing connecting plate and a gluing head, the gluing head is located at the free end of the gluing connecting plate away from the assembly plate; the detection and gluing 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 for gluing, and at the same time, the gluing rotating mechanism is driven to drive the steel sleeve to rotate axially.

9. The automated rotor steel canning machine of claim 8, wherein, The detection mechanism comprises a camera and a camera connecting piece, the camera is connected with the assembling plate through the camera connecting piece and extends out of the assembling plate; The camera is below the detection position, when the steel sleeve is located at the detection position, the camera detects the steel sleeve by shooting.

10. The automated rotor steel canning machine of any one of claims 1 to 9, wherein, On the machine, the detection and gluing device and the pressing device are separately arranged on left and right sides, the mechanical hand is arranged in front of and between the detection and gluing device and the pressing device.

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