Optical axis rotor iron core laminating device and optical axis rotor iron core laminating method

Abstract

The invention relates to the technical field of motor production, in particular to an optical axis rotor iron core laminating device and method. Comprising a base, a sliding table, a first robot, a tensioning structure and a lifting structure are arranged on the base, and the sliding table is a sliding bearing structure capable of moving in the longitudinal direction; the first robot is used for grabbing the iron core on the iron core storage station and transferring the iron core to the sliding table to be placed. The tensioning structure is arranged on the sliding table in a penetrating mode and used for penetrating through iron core middle holes to fix all iron cores on the sliding table according to set angles when the iron cores are placed on the sliding table. And the lifting structure is used for driving the tensioning structure to vertically move so as to adapt to the height of the laminated iron core. The optical axis rotor iron core laminating device is simple in structure, convenient to operate and use, stable and accurate in iron core laminating and extremely high in automation degree, iron core laminating efficiency is improved, and efficient rotor production is promoted.

Description

Technical Field

[0001] This invention relates to the field of motor manufacturing technology, specifically to a device and method for stacking optical shaft rotor cores. Background Technology

[0002] With the rapid popularization of new energy electric vehicles, the demand for new energy vehicle motors is diversifying. As a crucial component of the entire motor, the rotor's structure is becoming increasingly diverse. A rotor typically includes a rotor shaft, end plates, bushings, and an iron core fitted and fixed to the rotor shaft. Rotor shafts are divided into keyed rotor shafts and smooth shaft rotor shafts. A keyed rotor shaft has a raised key structure on its shaft body. The iron core and shaft body of the keyed rotor shaft are positioned and assembled using the key. Mechanical skew is ensured through incoming material processing quality control, and the rotor assembly line does not need to inspect the mechanical skew of the rotor assembly. In contrast, the shaft body of a smooth shaft rotor shaft is smooth. The iron core and shaft body of the smooth shaft rotor shaft are interference-fitted and assembled using a "thermal fitting."

[0003] During the production of the optical axis rotor shaft, the iron core is first stacked layer by layer at a predetermined angle and then heated. The optical axis rotor shaft is then pressed in at high temperature and cooled to complete the assembly. For example, existing technology mentions a motor rotor vision assembly production line, which includes an automatic bushing unloading device, an automatic end plate unloading device, a single-arm hydraulic press, a magnet-embedding device, a rotor core tray, a shaft tray, a pressed finished product tray, a robot, a PLC, an industrial camera, a ring light source, and an industrial tablet PC. The robot, PLC, single-arm hydraulic press, automatic bushing unloading device, rotor core tray, shaft tray, pressed finished product tray, automatic end plate unloading device, and magnet-embedding device constitute the robot execution system; the industrial camera, ring light source, and industrial tablet PC constitute the robot vision system; the ring light source is fixed to the industrial camera, and the industrial camera is coaxially mounted on the robot's robotic arm, perpendicular to the workpiece surface during workpiece position detection. The industrial camera is connected to the industrial tablet PC via a USB interface, and the industrial tablet PC is connected to the PLC via an industrial bus; the PLC controls the robot to perform corresponding actions, and the PLC is also connected to the single-arm hydraulic press, automatic bushing unloading device, automatic end plate unloading device, and magnet-embedding device. This production line uses a robot vision system to detect workpiece position information in real time and calculate workpiece position deviation information, which is then sent to the robot for real-time high-precision position correction. This effectively solves problems such as poor product quality and low efficiency caused by workpiece position deviation during the assembly process. It also avoids the waste of human resources caused by the need for additional manual monitoring due to workpiece position deviation when the robot picks up and places the workpiece, significantly reducing labor and realizing intelligent automated production of motor rotors.

[0004] However, this production line also has some problems, or is vague about some key parts. In fact, the most important part of the production process of the optical shaft rotor is the handling and stacking of the iron cores. The iron cores need to be stacked at a certain angle, one core at a time. When one iron core is stacked on top of another, it is necessary to ensure that the lower iron core remains stationary and maintains the set angle. This aspect of the production line is not mentioned in detail. With current technology, optical shaft rotors are gradually replacing keyed rotors, but the iron core stacking operation of optical shaft rotors is difficult to automate, resulting in low production efficiency and severely restricting the production and processing of motors. Summary of the Invention

[0005] The purpose of this application is to address the shortcomings of the aforementioned background technology and provide a device and method for stacking optical shaft rotor cores.

[0006] The technical solution of this application is: a stacking device for optical axis rotor cores, comprising a base, wherein the base is provided with: A sliding table, wherein the sliding table is a sliding load-bearing structure that can move longitudinally; The first robot is used to grab the iron core on the iron core storage station and transfer it to the slide table for placement. A tensioning structure is provided in the slide table to fix all the iron cores on the slide table at a set angle when the iron cores are placed on the slide table, passing through the middle hole of the iron cores. A lifting structure is used to drive the tensioning structure to move vertically to adapt to the height of the stacked iron core.

[0007] This application provides a shaft rotor core stacking device, wherein the tensioning structure includes: A tensioning base, which is vertically and vertically connected to the slide table; The tensioning sleeve has its lower end fixed to the tensioning base and its upper end passing vertically through the slide table. The tensioning sleeve is a cylindrical structure that can expand or contract radially along the middle hole of the iron core under internal compression. An expansion sleeve mandrel, the upper part of which is sleeved on a tightening sleeve, has an inverted conical structure at the upper end that is thicker at the top and thinner at the bottom; A tensioning cylinder is fixed on a tensioning base. The output end of the tensioning cylinder is connected to the lower end of the tensioning sleeve mandrel, and is used to drive the tensioning sleeve mandrel to move vertically.

[0008] This application provides a shaft rotor core stacking device, wherein the lifting structure includes: A lead screw, which passes vertically through a tensioning base and is helically connected to the tensioning base; A lifting motor, which is mounted on a slide table to drive a lead screw to rotate around a vertical axis; A lifting guide rail is vertically mounted on the slide to limit the non-vertical movement of the tensioning base.

[0009] According to this application, a device for stacking optical axis rotor cores is provided. A first robot is equipped with grippers for grasping the cores. The grippers include gripper supports. The gripper supports are provided with: A quick-change structure is provided, which is connected to the end of the robotic arm of the first robot. A clamping structure, connected to a quick-change structure, is used to clamp the iron core so that it is in a horizontal position before gripping the iron core. A clamping structure is used to grip the iron core after the clamping structure clamps the iron core, and to release the iron core and place it on the slide when the iron core is transferred to the slide.

[0010] According to this application, a stacking device for an optical shaft rotor core is provided. The pressing structure includes multiple pressing cylinders. The housing of the pressing cylinder is fixed on a gripper bracket, and the output end of the pressing cylinder is connected to a pressing plate. The pressing plate is a plate-shaped structure with a circular through hole in the middle, and a circular boss surrounding the through hole is provided on the side of the pressing plate facing away from the pressing cylinder.

[0011] According to this application, a device for stacking optical axis rotor cores is provided. The clamping structure includes two sets of clamping arms arranged opposite to each other. The upper end of the clamping arm is connected to the output end of a clamping cylinder mounted on a clamping claw bracket, and the lower end is provided with a clamping block that contacts the side of the core.

[0012] According to this application, a stacking device for an optical axis rotor core is provided. The lower end of the clamping arm is provided with two sets of clamping blocks. The two sets of clamping blocks are symmetrically and inclinedly arranged with the through hole axis as the center to form a flared structure with the larger side near the through hole and the smaller side away from the through hole.

[0013] According to this application, a linear shaft rotor core stacking device is provided, wherein a slide rail arranged longitudinally is provided on the base; the slide table is connected to the slide rail and can be moved longitudinally by a sliding motor.

[0014] This application also relates to a method for stacking optical shaft rotor cores, wherein the stacking method is operated according to the above-described optical shaft rotor core stacking device, including: The drive slide moves to the iron core loading station, and the first robot grabs the iron core from the iron core storage station and transfers it to the slide; The lifting structure adjusts the height of the tensioning structure, which in turn tensions and fixes the iron core on the slide table. This process is repeated until all the iron cores corresponding to a rotor are stacked on the slide, completing the stacking operation of the optical shaft rotor iron cores.

[0015] According to this application, a method for stacking optical shaft rotor cores is provided. The method for the first robot to grasp the cores on the core storage station includes: the first robot driving the gripper at the end of the robotic arm to move to the core storage station, driving the clamping structure in the gripper to press the cores on the core storage station to keep the cores in a horizontal state, and driving the clamping structure in the gripper to clamp the cores.

[0016] According to this application, a method for stacking optical shaft rotor cores is provided. The method for the tensioning structure to tension and fix the cores on the slide includes: before the first robot places the clamped cores onto the slide, the tensioning structure is released, the lifting structure drives the tensioning structure to rise to a set height, the first robot places the cores onto the slide, and the tensioning structure tensions and fixes all the cores placed on the slide.

[0017] The advantages of this application are: 1. The optical shaft rotor core stacking device of this application is a fully automatic core stacking device. The core is quickly transported by the first robot without any human operation. The tensioning structure set on the slide can fix the core transferred to the slide, so that the core can be stacked together at a set angle. The core remains stable no matter how it moves during the stacking process. The lifting structure can adjust the tensioning structure according to the stacking height of the core, so that the tensioning structure can be used for stacking cores of different heights. The overall structure is simple, the degree of automation is extremely high, and no human operation is required, which greatly improves the efficiency of the entire optical shaft rotor production. 2. The tensioning structure of this application is very simple. By setting a combination structure of tensioning sleeve and tensioning sleeve mandrel, the tensioning sleeve passes through the middle hole of the iron core, and the iron core can be tensioned and fixed from the middle hole of the iron core. Its structure is simple and easy to operate. It can fix the iron core at a set angle during the iron core stacking process and maintain the stability of the iron core stacking. 3. The lifting structure of this application is very simple. The tensioning base is driven to move up and down by the screw, which can easily adjust the height of the tensioning structure so that the tensioning structure can adapt to different numbers of iron cores stacked together, ensuring that the tensioning structure can always tension and fix all iron cores and keep the iron cores at the set angle. 4. The gripper structure installed on the first robot in this application is simple and can press the iron core in the iron core storage station to ensure that the iron core is in a horizontal state. The gripping structure can easily grasp the iron core in a horizontal state. The operation is simple, completely requires no human operation, has a high degree of automation, and the gripping is stable and efficient. 5. The clamping structure of this application uses a clamping cylinder to drive the clamping plate to clamp the iron core below. Its structure is simple and easy to use. It can effectively maintain the iron core to be gripped in a horizontal state, making the clamping structure clamp the iron core more convenient and stable. 6. The clamping arm structure of this application is simple, which can quickly grasp and release the iron core. The operation is simple and fully automated, and it can be adapted to grasping iron cores of various specifications. 7. The clamping block provided in this application can increase the contact area with the side of the iron core, improve the clamping stability, and can stably grip the iron core; 8. This application has a slide rail on the base to facilitate the adjustment of the slide table. The slide table can be smoothly switched between multiple workstations to adapt to different material feeding requirements. 9. This application also relates to a stacking method, which can conveniently and according to a set angle stack the iron cores together, which facilitates the subsequent press-fitting operation of the rotor shaft. The overall operation is simple and the construction is convenient, which can greatly improve the efficiency of rotor production. 10. The method for gripping the iron core in this application is very simple. The iron core is pressed before pressing to make it horizontal, ensuring that the subsequent gripping is accurate. 11. This application uses internal tensioning to tighten and fix the iron core, ensuring that the iron core is placed at a set angle. No matter how it is moved later, the iron core can be maintained at the set angle for stacking. The operation is simple and the iron core stacking accuracy is extremely high.

[0018] The optical shaft rotor core stacking device of this application has a simple structure, is easy to operate, and provides stable and precise core stacking with a high degree of automation. It improves the efficiency of core stacking, promotes the efficient production of rotors, and has great potential for widespread application. Attached Figure Description

[0019] Figure 1 This application includes a schematic diagram of the robot and workstation layout. Figure 2 Axial view of the tensioning structure of this application; Figure 3 : Main view of the tensioning structure of this application; Figure 4 : Axial view of the gripper structure of this application; Figure 5 Bottom view of the gripper structure in this application; Wherein: 1—base; 2—slide table; 3—first robot; 4—tensioning base; 5—tensioning sleeve; 6—tensioning cylinder; 7—lead screw; 8—lifting motor; 9—lifting guide rail; 10—gripper bracket; 11—pressing cylinder; 12—pressing plate; 13—circular boss; 14—gripper arm; 15—clamping cylinder; 16—clamping block; 17—slide rail (not shown in the figure); 18—second robot. Detailed Implementation

[0020] The embodiments of this application are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0023] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] This application relates to a core stacking device for an optical shaft rotor. This stacking device is used to stack the cores during rotor production. It stacks the required cores at a set angle. The device automatically picks up cores from the storage station and transfers them to the stacking station. The cores are then fixed at the stacking station, ensuring they are placed at the set angle. This stacking process continues until the required number of cores is met. The stacked cores are then heated, causing them to expand and enlarge the central hole. Finally, the optical shaft is pressed into the core, completing rotor production. The actual production process also involves picking up end plates. These end plates are plate-like structures located at both ends of the rotor, positioned axially at both ends of the stacked cores. In other words, during the core stacking process, the lower end plate is first picked up and placed on the stacking station. Then, cores are placed layer by layer based on the lower end plate until the required number of cores is met. Finally, the upper end plate is picked up and placed on top of the cores.

[0025] Specifically, such as Figures 1-5As shown, a linear shaft rotor core stacking device includes a base 1, which serves as the supporting foundation for the entire stacking device. The base 1 is equipped with a slide table 2, a first robot 3, a tensioning structure, and a lifting structure. The slide table 2 is a sliding support structure that can move longitudinally. The cores and end plates of this application are stacked on the slide table 2. The first robot 3 is used to grasp the cores at the storage station (e.g., ...). Figure 1 The iron core shown in A) is transferred to the slide table 2 and placed thereon. The first robot 3 is a robot that grasps the iron core. In addition, if the grasping and stacking of end plates are also involved, a second robot 18 is needed to grasp the end plates. The tensioning structure is installed through the slide table 2 to fix all the iron cores on the slide table 2 at a set angle when the iron cores are placed on the slide table 2, passing through the middle hole of the iron core. The tensioning structure of this application passes through the middle hole of the iron core from bottom to top and tightens radially from the inside to fix the iron cores fitted on the tensioning structure. The lifting structure is used to drive the tensioning structure to move vertically to adapt to the height of the stacked iron cores. When the iron cores are stacked layer by layer, the height of the iron cores will change. In order to adapt to this change and to fix all the iron cores, this application uses the lifting structure to vertically adjust the tensioning structure to adapt to the stacking operation of iron cores of different heights.

[0026] In practical use, the optical shaft rotor core stacking device of this application can be carried out according to the following method: Drive the slide 2 to move to the iron core loading station, and the first robot 3 grabs the iron core on the iron core storage station and transfers it to the slide 2; The lifting structure adjusts the height of the tensioning structure, and the tensioning structure tensions and fixes the iron core on the slide table 2. This process is repeated until all the iron cores corresponding to a rotor are stacked on slide 2, completing the stacking operation of the optical shaft rotor iron cores.

[0027] If the rotor production process of this application involves the gripping and stacking of end plates, a second robot 18 for gripping the end plates will be added in actual application. During stacking, the second robot 18 grips the end plates at the storage station (e.g., Figure 1 As shown in B), the lower end plate is placed onto the slide table 2. Then, the first robot 3 grabs the iron core from the iron core storage station and transfers it to the lower end plate on the slide table 2. The lifting structure drives the tensioning structure to pass through the middle hole between the end plate and the iron core to tension and fix the lower end plate and the iron core. The iron cores are grabbed and stacked layer by layer. The lifting structure adjusts the height of the tensioning structure so that the tensioning structure can tension and fix the iron cores on the slide table 2. After the required number is reached, the second robot 18 grabs the upper end plate from the end plate storage station and stacks it on the topmost iron core to complete the stacking of the iron cores.

[0028] In some embodiments of this application, the above-described tensioning structure has been optimized, specifically, as follows: Figures 2-3As shown, the tensioning structure in this embodiment includes a tensioning base 4, a tensioning sleeve 5, a tensioning sleeve mandrel, and a tensioning cylinder 6. The slide table 2 in this embodiment is a three-layer sliding structure, consisting of a base plate, a middle plate, and a top plate from bottom to top. A longitudinally arranged slide rail is provided on the base 1. The base plate of the slide table 2 is longitudinally movable and connected to the slide rail 17 via a sliding motor. The slide rail 17 is provided to facilitate the movement of the slide table 2. The slide rail 17 has three workstations. The middle workstation is the iron core heating workstation. The stacked iron cores will eventually move to the iron core heating workstation in the middle of the slide rail 17 under the drive of the slide table 2 for heating. One end of the slide rail 17 is an end plate loading workstation, used to connect to the second robot 18, facilitating the second robot 18 to pick up the end plates from the end plate storage workstation and place them onto the slide table 2. The other end of the slide rail 17 is an iron core loading workstation, connected to the first robot 3, facilitating the first robot 3 to pick up the iron cores from the iron core storage workstation and place them onto the slide table 2. Simply move to the corresponding workstation when the desired operation is required.

[0029] The base plate, middle plate, and top plate are connected by a column structure to form a three-layer hollow sliding platform structure. The top plate serves as the foundation for supporting the end plates and iron core. The middle plate acts as the fixing foundation for some structural components. In this embodiment, the tensioning base 4 is a structure located between the base plate and the middle plate. A lifting guide rail 9 is provided between the base plate and the middle plate. The lifting guide rail 9 is a vertically arranged track structure. The tensioning base 4 is vertically movable and connected to the lifting guide rail 9, while the lifting guide rail 9 restricts the non-vertical movement of the tensioning base 4.

[0030] The tensioning sleeve 5 is a vertically arranged cylindrical structure, with its lower end fixed to the tensioning base 4 and its upper end vertically passing through the top plate. The tensioning sleeve 5 is a cylindrical structure that can expand or contract radially along the central hole of the iron core under internal compression. The tensioning sleeve 5 is a hollow cylindrical structure with multiple expansion joints on its outer circumference. These expansion joints are radially penetrating the tensioning sleeve 5. The expansion joints include a first expansion joint with its upper end at the top of the tensioning sleeve 5 and an open opening, extending vertically to near the bottom of the tensioning sleeve 5; and a second expansion joint with its lower end at the bottom of the tensioning sleeve 5 and an open opening, extending vertically to near the top of the tensioning sleeve 5. These multiple first and second expansion joints are arranged alternately along the circumference of the tensioning sleeve 5. When the tensioning sleeve 5 is subjected to radial compression, the expansion joints on the tensioning sleeve 5 can expand and contract circumferentially, causing the width of the expansion joints to change, resulting in radial expansion or contraction. When the tension sleeve 5 is subjected to radial outward compression, the tension sleeve 5 expands outward, which can tighten and fix the end plate and the iron core from the inside of the middle hole of the iron core and the short plate.

[0031] In this embodiment, the radial force applied to the tensioning sleeve 5 is the tensioning sleeve mandrel. The upper part of the tensioning sleeve mandrel is sleeved on the tensioning sleeve 5, and the upper end of the tensioning sleeve mandrel has an inverted conical structure that is thicker at the top and thinner at the bottom. The tensioning cylinder 6 is fixed on the tensioning base 4, and the output end of the tensioning cylinder 6 is connected to the lower end of the tensioning sleeve mandrel to drive the tensioning sleeve mandrel to move vertically.

[0032] In use, the tensioning sleeve 5 extends from the top plate, with its upper end exceeding the upper surface of the top plate. The second robot 18 grasps the end plate and places it on the top plate, with the middle hole of the end plate fitting onto the tensioning sleeve 5. The upper end of the tensioning sleeve 5 passes through the middle hole of the end plate. The first robot 3 grasps the iron core and places it on the end plate in the same manner as described above. The iron core placed on the end plate is arranged at a set angle. The tensioning cylinder 6 drives the tensioning sleeve mandrel to move downward. The large end of the tensioning sleeve mandrel moves downward inside the tensioning sleeve 5, and the large end squeezes the tensioning sleeve 5, generating a radially outward force that drives the tensioning sleeve 5 to expand outward. The expanded tensioning sleeve 5 contacts the wall of the middle hole of the end plate and the iron core, fixing the end plate and the iron core to the outside of the tensioning sleeve 5, thus completing the limiting of the iron core and the end plate.

[0033] When it is necessary to continue stacking iron cores on top of the fixed iron core, the tensioning sleeve 5 must first be loosened. The tensioning cylinder 6 drives the tensioning sleeve mandrel upwards. The larger end of the mandrel moves upwards within the tensioning sleeve 5. After the larger end moves out from the top of the tensioning sleeve 5, it no longer exerts pressure on the tensioning sleeve 5, and the tensioning sleeve 5 contracts to its original size. The outer circumference of the tensioning sleeve 5 no longer contacts the end plate and the wall of the middle hole in the iron core, and the tensioning sleeve 5 disengages from the iron core. At this point, iron cores can continue to be stacked on the tensioning sleeve 5. After stacking all the iron cores, the height of the stacked iron cores on the top plate changes. If the height of the tensioning sleeve 5 is not adjusted, the iron cores cannot be fixed. Therefore, the height of the tensioning sleeve 5 needs to be adjusted.

[0034] This embodiment is equipped with a lifting structure, such as Figures 2-3 As shown, the lifting structure in this embodiment includes a lead screw 7 and a lifting motor 8. The lead screw 7 passes vertically through the tensioning base 4 and is helically connected to the tensioning base 4. The lead screw 7 and the tensioning base 4 form a lead screw transmission structure. The lifting motor 8 is mounted on the slide table 2 to drive the lead screw 7 to rotate around the vertical axis. The rotation of the lead screw 7 around the vertical axis is converted into the vertical linear motion of the tensioning base 4 through the helical structure. Since the tensioning base 4 is restricted by the lifting guide rail 9, it can only move up and down vertically and cannot produce other types of movements.

[0035] The operating time of the lifting motor 8 can be designed according to the thickness of each stacked iron core. For example, after one stack of iron cores is completed, the lifting motor 8 operates according to the set operating time. The lifting motor 8 drives the lead screw 7 to rotate around the vertical axis. The lead screw 7 drives the tensioning base 4 to rise vertically by a set height. The tensioning sleeve 5 fixed on the tensioning base 4 rises with the tensioning base 4 by a set height, which is exactly the height of the newly added iron core. Then, all the iron cores can be fixed according to the above steps.

[0036] In actual operation, the second robot 18 grips the end plate and places it on the top plate. The middle hole of the end plate is fitted onto the tension sleeve 5. The upper end of the tension sleeve 5 passes through the middle hole of the end plate. The first robot 3 grips the iron core and places it on the end plate in the same way. The iron core placed on the end plate is arranged at a set angle. The tension cylinder 6 drives the tension sleeve mandrel to move down (the tension sleeve 5 is fixed on the tension base 4, so the movement of the tension sleeve mandrel will not cause the tension sleeve 5 to move up and down. The tension sleeve 5 can be designed with an expansion joint in the upper part and a complete cylindrical structure in the lower part). The large end of the tension sleeve mandrel enters the tension sleeve 5 and moves downward inside the tension sleeve 5. The large end squeezes the tension sleeve 5 to generate a radial outward force, which drives the tension sleeve 5 to expand outward. The expanded tension sleeve 5 contacts the wall of the middle hole of the end plate and the iron core, fixing the end plate and the iron core to the outside of the tension sleeve 5, thus completing the limiting of the iron core and the end plate. After the iron core is stacked once, the expansion sleeve mandrel is driven to move upward by the tensioning cylinder 6. The large end of the expansion sleeve mandrel moves upward inside the tensioning sleeve 5. After the large end moves out from the top of the tensioning sleeve 5, the large end no longer exerts a squeezing effect on the tensioning sleeve 5. The tensioning sleeve 5 shrinks to its original size. The outer circumference of the tensioning sleeve 5 no longer contacts the end plate and the wall of the middle hole of the iron core. The tensioning sleeve 5 is separated from the iron core. The lifting motor 8 operates according to the set running time. The lifting motor 8 drives the lead screw 7 to rotate around the vertical axis. The lead screw 7 drives the tensioning base 4 to rise vertically by a set height. The tensioning sleeve 5 fixed on the tensioning base 4 rises with the tensioning base 4 by a set height. The first robot grabs another iron core and stacks it on the iron core on the top plate. The newly added iron core is also fitted onto the raised tensioning sleeve 5. Then, the newly added iron core is tightened and fixed again according to the above steps. This process is repeated until all cores and end plates are stacked.

[0037] In some other embodiments of this application, the structure of the first robot 3 described above has been optimized. The first robot 3 is a robot with a conventional structure. The first robot 3 of this application has grippers installed on its robotic arm to grasp the iron core. At the same time, the second robot 18 of this embodiment is also equipped with grippers for grasping the end plate.

[0038] like Figures 4-5 As shown, the first robot 3 is equipped with a gripper for grasping an iron core. The gripper includes a gripper bracket 10, which is equipped with a quick-change structure, a clamping structure, and a holding structure. The quick-change structure is connected to the end of the robotic arm of the first robot 3. The quick-change structure is essentially a plug-in structure corresponding to the quick-change connector on the robotic arm of the first robot 3, facilitating quick connection and disconnection of the gripper from the robotic arm. The clamping structure, connected to the quick-change structure, is used to clamp the iron core to ensure it is horizontal before grasping it. The purpose of the clamping structure is to ensure that the iron core is horizontal before grasping it, and this function is achieved by clamping all the iron cores. The holding structure is used to grasp the iron core after the clamping structure has clamped it, and to release the iron core and place it on the slide table 2 when the iron core is transferred to the slide table 2.

[0039] like Figures 4-5 As shown, the clamping structure of this embodiment includes multiple clamping cylinders 11. The housing of the clamping cylinder 11 is fixed on the gripper bracket 10. The gripper bracket 10 of this embodiment is provided with four sets of clamping cylinders 11. The four sets of clamping cylinders 11 are placed at the four corners of the gripper bracket 10. The output ends of the four sets of clamping cylinders 11 are connected to clamping plates 12. The clamping plates 12 are plate-shaped structures with a circular through hole in the middle. A circular boss 13 surrounding the through hole is provided on the side of the clamping plates 12 facing away from the clamping cylinders 11.

[0040] The circular through hole in the middle of the clamping plate 12 can be offset from the tensioning sleeve 5 when stacking iron cores, avoiding interference between them. The circular boss 13 is located on the side of the clamping plate 12 facing away from the clamping cylinder 11. Before gripping the iron core, it can be driven by the clamping cylinder 11 to contact the upper end face of the iron core in the iron core storage position, and the clamping cylinder 12 drives the iron core to clamp, ensuring that the iron core is in a horizontal state, which facilitates the subsequent gripping operation.

[0041] like Figures 4-5 As shown, the clamping structure of this embodiment includes two sets of oppositely arranged clamping arms 14. The upper end of the clamping arm 14 is connected to the output end of the clamping cylinder 15 mounted on the gripper bracket 10, and the lower end is provided with a clamping block 16 that contacts the side of the iron core. The lower end of the clamping arm 14 is provided with two sets of clamping blocks 16, and the two sets of clamping blocks 16 are symmetrically and obliquely arranged with the through hole axis as the center to form a flared structure with the larger side near the through hole and the smaller side away from the through hole.

[0042] The two sets of clamping blocks 16 form a convergence structure. When the clamping arms 14 on both sides move towards each other under the drive of the clamping cylinder 15, the iron core located between the two sets of clamping arms 14 will eventually be positioned between them, and the side wall of the iron core will be in close contact with the clamping blocks 16, facilitating the gripping of the iron core by the clamping arms 14. When placing the iron core, the clamping cylinder 15 drives the two sets of clamping arms 14 to move in opposite directions, which releases the iron core and places it on the stacked iron cores.

[0043] In actual operation, the optical shaft rotor core stacking device of this application can be operated as follows: the second robot 18 grabs the end plate and places it on the top plate, the middle hole of the end plate is fitted onto the tension sleeve 5, and the upper end of the tension sleeve 5 passes through the middle hole of the end plate. The first robot 3 moves to the iron core storage station. The clamping cylinder 11 drives the clamping plate 12 to move downward. The circular boss 13 on the lower end face of the clamping plate 12 contacts the upper end face of the iron core in the iron core storage station. The clamping cylinder 12 drives the iron core to be clamped, ensuring that the iron core is in a horizontal state. The clamping arms 14 on both sides move towards each other under the drive of the clamping cylinder 15. The iron core between the two sets of clamping arms 14 will eventually be between the two sets of clamping arms 14, and the side wall of the iron core will be in close contact with the clamping block 16. The clamping arms 14 clamp the iron core. The first robot 3 grabs the iron core and transfers it to the top plate, so that the tensioning sleeve 5 The iron core passes through the middle hole of the iron core and the through hole of the clamping plate 12, aligns with the iron core below, and drives the iron core to move down until it is in close contact with the iron core on the top plate. The clamping cylinder 11 drives downward to press the iron core between the clamping arms 14 onto the iron core on the slide table 2. The tensioning cylinder 6 drives the tensioning sleeve mandrel to move down. The large end of the tensioning sleeve mandrel moves downward inside the tensioning sleeve 5. The large end squeezes the tensioning sleeve 5 to generate a radial outward force, which drives the tensioning sleeve 5 to expand outward. The expanded tensioning sleeve 5 contacts the end plate and the wall of the middle hole of the iron core, fixing the end plate and the iron core to the outside of the tensioning sleeve 5, thus completing the fixation of the iron core. Release the clamping cylinder 11, and the clamping cylinder 15 drives the two sets of clamping arms 14 to move in opposite directions, releasing the iron core and completing the placement operation of the iron core. The tensioning cylinder 6 drives the expansion sleeve mandrel to move upward. The large end of the expansion sleeve mandrel moves upward inside the tensioning sleeve 5. After the large end moves out from the upper end of the tensioning sleeve 5, the large end no longer exerts a squeezing effect on the tensioning sleeve 5. The tensioning sleeve 5 shrinks to its original size. The outer circumference of the tensioning sleeve 5 no longer contacts the end plate and the wall of the middle hole of the iron core. The tensioning sleeve 5 separates from the iron core. The lifting motor 8 operates according to the set running time. The lifting motor 8 drives the lead screw 7 to rotate around the vertical axis. The lead screw 7 drives the tensioning base 4 to rise vertically by a set height. The tensioning sleeve 5 fixed on the tensioning base 4 rises with the tensioning base 4 by a set height. The first robot grabs another iron core and stacks it on the iron core on the top plate. The newly added iron core is also fitted onto the raised tensioning sleeve 5. Then, the newly added iron core is tightened and fixed again according to the above steps. This process is repeated until all cores and end plates are stacked.

[0044] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A device for stacking optical axis rotor cores, comprising a base (1), characterized in that: The base (1) is provided with: The slide (2) is a sliding bearing structure that can move longitudinally; The first robot (3) is used to grab the iron core on the iron core storage station and transfer it to the slide table (2) for placement; A tensioning structure is provided in the slide (2) to fix all the iron cores on the slide (2) at a set angle when the iron core is placed on the slide (2) by passing through the middle hole of the iron core. A lifting structure is used to drive the tensioning structure to move vertically to adapt to the height of the stacked iron core.

2. The optical axis rotor core stacking device as described in claim 1, characterized in that: The tensioning structure includes: Tensioning base (4), which is vertically movable and connected to slide table (2); The tension sleeve (5) has its lower end fixed to the tension base (4) and its upper end passes through the slide table (2) vertically. The tension sleeve (5) is a cylindrical structure that can expand or contract radially along the middle hole of the iron core under internal compression. The expansion sleeve mandrel is sleeved on the upper part of the expansion sleeve (5), and the upper end of the expansion sleeve mandrel is an inverted conical structure that is thicker at the top and thinner at the bottom; Tensioning cylinder (6) is fixed on tensioning base (4). The output end of tensioning cylinder (6) is connected to the lower end of tensioning sleeve mandrel and is used to drive tensioning sleeve mandrel to move vertically.

3. The optical axis rotor core stacking device as described in claim 2, characterized in that: The lifting structure includes: A lead screw (7) passes vertically through a tensioning base (4) and is helically connected to the tensioning base (4); A lifting motor (8) is mounted on a slide table (2) to drive a lead screw (7) to rotate around a vertical axis; The lifting guide rail (9) is vertically mounted on the slide table (2) to limit the non-vertical movement of the tension base (4).

4. The optical axis rotor core stacking device as described in claim 2, characterized in that: The first robot (3) is equipped with a gripper for grasping an iron core; the gripper includes a gripper bracket (10); the gripper bracket (10) is provided with: A quick-change structure is connected to the end of the robotic arm of the first robot (3); A clamping structure, connected to a quick-change structure, is used to clamp the iron core so that it is in a horizontal position before gripping the iron core. The clamping structure is used to grip the iron core after the clamping structure clamps the iron core and release the iron core to place it on the slide table (2) when the iron core is transferred to the slide table (2).

5. The optical axis rotor core stacking device as described in claim 4, characterized in that: The clamping structure includes multiple clamping cylinders (11); the housing of the clamping cylinder (11) is fixed on the gripper bracket (10), and the output end of the clamping cylinder (11) is connected to a clamping plate (12); the clamping plate (12) is a plate-shaped structure with a circular through hole in the middle, and a circular boss (13) surrounding the through hole is provided on the side of the clamping plate (12) facing away from the clamping cylinder (11).

6. The optical axis rotor core stacking device as described in claim 5, characterized in that: The clamping structure includes two sets of oppositely arranged clamping arms (14); the upper end of the clamping arm (14) is connected to the output end of the clamping cylinder (15) mounted on the clamping claw bracket (10), and the lower end is provided with a clamping block (16) that contacts the side of the iron core.

7. The optical axis rotor core stacking device as described in claim 6, characterized in that: The lower end of the clamping arm (14) is provided with two sets of clamping blocks (16). The two sets of clamping blocks (16) are arranged symmetrically and inclined around the axis of the through hole to form a flared structure with the larger side closer to the through hole and the smaller side farther away from the through hole.

8. The optical axis rotor core stacking device as described in claim 1, characterized in that: The base (1) is provided with a slide rail arranged longitudinally; the slide table (2) is connected to the slide rail and can move longitudinally by a sliding motor.

9. A method for stacking optical shaft rotor cores, characterized in that: The stacking method is operated according to any one of the optical shaft rotor core stacking devices as described in claims 1 to 8, including: Drive the slide (2) to move to the iron core loading station, and the first robot (3) grabs the iron core on the iron core storage station and transfers it to the slide (2); The lifting structure adjusts the height of the tensioning structure, and the tensioning structure tensions and fixes the iron core on the slide (2); This process is repeated until all the iron cores corresponding to a rotor are stacked on the slide (2), thus completing the stacking operation of the optical shaft rotor iron cores.

10. The method for stacking optical axis rotor cores as described in claim 9, characterized in that: The method for the tensioning structure to tension and fix the iron core on the slide (2) includes: before the first robot (3) places the clamped iron core on the slide (2), the tensioning structure is released, the lifting structure drives the tensioning structure to rise to a set height, the first robot (3) places the iron core on the slide (2), and the tensioning structure tensions and fixes all the iron cores placed on the slide (2).

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