Automatic glue filling device and glue filling method for motor stator

Abstract

The invention discloses an automatic glue filling device and a glue filling method for a motor stator, relates to the technical field of motor processing, and solves the problems of low production efficiency, non-uniform glue amount and poor consistency in a traditional glue filling process. The automatic glue filling machine comprises a base, a top shell arranged on the base, a positioning assembly, a glue filling execution assembly, a glue supply system, a visual detection system and a control unit, the positioning assembly is arranged on the base and located in the top shell. The glue filling execution assembly comprises a mechanical arm arranged on the base and a glue filling head arranged on the mechanical arm; the glue supply system comprises a glue storage tank arranged on the base, a glue conveying pipe connected to the glue filling head and the glue storage tank, and a metering pump and a viscosity sensor which are arranged on the glue conveying pipe; the glue storage tank is provided with a heating coil and a temperature controller; the visual detection system comprises an image processing module and a high-resolution camera, and the control unit is configured to dynamically adjust the glue injection path, flow and pressure based on feedback data of the visual detection system and the viscosity sensor.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of motor processing, in particular to a motor stator automatic glue filling device and a glue filling method. BACKGROUND

[0002] The motor stator is a core component of the motor, and the glue filling process directly affects the insulation strength, heat dissipation efficiency and overall structural stability of the winding.

[0003] In the prior art, the traditional glue filling process of the motor stator is mainly manual glue filling or semi-automatic equipment. Among them, manual glue filling needs to repeatedly adjust the glue injection parameters, and the production efficiency is difficult to meet the batch demand, and the operation stability is greatly affected by the experience of personnel, which easily leads to uneven glue amount defects. In addition, manual glue filling is difficult to accurately control the glue filling position and solidification process, and local glue deficiency or glue overflow occurs, which affects the reliability and service life of the motor. In addition, although the existing semi-automatic equipment can partially improve the production efficiency, there are still deficiencies in glue metering, flow control and adaptability of complex stator structure. Obviously, the traditional glue filling process mainly relies on manual operation, and there are problems of low efficiency and poor consistency. Therefore, an automatic glue filling device and a glue filling method for the motor stator are urgently needed to improve the above-mentioned deficiencies, which is of great significance to improve the performance and production efficiency of the motor. SUMMARY

[0004] In order to improve the problems of low production efficiency, uneven glue amount and poor consistency in the traditional glue filling process, the application provides an automatic glue filling device and a glue filling method for the motor stator.

[0005] The application provides an automatic glue filling device and a glue filling method for the motor stator, which adopts the following technical scheme:

[0006] An automatic glue filling device for the motor stator comprises a base, a top shell arranged on the base, a positioning assembly for clamping and positioning a stator to be filled with glue, a glue filling execution assembly located in the top shell, a glue supply system, a visual detection system and a control unit.

[0007] The positioning assembly is arranged on the base, and the positioning assembly is located in the top shell.

[0008] The glue filling execution assembly comprises a mechanical arm arranged on the base and a glue filling head arranged on the mechanical arm.

[0009] The glue supply system comprises a glue tank arranged on one side of the base, a glue conveying pipe connected to the glue filling head and the glue tank, a metering pump and a viscosity sensor arranged on the glue conveying pipe, and a heating coil and a temperature controller arranged on the outer wall of the glue tank.

[0010] The visual detection system comprises an image processing module and a high-resolution camera mounted on a mechanical arm, and the control unit is configured to dynamically adjust the glue injection path, flow rate and pressure based on feedback data from the visual detection system and the viscosity sensor.

[0011] Preferably, a partition plate is arranged between the top shell and the base, the base is provided with a feeding table, the top shell is provided with an automatically opening and closing feeding port on the side close to the feeding table, and the base is provided with a pneumatic sealing door and a door control sensor linked with the feeding port.

[0012] Preferably, the positioning assembly comprises a mounting plate slidingly arranged above the partition plate, a positioning plate detachably connected to the mounting plate, positioning holes spaced apart and arranged on the top of the positioning plate, connecting holes radially arranged along the side wall of the positioning holes, arc-shaped clamping blocks slidingly arranged in the connecting holes, connecting rods threadedly connected to the arc-shaped clamping blocks, and clamping springs sleeved on the connecting rods, wherein the arc-shaped clamping blocks and the clamping springs are completely accommodated in the connecting holes, one end of the clamping spring abuts against the arc-shaped clamping block, the other end of the clamping spring abuts against the inner wall of the connecting hole, and the clamping spring makes the arc-shaped clamping block retract into the connecting hole in a natural state and extends outward to clamp the stator under pressure.

[0013] Preferably, a group of pulleys for sliding abutment of the mounting plate are rotationally connected to the feeding table, and a group of pulleys for sliding of the mounting plate are also rotationally connected to the base above the partition plate.

[0014] Preferably, magnets with different magnetic properties are arranged between the mounting plate and the positioning plate, and the two magnets are attracted to each other when they are close to each other.

[0015] Preferably, a support beam is arranged on the base, the mechanical arm comprises an X-axis linear module arranged on the support beam, a Y-axis linear module slidingly arranged on the X-axis linear module, and a Z-axis cylinder slidingly arranged on the Y-axis linear module, and the telescopic rod of the Z-axis cylinder is provided with a connecting seat for mounting of a glue pouring head.

[0016] Preferably, the control unit comprises the following control strategies:

[0017] A three-dimensional model of the stator is generated based on the visual system to plan a layer-by-layer glue pouring path;

[0018] The temperature of the heating coil and the pressure of the metering pump are adjusted according to real-time viscosity data;

[0019] Through closed-loop feedback control, the error of the glue filling height of each groove is ensured to be not greater than ±0.5 mm.

[0020] An automatic glue pouring method for a motor stator, comprising the following steps:

[0021] S1, stator clamping: insert the stator into the positioning hole, trigger the arc-shaped clamping block to automatically clamp, and verify the positioning accuracy through the visual system;

[0022] S2, parameter configuration: call pre-stored process parameters according to stator model or generate custom parameters through visual scanning;

[0023] S3, glue filling execution: three-stage glue filling, including high-speed filling of groove bottom, medium-speed glue filling, and pulse surface layer finishing;

[0024] S4, dynamic adjustment: correcting glue filling parameters based on real-time glue flow image and viscosity data;

[0025] S5, curing treatment: starting UV or heat curing program after glue filling is completed.

[0026] Preferably, the multi-stage glue filling in step S4 includes:

[0027] The first-stage flow rate is 70±10% of the rated flow rate, and the duration t1 is determined by the groove depth;

[0028] The second-stage flow rate is reduced to 40±10% until the glue covers the middle-layer winding;

[0029] The third-stage uses intermittent pulse glue filling, with a single pulse time not greater than 0.5 seconds and an interval time not less than 1 second;

[0030] The stage switching is automatically triggered by the visual system detecting the glue front position.

[0031] Based on the above, the present application includes at least one of the following beneficial effects:

[0032] 1. The present application realizes full-automatic glue filling through the cooperation of mechanical arm, visual system, positioning assembly, and the like, and also adopts a closed-loop feedback control strategy, with a glue filling height error of ≤±0.5 mm, which greatly improves product consistency, thereby improving the problems of low production efficiency, uneven glue amount, and poor consistency in traditional glue filling processes;

[0033] 2. In the present application, the mechanical arm cooperates with the three-stage intelligent glue filling process (high-speed filling + medium-speed glue filling + pulse finishing), and the single-piece operation time is greatly shortened, thereby completely solving the problems of low efficiency and poor consistency of manual operation;

[0034] 3. The magnetic type quick-change positioning assembly is adopted to be compatible with multiple specifications of stators, and combined with the arc-shaped clamp block spring mechanism, quick changeover is realized, meeting the flexible production demand. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the structure of the glue filling execution group located on the base of the embodiment of the present application;

[0037] Figure 3 is a structural schematic diagram of the up-and-down sliding structure of the pneumatic closure door of the embodiment of the present application;

[0038] Figure 4 is a structural schematic diagram of the positioning assembly locking the stator.

[0039] Legend: 1, base; 101, partition; 102, feeding table; 103, support beam; 2, top shell; 21, feeding port; 22, pneumatic closure door; 3, positioning assembly; 31, mounting plate; 32, positioning plate; 33, positioning hole; 34, connecting hole; 35, arc-shaped clamping block; 36, connecting rod; 37, clamping spring; 4, glue filling execution assembly; 41, mechanical arm; 411, X-axis linear module; 412, Y-axis linear module; 413, Z-axis cylinder; 414, connecting seat; 42, glue filling head; 5, pulley; 6, glue tank; 7, metering pump. DETAILED DESCRIPTION

[0040] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts should fall within the scope of protection of the present application.

[0041] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0042] In the present application, the terms "up", "down", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0043] Moreover, the above-mentioned terms can be used to represent other meanings in addition to the orientation or positional relationship, for example, the term "upper" can also be used to represent a certain dependent relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to the specific circumstances.

[0044] In addition, the term "a plurality of" shall mean two and more than two.

[0045] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] The motor stator automatic glue filling device and glue filling method disclosed by the embodiments of the present application include a base 1, a top shell 2 fixed on the top of the base 1, a positioning assembly 3 for clamping and positioning the stator to be filled with glue, a glue filling execution component 4 located in the top shell 2, a glue supply system, a visual detection system, and a control unit. The control unit controls the electrical components in each system and component to perform glue filling. Through the cooperative control of the mechanical arm 41, the visual system, and the positioning assembly 3, full-automatic glue filling is realized, thereby improving the problems of low production efficiency, uneven glue amount, and poor consistency in the traditional glue filling process.

[0047] Specifically, the positioning assembly 3 is arranged on the base 1 and also located in the top shell 2. A partition plate 101 is arranged between the top shell 2 and the base 1, and the partition plate 101 and the top shell 2 constitute a closed glue injection space. The positioning assembly 3 includes a mounting plate 31 slidingly arranged above the partition plate 101, a positioning plate 32 detachably connected to the mounting plate 31, positioning holes 33 spaced apart and arranged on the top of the positioning plate 32, two connecting holes 34 radially arranged along the side wall of the positioning holes 33, arc-shaped clamping blocks 35 slidingly connected in the connecting holes 34, connecting rods 36 threadedly connected to the arc-shaped clamping blocks 35, and clamping springs 37 sleeved on the connecting rods 36.

[0048] The positioning plate 32 further includes a protruding portion at the positioning holes 33, which has a hollow cylindrical structure, and the connecting holes 34, the arc-shaped clamping blocks 35, and the clamping springs 37 are all located in the protruding portion. The arc-shaped clamping blocks 35 and the clamping springs 37 can be completely accommodated in the connecting holes 34. The front end of the arc-shaped clamping block 35 is provided with an inclined surface for pushing the arc-shaped clamping block 34 to retract into the connecting hole when the stator is inserted into the positioning hole, at which time the clamping spring 37 is compressed. One end of the clamping spring 37 abuts against the arc-shaped clamping block 35, and the other end abuts against the inner wall of the connecting hole 34; the clamping spring 37 makes the arc-shaped clamping block 35 retract into the connecting hole 34 in the natural state, and extends outward to clamp the stator when under pressure. Further, in other embodiments, a pressure sensor is embedded in the arc-shaped clamping block 35, and the clamping force is monitored by the control unit to avoid deformation of the stator (especially for thin-walled motor stators).

[0049] Further, a magnet is embedded between the top of the mounting plate 31 and the bottom of the positioning plate 32, respectively, and the two magnets have different magnetic properties and attract each other when close to each other, thereby realizing the detachable connection of the mounting plate 31 and the positioning plate 32. In operation, the positioning plate 32 can be conveniently replaced to adapt to the glue pouring of the stator of different sizes, thereby improving the adaptability of the equipment.

[0050] In addition, the base 1 is provided with a feeding table 102 on one side, and the top shell 2 is provided with an automatically opened and closed feeding port 21 on the side close to the feeding table 102. The base 1 is provided with a pneumatic sealing door 22 and a door control sensor (not shown in the figure) linked with the feeding port 21. The pneumatic sealing door 22 is mainly realized by a rodless cylinder to slide up and down, so as to ensure that the stator is glued in a closed environment. The temperature and humidity sensor and the dehumidification module are integrated in the top shell 2 to ensure the stability of the glue curing environment (especially for humidity-sensitive glue).

[0051] Further, a set of pulleys 5 are rotatably connected to the top of the feeding table 102 for the sliding abutment of the mounting plate 31. A set of pulleys 5 are also rotatably connected to the base 1 above the partition plate 101 for the sliding of the mounting plate 31, thereby facilitating the feeding and discharging.

[0052] The glue pouring execution group 4 includes a mechanical arm 41 provided on the base 1 and a glue pouring head 42 provided on the mechanical arm 41. Two support beams 103 are installed on the base 1 in a H-shaped structure. The mechanical arm 41 includes an X-axis linear module 411 provided on the two support beams 103, a Y-axis linear module 412 slidably connected to the X-axis linear module 411, and a Z-axis cylinder 413 slidably connected to the Y-axis linear module 412. The telescopic rod of the Z-axis cylinder is provided with a connecting seat 414 for mounting the glue pouring head 42. The glue pouring head 42 in the embodiment can adopt a rotary nozzle design (such as ±90° adjustment) to adapt to the glue pouring requirements of the stator inclined groove or special-shaped structure.

[0053] Further, the glue supply system includes a glue tank 6 provided on one side of the base 1, a glue conveying pipe connected to the glue pouring head 42 and the glue tank 6, a metering pump 7 and a viscosity sensor installed on the glue conveying pipe. In addition, the outer wall of the glue tank 6 is provided with a heating coil and a temperature controller.

[0054] Further, the visual detection system includes an image processing module and a high-resolution camera provided on the mechanical arm 41, and the high-resolution camera is installed on the connecting seat 414. The control unit is configured to dynamically adjust the glue injection path, flow rate and pressure based on the feedback data of the visual detection system and the viscosity sensor.

[0055] Further, the main control strategy of the control unit is to generate a three-dimensional model of the stator based on the vision system, plan the layered glue filling path, adjust the heating coil temperature and the metering pump 7 pressure according to the real-time viscosity data, and ensure that the height error of each slot glue filling is not more than ±0.5mm through closed-loop feedback control.

[0056] An automatic glue filling method for a motor stator, comprising the following steps:

[0057] S1, stator clamping: inserting the stator into the positioning hole 33, triggering the arc-shaped clamping block 35 to automatically clamp, and verifying the positioning accuracy through the vision system;

[0058] S2, parameter configuration: calling the pre-stored process parameters according to the stator model or generating custom parameters through vision scanning;

[0059] S3, glue filling execution: three-stage glue filling, including high-speed filling of the slot bottom, medium-speed glue filling, and pulse-type surface finishing;

[0060] S4, dynamic adjustment: correcting the glue filling parameters based on real-time glue flow images and viscosity data;

[0061] S5, curing treatment: starting the UV or heat curing program or both after completing the glue filling, monitoring the curing degree through the spectrum sensor, and dynamically adjusting the irradiation / heating time.

[0062] In step S1, a gas blowing nozzle (not shown in the figure) is also installed on the connecting seat 414 of the mechanical arm 41, which is used to remove dust in the stator slot to avoid affecting the adhesion of the glue.

[0063] The multi-stage glue filling in step S4 includes:

[0064] The first stage flow is 70±10% of the rated flow, and the duration t1 is determined by the slot depth;

[0065] The second stage flow is reduced to 40±10% until the glue covers the middle layer winding;

[0066] The third stage uses intermittent pulse glue filling, with a single pulse time not greater than 0.5 seconds and an interval time not less than 1 second;

[0067] The stage switching is automatically triggered by the vision system detecting the glue front position, and is coordinated with the mechanical arm 41 for glue filling operation, which can greatly shorten the operation time and further improve the low efficiency and poor consistency of manual operation.

[0068] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. An automated glue-dispensing device for motor stators, characterized in that: It includes a base (1), a top shell (2) disposed on the base (1), a positioning assembly (3) for clamping and positioning the stator to be glued, a glue dispensing execution assembly (4) located in the top shell (2), a glue supply system, a vision inspection system, and a control unit; The positioning component (3) is disposed on the base (1) and is located inside the top shell (2); The dispensing execution assembly (4) includes a robotic arm (41) mounted on a base (1) and a dispensing head (42) mounted on the robotic arm (41); The glue supply system includes a glue storage tank (6) located on one side of the base (1), a glue delivery pipe connected to the glue dispensing head (42) and the glue storage tank (6), a metering pump (7) and a viscosity sensor located on the glue delivery pipe, and a heating coil and a temperature controller located on the outer wall of the glue storage tank (6). The vision inspection system includes an image processing module and a high-resolution camera mounted on the robotic arm (41). The control unit is configured to dynamically adjust the dispensing path, flow rate, and pressure based on feedback data from the vision inspection system and the viscosity sensor.

2. The automatic glue filling device for motor stator according to claim 1, characterized in that: A partition (101) is provided between the top shell (2) and the base (1). The base (1) is provided with a feeding platform (102). The top shell (2) is provided with an automatically opening and closing feeding port (21) on the side near the feeding platform (102). The base (1) is provided with a pneumatic sealing door (22) and a door control sensor that are linked to the feeding port (21).

3. The automated glue-dispensing device for motor stator according to claim 2, characterized in that: The positioning assembly (3) includes a mounting plate (31) slidably disposed above the partition plate (101), a positioning plate (32) detachably connected to the mounting plate (31), positioning holes (33) spaced apart on the top of the positioning plate (32), a connecting hole (34) radially opened along the side wall of the positioning hole (33), an arc-shaped clamping block (35) slidably disposed in the connecting hole (34), a connecting rod (36) threadedly connected to the arc-shaped clamping block (35), and a clamping spring (37) sleeved on the connecting rod (36). The arc-shaped clamping block (35) and the clamping spring (37) can be completely accommodated in the connecting hole (34). One end of the clamping spring (37) abuts against the arc-shaped clamping block (35), and the other end of the clamping spring (37) abuts against the inner wall of the connecting hole (34). In its natural state, the clamping spring (37) causes the arc-shaped clamping block (35) to retract into the connecting hole (34), and when pressed, it extends outward to clamp the stator.

4. The automated glue-dispensing device for motor stators according to claim 3, characterized in that: A set of pulleys (5) is rotatably connected to the feeding platform (102) for the mounting plate (31) to slide against. A set of pulleys (5) is also rotatably connected to the base (1) above the partition (101) for the mounting plate (31) to slide.

5. The automated glue-dispensing device for motor stator according to claim 3, characterized in that: The mounting plate (31) and the positioning plate (32) are respectively provided with magnets of different magnetic properties, and the two magnets attract each other when they are close to each other.

6. The automated glue-dispensing device for motor stator according to claim 1, characterized in that: The base (1) is provided with a support beam (103), and the robotic arm (41) includes an X-axis linear module (411) provided on the support beam (103), a Y-axis linear module (412) slidably provided on the X-axis linear module (411), and a Z-axis cylinder (413) slidably provided on the Y-axis linear module (412). The telescopic rod of the Z-axis cylinder (413) is provided with a connecting seat (414) for installing the dispensing head (42).

7. The automated glue-dispensing device for motor stators according to claim 1, characterized in that: The control unit includes the following control strategies: Based on the stator 3D model generated by the vision system, plan the layered glue pouring path; Adjust the heating coil temperature and metering pump (7) pressure according to real-time viscosity data; Closed-loop feedback control ensures that the glue filling height error in each tank is no greater than ±0.5mm.

8. An automated glue-filling method for motor stators according to any one of claims 1-7, characterized in that: Includes the following steps: S1. Stator clamping: Insert the stator into the positioning hole (33), trigger the arc-shaped clamping block (35) to automatically clamp, and verify the positioning accuracy through the vision system; S2. Parameter Configuration: Recall pre-stored process parameters according to the stator model or generate custom parameters through visual scanning; S3. Glue injection execution: Glue injection is carried out in three stages, including high-speed filling of the bottom of the tank, medium-speed glue replenishment, and pulse-type surface trimming; S4. Dynamic Adjustment: Corrects dispensing parameters based on real-time glue flow images and viscosity data; S5. Curing process: After the glue is poured, start the UV or heat curing process.

9. The automated glue-filling device and method for motor stator according to claim 8, characterized in that: The multi-stage dispensing process in step S4 includes: The flow rate in the first stage is 70 ± 10% of the rated flow rate, and the duration t1 is determined by the tank depth; The flow rate is reduced to 40±10% in the second stage until the glue covers the middle layer winding; The third stage uses intermittent pulse injection, with a single pulse duration of no more than 0.5 seconds and an interval of no less than 1 second; The phase switching is automatically triggered by detecting the position of the glue leading edge through a vision system.

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