A rotor dynamic balancing measurement and automatic mass addition device and its usage method

Abstract

This invention relates to the field of automatic mass addition technology, specifically to a rotor dynamic balancing measurement and automatic mass addition device and its usage method, including a dual-station rotor dynamic balancing machine, a four-axis handling robot, and a balancing mud filling device. The dual-station rotor dynamic balancing machine, the four-axis handling robot, and the balancing mud filling device are arranged in parallel on the production line. By integrating the dual-station dynamic balancing machine, the four-axis handling robot, and the automatic balancing mud application device, the entire process from rotor feeding, balance measurement, balancing mud application to retesting and unloading is automated, eliminating the speed limitations of manual application, and can operate 24 hours a day without interruption, meeting the high-efficiency requirements of modern production lines.

Description

Technical Field

[0001] This invention relates to the field of automatic mass addition technology, specifically to a rotor dynamic balancing measurement and automatic mass addition device and its usage method. Background Technology

[0002] In the rotor dynamic balancing process of rotating electrical appliances (such as brushless motors for washing machines, vacuum cleaner motors, drone motors, etc.), existing technologies have a core efficiency bottleneck problem.

[0003] The currently widely used "semi-automatic dynamic balancing measurement and manual correction integrated equipment" can achieve high-precision dynamic balancing measurement, but it still requires manual application of balancing mud after measurement. A huge speed difference exists between high-precision measurement and low-speed manual operation, causing the high-speed measurement unit to be in a waiting state for a long time. The production cycle of the entire system is completely limited by the operator's manual operation speed, which cannot meet the higher efficiency requirements of modern production lines. At the same time, manual operation also brings problems in terms of accuracy and production support. When applying the balancing mud manually, the weight control relies on human visual recognition and manual weighing, which is difficult to achieve precise control. Moreover, the angle and position of manual application are prone to deviation, resulting in unstable rotor balance level and poor product consistency. Therefore, a rotor dynamic balancing measurement and automatic mass-addition equipment is proposed. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a rotor dynamic balancing measurement and automatic mass addition device and a method for using it.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a rotor dynamic balancing measurement and automatic mass addition device, characterized in that it includes a dual-station rotor dynamic balancing machine, a four-axis handling robot and a balancing mud filling device, wherein the dual-station rotor dynamic balancing machine, the four-axis handling robot and the balancing mud filling device are arranged in parallel on the production line;

[0006] The balancing mud filling equipment includes a base box, a rotor rotation conveying assembly, a first rotor angle adjustment assembly, a first balancing mud filling assembly, a first balancing mud leveling assembly, a rotor reversal assembly, a second rotor angle adjustment assembly, a second balancing mud filling assembly, and a second balancing mud leveling assembly. The base box is located at a fixed position on the production line. The rotor rotation conveying assembly is installed at the center of the base box. The first rotor angle adjustment assembly, the first balancing mud filling assembly, the first balancing mud leveling assembly, the rotor reversal assembly, the second rotor angle adjustment assembly, the second balancing mud filling assembly, and the second balancing mud leveling assembly are sequentially installed on the top of the base box in a counterclockwise order around the rotor rotation conveying assembly.

[0007] Preferably, the rotor rotation transmission assembly includes a rotating bracket, a double-layer turntable, a turntable motor, rotor support plates, an infrared sensor, a back plate, a first pneumatic push rod, and a receiving box. The rotating bracket is fixed at the center of the base box. The double-layer turntable includes a lower rotating part and an upper fixed part. The double-layer turntable is installed at the center of the rotating bracket. The turntable motor is installed at the lower part of the double-layer turntable, and the output end of the turntable motor is connected to the double-layer turntable. The lower rotating part of the double-layer turntable is driven by the turntable motor. Several sets of rotor support plates are equally spaced. Fixed to the surface of the lower rotating part of the double-layer turntable, the number of infrared sensors matches the number of rotor trays. Several sets of infrared sensors are installed at equal intervals on the surface of the upper fixed part of the double-layer turntable, with each infrared sensor corresponding to a rotor tray. The back plate is installed at the center of the upper fixed part of the double-layer turntable. Two sets of first pneumatic push rods are fixed on both sides of the end of the back plate. The two sets of first pneumatic push rods are located directly above the two sets of rotor trays. The two sets of receiving boxes are fixed below the telescopic ends of the two sets of first pneumatic push rods.

[0008] Preferably, the first rotor angle adjustment assembly includes a first upright, a second pneumatic push rod, a motor bracket, a first rotary motor, a first pneumatic three-jaw chuck, and external grippers. The first upright is fixedly connected to the surface of the base box, and the working surface of the first upright faces the center point of the rotor rotation transmission assembly. The second pneumatic push rod is installed on the upper part of the working surface of the first upright. The motor bracket is installed on the telescopic end surface of the second pneumatic push rod. The first rotary motor is installed on the top of the motor bracket. The first pneumatic three-jaw chuck is installed on the lower end of the motor bracket. The drive shaft of the first rotary motor is connected to the first pneumatic three-jaw chuck. Several sets of external grippers are respectively installed on each movable part of the first pneumatic three-jaw chuck.

[0009] Preferably, the first balancing mud filling assembly includes a first filling bracket, a first cylinder bracket, a first filling cylinder, a first filling rod, a first sliding filling chamber, a first filling adjustment assembly, a first rotor orientation assembly, and a first mud filling anti-overflow assembly. The first filling bracket is fixedly connected to the surface of the base box, and the working surface of the first filling bracket faces the center point of the rotor rotation and transmission assembly. The first cylinder bracket is installed on the top of the first filling bracket, the first filling cylinder is installed on the top of the first cylinder bracket, the first filling rod is installed at the output end of the first filling cylinder, the first sliding filling chamber is installed at the bottom of the first cylinder bracket, and an injection tube that cooperates with the first filling rod is provided in the first sliding filling chamber. The first filling adjustment assembly is installed at the inner bottom of the first filling bracket, the first rotor orientation assembly is installed on the movable part of the first filling adjustment assembly, and the first mud filling anti-overflow assembly is installed at the top and bottom of the first filling bracket.

[0010] The second balancing mud filling assembly has the same structure as the first balancing mud filling assembly. The second balancing mud filling assembly includes a second filling bracket, a second cylinder bracket, a second filling cylinder, a second filling rod, a second sliding filling chamber, a second filling adjustment assembly, a second rotor orientation assembly, and a second mud filling anti-overflow assembly. The second filling bracket is fixedly connected to the surface of the base box. The working surface of the second filling bracket faces the center point of the rotor rotation and transmission assembly. The second cylinder bracket is installed on the top of the second filling bracket. The second filling cylinder is installed on the top of the second cylinder bracket. The second filling rod is installed at the output end of the second filling cylinder. The second sliding filling chamber is installed at the bottom of the second cylinder bracket. An injection tube that cooperates with the second filling rod is provided in the second sliding filling chamber. The second filling adjustment assembly is installed at the bottom of the inside of the second filling bracket. The second rotor orientation assembly is installed on the movable part of the second filling adjustment assembly. The second mud filling anti-overflow assembly is installed at the top and bottom of the second filling bracket.

[0011] Preferably, the first balancing mud leveling component includes a second column, a third pneumatic push rod, a first connecting bracket, a second rotary motor, and a first pressing leveling end. The second column is fixedly connected to the surface of the base box, and the working surface of the second column faces the center point of the rotor rotation transmission component. The third pneumatic push rod is fixed to the upper end of the working surface of the second column. The first connecting bracket is installed at the bottom end of the telescopic part of the third pneumatic push rod. The second rotary motor is installed inside the first connecting bracket, and the first pressing leveling end is installed at the bottom end of the main shaft of the second rotary motor.

[0012] The second balancing mud leveling component has the same structure as the first balancing mud leveling component. The second balancing mud leveling component includes a fifth column, a sixth pneumatic push rod, a second connecting bracket, a fourth rotary motor, and a second pressing leveling end. The fifth column is fixedly connected to the surface of the base box, and the working surface of the fifth column faces the center point of the rotor rotation transmission component. The sixth pneumatic push rod is installed on the upper surface of the fifth column. The second connecting bracket is installed at the bottom end of the telescopic part of the sixth pneumatic push rod. The fourth rotary motor is installed inside the second connecting bracket, and the second pressing leveling end is installed at the bottom end of the main shaft of the fourth rotary motor.

[0013] Preferably, the rotor reversing assembly includes a third column, a fourth pneumatic push rod, a right-angle connecting piece, a reversing motor, and a reversing gripper chuck. The third column is fixedly connected to the surface of the base box, and the working surface of the third column faces the center point of the rotor rotation transmission assembly. The fourth pneumatic push rod is installed at the upper end of the working surface of the third column. The right-angle connecting piece is fixed to the moving part surface of the fourth pneumatic push rod. The reversing motor is installed at the bottom end of the right-angle connecting piece, and the reversing gripper chuck is installed at the end of the rotating shaft of the reversing motor.

[0014] Preferably, the second rotor angle adjustment assembly includes a fourth column, a connecting column, a fifth pneumatic push rod, a second connecting bracket, a third rotary motor, a second pneumatic three-jaw chuck, and inner jaws. The fourth column is fixedly connected to the surface of the base box, and the working surface of the fourth column faces the center of the rotor rotation transmission assembly. The connecting column is fixed to the upper end of the working surface of the fourth column. The fifth pneumatic push rod is fixed to the end surface of the connecting column. The second connecting bracket is installed on the movable part surface of the fifth pneumatic push rod. The third rotary motor is installed at the upper end of the second connecting bracket. The second pneumatic three-jaw chuck is installed at the lower end of the second connecting bracket. Several sets of inner jaws are respectively installed on each movable part of the second pneumatic three-jaw chuck.

[0015] Preferably, the first filling adjustment assembly includes a first electric drive slide rail, a first back plate, and a first mud receiving box. The first electric drive slide rail is located at the center of the bottom of the first filling bracket, the first back plate is installed on the sliding part of the first electric drive slide rail, and the first mud receiving box is installed on the top of the first back plate.

[0016] The first rotor reversing assembly includes a second electric drive slide rail, a first reversing motor frame, a first reversing motor, a first bidirectional pneumatic push rod, and a first fixed gripper. The second electric drive slide rail is mounted on the surface of the first backing plate, the first reversing motor frame is mounted on the sliding part of the second electric drive slide rail, the first reversing motor is mounted on the bottom of the first reversing motor frame, the first bidirectional pneumatic push rod is mounted on the spindle end of the first reversing motor frame, and the two sets of the first fixed grippers are respectively fixed on the two sets of movable parts of the first bidirectional pneumatic push rod.

[0017] The second filling adjustment assembly includes a third electric drive slide rail, a second back plate, and a second mud receiving box. The third electric drive slide rail is located at the center of the bottom of the second filling bracket, the second back plate is installed on the sliding part of the third electric drive slide rail, and the second mud receiving box is installed on the top of the second back plate.

[0018] The second rotor reversing assembly includes a fourth electric drive slide rail, a second reversing motor frame, a second reversing motor, a second bidirectional pneumatic push rod, and a second fixed gripper. The fourth electric drive slide rail is mounted on the surface of the second backing plate. The second reversing motor frame is mounted on the sliding part of the fourth electric drive slide rail. The second reversing motor is mounted on the bottom of the second reversing motor frame. The second bidirectional pneumatic push rod is mounted on the end of the main shaft of the second reversing motor frame. Two sets of the second fixed grippers are respectively fixed on the two sets of movable parts of the second bidirectional pneumatic push rod.

[0019] A method for using a rotor dynamic balancing measurement and automatic mass addition device includes the following steps:

[0020] Step S1: The four-axis handling robot transfers the rotor to the rotor tray. After the infrared sensor detects whether the rotor is in place, the turntable motor drives the lower rotating part of the double-layer turntable to rotate. The rotor tray and the rotor placed inside it rotate synchronously to the bottom of the first rotor angle adjustment component.

[0021] In step S2, after the rotor moves directly below the first pneumatic three-jaw chuck, the second pneumatic push rod pushes the first pneumatic three-jaw chuck down to the top of the rotor. The first pneumatic three-jaw chuck drives the outer jaws to retract. During the retraction process, the outer jaws grip the outside of the rotor. The first rotary motor drives the first pneumatic three-jaw chuck to rotate. The rotor rotates synchronously with the first pneumatic three-jaw chuck until the position to be filled on the rotor is directly opposite the first upright. At this time, the first pneumatic three-jaw chuck drives the outer jaws to open again, and the second pneumatic push rod drives the first pneumatic three-jaw chuck to reset.

[0022] In step S3, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate. The rotor support plate and the rotor installed inside rotate synchronously to below the first balance mud filling assembly. The sliding part of the first electric drive slide rail pushes the first rotor directional assembly to move backward until the first fixed gripper in the first rotor directional assembly is directly below the rotor. The second electric drive slide rail drives the first directional motor frame, the first directional motor to move upward, the first bidirectional pneumatic push rod, and the first fixed gripper to move upward through the sliding part. When the first fixed gripper contacts the rotor, the movable part of the first bidirectional pneumatic push rod drives the first fixed gripper to move in opposite directions to complete the clamping of the rotor. The sliding part of the first electric drive slide rail drives the first rotor directional assembly. The rotor moves until the position to be filled on the rotor is aligned with the outlet of the first sliding filling chamber. The first filling cylinder pushes the first filling rod downward. During the downward movement, the first filling rod pushes the balancing mud in the first sliding filling chamber, causing the balancing mud to be sprayed out from the outlet of the injection tube and filled into the area to be filled on the rotor. During the filling process, the first directional motor drives the first bidirectional pneumatic push rod, the first fixed gripper and the rotor inside the first fixed gripper to rotate. The first mud filling anti-overflow component pushes the balancing mud flat during the rotation of the rotor to prevent the balancing mud from overflowing from the rotor. After the filling is completed, the first filling adjustment component and the first rotor directional component are reset one after another, and the rotor is placed back into the rotor tray.

[0023] In step S4, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate. The rotor support plate and the rotor installed inside rotate synchronously to the bottom of the first balancing mud leveling component. The third pneumatic push rod pushes the first connecting bracket to move down. During the downward movement of the first connecting bracket, it drives the second rotary motor and the first pressing leveling end at its end to move down synchronously until the first pressing leveling end presses on the rotor surface. The second rotary motor drives the first pressing leveling end to rotate. The first pressing leveling end ensures uniform pressing of the balancing mud by rotating. After the pressing is completed, the third pneumatic push rod drives the first connecting bracket and the first pressing leveling end to reset. The movable part of the first pneumatic push rod pushes the receiving box to move. During the movement, the receiving box contacts the bottom of the first pressing leveling end. During the contact process, the receiving box removes the balancing mud from the bottom of the first pressing leveling end.

[0024] In step S5, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate. The rotor support plate and the rotor installed inside rotate synchronously to the bottom of the rotor reversing assembly. The fourth pneumatic push rod drives the flipping motor and the flipping gripper chuck to move down to the rotor height. After the flipping gripper chuck grabs the rotor, the fourth pneumatic push rod drives the flipping motor, the flipping gripper chuck and the rotor to move up until the rotor is separated from the rotor support plate. The flipping motor works to drive the flipping gripper chuck and the rotor to rotate 180°. After flipping, the fourth pneumatic push rod drives the flipping motor and the flipping gripper chuck to send the rotor back to the rotor support plate.

[0025] In step S6, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate. The rotor support plate and the rotor installed inside rotate synchronously to the bottom of the second rotor angle adjustment component. The fifth pneumatic push rod drives the second connecting bracket, the third rotary motor, the second pneumatic three-jaw chuck and the inner jaw to move down synchronously until the inner jaw moves outside the rotor shaft. The second pneumatic three-jaw chuck drives the inner jaw to retract and grab the rotor shaft. The third rotary motor drives the second pneumatic three-jaw chuck and the inner jaw to rotate until the rotor's filling area is aligned with the fourth column.

[0026] Step S7: The turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate. The rotor support plate and the rotor installed inside rotate synchronously to the bottom of the second balance mud filling component. The working process of the second balance mud filling component is the same as that of the first balance mud filling component. The second balance mud filling component fills the rotor with balance mud on the opposite side.

[0027] In step S8, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate, and the rotor support plate and the rotor installed inside rotate synchronously to the bottom of the second balancing mud leveling component. The working process of the second balancing mud leveling component is the same as that of the first balancing mud leveling component. The second balancing mud leveling component completes the leveling of the balancing mud.

[0028] In step S9, the turntable motor continues to drive the lower rotating part of the double-layer turntable to rotate, and the rotor support plate and the rotor installed inside rotate synchronously to the initial position.

[0029] Preferably, in steps S2 to S8, the four-axis handling robot continuously transfers the rotor from the dual-station rotor dynamic balancing machine to the rotor tray, and then transfers the processed rotor to the return conveyor belt.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] In this invention, by integrating a dual-station dynamic balancing machine, a four-axis handling robot, and an automatic balancing mud applicator, the entire process from rotor feeding, balance measurement, balancing mud application to retesting and unloading is fully automated, eliminating the speed limitations of manual application and enabling 24-hour uninterrupted operation to meet the high-efficiency requirements of modern production lines. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0033] Figure 2 This is a side view of the overall three-dimensional structure of the present invention;

[0034] Figure 3 This is a three-dimensional structural diagram of the sludge filling device of the present invention;

[0035] Figure 4 This is a schematic diagram of the rotor rotation transmission assembly structure of the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of the first rotor angle adjustment component of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of the first balancing mud injection component of the present invention;

[0038] Figure 7 This is a three-dimensional structural diagram of the first filling adjustment assembly and the first rotor orientation assembly of the present invention;

[0039] Figure 8 This is a three-dimensional structural diagram of the first balancing mud leveling component of the present invention;

[0040] Figure 9 This is a three-dimensional structural diagram of the rotor reversing assembly of the present invention;

[0041] Figure 10 This is a three-dimensional structural diagram of the second rotor angle adjustment component of the present invention;

[0042] Figure 11 This is a three-dimensional structural diagram of the second balancing mud injection component of the present invention;

[0043] Figure 12 This is a three-dimensional structural diagram of the second filling adjustment assembly and the second rotor orientation assembly of the present invention;

[0044] Figure 13 This is a three-dimensional structural diagram of the second balancing mud leveling component of the present invention.

[0045] The numbers in the attached diagram represent: 1. Dual-station rotor dynamic balancing machine; 2. Four-axis handling robot; 3. Balancing mud filling equipment; 31. Base box;

[0046] 32. Rotor rotation conveyor assembly; 321. Rotary support; 322. Double-layer turntable; 323. Turntable motor; 324. Rotor support plate; 325. Infrared sensor; 326. Back plate; 327. First pneumatic push rod; 328. Receiving box;

[0047] 33. First rotor angle adjustment assembly; 331. First upright; 332. Second pneumatic push rod; 333. Motor bracket; 334. First rotary motor; 335. First pneumatic three-jaw chuck; 336. External gripper;

[0048] 34. First balancing mud filling assembly; 341. First filling bracket; 342. First cylinder bracket; 343. First filling cylinder; 344. First filling rod; 345. First sliding filling chamber; 346. First filling adjustment assembly; 3461. First electric drive slide rail; 3462. First backing plate; 3463. First mud receiving box; 347. First rotor reversing assembly; 3471. Second electric drive slide rail; 3472. First reversing motor frame; 3473. First reversing motor; 3474. First bidirectional pneumatic push rod; 3475. First fixing gripper; 348. First mud filling anti-overflow assembly;

[0049] 35. First balancing mud leveling component; 351. Second column; 352. Third pneumatic push rod; 353. First connecting bracket; 354. Second rotary motor; 355. First pressing leveling end;

[0050] 36. Rotor reversing assembly; 361. Third column; 362. Fourth pneumatic push rod; 363. Right-angle connecting piece; 364. Tilting motor; 365. Tilting gripper chuck;

[0051] 37. Second rotor angle adjustment assembly; 371. Fourth column; 372. Connecting column; 373. Fifth pneumatic push rod; 374. Second connecting bracket; 375. Third rotary motor; 376. Second pneumatic three-jaw chuck; 377. Inner jaw;

[0052] 38. Second balancing mud filling assembly; 381. Second filling bracket; 382. Second cylinder bracket; 383. Second filling cylinder; 384. Second filling rod; 385. Second sliding filling chamber; 386. Second filling adjustment assembly; 3861. Third electric drive slide rail; 3862. Second backing plate; 3863. Second mud receiving box; 387. Second rotor reversing assembly; 3871. Fourth electric drive slide rail; 3872. Second reversing motor frame; 3873. Second reversing motor; 3874. Second bidirectional pneumatic push rod; 3875. Second fixing gripper; 388. Second mud filling anti-overflow assembly;

[0053] 39. Second balancing mud leveling component; 391. Fifth column; 392. Sixth pneumatic push rod; 393. Second connecting bracket; 394. Fourth rotary motor; 395. Second pressing leveling end. Detailed Implementation

[0054] The present invention will be further described below with reference to the accompanying drawings and embodiments, which illustrate the above and other technical features and advantages of the present invention. However, the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0055] Example 1

[0056] like Figures 1-13 As shown, the present invention provides a rotor dynamic balancing measurement and automatic mass addition device, including a dual-station rotor dynamic balancing machine 1, a four-axis transport robot 2, and a balancing mud filling device 3. The dual-station rotor dynamic balancing machine 1, the four-axis transport robot 2, and the balancing mud filling device 3 are arranged in parallel on the production line. The dual-station rotor dynamic balancing machine 1 is provided with a feeding conveyor belt and a return conveyor belt on its side. The feeding conveyor belt sends the rotor to the dual-station rotor dynamic balancing machine 1. The four-axis transport robot 2 grabs the rotor and places it into the dual-station rotor dynamic balancing machine 1 for dynamic balancing detection to obtain dynamic balancing data.

[0057] The balancing mud filling device 3 includes a base box 31, a rotor rotation conveying assembly 32, a first rotor angle adjustment assembly 33, a first balancing mud filling assembly 34, a first balancing mud leveling assembly 35, a rotor reversal assembly 36, a second rotor angle adjustment assembly 37, a second balancing mud filling assembly 38, and a second balancing mud leveling assembly 39. The base box 31 is set at a fixed position on the production line. The rotor rotation conveying assembly 32 is installed at the center of the base box 31. The first rotor angle adjustment assembly 33, the first balancing mud filling assembly 34, the first balancing mud leveling assembly 35, the rotor reversal assembly 36, the second rotor angle adjustment assembly 37, the second balancing mud filling assembly 38, and the second balancing mud leveling assembly 39 are installed in a counterclockwise order around the rotor rotation conveying assembly 32 on the top of the base box 31.

[0058] The rotor rotation conveying assembly 32 includes a rotating bracket 321, a double-layer turntable 322, a turntable motor 323, rotor support plates 324, an infrared sensor 325, a back plate 326, a first pneumatic push rod 327, and a receiving box 328. The rotating bracket 321 is fixed at the center of the base box 31. The double-layer turntable 322 includes a lower rotating part and an upper fixed part. The double-layer turntable 322 is installed at the center of the rotating bracket 321. The turntable motor 323 is installed at the lower part of the double-layer turntable 322. The output end of the turntable motor 323 is connected to the double-layer turntable 322. The lower rotating part of the double-layer turntable 322 is driven by the turntable motor 323. Several sets of rotor support plates 324... 24 are fixed at equal intervals on the surface of the lower rotating part of the double-layer turntable 322. The number of infrared sensors 325 matches the number of rotor support plates 324. Several sets of infrared sensors 325 are installed at equal intervals on the surface of the upper fixed part of the double-layer turntable 322. The infrared sensors 325 correspond one-to-one with the rotor support plates 324. The back plate 326 is installed at the center of the upper fixed part of the double-layer turntable 322. Two sets of first pneumatic push rods 327 are fixed on both sides of the end of the back plate 326. The two sets of first pneumatic push rods 327 are located directly above the two sets of rotor support plates 324. Two sets of receiving boxes 328 are fixed below the telescopic ends of the two sets of first pneumatic push rods 327.

[0059] The four-axis handling robot 2 transfers the rotor to the rotor tray 324. After the infrared sensor 325 detects whether the rotor is in place, the turntable motor 323 drives the lower rotating part of the double-layer turntable 322 to rotate. The rotor tray 324 and the rotor placed inside it rotate synchronously to the bottom of the first rotor angle adjustment component 33.

[0060] The first rotor angle adjustment assembly 33 includes a first upright 331, a second pneumatic push rod 332, a motor bracket 333, a first rotary motor 334, a first pneumatic three-jaw chuck 335, and an outer jaw 336. The first upright 331 is fixedly connected to the surface of the base box 31, with the working surface of the first upright 331 facing the center point of the rotor rotation transmission assembly 32. The second pneumatic push rod 332 is mounted on the upper part of the working surface of the first upright 331. The motor bracket 333 is mounted on the telescopic end surface of the second pneumatic push rod 332. The first rotary motor 334 is mounted on the top of the motor bracket 333. The first pneumatic three-jaw chuck 335 is mounted on the lower end of the motor bracket 333. The drive shaft of the first rotary motor 334 is connected to the first pneumatic three-jaw chuck 335. Several sets of external jaws 336 are respectively installed on each movable part of the first pneumatic three-jaw chuck 335. After the rotor moves to the bottom of the first pneumatic three-jaw chuck 335, the second pneumatic push rod 332 pushes the first pneumatic three-jaw chuck 335 to move down to the top of the rotor. The first pneumatic three-jaw chuck 335 drives the external jaws 336 to retract. During the retraction process, the external jaws 336 grip the outside of the rotor. The first rotary motor 334 drives the first pneumatic three-jaw chuck 335 to rotate. The rotor rotates synchronously with the first pneumatic three-jaw chuck 335 until the position to be filled on the rotor is directly opposite the first upright 331. At this time, the first pneumatic three-jaw chuck 335 drives the external jaws 336 to open again, and the second pneumatic push rod 332 drives the first pneumatic three-jaw chuck 335 to reset.

[0061] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside it rotate synchronously to the bottom of the first balance mud filling assembly 34.

[0062] The first balancing mud filling assembly 34 includes a first filling bracket 341, a first cylinder bracket 342, a first filling cylinder 343, a first filling rod 344, a first sliding filling chamber 345, a first filling adjustment assembly 346, a first rotor orientation assembly 347, and a first mud filling anti-overflow assembly 348. The first filling bracket 341 is fixedly connected to the surface of the base box 31, and the working surface of the first filling bracket 341 faces the center point of the rotor rotation conveying assembly 32. The first cylinder bracket 342 is installed on the top of the first filling bracket 341. A filling cylinder 343 is mounted on the top of a first cylinder bracket 342. A first filling rod 344 is mounted on the output end of the first filling cylinder 343. A first sliding filling chamber 345 is mounted on the bottom of the first cylinder bracket 342. An injection tube that mates with the first filling rod 344 is provided inside the first sliding filling chamber 345. A first filling adjustment assembly 346 is mounted on the inner bottom end of the first filling bracket 341. A first rotor adjustment assembly 347 is mounted on the movable part of the first filling adjustment assembly 346. A first mud filling anti-overflow assembly 348 is mounted on the first cylinder bracket 342. The first filling adjustment assembly 346 includes a first electric drive slide rail 3461, a first backing plate 3462, and a first mud receiving box 3463. The first electric drive slide rail 3461 is located at the center of the bottom of the first filling bracket 341. The first backing plate 3462 is mounted on the sliding part of the first electric drive slide rail 3461. The first mud receiving box 3463 is mounted on the top of the first backing plate 3462. The first rotor steering assembly 347 includes a second electric drive slide rail 3471, a first steering motor frame 3472, and a first steering motor 3. 473. A first bidirectional pneumatic push rod 3474 and a first fixed gripper 3475, a second electric drive slide rail 3471 mounted on the surface of the first backing plate 3462, a first directional motor frame 3472 mounted on the sliding part of the second electric drive slide rail 3471, a first directional motor 3473 mounted on the bottom of the first directional motor frame 3472, a first bidirectional pneumatic push rod 3474 mounted on the end of the main shaft of the first directional motor frame 3472, and two sets of first fixed grippers 3475 respectively fixed on two sets of movable parts of the first bidirectional pneumatic push rod 3474;

[0063] The sliding part of the first electric drive slide rail 3461 pushes the first rotor directional assembly 347 backward until the first fixed gripper 3475 in the first rotor directional assembly 347 is directly below the rotor. The second electric drive slide rail 3471 drives the first directional motor frame 3472, the first directional motor 3473, the first bidirectional pneumatic push rod 3474, and the first fixed gripper 3475 to move upward through the sliding part. When the first fixed gripper 3475 contacts the rotor, the movable part of the first bidirectional pneumatic push rod 3474 drives the first fixed gripper 3475 to move in the opposite direction to complete the clamping of the rotor. The sliding part of the first electric drive slide rail 3461 drives the first rotor directional assembly 347 and the rotor to move until the rotor's filling position is aligned with the first sliding filling position. The discharge port of cavity 345 is aligned, the first injection cylinder 343 pushes the first injection rod 344 down, and the first injection rod 344 pushes the balance mud in the first sliding injection cavity 345 during the downward movement, so that the balance mud is sprayed out from the discharge port of the injection tube and injected into the material area to be added to the rotor. During the injection process, the first directional motor 3473 drives the first bidirectional pneumatic push rod 3474, the first fixed claw 3475 and the rotor in the first fixed claw 3475 to rotate. The first mud anti-overflow component 348 pushes the balance mud flat during the rotation of the rotor to prevent the balance mud from overflowing from the rotor. After the injection is completed, the first injection adjustment component 346 and the first rotor directional component 347 are reset one after another, and the rotor is placed back into the rotor support plate 324.

[0064] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the first balancing mud leveling component 35.

[0065] The first balancing mud leveling component 35 includes a second column 351, a third pneumatic push rod 352, a first connecting bracket 353, a second rotary motor 354, and a first pressing leveling end 355. The second column 351 is fixedly connected to the surface of the base box 31, and the working surface of the second column 351 faces the center point of the rotor rotation transmission component 32. The third pneumatic push rod 352 is fixed to the upper end of the working surface of the second column 351. The first connecting bracket 353 is installed at the bottom end of the telescopic part of the third pneumatic push rod 352. The second rotary motor 354 is installed inside the first connecting bracket 353. The first pressing leveling end 355 is installed at the bottom end of the main shaft of the second rotary motor 354.

[0066] The third pneumatic push rod 352 pushes the first connecting bracket 353 downward. During the downward movement, the first connecting bracket 353 drives the second rotary motor 354 and its end of the first pressing and flattening end 355 to move downward synchronously until the first pressing and flattening end 355 presses on the rotor surface. The second rotary motor 354 drives the first pressing and flattening end 355 to rotate. The first pressing and flattening end 355 ensures uniform pressing of the balancing mud by rotating. After the pressing is completed, the third pneumatic push rod 352 drives the first connecting bracket 353 and the first pressing and flattening end 355 to reset. The movable part of the first pneumatic push rod 327 pushes the receiving box 328 to move. During the movement, the receiving box 328 contacts the bottom of the first pressing and flattening end 355. During the contact process, the receiving box 328 removes the balancing mud from the bottom of the first pressing and flattening end 355.

[0067] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the rotor reversing assembly 36.

[0068] The rotor reversing assembly 36 includes a third column 361, a fourth pneumatic push rod 362, a right-angle connecting piece 363, a reversing motor 364, and a reversing gripper chuck 365. The third column 361 is fixedly connected to the surface of the base box 31, with its working surface facing the center point of the rotor rotation transmission assembly 32. The fourth pneumatic push rod 362 is mounted on the upper end of the working surface of the third column 361. The right-angle connecting piece 363 is fixed to the movable part of the fourth pneumatic push rod 362. The reversing motor 364 is mounted on the bottom end of the right-angle connecting piece 363. The reversing gripper chuck 365 is mounted on the reversing motor 361. At the end of the rotating shaft of the rotary motor 364, the fourth pneumatic push rod 362 drives the tilting motor 364 and the tilting gripper chuck 365 to move down to the rotor height. After the tilting gripper chuck 365 grabs the rotor, the fourth pneumatic push rod 362 drives the tilting motor 364, the tilting gripper chuck 365 and the rotor to move up until the rotor is separated from the rotor support plate 324. The operation of the tilting motor 364 drives the tilting gripper chuck 365 and the rotor to rotate 180°. After the tilting, the fourth pneumatic push rod 362 drives the tilting motor 364 and the tilting gripper chuck 365 to send the rotor back to the rotor support plate 324.

[0069] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside it rotate synchronously to the bottom of the second rotor angle adjustment component 37.

[0070] The second rotor angle adjustment assembly 37 includes a fourth column 371, a connecting column 372, a fifth pneumatic push rod 373, a second connecting bracket 374, a third rotary motor 375, a second pneumatic three-jaw chuck 376, and inner jaws 377. The fourth column 371 is fixedly connected to the surface of the base box 31, and the working surface of the fourth column 371 faces the center of the rotor rotation transmission assembly 32. The connecting column 372 is fixed to the upper end of the working surface of the fourth column 371. The fifth pneumatic push rod 373 is fixed to the end surface of the connecting column 372. The second connecting bracket 374 is installed on the movable part surface of the fifth pneumatic push rod 373. The third rotary motor 375 is installed at the upper end of the second connecting bracket 374. The second pneumatic three-jaw chuck 376 is installed at the lower end of the second connecting bracket 374. Several sets of inner jaws 377 are respectively installed on each movable part of the second pneumatic three-jaw chuck 376.

[0071] The fifth pneumatic push rod 373 drives the second connecting bracket 374, the third rotary motor 375, the second pneumatic three-jaw chuck 376 and the inner jaw 377 to move down synchronously until the inner jaw 377 moves outside the rotor shaft. The second pneumatic three-jaw chuck 376 drives the inner jaw 377 to retract and grip the rotor shaft. The third rotary motor 375 drives the second pneumatic three-jaw chuck 376 and the inner jaw 377 to rotate until the filling area of ​​the rotor is aligned with the fourth column 371.

[0072] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the second balance mud filling assembly 38.

[0073] The second balancing mud filling assembly 38 has the same structure as the first balancing mud filling assembly 34. The second balancing mud filling assembly 38 includes a second filling bracket 381, a second cylinder bracket 382, ​​a second filling cylinder 383, a second filling rod 384, a second sliding filling chamber 385, a second filling adjustment assembly 386, a second rotor orientation assembly 387, and a second mud overflow prevention assembly 388. The second filling bracket 381 is fixedly connected to the surface of the base box 31, with its working surface facing the center point of the rotor rotation and transmission assembly 32. The second cylinder bracket 382 is mounted on top of the second filling bracket 381, the second filling cylinder 383 is mounted on top of the second cylinder bracket 382, ​​and the second filling rod 384 is mounted on the output end of the second filling cylinder 383. The second sliding filling chamber... 385 is installed at the bottom of the second cylinder bracket 382. The second sliding filling chamber 385 is provided with an injection tube that cooperates with the second filling rod 384. The second filling adjustment assembly 386 is installed at the bottom of the inside of the second filling bracket 381. The second rotor adjustment assembly 387 is installed on the movable part of the second filling adjustment assembly 386. The second mud filling anti-overflow assembly 388 is installed at the bottom of the top of the second filling bracket 381. The second filling adjustment assembly 386 includes a third electric drive slide rail 3861, a second back plate 3862, and a second mud receiving box 3863. The third electric drive slide rail 3861 is located at the center of the bottom of the second filling bracket 381. The second back plate 3862 is installed on the sliding part of the third electric drive slide rail 3861. The second mud receiving box 3863 is installed on the top of the second back plate 3862.

[0074] The second rotor directional assembly 387 includes a fourth electric drive slide rail 3871, a second directional motor frame 3872, a second directional motor 3873, a second bidirectional pneumatic push rod 3874, and a second fixed gripper 3875. The fourth electric drive slide rail 3871 is mounted on the surface of the second backing plate 3862. The second directional motor frame 3872 is mounted on the sliding part of the fourth electric drive slide rail 3871. The second directional motor 3873 is mounted on the bottom of the second directional motor frame 3872. The second bidirectional pneumatic push rod 3874 is mounted on the end of the main shaft of the second directional motor frame 3872. Two sets of second fixed grippers 3875 are respectively fixed on two sets of movable parts of the second bidirectional pneumatic push rod 3874.

[0075] The working process of the second balancing mud filling component 38 is the same as that of the first balancing mud filling component 34. The second balancing mud filling component 38 fills the rotor with balancing mud on the reverse side.

[0076] After the filling is completed, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the second balancing mud leveling component 39.

[0077] The second balancing mud leveling component 39 has the same structure as the first balancing mud leveling component 35. The second balancing mud leveling component 39 includes a fifth column 391, a sixth pneumatic push rod 392, a second connecting bracket 393, a fourth rotary motor 394, and a second pressing leveling end 395. The fifth column 391 is fixedly connected to the surface of the base box 31. The working surface of the fifth column 391 faces the center point of the rotor rotation transmission component 32. The sixth pneumatic push rod 392 is installed on the upper surface of the fifth column 391. The second connecting bracket 393 is installed at the bottom end of the telescopic part of the sixth pneumatic push rod 392. The fourth rotary motor 394 is installed inside the second connecting bracket 393. The second pressing leveling end 395 is installed at the bottom end of the main shaft of the fourth rotary motor 394.

[0078] The working process of the second balancing mud leveling component 39 is the same as that of the first balancing mud leveling component 35. The second balancing mud leveling component 39 completes the leveling of the balancing mud.

[0079] The turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate. The rotor support plate 324 and the rotor installed inside it rotate synchronously to the initial position. At this time, the four-axis handling robot 2 transfers the processed rotor to the return conveyor belt.

[0080] A method for using a rotor dynamic balancing measurement and automatic mass addition device includes the following steps:

[0081] In step S1, the four-axis handling robot 2 transfers the rotor to the rotor tray 324. After the infrared sensor 325 detects whether the rotor is in place, the turntable motor 323 drives the lower rotating part of the double-layer turntable 322 to rotate. The rotor tray 324 and the rotor placed inside it rotate synchronously to the bottom of the first rotor angle adjustment component 33.

[0082] In step S2, after the rotor moves directly below the first pneumatic three-jaw chuck 335, the second pneumatic push rod 332 pushes the first pneumatic three-jaw chuck 335 down to the top of the rotor. The first pneumatic three-jaw chuck 335 drives the outer jaws 336 to retract. During the retraction process, the outer jaws 336 grip the outside of the rotor. The first rotary motor 334 drives the first pneumatic three-jaw chuck 335 to rotate. The rotor rotates synchronously with the first pneumatic three-jaw chuck 335 until the position to be filled on the rotor is directly opposite the first upright 331. At this time, the first pneumatic three-jaw chuck 335 drives the outer jaws 336 to open again, and the second pneumatic push rod 332 drives the first pneumatic three-jaw chuck 335 to reset.

[0083] In step S3, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate. The rotor support plate 324 and the rotor installed inside it rotate synchronously to the bottom of the first balance mud filling assembly 34. The sliding part of the first electric drive slide rail 3461 pushes the first rotor directional assembly 347 to move backward until the first fixed gripper 3475 in the first rotor directional assembly 347 is directly below the rotor. The second electric drive slide rail 3471 drives the first directional motor frame 3472, the first directional motor 3473 to move upward, the first bidirectional pneumatic push rod 3474 and the first fixed gripper 3475 to move upward through the sliding part. When the first fixed gripper 3475 contacts the rotor, the movable part of the first bidirectional pneumatic push rod 3474 drives the first fixed gripper 3475 to move in the opposite direction to complete the clamping of the rotor. The sliding part of the first electric drive slide rail 3461 drives the first fixed gripper 3475 to move in the opposite direction to complete the clamping of the rotor. The first rotor directional assembly 347 and the rotor move until the position of the rotor to be filled is aligned with the outlet of the first sliding filling chamber 345. The first filling cylinder 343 pushes the first filling rod 344 downward. During the downward movement, the first filling rod 344 pushes the balancing mud in the first sliding filling chamber 345 so that the balancing mud is sprayed out from the outlet of the injection tube and filled into the area of ​​the rotor to be filled. During the filling process, the first directional motor 3473 drives the first bidirectional pneumatic push rod 3474, the first fixed clamp 3475 and the rotor in the first fixed clamp 3475 to rotate. The first mud filling anti-overflow assembly 348 pushes the balancing mud flat during the rotation of the rotor to prevent the balancing mud from overflowing from the rotor. After the filling is completed, the first filling adjustment assembly 346 and the first rotor directional assembly 347 are reset one after another, and the rotor is placed back into the rotor support plate 324.

[0084] In step S4, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate. The rotor support plate 324 and the rotor installed inside it rotate synchronously to below the first balancing mud leveling assembly 35. The third pneumatic push rod 352 pushes the first connecting bracket 353 to move down. During the downward movement, the first connecting bracket 353 drives the second rotary motor 354 and its first pressing leveling end 355 to move down synchronously until the first pressing leveling end 355 presses against the rotor surface. The second rotary motor 354 drives the first... The first pressing and leveling end 355 rotates to ensure uniform pressing of the balancing mud. After pressing is completed, the third pneumatic push rod 352 drives the first connecting bracket 353 and the first pressing and leveling end 355 to reset. The movable part of the first pneumatic push rod 327 pushes the receiving box 328 to move. During the movement, the receiving box 328 contacts the bottom of the first pressing and leveling end 355. During the contact process, the receiving box 328 removes the balancing mud from the bottom of the first pressing and leveling end 355.

[0085] In step S5, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate. The rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the rotor reversing assembly 36. The fourth pneumatic push rod 362 drives the flipping motor 364 and the flipping gripper chuck 365 to move down to the rotor height. After the flipping gripper chuck 365 grabs the rotor, the fourth pneumatic push rod 362 drives the flipping motor 364, the flipping gripper chuck 365 and the rotor to move up until the rotor is separated from the rotor support plate 324. The flipping motor 364 works to drive the flipping gripper chuck 365 and the rotor to rotate 180°. After flipping, the fourth pneumatic push rod 362 drives the flipping motor 364 and the flipping gripper chuck 365 to send the rotor back to the rotor support plate 324.

[0086] In step S6, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate. The rotor support plate 324 and the rotor installed inside it rotate synchronously to the bottom of the second rotor angle adjustment component 37. The fifth pneumatic push rod 373 drives the second connecting bracket 374, the third rotary motor 375, the second pneumatic three-jaw chuck 376 and the inner jaw 377 to move down synchronously until the inner jaw 377 moves outside the rotor shaft. The second pneumatic three-jaw chuck 376 drives the inner jaw 377 to retract and grip the rotor shaft. The third rotary motor 375 drives the second pneumatic three-jaw chuck 376 and the inner jaw 377 to rotate until the rotor's filling area is aligned with the fourth column 371.

[0087] In step S7, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the second balance mud filling assembly 38. The working process of the second balance mud filling assembly 38 is the same as the working process of the first balance mud filling assembly 34. The second balance mud filling assembly 38 fills the rotor with balance mud.

[0088] In step S8, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside rotate synchronously to the bottom of the second balancing mud leveling component 39. The working process of the second balancing mud leveling component 39 is the same as the working process of the first balancing mud leveling component 35. The second balancing mud leveling component 39 completes the leveling of the balancing mud.

[0089] In step S9, the turntable motor 323 continues to drive the lower rotating part of the double-layer turntable 322 to rotate, and the rotor support plate 324 and the rotor installed inside it rotate synchronously to the initial position.

[0090] In steps S2 to S8, the four-axis handling robot 2 continuously transfers the rotor from the dual-station rotor dynamic balancing machine 1 to the rotor tray 324, and transfers the processed rotor to the return conveyor belt.

[0091] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. A rotor dynamic balancing measurement and automatic mass addition device, characterized in that, It includes a dual-station rotor dynamic balancing machine (1), a four-axis handling robot (2), and a balancing mud filling device (3), which are arranged in parallel on the production line; The balancing mud filling device (3) includes a base box (31), a rotor rotation conveying assembly (32), a first rotor angle adjustment assembly (33), a first balancing mud filling assembly (34), a first balancing mud leveling assembly (35), a rotor reversal assembly (36), a second rotor angle adjustment assembly (37), a second balancing mud filling assembly (38), and a second balancing mud leveling assembly (39). The base box (31) is set at a fixed position on the production line. The rotor rotation conveying assembly (32) is installed at the center of the base box (31). The first rotor angle adjustment assembly (33), the first balancing mud filling assembly (34), the first balancing mud leveling assembly (35), the rotor reversal assembly (36), the second rotor angle adjustment assembly (37), the second balancing mud filling assembly (38), and the second balancing mud leveling assembly (39) are installed in a counterclockwise order around the rotor rotation conveying assembly (32) on the top of the base box (31). The rotor rotation transmission assembly (32) includes a rotating bracket (321), a double-layer turntable (322), a turntable motor (323), a rotor support plate (324), an infrared sensor (325), a back plate (326), a first pneumatic push rod (327), and a receiving box (328). The rotating bracket (321) is fixed at the center of the base box (31). The double-layer turntable (322) includes a lower rotating part and an upper fixed part. The double-layer turntable (322) is installed at the center of the rotating bracket (321). The turntable motor (323) is installed at the lower part of the double-layer turntable (322). The output end of the turntable motor (323) is connected to the double-layer turntable (322). The lower rotating part of the double-layer turntable (322) is driven by the turntable motor (323). Several sets of the above components... Rotor support plates (324) are fixed at equal intervals on the surface of the lower rotating part of the double-layer turntable (322). The number of infrared sensors (325) matches the number of rotor support plates (324). Several sets of infrared sensors (325) are installed at equal intervals on the surface of the upper fixed part of the double-layer turntable (322). The infrared sensors (325) correspond one-to-one with the rotor support plates (324). The back plate (326) is installed at the center of the upper fixed part of the double-layer turntable (322). Two sets of first pneumatic push rods (327) are fixed on both sides of the end of the back plate (326). The two sets of first pneumatic push rods (327) are located directly above the two sets of rotor support plates (324). The two sets of receiving boxes (328) are fixed below the telescopic ends of the two sets of first pneumatic push rods (327).

2. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 1, characterized in that, The first rotor angle adjustment assembly (33) includes a first upright (331), a second pneumatic push rod (332), a motor bracket (333), a first rotary motor (334), a first pneumatic three-jaw chuck (335), and an outer jaw (336). The first upright (331) is fixedly connected to the surface of the base box (31), and the working surface of the first upright (331) faces the center point of the rotor rotation transmission assembly (32). The second pneumatic push rod (332) is installed on the working surface of the first upright (331). At the upper end of the working surface, the motor bracket (333) is installed on the telescopic end surface of the second pneumatic push rod (332), the first rotary motor (334) is installed on the top of the motor bracket (333), the first pneumatic three-jaw chuck (335) is installed on the lower end of the motor bracket (333), the drive shaft of the first rotary motor (334) is connected to the first pneumatic three-jaw chuck (335), and several sets of external jaws (336) are respectively installed on each movable part of the first pneumatic three-jaw chuck (335).

3. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 1, characterized in that, The first balancing mud filling assembly (34) includes a first filling bracket (341), a first cylinder bracket (342), a first filling cylinder (343), a first filling rod (344), a first sliding filling chamber (345), a first filling adjustment assembly (346), a first rotor adjustment assembly (347), and a first mud filling anti-overflow assembly (348). The first filling bracket (341) is fixedly connected to the surface of the base box (31). The working surface of the first filling bracket (341) faces the center point of the rotor rotation transmission assembly (32). The first cylinder bracket (342) is installed on the top of the first filling bracket (341). The first filling cylinder (343) 43) The first filling rod (344) is installed on the top of the first cylinder bracket (342), the first filling rod (344) is installed on the output end of the first filling cylinder (343), the first sliding filling chamber (345) is installed on the bottom of the first cylinder bracket (342), the first sliding filling chamber (345) is provided with an injection tube that cooperates with the first filling rod (344), the first filling adjustment assembly (346) is installed on the bottom of the inside of the first filling bracket (341), the first rotor adjustment assembly (347) is installed on the movable part of the first filling adjustment assembly (346), and the first mud filling anti-overflow assembly (348) is installed on the top and bottom of the first filling bracket (341); The second balancing mud filling assembly (38) has the same structure as the first balancing mud filling assembly (34). The second balancing mud filling assembly (38) includes a second filling bracket (381), a second cylinder bracket (382), a second filling cylinder (383), a second filling rod (384), a second sliding filling chamber (385), a second filling adjustment assembly (386), a second rotor adjustment assembly (387), and a second mud filling anti-overflow assembly (388). The second filling bracket (381) is fixedly connected to the surface of the base box (31). The working surface of the second filling bracket (381) faces the center point of the rotor rotation transmission assembly (32). The second cylinder bracket (382) is installed on the second filling bracket (381). The second filling cylinder (383) is mounted on the top of the second cylinder bracket (382), the second filling rod (384) is mounted on the output end of the second filling cylinder (383), the second sliding filling chamber (385) is mounted on the bottom of the second cylinder bracket (382), and an injection tube that cooperates with the second filling rod (384) is provided in the second sliding filling chamber (385). The second filling adjustment assembly (386) is mounted on the inner bottom end of the second filling bracket (381), the second rotor adjustment assembly (387) is mounted on the movable part of the second filling adjustment assembly (386), and the second mud filling anti-overflow assembly (388) is mounted on the top and bottom of the second filling bracket (381).

4. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 1, characterized in that, The first balancing mud leveling component (35) includes a second column (351), a third pneumatic push rod (352), a first connecting bracket (353), a second rotary motor (354), and a first pressing leveling end (355). The second column (351) is fixedly connected to the surface of the base box (31). The working surface of the second column (351) faces the center point of the rotor rotation transmission component (32). The third pneumatic push rod (352) is fixed to the upper end of the working surface of the second column (351). The first connecting bracket (353) is installed at the bottom end of the telescopic part of the third pneumatic push rod (352). The second rotary motor (354) is installed inside the first connecting bracket (353). The first pressing leveling end (355) is installed at the bottom end of the main shaft of the second rotary motor (354). The second balancing mud leveling component (39) has the same structure as the first balancing mud leveling component (35). The second balancing mud leveling component (39) includes a fifth column (391), a sixth pneumatic push rod (392), a second connecting bracket (393), a fourth rotary motor (394), and a second pressing leveling end (395). The fifth column (391) is fixedly connected to the surface of the base box (31). The working surface of the fifth column (391) faces the center point of the rotor rotation transmission component (32). The sixth pneumatic push rod (392) is installed on the upper surface of the fifth column (391). The second connecting bracket (393) is installed at the bottom end of the telescopic part of the sixth pneumatic push rod (392). The fourth rotary motor (394) is installed inside the second connecting bracket (393). The second pressing leveling end (395) is installed at the bottom end of the main shaft of the fourth rotary motor (394).

5. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 1, characterized in that, The rotor reversing assembly (36) includes a third column (361), a fourth pneumatic push rod (362), a right-angle connecting piece (363), a reversing motor (364), and a reversing gripper chuck (365). The third column (361) is fixedly connected to the surface of the base box (31). The working surface of the third column (361) faces the center point of the rotor rotation transmission assembly (32). The fourth pneumatic push rod (362) is installed on the upper end of the working surface of the third column (361). The right-angle connecting piece (363) is fixed to the moving part surface of the fourth pneumatic push rod (362). The reversing motor (364) is installed on the bottom end of the right-angle connecting piece (363). The reversing gripper chuck (365) is installed on the end of the rotating shaft of the reversing motor (364).

6. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 1, characterized in that, The second rotor angle adjustment assembly (37) includes a fourth column (371), a connecting column (372), a fifth pneumatic push rod (373), a second connecting bracket (374), a third rotary motor (375), a second pneumatic three-jaw chuck (376), and an inner jaw (377). The fourth column (371) is fixedly connected to the surface of the base box (31), and the working surface of the fourth column (371) faces the center of the rotor rotation transmission assembly (32). The connecting column (372) is fixed to the fourth column (371). The fifth pneumatic push rod (373) is fixed to the end surface of the connecting column (372) at the upper end of the working surface of the fifth pneumatic push rod (373), the second connecting bracket (374) is installed on the moving part surface of the fifth pneumatic push rod (373), the third rotary motor (375) is installed on the upper end of the second connecting bracket (374), the second pneumatic three-jaw chuck (376) is installed on the lower end of the second connecting bracket (374), and several sets of inner jaws (377) are respectively installed on each moving part of the second pneumatic three-jaw chuck (376).

7. The rotor dynamic balancing measurement and automatic mass addition device as described in claim 3, characterized in that, The first filling adjustment assembly (346) includes a first electric drive slide rail (3461), a first back plate (3462), and a first mud receiving box (3463). The first electric drive slide rail (3461) is located at the center of the bottom of the first filling bracket (341), the first back plate (3462) is installed on the sliding part of the first electric drive slide rail (3461), and the first mud receiving box (3463) is installed on the top of the first back plate (3462). The first rotor reversing assembly (347) includes a second electric drive slide rail (3471), a first reversing motor frame (3472), a first reversing motor (3473), a first bidirectional pneumatic push rod (3474), and a first fixed gripper (3475). The second electric drive slide rail (3471) is mounted on the surface of the first backing plate (3462). The first reversing motor frame (3472) is mounted on the sliding part of the second electric drive slide rail (3471). The first reversing motor (3473) is mounted on the bottom of the first reversing motor frame (3472). The first bidirectional pneumatic push rod (3474) is mounted on the end of the main shaft of the first reversing motor frame (3472). Two sets of the first fixed grippers (3475) are respectively fixed on two sets of movable parts of the first bidirectional pneumatic push rod (3474). The second filling adjustment assembly (386) includes a third electric drive slide rail (3861), a second back plate (3862), and a second mud receiving box (3863). The third electric drive slide rail (3861) is located at the center of the bottom of the second filling bracket (381). The second back plate (3862) is installed on the sliding part of the third electric drive slide rail (3861). The second mud receiving box (3863) is installed on the top of the second back plate (3862). The second rotor reversing assembly (387) includes a fourth electric drive slide rail (3871), a second reversing motor frame (3872), a second reversing motor (3873), a second bidirectional pneumatic push rod (3874), and a second fixed gripper (3875). The fourth electric drive slide rail (3871) is mounted on the surface of the second backing plate (3862). The second reversing motor frame (3872) is mounted on the sliding part of the fourth electric drive slide rail (3871). The second reversing motor (3873) is mounted on the bottom of the second reversing motor frame (3872). The second bidirectional pneumatic push rod (3874) is mounted on the end of the main shaft of the second reversing motor frame (3872). Two sets of the second fixed grippers (3875) are respectively fixed on two sets of movable parts of the second bidirectional pneumatic push rod (3874).

8. A method of using the rotor dynamic balancing measurement and automatic mass addition equipment according to any one of claims 1-7, characterized in that, Includes the following steps: Step S1, the four-axis handling robot (2) transfers the rotor to the rotor tray (324). After the infrared sensor (325) detects whether the rotor is in place, the turntable motor (323) drives the lower rotating part of the double-layer turntable (322) to rotate. The rotor tray (324) and the rotor placed inside it rotate synchronously to the bottom of the first rotor angle adjustment component (33). In step S2, after the rotor moves to the position directly below the first pneumatic three-jaw chuck (335), the second pneumatic push rod (332) pushes the first pneumatic three-jaw chuck (335) down to the top of the rotor. The first pneumatic three-jaw chuck (335) drives the outer jaws (336) to retract. During the retraction process, the outer jaws (336) grip the outside of the rotor. The first rotary motor (334) drives the first pneumatic three-jaw chuck (335) to rotate. The rotor rotates synchronously with the first pneumatic three-jaw chuck (335) until the position to be filled on the rotor is directly opposite the first upright (331). At this time, the first pneumatic three-jaw chuck (335) drives the outer jaws (336) to open again, and the second pneumatic push rod (332) drives the first pneumatic three-jaw chuck (335) to reset. In step S3, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate. The rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the first balance mud filling assembly (34). The sliding part of the first electric drive slide rail (3461) pushes the first rotor directional assembly (347) to move backward until the first fixed gripper (3475) in the first rotor directional assembly (347) is directly below the rotor. The second electric drive slide rail (3471) drives the first directional motor frame (3472), the first directional motor (3473) to move upward, and the first bidirectional pneumatic push rod (3474) and the first fixed gripper (3475) to move upward. When the first fixed gripper (3475) contacts the rotor, the movable part of the first bidirectional pneumatic push rod (3474) drives the first fixed gripper (3475) to move in opposite directions to complete the clamping of the rotor. The sliding part of the first electric drive slide rail (3461) moves... The first rotor adjustment assembly (347) and the rotor move until the position of the rotor to be filled is aligned with the outlet of the first sliding filling chamber (345). The first filling cylinder (343) pushes the first filling rod (344) down. During the downward movement, the first filling rod (344) pushes the balance mud in the first sliding filling chamber (345) so that the balance mud is sprayed out from the outlet of the injection tube and added to the area of ​​the rotor to be filled. During the filling process, the first adjustment motor (3473) drives the first bidirectional pneumatic push rod (3474), the first fixed claw (3475) and the rotor in the first fixed claw (3475) to rotate. The first mud filling anti-overflow assembly (348) pushes the balance mud flat during the rotation of the rotor to prevent the balance mud from overflowing from the rotor. After the filling is completed, the first filling adjustment assembly (346) and the first rotor adjustment assembly (347) are reset one after another, and the rotor is placed back into the rotor support plate (324). In step S4, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate. The rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the first balancing mud leveling assembly (35). The third pneumatic push rod (352) pushes the first connecting bracket (353) to move down. During the downward movement, the first connecting bracket (353) drives the second rotary motor (354) and its end of the first pressing leveling end (355) to move down synchronously until the first pressing leveling end (355) presses on the rotor surface. The second rotary motor (354) drives the first... The first pressing and leveling end (355) rotates to ensure uniform pressing of the balancing mud. After pressing is completed, the third pneumatic push rod (352) drives the first connecting bracket (353) and the first pressing and leveling end (355) to reset. The movable part of the first pneumatic push rod (327) pushes the receiving box (328) to move. During the movement, the receiving box (328) contacts the bottom of the first pressing and leveling end (355). During the contact process, the receiving box (328) removes the balancing mud from the bottom of the first pressing and leveling end (355). In step S5, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate. The rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the rotor reversing assembly (36). The fourth pneumatic push rod (362) drives the reversing motor (364) and the reversing gripper chuck (365) to move down to the rotor height. After the reversing gripper chuck (365) grabs the rotor, the fourth pneumatic push rod (362) drives the reversing motor (364), the reversing gripper chuck (365) and the rotor to move up until the rotor is separated from the rotor support plate (324). The reversing motor (364) drives the reversing gripper chuck (365) and the rotor to rotate 180°. After the reversal, the fourth pneumatic push rod (362) drives the reversing motor (364) and the reversing gripper chuck (365) to send the rotor back to the rotor support plate (324). In step S6, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate. The rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the second rotor angle adjustment component (37). The fifth pneumatic push rod (373) drives the second connecting bracket (374), the third rotary motor (375), the second pneumatic three-jaw chuck (376) and the inner jaw (377) to move down synchronously until the inner jaw (377) moves outside the rotor shaft. The second pneumatic three-jaw chuck (376) drives the inner jaw (377) to retract. The inner jaw (377) grabs the rotor shaft. The third rotary motor (375) drives the second pneumatic three-jaw chuck (376) and the inner jaw (377) to rotate until the rotor's filling area is aligned with the fourth column (371). In step S7, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate. The rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the second balance mud filling assembly (38). The working process of the second balance mud filling assembly (38) is the same as the working process of the first balance mud filling assembly (34). The second balance mud filling assembly (38) fills the rotor with balance mud. In step S8, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate, and the rotor support plate (324) and the rotor installed inside rotate synchronously to the bottom of the second balancing mud leveling component (39). The working process of the second balancing mud leveling component (39) is the same as the working process of the first balancing mud leveling component (35). The second balancing mud leveling component (39) completes the leveling of the balancing mud. In step S9, the turntable motor (323) continues to drive the lower rotating part of the double-layer turntable (322) to rotate, and the rotor support plate (324) and the rotor installed inside rotate synchronously to the initial position.

9. The method of using the rotor dynamic balancing measurement and automatic mass addition equipment as described in claim 8, characterized in that, In steps S2 to S8, the four-axis handling robot (2) continuously transfers the rotor from the dual-station rotor dynamic balancing machine (1) to the rotor tray (324) and transfers the processed rotor to the return conveyor belt.

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