Black light line rotor automatic arc magnetic steel machine

Abstract

This invention discloses an automatic arc magnet insertion machine for black light line rotors, comprising: a core storage module for manually storing cores; a magnetic tile storage module located next to the core storage module for storing magnetic tiles; a magnetic tile discharge module located next to the magnetic tile storage module; a magnetic tile transport module located in front of the magnetic tile storage and discharge modules; a core transport and positioning module and a positioning support head located in front of the core storage module for picking up the cores from the core storage module and placing them on the positioning support head; and a core transport module that transports the cores from the positioning support head to a core pre-pressing module. After the cores are pre-pressed, the core transport module then transfers the cores from the core pre-pressing module to the core pre-insertion module. This invention reduces the labor intensity of workers, replaces manual labor, achieves labor saving, effectively solves process bottlenecks, and improves production efficiency.

Description

Technical Field

[0001] This invention relates to the field of motor product assembly technology, and in particular to an automatic machine for inserting arc magnets into rotors with black light wires. Background Technology

[0002] When assembling the rotor assembly of a motor, one step involves inserting the magnets into the iron core. This process is currently mainly done manually. Each motor rotor requires the assembly of 8-10 magnets, which is a bottleneck step. The design should be automated for magnet assembly, as manual assembly is slow, inefficient, and poses safety hazards.

[0003] Therefore, we propose an automatic arc magnet insertion machine for black light line rotors to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic arc magnet insertion machine for black light line rotors, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: Automatic rotor insertion machine for black light wires with arc magnets, including: The iron core storage module is used to store the iron core manually. The magnetic tile storage module, located next to the iron core storage module, is used to store magnetic tiles; The magnetic tile discharging module is located next to the magnetic tile storage module; The magnetic tile transport module is located in front of the magnetic tile storage module and the magnetic tile discharge module; The iron core handling and positioning module and the positioning support head located in front of the iron core storage module are used to pick up the iron core from the iron core storage module and place it on the positioning support head. The iron core transport module transports the iron core from the positioning support to the iron core pre-compression module. After the iron core is pre-compressed, the iron core transport module then transfers the iron core from the iron core pre-compression module to the iron core pre-insertion module. The iron core transverse transport module picks up the iron core from the iron core pre-insertion module and transfers it to the iron core magnetic tile insertion module. Then, the iron core transverse transport module picks up the iron core after the tile insertion is completed and transfers it to the transfer carrier. The magnetic tile discharge module pushes the magnetic tile out of the magnetic tile storage module and then sends it to the iron core magnetic tile insertion module by the iron core transverse transport module. The iron core magnetic tile insertion module inserts the magnetic tile into the iron core. The iron core pre-pressing module and the iron core pre-insertion module form the iron core pre-inspection station, which detects whether the iron core is deformed, determines whether the magnet can be inserted, and discharges defective products as NG. The iron core placement positioning fixture is moved to the iron core pre-pressing station. The pre-pressing station needs to perform axial positioning first, and then the pressure cylinder presses down. At the same time, the laser displacement sensor measures the product stack thickness.

[0006] The semi-finished product unloading and handling module is used to grab the iron core with the tile inserted on the transfer head and place it on the assembly semi-finished product storage line. The iron core with the tile inserted is then transported out through the assembly semi-finished product storage line.

[0007] Furthermore, the iron core storage module includes a storage chassis, several storage rods arranged in a ring on the storage chassis, a DF-separation divider for driving the storage chassis to rotate, and a vertical plate located on one side of the storage chassis. A lifting and supporting servo module is installed on one side of the vertical plate, and the lifting and supporting servo module is connected to a supporting plate. A top plate is installed on the top of the vertical plate, and a distributing cylinder positioning cylinder and a distributing positioning block are installed on the top plate. The supporting plate rises through the lifting and supporting servo module, supporting the iron core on the storage rod from the bottom. After the iron core rises and passes through the top plate, the distributing cylinder positioning cylinder pushes the distributing positioning block to clamp the iron core, which is then picked up by the iron core transport and positioning module.

[0008] Furthermore, the core handling and positioning module includes a three-axis servo module, a vision shooting and angle finding module, and an infinite rotation module installed on the slider part of the three-axis servo module. The drive end of the infinite rotation module is equipped with an internally supported infinite rotation gripper.

[0009] Furthermore, the iron core handling module includes a transverse lead screw module and four sets of gripper lifting cylinder modules mounted on the transverse lead screw module. The gripper lifting cylinder modules are driven by gripper cylinder modules, and the driving end of the gripper cylinder modules is connected to grippers.

[0010] Furthermore, the core preloading module consists of two stations, each including a C-shaped frame, a pressure cylinder, a height-measuring laser displacement sensor, a core positioning platform located below the pressure cylinder, and a stripping module. The pressure cylinder is vertically installed on the top of the C-shaped frame, and its drive end is inserted into the C-shaped frame. The core positioning platform is installed on the inner bottom of the C-shaped frame. The unloading module includes an annular plate surrounding the iron core positioning platform. The annular plate is supported by guide posts and springs. When the iron core is placed on the iron core positioning platform, the annular plate supports the bottom of the iron core.

[0011] Furthermore, the core pre-insertion module includes a servo upper and lower module, a pressure sensing cylinder, a pre-insertion strip, and a material support cylinder module; The servo upper and lower module drives the pressure sensing cylinder to move up and down, and the pressure sensing cylinder drives the pre-insertion strip to be inserted into the iron core. The pre-insertion strip is a conformal product. The material-supporting cylinder module is located directly below the pressure-sensing cylinder. It includes a material-supporting cylinder module and a material-supporting platform, with the iron core sleeved on the material-supporting platform.

[0012] Furthermore, the iron core transverse transport module includes a transverse cylinder module and six sets of transport grippers, with the transverse cylinder module driving the six sets of transport grippers to perform translation.

[0013] Furthermore, the iron core insert magnet module includes: The frame has a molded iron core tile insertion station and a molded iron core tile removal station on both sides. V-shaped magnetic tile guide groove and pusher servo module installed on the side of the upright frame conformal iron core tile insertion station; The rotating plate is installed inside the frame. Bearing holes are opened at both ends of the rotating plate. Bearings are installed in the bearing holes, and a profiled iron core is installed in the inner ring of the bearing. Two magnetic tile upper and lower unloading modules are fixed on both sides of the upright frame. The magnetic tile upper and lower unloading modules include a lowering cylinder module. The driving end of the lowering cylinder module faces downward and is connected to the magnetic tile conforming strip. The push cylinder module is installed on the side of the molded iron core removal station of the upright frame. The drive end of the push cylinder module is connected to a push plate, which is located directly below the molded iron core at the molded iron core removal station. The frame is equipped with two sets of rotary cylinders, which drive the rotating plate and the conformal iron core located at the conformal iron core insertion position to rotate respectively.

[0014] Furthermore, the semi-finished product unloading and handling module includes a dual-axis servo module, a rotary module, and a semi-finished product unloading gripper.

[0015] Furthermore, the assembly semi-finished product storage flow line includes a conveying module, a detection sensor module, and several finished product positioning platforms installed on the conveying module.

[0016] Furthermore, the magnetic tile storage module includes a U-shaped magazine frame, a magnetic tile storage magazine, a magazine pushing cylinder, and a magazine receiving and lifting platform. The magazine receiving and conveying lifting platform is connected to the drive end of the magazine pushing cylinder, and under the movement of the magazine pushing cylinder, the magazine receiving and conveying lifting platform moves in and out of the U-shaped magazine frame; Both inner sides of the U-shaped magazine frame are equipped with pulley sets, which are used to drive the magnetic tile storage magazine to slide on the U-shaped magazine frame.

[0017] Furthermore, the magnetic tile discharge module includes a gantry frame, two sets of pushing cylinder modules installed on the gantry frame, a pushing block, a magnetic tile transition guide groove located on one side of the gantry frame, and a lifting guide groove installed on one side of the magnetic tile transition guide groove. The lifting guide groove is lifted and lowered by a misaligned cylinder. The pushing cylinder module drives the pushing block to push the magnetic tiles in the magnetic tile storage module into the magnetic tile transition guide groove, and then into the lifting guide groove. The magnetic tiles in the lifting guide groove are grabbed by the iron core transport module.

[0018] Furthermore, the iron core handling module includes a set of synchronous belt driven servo modules, up and down picking cylinders, picking pitch and direction changing gripper cylinders, and picking grippers. The synchronous belt-driven servo module drives the up and down picking cylinders to move horizontally, the up and down picking cylinders drive the picking pitch and direction changing gripper cylinders to rise and fall, and the picking pitch and direction changing gripper cylinders drive the picking grippers to change pitch and direction.

[0019] Compared with the prior art, the beneficial effects of the present invention are: This invention reduces the labor intensity of workers, replaces workers in their work, achieves labor saving, and effectively solves process bottlenecks and improves production efficiency. The magnetic tile guide groove is designed according to the product angle, and two magnetic tiles can be pre-inserted at the same time, reducing the product assembly cycle. The pre-insertion tooling's contour design allows for the pre-loading of 8-10 magnets. Once the magnet insertion position is reached, the magnets can be inserted into the rotor core in one go, enabling efficient and rapid magnet insertion. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall layout structure of the present invention; Figure 2 This is a top view of the iron core storage module in this invention. Figure 3 This is a three-dimensional structural diagram of the iron core storage module in this invention; Figure 4 This is a schematic diagram of the main structure of the iron core storage module in this invention; Figure 5 This is a schematic diagram of the core handling and positioning module in this invention; Figure 6 This is a schematic diagram of the iron core handling module structure in this invention; Figure 7 This is a schematic diagram of the core preloading module structure in this invention; Figure 8 This is a schematic diagram of the main structure of the iron core preloading module in this invention; Figure 9 This is a side view of the core preloading module in this invention. Figure 10 This is a schematic diagram of the core pre-insertion module structure in this invention; Figure 11 This is a schematic diagram of the main structure of the iron core transverse transport module in this invention; Figure 12 This is a three-dimensional structural diagram of the iron core transverse transport module in this invention; Figure 13 This is a top view of the iron core magnetic tile module in this invention; Figure 14 This is a schematic diagram of the iron core magnetic tile module structure in this invention; Figure 15 This is a schematic diagram of the iron core insert magnet module structure in this invention; Figure 16 This is a schematic diagram of the semi-finished product unloading and handling module in this invention; Figure 17 This is a schematic diagram of the main structure of the semi-finished product unloading and handling module in this invention; Figure 18 This is a schematic diagram of the assembly semi-finished product storage flow line structure in this invention; Figure 19 This is a schematic diagram of the magnetic tile storage module structure in this invention; Figure 20 This is a schematic diagram of the magnetic tile transport module structure in this invention; Figure 21 This is a schematic diagram of the magnetic tile discharge module in this invention. Detailed Implementation

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Please see Figure 1-5 Automatic insertion machine for black light wire rotor into arc magnet, the device includes: Iron core storage module 1, the iron core is stored in the iron core storage module 1 by manual labor; The magnetic tile storage module 100, located next to the iron core storage module 1, is used to store magnetic tiles; The magnetic tile discharging module 200 is located next to the magnetic tile storage module 100; The magnetic tile transport module 300 is located in front of the magnetic tile storage module 100 and the magnetic tile discharge module 200; The iron core handling and positioning module 2 and the positioning support head 10 located in front of the iron core storage module 1 are used to pick up the iron core in the iron core storage module 1 and place it on the positioning support head 10. The iron core transport module 3 transports the iron core on the positioning support head 10 to the iron core pre-compression module 4. After the iron core is pre-compressed, the iron core transport module 3 transfers the iron core from the iron core pre-compression module 4 to the iron core pre-insertion module 5. In some cases, the stamped products from the front-end process are oversized. To address this, the iron core is pre-pressed by the iron core pre-pressing module 4, while the iron core pre-insertion module 5 pre-inserts the iron core to detect whether it is deformed in advance, which will affect the smooth insertion of the magnetic tiles later.

[0025] The iron core transverse transport module 6 picks up the iron core from the iron core pre-insertion module 5 and transfers it to the iron core magnetic tile insertion module 7. Then, the iron core transverse transport module 6 picks up the iron core after the tile insertion is completed and places it on the transfer head 400. The magnetic tile discharge module 200 pushes out the magnetic tile from the magnetic tile storage module 100 and then sends it to the iron core magnetic tile insertion module 7 by the iron core transverse transport module 6. The iron core magnetic tile insertion module 7 inserts the magnetic tile into the iron core. The semi-finished product unloading and handling module 8 is used to grab the iron core with the tile inserted on the transfer head 400 and put it onto the assembly semi-finished product storage flow line 9. The iron core with the tile inserted is then transported out through the assembly semi-finished product storage flow line 9.

[0026] Based on the above, the iron core is stored and fed from the iron core storage module 1, and the magnetic tile is stored and fed from the magnetic tile storage module 100. The iron core and the magnetic tile are gathered at the iron core insertion magnetic tile module 7 through their respective handling modules. The iron core insertion magnetic tile module 7 inserts the magnetic tile into the iron core to form a semi-finished product. The semi-finished product is transferred to the transfer head 400 by the iron core transverse transport module 6. Then, the semi-finished product unloading transport module 8 grabs the semi-finished product at the transfer head 400 and sends it to the assembly semi-finished product storage flow line 9.

[0027] Specifically, the iron core storage module 1 includes a storage chassis 11, several storage rods 12 arranged in a ring on the storage chassis 11, a 110DF-18 divider 13 for driving the storage chassis 11 to rotate, and a vertical plate located on one side of the storage chassis 11. A lifting and supporting servo module 14 is installed on one side of the vertical plate, and a supporting plate 18 is connected to the lifting and supporting servo module 14. A top plate 15 is installed on the top of the vertical plate, and a distributing cylinder positioning cylinder 16 and a distributing positioning block 17 are installed on the top plate 15. The supporting plate 18 rises through the lifting and supporting servo module 14 to support the iron core on the storage rods 12 from the bottom. After the iron core rises and passes through the top plate 15, the distributing cylinder positioning cylinder 16 pushes the distributing positioning block 17 to clamp the iron core, which is then picked up by the iron core transport and positioning module 2. The employees insert the iron cores into the storage rods 12 to feed the material without stopping the machine. After all the iron cores on each set of storage rods 12 are grabbed, the divider rotates the storage chassis 11 at a certain angle to achieve precise repositioning of the used storage rods 12. The lifting and supporting servo lifts the product, and the top positioning and distributing cylinder is precisely positioned again.

[0028] Specifically, the core handling and positioning module 2 includes a three-axis servo module 21, a vision shooting and angle finding module, and an infinite rotation module 22 installed on the slider part of the three-axis servo module 21. The drive end of the infinite rotation module 22 is equipped with an internally supported infinite rotation gripper. The inner support infinitely rotating gripper moves to the top plate 15 directly above the three-axis servo module 21. The pressure probe module first performs the front and back detection of the iron core. The inner support infinitely rotating gripper grabs the iron core. Reverse products are eliminated. OK products continue to be visually photographed and rotated to find the right angle. Once the right angle is found, it is placed on the positioning support head 10.

[0029] Specifically, the iron core handling module 3 handles products between workstations. It includes a horizontal lead screw module 31 and four sets of gripper lifting cylinder modules 32 installed on the horizontal lead screw module 31. The gripper lifting cylinder module 32 is driven by a gripper cylinder module, and the drive end of the gripper cylinder module is connected to a gripper. The gripper first grabs the iron core at 10 points on the positioning support head, and then transports the iron core to the 4th station of the iron core pre-compression module.

[0030] Specifically, the iron core preloading module 4 consists of two stations. Each station includes a C-shaped frame, a pressure cylinder 41, a height-measuring laser displacement sensor 42, an iron core positioning platform 43 located below the pressure cylinder 41, and a stripping module 44. The pressure cylinder 41 is vertically installed on the top of the C-shaped frame, and its drive end is inserted into the C-shaped frame. The iron core positioning platform 43 is installed on the inner bottom of the C-shaped frame. The unloading module 44 includes an annular plate surrounding the iron core positioning table 43. The annular plate is supported by guide posts and springs. When the iron core is placed on the iron core positioning table 43, the annular plate supports the bottom of the iron core. When the pressure cylinder 41 presses down on the iron core, the annular plate will not press down with it. The springs will contract and allow the pressure cylinder 41 to return to its original position. The springs will then reset and lift the annular plate, thereby lifting the iron core for easy gripping in the next process. The gripper transport module moves the iron core onto the pre-compression module. The pre-compression module's booster cylinder presses down, while the height measurement module detects the height after pre-compression. After pre-compression is completed, the stripper plate works simultaneously to complete the pre-compression process.

[0031] After pre-pressing is completed, pre-insertion is required. Specifically, the iron core pre-insertion module 5 includes a servo upper and lower module 51, a pressure sensing cylinder 52, a pre-insertion strip 53, and a material support cylinder module. When the iron core is transported to the pre-insertion station, the servo up and down module 51 drives the pressure sensing cylinder 52 to move up and down. The pressure sensing cylinder 52 drives the pre-insertion strip 53 to be inserted into the magnetic tile slot on the iron core. The pre-insertion strip 53 is a conformal product, that is, its shape is consistent with the magnetic tile. The material support cylinder module is located directly below the pressure sensing cylinder 52. It includes a material support cylinder module and a material support platform, with the iron core sleeved on the material support platform. After pre-insertion is completed, the work of inserting the magnetic tile into the iron core begins. The iron core transverse transport module 6 transports the iron core to the magnetic tile insertion station. After the tile is inserted, the iron core transverse transport module 6 continues to transport it to the transfer head 400. The iron core transverse transport module 6 includes a transverse cylinder module 61 and six sets of transport grippers 62. The transverse cylinder module 61 drives the six sets of transport grippers 62 to move horizontally. Each set of conveying grippers 62 has two grippers, and the six sets of conveying grippers 62 are arranged and move synchronously to perform relay-style material receiving and unloading.

[0032] For the insertion of magnets, to meet the product cycle time requirements, a dual-station simultaneous magnet insertion method is adopted. Specifically, the iron core magnet insertion module 7 includes: The frame has a molded iron core tile insertion station and a molded iron core tile removal station on both sides. V-shaped magnetic tile guide groove 71 and pusher servo module 72 are installed on the side of the upright frame conformal iron core tile insertion station. The rotating plate 73 is installed in the upright frame. Both ends of the rotating plate 73 are provided with bearing holes. Bearings are installed in the bearing holes, and a profiled iron core 74 is installed in the inner ring of the bearing. Two magnetic tile upper and lower unloading modules 75 are fixed on both sides of the upright frame. The magnetic tile upper and lower unloading module 75 includes a lowering cylinder module. The driving end of the lowering cylinder module faces downward and is connected to the magnetic tile conforming strip. The push cylinder module is installed on the side of the molded iron core tile removal station of the upright frame. The drive end of the push cylinder module is connected to the push plate 76, which is located directly below the molded iron core 74 at the molded iron core tile removal station. Two sets of rotary cylinders are installed inside the frame, which drive the rotating plate 73 and the conforming iron core 74 located at the conforming iron core inserting position to rotate respectively. The magnetic tile handling module places the magnetic tile in the V-shaped guide groove, the pushing servo module pushes and supplies the material, the head contouring fixture guides the magnetic tile, and at the same time the magnetic tile insertion cylinder works to insert the pre-insertion fixture. After the pre-insertion fixture is filled, the rotary cylinder rotates the pre-insertion fixture to the magnetic tile insertion position, and the upper and lower modules lift the iron core to the magnetic tile insertion position to perform the magnetic tile insertion work. The pre-insertion fixture here is designed entirely according to the contour of the iron core product to complete the magnetic tile insertion work. It has high precision requirements and is also the core component of this equipment.

[0033] The semi-finished product unloading and handling module 8 includes a dual-axis servo module 81, a rotary module 82, and a semi-finished product unloading gripper 83, which completes the unloading of semi-finished products to the tooling tray and the storage chain plate. The gripper is designed with a hanging platform, which can hold the magnetic tile core and transport it together without it falling off.

[0034] As described above, the assembly semi-finished product storage flow line 9 includes a conveying module 91, a detection sensor module, and several finished product positioning platforms 92 installed on the conveying module 91. The conveying module 91 is composed of a 750W power servo drive + synchronous pulley and synchronous belt high-precision connection. The iron core that has completed the insertion of the tile is fitted on the finished product positioning platform 92.

[0035] The semi-finished product unloading and handling module 8 delivers the semi-finished products with the inserted tiles to the assembly semi-finished product storage flow line 9.

[0036] As described above, the magnetic tile storage module 100 includes a U-shaped magazine frame 101, a magnetic tile storage magazine 103, a magazine pushing cylinder 104, and a magazine receiving and conveying lifting platform 105. The magazine receiving and sending lifting platform 105 is connected to the drive end of the magazine pushing cylinder 104, and under the movement of the magazine pushing cylinder 104, the magazine receiving and sending lifting platform 105 moves in and out of the U-shaped magazine frame 101. Both inner sides of the U-shaped magazine frame 101 are equipped with pulley groups 102, which are used to drive the magnetic tile storage magazine 103 to slide on the U-shaped magazine frame 101. The magazine is designed with a brake pin and a stop to prevent the magnetic tile from falling off during operation. Finally, the magazine position is designed with a servo screw to drive the precise trajectory of the ballistic feeding. The magnetic tile discharge module 200 includes a gantry frame, two sets of pusher cylinder modules 201 installed on the gantry frame, a pusher block, a magnetic tile transition guide 202 located on one side of the gantry frame, and a lifting guide 203 installed on one side of the magnetic tile transition guide 202. The lifting guide 203 is lifted and lowered by a misalignment cylinder 204. The pusher cylinder module 201 drives the pusher block to push the magnetic tiles in the magnetic tile storage module 100 into the magnetic tile transition guide 202, and then into the lifting guide 203. The magnetic tiles in the lifting guide 203 are grabbed by the iron core transport module 3. The gantry frame and other end designs are equipped with cylinder buffers to prevent the magnetic tiles from tipping over or breaking due to strong impacts during the discharge process, thus completing the magnetic tile removal process from the spring clip to the subdivided misalignment. The iron core handling module 3 includes a set of synchronous belt driven servo modules 301, up and down picking cylinders 302, picking pitch and direction changing gripper cylinders 303, and picking grippers. The synchronous belt driven servo modules 301 drive the up and down picking cylinders 302 to move horizontally, the up and down picking cylinders 302 drive the picking pitch and direction changing gripper cylinders 303 to lift and lower, and the picking pitch and direction changing gripper cylinders 303 drive the picking grippers to change pitch and direction. When the gripper reaches the misaligned end of the magnetic tile to pick up the material, the servo module moves and simultaneously completes the work of changing the distance and direction of the gripper to pick up the product. When it reaches the V-shaped groove of the magnetic tile, it performs the material release work and completes the magnetic tile handling and feeding work.

[0037] The material-grabbing gripper adjusts its spacing under the action of the material-grabbing pitch-changing gripper cylinder 303, and then grabs the magnetic tile in the lifting guide groove 203. After grabbing, it moves to the iron core magnetic tile insertion module 7 through the servo module 301 driven by the synchronous belt and the up and down material-grabbing cylinder 302. At this time, the material-grabbing gripper becomes V-shaped under the action of the material-grabbing pitch-changing gripper cylinder 303 to fit the V-shaped magnetic tile guide groove 71, and then the magnetic tile is placed into the V-shaped magnetic tile guide groove 71.

[0038] Specifically, as described above: Driven by a motor, the pulley block 102 drives the magnetic tile storage clip 103 to slide on the U-shaped clip frame 101 towards the clip receiving and conveying lifting platform 105. Under the action of the clip pushing cylinder 104, the clip receiving and conveying lifting platform 105 moves towards the magnetic tile storage clip 103. Simultaneously, the platform of the clip receiving and conveying lifting platform 105 descends under the action of the cylinder, then moves directly below the magnetic tile storage clip 103. The platform then rises again to catch the magnetic tile storage clip 103. Finally, the clip pushing cylinder 104 drives the clip receiving and conveying lifting platform 105 and the magnetic tile... The storage clip 103 moves to the bottom of the gantry frame, and then the pushing cylinder module 201 drives the pushing block to push the magnetic tile in the storage clip 103 into the magnetic tile transition guide groove 202. At this time, the lifting guide groove 203 rises through the misalignment cylinder 204, so that the inlet of the lifting guide groove 203 connects with the outlet of the magnetic tile transition guide groove 202, and a part of the magnetic tile enters into the lifting guide groove 203. Then the lifting guide groove 203 continues to rise, and the baffle on the side of the lifting guide groove 203 blocks the outlet of the magnetic tile transition guide groove 202. After rising, the lifting guide groove 203 is picked up by the picking claw.

[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A machine for automatically inserting arc magnets into a rotor with a black light wire, characterized in that, include: Iron core storage module (1), the iron core is stored in the iron core storage module (1) by manual labor; The magnetic tile storage module (100) located next to the iron core storage module (1) is used to store magnetic tiles; The magnetic tile discharge module (200) is located next to the magnetic tile storage module (100). A magnetic tile transport module (300) is located in front of the magnetic tile storage module (100) and the magnetic tile discharge module (200). The iron core handling and positioning module (2) and the positioning support head (10) located in front of the iron core storage module (1) are used to pick up the iron core in the iron core storage module (1) and place it on the positioning support head (10); The iron core transport module (3) transports the iron core on the positioning support head (10) to the iron core pre-pressing module (4). After the iron core is pre-pressed, the iron core transport module (3) then transfers the iron core from the iron core pre-pressing module (4) to the iron core pre-insertion module (5). The iron core transverse transport module (6) picks up the iron core in the iron core pre-insertion module (5) and puts it into the iron core magnetic tile insertion module (7). Then, the iron core transverse transport module (6) picks up the iron core after the tile insertion is completed and puts it into the transfer head (400). The magnetic tile discharge module (200) pushes out the magnetic tile in the magnetic tile storage module (100) and then sends it to the iron core magnetic tile insertion module (7) by the iron core transverse transport module (6). The iron core magnetic tile insertion module (7) inserts the magnetic tile into the iron core. The semi-finished product unloading and handling module (8) is used to grab the iron core with the tile inserted on the transfer head (400) and put it onto the assembly semi-finished product storage flow line (9). The iron core with the tile inserted is then transported out through the assembly semi-finished product storage flow line (9).

2. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The iron core storage module (1) includes a storage chassis (11), several storage rods (12) arranged in a ring on the storage chassis (11), a 110DF-18 divider (13) for driving the storage chassis (11) to rotate, and a vertical plate located on one side of the storage chassis (11). A lifting and supporting servo module (14) is installed on one side of the vertical plate. The lifting and supporting servo module (14) is connected to a supporting plate (18). A top plate (15) is installed on the top of the vertical plate. A distributing cylinder positioning cylinder (16) and a distributing positioning block (17) are installed on the top plate (15). The supporting plate (18) rises through the lifting and supporting servo module (14) and supports the iron core on the storage rod (12) from the bottom. After the iron core rises and passes through the top plate (15), the distributing cylinder positioning cylinder (16) pushes the distributing positioning block (17) to clamp the iron core, which is then picked up by the iron core transport and positioning module (2).

3. The automatic arc magnet insertion machine for the black light wire rotor according to claim 1, characterized in that: The core handling and positioning module (2) includes a three-axis servo module (21), a vision shooting and angle finding module, and an infinite rotation module (22) installed on the slider part of the three-axis servo module (21). The drive end of the infinite rotation module (22) is equipped with an internal support infinite rotation gripper.

4. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The iron core handling module (3) includes a horizontal lead screw module (31) and four sets of gripper upper and lower cylinder modules (32) installed on the horizontal lead screw module (31). The gripper upper and lower cylinder modules (32) are driven by gripper cylinder modules, and the drive end of the gripper cylinder modules is connected to grippers.

5. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The core preloading module (4) consists of two stations. Each station includes a C-shaped frame, a booster cylinder (41), a height-measuring laser displacement sensor (42), a core positioning platform (43) located below the booster cylinder (41), and a stripping module (44). The booster cylinder (41) is vertically installed on the top of the C-shaped frame, and its drive end is inserted into the C-shaped frame. The core positioning platform (43) is installed on the inner bottom of the C-shaped frame. The unloading module (44) includes an annular plate surrounding the core positioning platform (43). The annular plate is supported by guide posts and springs. When the core is placed on the core positioning platform (43), the annular plate supports the bottom of the core.

6. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The core pre-insertion module (5) includes a servo upper and lower module (51), a pressure sensing cylinder (52), a pre-insertion strip (53), and a material support cylinder module; The servo upper and lower module (51) drives the pressure sensing cylinder (52) to move up and down, and the pressure sensing cylinder (52) drives the pre-insertion strip (53) to be inserted into the iron core. The pre-insertion strip (53) is a contoured product. The material support cylinder module is located directly below the pressure sensing cylinder (52), and includes a material support cylinder module and a material support platform, with the iron core sleeved on the material support platform.

7. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The iron core transverse transport module (6) includes a transverse cylinder module (61) and six sets of transport grippers (62). The transverse cylinder module (61) drives the six sets of transport grippers (62) to move horizontally.

8. The automatic arc magnet insertion machine for the black light wire rotor according to claim 1, characterized in that: The iron core insert magnet module (7) includes: The frame has a molded iron core tile insertion station and a molded iron core tile removal station on both sides. V-shaped magnetic tile guide groove (71) and pusher servo module (72) installed on the side of the upright frame conformal iron core tile insertion station. The rotating plate (73) installed in the frame has bearing holes at both ends. Bearings are installed in the bearing holes, and a profiled iron core (74) is installed in the inner ring of the bearing. Two magnetic tile upper and lower unloading modules (75) are fixed on both sides of the upright frame. The magnetic tile upper and lower unloading module (75) includes a lowering cylinder module. The driving end of the lowering cylinder module faces downward and is connected to the magnetic tile conforming strip. The push cylinder module is installed on the side of the molded iron core tile removal station of the upright frame. The drive end of the push cylinder module is connected to a push plate (76), which is located directly below the molded iron core (74) at the molded iron core tile removal station. The frame is equipped with two sets of rotary cylinders, which drive the rotating plate (73) and the molded iron core (74) located at the molded iron core insertion position to rotate respectively.

9. The automatic arc magnet insertion machine for the black light wire rotor according to claim 1, characterized in that: The semi-finished product unloading and handling module (8) includes a dual-axis servo module (81), a rotary module (82), and a semi-finished product unloading gripper (83).

10. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The assembly semi-finished product storage flow line (9) includes a conveying module (91), a detection sensor module, and several finished product positioning platforms (92) installed on the conveying module (91).

11. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The magnetic tile storage module (100) includes a U-shaped magazine frame (101), a magnetic tile storage magazine (103), a magazine pushing cylinder (104), and a magazine receiving and conveying lifting platform (105). The magazine receiving and sending lifting platform (105) is connected to the drive end of the magazine pushing cylinder (104), and under the movement of the magazine pushing cylinder (104), the magazine receiving and sending lifting platform (105) moves in and out of the U-shaped magazine frame (101); Both inner sides of the U-shaped magazine frame (101) are equipped with pulley groups (102), which are used to drive the magnetic tile storage magazine (103) to slide on the U-shaped magazine frame (101).

12. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The magnetic tile discharge module (200) includes a gantry frame, two sets of push cylinder modules (201) installed on the gantry frame, a push block, a magnetic tile transition guide groove (202) located on one side of the gantry frame, and a lifting guide groove (203) installed on one side of the magnetic tile transition guide groove (202). The lifting guide groove (203) is lifted and lowered by a misaligned cylinder (204). The push cylinder module (201) drives the push block to push the magnetic tile in the magnetic tile storage module (100) into the magnetic tile transition guide groove (202), and then into the lifting guide groove (203). The magnetic tile in the lifting guide groove (203) is grabbed by the iron core transport module (3).

13. The automatic arc magnet insertion machine for the black light line rotor according to claim 1, characterized in that: The iron core handling module (3) includes a set of synchronous belt driven servo modules (301), up and down picking cylinders (302), picking pitch and direction changing gripper cylinders (303), and picking grippers; The synchronous belt driven servo module (301) drives the up and down picking cylinder (302) to move horizontally, the up and down picking cylinder (302) drives the picking pitch and direction changing gripper cylinder (303) to rise and fall, and the picking pitch and direction changing gripper cylinder (303) drives the picking gripper to change pitch and direction.

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