Motor stator and rotor assembling device

Abstract

The utility model belongs to the technical field of motor stator and rotor assembling, and particularly relates to a motor stator and rotor assembling device. The motor production efficiency is greatly improved, and the large-batch production requirement is met. Comprising a machine table, a stator conveying line, a rotor conveying line and a carrying manipulator. The carrying manipulator comprises a U-shaped base, a rotating cylinder, a supporting plate, a rotating shaft and a clamping unit; wherein the U-shaped base is fixedly installed on the machine table, the rotating cylinder is installed at the top of the U-shaped base through the supporting plate, and the bottom of the rotating shaft is connected with the output end of the rotating cylinder; clamping units are arranged on the two sides of the top of the rotating shaft respectively. Each clamping unit comprises a mounting plate, a guide air cylinder, a connecting block, a side-hung pneumatic claw and a vertical plate, the mounting plate is fixedly connected to the top of the rotating shaft, the guide air cylinder is vertically mounted on the mounting plate, a rod head of the piston rod is connected with the vertical plate through the connecting block, the side-hung pneumatic claw is mounted on the vertical plate, and two oppositely-opened sliding blocks of the side-hung pneumatic claw are connected with a first finger and a second finger correspondingly; and a paw structure is formed.

Description

Technical Field

[0001] The utility model belongs to the technical field of motor stator and rotor assembly, in particular to a motor stator and rotor assembly device. Background Art

[0002] In the field of DC motor manufacturing, with the continuous growth of market demand, enterprises have increasingly stringent requirements on production efficiency and product quality. At present, although most DC motor manufacturers have achieved assembly line operation, there are still significant technical bottlenecks in the assembly of the core components of the motor - stators and rotors.

[0003] Most existing assembly equipment uses a single-grip handling robot to grab and assemble the stator and rotor. This single-grip robot can only handle one component at a time, resulting in low overall assembly efficiency and difficulty in meeting the needs of large-scale production. In addition, the conveyor line of existing assembly equipment only uses stator tray positioning, or relies on a visual assisted alignment system, which will lead to a large fluctuation range of assembly coaxiality and easily cause uneven air gap in the motor.

[0004] In response to these industry pain points, although some improvement solutions have emerged in the market, such as the use of dual manipulators in series, this solution has the problem of coordinated control and fails to fundamentally solve the contradiction between efficiency and reliability. Therefore, developing a stator-rotor assembly device with both high efficiency and good precision has become a key technical problem that DC motor manufacturers need to solve urgently. Summary of the invention

[0005] The utility model aims at the defects in the prior art and provides a motor stator and rotor assembly device.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a motor stator and rotor assembly device, including a machine platform, a stator conveyor line, a rotor conveyor line and a handling robot; the stator conveyor line and the rotor conveyor line are arranged in parallel on the machine platform.

[0007] The handling robot is arranged between the stator conveyor line and the rotor conveyor line, and the handling robot includes a U-shaped base, a rotating cylinder, a support plate, a rotating shaft, and a clamping unit; wherein, the U-shaped base is fixedly installed on the machine platform, the rotating cylinder is installed on the top of the U-shaped base through the support plate, and the bottom of the rotating shaft is connected to the output end of the rotating cylinder; a clamping unit is arranged on each side of the top of the rotating shaft, and the two clamping units have the same structure and are mirror-imaged relative to the center line of the rotating shaft.

[0008] Each clamping unit includes a mounting plate, a guiding cylinder, a connecting block, a parallel-opening gripper, and a vertical plate. Among them, the mounting plate is fixedly connected to the top of the rotating shaft. The guiding cylinder is vertically installed on the mounting plate with its piston rod facing downward. The rod head of the piston rod is connected to the vertical plate through the connecting block. The parallel-opening gripper is installed on the vertical plate. Fingers One and Fingers Two are respectively connected to the two opposed sliding blocks of the parallel-opening gripper to form a claw structure.

[0009] Furthermore, the rotary cylinder is used to drive the rotating shaft to rotate 180° in both forward and reverse directions, driving the two clamping units to alternately grasp.

[0010] Furthermore, the guiding cylinder is used to drive the parallel-opening gripper to perform vertical lifting motion.

[0011] Furthermore, the mounting plates of the two clamping units are connected to the rotating shaft through a top plate. The bottoms of the two mounting plates are fixed to the upper surface of the top plate, and the lower surface of the top plate is connected to the top of the rotating shaft. The guiding cylinder of each clamping unit is installed on the side of the corresponding mounting plate away from the rotating shaft.

[0012] Furthermore, the connecting block adopts an H-shaped block structure. An installation block is connected to the end of the piston rod of the guiding cylinder, and this installation block is connected to the top of the H-shaped block structure. The bottom of the H-shaped block structure is connected to the top of the vertical plate. The parallel-opening gripper is installed on the side of the vertical plate away from the rotating shaft.

[0013] Furthermore, the support plate is fixedly connected to the top of the U-shaped base. The cylinder body of the rotary cylinder is installed at the bottom of the support plate. A through hole is provided on the support plate. The rotary output end flange of the rotary cylinder passes upward through this through hole and is fixedly connected to the docking flange at the bottom of the rotating shaft.

[0014] Furthermore, the parallel-opening gripper is fixedly installed on the side wall of the vertical plate. Fingers One and Fingers Two have the same structure and are arranged in mirror symmetry. Semi-circular grooves are provided at the tops of Fingers One and Fingers Two. Fingers One and Fingers Two are respectively installed on the two opposed sliding blocks of the parallel-opening gripper. When the parallel-opening gripper closes, the two semi-circular grooves combine to form a circular clamping structure that fits the outer shape of the stator.

[0015] Furthermore, the stator conveying line includes a stator wire body extending along the length direction of the machine table, a plurality of stator trays arranged at equal intervals along the conveying direction of the stator wire body, and positioning pins vertically fixed at the center positions of each stator tray. The outer diameter of the positioning pin forms a clearance fit with the inner hole of the stator. The stator is sleeved on the positioning pin through its inner hole to achieve radial positioning during the conveying process.

[0016] Further, the rotor conveying line includes a rotor line body extending along the length direction of the machine table, a plurality of rotor trays arranged at equal intervals along the conveying direction of the rotor line body, and a positioning seat provided at the center of each rotor tray. An annular positioning groove adapted to the shape of the lower end of the rotor is provided at the top of the positioning seat, and the rotor is positioned by embedding its lower end in the annular positioning groove.

[0017] The beneficial effects of the present utility model compared with the prior art.

[0018] With the double clamping unit structure arranged symmetrically and the reciprocating motion of the rotary cylinder, the present utility model realizes the parallel operation of stator grasping and assembly. One set of stator-rotor assembly can be completed in each rotation cycle (180° forward and reverse rotation). Compared with the traditional single manipulator scheme, the production efficiency is greatly improved, meeting the requirements of mass production.

[0019] The present utility model uses a pneumatic method to control the handling manipulator to realize grasping, lifting and rotating motions, ensuring the reliability and maintainability of the handling manipulator.

[0020] The positioning of the present utility model has double guarantees. On the stator side, the clearance fit between the positioning pin and the inner hole of the stator is adopted, and on the rotor side, the embedded fit between the annular positioning groove and the end of the rotor is adopted; ensuring that the coaxiality error during assembly is controlled within 0.1 mm, effectively avoiding the problem of uneven motor air gap. Description of the Drawings

[0021] The following further describes the present utility model in conjunction with the drawings and specific embodiments. The protection scope of the present utility model is not limited only to the description of the following content.

[0022] Figure 1 is the three-dimensional view of the motor stator and rotor assembly device in the embodiment Figure 1 .

[0023] Figure 2 is the three-dimensional view of the motor stator and rotor assembly device in the embodiment Figure 2 .

[0024] Figure 3 is the top view of the motor stator and rotor assembly device in the embodiment.

[0025] Figure 4 is the front view of the handling manipulator of the motor stator and rotor assembly device in the embodiment.

[0026] Figure 5 is the three-dimensional view of the handling manipulator of the motor stator and rotor assembly device in the embodiment.

[0027] In the figure, 1 is a machine platform; 2 is a stator conveyor line; 3 is a rotor conveyor line; 4 is a handling manipulator; 5 is a motor assembly; 201 is a stator line body; 202 is a stator tray; 203 is a positioning pin; 204 is a stator; 301 is a rotor line body; 302 is a rotor tray; 303 is a positioning seat; 304 is a rotor; 401 is a U-shaped base; 402 is a rotary cylinder; 403 is a support plate; 404 is a rotating shaft; 405 is a mounting plate; 406 is a guiding cylinder; 40601 is a piston rod; 40602 is a mounting block; 407 is a connecting block; 408 is a flat-opening gripper; 409 is a gripper structure; 410 is a vertical plate; 411 is a top plate; 40901 is finger one; 40902 is finger two. Detailed implementation manners

[0028] To make the objectives, technical solutions and beneficial effects of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model.

[0029] As Figures 1-5 As shown in the figure, a motor stator and rotor assembly device includes a machine platform 1, a stator conveyor line 2, a rotor conveyor line 3 and a handling manipulator 4; the stator conveyor line 2 and the rotor conveyor line 3 are arranged in parallel on the machine platform 1. The handling manipulator 4 is arranged between the stator conveyor line 2 and the rotor conveyor line 3. The handling manipulator 4 includes a U-shaped base 401, a rotary cylinder 402, a support plate 403, a rotating shaft 404 and a clamping unit. Among them, the U-shaped base 401 is fixedly installed on the machine platform 1, and the rotary cylinder 402 is installed on the top of the U-shaped base 401 through the support plate 403. The bottom of the rotating shaft 404 is connected to the output end of the rotary cylinder 402; two clamping units are provided on both sides of the top of the rotating shaft 404, and the two clamping units have the same structure and are mirror-symmetrically arranged with respect to the center line of the rotating shaft. Among them, the rotary cylinder 402 is used to drive the rotating shaft 404 to rotate 180° in both forward and reverse directions, driving the two clamping units to alternately grab. Each clamping unit includes a mounting plate 405, a guiding cylinder 406, a connecting block 407, a flat-opening gripper 408 and a vertical plate 410. Among them, the mounting plate 405 is fixedly connected to the top of the rotating shaft 404. Specifically, the mounting plates 405 of the two clamping units are connected to the rotating shaft 404 through a top plate 411. The bottoms of the two mounting plates 405 are fixed on the upper surface of the top plate 411, and the lower surface of the top plate 411 is connected to the top of the rotating shaft 404.

[0030] The guiding cylinder 406 is vertically installed on the mounting plate 405, and the piston rod 40601 of the guiding cylinder 406 is arranged downward. The guiding cylinder 406 is used to drive the swing gripper 408 to perform vertical lifting motion. Among them, the guiding cylinder 406 of each clamping unit is installed on the side of the corresponding mounting plate 405 away from the rotating shaft 404. The rod head of the piston rod 40601 is connected to the vertical plate 410 through the connecting block 407. The swing gripper 408 is installed on the vertical plate 410. The finger one 40901 and the finger two 40902 are respectively connected to the two split sliders of the swing gripper 408, forming the gripper structure 409. In the utility model, the parallel stator conveying line 2 and the rotor conveying line 3 cooperate with the centering handling manipulator 4 to jointly form a compact pipeline layout, and the U-shaped base 401 is used to provide a stable support platform, and the double-station mirror clamping is used to realize the parallel operation of grasping and assembling. It not only improves the space utilization rate, but also doubles the production capacity due to the alternating operation of the double clamping units. The 180° precise positioning of the rotating cylinder 402 ensures the consistency of the assembly beat.

[0031] Preferably, the connecting block 407 adopts an H-shaped block structure. An installation block 40602 is connected to the end of the piston rod 40601 of the guiding cylinder 406. The installation block 40602 is connected to the top of the H-shaped block structure, and the bottom of the H-shaped block structure is connected to the top of the vertical plate 410. The swing gripper 408 is installed on the side of the vertical plate 410 away from the rotating shaft 404. Specifically, the longitudinal section of the H-shaped block structure is in the shape of an H, and a groove is opened on each of its upper and lower surfaces. Among them, the installation block 40602 is located in the top groove, and the vertical plate 410 is located in the bottom groove, and both are fixedly connected by screws. It can save the installation space, and the shapes of the installation block 40602 and the top of the vertical plate 410 are adapted to the corresponding grooves, making the installation and connection more stable.

[0032] Preferably, the support plate 403 is fixedly connected to the top of the U-shaped base 401, and the cylinder block of the rotating cylinder 402 is installed at the bottom of the support plate 403; a through hole is opened on the support plate 403, and the rotary output end flange of the rotating cylinder 402 passes upward through the through hole and is fixedly connected to the docking flange at the bottom of the rotating shaft 404.

[0033] Preferably, the swing gripper 408 is fixedly installed on the side wall of the vertical plate 410; the finger one 40901 and the finger two 40902 have the same structure and are arranged in mirror symmetry. Semi-circular grooves are provided at the tops of the finger one 40901 and the finger two 40902; the finger one 40901 and the finger two 40902 are respectively installed on two opposed sliders of the swing gripper 408. When the swing gripper 408 is closed, the two semi-circular grooves are combined to form a complete circular clamping structure adapted to the outer shape of the stator 204. Among them, the swing gripper 408 and its components such as the opposed sliders belong to the category of existing technologies, and their design principles and operation methods are well known in the industry, so they will not be elaborated here. Among them, the design of this clamping structure fully considers the centering and stability during the grasping process, and realizes the automatic centering function through the symmetrically arranged double-finger structure, effectively improving the grasping accuracy of the manipulator during high-speed operation.

[0034] Preferably, the stator conveyor line 2 includes a stator line body 201 extending along the length direction of the machine table 1, a plurality of stator trays 202 arranged at equal intervals along the conveying direction of the stator line body 201, and a positioning pin 203 vertically fixed at the center position of each stator tray 202. The outer diameter of the positioning pin 203 forms a clearance fit with the inner hole of the stator 204, and the stator 204 is sleeved on the positioning pin 203 through its inner hole to achieve radial positioning during the conveying process. This structural design effectively ensures the stability and centering accuracy of the stator 204 during the conveying process. By using the positioning pin 203 with a clearance fit, it can not only ensure the quick loading and unloading of the stator 204, but also avoid the assembly stress and wear problems caused by interference fit.

[0035] Preferably, the rotor conveyor line 3 includes a rotor line body 301 extending along the length direction of the machine table 1, a plurality of rotor trays 302 arranged at equal intervals along the conveying direction of the rotor line body 301, and a positioning seat 303 provided at the center of each rotor tray 302. An annular positioning groove adapted to the shape of the lower end of the rotor 304 is provided at the top of the positioning seat 303, and the rotor 304 is positioned by embedding its lower end in the annular positioning groove. The design of this annular positioning groove fully considers the geometric characteristics of the rotor 304, and can effectively prevent the rotor 304 from shifting or tipping during the conveying process, improving the reliability of the overall system.

[0036] The use process of the present invention is described in combination with the accompanying drawings and technical solutions. Among them, for the two mirror-symmetric clamping units, for the convenience of description, the following are defined as the first clamping unit and the second clamping unit.

[0037] S1. Load the stators 204 one by one onto the stator trays 202 of the stator conveyor line 2, and achieve radial positioning through the positioning pins 203. Place the rotors 304 one by one in the annular positioning grooves of the positioning seats 303 of the rotor trays 302 on the rotor conveyor line 3. Start the two conveyor lines to synchronously convey the stators 204 and the rotors 304 to the handling station.

[0038] S2. First assembly cycle:

[0039] S2.1. When the stator 204 reaches the grasping position, the stator conveyor line 2 stops. At this time, the first clamping unit operates: a) The flat-opening air claw 408 closes to clamp the stator 204 with the claw structure 409 of the first clamping unit. b) The guiding cylinder 406 retracts to lift the stator 204 off the stator tray 202.

[0040] S2.2. The rotary cylinder 402 rotates clockwise by 180°: driving the first clamping unit to turn to the rotor station, and the second clamping unit synchronously turns to the stator grasping position.

[0041] S2.3. Assembly execution of the first clamping unit:

[0042] a) The guiding cylinder 406 extends to fit the stator 204 onto the rotor 304.

[0043] b) The flat-opening air claw 408 releases to complete the assembly.

[0044] c) The guiding cylinder 406 retracts to prepare for returning.

[0045] Assembly execution of the second clamping unit: a) The flat-opening air claw 408 closes to clamp the new stator. b) The guiding cylinder 406 retracts to lift the stator 204.

[0046] S3. Second assembly cycle:

[0047] S3.1. The rotary cylinder 402 rotates counterclockwise by 180°: the first clamping unit returns to the stator grasping position, and the second clamping unit turns to the rotor station.

[0048] S3.2. Synchronous execution: The first clamping unit repeats the action in S2.1 to grasp the next stator. The second clamping unit repeats the action in S2.3 to assemble the new workpiece.

[0049] S4. Circular operation: Through the 180° reciprocating rotation of the rotary cylinder 402, the two clamping units alternately complete the grasping - assembly actions. Achieve one motor assembly per rotation cycle to form a motor assembly 5.

[0050] It should be noted that after the first clamping unit and the second clamping unit each complete the grasping of the stator 204 and after the stator 204 is sleeved onto the rotor 304 to complete the assembly, the corresponding stator conveyor line 2 and rotor conveyor line 3 will each move forward by one station; the stator conveyor line 2 conveys the next stator 204 to be grasped to the grasping station, and the rotor conveyor line 3 conveys the next rotor 304 to be assembled to the assembly station to wait for assembly.

[0051] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "preferred embodiments", "specific embodiments", or "preferred embodiments" etc. means that the specific features, structures, materials or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; thus, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope defined by the claims of the present invention.

Claims

1. An assembly device for a motor stator and rotor, comprising a machine platform (1), a stator conveyor line (2), a rotor conveyor line (3) and a handling manipulator (4); characterized in that, The stator conveyor line (2) and the rotor conveyor line (3) are arranged in parallel on the machine table (1). The handling robot (4) is arranged between the stator conveyor line (2) and the rotor conveyor line (3). The handling robot (4) includes a U-shaped base (401), a rotary cylinder (402), a support plate (403), a rotating shaft (404), and a clamping unit. Among them, the U-shaped base (401) is fixedly installed on the machine table (1), the rotary cylinder (402) is installed on the top of the U-shaped base (401) through the support plate (403), and the bottom of the rotating shaft (404) is connected to the output end of the rotary cylinder (402); two clamping units are respectively arranged on both sides of the top of the rotating shaft (404), and the two clamping units have the same structure and are mirror-symmetrically arranged with respect to the center line of the rotating shaft. Each clamping unit includes a mounting plate (405), a guiding cylinder (406), a connecting block (407), a parallel-opening gripper (408), and a vertical plate (410). Among them, the mounting plate (405) is fixedly connected to the top of the rotating shaft (404), the guiding cylinder (406) is vertically installed on the mounting plate (405) and the piston rod (40601) of the guiding cylinder (406) is arranged downward, the rod head of the piston rod (40601) is connected to the vertical plate (410) through the connecting block (407), the parallel-opening gripper (408) is installed on the vertical plate (410), and a finger one (40901) and a finger two (40902) are respectively connected to the two opposing sliding blocks of the parallel-opening gripper (408) to form a claw structure (409).

2. The motor stator and rotor assembly device according to claim 1, wherein, The rotary cylinder (402) is used to drive the rotating shaft (404) to rotate 180° in both forward and reverse directions, driving the two clamping units to alternately grab.

3. The motor stator and rotor assembly device according to claim 1, characterized in that, The guiding cylinder (406) is used to drive the parallel-opening gripper (408) to perform vertical lifting motion.

4. The motor stator and rotor assembly device according to claim 1, characterized in that The mounting plates (405) of the two clamping units are connected to the rotating shaft (404) through a top plate (411). The bottoms of the two mounting plates (405) are fixed on the upper surface of the top plate (411), and the lower surface of the top plate (411) is connected to the top of the rotating shaft (404); the guiding cylinder (406) of each clamping unit is installed on the side of the corresponding mounting plate (405) away from the rotating shaft (404).

5. The motor stator and rotor assembly device according to claim 1, characterized in that, The connecting block (407) adopts an H-shaped block structure. An installation block (40602) is connected to the end of the piston rod (40601) of the guiding cylinder (406), and this installation block (40602) is connected to the top of the H-shaped block structure. The bottom of the H-shaped block structure is connected to the top of the vertical plate (410), and the parallel-opening gripper (408) is installed on the side of the vertical plate (410) away from the rotating shaft (404).

6. The motor stator and rotor assembly device according to claim 1, characterized in that, The support plate (403) is fixedly connected to the top of the U-shaped base (401), and the cylinder block of the rotary cylinder (402) is installed at the bottom of the support plate (403); a through hole is opened on the support plate (403), and the rotary output end flange of the rotary cylinder (402) passes upward through this through hole and is fixedly connected to the docking flange at the bottom of the rotating shaft (404).

7. The motor stator and rotor assembly device according to claim 1, characterized in that, The swing gripper (408) is fixedly installed on the side wall of the vertical plate (410); Finger 1 (40901) and Finger 2 (40902) have the same structure and are arranged in mirror symmetry. Semi-circular grooves are provided at the tops of Finger 1 (40901) and Finger 2 (40902); Finger 1 (40901) and Finger 2 (40902) are respectively installed on two opposed sliders of the swing gripper (408). When the swing gripper (408) closes, the two semi-circular grooves combine to form a complete circular clamping structure that fits the outer shape of the stator (204).

8. The motor stator and rotor assembly device according to claim 1, characterized in that, The stator conveyor line (2) includes a stator wire body (201) extending along the length direction of the machine table (1), a plurality of stator trays (202) arranged at equal intervals along the conveying direction of the stator wire body (201), and a positioning pin (203) vertically fixed at the center position of each stator tray (202). The outer diameter of the positioning pin (203) forms a clearance fit with the inner hole of the stator (204), and the stator (204) is sleeved on the positioning pin (203) through its inner hole to achieve radial positioning during the conveying process.

9. The motor stator and rotor assembly device according to claim 1, characterized in that The rotor conveyor line (3) includes a rotor wire body (301) extending along the length direction of the machine table (1), a plurality of rotor trays (302) arranged at equal intervals along the conveying direction of the rotor wire body (301), and a positioning seat (303) provided at the center of each rotor tray (302). An annular positioning groove adapted to the shape of the lower end of the rotor (304) is provided at the top of the positioning seat (303), and the rotor (304) is positioned by embedding its lower end in the annular positioning groove.

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