CN109149881A

CN109149881A - Clamp spring embedded line for magnetic shoe of permanent magnet direct current motor

Info

Publication number: CN109149881A
Application number: CN201811278541.5A
Authority: CN
Inventors: 单以才; 骆德云; 谢承俊; 黄丽娟
Original assignee: Nanjing Vocational College Of Information Technology
Current assignee: Nanjing Vocational College Of Information Technology
Priority date: 2018-10-30
Filing date: 2018-10-30
Publication date: 2019-01-04
Anticipated expiration: 2038-10-30
Also published as: CN109149881B

Abstract

The invention discloses a clamp spring embedding line for a magnetic shoe of a permanent magnet direct current motor, which solves the technical problems that: the technical problem of low efficiency exists in the current equipment of magnetic shoe jump ring of permanent magnet direct current motor that the prior art mentioned. The technical scheme who takes, a be used for permanent magnet direct current motor magnetic shoe jump ring to inlay dress line, including annular workstation, a plurality of combination positioning fixture, two magnetic shoe material loading units, two jump ring material loading units, two casing material loading units, two unloading platforms and two single-upright-column transport manipulators that have the circular orbit. The invention has the beneficial effects that: this be used for permanent magnet direct current motor magnetic shoe jump ring to inlay dress line adopts a plurality of combination positioning fixture to assemble simultaneously, has realized that multi-disc magnetic shoe and a plurality of jump ring once only inlay dress casing centre bore, has effectively guaranteed permanent magnet direct current motor multi-disc magnetic shoe equipment precision, and mutual position between the multi-disc magnetic shoe and motor casing assembly precision can obtain fine assurance.

Description

One kind being embedded in line for permanent magnet DC motor magnetic shoe circlip

Technical field

The present invention relates to one kind to be embedded in line for permanent magnet DC motor magnetic shoe circlip, belongs to the technology neck of motor assembly tooling Domain.

Background technique

Permanent magnet DC motor big, steady performance with torque is widely used in household electrical appliance, precision equipment and moves On power device product.Currently, permanent magnet DC motor magnetic shoe fixed form has circlip fastening type, slot position edge to put formula, strength glue Formula.Wherein, circlip fastening type is widely adopted due to complicated adverse circumstances ability is strong because adapting to.With the need to permanent magnet DC motor The amount of asking persistently rises, and compels that the higher magnetic shoe circlip assembling automatic production line of operating efficiency need to be researched and developed, straight with power-assisted China permanent magnetism Flow motor manufacturing enterprise transformation upgrading.

Summary of the invention

The technical problem to be solved by the present invention is to the existing magnetic shoe circlips of permanent magnet DC motor referred to for background technique Assembling there is technical issues that.

To solve the above problems, the present invention proposes a kind of for the embedded line of permanent magnet DC motor magnetic shoe circlip, the skill taken Art scheme is:

One kind being embedded in line for permanent magnet DC motor magnetic shoe circlip, including the annular working platform, multiple with circular orbit Integrated positioning fixture, two magnetic shoe feeding unit materials, two circlip feeding unit materials, two shell feeding unit materials, two blanking bench and Two single column conveying robots,

It is rectangular workbench that annular working platform, which is in the middle part of the circular arc type of both ends, and the middle part on front side of annular working platform is rectangular Right-to-left sets gradually magnetic shoe feeding station, circlip feeding station and shell feeding station on the circular orbit of shape, in annular Set gradually from left to right on the rectangular circular orbit in middle part on rear side of workbench magnetic shoe feeding station, circlip feeding station and Shell feeding station；

Multiple integrated positioning fixtures are placed on circular orbit, and two magnetic shoe feeding unit materials are placed in magnetic shoe feeding work respectively On the outside ground of position, two circlip feeding unit materials are placed in respectively on the outside ground of circlip feeding station, on two shells Material unit is placed in respectively on the outside ground of shell feeding station, and two blanking bench are separately positioned on the two of annular working platform End, two single column conveying robots are separately positioned on the both ends of annular working platform, and two single column conveying robots are respectively positioned on Between shell feeding station and blanking bench, two single column conveying robots are respectively directed to shell feeding unit material for grabbing shell Body；

Integrated positioning fixture includes that first motor, first motor fixed plate, outer ring pattern and inner ring pattern, first motor are solid Fixed board is inserted vertically into circular orbit and circular orbit is followed to move together, and first motor is vertically arranged in first motor fixed plate On, the motor shaft of first motor is arranged upward, and outer ring pattern is vertically arranged in first motor fixed plate, and outer ring pattern covers on The periphery of one motor, inner ring pattern is inserted vertically into outer ring pattern and the top of inner ring pattern is located at except the pattern of outer ring, and inner ring leans on Mould and outer ring pattern are coaxial, the motor shaft of the bottom connection first motor of inner ring pattern, along axis on the outer surface of inner ring pattern Slot is put and magnetic shoe puts slot for circlip to direction setting is a plurality of；Circlip puts slot and magnetic shoe is put slot and is arranged alternately；Outside Magnetic shoe is respectively corresponded on the outer surface of circle pattern and puts slot the 5th cylinder of setting, and the piston rod of the 5th cylinder is along outer ring pattern The cylinder body of radial expansion, the 5th cylinder is arranged on the outer surface of outer ring pattern, and the piston rod of the 5th cylinder protrudes into outer when stretching out It encloses and withstands the magnetic shoe on inner ring pattern by mold cavity and put magnetic shoe in slot；

Magnetic shoe feeding unit material includes magnetic shoe feeding platform, the second conveying robot and crawl magnetic shoe for going up and down conveying magnetic shoe And it is sent into the first conveying robot of integrated positioning fixture；Magnetic shoe feeding platform includes the first deck plate, the first lower plate and connection Four the first supporting legs of the first deck plate and the first lower plate；First conveying robot is mounted on the first deck plate；Second Conveying robot is installed between the first deck plate and the first lower plate；

Circlip feeding unit material includes circlip feeding platform, the lifting platform for going up and down conveying circlip and crawl circlip and feeding group Close the third conveying robot of positioning fixture；Circlip feeding platform includes the second table top of the second deck plate, the second lower plate and connection Four the second supporting legs of plate and the second lower plate；Lifting platform is installed between the second deck plate and the second lower plate；Described Third conveying robot is mounted on the second deck plate；

Shell feeding unit material includes shell feeding platform and the 4th conveying robot for going up and down conveying shell；Shell feeding Platform includes third deck plate, third lower plate and four third supporting legs for connecting third deck plate and third lower plate；4th Conveying robot is installed between third deck plate and third lower plate；

Single column conveying robot include column, the first guide rod cylinder, the second guide rod cylinder, for clamping shell and by magnetic Watt, the third pick tool of assembling assembly that is assembled to form of circlip and shell；Column is vertically arranged, in column top setting Chamber is equipped with third oscillating cylinder in inner cavity vertically, and the output of third oscillating cylinder connects under the cylinder body of the first guide rod cylinder End face；The piston rod of first guide rod cylinder is horizontally disposed, and the piston rod of the first guide rod cylinder connects the second guide rod cylinder side；The The piston rod of two guide rod cylinders is arranged downwards, and the piston rod end of the second guide rod cylinder is arranged in third pick tool；

Third pick tool includes support tube, vertical machine, rotating disk, fixed disk and four collets；Support tube includes upper End seal is closed the support cylinder of lower ending opening and is arranged in the intracorporal intermediate bulkhead of support tube, and intermediate bulkhead will support the inner cavity of cylinder Two independent inner cavities are separated into, respectively inner cavity and support tube lower inner cavity on support tube, the piston rod connection of the second guide rod cylinder The upper surface of support tube；Vertical machine is located at interior intracavitary on support tube, and vertical machine is vertically set on intermediate bulkhead and vertical The motor shaft of formula motor passes through intermediate bulkhead and protrudes into support tube lower inner cavity；Rotating disk is located in support tube lower inner cavity, rotating disk It is arranged on the motor shaft of vertical machine, fixed disk is fixed at support tube lower ending opening, and four collets are caught in rotation simultaneously Disk and fixed disk, four collets are each along the waist type groove rotation in rotating disk and the dovetail groove in fixed disk slides simultaneously, real Existing four collets are radially simultaneously clamped on or are unclamped along fixed disk.

To the preferred of technical solution of the present invention, the first conveying robot includes the first " L " type bracket, the first cylinder, first Rotary cylinder, the second cylinder and the first pick tool；First " L " type bracket short side end face is fixed on the first deck plate, and first Cylinder is arranged in downwards on first " L " type bracket long side side, and the piston shaft of the first cylinder is arranged in the first rotary cylinder Upper and the gyratory directions of the first rotary cylinder and the telescopic direction of the first cylinder are vertically arranged；The revolving platform of first rotary cylinder is logical It crosses first " L " type connecting rod and connects the second cylinder, the cylinder body of the second cylinder connects first " L " type connecting rod, the piston rod of the second cylinder Connect the first pick tool, the first pick tool include magnetic shoe tool palette and be mounted on magnetic shoe tool palette at least four first The piston rod end of the second cylinder is arranged in vacuum chuck, magnetic shoe tool palette, and the first vacuum chuck is directed toward the first deck plate plate face On the first through slot for opening up.

To the preferred of technical solution of the present invention, the second conveying robot include the second motor, the first screw rod, the first guide rod, First sliding block and first liang of finger-type clamping cylinder；Second motor is installed by electric motor stand on the back side of lower first lower plate, the The motor shaft of two motors connects the lower end of the first screw rod by shaft coupling, and the setting of the first screw rod is gone to the bottom in the first deck plate and first Between plate and the first screw rod is rotatablely connected the first deck plate and the first lower plate by bearing；First sliding block is connected by screw thread pair The first screw rod is connect, the first guide rod is arranged between the first deck plate and the first lower plate and the first guide rod upper and lower side is separately fixed at On first deck plate and the first lower plate；First sliding block sliding sleeve is on the first guide rod, first liang of finger-type clamping cylinder setting On the first sliding block, the gripping finger of first liang of finger-type clamping cylinder is located at the underface of the first through slot on the first deck plate.

To the preferred of technical solution of the present invention, lifting platform includes that third motor, the second screw rod, lifter plate and two second lead Bar；Third motor is installed by electric motor stand on the back side of lower second lower plate, and the motor shaft of third motor is connected by shaft coupling The lower end of the second screw rod is connect, the second screw rod is arranged between the second deck plate and the second lower plate and the second screw rod passes through bearing It is rotatablely connected the second deck plate and the second lower plate；Two second guide rods are arranged between the second deck plate and the second lower plate And two second guide rods are each attached on the second deck plate and the second lower plate；Lifter plate is arranged in parallel in the second deck plate and Between two lower plates, lifter plate is connect with the second screw rod by screw thread pair, and lifter plate sliding sleeve is on two second guide rods；? The second through slot is provided in the plate face of second deck plate.

To the preferred of technical solution of the present invention, third conveying robot includes the second " L " type bracket, third cylinder, second Rotary cylinder, the 4th cylinder and the second pick tool；Second " L " type bracket short side end face is fixed on the second deck plate, third Cylinder is arranged in downwards on second " L " type bracket long side side, and the piston shaft of third cylinder is arranged in the second rotary cylinder Upper and the gyratory directions and third cylinder of the second rotary cylinder telescopic direction are vertically arranged；The revolving platform of second rotary cylinder is logical It crosses second " L " type connecting rod and connects the 4th cylinder, the cylinder body of the 4th cylinder connects second " L " type connecting rod, the piston rod of the 4th cylinder Connect the second pick tool, the second pick tool include circlip tool palette and be mounted on magnetic shoe tool palette at least two second The piston rod end of the 4th cylinder is arranged in vacuum chuck, circlip tool palette, and the second vacuum chuck is directed toward on the second deck plate Second through slot, for adsorbing the circlip that lifter plate is sent.

To the preferred of technical solution of the present invention, the 4th motor, third screw rod, two third guide rods, the second sliding block and second Two finger-type clamping cylinders；4th motor is installed by electric motor stand on the back side of lower third lower plate, the motor shaft of the 4th motor The lower end of third screw rod is connected by shaft coupling, third screw rod is arranged between third deck plate and third lower plate and third silk Bar is rotatablely connected third deck plate and third lower plate by bearing；Two third guide rods are arranged at third deck plate and Between three lower plates and two third guide rods are each attached on third deck plate and third lower plate；Second sliding block passes through screw thread pair Connect third screw rod and by sliding sleeve on two third guide rods, second liang of finger-type clamping cylinder setting is used in the second sliding block In clamping shell, third through slot is opened up in the plate face of third deck plate, second liang of finger-type clamping cylinder is located at third through slot Underface.

Heretofore described vertical machine, cylinder and rotary cylinder is outsourcing piece, is all that direct purchase obtains.

Magnetic shoe, circlip and shell in technical solution of the present invention are conventional hardware required in magneto.

The beneficial effects of the present invention are:

1, this is embedded in line for permanent magnet DC motor magnetic shoe circlip, is assembled simultaneously using multiple integrated positioning fixtures, It realizes multi-disc magnetic shoe and multiple circlips to be disposably embedded in housing central bore, permanent magnet DC motor multi-disc magnetic shoe has been effectively ensured Assembly precision, mutual alignment and magnetic shoe between multi-disc magnetic shoe can be guaranteed very well with electric machine casing assembly precision.

2, this is embedded in line for permanent magnet DC motor magnetic shoe circlip, using modularized design, on magnetic shoe feeding unit material, circlip Material unit, shell feeding unit material, single column manipulator and blanking bench work compound, substantially increase permanent magnet DC motor multi-disc The packaging efficiency of magnetic shoe circlip.

Detailed description of the invention

Fig. 1 is overall model schematic diagram of the invention.

Fig. 2 is toroid body Model schematic diagram of the invention.

Fig. 3 is integrated positioning fixture model schematic diagram of the invention.

Fig. 4 is magnetic shoe feeding unit material model schematic of the invention.

Fig. 5 is the second conveying robot model schematic of the invention.

Fig. 6 is circlip feeding unit material model schematic of the invention.

Fig. 7 is third conveying robot model schematic of the invention.

Fig. 8 is shell feeding unit material model schematic of the invention.

Fig. 9 is single column conveying robot model schematic of the invention.

Figure 10 is third pick tool model schematic of the invention.

Figure 11 is gripping finger illustraton of model of the invention.

Figure 12 is fixed disk illustraton of model of the invention.

Figure 13 is rotating disk illustraton of model of the invention.

Figure 14 is the position view of magnetic shoe of the present invention, circlip in inner ring pattern.

Figure 15 is the assembling assembly cross-sectional view of magnetic shoe of the present invention, circlip and shell.

Specific embodiment

Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation Example.

To keep the contents of the present invention more obvious and easy to understand, done further below in conjunction with attached drawing 1- Figure 15 and specific embodiment Description.

In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not For limiting the present invention.

As shown in Figure 1, line is embedded in for permanent magnet DC motor magnetic shoe circlip in the present embodiment, including having circular orbit On annular working platform 1,3, two shells of circlip feeding unit material of magnetic shoe feeding unit material 2, two of multiple integrated positioning fixtures 11, two 4, two blanking bench 5 of material unit and two single column conveying robots 6.

As shown in Figure 1, the annular working platform 1 in the present embodiment is routine techniques product in the prior art, direct outsourcing. It is rectangular workbench that annular working platform 1 in the present embodiment, which is in the middle part of the circular arc type of both ends, in 1 front side of annular working platform Right-to-left sets gradually magnetic shoe feeding station, circlip feeding station and shell feeding station on the rectangular circular orbit in portion, Set gradually magnetic shoe feeding station from left to right on the rectangular circular orbit in middle part of the rear side of annular working platform 1, on circlip Expect station and shell feeding station.

As illustrated in fig. 1 and 2, multiple integrated positioning fixtures 11 are placed on circular orbit, and two magnetic shoe feeding unit materials 2 are distinguished It is placed on the outside ground of magnetic shoe feeding station, two magnetic shoe feeding unit materials 2 are respectively used to in magnetic shoe feeding station Integrated positioning fixture 11 is packed into magnetic shoe.Two circlip feeding unit materials 3 are placed in respectively on the outside ground of circlip feeding station, and two A circlip feeding unit material 3 is respectively used to be packed into circlip to the integrated positioning fixture 11 in circlip feeding station.On two shells Material unit 4 is placed in respectively on the outside ground of shell feeding station, and two shell feeding unit materials 4 are respectively used to in magnetic shoe The integrated positioning fixture 11 of shell feeding station conveys shell.Two blanking bench 5 are separately positioned on the both ends of annular working platform 1, Two blanking bench 5 are respectively used to receive magnetic shoe, circlip and the assembled assembling assembly of shell.Two single column conveying robots 6 The both ends of annular working platform 1 are separately positioned on, two single column conveying robots 6 are respectively positioned on shell feeding station and blanking bench 5 Between, two single column conveying robots 6 are respectively directed to shell feeding unit material 4 and are used to grab shell, and shell feeding unit material 4 is defeated The shell sent takes out and is packed on the integrated positioning fixture 11 for having installed magnetic shoe and circlip that circular orbit conveying comes, shell The interior sub-assembly for being packed into magnetic shoe and circlip, completes the assembly of shell, magnetic shoe and circlip；Single column conveying robot 6 further takes out shell The assembling assembly of body, magnetic shoe and circlip, and be placed on blanking bench 5, it is taken away and is collected by operator.

As shown in figure 3, integrated positioning fixture 11 includes first motor 111, first motor fixed plate 112, outer ring pattern 113 With inner ring pattern 114, first motor fixed plate 112 is inserted vertically into circular orbit and circular orbit is followed to move together, and first Motor 111 is vertically arranged in first motor fixed plate 112, and the motor shaft of first motor 111 is arranged upward, outer ring pattern 113 It is vertically arranged in first motor fixed plate 112, outer ring pattern 113 covers on the periphery of first motor 111, and inner ring pattern 114 is perpendicular Straight cutting enters outer ring pattern 113 and the top of inner ring pattern 114 is located at except outer ring pattern 113, inner ring pattern 114 and outer ring pattern 113 is coaxial, the motor shaft of the bottom connection first motor 111 of inner ring pattern 114, along axis on the outer surface of inner ring pattern 114 Slot is put and magnetic shoe puts slot for circlip to direction setting is a plurality of；Circlip puts slot and magnetic shoe is put slot and is arranged alternately；Outside Enclose on the outer surface of pattern 113 to respectively correspond magnetic shoe and put slot and the 5th cylinder 115 be set, the piston rod of the 5th cylinder 115 along The cylinder body of the radial expansion of outer ring pattern 113, the 5th cylinder 115 is arranged on the outer surface of outer ring pattern 113, the 5th cylinder 115 piston rod protrudes into 113 inner cavity of outer ring pattern when stretching out withstands the magnetic shoe on inner ring pattern 114 and puts magnetic in slot Watt.

The work process of the integrated positioning fixture 11 of the present embodiment:

Integrated positioning fixture 11 is inserted into circular orbit by first motor fixed plate 112 and circular orbit one is followed to start shipment It is dynamic, it reaches at magnetic shoe feeding station, first motor 111 rotates, and driving inner ring pattern 114 rotates.

As shown in figure 4, magnetic shoe feeding unit material 2 includes magnetic shoe feeding platform 21, the second carrying implement for going up and down conveying magnetic shoe Tool hand 23 and crawl magnetic shoe and the first conveying robot 22 for being sent into integrated positioning fixture 11；Magnetic shoe feeding platform 21 includes First Panel, the first lower plate and four the first supporting legs for connecting the first deck plate and the first lower plate；First conveying robot 22 It is mounted on the first deck plate；Second conveying robot 23 is installed between the first deck plate and the first lower plate.

The course of work of the magnetic shoe feeding unit material 2 of the present embodiment:

Magnetic shoe is placed in the plate face of the first lower plate by operator, and the movement of the second conveying robot 23 is grabbed Magnetic shoe is transported up to the first through slot in the first deck plate plate face by magnetic shoe；First conveying robot 22 crawl second is removed Transport the magnetic shoe that the conveying of manipulator 23 comes.

At this point, first motor 111 rotates if there is integrated positioning fixture 11 at magnetic shoe feeding station, inner ring pattern is driven 114 rotations make magnetic shoe put slot and successively rotate corresponding embedded magnetic shoe position；First conveying robot 22 places the magnetic shoe of crawl It is put in slot in magnetic shoe, is repeated in this step, until each of in the integrated positioning fixture 11 being located at magnetic shoe feeding station Magnetic shoe is put place magnetic shoe in slot until；So far, the magnetic shoe feeding work at magnetic shoe feeding station is completed.

The circular orbit intermitten operation of annular working platform 1, by the operation of integrated positioning fixture 11 equipped with magnetic shoe to next work At position (circlip feeding station).

As shown in figure 4, the second conveying robot 23 includes the second motor 231, the first screw rod 232, the first guide rod 233, the One sliding block 234 and first liang of finger-type clamping cylinder 235；Second motor 231 installs the back of lower first lower plate by electric motor stand On face, the motor shaft of the second motor 231 connects the lower end of the first screw rod 232 by shaft coupling, and the first screw rod 232 is arranged first Between deck plate and the first lower plate and the first screw rod 232 is rotatablely connected the first deck plate and the first lower plate by bearing； First sliding block 234 connects the first screw rod 232 by screw thread pair, and the first guide rod 233 is arranged in the first deck plate and the first lower plate Between and 233 upper and lower side of the first guide rod be separately fixed on the first deck plate and the first lower plate；First sliding block 234 sliding suit On the first guide rod 233, first liang of finger-type clamping cylinder 235 is arranged on the first sliding block 234, first liang of finger-type clamping cylinder 235 gripping finger is located at the underface of the first through slot on the first deck plate.

The course of work of second conveying robot 23 of the present embodiment:

Second motor 231 rotates forward, and the rotation of the first screw rod 232 drives the first sliding block 234 to move downward along the first guide rod 233, First liang of finger-type clamping cylinder 235 follows the first sliding block 234 to move downwardly together, until first liang of finger-type clamping cylinder 235 Gripping finger can clip to the magnetic shoe on the first lower plate, and first liang of movement of finger-type clamping cylinder 235 clamps magnetic shoe.

Second motor 231 reversion, the first screw rod 232 rotation, drives the first sliding block 234 to move upwards along the first guide rod 233, First liang of finger-type clamping cylinder 235 follows the first sliding block 234 to move upwardly together, and first liang of finger-type clamping cylinder 235 will clamp Magnetic shoe send to the first through slot on the first deck plate.

As shown in figure 5, the first conveying robot 22 includes the first " L " type bracket 221, the first cylinder 222, first revolution gas Cylinder 223, the second cylinder 224 and the first pick tool 225；First " L " type bracket, 221 short side end face is fixed on the first deck plate On, the first cylinder 222 is arranged in downwards on 221 long side side of the first " L " type bracket, and the setting of the first rotary cylinder 223 exists On the piston shaft of first cylinder 222 and the gyratory directions of the first rotary cylinder 223 are vertical with the telescopic direction of the first cylinder 222 sets It sets；The revolving platform of first rotary cylinder 223 connects the second cylinder 224, the cylinder body of the second cylinder 224 by first " L " type connecting rod First " L " type connecting rod is connected, the piston rod of the second cylinder 224 connects the first pick tool 225, and the first pick tool 225 includes Magnetic shoe tool palette and four the first vacuum chucks being mounted on magnetic shoe tool palette, magnetic shoe tool palette are arranged in the second cylinder 224 Piston rod end, the first vacuum chuck is directed toward the first through slot for opening up in the first deck plate plate face.

The course of work of first conveying robot 22 of the present embodiment:

First cylinder 222, the first rotary cylinder 223 and the movement of the second cylinder 224, the first pick tool of adjustment 225 are opposite In the position of the first through slot opened up on the first deck plate plate, finally make four the first vacuum in the first pick tool 225 Sucker is directed at the magnetic shoe in the first through slot.The first vacuum chuck acts at this time, adsorbs magnetic shoe.

At this point, magnetic shoe feeding station has integrated positioning fixture 11, first motor 111 is rotated, and drives 114 turns of inner ring pattern It is dynamic, so that magnetic shoe is put slot and successively rotates corresponding embedded magnetic shoe position.

First cylinder 222, the first rotary cylinder 223 and the movement of the second cylinder 224, adjust 225 position of the first pick tool, So that the first vacuum chuck absorption magnetic shoe alignment magnetic shoe puts slot, the movement of the first vacuum chuck discharges magnetic shoe, magnetic shoe is placed into Magnetic shoe is put in slot.

It is repeated in this step, until each magnetic shoe in the integrated positioning fixture 11 being located at magnetic shoe feeding station is put Until placing magnetic shoe in slot；So far, the magnetic shoe feeding work at magnetic shoe feeding station is completed.

Vacuum chuck technology used in this course of work, be common process in the prior art and conventional equipment, specifically Process flow and the device structure present invention do not elaborate.

As shown in fig. 6, circlip feeding unit material 3 includes circlip feeding platform 31,33 and of lifting platform for going up and down conveying circlip Crawl circlip and the third conveying robot 32 for being sent into integrated positioning fixture 11；Circlip feeding platform 31 includes the second deck plate, the Two lower plates and four the second supporting legs for connecting the second deck plate and the second lower plate；Lifting platform 33 is installed on the second deck plate Between the second lower plate；The third conveying robot 32 is mounted on the second deck plate.

The course of work of the circlip feeding unit material 3 of the present embodiment:

Circlip is placed in lifting platform 33 by operator, and lifting platform 33 rises for sending circlip to the second deck plate The second through slot at；Third conveying robot 32 grabs the circlip that the conveying of lifting platform 33 comes.

At this point, first motor 111 rotates if there is integrated positioning fixture 11 at circlip feeding station, inner ring pattern is driven 114 rotations make circlip put slot and successively rotate corresponding embedded circlip position；Third conveying robot 32 places the circlip of crawl It is put in slot in circlip, is repeated in this step, until each of in the integrated positioning fixture 11 being located at circlip feeding station Circlip is put place circlip in slot until；So far, the circlip feeding work at circlip feeding station is completed.

The circular orbit intermitten operation of annular working platform 1, extremely by the operation of integrated positioning fixture 11 equipped with magnetic shoe and circlip At next station (shell feeding station).

As shown in fig. 6, lifting platform 33 includes third motor 331, the second screw rod 332, lifter plate 334 and two second guide rods 333；Third motor 331 is installed by electric motor stand on the back side of lower second lower plate, and the motor shaft of third motor 331 passes through connection Axis device connects the lower end of the second screw rod 332, and the second screw rod 332 is arranged between the second deck plate and the second lower plate and second Bar 332 is rotatablely connected the second deck plate and the second lower plate by bearing；Two second guide rods 333 are arranged at the second table top Between plate and the second lower plate and two second guide rods 333 are each attached on the second deck plate and the second lower plate；Lifter plate 334 It is arranged in parallel between the second deck plate and the second lower plate, lifter plate 334 is connect with the second screw rod 332 by screw thread pair, is risen 334 sliding sleeve of plate is dropped on two second guide rods 333；The second through slot is provided in the plate face of the second deck plate.

The course of work of the lifting platform 33 of the present embodiment:

Circlip is first placed on lifter plate 334 by operator, and third motor 331 rotates forward, the rotation of the second screw rod 332, band Dynamic lifter plate 334 is moved upwards along two second guide rods 333, until the circlip being located on lifter plate 334 is in the second deck plate On the second through slot at.

Third motor 331 rotates forward, then lifter plate 334 declines.

As shown in fig. 7, third conveying robot 32 includes the second " L " type bracket 321, the revolution gas of third cylinder 322, second Cylinder 323, the 4th cylinder 324 and the second pick tool 325；Second " L " type bracket, 321 short side end face is fixed on the second deck plate On, third cylinder 322 is arranged in downwards on 321 long side side of the second " L " type bracket, and the setting of the second rotary cylinder 323 exists On the piston shaft of third cylinder 322 and the gyratory directions of the second rotary cylinder 323 are vertical with the telescopic direction of third cylinder 322 sets It sets；The revolving platform of second rotary cylinder 323 connects the 4th cylinder 324, the cylinder body of the 4th cylinder 324 by second " L " type connecting rod Second " L " type connecting rod is connected, the piston rod of the 4th cylinder 324 connects the second pick tool 325, and the second pick tool 3255 includes Circlip tool palette and at least two second vacuum chucks being mounted on magnetic shoe tool palette, circlip tool palette are arranged in the 4th cylinder 324 piston rod end, the second vacuum chuck are directed toward the second through slot on the second deck plate, send for adsorbing lifter plate 334 Circlip.

The course of work of the third conveying robot 32 of the present embodiment:

Third cylinder 322, the second rotary cylinder 323 and the movement of the 4th cylinder 324, the second pick tool of adjustment 325 are opposite In the position of the second through slot opened up on the second deck plate plate, finally make two the second vacuum in the second pick tool 325 Sucker is directed at the circlip in the second through slot.The second vacuum chuck acts at this time, adsorbs circlip.

At this point, circlip feeding station has the integrated positioning fixture 11 equipped with magnetic shoe, first motor 111 is rotated, and drives inner ring Pattern 114 rotates, and so that circlip is put slot and successively rotates corresponding embedded circlip position.

Third cylinder 322, the second rotary cylinder 323 and the movement of the 4th cylinder 324, adjust 325 position of the second pick tool, So that the circlip alignment circlip of the second vacuum chuck absorption puts slot, the movement of the second vacuum chuck discharges circlip, circlip is put It is put in slot to circlip.

It is repeated in this step, until each circlip in the integrated positioning fixture 11 being located at circlip feeding station is put Until placing circlip in slot；So far, the circlip feeding work at circlip feeding station is completed.

At this point, all 5th cylinder 115 movements on the outer surface of the outer ring pattern 113 in integrated positioning fixture 11, the 5th The piston rod of cylinder 115 protrudes into the magnetic shoe that pattern 113 inner cavity in outer ring is withstood on inner ring pattern 114 when stretching out and puts in slot Magnetic shoe；All magnetic shoes compress, and magnetic shoe is caught in circlip at this time, and all magnetic shoes and circlip form a composite entity part.

Complete the assembly of magnetic shoe and circlip.As shown in figure 14.

As shown in figure 8, shell feeding unit material 4 includes shell feeding platform 41 and the 4th carrying implement for going up and down conveying shell Tool hand 42；Shell feeding platform 41 includes the four of third deck plate, third lower plate and connection third deck plate and third lower plate Third supporting leg；4th conveying robot 42 is installed between third deck plate and third lower plate.

The course of work of the shell feeding unit material 4 of the present embodiment:

Shell is placed in the plate face of third lower plate by operator, and the movement of the 4th conveying robot 42 is grabbed Shell is transported up to the third through slot in third deck plate plate face by shell, then is grabbed by single column conveying robot 6 Shell is simultaneously packed into integrated positioning fixture 11.

As shown in figure 8, the 4th conveying robot 42 includes 422, two the 4th motor 421, third screw rod third guide rods 423, the second sliding block 424 and second liang of finger-type clamping cylinder 425；4th motor 421 installs lower third bottom by electric motor stand On the back side of plate, the motor shaft of the 4th motor 421 connects the lower end of third screw rod 422 by shaft coupling, and third screw rod 422 is arranged Between third deck plate and third lower plate and third screw rod 422 is rotatablely connected under third deck plate and third by bearing Bottom plate；Two third guide rods 423 are arranged between third deck plate and third lower plate and two third guide rods 423 are fixed On third deck plate and third lower plate；Second sliding block 424 connects third screw rod 422 by screw thread pair and is set with by sliding On two third guide rods 423, second liang of setting of finger-type clamping cylinder 425 is used to clamp shell in the second sliding block 424, in third Third through slot is opened up in the plate face of deck plate, second liang of finger-type clamping cylinder 425 is located at the underface of third through slot.

The course of work of 4th conveying robot 42 of the present embodiment:

Shell is placed in the plate face of third lower plate by operator, and the 4th motor 421 rotates forward, and 422 turns of third screw rod It is dynamic, drive the second sliding block 424 to move downward along two third guide rods 423, second liang of finger-type clamping cylinder 425 follows the second sliding block 424 move downwardly together, until the gripping finger of second liang of finger-type clamping cylinder 425 can clip to the shell on third lower plate, second The movement of two finger-type clamping cylinders 425, gripping finger clamp shell.

The reversion of 4th motor 421, third screw rod 422 rotate, and drive the second sliding block 424 upward along two third guide rods 423 Movement, second liang of finger-type clamping cylinder 425 follow the second sliding block 424 to move upwardly together, and second liang of finger-type clamping cylinder 425 will The shell of clamping is sent to the third through slot on third deck plate.

As shown in Fig. 9,10,11,12 and 13, single column conveying robot 6 includes column 61, the first guide rod cylinder 62, the Two guide rod cylinders 63 pick up work for clamping the third of shell and the assembling assembly being assembled to form by magnetic shoe, circlip and shell Tool 64；Column 61 is vertically arranged, and inner cavity is arranged in 61 top of column, is equipped with third oscillating cylinder 611, third vertically in inner cavity The cylinder body lower end surface of output the first guide rod cylinder 62 of connection of oscillating cylinder 611；The piston rod level of first guide rod cylinder 62 is set It sets, the piston rod of the first guide rod cylinder 62 connects 63 side of the second guide rod cylinder；The vertical court of piston rod of second guide rod cylinder 63 The piston rod end of the second guide rod cylinder 63 is arranged in lower setting, third pick tool 64.

Third pick tool 64 includes support tube 642, vertical machine 641, rotating disk 643, fixed disk 644 and four collets 645；Support tube 642 includes the support cylinder of upper end closed lower ending opening and is arranged in the intracorporal intermediate bulkhead of support tube, intermediate The inner cavity for supporting cylinder is separated into two independent inner cavities by partition, respectively inner cavity and support tube lower inner cavity on support tube, and second The upper surface of the piston rod connection support tube 642 of guide rod cylinder 63；Vertical machine 641 be located at it is interior intracavitary on support tube, it is vertical Motor 641 is vertically set on intermediate bulkhead and the motor shaft of vertical machine 641 passes through intermediate bulkhead and protrudes into support tube lower inner cavity It is interior；Rotating disk 643 is located in support tube lower inner cavity, and rotating disk 643 is arranged on the motor shaft of vertical machine 641, fixed disk 644 It is fixed at 642 lower ending opening of support tube, four collets 645 are caught in rotating disk 643 and fixed disk 644, four collets simultaneously 645 each along the rotation of waist type groove 6431 in rotating disk 643 and the dovetail groove 6441 in fixed disk 644 slides simultaneously, realizes Four collets 645 are simultaneously clamped on or are unclamped along 644 radial direction of fixed disk.

As shown in figure 11, collet 645 is L-shaped, and sliding card is provided on the two sides of the bottom face of " L " type gripping finger short side Slot, " L " type gripping finger are packed into the dovetail groove 6441 of fixed disk 644 by slip draw-in groove.As shown in figure 12, in fixed disk 6441 6441 quantity of dovetail groove is four, and dovetail groove 6441 is arranged along the radial equipartition of fixed disk 644.Four in the present embodiment are trapezoidal The crosswise setting of slot 6441.Axis 6452 is vertically set on the end face of " L " type gripping finger short side, the axis 6452 that bearing 6453 is set with On, bearing 6453 is embedded in the kidney slot 6431 in rotating disk 643.As shown in figure 13,6431 edge of kidney slot in rotating disk 643 Circumferencial direction and the edge for being located at rotating disk 643, the quantity of the kidney slot 6431 in rotating disk 643 are four, the present embodiment In four " L " type gripping finger long sides surround one can clamping body and assembling assembly clamping element.

Single column conveying robot 6 of the present embodiment is used to grab shell that the 4th conveying robot 42 is sent and by shell It is packed into the integrated positioning fixture 11 being located at shell feeding station；Also crawl is located at the assembly in integrated positioning fixture 11 simultaneously The assembling assembly of good shell, magnetic shoe and circlip, and assembling assembly is transported on blanking bench 5, collection is taken away by operator.

The course of work of the present embodiment list column conveying robot 6:

Third oscillating cylinder 611 acts, the portion for driving the first guide rod cylinder 62 and being mounted in the first guide rod cylinder 62 Part unitary rotation, so that third pick tool 64 turns to 4 place side of shell feeding unit material.

First guide rod cylinder 62 and the movement of the second guide rod cylinder 63, adjust the position of third pick tool 64, so that third Four collets 645 in pick tool 64 are located at third through slot.

Vertical machine 641 in third pick tool 64 rotates forward, and rotating disk 643 follows vertical machine 641 to rotate together, and revolves 643 rotate driving of turntable, four gripping fingers are simultaneously trapezoidal in fixed disk 644 simultaneously in the rotation of waist type groove 6431 in rotating disk 643 Slot 6441 slides, and finally adjusts the position of four collets 645, so that the clamping element clamping body that four collets 645 are constituted.

Third oscillating cylinder 611 acts, the portion for driving the first guide rod cylinder 62 and being mounted in the first guide rod cylinder 62 Part unitary rotation, so that third pick tool 64 turns to the integrated positioning for forming a composite entity part equipped with magnetic shoe and circlip 11 place side of fixture, and shell is made to correspond to inner ring pattern 114.

Vertical machine 641 inverts, and rotating disk 643 follows vertical machine 641 to rotate together, 643 rotate driving four of rotating disk A gripping finger is in the rotation of waist type groove 6431 in rotating disk 643 and the dovetail groove 6441 in fixed disk 644 slides simultaneously, final to adjust The position of four collets 645 is saved, so that four collets 645 unclamp, shell is inserted on the composite entity part that circlip and magnetic shoe are constituted.

Complete magnetic shoe, circlip and shell assembling.As shown in figure 15.

Finally, the vertical machine 641 in third pick tool 64 rotates forward, rotating disk 643 follows vertical machine 641 to turn together Dynamic, 643 rotate driving of rotating disk, four gripping fingers are in the rotation of waist type groove 6431 in rotating disk 643 and while in fixed disk 644 Dovetail groove 6441 slide, the position of four collets 645 is finally adjusted, so that the clamping element that four collets 645 are constituted clamps magnetic Watt, the assembling assembly that is assembled into of circlip and shell；Third oscillating cylinder 611 acts, and drives the first guide rod cylinder 62 and installation Component unitary rotation in the first guide rod cylinder 62, so that third pick tool 64 turns to 5 place side of blanking bench.

Vertical machine 641 inverts, and rotating disk 643 follows vertical machine 641 to rotate together, 643 rotate driving four of rotating disk A gripping finger is in the rotation of waist type groove 6431 in rotating disk 643 and the dovetail groove 6441 in fixed disk 644 slides simultaneously, final to adjust The position of four collets 645 is saved, so that four collets 645 unclamp, assembling assembly is placed on blanking bench 5.

The workflow that line is embedded in for permanent magnet DC motor magnetic shoe circlip of the present embodiment:

In A) plate face that magnetic shoe 7 is placed to the first lower plate in magnetic shoe feeding unit material 2 by operator, circlip 8 is put It sets on the lifter plate 334 in circlip feeding unit material 3, shell 9 is placed on to the plate of the third lower plate in shell feeding unit material 4 On face.

B) annular working platform 1 drives integrated positioning fixture 11 to rotate between stations.

C) it is embedded in magnetic shoe；

The movement of second conveying robot 23, carries out crawl magnetic shoe, magnetic shoe is transported up to the first deck plate plate face At first through slot；First conveying robot 22 grabs the magnetic shoe that the conveying of the second conveying robot 23 comes.

Concrete operations are as follows:

The course of work of second conveying robot 23:

The course of work of first conveying robot 22:

D) it is embedded in circlip；

Lifting platform 33 rises for sending circlip to the second through slot on the second deck plate；Third conveying robot 32 is grabbed The circlip for taking the conveying of lifting platform 33.

At this point, there is integrated positioning fixture 11 at circlip feeding station, first motor 111 is rotated, and drives inner ring pattern 114 Rotation makes circlip put slot and successively rotates corresponding embedded circlip position；The circlip of crawl is placed on by third conveying robot 32 Circlip is put in slot, this step is repeated in, until each card in the integrated positioning fixture 11 being located at circlip feeding station Spring is put place circlip in slot until；So far, the circlip feeding work at circlip feeding station is completed.

Concrete operations are as follows:

The course of work of lifting platform 33:

The course of work of third conveying robot 32:

Complete the assembly of magnetic shoe and circlip.As shown in figure 14.

E) shell assembles；

The movement of 4th conveying robot 42, carries out crawl shell, shell is transported up to third deck plate plate face At third through slot, then shell is grabbed by single column conveying robot 6 and is packed into integrated positioning fixture 11.

The course of work of 4th conveying robot 42:

The course of work of single column conveying robot 6:

Complete magnetic shoe, circlip and shell assembling.As shown in figure 15.

F the assembling assembly that) magnetic shoe, circlip and shell are assembled into is collected；

Vertical machine 641 in third pick tool 64 rotates forward, and rotating disk 643 follows vertical machine 641 to rotate together, and revolves 643 rotate driving of turntable, four gripping fingers are simultaneously trapezoidal in fixed disk 644 simultaneously in the rotation of waist type groove 6431 in rotating disk 643 Slot 6441 slides, and finally adjusts the position of four collets 645, so that the clamping element that four collets 645 are constituted clamps magnetic shoe, circlip The assembling assembly being assembled into shell；Third oscillating cylinder 611 acts, and drives the first guide rod cylinder 62 and is mounted on first and leads Component unitary rotation on bar cylinder 62, so that third pick tool 64 turns to 5 place side of blanking bench.

So far it just completes a permanent magnet DC motor magnetic shoe circlip and is embedded in operation.

G above-mentioned A-F step) is repeated.

The present embodiment is embedded in line for permanent magnet DC motor magnetic shoe circlip, and there are two 2, two circlips of magnetic shoe feeding unit material The blanking bench 5 of shell feeding unit material 4, two of feeding unit material 3, two and two single column conveying robots 6, are simultaneously operable, mention High assembly efficiency.

What is be not specifically noted in all description of the invention is the prior art or can be realized by existing technology, It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, and it is all this A little modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims

1. one kind is embedded in line for permanent magnet DC motor magnetic shoe circlip, it is characterised in that: the annular work including having circular orbit Make platform (1), multiple integrated positioning fixtures (11), two magnetic shoe feeding unit materials (2), two circlip feeding unit materials (3), two shells The single column conveying robot (6) of feeding unit material (4), two blanking bench (5) and two,

It is rectangular workbench that annular working platform (1), which is in the middle part of the circular arc type of both ends, the middle minister on front side of annular working platform (1) Right-to-left sets gradually magnetic shoe feeding station, circlip feeding station and shell feeding station on rectangular circular orbit, in ring Magnetic shoe feeding station, circlip feeding are set gradually from left to right on the rectangular circular orbit in middle part on rear side of shape workbench (1) Station and shell feeding station；

Multiple integrated positioning fixtures (11) are placed on circular orbit, and two magnetic shoe feeding unit materials (2) are placed on magnetic shoe respectively On the outside ground for expecting station, two circlip feeding unit materials (3) are placed in respectively on the outside ground of circlip feeding station, and two Shell feeding unit material (4) is placed in respectively on the outside ground of shell feeding station, and two blanking bench (5) are separately positioned on annular The both ends of workbench (1), two single column conveying robots (6) are separately positioned on the both ends of annular working platform (1), two Dan Li Column conveying robot (6) is respectively positioned between shell feeding station and blanking bench (5), and two single column conveying robots (6) are respectively Shell feeding unit material (4) are directed toward for grabbing shell；

Integrated positioning fixture (11) includes first motor (111), first motor fixed plate (112), outer ring pattern (113) and inner ring Pattern (114), first motor fixed plate (112) are inserted vertically into circular orbit and circular orbit are followed to move together, the first electricity Machine (111) is vertically arranged on first motor fixed plate (112), and the motor shaft of first motor (111) is arranged upward, outer ring pattern (113) it is vertically arranged on first motor fixed plate (112), outer ring pattern (113) covers on the periphery of first motor (111), interior Circle pattern (114) is inserted vertically into outer ring pattern (113) and the top of inner ring pattern (114) is located at except outer ring pattern (113), interior Enclose pattern (114) and outer ring pattern (113) coaxially, the motor shaft of bottom connection first motor (111) of inner ring pattern (114), In axial direction it is arranged on the outer surface of inner ring pattern (114) and a plurality of puts slot and magnetic shoe puts slot for circlip；Circlip pendulum It puts slot and magnetic shoe is put slot and is arranged alternately；Magnetic shoe is respectively corresponded on the outer surface of outer ring pattern (113) puts slot setting the 5th Cylinder (115), radial expansion of the piston rod of the 5th cylinder (115) along outer ring pattern (113), the cylinder of the 5th cylinder (115) Body is arranged on the outer surface of outer ring pattern (113), and the piston rod of the 5th cylinder (115) protrudes into outer ring pattern (113) when stretching out The magnetic shoe that inner cavity withstands on inner ring pattern (114) puts the magnetic shoe in slot；

Magnetic shoe feeding unit material (2) include magnetic shoe feeding platform (21), for go up and down conveying magnetic shoe the second conveying robot (23) and Crawl magnetic shoe and the first conveying robot (22) for being sent into integrated positioning fixture (11)；Magnetic shoe feeding platform (21) includes the first table top Plate, the first lower plate and four the first supporting legs for connecting the first deck plate and the first lower plate；First conveying robot (22) It is mounted on the first deck plate；Second conveying robot (23) is installed between the first deck plate and the first lower plate；

Circlip feeding unit material (3) includes circlip feeding platform (31), lifting platform (33) and crawl circlip for going up and down conveying circlip And it is sent into the third conveying robot (32) of integrated positioning fixture (11)；Circlip feeding platform (31) includes the second deck plate, second Lower plate and four the second supporting legs for connecting the second deck plate and the second lower plate；Lifting platform (33) is installed on the second deck plate Between the second lower plate；The third conveying robot (32) is mounted on the second deck plate；

Shell feeding unit material (4) includes shell feeding platform (41) and the 4th conveying robot (42) for going up and down conveying shell； Shell feeding platform (41) includes third deck plate, third lower plate and four thirds for connecting third deck plate and third lower plate Supporting leg；4th conveying robot (42) is installed between third deck plate and third lower plate；

Single column conveying robot (6) include column (61), the first guide rod cylinder (62), the second guide rod cylinder (63), for pressing from both sides Hold the third pick tool (64) of shell and the assembling assembly being assembled to form by magnetic shoe, circlip and shell；Column (61) is vertical Setting, column (61) top are arranged inner cavity, are equipped with third oscillating cylinder (611), third oscillating cylinder vertically in inner cavity (611) the cylinder body lower end surface of output connection the first guide rod cylinder (62)；The piston rod of first guide rod cylinder (62) is horizontally disposed, The piston rod of first guide rod cylinder (62) connects the second guide rod cylinder (63) side；The piston rod of second guide rod cylinder (63) is vertical It is arranged downward, third pick tool (64) is arranged in the piston rod end of the second guide rod cylinder (63)；

Third pick tool (64) includes support tube (642), vertical machine (641), rotating disk (643), fixed disk (644) and four A collet (645)；Support tube (642) includes the support cylinder of upper end closed lower ending opening and is arranged in the intracorporal centre of support tube The inner cavity for supporting cylinder is separated into two independent inner cavities by partition, intermediate bulkhead, respectively on support tube under inner cavity and support tube Inner cavity, the upper surface of piston rod connection support tube (642) of the second guide rod cylinder (63)；Vertical machine (641) is located at into support Intracavitary on cylinder, vertical machine (641) is vertically set on intermediate bulkhead and the motor shaft of vertical machine (641) passes through middle interval Plate protrudes into support tube lower inner cavity；Rotating disk (643) is located in support tube lower inner cavity, and rotating disk (643) is arranged in vertical machine (641) on motor shaft, fixed disk (644) is fixed at support tube (642) lower ending opening, and four collets (645) are blocked simultaneously Enter rotating disk (643) and fixed disk (644), four collets (645) rotate each along the waist type groove (6431) on rotating disk (643) And dovetail groove (6441) sliding on fixed disk (644) simultaneously, realize that four collets (645) are radial same along fixed disk (644) When clamp or release.

2. being embedded in line for permanent magnet DC motor magnetic shoe circlip as described in claim 1, which is characterized in that the first handling machinery Hand (22) include the first " L " type bracket (221), the first cylinder (222), the first rotary cylinder (223), the second cylinder (224) and First pick tool (225)；First " L " type bracket (221) short side end face is fixed on the first deck plate, the first cylinder (222) It is arranged on first " L " type bracket (221) long side side downwards, the first rotary cylinder (223) is arranged in the first cylinder (222) on piston shaft and the gyratory directions of the first rotary cylinder (223) are vertical with the telescopic direction of the first cylinder (222) sets It sets；The revolving platform of first rotary cylinder (223) passes through first " L " type connecting rod connection the second cylinder (224), the second cylinder (224) Cylinder body connect first " L " type connecting rod, the piston rod of the second cylinder (224) connects the first pick tool (225), and first picks up work Have at least four first vacuum chucks that (225) include magnetic shoe tool palette and are mounted on magnetic shoe tool palette, magnetic shoe tool palette is set The piston rod end in the second cylinder (224) is set, the first vacuum chuck is directed toward the first through slot opened up in the first deck plate plate face.

3. being embedded in line for permanent magnet DC motor magnetic shoe circlip as described in claim 1, which is characterized in that the second handling machinery Hand (23) includes the second motor (231), the first screw rod (232), the first guide rod (233), the first sliding block (234) and first liang of finger-type Clamping cylinder (235)；Second motor (231) is installed by electric motor stand on the back side of lower first lower plate, the second motor (231) Motor shaft by shaft coupling connection the first screw rod (232) lower end, the first screw rod (232) be arranged in the first deck plate and first Between lower plate and the first screw rod (232) is rotatablely connected the first deck plate and the first lower plate by bearing；First sliding block (234) the first screw rod (232) are connected by screw thread pair, the first guide rod (233) setting the first deck plate and the first lower plate it Between and the first guide rod (233) upper and lower side be separately fixed on the first deck plate and the first lower plate；First sliding block (234) sliding sleeve On the first guide rod (233), first liang of finger-type clamping cylinder (235) is arranged on the first sliding block (234), first liang of finger-type folder The gripping finger of tight cylinder (235) is located at the underface of the first through slot on the first deck plate.

4. being embedded in line for permanent magnet DC motor magnetic shoe circlip as described in claim 1, which is characterized in that lifting platform (33) packet Include third motor (331), the second screw rod (332), lifter plate (334) and two second guide rods (333)；Third motor (331) is logical It crosses electric motor stand to install on the back side of lower second lower plate, the motor shaft of third motor (331) connects second by shaft coupling The lower end of bar (332), the second screw rod (332) is arranged between the second deck plate and the second lower plate and the second screw rod (332) is equal The second deck plate and the second lower plate are rotatablely connected by bearing；Two second guide rods (333) be arranged at the second deck plate and Between second lower plate and two second guide rods (333) are each attached on the second deck plate and the second lower plate；Lifter plate (334) It is arranged in parallel between the second deck plate and the second lower plate, lifter plate (334) and the second screw rod (332) are connected by screw thread pair It connects, lifter plate (334) sliding sleeve is on two second guide rods (333)；The second through slot is provided in the plate face of the second deck plate.

5. being embedded in line for permanent magnet DC motor magnetic shoe circlip as claimed in claim 4, which is characterized in that third handling machinery Hand (32) include the second " L " type bracket (321), third cylinder (322), the second rotary cylinder (323), the 4th cylinder (324) and Second pick tool (325)；Second " L " type bracket (321) short side end face is fixed on the second deck plate, third cylinder (322) It is arranged on second " L " type bracket (321) long side side downwards, the second rotary cylinder (323) is arranged in third cylinder (322) on piston shaft and the gyratory directions of the second rotary cylinder (323) are vertical with the telescopic direction of third cylinder (322) sets It sets；The revolving platform of second rotary cylinder (323) connects the 4th cylinder (324), the 4th cylinder (324) by second " L " type connecting rod Cylinder body connect second " L " type connecting rod, the piston rod of the 4th cylinder (324) connects the second pick tool (325), and second picks up work Have at least two second vacuum chucks that (3255) include circlip tool palette and are mounted on magnetic shoe tool palette, circlip tool palette is set It sets in the piston rod end of the 4th cylinder (324), the second vacuum chuck is directed toward the second through slot on the second deck plate, for adsorbing The circlip that lifter plate (334) is sent.

6. being embedded in line for permanent magnet DC motor magnetic shoe circlip as described in claim 1, which is characterized in that the 4th motor (421), third screw rod (422), two third guide rods (423), the second sliding block (424) and second liang of finger-type clamping cylinder (425)； 4th motor (421) is installed by electric motor stand on the back side of lower third lower plate, and the motor shaft of the 4th motor (421) passes through connection Axis device connects the lower end of third screw rod (422), and third screw rod (422) is arranged between third deck plate and third lower plate and the Three screw rods (422) are rotatablely connected third deck plate and third lower plate by bearing；Two third guide rods (423) are arranged at Between third deck plate and third lower plate and two third guide rods (423) are each attached to third deck plate and third lower plate On；Second sliding block (424) is mounted in two third guide rods (423) by screw thread pair connection third screw rod (422) and by sliding sleeve On, second liang of finger-type clamping cylinder (425) setting is used to clamp shell in the second sliding block (424), in the plate face of third deck plate On open up third through slot, second liang of finger-type clamping cylinder (425) is located at the underface of third through slot.