CN109660080B - Automatic assembly system for small motor assembly - Google Patents
Automatic assembly system for small motor assembly Download PDFInfo
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- CN109660080B CN109660080B CN201811644098.9A CN201811644098A CN109660080B CN 109660080 B CN109660080 B CN 109660080B CN 201811644098 A CN201811644098 A CN 201811644098A CN 109660080 B CN109660080 B CN 109660080B
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- carbon brush
- assembly
- brush holder
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- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 201
- 229910052799 carbon Inorganic materials 0.000 claims abstract description 201
- 230000007246 mechanism Effects 0.000 claims abstract description 138
- 238000012546 transfer Methods 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 53
- 238000003825 pressing Methods 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 5
- 230000032258 transport Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 18
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
Abstract
The application discloses an automatic assembly system of a small motor component, which comprises a carbon brush holder assembly mechanism, a front cover assembly mechanism, a motor shell assembly mechanism, a rotor transfer mechanism and an electric control system, wherein the carbon brush holder assembly mechanism is arranged on the front cover assembly mechanism; the rotor transfer mechanism comprises at least an upper layer and a lower layer, wherein the upper layer is a fixed layer, the lower layer is a round table capable of rotating along the axis of the lower layer, and four assembly stations are uniformly distributed on the table top of the round table along the arc-shaped edge of the table top; the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are respectively arranged at the outer sides of three assembly stations; after the press fitting of the current working procedure is completed, the rotor transferring mechanism transfers the rotor to the next assembly station. According to the application, the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are arranged around the rotatable rotor transfer mechanism, so that the automatic assembly of a motor assembly can be realized, and the assembly efficiency is obviously improved; the hardware foundation is provided for tooling design, product quality tracing and the like of motor assembly.
Description
Technical Field
The application relates to a small motor automatic assembly technology, in particular to an automatic assembly system for a small motor component.
Background
At present, the mature automatic production line is more applied to enterprises such as large-scale whole car production factories and large-scale household electrical appliance production manufacturing, more serves for automobile manufacturers or large-scale household electrical appliance manufacturers, the occupation area of automatic production equipment is larger, the tooling design is simpler, the requirement on the design precision of the tooling fixture is lower, the produced and manufactured products are relatively thick and crazy, and small errors are allowed. In the field of small motor production and manufacturing, the small motor is relatively small in size and limited by application scenes, and the precision requirement of the market on small motor assembly is high, so that no mature small motor assembly production line exists at present, and most of small motors are assembled manually.
Because the parts of the small motor are fine, the time and the labor are consumed seriously in the assembly process, so that more unqualified products are caused by human factors, and the quality of the products is lack of accurate control; the existing large-scale existing mature automatic production line cannot be directly applied to motor automatic production, has high technical requirements on the improvement of the existing production line, and is difficult to realize; the production quality of the product is not well managed, and the production data of the product is not traceable; the production cost of the product is high, the manufacturing efficiency is low, the stability and the reliability of the product are not well ensured, and the yield is low; the traditional technology has large enterprise investment, low benefit, high technical capability requirement on workers and long-term training and management; accordingly, there is a need for a small motor assembly automated assembly system that solves the above-described problems.
Disclosure of Invention
In order to solve the technical problems, the application provides an automatic assembly system for small motor components, and the application respectively provides a carbon brush holder assembly mechanism, a front cover assembly mechanism and a motor shell assembly mechanism, which can obviously improve the degree of automation of assembly of the carbon brush holder, the front cover and the motor shell and effectively improve the motor assembly efficiency; according to the application, the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are arranged around the rotatable rotor transfer mechanism, so that the automatic assembly of the motor rotor, the carbon brush frame, the front cover and the shell can be realized, the motor assembly time is effectively shortened, and the assembly efficiency is further improved; in addition, the application adopts automatic motor assembly to assemble, which can obviously save manpower, and provides hardware foundation for tooling design, part handling, sensor installation and application, system control, production data transmission and preservation, product quality tracing and the like of motor assembly.
In order to achieve the above purpose, the application provides an automatic assembly system of a small motor assembly, which comprises a carbon brush frame assembly mechanism, a front cover assembly mechanism, a motor shell assembly mechanism, a rotor transfer mechanism and an electric control system;
the rotor transfer mechanism comprises at least an upper layer and a lower layer, wherein the upper layer is a fixed layer, the lower layer is a round table capable of rotating along the axis of the lower layer, and four assembly stations are uniformly distributed on the table top of the round table along the arc-shaped edge of the table top; the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are respectively arranged at the outer sides of three assembly stations;
the carbon brush holder assembly mechanism comprises a rotor feeding device for providing a rotor, a carbon brush holder feeding device for providing a carbon brush holder, and a first carrying device for carrying the rotor and the carbon brush holder and sleeving the carbon brush holder on a rotor shaft; after the carbon brush frame is pressed, the rotor transferring mechanism transfers the rotor with the pressed carbon brush frame to the next assembling station;
the front cover assembly mechanism comprises a front cover feeding device for providing a front cover and a front cover press-fitting device for press-fitting the front cover on the rotor; the rotor with the carbon brush holder assembled by pressing is transported to an assembling station corresponding to the front cover assembling mechanism, the front cover pressing device presses the front cover on the rotor with the carbon brush holder assembled by pressing, and the rotor transporting mechanism transports the rotor with the front cover assembled by pressing to a next assembling station;
the motor shell assembling mechanism comprises a rotor conveying device and a shell press-fitting device, wherein the rotor conveying device is arranged adjacent to the rotor transferring mechanism, a rotor, close to an assembling station, of which a front cover is pressed and fitted is conveyed to the shell press-fitting device, and the shell is pressed and fitted on the rotor of which the front cover is pressed and fitted by the shell press-fitting device, so that the assembly is completed;
the electric control system is respectively connected with the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism and is used for providing electric energy for the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism and controlling the assembly action of the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism.
Preferably, the carbon brush holder assembly mechanism further comprises a carbon brush holder guide device, wherein the carbon brush holder guide device comprises a guide sleeve, a guide sleeve grip, a guide sleeve lifting cylinder and a guide sleeve clamping cylinder;
the guide sleeve lifting cylinder is arranged on a fixed layer of the rotor transfer mechanism and is arranged adjacent to the carbon brush frame assembly mechanism;
the guide sleeve clamping cylinder is arranged on the guide sleeve lifting cylinder and can move up and down along with the guide sleeve lifting cylinder;
the guide sleeve grippers are respectively connected with the guide sleeve and the guide sleeve clamping cylinder, and after the carbon brush frame is installed in the rotor shaft, the guide sleeve grippers sleeve the guide sleeve on the carbon brush frame and are used for aligning the carbon brush frame to enable the carbon brush frame to be coaxial with the rotor.
Preferably, the rotor feeding device comprises a first rotor guide rail, a first rotor carrying table, a rotor carrying cylinder, a first rotor detection sensor and a rotor carrying cylinder detection sensor; the first rotor carrier is arranged on the first rotor guide rail, and the rotor carrying cylinder is connected with the first rotor carrier and can drive the first rotor carrier to slide along the first rotor guide rail; the first rotor detection sensor is arranged on one side of the first rotor guide rail and is used for detecting whether a rotor is placed on the first rotor carrier or not; the rotor carrying cylinder detection sensor is arranged at the front end of the first rotor guide rail and is used for detecting whether the rotor carrying cylinder drives the first rotor carrying platform into position or not:
the carbon brush frame feeding device comprises a carbon brush frame guide rail, a carbon brush frame carrier, a carbon brush frame carrying cylinder, a first carbon brush frame detection sensor and two-dimensional code identification equipment; the carbon brush carrier is arranged on the carbon brush carrier guide rail, and the carbon brush carrier carrying cylinder is connected with the carbon brush carrier and drives the carbon brush carrier to slide along the carbon brush carrier guide rail; the first carbon brush holder detection sensor is used for detecting whether a carbon brush holder is placed on the carbon brush holder carrier or not; the two-dimensional code identification equipment is arranged on one side of the carbon brush frame guide rail and is used for acquiring identification information of the carbon brush frame by scanning and identifying the two-dimensional code on the carbon brush frame; if the two-dimensional code of the scanned carbon brush frame cannot be identified, the carbon brush frame is picked up to the carbon brush frame recovery position by the first carrying device;
the first carrying device comprises a carrying robot, wherein a rotor gripper, a rotor gripper control cylinder, a first carbon brush holder gripper and a first carbon brush holder gripper control cylinder are arranged on the carrying robot, and the rotor gripper control cylinder is connected with the rotor gripper and used for controlling the rotor gripper to grasp a rotor and placing the rotor on a corresponding assembly station; the first carbon brush holder gripper control cylinder is connected with the first carbon brush holder gripper and used for controlling the first carbon brush holder gripper to grasp the carbon brush holder and sleeving the carbon brush holder on the rotor shaft.
Preferably, the front cover loading device comprises a front cover guide rail, a front cover carrying cylinder and a front cover carrying platform; the front cover carrying platform is arranged on the front cover guide rail, and is provided with a front cover azimuth correcting motor and a front cover placing platform adjacent to the front cover correcting motor; the front cover carrying cylinder is connected with the front cover carrying platform and used for driving the front cover carrying platform to slide along the front cover guide rail;
the front cover press-fitting device comprises a front cover lifting cylinder, a front cover grabbing tool, a front cover detection sensor and a press-fitting in-place detection sensor, wherein the front cover lifting cylinder is connected with the front cover grabbing tool and is used for driving the front cover grabbing tool to move up and down so as to realize press-fitting of the front cover and return of the front cover grabbing tool; the front cover detection sensor is arranged on one side of the front cover grabbing tool and used for detecting whether the front cover grabbing tool grabs a front cover or not; the press-fit in-place detection sensor is arranged on the front cover grabbing tool and detects whether the front cover is press-fitted in place or not through detecting the rotor shaft.
Preferably, the front cover grabbing tool comprises a connecting plate, a front cover suction plate and a plurality of positioning pins, wherein the connecting plate is connected with the bottom of the front cover lifting cylinder; the front cover suction plate is fixed on the connecting plate through a base plate, a front cover grabbing magnet is embedded in the front cover suction plate, and the positioning pins are arranged around the front cover suction plate and used for limiting the front cover;
the upper ends of the front cover suction plate, the base plate and the connecting plate are provided with through holes, and the rotor shaft passes through the through holes when in press-fitting action; the front cover detection sensor is arranged on one side of the connecting plate and used for detecting whether a front cover is adsorbed at the front cover suction plate or not; the press-fit in-place detection sensor is fixed on the front end face of the connecting plate and communicated with the through hole, and the press-fit in-place detection sensor is arranged at the front end of the connecting plate and used for detecting whether the front cover is press-fitted in place.
Preferably, the front cover azimuth correcting motor adopts a stepping motor, and one end of the stepping motor adjacent to the front cover placing table is provided with a front cover azimuth detecting sensor for detecting whether the front cover azimuth is correct, and if the front cover azimuth is incorrect, the stepping motor starts and drives the front cover to rotate until the front cover is righted.
Preferably, the front cover assembly mechanism further comprises a clamping device for fixing the rotor, wherein the clamping device is arranged on the fixing layer of the rotor transferring mechanism and is arranged adjacent to the front cover press-fitting device.
Preferably, the clamping device comprises a first clamping cylinder, a first clamping grip, a clamping-in-place magnetic detection switch and a loosening-in-place magnetic detection switch; the first clamping cylinder is connected with the first clamping gripper and used for controlling the first clamping gripper to position the front cover to be pressed; the clamping in-place magnetic detection switch and the loosening in-place magnetic detection switch are both arranged on the first clamping cylinder and used for detecting the working state of the first clamping cylinder.
Preferably, the rotor transfer device includes a rotor carrying device and a rotor conveying device, and the rotor carrying device is disposed adjacent to the rotor conveying device;
the rotor carrying device comprises a second rotor guide rail, a first rotor grabbing tool and a rotor lifting cylinder, wherein the first rotor grabbing tool is arranged on the second rotor guide rail, and the rotor lifting cylinder is connected with the first rotor grabbing tool and used for driving the rotor lifting cylinder to move up and down; the first rotor grabbing tool is used for grabbing a rotor close to the assembly station to be pressed with the shell onto the rotor conveying device;
the rotor conveying device comprises a third rotor guide rail, a second rotor carrying platform and a carrying platform driving cylinder; the second rotor carrying platform is arranged on the third rotor guide rail and is used for carrying a rotor of the shell to be pressed; the carrier driving cylinder is connected with the second rotor carrier and used for driving the second rotor carrier to slide along a third rotor guide rail;
the shell press-fitting device comprises a shell positioning piece, a second rotor grabbing tool and a rotor press-fitting cylinder; the shell positioning piece is arranged at the lower end of the rotor grabbing tool; the rotor press-fitting cylinder is connected with the second rotor grabbing tool and is used for driving the second rotor grabbing tool to move up and down so as to press the rotor with the press-fitted front cover into the machine shell or drive the second rotor grabbing tool to return.
Preferably, the first rotor grabbing tool comprises a rotor shaft grabbing device and a carbon brush holder grabbing device;
the rotor shaft grabbing device comprises rotor shaft clamping claws, a rotor shaft clamping claw positioning block and a rotor shaft clamping claw control motor, the rotor shaft clamping claw positioning block is connected with the rotor lifting cylinder, and the rotor shaft clamping claws are arranged in the rotor shaft clamping positioning block; the rotor shaft clamping jaw driving cylinder is connected with the rotor shaft clamping jaw and used for driving the rotor shaft clamping jaw to open and close so as to grab the rotor shaft;
the carbon brush holder grabbing device comprises a second carbon brush holder gripper and a second carbon brush holder gripper control cylinder, wherein the second carbon brush holder gripper control cylinder is connected with the second carbon brush holder gripper and used for controlling the second carbon brush holder gripper to grasp the carbon brush holder on the rotor;
the rotor shaft grabbing device is arranged at the upper end of the carbon brush frame grabbing device.
Compared with the prior art, the application has the beneficial effects that:
1) The application provides a carbon brush holder assembly mechanism, a front cover assembly mechanism and a motor shell assembly mechanism respectively, which can obviously improve the degree of automation of the assembly of a carbon brush holder, a front cover and a motor shell and effectively improve the assembly efficiency of a motor;
2) According to the application, the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are arranged around the rotatable rotor transfer mechanism, so that the automatic assembly of the motor rotor, the carbon brush frame, the front cover and the shell can be realized, the motor assembly time is effectively shortened, and the assembly efficiency is improved;
3) The application adopts automatic motor assembly, can obviously save manpower, and provides hardware foundation for tooling design, part handling, sensor installation and application, system control, production data transmission and storage, product quality tracing and the like of motor assembly.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a top view of the overall structure of a first embodiment of the application;
FIG. 2 is a perspective view of the overall structure of a first embodiment of the present application;
FIG. 3 is a schematic view of a carbon brush holder assembly mechanism according to a first embodiment of the present application;
FIG. 4 is a schematic structural view of a front cover assembly mechanism according to a first embodiment of the present application;
fig. 5 is a schematic structural diagram of a front cover grabbing tool in a first embodiment of the present application;
FIG. 6 is a schematic view of a motor housing assembly mechanism according to a first embodiment of the present application;
fig. 7 is a schematic partial structure of a rotor shaft gripping device according to a first embodiment of the present application.
100 parts of a carbon brush holder assembly mechanism; 200. a front cover assembly mechanism; 300. a motor housing assembly mechanism; 400. a rotor transfer mechanism; 500. a rotor; 600. a carbon brush holder; 700. a front cover;
110. rotor feeding device; 120. a carbon brush holder feeding device; 130. a transfer robot; 140. a carbon brush holder guide;
111. a first rotor rail, 112, a first rotor stage; 113. a rotor carrying cylinder; 114. a first rotor detection sensor;
121. a carbon brush holder guide rail; 122. a carbon brush holder carrier; 123. a first carbon brush holder detection sensor; 124. two-dimensional code identification equipment;
131. a rotor gripper; 132. a rotor gripper control cylinder; 133. a first carbon brush holder grip; 134. the carbon brush holder gripper controls the cylinder;
141. a guide sleeve; 142. a guide sleeve grip; 143. a guide sleeve lifting cylinder; 144. the guide sleeve clamps the air cylinder;
210. a front cover feeding device; 220. a front cover press-fitting device; 230. a clamping device;
211. a front cover rail; 212. a front cover carrying cylinder; 213. a front cover carrier;
2131. a motor is corrected in the front cover direction; 2132. a front cover placing table;
221. a front cover lifting cylinder; 222. front cover grabbing tool; 223. a front cover detection sensor; 224. a press-fit in-place detection sensor;
2221. a connecting plate; 2222. a front cover suction plate; 2223. a positioning pin; 2224. a backing plate; 2225. a magnet; 2226. a through hole;
231. a first clamping cylinder; 232. a first clamping grip;
310. a rotor transfer device; 320. a housing press-fitting device;
311. a rotor carrying device; 312. a rotor conveying device;
3111. a second rotor rail; 3112. the first rotor grabbing tool; 3113. a rotor lifting cylinder;
31121. rotor shaft clamping jaws; 31122. a rotor shaft clamping jaw positioning block;
3121. a third rotor rail; 3122. a second rotor stage; 3123. the carrier drives the electric cylinder;
321. a housing positioning member; 322. the second rotor grabs the frock; 323. the rotor is pressed and assembled with the air cylinder;
410. a fixed layer; 420. and (5) round tables.
Detailed Description
The application will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Furthermore, in the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Examples
Referring to fig. 1 and 2, an automatic assembly system for small motor assembly includes a carbon brush holder assembly mechanism 100, a front cover assembly mechanism 200, a motor housing assembly mechanism 300, a rotor transfer mechanism 400, and an electrical control system; specific:
in this embodiment, the rotor transferring mechanism 400 includes an upper layer and a lower layer, wherein the upper layer is a fixed layer 410 with a circular cross section, the lower layer is a round table 420 capable of rotating along its own axis, and a, b, c, d assembling stations are uniformly distributed on the table top of the round table 420 along the arc edge thereof; the carbon brush holder assembly mechanism 100, the front cover assembly mechanism 200 and the motor casing assembly mechanism 300 are respectively arranged at the outer sides of the three assembly stations;
as shown in fig. 3, the carbon brush holder assembly mechanism 100 includes a rotor feeding device 110 for providing a rotor, a carbon brush holder feeding device 120 for providing a carbon brush holder, a first carrying device for carrying the rotor 500 and the carbon brush holder 600 and sleeving the carbon brush holder 600 on a rotor shaft, and a carbon brush holder guide device 140 for aligning the carbon brush holder 600 to be coaxial with the rotor; wherein:
the rotor feeding device 110 includes a first rotor rail 111, a first rotor carrier 112, a rotor carrying cylinder 113, a first rotor detection sensor 114, and a rotor carrying cylinder detection sensor (not shown); the first rotor carrier 112 is disposed on the first rotor rail 111, and the rotor carrying cylinder 113 is connected to the first rotor carrier 112 and can drive the first rotor carrier 112 to slide along the first rotor rail 111; the first rotor detecting sensor 114 is disposed at one side of the first rotor rail 111, and is used for detecting whether the rotor 500 is placed on the first rotor carrier 112; the rotor carrying cylinder detection sensor is disposed at the front end of the first rotor guide rail 111, and is used for detecting whether the rotor carrying cylinder 113 drives the first rotor carrier 112 into position:
the carbon brush holder loading device 120 comprises a carbon brush holder guide rail 121, a carbon brush holder carrying table 122, a carbon brush holder carrying cylinder (not shown in the figure), a first carbon brush holder detection sensor 113 and a two-dimensional code identification device 124; the carbon brush carrier 122 is arranged on the carbon brush carrier guide rail 121, and the carbon brush carrier carrying cylinder 113 is connected with the carbon brush carrier 122 and drives the carbon brush carrier to slide along the carbon brush carrier guide rail 121; the first brush holder detecting sensor 113 is used for detecting whether the brush holder 600 is placed on the brush holder carrier 122; the two-dimension code recognition device 124 is arranged at one side of the carbon brush holder guide rail 121 and is used for acquiring the identification information of the carbon brush holder 600 by scanning and recognizing the two-dimension code on the carbon brush holder; if the two-dimensional code of the scanned carbon brush frame cannot be identified, the carbon brush frame is picked up to the carbon brush frame recovery position by the first carrying device;
the first carrying device comprises a carrying robot 130, wherein a rotor gripper 131, a rotor gripper control cylinder 132, a first carbon brush holder gripper 133 and a first carbon brush holder gripper control cylinder 134 are arranged on the carrying robot 130, and the rotor gripper control cylinder 132 is connected with the rotor gripper 131 and used for controlling the rotor gripper 131 to grasp a rotor and placing the rotor on a corresponding assembly station; the first carbon brush holder gripper control cylinder 132 is connected with the first carbon brush holder gripper, and is used for controlling the first carbon brush holder gripper 131 to grasp the carbon brush holder and sleeving the carbon brush holder on the rotor shaft.
The carbon brush holder guide device 140 comprises a guide sleeve 141, a guide sleeve 141 gripper, a guide sleeve lifting cylinder 143 and a guide sleeve clamping cylinder 144; specific:
the guide sleeve lifting cylinder 143 is arranged on the fixed layer 410 of the rotor transferring mechanism 400 and is arranged adjacent to the carbon brush holder assembly mechanism 100;
the guide sleeve clamping cylinder 144 is arranged on the guide sleeve lifting cylinder 143 and can move up and down along with the guide sleeve lifting cylinder 143;
the guiding sleeve grip 142 is respectively connected with the guiding sleeve 141 and the guiding sleeve clamping cylinder 144, and after the carbon brush frame is assembled into the rotor shaft, the guiding sleeve grip 142 is sleeved on the carbon brush frame by the guiding sleeve grip 141 and is used for aligning the position of the carbon brush frame so that the carbon brush frame is coaxial with the rotor.
After the carbon brush holder is pressed, the round table 420 of the rotor transferring mechanism 400 rotates by 90 degrees, and the rotor with the carbon brush holder pressed is transferred to the next assembling station.
As shown in fig. 4, the front cover assembly mechanism 200 includes a front cover loading device 210 for providing a front cover and a front cover press-fitting device 220 for press-fitting the front cover onto the rotor; the rotor with the carbon brush holder assembled by pressing is transferred to an assembling station corresponding to the front cover assembling mechanism 200, the front cover pressing device 220 presses the front cover on the rotor with the carbon brush holder assembled by pressing, and the rotor transferring mechanism 400 transfers the rotor with the front cover assembled by pressing to a next assembling station; specific:
the front cover loading device 210 comprises a front cover guide rail 211, a front cover carrying cylinder 212 and a front cover carrying platform 213; the front cover carrier 213 is disposed on the front cover rail 211, and is provided with a front cover azimuth correcting motor 2131 and a front cover placing table 2132 adjacent thereto; the front cover carrying cylinder 212 is connected with the front cover carrying platform 213 and is used for driving the front cover carrying platform 213 to slide along the front cover guide rail 211;
the front cover press-fitting device 220 comprises a front cover lifting cylinder 221, a front cover grabbing tool 222, a front cover detection sensor 223 and a press-fitting in-place detection sensor 224, wherein the front cover lifting cylinder 221 is connected with the front cover grabbing tool 222 and is used for driving the front cover grabbing tool 222 to move up and down so as to realize press-fitting of the front cover 700 and return of the front cover grabbing tool 222; the front cover detection sensor 223 is arranged at one side of the front cover grabbing tool 222 and is used for detecting whether the front cover grabbing tool 222 grabs the front cover; the press-fit in-place detection sensor 224 is disposed on the front cover grabbing tool 222, and detects whether the front cover is press-fitted in place by detecting the rotor shaft.
As shown in fig. 5, the front cover grabbing tool 222 includes a connecting plate 2221, a front cover suction plate 2222 and a plurality of positioning pins 2223, wherein the connecting plate 2221 is connected with the bottom of the front cover lifting cylinder 221; the front cover suction plate 2222 is fixed on the connecting plate 2221 through a base plate 2224, the front cover suction plate 2222 is embedded with a front cover grabbing magnet 2225, and positioning pins 2223 are arranged around the front cover suction plate 2222 and used for limiting the front cover 700;
a through hole 2226 is provided at the upper ends of the front cover suction plate 2222, the base plate 2224 and the connection plate 2221, and the rotor shaft is passed through the through hole 2226 when the press-fitting operation is performed; a front cover detection sensor 223 disposed at one side of the connection plate 2221, for detecting whether the front cover is adsorbed at the front cover adsorption plate 2221; the press-fit in-place detection sensor 224 is fixed on the front end face of the connecting plate 2221 and is communicated with the through hole 2226, and the press-fit in-place detection sensor 224 is arranged at the front end of the connecting plate 2221 and is used for detecting whether the front cover is press-fitted in place.
The front cover azimuth correcting motor 2131 adopts a stepping motor, and one end of the motor adjacent to the front cover placing table 2132 is provided with a front cover azimuth detecting sensor (not shown in the figure) for detecting whether the front cover azimuth is correct, if not, the stepping motor starts and drives the front cover to rotate until the front cover is right.
In addition, in the present embodiment, the front cover assembly mechanism 200 further includes a clamping device 230 for fixing the rotor, and the clamping device 230 is disposed on the fixing layer 410 of the rotor transferring mechanism 400 and is disposed adjacent to the front cover press-fitting device 220.
The clamping device 230 comprises a first clamping cylinder 231, a first clamping grip 232, a clamping-in-place magnetic detection switch and a loosening-in-place magnetic detection switch; the first clamping cylinder 231 is connected with the first clamping gripper 232 and is used for controlling the first clamping gripper 232 to position the front cover to be pressed; the clamping in-place magnetic detection switch and the unclamping in-place magnetic detection switch are arranged on the first clamping cylinder 231 and are used for detecting the working state of the first clamping cylinder 231.
As shown in fig. 6, the motor casing assembly mechanism 300 includes a rotor conveying device 310 and a casing press-fitting device 320, wherein the rotor conveying device 310 is disposed adjacent to the rotor transferring mechanism 400, and conveys the rotor with the press-fitted front cover adjacent to the assembly station to the casing press-fitting device 320, and the casing press-fitting device 320 presses-fits the casing onto the rotor with the press-fitted front cover, so as to complete assembly; specific:
the rotor transfer device 310 includes a rotor carrying device 311 and a rotor conveying device 312, and the rotor carrying device 311 is disposed adjacent to the rotor conveying device 312;
the rotor carrying device 311 comprises a second rotor guide rail 3111, a first rotor grabbing tool 3112 and a rotor lifting cylinder 3113, wherein the first rotor grabbing tool 3112 is arranged on the second rotor guide rail 3111, and the rotor lifting cylinder 3113 is connected with the first rotor grabbing tool 3112 and used for driving the rotor lifting cylinder 3113 to move up and down; a first rotor grabbing tool 3112, configured to grab a rotor adjacent to the assembly station, where the housing is to be press-fitted, onto the rotor conveying device 312;
rotor transport device 312 includes third rotor rail 3121, second rotor stage 3122, and stage drive cylinder 3123; the second rotor platform 3122 is disposed on the third rotor rail 3121 for carrying a rotor of the housing to be press-fitted; a stage driving cylinder 3123 connected to the second rotor stage 3122 for driving the second rotor stage 3122 to slide along the third rotor rail 3121;
the shell press-fitting device 320 comprises a shell positioning piece 321, a second rotor grabbing tool 322 and a rotor press-fitting cylinder 323; the shell positioning piece 321 is arranged at the lower end of the second rotor grabbing tool 322; the rotor press-fitting cylinder 323 is connected with the second rotor grabbing tool 322 and is used for driving the second rotor grabbing tool 322 to move up and down so as to press the rotor with the press-fitted front cover into the machine shell or drive the second rotor grabbing tool 322 to return.
In this embodiment, the first rotor grabbing tool 3112 includes a rotor shaft grabbing device and a carbon brush holder grabbing device, where the rotor shaft grabbing device is disposed at an upper end of the carbon brush holder grabbing device; as shown in fig. 7, the rotor shaft gripping device includes a rotor shaft grip 31121, a rotor shaft grip positioning block 31122, and a rotor shaft grip control motor (not shown), the rotor shaft grip positioning block 31122 is connected to the rotor lift cylinder 3113, and the rotor shaft grip 31121 is disposed in the rotor shaft grip positioning block 31122; the rotor shaft clamping jaw control motor is connected with the rotor shaft clamping jaw 31121 and used for driving the rotor shaft clamping jaw 31121 to open and close so as to grab the rotor shaft; the carbon brush holder grabbing device comprises a second carbon brush holder gripper and a second carbon brush holder gripper control cylinder, wherein the carbon brush holder gripper control cylinder is connected with the second carbon brush holder gripper and used for controlling the second carbon brush holder gripper to grab the carbon brush holder on the rotor; it is necessary to explain that: the reason for adopting the first rotor to snatch the frock and snatch (fixed) rotor shaft and carbon brush frame respectively is that: the carbon brush frame is sleeved on the rotor shaft, and the connection between the carbon brush frame and the rotor shaft is not firm, so that the claw shaft and the carbon brush frame need to be simultaneously grabbed in the link.
In addition, in this embodiment, the second rotor grabbing tool is similar to the first rotor grabbing tool in structure, and will not be described here again.
The electric control system is respectively connected with the carbon brush holder assembly mechanism 100, the front cover assembly mechanism 200, the motor shell assembly mechanism 300 and the rotor transfer mechanism 400 and is used for providing electric energy for the carbon brush holder assembly mechanism 100, the front cover assembly mechanism 200, the motor shell assembly mechanism 300 and the rotor transfer mechanism 400 and controlling the assembly actions of the carbon brush holder assembly mechanism 100, the front cover assembly mechanism 200, the motor shell assembly mechanism 300 and the rotor transfer mechanism 400.
Based on the above, the embodiment provides a carbon brush holder assembly mechanism, a front cover assembly mechanism and a motor housing assembly mechanism respectively, which can obviously improve the automation degree of the assembly of the carbon brush holder, the front cover and the motor housing, and effectively improve the assembly efficiency of the motor; according to the embodiment, the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are arranged around the rotatable rotor transfer mechanism, so that the automatic assembly of the motor rotor, the carbon brush frame, the front cover and the shell can be realized, the motor assembly time is effectively shortened, and the assembly efficiency is further improved; in addition, the embodiment adopts automatic motor assembly to assemble, can obviously save the manpower, and provides hardware basis to frock design, spare part transport, sensor installation and application, system control, production data transmission and save, product quality trace back etc. that the motor assembly was built into.
In addition, it should be noted that:
in the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by those skilled in the art without departing from the spirit and principles of the application, and any simple modification, equivalent variation and modification of the above embodiments in light of the technical principles of the application may be made within the scope of the present application.
Claims (10)
1. The automatic assembly system of the small motor assembly is characterized by comprising a carbon brush holder assembly mechanism, a front cover assembly mechanism, a motor shell assembly mechanism, a rotor transfer mechanism and an electric control system;
the rotor transfer mechanism comprises at least an upper layer and a lower layer, wherein the upper layer is a fixed layer, the lower layer is a round table capable of rotating along the axis of the lower layer, and four assembly stations are uniformly distributed on the table top of the round table along the arc-shaped edge of the table top; the carbon brush frame assembly mechanism, the front cover assembly mechanism and the motor shell assembly mechanism are respectively arranged at the outer sides of three assembly stations;
the carbon brush holder assembly mechanism comprises a rotor feeding device for providing a rotor, a carbon brush holder feeding device for providing a carbon brush holder, and a first carrying device for carrying the rotor and the carbon brush holder and sleeving the carbon brush holder on a rotor shaft; after the carbon brush frame is pressed, the rotor transferring mechanism transfers the rotor with the pressed carbon brush frame to the next assembling station;
the front cover assembly mechanism comprises a front cover feeding device for providing a front cover and a front cover press-fitting device for press-fitting the front cover on the rotor; the rotor with the carbon brush holder assembled by pressing is transported to an assembling station corresponding to the front cover assembling mechanism, the front cover pressing device presses the front cover on the rotor with the carbon brush holder assembled by pressing, and the rotor transporting mechanism transports the rotor with the front cover assembled by pressing to a next assembling station;
the motor shell assembling mechanism comprises a rotor conveying device and a shell press-fitting device, wherein the rotor conveying device is arranged adjacent to the rotor transferring mechanism, a rotor, close to an assembling station, of which a front cover is pressed and fitted is conveyed to the shell press-fitting device, and the shell is pressed and fitted on the rotor of which the front cover is pressed and fitted by the shell press-fitting device, so that the assembly is completed;
the electric control system is respectively connected with the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism and is used for providing electric energy for the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism and controlling the assembly action of the carbon brush holder assembly mechanism, the front cover assembly mechanism, the motor shell assembly mechanism and the rotor transfer mechanism.
2. The automatic assembly system of small motor components according to claim 1, wherein the carbon brush holder assembly mechanism further comprises a carbon brush holder guiding device, the carbon brush holder guiding device comprises a guiding sleeve, a guiding sleeve gripper, a guiding sleeve lifting cylinder and a guiding sleeve clamping cylinder;
the guide sleeve lifting cylinder is arranged on a fixed layer of the rotor transfer mechanism and is arranged adjacent to the carbon brush frame assembly mechanism;
the guide sleeve clamping cylinder is arranged on the guide sleeve lifting cylinder and can move up and down along with the guide sleeve lifting cylinder;
the guide sleeve grippers are respectively connected with the guide sleeve and the guide sleeve clamping cylinder, and after the carbon brush frame is installed in the rotor shaft, the guide sleeve grippers sleeve the guide sleeve on the carbon brush frame and are used for aligning the carbon brush frame to enable the carbon brush frame to be coaxial with the rotor.
3. The automatic assembly system of small motor assemblies according to claim 2, wherein the rotor loading device comprises a first rotor guide rail, a first rotor carrier, a rotor carrying cylinder, a first rotor detection sensor and a rotor carrying cylinder detection sensor; the first rotor carrier is arranged on the first rotor guide rail, and the rotor carrying cylinder is connected with the first rotor carrier and can drive the first rotor carrier to slide along the first rotor guide rail; the first rotor detection sensor is arranged on one side of the first rotor guide rail and is used for detecting whether a rotor is placed on the first rotor carrier or not; the rotor carrying cylinder detection sensor is arranged at the front end of the first rotor guide rail and is used for detecting whether the rotor carrying cylinder drives the first rotor carrying platform into position or not:
the carbon brush frame feeding device comprises a carbon brush frame guide rail, a carbon brush frame carrier, a carbon brush frame carrying cylinder, a first carbon brush frame detection sensor and two-dimensional code identification equipment; the carbon brush carrier is arranged on the carbon brush carrier guide rail, and the carbon brush carrier carrying cylinder is connected with the carbon brush carrier and drives the carbon brush carrier to slide along the carbon brush carrier guide rail; the first carbon brush holder detection sensor is used for detecting whether a carbon brush holder is placed on the carbon brush holder carrier or not; the two-dimensional code identification equipment is arranged on one side of the carbon brush frame guide rail and is used for acquiring identification information of the carbon brush frame by scanning and identifying the two-dimensional code on the carbon brush frame; if the two-dimensional code of the scanned carbon brush frame cannot be identified, the carbon brush frame is picked up to the carbon brush frame recovery position by the first carrying device;
the first carrying device comprises a carrying robot, wherein a rotor gripper, a rotor gripper control cylinder, a first carbon brush holder gripper and a first carbon brush holder gripper control cylinder are arranged on the carrying robot, and the rotor gripper control cylinder is connected with the rotor gripper and used for controlling the rotor gripper to grasp a rotor and placing the rotor on a corresponding assembly station; the first carbon brush holder gripper control cylinder is connected with the first carbon brush holder gripper and used for controlling the first carbon brush holder gripper to grasp the carbon brush holder and sleeving the carbon brush holder on the rotor shaft.
4. The automated small motor assembly system of claim 1, wherein the front cover loading device comprises a front cover rail, a front cover handling cylinder, and a front cover carrier; the front cover carrying platform is arranged on the front cover guide rail, and is provided with a front cover azimuth correcting motor and a front cover placing platform adjacent to the front cover correcting motor; the front cover carrying cylinder is connected with the front cover carrying platform and used for driving the front cover carrying platform to slide along the front cover guide rail;
the front cover press-fitting device comprises a front cover lifting cylinder, a front cover grabbing tool, a front cover detection sensor and a press-fitting in-place detection sensor, wherein the front cover lifting cylinder is connected with the front cover grabbing tool and is used for driving the front cover grabbing tool to move up and down so as to realize press-fitting of the front cover and return of the front cover grabbing tool; the front cover detection sensor is arranged on one side of the front cover grabbing tool and used for detecting whether the front cover grabbing tool grabs a front cover or not; the press-fit in-place detection sensor is arranged on the front cover grabbing tool and detects whether the front cover is press-fitted in place or not through detecting the rotor shaft.
5. The automatic small motor assembly system according to claim 4, wherein the front cover grabbing tool comprises a connecting plate, a front cover suction plate and a plurality of positioning pins, and the connecting plate is connected with the bottom of the front cover lifting cylinder; the front cover suction plate is fixed on the connecting plate through a base plate, a front cover grabbing magnet is embedded in the front cover suction plate, and the positioning pins are arranged around the front cover suction plate and used for limiting the front cover;
the upper ends of the front cover suction plate, the base plate and the connecting plate are provided with through holes, and the rotor shaft passes through the through holes when in press-fitting action; the front cover detection sensor is arranged on one side of the connecting plate and used for detecting whether a front cover is adsorbed at the front cover suction plate or not; the press-fit in-place detection sensor is fixed on the front end face of the connecting plate and communicated with the through hole, and the press-fit in-place detection sensor is arranged at the front end of the connecting plate and used for detecting whether the front cover is press-fitted in place.
6. The automated small motor assembly system according to claim 4, wherein the front cover azimuth correcting motor is a stepper motor, and a front cover azimuth detecting sensor is disposed at an end of the stepper motor adjacent to the front cover placing table, for detecting whether the front cover is in a correct azimuth, and if not, the stepper motor starts and drives the front cover to rotate until the front cover is in a correct azimuth.
7. The automated small motor assembly system as recited in claim 1, wherein the front cover assembly mechanism further comprises a clamping device for securing the rotor, the clamping device being disposed on the securing layer of the rotor transfer mechanism and disposed adjacent to the front cover press-fit device.
8. The automated small motor assembly system of claim 7, wherein the clamping device comprises a first clamping cylinder, a first clamping gripper, a clamping in place magnetic detection switch, and a unclamping in place magnetic detection switch; the first clamping cylinder is connected with the first clamping gripper and used for controlling the first clamping gripper to position the front cover to be pressed; the clamping in-place magnetic detection switch and the loosening in-place magnetic detection switch are both arranged on the first clamping cylinder and used for detecting the working state of the first clamping cylinder.
9. The automated small motor assembly system of claim 1, wherein the rotor conveyor comprises a rotor handling device and a rotor conveyor, the rotor handling device being disposed adjacent to the rotor conveyor;
the rotor carrying device comprises a second rotor guide rail, a first rotor grabbing tool and a rotor lifting cylinder, wherein the first rotor grabbing tool is arranged on the second rotor guide rail, and the rotor lifting cylinder is connected with the first rotor grabbing tool and used for driving the rotor lifting cylinder to move up and down; the first rotor grabbing tool is used for grabbing a rotor close to the assembly station to be pressed with the shell onto the rotor conveying device;
the rotor conveying device comprises a third rotor guide rail, a second rotor carrying platform and a carrying platform driving cylinder; the second rotor carrying platform is arranged on the third rotor guide rail and is used for carrying a rotor of the shell to be pressed; the carrier driving cylinder is connected with the second rotor carrier and used for driving the second rotor carrier to slide along a third rotor guide rail;
the shell press-fitting device comprises a shell positioning piece, a second rotor grabbing tool and a rotor press-fitting cylinder; the shell positioning piece is arranged at the lower end of the rotor grabbing tool; the rotor press-fitting cylinder is connected with the second rotor grabbing tool and is used for driving the second rotor grabbing tool to move up and down so as to press the rotor with the press-fitted front cover into the machine shell or drive the second rotor grabbing tool to return.
10. The automated small motor assembly system of claim 9, wherein the first rotor grasping tool comprises a rotor shaft grasping device and a carbon brush holder grasping device;
the rotor shaft grabbing device comprises rotor shaft clamping claws, a rotor shaft clamping claw positioning block and a rotor shaft clamping claw control motor, the rotor shaft clamping claw positioning block is connected with the rotor lifting cylinder, and the rotor shaft clamping claws are arranged in the rotor shaft clamping positioning block; the rotor shaft clamping jaw driving cylinder is connected with the rotor shaft clamping jaw and used for driving the rotor shaft clamping jaw to open and close so as to grab the rotor shaft;
the carbon brush holder grabbing device comprises a second carbon brush holder gripper and a second carbon brush holder gripper control cylinder, wherein the second carbon brush holder gripper control cylinder is connected with the second carbon brush holder gripper and used for controlling the second carbon brush holder gripper to grasp the carbon brush holder on the rotor;
the rotor shaft grabbing device is arranged at the upper end of the carbon brush frame grabbing device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644098.9A CN109660080B (en) | 2018-12-29 | 2018-12-29 | Automatic assembly system for small motor assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811644098.9A CN109660080B (en) | 2018-12-29 | 2018-12-29 | Automatic assembly system for small motor assembly |
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| CN109660080A CN109660080A (en) | 2019-04-19 |
| CN109660080B true CN109660080B (en) | 2023-11-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112242531B (en) * | 2020-09-01 | 2022-02-15 | 苏州朗坤自动化设备股份有限公司 | Shell assembly devices is gone into to electricity core |
| CN114310291A (en) * | 2021-12-28 | 2022-04-12 | 杭州泰尚智能装备有限公司 | Pressing tightening equipment for valve body assembly and control method thereof |
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| US6359363B1 (en) * | 1998-07-28 | 2002-03-19 | Robert Bosch Gmbh | Commutator-small power motor |
| KR20090119022A (en) * | 2008-05-15 | 2009-11-19 | 코리아시스템 주식회사 | Assembly system of carbon brush |
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