CN109713857B - Automatic assembling and testing system and method for small motor rotor and storage medium - Google Patents
Automatic assembling and testing system and method for small motor rotor and storage medium Download PDFInfo
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- CN109713857B CN109713857B CN201811638538.XA CN201811638538A CN109713857B CN 109713857 B CN109713857 B CN 109713857B CN 201811638538 A CN201811638538 A CN 201811638538A CN 109713857 B CN109713857 B CN 109713857B
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Abstract
The invention discloses an automatic assembling and testing system, method and storage medium for a small motor rotor, wherein the system comprises a PLC control system, a rotor feeding mechanism, a rotor coding device, a commutator press-fitting subsystem, a winding device, a fine processing mechanism, a rotor performance testing mechanism and a transfer robot group, wherein the rotor feeding mechanism, the rotor coding device, the commutator press-fitting subsystem, the winding device, the fine processing mechanism, the rotor performance testing mechanism and the transfer robot group are connected with the PLC control system; the fine processing mechanism carries out fine processing on the rotor and carries out roundness and dynamic balance detection on the rotor according to the basic information of the rotor; and the rotor performance testing mechanism is used for testing the performance of the rotor subjected to the fine treatment. The automatic assembly and test system for the small motor provided by the invention realizes the whole process automation of motor rotor assembly, the assembly process of the whole system is less than 12s through experimental test, the rotor assembly efficiency is obviously improved, and the system can continuously work for more than 24 hours under the condition of no shutdown maintenance, so that the labor cost is obviously saved.
Description
Technical Field
The invention relates to a small motor automatic assembly technology, in particular to a small motor rotor automatic assembly and test system, a small motor rotor automatic assembly and test method and a storage medium.
Background
In the motor assembly production process, the motor rotor assembly production line is assembled through the manual work, the degree of automation is not high, a large amount of manpower is required to carry out carrying, feeding and discharging and manual assembly, and the dependence on manpower is relatively high. The motor rotor performance detection is usually detected and identified by manpower, so that a detection worker is required to have a certain working experience, meanwhile, due to the fact that the rotor assembly is high in required precision, misjudgment is easily caused once the worker is neglected, the rotor assembly process also requires the worker to concentrate on the assembly and detection process, labor intensity is high, automation degree is low, and rotor assembly progress is slow.
Along with the development of motor production assembly technology, in the current production and manufacturing process of motor rotors, more accuracy control of the system is realized by positioning by virtue of positioning blocks, positioning pins, tool clamps and the like, so that the problem of unqualified assembly caused by manual misjudgment is solved to a certain extent; however, once the machining precision of the workpieces does not reach the standard, the assembly quality of the rotor is difficult to ensure.
In addition, in the existing motor rotor production line, one production line can only produce the corresponding motor rotor with a single model, can not be switched according to the rotor model, and lacks good quality control means, so that the quality of products is not good to control, the quality problem can not be detected in time, and the maintenance cost in the motor use process is relatively high. Production data can not be saved in the production and manufacturing process of the motor rotor, the quality is not traceable, and the detection efficiency of the motor rotor is low.
Disclosure of Invention
In order to solve the technical problems, a first object of the present invention is to provide an automatic assembling and testing system for small motor rotor, by which the whole process automation of the assembly of the motor rotor is realized, and the technical defects in the background art are overcome; a second object of the present invention is to provide a method for automatically assembling and testing a small motor rotor, which is implemented based on the system for automatically assembling and testing a small motor rotor, and a third object of the present invention is to provide a storage medium in which a computer program is stored for implementing the method for automatically assembling and testing a small motor rotor.
In order to achieve the above purpose, according to one aspect of the present invention, there is provided an automatic assembling and testing system for small motor rotor, the system comprising a rotor feeding mechanism, a rotor coding device, a commutator press-mounting subsystem, a winding device, a finishing mechanism, a rotor performance testing mechanism, a transfer robot group and a PLC control system, wherein the rotor feeding mechanism, the rotor coding device, the commutator press-mounting subsystem, the winding device, the finishing mechanism, the rotor performance testing mechanism and the transfer robot group are all connected with the PLC control system;
The rotor feeding mechanism is used for providing a rotor to be assembled;
the rotor coding device is arranged adjacent to the rotor feeding mechanism and is used for coding a two-dimensional code carrying basic information of a rotor to be assembled according to the type and the assembly time of the rotor;
the commutator press-fitting subsystem is arranged adjacent to the rotor coding device and is used for realizing automatic press-fitting of the rotor and the commutator;
the winding device is arranged adjacent to the commutator press-mounting subsystem and is used for winding the rotor with the commutator already press-mounted;
the fine processing mechanism is arranged adjacent to the winding system and is used for carrying out fine processing on the rotor and carrying out roundness and dynamic balance detection on the rotor after winding according to the basic information of the rotor;
the rotor performance testing mechanism is used for performing performance test on the rotor subjected to fine treatment to determine whether the rotor is qualified in assembly;
the transfer robot group comprises a plurality of transfer robots, and each transfer robot is used for transferring the rotor in each assembly stage;
and the PLC control system is used for carrying out data monitoring and control on the rotor assembly process.
Preferably, the rotor coding device comprises a laser coding machine, and the laser coding machine codes the rotor according to the type of the rotor and the assembly time.
Preferably, the commutator press-mounting subsystem comprises a commutator feeding mechanism, a press-mounting mechanism and a rotor blanking transfer mechanism;
the commutator feeding mechanism comprises a commutator feeding table, a commutator conveying module and a commutator correcting module which are sequentially connected, and the commutator conveying module conveys the commutators in the commutator feeding table to a commutator material taking position one by one; the commutator alignment module is arranged at the commutator taking position and is used for aligning the commutator to be grasped;
the press-fit mechanism comprises a support frame, a press-fit device and a first positioning device, wherein the first positioning device is arranged at the bottom of the support frame and is used for positioning the rotor and the commutator; the press-fitting device is arranged at the upper end of the first positioning device and is coaxially arranged with the first positioning device, and is used for performing press-fitting action on the positioned commutator and rotor;
the rotor blanking transfer mechanism is used for placing the rotor with the commutator already pressed and used as a feeding table for the next working procedure.
Preferably, the winding device comprises an automatic winding machine for automatically winding the rotor.
Preferably, the fine processing mechanism comprises a spot welding device, a fine turning device, an identification device, a roundness testing device and a dynamic balance testing processing device;
The spot welding equipment is used for welding the commutator ears on the commutator which is pressed on the rotor;
the finish turning equipment is used for performing burr polishing on the welded commutator;
the identification equipment is used for scanning and identifying the two-dimensional code on the rotor so as to acquire the type and production data of the rotor;
the roundness testing equipment is used for testing the roundness of the rotor and the commutator according to the type of the rotor;
the dynamic balance test processing equipment is used for testing the dynamic balance of the rotor and correcting the rotor unbalanced during rotation.
Preferably, the identification equipment comprises a rotor transfer tool, a two-dimensional code identification instrument, a lifting cylinder of the two-dimensional code identification instrument and a rotary positioning belt;
one end of the rotor transferring tool is a rotor feeding position provided with a feeding detection sensor, the other end of the rotor transferring tool is a rotor discharging position provided with a discharging detection sensor, the two-dimensional code identifier is arranged on one side of the middle part of the rotor transferring tool, and a rotor transferring position detection sensor for detecting whether a rotor is transferred to the position identified by the two-dimensional code identifier is arranged at the position of the middle part of the upper end of the rotor transferring tool right opposite to the two-dimensional code identifier;
the lifting cylinder of the two-dimensional code identifier is arranged at the rear end of the two-dimensional code identifier and is connected with the rotary positioning belt and used for adjusting the height of the rotary positioning belt.
Preferably, the rotor transferring tool comprises a rotor placing groove, a transferring tool transverse driving cylinder and a transferring tool lifting cylinder;
the rotor placing groove is arranged at the lower end of the two-dimensional code identifier and used for bearing a rotor to be identified;
the transfer tool transverse driving cylinder is connected with the rotor placing groove and used for driving the rotor placing groove to transversely move;
and the transferring tool lifting cylinder is connected with the rotor placing groove and used for driving the rotor placing groove to longitudinally move.
Preferably, the rotor performance testing mechanism comprises a rotor positioning table, a rotor lifting table and a sliding performance testing table;
the rotor lifting platform is used for lifting the rotor to be coaxial with the testing end of the slidable performance testing platform;
the rotor positioning table is arranged on the rotor lifting table and used for fixing a rotor to be tested;
the sliding performance test table is arranged on one side of the rotor lifting table and is used for testing the performance of the rotor.
Preferably, the PLC control system comprises a controller, a database, a display module and a communication module, wherein the database, the display module and the communication module are all connected with the controller;
The controller is used for controlling and executing an automatic assembly process of the rotor;
the database is used for storing the model, assembly information and performance parameters of the rotor;
the display module is used for displaying production data, test data and alarm information;
the communication module is used for connecting the controller with the rotor feeding mechanism, the rotor coding device, the commutator press-mounting subsystem, the winding device, the fine processing mechanism, the rotor performance testing mechanism and the transfer robot group and is used for providing a data communication channel.
In another aspect of the present invention, there is provided a small motor rotor automatic assembling and testing method based on the small motor rotor automatic assembling and testing system, the method comprising the steps of:
step 1): coding the rotor model, and press-fitting the coded rotor into the commutator;
step 2): winding the rotor with the pressed commutator;
step 3): determining the type of the rotor according to the rotor mark, selecting a corresponding testing device, and performing appearance testing;
step 4): and performing performance test on the rotor with qualified appearance test, and conveying the rotor with qualified test to the next working procedure.
Preferably, in step 4), the performance test includes testing voltage characteristics, current characteristics, resistance characteristics between commutator coils, and insulation performance of rotor coils of the rotor.
In a further aspect of the invention, a storage medium is provided, in which a computer program is stored which, when processed and executed, implements the steps of the method for automatically assembling and testing a small motor rotor as described above.
Compared with the prior art, the invention has the beneficial effects that:
1) The automatic assembly and test system for the small motor provided by the invention realizes the whole process automation of motor rotor assembly, the assembly process of the whole system is less than 12s through experimental test, the rotor assembly efficiency is obviously improved, and the system can continuously work for more than 24 hours under the condition of no shutdown maintenance, so that the labor cost is obviously saved.
2) The invention carries out deburring, polishing, roundness test, dynamic balance test, treatment and the like on the rotor and the commutator through the fine treatment mechanism, thereby obviously improving the yield of rotor assembly and ensuring the rotor assembly quality; the rotor performance test mechanism is used for testing the rotor performance of the rotor, reject unqualified products, ensure that the assembled rotor has good performance, and obviously reduce the maintenance cost in the later period.
3) According to the invention, the rotor model and production data are recorded by coding and marking the rotor in the early stage, the rotor model can be determined by identifying the two-dimensional code in the assembly process, and then a proper assembly tool is selected for assembly, so that the assembly of rotors of different models can be realized by using one assembly production line, and the assembly cost is reduced.
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 application, illustrate embodiments of the application and together with the description serve to explain the application and do not limit the application.
FIG. 1 is a schematic view of an overall assembly line according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser coding device according to a first embodiment of the present invention;
fig. 3 (a) is a schematic structural diagram of a commutator press-fitting subsystem according to a first embodiment of the present invention;
FIG. 3 (b) is a schematic structural diagram of a feeding mechanism of a commutator in accordance with a first embodiment of the present invention;
fig. 3 (c) is a schematic structural diagram of a commutator press-mounting mechanism according to a first embodiment of the present invention;
FIG. 3 (d) is an exploded view of a first positioning device according to a first embodiment of the present invention;
fig. 3 (e) is a schematic structural diagram of a rotor blanking transfer mechanism according to a first embodiment of the present invention;
fig. 4 is a schematic structural view of a rotor transfer sliding table according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram of a finish turning device according to a first embodiment of the present invention;
fig. 6 (a) is a schematic structural diagram of an identification device in the first embodiment of the present invention;
fig. 6 (b) is a detailed view of the structure of the identifying device in the first embodiment of the present invention;
FIG. 7 (a) is a schematic structural view of a rotor performance testing mechanism of the present invention;
FIG. 7 (b) is a schematic structural view of a slidable rotor performance test-bed according to the present invention;
FIG. 8 (a) is a schematic diagram showing a team setting interface of a billboard in accordance with the first embodiment of the invention;
FIG. 8 (b) is a schematic diagram showing a rotor throughput interface on a sign according to a first embodiment of the present invention;
FIG. 8 (c) is a schematic diagram of an alarm display interface on a sign according to a first embodiment of the present invention;
fig. 8 (d) is a schematic diagram of a display interface for displaying the type of the rotor on the sign according to the first embodiment of the present invention.
The system comprises a small motor rotor automatic assembling and testing system, a small motor rotor automatic assembling and testing system and a small motor rotor automatic assembling and testing system, wherein the small motor rotor automatic assembling and testing system comprises a small motor rotor automatic assembling and testing system;
1. a rotor feeding mechanism; 2. a rotor coding device; 3. a commutator press-fitting subsystem; 4. an automatic winding machine; 5. a fine treatment mechanism; 6. a rotor performance testing mechanism; 7. a transfer robot; 8. a rotor transferring sliding table, a rotor finished product blanking table and a rotor transferring sliding table; 10. a disqualified rotor is placed; 11. a PLC control system; 11-5, producing a display signboard; a. a rotor;
2-1, a laser coding machine; 2-2, a two-dimensional code identifier; 2-3, a rotor rotates to drive the tool;
3-1, a commutator feeding mechanism; 3-2, a pressing mechanism; 3-3, a rotor blanking transfer mechanism; 11-1, a first control cabinet; 11-2, a second control cabinet;
3-11, a commutator feeding table; 3-12, a commutator transmission module; 3-13, a commutator correcting module; 3-121, a conveyor belt; 3-122, a first driving motor; 3-123, a second sensor; 3-124, a belt correction block; 3-125, isolating blocks; 3-126, isolating the cylinder; 3-131, a third sensor; 3-132, a correcting plate; 3-133, a correction plate control module;
3-21, a supporting frame; 3-22, a press-fitting device; 3-23, a first positioning device;
3-221, a first driving device; 3-222, a commutator pressing device; 3-223, a press-fit detection device;
3-231, mounting seats; 3-232, a rotor limiting body; 3-233, a magnet; 3-234, a commutator guide block; 3-235, convex edges; 3-236, a limiting block;
3-31, rotor grippers; 3-32, the first rotor is propped against the cylinder; 3-33, a gripper rotation and transmission driving cylinder; 3-34, protecting chain belts by an electric cylinder; 3-35, a rotor inclination detection sensor; 3-36, a gripper sliding guide rail; 3-37, a gripper rotates to a position to detect a sensor;
3-2231, a second pressure sensor; 3-2232, rotor detection grating; 3-2233, a commutator detecting grating; 3-2234, a distance detection sensor;
5-1, spot welding equipment; 5-2, finish turning equipment; 5-3, identifying equipment; 5-4, roundness testing equipment; 5-5, dynamic balance test processing equipment;
5-21, a rotor placing table; 5-22, a rotor carrying lifting table; 5-23, a smoke and dust discharging pipe; 5-24, a rotor carrying table; 5-25, finish turning machine; 5-251, a manual operation table;
5-31, rotor transferring tools; 5-32, a two-dimensional code identifier; 5-33, lifting electric cylinders of a two-dimensional code identifier; 5-34, a rotor rotating positioning belt; 5-35, a feeding detection sensor; 5-36, rotor transfer position detection sensors; 5-37, a rotor discharging detection sensor; 11-3, a third control cabinet;
5-311, a transfer tool lifting cylinder; 5-312, a transfer tool transverse driving cylinder; 5-313, rotor placement slots;
6-1, a slidable performance test stand; 6-2, a disqualified rotor blanking table; 11-4, a fourth control cabinet;
6-11, a rotor positioning table; 6-12, a rotor lifting table; 6-13, a performance tester; 6-14, driving a cylinder by the tester; 6-15, tightly pushing the cylinder by the second rotor; 6-16, a rotor lifting driving cylinder; 6-17, detecting a carrying cylinder by a rotor; 6-18, testing a sliding guide rail; 6-19, a correcting cylinder;
8-1, a rotor transport detection sensor group; 8-2, a rotor carrying platform; 8-3, a rotor transferring driving cylinder; 8-4, a sliding guide rail of a rotor carrying platform.
Detailed Description
The invention 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 present 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 example embodiments in accordance with 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 invention, 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 invention.
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 invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.
In the present invention, 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 invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, 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, the embodiment provides a small motor rotor automatic assembling and testing system 100, which comprises a rotor feeding mechanism 1, a rotor coding device 2, a commutator press-mounting subsystem 3, an automatic winding machine 4 (winding device), a finishing mechanism 5, a rotor performance testing mechanism 6, a transfer robot group, a PLC control system 11, a rotor transfer sliding table 8, a rotor finished product blanking table, a production display signboard 12 and a disqualified rotor placement place 10, wherein the rotor feeding mechanism 1, the rotor coding device 2, the commutator press-mounting subsystem 3, the automatic winding machine 4, the finishing mechanism 5, the rotor performance testing mechanism 6 and the transfer robot group are all connected with the PLC control system and controlled by the same to execute rotor assembling actions;
in this embodiment, a rotor feeding mechanism 1 for providing a rotor to be assembled; a transfer robot group including a plurality of transfer robots 7 (not all of which are shown in the figure), each of which is used for transfer of the rotor at each assembly stage;
the rotor coding device 2 is arranged adjacent to the rotor feeding mechanism 1, see fig. 2, and comprises a laser coding machine 2-1, a two-dimensional code identifier 2-2 and a rotor rotation driving tool 2-3, wherein the laser coding machine 2-1 and the two-dimensional code identifier 2-2 are respectively arranged at the front side and the left side of the rotor rotation driving tool 2-3, when coding is carried out, a rotor a is placed at the upper end of the rotor rotation driving tool 2-3, after coding is finished, the rotor rotation driving tool 2-3 drives the rotor a to rotate leftwards until the rotor a faces the two-dimensional code identifier 2-2, so that the two-dimensional code identifier 2-2 corrects a two-dimensional code on the rotor a, if information carried by the two-dimensional code on the rotor a is not identical with actual basic information of the two-dimensional code identifier, the rotor is stopped to be assembled, the transfer robot transfers the rotor as a disqualified rotor to a disqualified rotor recovery position, and if the information carried by the two-dimensional code is identical with the basic information of the rotor, the transfer robot transfers the rotor to a material taking position of the commutator press-fitting system 3.
The commutator press-fitting subsystem 3 is arranged adjacent to the rotor coding device 2 and is used for realizing automatic press-fitting of the rotor and the commutator; as shown in fig. 3 (a), the commutator press-fit subsystem 3 includes a commutator feeding mechanism 3-1, a press-fit mechanism 3-2 and a rotor blanking transfer mechanism 3-3, wherein the commutator feeding mechanism 3-1, the press-fit mechanism 3-2 and the rotor blanking transfer mechanism 3-3 are all connected with a first control cabinet 11-1 (as a sub-control cabinet of a PLC control system, the following are similar), and in this embodiment, the specific structure of the commutator press-fit subsystem 3 is as follows:
referring to fig. 3 (b), the diverter feeding mechanism 3-1 comprises a diverter feeding table 3-11, a diverter conveying module 3-12 and a diverter correcting module 3-13 which are sequentially connected, wherein the diverter conveying module 3-12 conveys the diverters in the diverter feeding table 3-11 to a diverter material taking position one by one for grabbing by a carrying robot; the commutator aligning module 3-13 is arranged at the commutator material taking position and is used for aligning the commutator so as to be convenient for the carrying robot to grasp;
and then, in particular: the commutator feed table 3-1 comprises a vibrating disc, a first sensor is arranged on the vibrating disc and is connected with a first control cabinet 11-1 for detecting whether the residual materials (commutators) in the vibrating disc are sufficient, the first control cabinet 11-1 judges whether manual feeding of the commutators is needed according to the quantity of the residual materials detected by the first sensor, the first sensor in the embodiment is a pressure sensor arranged on a commutator bearing surface of the vibrating disc, the pressure sensor detects the total weight of the commutators in the vibrating disc in real time and transmits the detection result to a control system, and the first control cabinet 11-1 judges whether manual feeding is needed according to the detection result.
The commutator conveying module 3-12 comprises a conveying belt 3-121 and a first driving motor 3-122, wherein an inlet of the conveying belt 3-121 is connected with a discharge hole of the vibration disc and is used for receiving the commutator at the discharge hole of the vibration disc and conveying the commutator to a commutator material taking position (the other end of the conveying belt); the first driving motor 3-122 is connected with the conveyor belt 3-121 and is used for driving the conveyor belt 3-121 to rotate. In addition, a second sensor 3-123 for detecting whether the vibration disc works is arranged at the inlet of the conveyor belt 3-121, and when the second sensor 3-123 detects that the vibration disc works, the first control cabinet 11-1 controls the first driving motor 3-122 to start so as to drive the conveyor belt 3-121 to rotate and convey the reverser; in addition, the discharge port of the vibration disc is provided with belt correction blocks 3-124 for correcting the output azimuth of the commutator at the discharge port of the vibration disc and ensuring that the commutators are output one by one from the discharge port of the vibration disc.
In this embodiment, an isolation block 3-125 is disposed in the middle of the conveyor belt 3-121, where the isolation block 3-125 is used to isolate the commutator to be grabbed at the material taking position of the commutator from other commutators on the conveyor belt 3-121, so that only one commutator in a single press-fit process is transferred to the material taking position of the commutator, and the isolation block 3-125 specifically includes an isolation plate and an isolation cylinder 3-126 connected with the isolation plate, where the isolation cylinder 3-126 drives the isolation plate to stretch back and forth or lift up and down, so as to achieve the above isolation purpose.
The commutator alignment module 3-13 comprises a third sensor 3-131, an alignment block 3-132 and an alignment block control module 3-133, wherein the alignment block 3-132 is used for positioning the commutator at the material taking position of the commutator and aligning the orientation of the commutator to prevent the commutator from being skewed; the correction block control module 3-133 is used for controlling and driving the correction block 3-132 to act, and the correction control module 3-133 comprises a correction block control cylinder; the third sensor 3-131 is used to detect whether the diverter at the diverter pick-up is being grasped away by the transfer robot.
Referring to fig. 3 (c), the press-fitting mechanism 3-2 includes a support frame 3-21, a press-fitting device 3-22 and a first positioning device 3-23, wherein the first positioning device 3-23 is detachably fixed on the support frame 3-21 and is used for positioning the rotor and the commutator, and the press-fitting device 3-22 is arranged at the upper end of the first positioning device 3-23 and is used for executing press-fitting actions on the positioned commutator and the rotor;
referring to fig. 3 (d), the first positioning devices 3 to 23 include a rotor positioning device and a commutator positioning device, the rotor positioning device is disposed at the bottom of the support frame, and the commutator positioning device and the rotor positioning device are disposed adjacently up and down, specifically:
the rotor positioning device comprises an installation seat 3-231 and a rotor limiting body 3-232, wherein the installation seat 3-231 is detachably arranged on the support frame 3-21, and the rotor limiting body 3-232 is arranged at the upper end of the installation seat 3-231;
The lower half section of the rotor limiting body 3-232 is semicircular and used for encircling the rotor, and the magnet 3-233 is fixed on the front end face of the middle part of the rotor limiting body so as to improve the tightness of the rotor. The upper end of the rotor limiting body 3-232 is cylindrical, and a commutator guide block locating pin is arranged on the inner side wall of the rotor limiting body, so that the commutator guide blocks 3-234 can be conveniently installed and located.
The commutator positioning device comprises commutator guide blocks 3-234, wherein the upper ends of rotor limit bodies 3-232 of the commutator guide blocks 3-234 are embedded in the rotor limit bodies 3-232; the commutator guide block 3-234 is internally provided with a commutator guide channel, the side wall of the guide channel is provided with at least one convex rib 3-235 for guiding the trend of the commutator, in addition, the side wall of the commutator guide block 3-234 is also embedded with a limiting block 3-236, and the limiting block 2-236 is used for further limiting the position of the commutator so as to ensure that the position of the commutator is more accurate.
Because the commutator positioning device is embedded in the rotor positioning device, the mounting seat 3-231 of the first positioning device 3-23 is fixed on the supporting frame 3-21 through screws or other detachable devices, when the type of the rotor is changed, the mounting seat 3-231 is detached, and the whole set of first positioning device 3-23 can be detached for replacement.
Referring to fig. 3 (d), the press-fitting device 3-22 comprises a first driving device 3-221, a commutator press-fitting device 3-222 and a press-fitting detection device 3-223, wherein the first driving device 3-221 comprises a press-fitting cylinder, the press-fitting cylinder is fixed at the upper end of the supporting frame 3-21 through a mounting frame, the commutator press-fitting device 3-222 comprises a connecting rod, a guide rail assembly and a press rod, the output end of the press-fitting cylinder is connected with the press rod through a connecting piece, the connecting rod is connected with the guide rail assembly, and the guide rail assembly drives the press rod to move along the sliding direction of the guide rail under the driving of the cylinder so as to realize press-fitting action; the press-fit detection device 3-223 comprises a second pressure sensor 3-2231 for detecting the press-fit force of the press-fit device 3-22 on the commutator so as to prevent the rotor from being unqualified due to excessive press-fit force.
In addition, in this embodiment, the press-fit detection device 3-223 further includes a rotor detection grating 3-2232, a commutator detection grating 3-2233, and a distance detection sensor 3-2234, where the rotor detection grating 3-2232 and the distance detection sensor 3-2234 are fixed to front and rear ends of one side of the first positioning device 3-23 through brackets respectively, and are used for detecting whether the rotor is ready; the commutator detection grating 3-2233 is fixed on the other side of the first positioning device 3-23 through a bracket and is used for detecting whether the commutator is ready or not;
In the press-fitting process, the second pressure sensor 3-2231 is connected with the pressure rod through the guide shaft connecting plate and used for detecting the pressure born by the pressure rod in the assembly process, further detecting the fitting force between the rotor and the commutator, and in the press-fitting process, when the fitting force between the rotor and the commutator reaches the preset size, the main controller of the control system controls the press-fitting cylinder to act, so that the connecting rod drives the pressure rod to return, and press-fitting is completed.
As shown in fig. 3 (e), the rotor blanking transfer mechanism 3-3 is used for placing the rotor with the commutator already pressed and used as a feeding table for the next process; specific: the rotor blanking transfer mechanism 3-3 comprises a rotor grip 3-31, a first rotor jacking cylinder 3-32, a grip sliding guide rail 3-36 and a rotor inclination detection sensor 3-35;
the gripper sliding guide rail 3-36 is fixed on the transfer table and is used for providing walking guide for the rotor grippers 3-31;
the rotor gripper 3-31 is arranged on the gripper sliding guide rail 3-36 through a gripper rotation and transmission driving cylinder 3-33 and is used for taking down the rotor with the pressed commutator from the pressing mechanism 3-2 and conveying the rotor to a material taking position of the next procedure;
the first rotor is tightly propped against the air cylinder 3-32 and is connected with the rotor gripper 3-31, so that the rotor is tightly propped against in the press mounting process of the rotor and the commutator, the rotor is prevented from inclining, and the press mounting straightness is ensured.
The blanking detection device comprises a gripper rotation in-place detection sensor 3-37 arranged at one end of a gripper sliding guide rail 3-36 and connected with a rotor gripper 3-31, and a rotor inclination detection sensor 3-35 arranged at the other end of the gripper sliding guide rail 3-36.
In addition, in the technical scheme of the embodiment, an electric cylinder protection chain belt 3-34 is arranged outside the gripper rotation and transmission driving electric cylinder 3-33 along the extending direction of the gripper sliding guide rail 3-36 for protecting the electric cylinder.
In this embodiment, the automatic winding machine 4 is used for automatically winding the rotor, the automatic winding machine 4 is disposed adjacent to the commutator press-mounting subsystem 3 and is used for winding the rotor with the commutator already press-mounted, and in this field, the automatic winding machine 4 is an existing device, and the structure thereof will not be described herein.
In addition, as shown in fig. 1, since the winding operation is performed by using 3 automatic winding machines 4 at the same time in the present embodiment, the wound rotor is conveyed to the finishing mechanism 5 through a rotor transfer slide table 8, see fig. 4, the rotor transfer slide table 8 includes a rotor transfer detection sensor group 8-1, a rotor stage 8-2, a rotor transfer driving cylinder 8-3, and a rotor stage slide rail 8-4, in which the rotor to be transferred is placed on the rotor stage 8-2 by a transfer robot, the rotor transfer driving cylinder 8-3 drives the rotor stage 8-2 carrying the rotor to move on the rotor stage slide rail 8-4, transferring one end of the rotor transfer slide table 8 to the other end; the rotor transferring detection sensor group 8-1 comprises two position detection sensors which are respectively arranged at the front end and the rear end of the rotor transferring sliding table 8, the position detection sensor at the front end is used for detecting whether the rotor is placed in place on the rotor carrying table 8-2, and the position detection sensor at the rear end is used for detecting whether the rotor is transferred in place.
The fine processing mechanism 5 is used for carrying out fine processing on the rotor and carrying out roundness and dynamic balance detection on the rotor after winding according to the basic information of the rotor; in the embodiment, the fine processing mechanism comprises a spot welding device 5-1, a fine turning device 5-2, an identification device 5-3, a roundness test device 5-4 and a dynamic balance test processing device 5-5; wherein:
the spot welding device 5-1 is used for welding the commutator ears on the commutator which is pressed on the rotor; the finish turning device 5-2 is used for performing burr polishing on the welded commutator; the identification equipment 5-3 is used for scanning and identifying the two-dimensional code on the rotor so as to acquire the rotor model and production data; the roundness testing equipment 5-4 tests the roundness of the rotor and the commutator according to the type of the rotor; the dynamic balance test processing device 5-5 is used for testing the dynamic balance of the rotor and correcting the rotor unbalanced during rotation.
As shown in fig. 5, the finish turning device 5-2 comprises a rotor placing table 5-21, a rotor carrying lifting table 5-22, a smoke and dust discharging pipe 5-23, a rotor carrying table 5-24 and a finish turning machine 5-25, wherein the rotor placing table 5-21 is used for placing a rotor, the rotor carrying lifting table 5-22 is used for adjusting the height position of the rotor placing table 5-21, the rotor carrying table 5-24 is used for carrying the polished rotor to a material taking opening of the two-dimension code identifier 5-32, the finish turning machine 5-25 is arranged in the middle of the finish turning device 5-2, and the smoke and dust discharging pipe 5-23 is arranged on one side of the finish turning machine 5-25. The finish turning machine 5-25 adopted in the embodiment is a full-automatic finish turning machine, has a flexible application method, specifically comprises a full-automatic working mode and a semi-automatic working mode, when the finish turning machine is in the full-automatic mode, the finish turning process does not need to be manually participated, and when the finish turning machine is switched to the semi-automatic mode, a worker can control the finish turning process in a button pressing mode at the manual operation table 5-251.
As shown in fig. 6 (a), the identifying device 5-3 comprises a rotor transferring tool 5-31, a two-dimensional code identifier 5-32, a two-dimensional code identifier lifting cylinder 5-33, a rotary positioning belt 5-34, a feeding detection sensor 5-35, a rotor transferring position detection sensor 5-36 and a rotor discharging detection sensor 5-37; the rotor transferring tool 5-31 is arranged on the third control cabinet 11-3, one end of the rotor transferring tool is a rotor feeding position provided with a feeding detection sensor 5-35, and the other end of the rotor transferring tool is a rotor discharging position provided with a discharging detection sensor 5-37; the two-dimensional code identifier 5-32 is arranged on one side of the middle part of the rotor transferring tool 5-31, and a rotor transferring position detection sensor is arranged at the position, opposite to the two-dimensional code identifier 5-32, of the middle part of the upper end of the rotor transferring tool 5-31 and used for detecting whether a rotor is transferred to the identification position of the two-dimensional code identifier.
As shown in fig. 6 (a) and (b), a two-dimensional code identifier lifting cylinder 5-33 is arranged at the rear end of the two-dimensional code identifier 5-32, a rotor rotating positioning belt 5-34 is arranged at the lower end of the two-dimensional code identifier lifting cylinder 5-33, and the two-dimensional code identifier lifting cylinder 5-33 is mainly used for adjusting the height of the rotor rotating positioning belt 5-34; the rotor transferring tool 5-31 comprises a rotor placing groove 5-313, a transferring tool transverse driving cylinder 5-312 and a transferring tool lifting cylinder 5-311, wherein the rotor placing groove 5-313 is used for bearing a rotor to be identified, the transferring tool transverse driving cylinder 5-312 is connected with the rotor placing groove 5-313 and used for driving the rotor placing groove 5-313 to transversely move, the rotor at the material taking position of the rotor of the identification equipment is conveyed to the lower end of the two-dimensional code identification instrument 5-32 for identification, and then the identified rotor is transferred to the material discharging position of the rotor of the identification equipment; the transferring tool lifting cylinder 5-311 is used for adjusting the height of the rotor placing groove 5-313.
Based on the structure of the identification device, in this embodiment, the specific workflow is as follows:
the feeding detection sensor 5-35 detects that the rotor to be identified is arranged at the feeding position of the identification equipment, the transfer tool transverse driving cylinder 5-312 drives the rotor placing groove 5-313 to the lower end of the rotor to be identified, the transfer tool lifting cylinder 5-311 drives the rotor placing groove 5-313 to ascend so as to take down the rotor to be identified from the rotor feeding position of the identification equipment, the transfer tool transverse driving cylinder 5-312 drives the rotor placing groove 5-313 to transversely move, and when the rotor transfer position detection sensor 5-36 detects that the rotor is transferred to the lower end of the two-dimensional code identification instrument 5-32, the transfer tool transverse driving cylinder 5-312 stops moving; the lifting cylinder 5-33 of the two-dimensional code recognition instrument drives the rotor rotary positioning belt 5-34 to move downwards so as to be in contact with the rotor, the rotor is driven to rotate by driving the rotor rotary positioning belt 5-34 to turn over the rotor to the two-dimensional code upwards, the two-dimensional code recognition instrument 5-32 recognizes the information of the two-dimensional code, and after the recognition is successful, the transfer tool transversely drives the cylinder 5-312 to drive the rotor placing groove 5-313 to continue transversely moving, and the rotor is sent to the discharge position of the recognition equipment. The third control cabinet 111-3 at the lower end of the identification device 5-3 is respectively connected with the two-dimensional code identifier 5-32, the lifting cylinder 5-33 of the two-dimensional code identifier and the rotor carrying cylinder 5-34, and is used for controlling the identification device 5-3 to execute rotor identification action.
As shown in fig. 7 (a), the rotor performance testing mechanism 6 comprises a slidable performance test table 6-1 and a disqualified rotor blanking table 6-2, and is used for performing performance test on the rotor after finishing treatment to determine whether the rotor is assembled qualified, and if the rotor is assembled disqualified, conveying the rotor to the disqualified rotor blanking table 6-2; in addition, the rotor performance testing mechanism 6 is disposed on a fourth control cabinet 11-4, and the fourth control cabinet 11-4 is used for controlling the rotor performance testing mechanism to perform rotor performance testing work on the rotor.
As shown in fig. 7 (b), the slidable rotor performance test-bed 6-1 specifically includes: the device comprises a rotor positioning table 6-11, a rotor lifting table 6-12, a performance tester 6-13, a tester driving cylinder 6-14, a second rotor jacking cylinder 6-15, a rotor lifting driving cylinder 6-16, a rotor detection carrying cylinder 6-17 and a test sliding guide rail 6-18;
specifically, the rotor positioning table 6-11 is fixed on the rotor lifting table 6-12, and the rotor lifting driving cylinder 6-16 is connected with the rotor lifting table 6-12 and is used for driving the rotor lifting table 6-12 to lift; the performance tester 6-13 is arranged on the test sliding guide rail 6-18, and the tester driving cylinder 6-14 is arranged at the rear end of the performance tester 6-13 and connected with the performance tester and used for driving the driver to slide back and forth along the test sliding guide rail 6-18; the rotor detection carrying cylinder 6-17 is connected with the lower end of the rotor lifting table 6-12 and is used for driving the rotor lifting table 6-12 to drive the rotor to move along the test sliding guide rail 6-18 so as to enable the rotor to move to a position to be detected; the second rotor jacking cylinder 6-15 and the correcting cylinder 6-19 are fixed on one side of the middle part of the test sliding guide rail 6-18 through a bracket, and the correcting cylinder 6-19 is used for correcting the rotor in the process that the rotor lifting table 6-12 moves along the test sliding guide rail 6-18; the second rotor tightly pushes against the cylinder 6-15 to strengthen the fit degree of the rotor and the tester in the testing process.
In this embodiment, the PLC control system 11 is configured to monitor and control data in a rotor assembly process; the system comprises a main control system and a plurality of sub-control systems (embodied in the form of a control cabinet in the embodiment), wherein each sub-control system is used for controlling each assembly process in the automatic assembly and test system of the small motor rotor, and each main control system and each sub-control system comprises a sub-controller, a communication module and an I/O interface module; particularly, the main control system also comprises a database and a display module, and the database, the display module and the communication module are all connected with the controller; specific:
each sub-controller is used for controlling and executing the automatic assembly procedure of the rotor in the corresponding assembly stage;
the database is used for storing the model, assembly information and performance parameter information of the rotor;
the display module comprises a production display signboard 11-5 and is used for displaying production data, test data and alarm information; fig. 8 (a) -8 (d) are different interfaces for producing the display sign, and are not described herein.
The communication module is connected with the PLC, the rotor feeding mechanism, the rotor coding device, the commutator press-mounting subsystem, the winding device, the fine processing mechanism, the rotor performance testing mechanism and the transfer robot group and is used for providing a data communication channel.
The following is a small motor rotor automatic assembly and test method of the small motor rotor automatic assembly and test system provided based on the present embodiment, which includes the following steps:
step 1): coding the rotor model, and press-fitting the coded rotor into the commutator;
step 2): winding the rotor with the pressed commutator;
step 3): determining the type of the rotor according to the rotor mark, selecting a corresponding testing device, and performing appearance testing;
step 4): and performing performance test on the rotor with qualified appearance test, and conveying the rotor with qualified test to the next working procedure.
In step 4), the performance test includes testing the voltage characteristic and the current characteristic of the rotor, the resistance characteristic between the commutator coils and the insulation performance of the rotor coils.
The automatic assembly and test system for the small motor provided by the embodiment realizes the whole process automation of motor rotor assembly, and the assembly process of the whole system is less than 12s through experimental tests, so that the rotor assembly efficiency is remarkably improved, and the system can continuously work for more than 24 hours under the condition of no shutdown maintenance, so that the labor cost is remarkably saved. In the embodiment, the fine processing mechanism is used for deburring, polishing, roundness testing, dynamic balance testing, processing and the like on the rotor and the commutator, so that the rotor transfer yield is obviously improved, and the rotor assembly quality is ensured; the rotor performance test mechanism is used for testing the rotor performance of the rotor, reject unqualified products, ensure that the assembled rotor has good performance, and obviously reduce the maintenance cost in the later period. In addition, this embodiment is through earlier stage to rotor marking sign indicating number, realizes rotor model and production data's record, in the assembly process, the rotor model is confirmed to accessible discernment two-dimensional code, and then selects suitable assembly frock to assemble, uses an assembly line can realize the assembly to different model rotors, has shown the assembly cost that has reduced.
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 invention. 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 invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, 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 invention, and any simple modification, equivalent variation and modification of the above embodiments in light of the technical principles of the invention may be made within the scope of the present invention.
Claims (9)
1. The automatic assembling and testing system for the small motor rotor is characterized by comprising a rotor feeding mechanism, a rotor coding device, a commutator press-mounting subsystem, a winding device, a fine processing mechanism, a rotor performance testing mechanism, a transfer robot group and a PLC control system, wherein the rotor feeding mechanism, the rotor coding device, the commutator press-mounting subsystem, the winding device, the fine processing mechanism, the rotor performance testing mechanism and the transfer robot group are all connected with the PLC control system;
the rotor feeding mechanism is used for providing a rotor to be assembled;
the rotor coding device is arranged adjacent to the rotor feeding mechanism and is used for coding a two-dimensional code carrying basic information of a rotor to be assembled according to the type and the assembly time of the rotor;
the commutator press-fitting subsystem is arranged adjacent to the rotor coding device and is used for realizing automatic press-fitting of the rotor and the commutator;
the winding device is arranged adjacent to the commutator press-mounting subsystem and is used for winding the rotor with the commutator already press-mounted;
the fine processing mechanism is arranged adjacent to the winding system and is used for carrying out fine processing on the rotor and carrying out roundness and dynamic balance detection on the rotor after winding according to the basic information of the rotor;
The rotor performance testing mechanism is used for performing performance test on the rotor subjected to fine treatment to determine whether the rotor is qualified in assembly;
the transfer robot group comprises a plurality of transfer robots, and each transfer robot is used for transferring the rotor in each assembly stage;
the PLC control system is used for carrying out data monitoring and control on the rotor assembly process;
the commutator press-mounting subsystem comprises a commutator feeding mechanism, a press-mounting mechanism and a rotor blanking transfer mechanism;
the commutator feeding mechanism comprises a commutator feeding table, a commutator conveying module and a commutator correcting module which are sequentially connected, and the commutator conveying module conveys the commutators in the commutator feeding table to a commutator material taking position one by one; the commutator alignment module is arranged at the commutator taking position and is used for aligning the commutator to be grasped;
the press-fit mechanism comprises a support frame, a press-fit device and a first positioning device, wherein the first positioning device is arranged at the bottom of the support frame and is used for positioning the rotor and the commutator; the press-fitting device is arranged at the upper end of the first positioning device and is coaxially arranged with the first positioning device, and is used for performing press-fitting action on the positioned commutator and rotor; the first positioning device is detachably fixed on the support frame and comprises a rotor positioning device and a commutator positioning device, wherein the rotor positioning device is arranged at the bottom of the support frame, and the commutator positioning device is arranged adjacent to the rotor positioning device up and down; the rotor positioning device comprises a mounting seat and a rotor limiting body, wherein the mounting seat is detachably arranged on the support frame, and the rotor limiting body is arranged at the upper end of the mounting seat; the cross section of the lower half part of the rotor limiting body is semicircular and is used for encircling the rotor, and a magnet is fixed on the front end surface of the middle part of the rotor limiting body; the upper end of the rotor limiting body is cylindrical, and a commutator guide block locating pin is arranged on the inner side wall of the rotor limiting body, so that the commutator guide block is convenient to install and locate; the commutator positioning device comprises a commutator guide block, wherein the upper end of a rotor limit body of the commutator guide block is embedded in the rotor limit body; the commutator guide block is internally provided with a commutator guide channel, the side wall of the guide channel is provided with at least one convex rib for guiding the trend of the commutator, and in addition, the side wall of the commutator guide block is embedded with a limiting block for further limiting the position of the commutator; the press-fitting device comprises a first driving device, a commutator press-fitting device and a press-fitting detection device, wherein the first driving device comprises a press-fitting cylinder, the press-fitting cylinder is fixed at the upper end of the support frame through a mounting frame, the commutator press-fitting device comprises a connecting rod, a guide rail assembly and a press rod, the output end of the press-fitting cylinder is connected with the press rod through a connecting piece, the connecting rod is connected with the guide rail assembly, and the guide rail assembly drives the press rod to move along the sliding direction of the guide rail under the driving of the cylinder so as to realize press-fitting action; the press-fit detection device comprises a second pressure sensor and is used for detecting the press-fit force of the press-fit device on the commutator;
The rotor blanking transfer mechanism is used for placing the rotor with the commutator already pressed and used as a feeding table for the next working procedure.
2. The automatic assembling and testing system for small motor rotors according to claim 1, wherein said rotor coding device comprises a laser coding machine for coding the rotors according to the rotor model and the assembling time.
3. The automatic assembling and testing system for small motor rotors according to claim 1, wherein said winding means comprises an automatic winding machine for automatically winding the rotors.
4. The automatic assembling and testing system for small motor rotor according to claim 1, wherein the fine processing mechanism comprises a spot welding device, a fine turning device, an identifying device, a roundness testing device and a dynamic balance testing processing device;
the spot welding equipment is used for welding the commutator ears on the commutator which is pressed on the rotor;
the finish turning equipment is used for performing burr polishing on the welded commutator;
the identification equipment is used for scanning and identifying the two-dimensional code on the rotor so as to acquire the type and production data of the rotor;
the roundness testing equipment is used for testing the roundness of the rotor and the commutator according to the type of the rotor;
The dynamic balance test processing equipment is used for testing the dynamic balance of the rotor and correcting the rotor unbalanced during rotation.
5. The automatic assembling and testing system for small motor rotor as in claim 1, wherein the rotor performance testing mechanism comprises a rotor positioning table, a rotor lifting table and a slidable performance testing table;
the rotor lifting platform is used for lifting the rotor to be coaxial with the testing end of the slidable performance testing platform;
the rotor positioning table is arranged on the rotor lifting table and used for fixing a rotor to be tested;
the sliding performance test table is arranged on one side of the rotor lifting table and is used for testing the performance of the rotor.
6. The automatic assembling and testing system for small motor rotor as claimed in claim 1, wherein the PLC control system comprises a controller, a database, a display module and a communication module, wherein the database, the display module and the communication module are all connected with the controller;
the controller is used for controlling and executing an automatic assembly process of the rotor;
the database is used for storing the model, assembly information and performance parameters of the rotor;
The display module is used for displaying production data, test data and alarm information;
the communication module is used for connecting the controller with the rotor feeding mechanism, the rotor coding device, the commutator press-mounting subsystem, the winding device, the fine processing mechanism, the rotor performance testing mechanism and the transfer robot group and is used for providing a data communication channel.
7. A small motor rotor automatic assembling and testing method based on the small motor rotor automatic assembling and testing system of any one of claims 1-6, characterized by comprising the following steps:
step 1): coding the rotor model, and press-fitting the coded rotor into the commutator;
step 2): winding the rotor with the pressed commutator;
step 3): determining the type of the rotor according to the rotor mark, selecting a corresponding testing device, and performing appearance testing;
step 4): and performing performance test on the rotor with qualified appearance test, and conveying the rotor with qualified test to the next working procedure.
8. The method according to claim 7, wherein in the step 4), the performance test includes testing the voltage characteristic and the current characteristic of the rotor, the resistance characteristic between the commutator coils and the insulation performance of the rotor coils.
9. A storage medium storing a computer program which, when executed by a processor, performs the steps of the method for automatically assembling and testing a small motor rotor according to claim 7.
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| JP2021013223A (en) * | 2019-07-04 | 2021-02-04 | 本田技研工業株式会社 | Rotary electric machine assembly device and rotary electric machine assembly method |
| CN110365176B (en) * | 2019-08-12 | 2021-05-11 | 宁波市鸿林自动化机械有限公司 | Rotor assembling equipment of 550 direct current motor |
| CN110345994B (en) * | 2019-08-15 | 2021-08-10 | 衢州市迈德电子有限公司 | Detection method of motor rotor |
| CN111352009B (en) * | 2020-04-20 | 2020-11-27 | 贵州电网有限责任公司 | Diode breakdown voltage detection equipment |
| CN113949240B (en) * | 2021-11-24 | 2023-07-28 | 深圳市合利士智能装备有限公司 | Motor assembling equipment and assembling method thereof |
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