CN116317396A

CN116317396A - Full-automatic motor rotor riveting device and riveting method

Info

Publication number: CN116317396A
Application number: CN202310404574.4A
Authority: CN
Inventors: 丁贇; 郭文光; 王亚; 钟义荣; 周卫华; 陈祖
Original assignee: Shanghai Heyu Dynamo Co ltd
Current assignee: Shanghai Heyu Dynamo Co ltd
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-06-23

Abstract

The invention discloses a full-automatic motor rotor riveting device, which comprises a workbench, wherein a conveying mechanism, a riveting mechanism, a stacking mechanism, a transfer device and a shaft feeding mechanism are arranged on the workbench, a material tray is arranged on the stacking mechanism, a rotor grabbing and placing mechanism is arranged above the stacking mechanism, a station A and a station B which are distributed along an x axis are arranged on the transfer device, the station A is used for placing a rotor to be riveted, the station B is used for placing a finished rotor, the station A and the station B can synchronously rotate by 180 degrees, the rotor grabbing and placing mechanism is used for placing the rotor to be riveted on the station A and clamping and placing the finished rotor in the material tray from the station B, and the conveying mechanism comprises a clamping jaw A and a clamping jaw B which can move along the x axis, the y axis and the z axis and a clamping jaw C which can move along the x axis and the z axis; each mechanism is mutually connected to form an automatic production line, manual intervention is not needed, and the working efficiency is greatly improved; meanwhile, the assembly errors of the artificial materials are reduced, and the product quality is improved.

Description

Full-automatic motor rotor riveting device and riveting method

Technical Field

The invention relates to the technical field of rotor riveting, in particular to a full-automatic motor rotor riveting device and a corresponding riveting method.

Background

In recent years, the development of the automatic manufacturing industry in China is rapid, and most manufacturers for producing electronic products still use manual operation or single-process mechanized operation at present, so that the production efficiency is low, and the production quality, precision, safety and the like cannot be guaranteed;

if the micro-motor rotor is produced, the working procedures such as rotor pressing-in snap springs and bearing riveting are needed, the traditional method always adopts a manual mode or a semi-automatic mode, a worker is still needed to put the rotor and the shaft on a riveting mechanism for riveting, the worker takes down the rotor and the shaft after riveting, the next rotor is riveted, the whole process can not realize the process of automatically feeding the rotor and the shaft to the riveting mechanism for riveting, manual intervention is still needed to feed the rotor and the shaft, and the working efficiency is low; secondly, because the staff manually positions and assembles the rotor, the staff is easy to fatigue in a long-time working state, so that the quality of the product is unstable, the efficiency is low, and the reject ratio is high.

Based on the technical problems in the rotor riveting, an effective scheme is urgently required to solve the problems.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a full-automatic motor rotor riveting device and a riveting method.

The aim of the invention is realized by the following technical scheme:

the utility model provides a full-automatic motor rotor riveting device, includes the workstation, be equipped with transport mechanism, riveting mechanism, stacking mechanism, transfer device and axle feed mechanism on the workstation, the last charging tray that has placed of stacking mechanism, the charging tray is used for placing and waits to rivet rotor and finished product rotor, and stacking mechanism top is equipped with the rotor and grabs and put the mechanism, be equipped with station A and station B that distributes along the x-axis on the transfer device, station A is used for placing and waits to rivet the rotor, station B is used for placing finished product rotor, but station A and station B180 degrees synchronous rotation, rotor grabs and puts the mechanism and be used for placing waiting to rivet the rotor on station A and with the finished product rotor clamp get and place in the charging tray from station B, transport mechanism includes jaw A, jaw B that can follow x-axis, y-axis and z-axis direction remove, jaw A and jaw B are used for clamping waiting to rivet the rotor and placing on the riveting mechanism on the station A and still be used for clamping and placing finished product rotor on the jaw B and take riveting mechanism and take the jaw C and rivet mechanism on the output jaw axis.

In the above summary, further, the stacking mechanism includes a frame disposed on the workbench and used for placing the tray, and a first linear module disposed below the frame, where the frame is divided into a first placement area, a second placement area, and a third placement area along a length direction, the first linear module is used for horizontally pushing the tray on the first placement area to the second placement area and the third placement area, and the rotor grabbing and placing mechanism is disposed above the second placement area.

In the above summary, further, the feeding cylinder is arranged below the first placement area, a supporting rod a for placing the upper layer tray is arranged at the edge of the first placement area, a side blocking mechanism for preventing the tray from sliding downwards is arranged on the supporting rod a, the side blocking mechanism comprises a side blocking cylinder fixedly arranged on the supporting rod a through a fixing plate, the telescopic end of the side blocking cylinder is connected with a bearing plate, the upper layer tray is placed on the bearing plate, when the feeding cylinder is in a contracted state, the telescopic end of the feeding cylinder is abutted to the bottom surface of the first placement area bottom tray, and when the feeding cylinder is in an extended state, the telescopic end of the feeding cylinder is abutted to the bottom surface of the first placement area upper layer tray.

In the above summary, further, the tray is provided with a support column, and the receiving plate is provided with a plurality of upper trays, and the plurality of upper trays are stacked and placed by the support column.

In the above summary, further, a discharging cylinder is disposed below the third placement area, a supporting rod B for placing the upper tray is disposed at the edge of the third placement area, the tray may slide along the length direction of the supporting rod B, and when the telescopic end of the discharging cylinder is in a contracted state, the telescopic end of the discharging cylinder abuts against the bottom surface of the tray.

In the above summary, further, the support rod B is provided with a limiting component, the limiting component includes a limiting portion, and an installation portion and a hinge portion that are in an integral structure, the installation portion is fixed on the support rod B, the limiting portion is hinged on the hinge portion, a contact surface a and a contact surface B for limiting the rotation freedom degree of the limiting portion are provided on the hinge portion, a contact surface C and a contact surface D respectively corresponding to the contact surface a and the contact surface B are provided on the limiting portion, and the contact surface a and the contact surface C are in an inclined structure.

In the above summary, further, the support bars a and B are provided with a limiting plate.

In the above summary, further, the telescopic ends of the feeding cylinder and the discharging cylinder are respectively provided with a supporting block, and the telescopic ends of the feeding cylinder and the discharging cylinder are abutted to the bottom surface of the material tray through the supporting blocks.

In the above summary, further, the frame is provided with a sliding rod penetrating through the first placement area, the second placement area and the third placement area, and the tray slides along the length direction of the frame through the sliding rod.

In the above summary, further, the tray is provided with a plurality of rows of placement grooves arranged along the x-axis, and the placement grooves are provided with a plurality of slots for placing the rotor to be riveted and the finished rotor.

In the above summary, further, a pushing rod is fixed on the first linear module, and the first linear module makes the tray slide along the length direction of the frame through the pushing rod.

In the above summary, further, the rotor grabbing and releasing mechanism includes a support frame fixed on two sides of the frame, a second linear module and a grabbing plate fixedly connected with the second linear module are fixed on the support frame, an grabbing up-and-down cylinder is fixed on the grabbing plate, a clamping jaw D for clamping the rotor is fixed on the telescopic end of the grabbing up-and-down cylinder, and the second linear module drives the clamping jaw D to move back and forth through the grabbing plate, and the clamping jaw D is arranged above the second placing area.

In the above summary, further, the transfer device includes a base fixed on the workbench and a rotary cylinder fixed on the base, a support platform is fixed on a rotating shaft of the rotary cylinder, a station a and a station B for placing a rotor are arranged on the support platform, and the rotary cylinder drives the station a and the station B to rotate 180 degrees synchronously.

In the above summary, further, the conveying mechanism includes a supporting base plate fixed on the workbench, a third linear module and a linear slide rail are arranged on the supporting base plate, a moving plate is fixed on the third linear module, the moving plate is slidably matched on the linear slide rail, and a clamping jaw A, a clamping jaw B and a clamping jaw C are sequentially arranged on the moving plate along the X-axis direction.

In the above summary, further, the support base plate is fixed with a material transporting front-back cylinder a and a material transporting front-back cylinder B, the moving plate is provided with a clamping jaw sliding rail a and a clamping jaw sliding rail B which are arranged along the Y-axis direction, the clamping jaw sliding rail a and the clamping jaw sliding rail B are respectively and slidably connected with a moving platform a and a moving platform B, the clamping jaw a and the clamping jaw B are respectively fixed on the moving platform a and the moving platform B, the moving platform a and the moving platform B are respectively and fixedly connected with the telescopic ends of the material transporting front-back cylinder a and the material transporting front-back cylinder B, and the clamping jaw a and the clamping jaw B respectively slide along the clamping jaw sliding rail a and the clamping jaw sliding rail B through the material transporting front-back cylinder a and the material transporting front-back cylinder B.

In the above summary, further, the moving platform a and the moving platform B are each composed of a mounting plate a and a mounting plate B, the mounting plate a is fixed with an up-down cylinder a and an up-down cylinder B which can extend and retract along the Z-axis direction, one side of the mounting plate B is fixed on the up-down cylinder a and the up-down cylinder B, the clamping jaw a and the clamping jaw B are fixed on the other side of the mounting plate B, and the clamping jaw a and the clamping jaw B move along the extending and retracting directions of the up-down cylinder a and the up-down cylinder B respectively through the mounting plate B;

the positioning platform is further fixed on the moving plate and consists of a mounting plate C and a mounting plate D, an upper cylinder C and a lower cylinder C which can stretch out and draw back along the Z-axis direction are fixed on the mounting plate C, one side of the mounting plate D is fixed on the upper cylinder C and the lower cylinder C, the clamping jaw C is fixed on the other side of the mounting plate D, and the clamping jaw C moves along the stretching direction of the upper cylinder C and the lower cylinder C through the mounting plate D.

In the above summary, further, the riveting mechanism includes a riveting bottom plate fixed on the workbench, a riveting seat fixed on the riveting bottom plate, and a supporting die frame, wherein a forming pressurizing cylinder and an upper punch connected with an output end of the forming pressurizing cylinder are fixed on the supporting die frame, the upper punch and the riveting seat are coaxially arranged, and the riveting seat is used for placing the rotor.

In the above summary, further, the shaft feeding mechanism includes a support plate a and a support plate B disposed on the workbench, and a shaft pendulum box and a fourth linear module disposed on the support plate a and the support plate B respectively, a vibration controller for driving the shaft pendulum box to swing is disposed below the shaft pendulum box, the bottom of the shaft pendulum box is disposed obliquely, and a discharge slot is disposed at the bottom of the shaft pendulum box; the fourth linear module is fixedly connected with a material receiving plate, a groove for placing the shaft is formed in the material receiving plate, the fourth linear module drives the material receiving plate to move back and forth along the Y-axis direction and enables the groove to move back and forth between the shaft material discharging position and the shaft rotation position, and the material discharging notch is arranged right above the shaft material discharging position; one side of the fourth linear module is provided with a rotating device fixed on the supporting plate B, a clamping jaw E is fixed on the rotating device, the rotating device drives the clamping jaw E to vertically overturn along the vertical direction, the clamping jaw E is used for clamping a shaft in the shaft and placing the shaft on a waiting material level, and a sliding table cylinder used for pushing the axial clamping jaw E in the shaft to move along the direction is further arranged above the receiving plate.

In the above summary, further, the support plate B is fixed with a support plate C through a stand column, the fourth linear module is fixed on the support plate C, the support plate C is also fixed with an ear plate, the sliding table cylinder is fixedly installed above the receiving plate through the ear plate, and the telescopic end of the sliding table cylinder is fixed with a guide plate for pushing the shaft.

In the above summary, further, a protrusion matched with the groove is provided at the bottom of the guide plate, and a protrusion for abutting against the end of the shaft is further provided on the inner wall of the protrusion near the material receiving plate.

In the above summary, further, the rotating device includes a telescopic cylinder fixed on the support plate B, a rack is disposed at a telescopic end of the telescopic cylinder, a turnover shaft is meshed with the rack, a connector is fixed at one end of the turnover shaft, and the connector is fixedly connected with the clamping jaw E.

In the above summary, further, the rotating device further includes a housing fixed on the support plate B, a bearing is sleeved in the housing, and the overturning shaft is rotatably connected through the bearing.

In the above summary, further, the support plate B is further provided with a sliding mechanism for making the clamping jaw E move back and forth along the X-axis direction, where the sliding mechanism includes a pushing cylinder, a rail, and a storage plate fixed below the housing, and the storage plate is fixed at the telescopic end of the telescopic cylinder and is in sliding fit with the rail.

In the above summary, further, one end of the turning shaft away from the connector extends to the outer side of the housing and is fixed with a limiting block, the bottom of the housing is further provided with a rib extending to the outer side of the housing, and when the clamping jaw E is in a vertical state, the limiting block abuts against the outer surface of the rib.

In the above summary, further, a transparent glass cover is provided on the workbench, and an operation controller is provided on the transparent glass cover, and the operation controller is electrically connected with the stacking mechanism, the rotor grabbing and placing mechanism, the transfer device, the conveying mechanism and the shaft feeding mechanism respectively.

In the above summary, further, the riveting step of the fully automatic motor rotor riveting device is as follows:

s1: in an initial state, a clamping jaw A is aligned with a station B of the transfer device, a clamping jaw C is aligned with a riveting mechanism, a clamping jaw D on a rotor grabbing and placing mechanism clamps a rotor to be riveted in a material taking disc to be placed on the station A on the transfer device, the transfer device rotates 180 degrees to enable the station A to be aligned with the clamping jaw A, and meanwhile, a clamping jaw E on a shaft feeding mechanism clamps a shaft and moves to a material to be riveted;

s2: the clamping jaw A moves along the y direction firstly, then descends along the Z axis direction and clamps the rotor to be riveted on the station A, the clamping jaw A clamps the rotor to be riveted, then ascends along the Z axis direction and moves along the-y direction, then the moving plate moves along the x direction until the clamping jaw A is aligned with the riveting mechanism, the clamping jaw A descends along the Z axis direction after moving along the y direction, the rotor to be riveted is placed on the riveting mechanism, and then the clamping jaw A ascends along the Z axis direction and moves along the-y direction; when the clamping jaw A moves, the clamping jaw C moves to a material level to be tested, then the clamping jaw C moves downwards along the z-axis direction and clamps an axis positioned on the material level to be tested, and the clamping jaw C clamps the axis and then moves upwards along the z-axis direction; when the moving plate moves along the x axis, the transfer device rotates 180 degrees, and the clamping jaw D of the rotor grabbing and releasing mechanism continuously clamps the rotor to be riveted in the material taking disc and places the rotor to be riveted on the station A on the transfer device;

s3: after S2, the moving plate moves to the clamping jaw C along the-x direction to align with the riveting mechanism, at the moment, the moving plate returns to the initial position, the clamping jaw C moves downwards along the z-axis direction and is placed in the shaft hole of the rotor, and the clamping jaw C moves upwards along the z-axis direction after the shaft is placed; in the process that the moving plate moves along the-x direction, the transfer device rotates 180 degrees to enable a station A provided with a rotor to be riveted to be aligned with the clamping jaw A;

s4: the moving plate continues to move to the leftmost end along the-x direction, the riveting mechanism performs riveting on the rotor and the shaft to form a finished rotor, when the moving plate moves to the leftmost end along the-x direction, the clamping jaw B is aligned with the station A and moves downwards along the y direction and clamps the rotor to be riveted on the station A, the clamping jaw B clamps the rotor to be riveted and moves upwards along the Z axis direction and moves along the-y direction, the clamping jaw C moves upwards along the Z axis direction to return to the initial position in the process of clamping the rotor to be riveted by the clamping jaw B, and the clamping jaw E on the shaft feeding mechanism clamps the shaft and moves to the material to be riveted;

s5: the moving plate moves to the waiting material level of the clamping jaw A aligning riveting mechanism and the clamping jaw C aligning shaft feeding mechanism along the x direction, a finished product rotor subjected to riveting is placed on the riveting mechanism, the clamping jaw A moves along the y direction and then descends along the Z axis direction and clamps the finished product rotor, then the clamping jaw A ascends along the Z axis direction and moves along the-y direction, and meanwhile the clamping jaw C descends along the Z axis direction and clamps the shaft and then moves upwards along the Z direction; in the process of moving the moving plate along the x direction, the transfer device rotates 180 degrees again;

s6: the clamping jaw D of the rotor grabbing and placing mechanism continuously clamps the rotor to be riveted in the material taking disc to be placed on a station A of the transfer device, meanwhile, the moving plate moves along the-x direction to enable the clamping jaw B to be aligned with the riveting mechanism, the clamping jaw B moves downwards along the z-axis direction after moving along the y-axis direction, the rotor to be riveted is placed on the riveting mechanism, and the clamping jaw B moves upwards along the z-axis direction and then moves along the-y direction after being placed;

s7: the moving plate continues to move along the-x direction to enable the clamping jaw A to be aligned with a station B of the riveting mechanism, the clamping jaw A moves along the y direction firstly and then moves downwards along the z axis direction, a finished product rotor is placed on the station B, and the clamping jaw A moves upwards along the z axis and then moves along the-y axis after the finished product rotor is placed; simultaneously, the clamping jaw C moves downwards along the z-axis direction, the shaft is placed in the shaft hole of the rotor, the clamping jaw C moves upwards along the z-axis direction after being placed, and the clamping jaw A rotates 180 degrees after the finished rotor is placed on the station B;

s8: clamping the finished product rotor on the station B by the clamping jaw D, placing the finished product rotor in a material tray on the stacking mechanism, simultaneously, continuously moving the moving plate to the leftmost end along the-x direction to enable the clamping jaw B to be aligned with the station A, then moving the clamping jaw B downwards along the z-axis direction along the y-direction and clamping the rotor to be riveted on the station A, and riveting the rotor and the shaft by the riveting mechanism in the process that the moving plate moves along the-x direction to manufacture the finished product rotor; simultaneously, in the process that clamping jaw B presss from both sides and draws to wait to rivet the pressure rotor, clamping jaw E presss from both sides the axle and removes to waiting the material level.

s9: repeating the steps S5-S8.

In the above summary, further, the specific steps of the rotor grabbing and placing mechanism are as follows:

a1: placing a tray provided with a rotor to be riveted in a first placing area, wherein the first linear module drives the tray in the first placing area to gradually slide to a second placing area along the direction of a sliding rod until a first row of placing grooves on the tray moves to the position below a clamping jaw D, and stopping sliding;

a2, a clamping jaw D moves downwards and clamps a rotor to be riveted on a material taking disc, the clamping jaw D moves downwards along the z-axis direction and clamps the rotor to be riveted on the leftmost slot hole on the first row of placing grooves, the clamping jaw D clamps the rotor to be riveted and then moves upwards along the z-axis direction, then the second linear module drives the clamping jaw D to move along the x-axis direction so that the clamping jaw D is aligned to an A station on the transfer device and places the rotor to be riveted on the A station, and the clamping jaw D moves upwards along the z-axis direction after placing the rotor to be riveted; when the clamping jaw A places a finished product rotor on a station B of the transfer device, after the transfer device rotates for 180 degrees, the clamping jaw D moves downwards along the z-axis direction and clamps the finished product rotor on the station B and then moves upwards along the z-axis direction, then the second linear module drives the clamping jaw D to move to be aligned with an empty slot hole on the left side of the first row of placing grooves along the-x-axis direction, the clamping jaw D moves downwards along the z-axis direction and places the finished product rotor in the empty slot hole, and then the clamping jaw D continuously clamps other rotors to be riveted of the same row of placing grooves in sequence to be placed on a station A of the transfer device;

a3, after clamping of the rotor to be riveted on the first row of placing grooves is completed, the first linear module pushes the material tray to continuously slide along the slide bar until the second row of placing grooves are aligned with the clamping jaw D, the clamping jaw D continuously clamps the rotor on the second placing tray from left to right in sequence, and then the step a2 is repeated;

a4, after the rotor to be riveted on the last row of placing grooves of the material tray is riveted, the first linear module drives the material tray to move to a third placing area along the direction of the sliding rod;

a5: taking a tray provided with finished rotors which are stacked on the third placing area;

a6, repeating the steps a1-a 5.

In the above summary, further, in the step a1, the method further includes placing the stack of multiple trays in the first placement region, and the specific operation steps are as follows:

before a plurality of layers of trays are placed, the side baffle cylinder drives the receiving plate to move inwards, then the trays with the stacked rotors to be riveted are placed on the receiving plate, and the plurality of layers of trays are stacked and placed through the support columns;

b2, extending out and abutting the telescopic end of the feeding cylinder on the lower surface of the bottom-layer tray, and driving the receiving plate to move outwards by the side blocking cylinder to enable the multi-layer tray to slide downwards along the supporting rod A, and enabling the telescopic end of the feeding cylinder to shrink to drive the multi-layer tray to move downwards; in the downward moving process of the multi-layer material trays, the side blocking air cylinder drives the receiving plate to move inwards again, so that the bottom of the downward moving upper-layer material tray is placed on the receiving plate, the upper-layer material tray does not move downwards any more, and at the moment, the feeding air cylinder only drives the bottom-layer material tray to move downwards until the bottom-layer material tray is placed in the first placing area;

b3, repeating the steps b1-b2 after the first linear module drives the tray to completely slide from the first placement area to the second placement area.

In the above summary, in the step a5, the specific step of removing the tray in the third placement area is as follows:

c1, when a tray provided with finished rotors which are stacked moves to a third placement area, the telescopic end of a discharging cylinder extends upwards to be abutted to the bottom of the tray and drives the tray to move upwards;

c2, in the process that the discharge cylinder drives the material tray to move upwards, the material tray is placed on the limiting component on the support rod B after moving upwards, and then the discharge cylinder does not drive the material tray to move upwards any more;

c3: the telescopic end of the discharging cylinder moves downwards until the telescopic end moves to the position below the third placing area, and then the tray placed on the limiting assembly is taken away;

c4: repeating the steps c1-c 3.

In the above summary, further, in the process of clamping the shaft to the waiting level by the clamping jaw E on the shaft feeding mechanism, specific steps are as follows:

d1: when the clamping jaw E is positioned at a material level waiting position, the groove on the material receiving plate is arranged below the material discharging notch, at the moment, the groove is arranged at a shaft material level discharging position, and the vibration controller enables the shaft material swinging box to vibrate so as to enable a shaft in the shaft material swinging box to fall into the groove from the material discharging notch;

d2: then the fourth linear module drives the material receiving plate to move along the-y direction so that the groove with the shaft moves to the shaft for rotation, and then the sliding table cylinder drives the shaft in the groove to move along the groove towards the clamping jaw E direction;

d3: the rotating device drives the clamping jaw E to rotate 90 degrees along the vertical direction to clamp the shaft on the indexing shaft, and after the clamping jaw E clamps the shaft, the rotating device drives the clamping jaw E90 to rotate back to the material level to be tested;

d4: repeating the steps d1-d 3.

In the above summary, further, in the step d3, the specific step of the clamping jaw E clamping the shaft on the shaft to be filled to the to-be-filled position is as follows:

the clamping jaw E is arranged at a material level to be tested, the telescopic end of the pushing cylinder drives the clamping jaw E to move to a clamping position along the x direction, then the driving device drives the clamping jaw E to rotate 90 degrees in the vertical direction to clamp a shaft in an indexing way, after the clamping jaw E clamps the shaft, the rotating device drives the clamping jaw E90 to rotate back to the clamping position again, and finally the pushing cylinder drives the clamping jaw E to move to the material level to be tested along the-x axis and then stops moving.

The beneficial effects of the invention are as follows:

1. according to the technical scheme, the automatic rotor riveting production line comprises a conveying mechanism, a stacking mechanism, a rotor grabbing and placing mechanism, a riveting mechanism, a transfer device and a shaft feeding mechanism, wherein the mechanisms are mutually connected to form the automatic rotor riveting production line, a tray with a rotor to be riveted is only required to be placed on the stacking mechanism, the stacking mechanism can automatically feed and discharge the tray, the rotor on the tray clamped by the rotor grabbing and placing mechanism is conveyed to the conveying mechanism through the transfer device, the rotor is conveyed to the riveting mechanism through the conveying mechanism for riveting, the shaft feeding mechanism can automatically discharge a shaft, the shaft is conveyed to a clamping jaw C on the convenient conveying mechanism for waiting for material level to be conveyed to the riveting mechanism, the finished rotor after riveting is conveyed to the transfer mechanism through the conveying mechanism, and is then placed in the tray through the rotor grabbing and placing mechanism, the whole working process is converted into a full-automatic riveting mode through an original manual mode or a semi-automatic mode, manual intervention is not required, the labor cost of rotor feeding and shaft feeding is reduced, and the working efficiency is greatly improved;

2. The invention greatly reduces complex and repeated actions of workers, reduces potential safety hazards, simultaneously ensures product quality, reduces assembly errors and mistakes of manual materials, solves the problem of reduced qualification rate of traditional manual positioning assembly, and has the advantages of improved installation efficiency and convenient maintenance.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is an exploded view of the structure of the present invention;

FIG. 3 is a schematic view of a stacking mechanism according to the present invention;

FIG. 4 is a schematic view of another view of the stacking mechanism of the present invention;

FIG. 5 is a schematic view of another view of the stacking mechanism of the present invention;

FIG. 6 is a schematic view of another view of the stacking mechanism of the present invention;

FIG. 7 is a schematic view of a partial enlarged structure of A in the present invention;

FIG. 8 is a schematic view of a split structure of the spacing assembly of the present invention;

FIG. 9 is a schematic view of a partially enlarged structure of the present invention B;

FIG. 10 is a schematic view of a rotor pick-and-place mechanism according to the present invention;

FIG. 11 is a schematic diagram of a transfer device according to the present invention;

FIG. 12 is a schematic view of a transfer mechanism according to the present invention;

FIG. 13 is a schematic view of a partially enlarged structure of the present invention C;

FIG. 14 is a schematic view of another embodiment of the transfer mechanism of the present invention;

FIG. 15 is a schematic view of a riveting mechanism according to the present invention;

FIG. 16 is a schematic view of the structure of the axle loading mechanism of the present invention;

FIG. 17 is a front view of the axle loading mechanism of the present invention;

FIG. 18 is a front view of the axle loading mechanism of the present invention;

FIG. 19 is a schematic view of another view angle structure of the axle loading mechanism of the present invention;

FIG. 20 is a schematic view of another view angle structure of the axle loading mechanism of the present invention;

FIG. 21 is a schematic view of another view angle of the axle loading mechanism of the present invention;

FIG. 22 is a schematic view of a partially enlarged structure of the present invention D;

FIG. 23 is a partially enlarged schematic construction of the present invention E;

FIG. 24 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 25 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 26 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 27 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 28 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 29 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 30 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 31 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

FIG. 32 is a state diagram of the operation of the transfer mechanism and the transfer device of the present invention;

in the figure, 100-workbench, 200-stacking mechanism, 210-frame, 211-first placement area, 212-second placement area, 213-third placement area, 214-slide bar, 220-tray, 221-placement groove, 222-slot, 223-support column, 230-first linear module, 231-push rod, 240-feed cylinder, 241-support bar A, 250-discharge cylinder, 251-support bar B, 260-side block mechanism, 261-fixing plate, 262-side block cylinder, 263-receiving plate, 270-limit component, 271-limit part, 2711-contact surface C, 2712-contact surface D, 272-mounting part, 273-hinge part, 2731-contact surface A, 2732-contact surface B, 280-limit plate, 290-supporting block, 300-rotor grabbing and releasing mechanism, 310-supporting frame, 320-second linear module, 330-grabbing plate, 340-grabbing up-down cylinder, 350-clamping jaw D, 400-conveying mechanism, 410-supporting bottom plate, 411-material transporting front-back cylinder A, 4111-clamping jaw sliding rail A, 412-material transporting front-back cylinder B, 4121-clamping jaw sliding rail B, 420-third linear module, 430-linear sliding rail, 440-moving plate, 441-clamping jaw A, 442-clamping jaw B, 443-clamping jaw C, 450-moving platform A, 451-up-down cylinder A, 460-moving platform B, 461-up-down cylinder B, 470-positioning platform, 471-up-down cylinder C, 480-mounting plate A, 481-mounting plate B, 482-mounting plate C, 483-mounting plate D, 500-shaft loading mechanism, 510-support plate A, 520-support plate B, 521-support plate C, 522-ear plate, 530-shaft pendulum box, 531-vibration controller, 532-discharge slot, 540-fourth linear module, 550-receiving plate, 551-groove, 552-shaft discharge position, 553-indexing, 554-clamping position, 555-waiting position, 560-rotating device, 561-telescoping cylinder, 562-rack, 563-turnover shaft, 564-connector, 565-housing, 566-stopper, 567-rib, 570-clamping jaw E, 580-sliding table cylinder, 581-guide plate, 582-lug, 590-sliding mechanism, 591-pushing cylinder, 592-track, 593-placing plate, 600-rotating device, 610-base, 620-rotating cylinder, 630-supporting platform, 631-station A, 632-station B, 700-riveting mechanism, 710-riveting base, 720-riveting base, 730-supporting die carrier, 740-forming die carrier, 570-clamping die carrier, 740-forming upper press, 800-transparent cover, and control rivet 810.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

Examples:

in the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must be provided with a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Referring to fig. 1, fig. 2 and fig. 11, a full-automatic motor rotor riveting device is disclosed, which comprises a workbench 100, a conveying mechanism 400, a riveting mechanism 700, a stacking mechanism 200, a transferring device 600 and a shaft feeding mechanism 500 are arranged on the workbench 100, a tray 220 is arranged on the stacking mechanism 200, the tray 220 is used for placing a rotor to be riveted and a finished product rotor, a rotor grabbing and placing mechanism 300 is arranged above the stacking mechanism 200, a station A631 and a station B632 distributed along an x axis are arranged on the transferring device 600, the station A631 is used for placing a rotor to be riveted, the station B632 is used for placing a finished product rotor, the station A631 and the station B632 can synchronously rotate by 180 degrees, the rotor grabbing and placing mechanism 300 is used for placing the rotor to be riveted on the station A631 and clamping the finished product rotor to be riveted on the station B632 in a material tray 220, the conveying mechanism 400 comprises a clamping jaw A441 and a clamping jaw B442 which can move along the x axis and the z axis and a clamping jaw 441 which can move along the x axis and the z axis and a clamping jaw 441 and a clamping jaw B441 is used for clamping the finished product rotor to be riveted and outputting the rotor to the clamping jaw 700 to the clamping jaw 632 to the finished product rotor to be riveted and placing the finished product rotor to the finished product 700 is clamped to be clamped to the finished product rotor to be finished product 700B 700 and the finished product 700.

Referring to fig. 3 to 9, the stacking mechanism 200 includes a frame 210 disposed on the table 100 and used for placing the trays 220, and a first linear module 230 disposed below the frame 210, the frame 210 is divided into a first placement area 211, a second placement area 212, and a third placement area 213 along a length direction, the first linear module 230 is used for horizontally pushing the trays 220 on the first placement area 211 to the second placement area 212 and the third placement area 213, and the rotor grabbing and placing mechanism 300 is disposed above the second placement area 212. Specifically, the frame 210 may be a rectangular frame or a square frame, and a rectangular frame is preferable in the present invention. The first placing area 211 is used for placing the tray 220 with the rotor to be riveted, the second placing area 212 is a working area of the rotor grabbing and placing mechanism 300, the rotor grabbing and placing mechanism 300 clamps the rotor in the tray 220 on the second placing area 212 and transfers the rotor to the transferring device 600, and clamps the finished rotor on the transferring device 600 and places the finished rotor in the tray 220 on the second placing area 212, until the rotor to be riveted in the tray 220 on the second placing area 212 is riveted into the finished rotor, the first linear module 230 pushes the tray 220 to the third placing area 213 completely horizontally on the second placing area 212, and the third placing area 213 is used for placing the tray 220 with the riveted finished rotor.

In the working process of the stacking mechanism 200, a tray 220 with a rotor to be riveted moves from a first placing area 211 to a second placing area 212 and a third placing area 213 through a first linear module 230 step by step, after the rotor in the tray 220 is riveted, the tray 220 moves to the third placing area 213, at this time, the first placing area 211 and the second placing area 212 are in an empty state, the tray 220 with the rotor to be riveted needs to be additionally placed in the empty state, in order to improve the working efficiency of automatic feeding of the tray 220, an upper tray 220 can be placed above the first placing area 211, a feeding cylinder 240 is arranged below the first placing area 211, a supporting rod A241 for placing the upper tray 220 is arranged at the edge of the first placing area 211, a side blocking mechanism 260 for preventing the tray 220 from sliding downwards is arranged on the supporting rod A241, the side blocking mechanism comprises a side blocking cylinder 262 fixedly arranged on the A241 through a fixing plate 261, the telescopic end of the side blocking cylinder 262 is connected with a receiving plate 263, when the upper tray 263 is placed on the bottom surface of the first cylinder 240, and the telescopic end of the upper tray 240 is placed in a telescopic state, and the telescopic end of the telescopic tray 240 is in a telescopic state when the upper tray 263 is placed on the bottom surface of the cylinder 240 and is in a telescopic state, and the telescopic end of the telescopic tray 240 is placed on the bottom surface of the cylinder 240.

Specifically, the upper tray 220 may be placed above the first placement area 211 by the side blocking mechanism 260, when the bottom tray 220 is completely pushed to the second placement area 212 and the third placement area 213 by the first linear module 230, the feeding cylinder 240 may drive the upper tray 220 to move downward along the support rod a241 to gradually drop into the first placement area 211, and when the bottom tray 220 is still in the first placement area 211, the side blocking cylinder 262 drives the receiving plate 263 to extend inward to place the upper tray 220 on the receiving plate 263, so as to prevent the upper tray 220 from dropping and improve the stability of the apparatus.

In order to further improve the working efficiency, the tray 220 is provided with a support column 223, and a plurality of upper trays 220 can be stacked on the receiving plate 263, and the plurality of upper trays 220 are stacked by the support column 223.

The edge of the third placement area 213 is provided with a support rod B251 for placing the upper tray 220, the tray 220 may slide along the length direction of the support rod B251, and when the telescopic end of the discharge cylinder 250 is in a contracted state, the telescopic end of the discharge cylinder 250 abuts against the bottom surface of the tray 220. Specifically, when the tray 220 in the second placement area 212 moves into the third placement area 213, the discharge cylinder 250 pushes the tray 220 in the third placement area 213 to slide and discharge upward along the length direction of the support bar B251, and then the tray 220 is removed.

Similarly, in order to improve the working efficiency, in the discharging process, a plurality of discharged trays 220 may be placed above the third placing area 213, the plurality of discharged trays 220 may be stacked on the supporting rod B251 by the supporting columns 223, and after the discharged trays 220 are stacked to a certain number, the plurality of discharged trays 220 placed in the supporting rod B251 may be taken away together.

In order to avoid that the plurality of trays 220 on the support rod B251 slide down after discharging, the support rod B251 is provided with a limiting component 270, as shown in fig. 7 and 8, the limiting component 270 comprises a limiting part 271, a mounting part 272 and a hinge part 273, wherein the mounting part 272 is fixed on the support rod B251, the limiting part 271 is hinged on the hinge part 273, the hinge part 273 is provided with a contact surface a2731 and a contact surface B2732 for limiting the rotation freedom degree of the limiting part 271, the limiting part 271 is provided with a contact surface C2711 and a contact surface D2712 corresponding to the contact surface a2731 and the contact surface B2732 respectively, and the contact surface a2731 and the contact surface C2711 are in an inclined surface structure. Specifically, in the process of gradually moving and stacking the trays 220 with multiple layers of discharged materials upwards, when the trays 220 are lifted and the side edges of the trays 220 pass through the limiting assemblies 270 on the supporting rods B251, the side edges of the trays 220 rotate the limiting portions 271 and make the contact surfaces a2731 abut against the contact surfaces C2711, so that the trays 220 can just move upwards through the limiting portions 271; after the tray 220 passes through the limiting portion 271, the limiting portion 271 rotates until the contact surface B2732 abuts against the contact surface D2712, and the limiting portion 271 is no longer rotated due to the abutting between the contact surface B2732 and the contact surface D2712, at this time, the discharging cylinder 250 drives the tray 220 to move downward, so that the bottom of the tray 220 is placed on the upper surface of the limiting portion 271.

In the above embodiment, it is preferable that the support rods a241 and B251 are both provided with the limiting plates 280, and the tray 220 can only move up and down along the support rods a241 and B251 through the limiting plates 280, so as to avoid left and right shaking of the tray 220 in the feeding or discharging process, and improve the working stability of the device.

In the above embodiment, preferably, because the contact area between the telescopic ends of the feeding cylinder 240 and the discharging cylinder 250 and the bottom surface of the tray 220 is smaller, in order to improve the feeding or discharging stability of the feeding cylinder 240 and the discharging cylinder 250 driving the tray 220, the telescopic ends of the feeding cylinder 240 and the discharging cylinder 250 are provided with the supporting blocks 290, the telescopic ends of the feeding cylinder 240 and the discharging cylinder 250 are abutted to the bottom surface of the tray 220 through the supporting blocks 290, and the contact area between the telescopic ends of the feeding cylinder 240 and the discharging cylinder 250 and the bottom surface is increased through the supporting blocks 290.

In the above embodiment, it is preferable that the frame 210 is provided with a slide bar 214 penetrating the first placing area 211, the second placing area 212 and the third placing area 213, and the tray 220 slides along the length direction of the frame 210 through the slide bar 214.

In the above embodiment, preferably, the tray 220 is provided with a plurality of rows of placement slots 221 arranged along the x-axis, and the placement slots 221 are provided with a plurality of slots 222 for placing the rotor to be riveted and the finished rotor.

In the above embodiment, preferably, the first linear module 230 is fixed with a push rod 231, as shown in fig. 9, the first linear module 230 slides the tray 220 along the length direction of the frame 210 through the push rod 231, specifically, the push rod 231 abuts against one side of the tray 220 on the first placement area 211, and in the process that the first linear module 230 drives the push rod 231 to move, the push rod 231 drives the tray 220 to slide through abutting against one side of the tray 220.

Referring to fig. 10, the rotor grabbing and placing mechanism 300 includes a supporting frame 310 fixed on two sides of the frame 210, a second linear module 320 and a grabbing plate 330 fixedly connected with the second linear module 320 are fixed on the supporting frame 310, an grabbing up-down cylinder 340 is fixed on the grabbing plate 330, a clamping jaw D350 for clamping the rotor is fixed on the telescopic end of the grabbing up-down cylinder 340, the second linear module 320 drives the clamping jaw D350 to move back and forth through the grabbing plate 330, the clamping jaw D350 is disposed above the second placement area 212, and the clamping jaw D350 clamps a shaft in the tray 220 in the second placement area 212 and clamps and places the finished rotor in the tray 220.

Referring to fig. 11, the transfer device 600 includes a base 610 fixed on the workbench 100, and a rotary cylinder 620 fixed on the base 610, a supporting platform 630 is fixed on a rotating shaft of the rotary cylinder 620, a station a631 and a station B632 for placing a rotor are arranged on the supporting platform 630, the rotary cylinder 620 drives the station a631 and the station B632180 to synchronously rotate, the supporting platform 630 rotates 180 degrees, so that the clamping jaw a441 and the clamping jaw B442 are convenient to clamp the rotor to be riveted on the station a631, and the clamping jaw D350 is convenient to clamp the rotor to be riveted on the station B632.

Referring to fig. 12-14, the conveying mechanism 400 includes a supporting base plate 410 fixed on the workbench 100, a third linear module 420 and a linear sliding rail 430 are disposed on the supporting base plate 410, a moving plate 440 is fixed on the third linear module 420, the moving plate 440 is slidably matched with the linear sliding rail 430, and the moving plate 440 is sequentially provided with a clamping jaw a441, a clamping jaw B442 and a clamping jaw C443 along the X-axis direction, and the third linear module 420 drives the moving plate 440 to move the clamping jaw a441, the clamping jaw B442 and the clamping jaw C443 back and forth along the X-axis direction to complete the transfer of the rotor and the shaft.

The support base plate 410 is fixed with a material transporting front-back cylinder A411 and a material transporting front-back cylinder B412, the moving plate 440 is provided with a clamping jaw sliding rail A4111 and a clamping jaw sliding rail B4121 which are arranged along the Y-axis direction, the clamping jaw sliding rail A4111 and the clamping jaw sliding rail B4121 are respectively and slidably connected with a moving platform A450 and a moving platform B460, the clamping jaw A441 and the clamping jaw B442 are respectively fixed on the moving platform A450 and the moving platform B460, the moving platform A450 and the moving platform B460 are respectively and fixedly connected with the telescopic ends of the material transporting front-back cylinder A411 and the material transporting front-back cylinder B412, and the clamping jaw A441 and the clamping jaw B442 respectively slide along the clamping jaw sliding rail A4111 and the clamping jaw sliding rail B4121 through the material transporting front-back cylinder A411 and the material transporting front-back cylinder B412.

The moving platform A450 and the moving platform B460 are composed of a mounting plate A480 and a mounting plate B481, an upper cylinder A451 and a lower cylinder B461 which can stretch along the Z-axis direction are fixed on the mounting plate A480, one side of the mounting plate B481 is fixed on the upper cylinder A451 and the lower cylinder B461, a clamping jaw A441 and a clamping jaw B442 are fixed on the other side of the mounting plate B481, and the clamping jaw A441 and the clamping jaw B442 respectively move along the stretch direction of the upper cylinder A451 and the lower cylinder B461 through the mounting plate B481; the positioning platform 470 is further fixed on the moving plate 440, the positioning platform 470 is composed of a mounting plate C482 and a mounting plate D483, an up-down cylinder C471 capable of stretching along the Z-axis direction is fixed on the mounting plate C482, one side of the mounting plate D483 is fixed on the up-down cylinder C471, the clamping jaw C443 is fixed on the other side of the mounting plate D483, and the clamping jaw C443 moves along the stretching direction of the up-down cylinder C471 through the mounting plate D483.

Referring to fig. 15, the riveting mechanism 700 includes a riveting base 710 fixed on the workbench 100, a riveting base 720 fixed on the riveting base 710, and a supporting die frame 730, wherein a forming pressurizing cylinder 740 and an upper punch 741 connected with an output end of the forming pressurizing cylinder 740 are fixed on the supporting die frame 730, the upper punch 741 and the riveting base 720 are coaxially arranged, and the riveting base 720 is used for placing a rotor. Specifically, the clamping jaw a441 or the clamping jaw B442 places the rotor to be riveted on the riveting seat 720, the shaft hole of the rotor is aligned to the upper punch 741, then the clamping jaw C443 places the shaft into the shaft hole of the rotor, the forming pressurizing cylinder 740 drives the upper punch 741 to move downwards and rivet the rotor and the shaft on the riveting seat 720 to form a finished rotor, and then the clamping jaw C443 clamps the finished rotor.

Referring to fig. 16-23, the shaft feeding mechanism 500 includes a support plate a510 and a support plate B520 disposed on the workbench 100, a shaft pendulum box 530 and a fourth linear module 540 disposed on the support plate a510 and the support plate B520, respectively, a vibration controller 531 for driving the shaft pendulum box 530 to swing is disposed below the shaft pendulum box 530, the bottom of the shaft pendulum box 530 is disposed obliquely, and a discharge slot 532 is disposed at the bottom end of the shaft pendulum box 530;

the fourth linear module 540 is fixedly connected with a receiving plate 550, the receiving plate 550 is provided with a groove 551 for placing a shaft, the fourth linear module 540 drives the receiving plate 550 to move back and forth along the Y-axis direction and enables the groove 551 to move back and forth between a shaft discharging position 552 and a shaft rotating position 553, and the discharging notch 532 is arranged right above the shaft discharging position 552; one side of the fourth linear module 540 is provided with a rotating device 560 fixed on the supporting plate B520, a clamping jaw E570 is fixed on the rotating device 560, the rotating device 560 drives the clamping jaw E570 to vertically overturn along the vertical direction, the clamping jaw E570 is used for clamping the shaft on the shaft rotating position 553 and placing the shaft on the waiting material level 555, and a sliding table cylinder 580 used for pushing the axial clamping jaw E570 in the shaft rotating position 553 to move in the direction is also arranged above the receiving plate 550.

Specifically, the shaft material swinging box 530 is internally provided with a shaft to be riveted, the fourth linear module 540 drives the material receiving plate 550 to move so that the groove 551 is positioned at the material outlet position, namely, the groove 551 is positioned right below the material outlet notch 532, as shown in fig. 17, the vibration controller 531 drives the shaft material swinging box 530 to vibrate so that the inner shaft of the shaft material swinging box drops into the groove 551 on the material receiving plate 550 from the material outlet notch 532, the size of the material outlet notch 532 only accommodates one shaft for discharging, as shown in fig. 22, meanwhile, the gap between the bottom end of the material outlet notch 532 and the material receiving plate 550 is smaller than the diameter of the shaft, so that the shaft does not drop from the material outlet notch 532 along with the material receiving plate 550 in the moving process, and the shaft only drops into the groove 551 from the material outlet notch 532 when the groove 551 is positioned at the material outlet position; when the shaft is discharged and falls into the groove 551, the fourth linear module 540 drives the material receiving plate 550 to move so that the groove 551 moves from the discharging position to the transferring position 553, and at this time, as shown in fig. 18.

The support plate B520 is fixed with a support plate C521 through an upright post, the fourth linear module 540 is fixed on the support plate C521, the support plate C521 is also fixed with an ear plate 522, the sliding table cylinder 580 is fixedly installed above the receiving plate 550 through the ear plate 522, and a guide plate 581 for pushing a shaft is fixed at the telescopic end of the sliding table cylinder 580. Specifically, because the ear plate 522 is directly fixed on the support plate C521, the guide plate 581 cannot move along the y-axis direction, the guide plate 581 can only move at the telescopic end of the sliding table cylinder 580, at this time, the bottom of the guide plate 581 is located at one side of the middle index 553, and the sliding table cylinder 580 drives the guide plate 581 to move so as to push the shaft located on the middle index 553 to move along the direction of the clamping jaw E570, so that the clamping jaw E570 clamps the shaft.

In the above embodiment, preferably, as shown in fig. 23, the bottom of the guide plate 581 is provided with a protrusion 582 matching with the groove 551, and in the process that the sliding table cylinder 580 drives the guide plate 581 to move, the protrusion 582 pushes the shaft to move in the groove 551, a protrusion for abutting against the end of the shaft is further provided on the inner wall of the side of the protrusion 582 near the material plate 550, and the protrusion (not shown in the drawing) is used for increasing the pushing distance of the guide plate 581 to the inner shaft of the groove 551, so that the clamping jaw E570 clamps the shaft.

The rotating device 560 includes a telescopic cylinder 561 fixed on the support plate B520, as shown in fig. 21, a rack 562 is disposed at a telescopic end of the telescopic cylinder 561, a turning shaft 563 is meshed with the rack 562, a connector 564 is fixed at one end of the turning shaft 563, the connector 564 is fixedly connected with the clamping jaw E570, the turning shaft 563 is driven to rotate by a telescopic end of the telescopic cylinder 561, and the turning shaft 563 drives the clamping jaw E570 to turn.

The rotating device 560 further comprises a housing 565 fixed on the support plate B520, wherein a bearing is sleeved in the housing 565, and the turning shaft 563 is rotatably connected through the bearing. Specifically, the telescopic cylinder 561 is fixed to the housing 565, and as shown in fig. 16, the rotating device 560 in fig. 21 is an internal structure under the housing 565.

In the above embodiment, preferably, the support plate B520 is further provided with a sliding mechanism 590 for making the clamping jaw E570 move back and forth along the X-axis direction, and the sliding mechanism 590 includes a pushing cylinder 591, a rail 592, and a storage plate 593 fixed below the housing 565, where the storage plate 593 is fixed at the telescopic end of the telescopic cylinder 561 and slidingly engaged with the rail 592. Specifically, when the clamping jaw C443 moves to the far right to clamp the shaft on the clamping jaw E570, and when the horizontal distance between the clamping jaw C443 and the clamping jaw E570 is far, in order to facilitate the clamping of the shaft by the clamping jaw C443, the pushing cylinder 591 pushes the rotating device 560 and the clamping jaw E570 to slide along the guide rail, so as to adjust the distance between the clamping jaw C443 and the clamping jaw E570.

In the specific working process, the clamping jaw E570 is firstly positioned at the waiting material level 555, the telescopic end of the pushing cylinder 591 is contracted to drive the rotating device 560 and the clamping jaw E570 to move to the clamping position 554 along the guide rail in the x direction, then the rotating device 560 drives the clamping jaw E570 to vertically rotate at 90 degrees from the horizontal position, and the clamping jaw E570 clamps a shaft on the transferring position 553 at the clamping position 554; after the clamping jaw E570 clamps the shaft, the rotating device 560 drives the clamping jaw E570 to rotate from the vertical position by 90 degrees to the horizontal position, and then the telescopic end of the pushing cylinder 591 drives the clamping jaw E570 to move from the clamping position 554 to the material waiting position 555 along the guide rail in the-x direction, and the clamping jaw C443 clamps the shaft on the material waiting position 555.

In the above embodiment, preferably, in order to limit the turning angle of the clamping jaw E570, one end of the turning shaft 563 away from the connector 564 extends to the outer side of the housing 565 and is fixed with a stopper 566, the bottom of the housing 565 is further provided with a rib 567 extending to the outer side of the housing 565, and when the clamping jaw E570 is in a vertical state, the stopper 566 abuts against the outer surface of the rib 567. Specifically, when the telescopic end of the telescopic cylinder 561 drives the turning shaft 563 to rotate, the turning shaft 563 drives the limiting block 566 to rotate, and when the limiting block 566 abuts against the outer surface of the rib 567, the rotating shaft clamping jaw E570 does not rotate any more, so that the clamping jaw E570 can only turn over by 90 degrees to clamp the shaft on the turning position 553.

Referring to fig. 2, a transparent glass cover 800 is disposed on the workbench 100, an operation controller 810 is disposed on the transparent glass cover 800, the operation controller 810 is electrically connected with the stacking mechanism 200, the rotor picking and placing mechanism 300, the transferring device 600, the conveying mechanism 400 and the shaft feeding mechanism 500, the transparent glass cover 800 protects the apparatus, and the transparent glass cover 800 is opened only when the feeding of the tray 220 or the material taking of the tray 220 is required, and the operation of the stacking mechanism 200, the rotor picking and placing mechanism 300, the transferring device 600, the conveying mechanism 400 and the shaft feeding mechanism 500 is controlled by the operation controller 810.

The riveting method of the full-automatic motor rotor riveting device sequentially performs riveting on a rotor and a shaft through the following steps (in the drawings, 24-32, the moving directions of a clamping jaw A, a clamping jaw B and a clamping jaw C are represented by-x, -y and y, and the serial numbers on the left side of the drawings correspond to the steps):

s1: in the initial state, the clamping jaw A441 is aligned with the station B632 of the transfer device 600, the clamping jaw C443 is aligned with the riveting mechanism 700, at this time, the clamping jaw D350 on the rotor grabbing and placing mechanism 300 clamps the rotor to be riveted in the material taking disc 220 to be placed on the station A631 on the transfer device 600, then the transfer device 600 rotates 180 degrees to enable the station A631 to be aligned with the clamping jaw A441, and meanwhile, the clamping jaw E570 on the shaft feeding mechanism 500 overturns to clamp a shaft and moves to a material waiting position 555;

s2: the clamping jaw A441 moves in the y direction firstly, then descends in the Z axis direction and clamps the rotor to be riveted on the station A631, the clamping jaw A441 clamps the rotor to be riveted, then ascends in the Z axis direction and moves in the-y direction, then the moving plate 440 moves in the x direction until the clamping jaw A441 is aligned with the riveting mechanism 700, the clamping jaw A441 descends in the Z axis direction after moving in the y direction to place the rotor to be riveted on the riveting mechanism 700, and then the clamping jaw A441 ascends in the Z axis direction and moves in the-y direction; while the clamping jaw A441 moves, the clamping jaw C443 moves to the material level 555, then the clamping jaw C443 moves downwards along the z-axis direction and clamps a shaft positioned on the material level 555, and the clamping jaw C443 clamps the shaft and then moves upwards along the z-axis direction; while the moving plate 440 moves along the x-axis, the transfer device 600 rotates 180 degrees, and the clamping jaw D350 of the rotor grabbing and releasing mechanism 300 continuously clamps the rotor to be riveted in the material taking disc 220 to be placed on the station a631 on the transfer device 600;

s3: after S2, the moving plate 440 moves in the-x direction until the clamping jaw C443 is aligned with the riveting mechanism 700, at this time, the moving plate 440 returns to the initial position, the clamping jaw C443 moves down in the z-axis direction and places the shaft in the shaft hole of the rotor, and the clamping jaw C443 moves up in the z-axis direction after the shaft is placed; during the movement of the kinematic plate 440 in the-x direction, the transfer device 600 rotates 180 degrees, aligning the station a631, equipped with the rotor to be riveted, with the clamping jaw a441;

s4: the moving plate 440 continues to move to the leftmost end along the-x direction, during the moving process of the moving plate 440, the riveting mechanism 700 performs riveting on the rotor and the shaft to form a finished rotor, at this time, when the moving plate 440 moves to the leftmost end along the-x direction, the clamping jaw B442 aligns with the station A631 and moves downwards along the y direction and then moves downwards along the Z axis and clamps the rotor to be riveted on the station A631, the clamping jaw B442 clamps the rotor to be riveted and then rises along the Z axis and moves along the-y direction, during the clamping process of the clamping jaw B442 clamps the rotor to be riveted, the clamping jaw C443 moves upwards along the Z axis to return to the initial position, and the clamping jaw E570 on the shaft feeding mechanism 500 clamps the shaft and moves to the material waiting level 555;

s5: the moving plate 440 moves to the position 555 to be tested of the clamping jaw A441 aligned with the riveting mechanism 700 and the clamping jaw C443 aligned with the shaft feeding mechanism 500 along the x direction, at this time, the finished product rotor after riveting is placed on the riveting mechanism 700, the clamping jaw A441 moves along the y direction and then descends along the Z axis direction to clamp the finished product rotor, then the clamping jaw A441 ascends along the Z axis direction and moves along the-y direction, and meanwhile, the clamping jaw C443 descends along the Z axis direction to clamp the shaft, and then the clamping jaw C443 clamps the shaft and moves upwards along the Z direction; during the movement of the moving plate 440 in the x-direction, the transferring device 600 is rotated again by 180 degrees;

s6: the clamping jaw D350 of the rotor grabbing and placing mechanism 300 continuously clamps the rotor to be riveted in the material taking disc 220 and places the rotor to be riveted on the station A631 of the transfer device 600, meanwhile, the moving plate 440 moves along the-x direction to enable the clamping jaw B442 to be aligned with the riveting mechanism 700, the clamping jaw B442 moves downwards along the z-axis direction after moving along the y-axis direction and places the rotor to be riveted on the riveting mechanism 700, and the clamping jaw B442 moves upwards along the z-axis direction and then moves along the-y direction after placing;

s7: the moving plate 440 continues to move in the-x direction to align the clamping jaw a441 with the station B632 of the riveting mechanism 700, the clamping jaw a441 moves in the y direction and then moves downwards in the z axis direction, the finished rotor is placed on the station B632, and the clamping jaw a441 moves upwards in the z axis and then moves in the-y axis after the finished rotor is placed; simultaneously, the clamping jaw C443 moves downwards along the z-axis direction and places the shaft into the shaft hole of the rotor, the placing rear clamping jaw C443 moves upwards along the z-axis direction, and the clamping jaw A441 rotates 180 degrees after the finished rotor is placed on the station B632;

s8: clamping jaw D350 clamps the finished rotor on station B632 and places the finished rotor in the material tray 220 on the stacking mechanism 200, meanwhile, the moving plate 440 continues to move to the leftmost end along the-x direction to enable the clamping jaw B442 to be aligned with station A631, then the clamping jaw B442 moves downwards along the z-axis direction along the y-direction and clamps the rotor to be riveted on station A631, and in the moving process of the moving plate 440 along the-x direction, the riveting mechanism 700 rivets the rotor and the shaft to form the finished rotor; simultaneously, during the process that the clamping jaw B442 clamps the rotor to be riveted, the clamping jaw E570 clamps the shaft and moves to the material waiting level 555.

s9: repeating the steps S5-S8.

In the riveting method of the fully automatic motor rotor riveting device, preferably, the rotor grabbing and placing mechanism 300 places the rotor to be riveted on the tray 220 on the station a631, and the rotor grabbing and placing mechanism 300 clamps the finished rotor on the station B632 to be placed on the tray 220, which specifically comprises the following steps:

a1: placing the trays 220 with the stacked rotors to be riveted in a first placing area 211, and driving the trays 220 in the first placing area 211 to gradually slide to a second placing area 212 along the direction of the sliding rods 214 by the first linear module 230 until the first row of placing grooves 221 on the trays 220 move below the clamping jaw D350 and stop sliding;

a2, grabbing an upper and lower cylinder 340 to drive a clamping jaw D350 to move downwards and clamp a rotor to be riveted on a material taking disc 220, wherein the clamping jaw D350 firstly moves downwards along the z-axis direction and clamps the rotor to be riveted on the leftmost slotted hole 222 on the first row of placing grooves 221, the clamping jaw D350 clamps the rotor to be riveted and then moves upwards along the z-axis direction, and then a second linear module 320 drives the clamping jaw D350 to move along the x-axis direction so that the clamping jaw D350 aligns to an A station on a transfer device 600 and places the rotor to be riveted on the A station, and the clamping jaw D350 moves upwards along the z-axis direction after placing the rotor to be riveted; when the station B632 has no finished rotor, the clamping jaw D350 continues to repeat the steps to clamp the next rotor to be riveted; when the clamping jaw a441 places the finished product rotor on the station B632 of the transfer device 600, and after the clamping jaw D350 places the rotor to be riveted on the station a, the transfer device 600 rotates 180 degrees, the clamping jaw D350 moves downward along the z-axis direction and clamps the finished product rotor on the station B632 and moves upward along the z-axis direction, then the second linear module 320 drives the clamping jaw D350 to move along the-x-axis direction to align with the left empty slot 222 on the first row of slots 221, the clamping jaw D350 moves downward along the z-axis direction and places the finished product rotor in the empty slot 222, and then the clamping jaw D350 sequentially clamps other rotors to be riveted on the same row of slots 221 on the station a of the transfer device 600;

a3, after clamping the rotor to be riveted on the first row of placing grooves 221, the first linear module 230 pushes the tray 220 to continue sliding along the slide bar 214 until the second row of placing grooves 221 are aligned with the clamping jaw D350, the clamping jaw D350 continues to clamp the rotor on the second placing disc from left to right in sequence, and then the step a2 is repeated; in the process that the clamping jaw D350 clamps the rotor to be riveted in the material taking disc 220, the material taking disc 220 is not fully placed in the second placing area 212, the material taking disc 220 is gradually pushed from the first placing area 211 to the second placing area 212, and then gradually pushed from the second placing area 212 to the third placing area 213;

a4, after the riveting of the rotor to be riveted on the last row of the placing grooves 221 of the tray 220 is completed, the first linear module 230 drives the tray 220 to move to the third placing area 213 along the direction of the slide bar 214; the first linear module 230 does not drive the tray 220 to be completely pushed to the third placement area 213 until the riveting rotor to be riveted on the last row of placement grooves 221 of the tray 220 is riveted;

a5: taking out the tray 220 with the finished rotor put in place on the third placing area 213;

a6, repeating the steps a1-a 5.

In the riveting method of the fully automatic motor rotor riveting device, preferably, in the step a1, the stacking and placing of the multi-layer tray 220 in the first placing area 211 further includes the following specific operation steps:

b1, before the multi-layer material tray 220 is placed, the side baffle cylinder 262 drives the receiving plate 263 to move inwards, then the material tray 220 with the piled rotors to be riveted is placed on the receiving plate 263, then the multi-layer material tray 220 is stacked and placed in the supporting rod A241 through the supporting column 223 on the material tray 220, the side baffle cylinder 262 and the receiving plate 263 can prevent the multi-layer material tray 220 from suddenly falling into the first placing area 211, and the multi-layer material tray 220 is sequentially moved downwards layer by opening and closing the side baffle cylinder 262;

b2, the telescopic end of the feeding cylinder 240 extends out and abuts against the lower surface of the bottom-layer tray 220, the side blocking cylinder 262 drives the bearing plate 263 to move outwards so that the multi-layer tray 220 can slide downwards along the supporting rod A241, and at the moment, the telescopic end of the feeding cylinder 240 contracts to drive the multi-layer tray 220 to move downwards; in the downward moving process of the multi-layer tray 220, until the side blocking mechanism 260 is located between the bottom layer tray 220 and the upper layer tray 220, the side blocking cylinder 262 drives the receiving plate 263 to move inwards again, so that the bottom of the downward moving upper layer tray 220 is placed on the receiving plate 263, the upper layer tray 220 does not move downwards any more, and at this time, the feeding cylinder 240 only drives the bottom layer tray 220 to move downwards until the bottom layer tray 220 is placed in the first placing area 211;

b3, after the first linear module 230 drives the tray 220 to slide from the first placement area 211 to the second placement area 212 completely, repeating the steps b1-b 2; the tray 220 is gradually moved from the first placing section 211 to the first placing section 211, and thus, the multi-layered tray 220 placed on the receiving plate 263 can be moved downward layer by layer and placed in the first placing section 211 only when the tray 220 completely enters the second placing section 212.

In the riveting method of the fully automatic motor rotor riveting device, preferably, in the step a3, the specific step of removing the tray 220 on the third placement area 213 is as follows:

c1, when the tray 220 with the finished rotor stacked thereon moves to the third placement area 213, the telescopic end of the discharging cylinder 250 extends upwards to be abutted against the bottom of the tray 220 and drives the tray 220 to move upwards;

c2, when the side edge of the tray 220 passes through the limit component 270 on the support rod B251 in the ascending process of the tray 220, the side edge of the tray 220 is abutted against the limit part 271, so that the limit part 271 rotates and the contact surface A2731 is abutted against the contact surface C2711, and when the contact surface A2731 is abutted against the contact surface C2711, the limit part 271 just can enable the tray 220 to pass through, and the tray 220 continues to move upwards; when the tray 220 passes through the limiting part 271, the limiting part 271 is not abutted against the side edge of the tray 220, so that the limiting part 271 rotates under the action of gravity until the contact surface B2732 abuts against the contact surface D2712, the limiting part 271 is not rotated due to the abutting, at the moment, the discharging cylinder 250 drives the tray 220 to move downwards so that the bottom of the tray 220 is stably placed on the upper surface of the limiting part 271, and the tray 220 is not moved downwards;

c3: the telescopic end of the discharge cylinder 250 continues to move downward until the telescopic end moves below the third placement area 213;

c4: repeating steps c1-c3 when the tray 220 is moved to the third placement area 213; a plurality of discharged trays 220 are stacked and placed in the support bar B251 through the support column 223, and when the discharged trays 220 are stacked to a certain number, the plurality of discharged trays 220 placed in the support bar B251 are taken away.

In the riveting method of the fully automatic motor rotor riveting device, preferably, in the process that the clamping jaw E570 on the shaft feeding mechanism 500 clamps the shaft to the waiting position 555, the specific steps are as follows:

d1: when the clamping jaw E570 is positioned at the waiting level 555, the groove 551 on the receiving plate 550 is arranged below the discharging notch 532, at the moment, the groove 551 is arranged at the shaft discharging position 552, the vibration controller 531 causes the shaft material pendulum box 530 to vibrate, and then the shaft in the shaft material pendulum box 530 falls into the groove 551 from the discharging notch 532;

d2: then the fourth linear module 540 drives the material receiving plate 550 to move along the-y direction so that the groove 551 with the shaft moves to the shaft turning 553, then the sliding table cylinder 580 drives the shaft in the groove 551 to move along the groove 551 towards the clamping jaw E570 through the driving guide plate 581, and the lug 582 on the guide plate 581 is abutted to one end of the shaft so as to drive the shaft to slide in the groove 551;

d3: the rotating device 560 drives the clamping jaw E570 to rotate 90 degrees along the vertical direction to clamp the shaft on the index 553, and after the clamping jaw E570 clamps the shaft, the rotating device 560 drives the clamping jaw E570 to rotate 90 degrees back to the waiting material level 555; specifically, when the telescopic end of the telescopic cylinder 561 extends outwards, the telescopic cylinder 561 drives the turning shaft 563 to rotate through the rack 562 of the telescopic end, the turning shaft 563 drives the clamping jaw E570 to vertically rotate 90 degrees from the horizontal position, and then the clamping jaw E570 clamps the shaft positioned on the middle rotating position 553; after the clamping jaw E570 clamps the shaft, the telescopic end of the telescopic cylinder 561 contracts and drives the overturning shaft 563 to reversely rotate, the overturning shaft 563 drives the clamping jaw E570 to rotate from the vertical position by 90 degrees to the horizontal position, namely the clamping jaw E570 returns to the to-be-tested material level 555, and then the clamping jaw C443 clamps the shaft on the to-be-tested material level 555;

d4: repeating the steps d1-d 3.

In the above embodiment, preferably, in the step d3, when the horizontal distance between the clamping jaw C443 and the clamping jaw E570 is relatively long, in order to facilitate the clamping of the shaft by the clamping jaw C443, the clamping jaw E570 may move back and forth between the shaft waiting level 555 and the clamping position 554 along the x-axis direction, and the specific step of clamping the shaft on the shaft waiting level 555 by the clamping jaw E570 to the waiting level 555 is as follows:

When the clamping jaw E570 is placed in the material waiting position 555, the telescopic end of the pushing cylinder 591 drives the clamping jaw E570 to move to the clamping position 554 along the x direction, then the driving device drives the clamping jaw E570 to rotate 90 degrees in the vertical direction to clamp the shaft on the rotating position 553, after the clamping jaw E570 clamps the shaft, the rotating device 560 drives the clamping jaw E570 to rotate back to the clamping position 554 along 90 degrees again, finally, the pushing cylinder 591 drives the clamping jaw E570 to move to the material waiting position 555 along the-x axis and then stops moving, and the clamping jaw C443 clamps the shaft on the material waiting position 555.

The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.

Claims

1. The utility model provides a full-automatic motor rotor riveting device, includes workstation (100), its characterized in that, be equipped with transport mechanism (400), riveting mechanism (700), stacking mechanism (200), transfer device (600) and axle feed mechanism (500) on workstation (100), stack mechanism (200) are last to be placed charging tray (220), charging tray (220) are used for placing and wait to rivet rotor and finished product rotor, be equipped with rotor above stacking mechanism (200) and grab and put mechanism (300), transfer device (600) are last to be equipped with station A (631) and station B (632) along x-axis distribution, station A (631) are used for placing the rotor of waiting to rivet, station B (632) are used for placing the finished product rotor, station A (631) and station B (632) can 180 degrees synchronous rotations, rotor grab and put mechanism (300) are used for placing wait to rivet rotor on station A (631) and with finished product rotor from the centre gripping of station B (220) in, transport mechanism (400) include can be along x-axis and y-axis and the jaw direction of movement along x-axis and jaw (441) and jaw direction (442) and in order to take jaw (442) and take jaw (441) and move along the jaw direction of the jaw (441) and the jaw (442) and the jaw direction of the jaw (442), and clamping jaw A (441) is used for clamping and placing the finished rotor on station B (632), clamping jaw C (443) is used for clamping the shaft output on the shaft feeding mechanism (500) and placing the shaft on the riveting mechanism (700), and the riveting mechanism (700) is used for riveting the rotor and the shaft.

2. The full-automatic motor rotor riveting device according to claim 1, wherein the stacking mechanism (200) comprises a frame (210) arranged on the workbench (100) and used for placing the trays (220) and a first linear module (230) arranged below the frame (210), the frame (210) is divided into a first placing area (211), a second placing area (212) and a third placing area (213) along the length direction, the first linear module (230) is used for horizontally pushing the trays (220) on the first placing area (211) to the second placing area (212) and the third placing area (213), and the rotor grabbing and placing mechanism (300) is arranged above the second placing area (212).

3. The full-automatic motor rotor riveting device according to claim 2, wherein a feeding cylinder (240) is arranged below the first placement area (211), a supporting rod a (241) for placing an upper layer tray (220) is arranged at the edge of the first placement area (211), a side blocking mechanism (260) for preventing the tray (220) from sliding downwards is arranged on the supporting rod a (241), the side blocking mechanism (260) comprises a side blocking cylinder (262) fixedly arranged on the supporting rod a (241) through a fixing plate (261), a bearing plate (263) is connected to the telescopic end of the side blocking cylinder (262), the upper layer tray (220) is placed on the bearing plate (263), when the feeding cylinder (240) is in a contracted state, the telescopic end of the feeding cylinder (240) is abutted to the bottom surface of the first placement area (211), and when the feeding cylinder (240) is in an extended state, the telescopic end of the feeding cylinder (240) is abutted to the bottom surface of the upper layer tray (220) in the first placement area (211).

4. A fully automatic motor rotor riveting device according to claim 3, characterized in that the tray (220) is provided with a support column (223), the receiving plate (263) is provided with a plurality of upper trays (220), and the plurality of upper trays (220) are stacked by the support column (223).

5. The full-automatic motor rotor riveting device according to claim 4, wherein a discharging cylinder (250) is arranged below the third placement area (213), a supporting rod B (251) for placing an upper layer of material tray (220) is arranged at the edge of the third placement area (213), the material tray (220) can slide along the length direction of the supporting rod B (251), and when the telescopic end of the discharging cylinder (250) is in a contracted state, the telescopic end of the discharging cylinder (250) is abutted to the bottom surface of the material tray (220).

6. The full-automatic motor rotor riveting device according to claim 5, wherein the support rod B (251) is provided with a limiting component (270), the limiting component (270) comprises a limiting part (271) and an installation part (272) and a hinge part (273) which are of an integrated structure, the installation part (272) is fixed on the support rod B (251), the limiting part (271) is hinged on the hinge part (273), the hinge part (273) is provided with a contact surface a (2731) and a contact surface B (2732) for limiting the rotation freedom degree of the limiting part (271), the limiting part (271) is provided with a contact surface C (2711) and a contact surface D (2712) which respectively correspond to the contact surface a (2731) and the contact surface B (2732), and the contact surface a (2731) and the contact surface C (2711) are of an inclined surface structure.

7. The full-automatic motor rotor riveting device according to claim 6, wherein the supporting rods a (241) and B (251) are respectively provided with a limiting plate (280).

8. The full-automatic motor rotor riveting device according to claim 6, wherein the telescopic ends of the feeding cylinder (240) and the discharging cylinder (250) are respectively provided with a supporting block (290), and the telescopic ends of the feeding cylinder (240) and the discharging cylinder (250) are abutted to the bottom surface of the material tray (220) through the supporting blocks (290).

9. The full-automatic motor rotor riveting device according to claim 8, wherein the frame (210) is provided with a sliding rod (214) penetrating through the first placing area (211), the second placing area (212) and the third placing area (213), and the tray (220) slides along the length direction of the frame (210) through the sliding rod (214).

10. The full-automatic motor rotor riveting device according to claim 9, wherein a plurality of rows of placing grooves (221) are formed in the material tray (220), the placing grooves (221) are provided with a plurality of slots (222) for placing rotors to be riveted and finished rotors.

11. The full-automatic motor rotor riveting device according to claim 10, wherein a push rod (231) is fixed on the first linear module (230), and the first linear module (230) slides the tray (220) along the length direction of the frame (210) through the push rod (231).

12. The full-automatic motor rotor riveting device according to claim 10, wherein the rotor grabbing and releasing mechanism (300) comprises a supporting frame (310) fixed on two sides of the frame (210), a second linear module (320) and a grabbing plate (330) fixedly connected with the second linear module (320) are fixed on the supporting frame (310), an grabbing upper cylinder (340) and an grabbing lower cylinder (340) are fixed on the grabbing plate (330), clamping jaws D (350) for clamping the rotor are fixed on telescopic ends of the grabbing upper cylinder and the grabbing lower cylinder (340), the second linear module (320) drives the clamping jaws D (350) to move back and forth through the grabbing plate (330), and the clamping jaws D (350) are arranged above the second placing area (212).

13. The full-automatic motor rotor riveting device according to claim 12, wherein the transfer device (600) comprises a base (610) fixed on a workbench (100) and a rotary cylinder (620) fixed on the base (610), a supporting platform (630) is fixed on a rotary shaft of the rotary cylinder (620), a station A (631) and a station B (632) for placing a rotor are arranged on the supporting platform (630), and the rotary cylinder (620) drives the station A (631) and the station B (632) to synchronously rotate by 180 degrees.

14. The full-automatic motor rotor riveting device according to claim 13, wherein the conveying mechanism (400) comprises a supporting base plate (410) fixed on the workbench (100), a third linear module (420) and a linear sliding rail (430) are arranged on the supporting base plate (410), a moving plate (440) is fixed on the third linear module (420), the moving plate (440) is in sliding fit on the linear sliding rail (430), and clamping jaws A (441), B (442) and C (443) are sequentially arranged on the moving plate (440) along the X-axis direction.

15. The full-automatic motor rotor riveting device according to claim 14, wherein a material transporting front-rear cylinder a (411) and a material transporting front-rear cylinder B (412) are fixed on the supporting base plate (410), a clamping jaw sliding rail a (4111) and a clamping jaw sliding rail B (4121) which are arranged along the Y-axis direction are arranged on the moving plate (440), a moving platform a (450) and a moving platform B (460) are respectively and slidably connected on the clamping jaw sliding rail a (4111) and the clamping jaw sliding rail B (4121), the clamping jaw a (441) and the clamping jaw B (442) are respectively fixed on the moving platform a (450) and the moving platform B (460), the moving platform a (450) and the moving platform B (460) are respectively and fixedly connected with telescopic ends of the material transporting front-rear cylinder a (411) and the material transporting front-rear cylinder B (412), and the clamping jaw a (441) and the clamping jaw sliding rail B (4121) are respectively through the material transporting front-rear cylinder a (411) and the material transporting front-rear cylinder B (412).

16. The full-automatic motor rotor riveting device according to claim 15, wherein the moving platform a (450) and the moving platform B (460) are composed of a mounting plate a (480) and a mounting plate B (481), an upper cylinder a (451) and a lower cylinder B (461) which can stretch along the Z-axis direction are fixed on the mounting plate a (480), one side of the mounting plate B (481) is fixed on the upper cylinder a (451) and the lower cylinder B (461), a clamping jaw a (441) and a clamping jaw B (442) are fixed on the other side of the mounting plate B (481), and the clamping jaw a (441) and the clamping jaw B (442) respectively move along the stretch directions of the upper cylinder a (451) and the lower cylinder B (461) through the mounting plate B (481);

The positioning platform (470) is further fixed on the moving plate (440), the positioning platform (470) is composed of a mounting plate C (482) and a mounting plate D (483), an upper cylinder C (471) and a lower cylinder C (471) which can stretch along the Z-axis direction are fixed on the mounting plate C (482), one side of the mounting plate D (483) is fixed on the upper cylinder C (471) and the lower cylinder C (471), the clamping jaw C (443) is fixed on the other side of the mounting plate D (483), and the clamping jaw C (443) moves along the stretch direction of the upper cylinder C (471) and the lower cylinder C (471) through the mounting plate D (483).

17. The full-automatic motor rotor riveting device according to claim 16, wherein the riveting mechanism (700) comprises a riveting bottom plate (710) fixed on a workbench (100), a riveting seat (720) fixed on the riveting bottom plate (710) and a supporting die frame (730), a forming pressurizing cylinder (740) and an upper punch (741) connected with the output end of the forming pressurizing cylinder (740) are fixed on the supporting die frame (730), the upper punch (741) and the riveting seat (720) are coaxially arranged, and the riveting seat (720) is used for placing a rotor.

18. The full-automatic motor rotor riveting device according to claim 17, wherein the shaft feeding mechanism (500) comprises a supporting plate a (510) arranged on the workbench (100), a supporting plate B (520), a shaft material swinging box (530) and a fourth linear module (540), wherein the shaft material swinging box (530) is respectively arranged on the supporting plate a (510) and the supporting plate B (520), a vibration controller (531) for driving the shaft material swinging box (530) to swing is arranged below the shaft material swinging box (530), the bottom of the shaft material swinging box (530) is obliquely arranged, and a discharging notch (532) is arranged at the bottom end of the shaft material swinging box (530); the fourth linear module (540) is fixedly connected with a receiving plate (550), the receiving plate (550) is provided with a groove (551) for placing a shaft, the fourth linear module (540) drives the receiving plate (550) to move back and forth along the Y-axis direction and enables the groove (551) to move back and forth between a shaft discharging position (552) and a shaft rotating position (553), and the discharging notch (532) is arranged right above the shaft discharging position (552); one side of fourth linear module (540) is equipped with rotary device (560) of fixing on backup pad B (520), be fixed with clamping jaw E (570) on rotary device (560), rotary device (560) drive clamping jaw E (570) are along vertical direction upset perpendicularly, clamping jaw E (570) are used for pressing from both sides the axle of taking on the position (553) in the axle and place the axle at waiting material level (555), connect flitch (550) top still to be equipped with slip table cylinder (580) that are used for promoting axial clamping jaw E (570) direction motion in the position (553) in the axle.

19. The full-automatic motor rotor riveting device according to claim 18, wherein a support plate C (521) is fixed on the support plate B (520) through a stand column, a fourth linear module (540) is fixed on the support plate C (521), an ear plate (522) is further fixed on the support plate C (521), a sliding table cylinder (580) is fixedly installed above the receiving plate (550) through the ear plate (522), and a guide plate (581) for pushing a shaft is fixed at a telescopic end of the sliding table cylinder (580).

20. The full-automatic motor rotor riveting device according to claim 19, wherein the bottom of the guide plate (581) is provided with a lug (582) matched with the groove (551), and the inner wall of the lug (582) near the material receiving plate (550) is further provided with a protrusion for abutting against the end of the shaft.

21. The full-automatic motor rotor riveting device according to claim 20, wherein the rotating device (560) comprises a telescopic cylinder (561) fixed on the support plate B (520), a rack (562) is arranged at a telescopic end of the telescopic cylinder (561), a turnover shaft (563) is meshed on the rack (562), a connector (564) is fixed at one end of the turnover shaft (563), and the connector (564) is fixedly connected with the clamping jaw E (570).

22. The full-automatic motor rotor riveting apparatus according to claim 21, wherein the rotating device (560) further comprises a housing (565) fixed on the support plate B (520), wherein a bearing is provided in the housing (565), and the turning shaft (563) is rotatably connected through the bearing.

23. The full-automatic motor rotor riveting device according to claim 22, wherein the support plate B (520) is further provided with a sliding mechanism (590) for enabling the clamping jaw E (570) to move back and forth along the X-axis direction, the sliding mechanism (590) comprises a pushing cylinder (591), a rail (592) and a placing plate (593) fixed below the housing (565), and the placing plate (593) is fixed at the telescopic end of the telescopic cylinder (561) and is in sliding fit with the rail (592).

24. The full-automatic motor rotor riveting device according to claim 23, wherein one end of the turning shaft (563) far away from the connector (564) extends to the outer side of the housing (565) and is fixed with a limiting block (566), a rib (567) extending to the outer side of the housing (565) is further arranged at the bottom of the housing (565), and when the clamping jaw E (570) is in a vertical state, the limiting block (566) abuts against the outer surface of the rib (567).

25. The full-automatic motor rotor riveting device according to claim 24, wherein a transparent glass housing (800) is provided on the workbench (100), an operation controller (810) is provided on the transparent glass housing (800), and the operation controller (810) is electrically connected with the stacking mechanism (200), the rotor grabbing and placing mechanism (300), the transferring device (600), the conveying mechanism (400) and the shaft feeding mechanism (500) respectively.

26. A riveting method based on the full-automatic motor rotor riveting device as claimed in claim 25, characterized in that the riveting step of the full-automatic motor rotor riveting device is as follows:

s1: in an initial state, a clamping jaw A (441) is aligned with a station B (632) of the transfer device (600), a clamping jaw C (443) is aligned with a riveting mechanism (700), a clamping jaw D (350) on a rotor grabbing and releasing mechanism (300) clamps a rotor to be riveted in a material taking disc (220) to be placed on a station A (631) on the transfer device (600), then the transfer device (600) rotates 180 degrees to enable the station A (631) to be aligned with the clamping jaw A (441), and meanwhile, a clamping jaw E (570) on a shaft feeding mechanism (500) clamps a shaft and moves to a material to be riveted level (555);

s2: the clamping jaw A (441) moves along the y direction firstly, then descends along the Z axis direction and clamps the rotor to be riveted on the station A (631), the clamping jaw A (441) clamps the rotor to be riveted, then ascends along the Z axis direction and moves along the-y direction, then the moving plate (440) moves along the x direction until the clamping jaw A (441) is aligned with the riveting mechanism (700), the clamping jaw A (441) descends along the Z axis direction after moving along the y direction, the rotor to be riveted is placed on the riveting mechanism (700), and then the clamping jaw A (441) ascends along the Z axis direction and moves along the-y direction; while the clamping jaw A (441) moves, the clamping jaw C (443) moves to a material to be filled (555), then the clamping jaw C (443) moves downwards along the z-axis direction and clamps a shaft positioned on the material to be filled (555), and the clamping jaw C (443) clamps the shaft and then moves upwards along the z-axis direction; while the moving plate (440) moves along the x-axis, the transfer device (600) rotates 180 degrees, and the clamping jaw D (350) of the rotor grabbing and placing mechanism (300) continuously clamps the rotor to be riveted in the material taking disc (220) to be placed on a station A (631) on the transfer device (600);

s3: after S2, the moving plate (440) moves to the clamping jaw C (443) along the-x direction to be aligned with the riveting mechanism (700), at the moment, the moving plate (440) returns to the initial position, the clamping jaw C (443) moves downwards along the z-axis direction and is placed in the shaft hole of the rotor, and the clamping jaw C (443) moves upwards along the z-axis direction after the shaft is placed; during the movement of the moving plate (440) along the-x direction, the transfer device (600) rotates 180 degrees to align the station A (631) provided with the rotor to be riveted with the clamping jaw A (441);

s4: the moving plate (440) continues to move to the leftmost end along the-x direction, the riveting mechanism (700) rivets the rotor and the shaft to form a finished rotor in the moving process of the moving plate (440), at the moment, when the moving plate (440) moves to the leftmost end along the-x direction, the clamping jaw B (442) is aligned with the station A (631) and moves downwards along the y direction and clamps the rotor to be riveted on the station A (631), the clamping jaw B (442) clamps the rotor to be riveted and then rises along the Z axis and moves along the-y direction, the clamping jaw C (443) moves back to the initial position along the Z axis in the process of clamping the rotor to be riveted, and the clamping jaw E (570) on the shaft feeding mechanism (500) clamps the shaft and moves to the material level (555);

s5: the moving plate (440) moves to the position (555) to be tested of the clamping jaw A (441) aligning the riveting mechanism (700) and the clamping jaw C (443) aligning the shaft feeding mechanism (500) along the x direction, finished rotors after riveting are placed on the riveting mechanism (700), the clamping jaw A (441) moves along the y direction firstly and then descends along the Z axis and clamps the finished rotors, then the clamping jaw A (441) ascends along the Z axis and moves along the-y direction, and meanwhile the clamping jaw C (443) descends along the Z axis and clamps the shaft and then moves along the Z direction; during the movement of the motion plate (440) in the x-direction, the transferring device (600) is rotated again by 180 degrees;

s6: the clamping jaw D (350) of the rotor grabbing and releasing mechanism (300) continuously clamps the rotor to be riveted in the material taking disc (220) to be placed on a station A (631) of the transfer device (600), meanwhile, the moving plate (440) moves along the-x direction to enable the clamping jaw B (442) to be aligned with the riveting mechanism (700), the clamping jaw B (442) moves downwards along the z-axis direction after moving along the y-axis direction, the rotor to be riveted is placed on the riveting mechanism (700), and the clamping jaw B (442) moves upwards along the z-axis direction and then moves along the-y direction after being placed;

s7: the moving plate (440) continues to move along the-x direction to enable the clamping jaw A (441) to be aligned with the station B (632) of the riveting mechanism (700), the clamping jaw A (441) moves along the y direction and then moves downwards along the z axis, a finished product rotor is placed on the station B (632), and the clamping jaw A (441) moves upwards along the z axis and then moves along the-y axis after the finished product rotor is placed; simultaneously, the clamping jaw C (443) moves downwards along the z-axis direction, the shaft is placed in the shaft hole of the rotor, the placing rear clamping jaw C (443) moves upwards along the z-axis direction, and the clamping jaw A (441) rotates 180 degrees after the finished rotor is placed on the station B (632);

s8: clamping jaw D (350) clamps the finished rotor on station B (632) and is placed in a material tray (220) on a stacking mechanism (200), meanwhile, a moving plate (440) continues to move to the leftmost end along the-x direction to enable clamping jaw B (442) to be aligned with station A (631), then clamping jaw B (442) moves downwards along the z-axis direction and clamps the rotor to be riveted on station A (631), and in the moving process of the moving plate (440) along the-x direction, a riveting mechanism (700) rivets the rotor and the shaft to form the finished rotor; simultaneously, in the process that the clamping jaw B (442) clamps the rotor to be riveted, the clamping jaw E (570) clamps the shaft and moves to a material waiting level (555).

s9: repeating the steps S5-S8.

27. The method for riveting a rotor riveting apparatus according to claim 26, wherein the rotor gripping and releasing mechanism (300) is configured to perform the following steps in a process of placing the rotor to be riveted on the tray (220) on the station a (631) and in a process of the rotor gripping and releasing mechanism (300) gripping and placing the finished rotor on the station B (632) on the tray (220):

a1: placing a tray (220) with stacked rotors to be riveted in a first placing area (211), and driving the tray (220) in the first placing area (211) to gradually slide to a second placing area (212) along the direction of a sliding rod (214) by a first linear module (230) until a first row of placing grooves (221) on the tray (220) moves to the lower part of a clamping jaw D (350) and stops sliding;

a2, a clamping jaw D (350) moves downwards to clamp a rotor to be riveted on a material taking disc (220), the clamping jaw D (350) moves downwards along the z-axis direction and clamps the rotor to be riveted on a leftmost slotted hole (222) on a first row of placing grooves (221), the clamping jaw D (350) clamps the rotor to be riveted and then moves upwards along the z-axis direction, then a second linear module (320) drives the clamping jaw D (350) to move along the x-axis direction so that the clamping jaw D (350) aligns to an A station on a transfer device (600) and places the rotor to be riveted on the A station, and the clamping jaw D (350) moves upwards along the z-axis direction after placing the rotor to be riveted; when the clamping jaw A (441) places the finished product rotor on the station B (632) of the transfer device (600), after the transfer device (600) rotates 180 degrees, the clamping jaw D (350) moves downwards along the z-axis direction and clamps the finished product rotor on the station B (632) and then moves upwards along the z-axis direction, then the second linear module (320) drives the clamping jaw D (350) to move along the-x-axis direction to be aligned with the left empty slot hole (222) on the first row of placing grooves (221), the clamping jaw D (350) moves downwards along the z-axis direction and places the finished product rotor in the empty slot hole (222), and then the clamping jaw D (350) continuously clamps other to-be-riveted rotors of the same row of placing grooves (221) in sequence to be placed on the station A of the transfer device (600);

a3, after clamping of the rotor to be riveted on the first row of placing grooves (221) is completed, the first linear module (230) pushes the charging tray (220) to continuously slide along the sliding rod (214) until the second row of placing grooves (221) are aligned with the clamping jaw D (350), the clamping jaw D (350) continuously clamps the rotor on the second placing tray from left to right in sequence, and then the step a2 is repeated;

a4, after the riveting of the rotor to be riveted on the last row of placing grooves (221) of the tray (220) is finished, the first linear module (230) drives the tray (220) to move to a third placing area (213) along the direction of the sliding rod (214);

a5: taking a tray (220) with the finished rotors put in a stacking way on the third placing area (213);

a6, repeating the steps a1-a 5.

28. The method of riveting a fully automated electric motor rotor riveting apparatus as described in claim 27, further comprising stacking a plurality of layers of trays (220) in a first placement region (211) in step a1, comprising the steps of:

b1, before the multi-layer material trays (220) are placed, the side baffle cylinder (262) drives the bearing plate (263) to move inwards, then the material trays (220) with the piled rotors to be riveted are placed on the bearing plate (263), and the multi-layer material trays (220) are stacked and placed through the support columns (223);

b2, the telescopic end of the feeding cylinder (240) extends out and is abutted against the lower surface of the bottom-layer tray (220), the side baffle cylinder (262) drives the bearing plate (263) to move outwards to enable the multi-layer tray (220) to slide downwards along the support rod A (241), and the telescopic end of the feeding cylinder (240) contracts to drive the multi-layer tray (220) to move downwards; in the downward moving process of the multi-layer material trays, the side baffle cylinder (262) drives the receiving plate (263) to move inwards again, so that the bottom of the upper-layer material tray (220) which moves downwards is placed on the receiving plate (263), the upper-layer material tray (220) does not move downwards any more, and at the moment, the feeding cylinder (240) only drives the lower-layer material tray (220) to move downwards until the lower-layer material tray (220) is placed in the first placing area (211);

b3, after the first linear module (230) drives the tray (220) to slide from the first placement area (211) to the second placement area (212), repeating the steps b1-b 2.

29. The riveting method of the fully automatic motor rotor riveting apparatus according to claim 27, wherein in the step a5, the specific step of removing the tray (220) on the third placement area (213) is as follows:

c1, when a tray (220) with finished rotors stacked is moved to a third placement area (213), the telescopic end of a discharging cylinder (250) extends upwards to be abutted to the bottom of the tray (220) and drives the tray (220) to move upwards;

c2, in the process that the discharge cylinder (250) drives the material tray (220) to move upwards, the material tray (220) is placed on the limit component (270) on the support rod B (251) after moving upwards, and then the discharge cylinder (250) does not drive the material tray (220) to move upwards;

c3: the telescopic end of the discharging cylinder (250) moves downwards until the telescopic end moves to the position below the third placing area (213), and then the tray (220) placed on the limiting assembly (270) is taken away;

c4: repeating the steps c1-c 3.

30. The fully automatic motor rotor riveting apparatus according to claim 26, wherein the clamping jaw E (570) of the shaft feeding mechanism (500) clamps the shaft to the waiting position (555) by the following steps:

d1: when the clamping jaw E (570) is positioned at the waiting material level (555), the groove (551) on the material receiving plate (550) is arranged below the material discharging notch (532), at the moment, the groove (551) is arranged at the shaft material discharging level (552), the vibration controller (531) enables the shaft material swinging box (530) to vibrate, and then the shaft in the shaft material swinging box (530) falls into the groove (551) from the material discharging notch (532);

d2: then the fourth linear module (540) drives the material receiving plate (550) to move along the-y direction so that the groove (551) with the shaft moves to the shaft middle position (553), and then the sliding table cylinder (580) drives the shaft in the groove (551) to move along the groove (551) towards the clamping jaw E (570);

d3: the rotating device (560) drives the clamping jaw E (570) to rotate 90 degrees along the vertical direction to clamp the shaft on the indexing (553), and after the clamping jaw E (570) clamps the shaft, the rotating device (560) drives the clamping jaw E (570) 90 to rotate back to the waiting material level (555);

d4: repeating the steps d1-d 3.

31. The apparatus according to claim 30, wherein in the step d3, the clamping jaw E (570) clamps the shaft on the shaft waiting level (555) to the waiting level (555) as follows:

the clamping jaw E (570) is arranged at the material waiting position (555), the telescopic end of the propelling cylinder (591) drives the clamping jaw E (570) to move to the clamping position (554) along the x direction, then the driving device drives the clamping jaw E (570) to rotate 90 degrees in the vertical direction to clamp the shaft on the rotating position (553), after the clamping jaw E (570) clamps the shaft, the rotating device (560) drives the clamping jaw E (570) 90 to rotate back to the clamping position (554), and finally the propelling cylinder (591) drives the clamping jaw E (570) to move to the material waiting position (555) along the-x axis and then stops moving.