CN204216749U - Rotor set is installed - Google Patents
Rotor set is installed Download PDFInfo
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- CN204216749U CN204216749U CN201420469458.7U CN201420469458U CN204216749U CN 204216749 U CN204216749 U CN 204216749U CN 201420469458 U CN201420469458 U CN 201420469458U CN 204216749 U CN204216749 U CN 204216749U
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Abstract
The utility model this for rotor set installation, comprise lay rotor set install frame, be provided with in frame be connected with controller pay-off, magnetic device, E encloses insertion apparatus, bearing press-in device, scrap-removing apparatus.The utility model has the advantage of provide a kind of and arbitrary rotor can be detected, magnetic, press-in jump ring, bearing, anti-dandruff some or whole process step combinations form and are connected flow production lines, and the rotor automatic assembling machine that rotor assembling efficiency is high, constant product quality, complete machine floor space are little.
Description
Technical field
The present invention relates to the apparatus for assembling of each parts on rotor, especially a kind of rotor that can realize detects, magnetic, press-in jump ring and bearing, these automatic assembling machines that are some or repertoire of rotor case debris removal.
Background technology
In micro-motor rotor production process, need to detect through rotor, magnetic, press-in jump ring and bearing, and the operation such as outer ring debris removal.Had employing manual mode in the past, and namely adopted manual feeding magnetic, or be pressed into the process such as jump ring, bearing by hand, manual mode not only efficiency is low, and disqualification rate is also high, is eliminated gradually.
Also there is the artificial semi-automatic mode of production in conjunction with machinery of local program in current production.As Authorization Notice No. Chinese utility model patent " a kind of bearing pressing machine " disclosed in CN201856075 U, this machine is the process realizing bearing press-in axle center, specific operation process adopts manually to be placed on supporting seat by rotating shaft, and place bearing at rotating shaft two ends, then start the machine, the press-in axle center that bearing pressing machine adopts screw mechanism as power, bearing is quick, stable.But this machine can only realize a process of bearing press-in, and adopts horizontal, occupies larger operating table surface, is unfavorable for that this machine is connected with the combination of other automation mechanized operation operations.
Above-mentioned single operation also has the fully-automatic production mechanism of Automatic-feeding, automatic operation.As Authorization Notice No. Chinese invention patent " a kind of E type retainer ring pressing machine " disclosed in CN 102371478B, it adopts multistation, feed zone and press-in station isolation of components mode, reclaiming process adopts clamping type, achieves the course of work of Automatic-feeding and press-in automatically.But it adopts horizontal equally, occupies larger operating table surface, is unfavorable for that this machine is connected with the combination of other automation mechanized operation operations.
Summary of the invention
The object of the present invention is to provide a kind ofly arbitrary rotor to be detected, magnetic, press-in jump ring, bearing, anti-dandruff some or whole process step combinations form and are connected flow production lines, and the rotor automatic assembling machine that rotor assembling efficiency is high, constant product quality, complete machine floor space are little.
The object of the invention is to have come by following technical solution, rotor set is installed, and comprises the frame of laying rotor set installation,
The E be connected with controller is installed in frame and encloses insertion apparatus, bearing press-in device, it is characterized in that:
Also being included in can by the carrying device of rotor feeding, feeding between described E circle insertion apparatus, bearing press-in device, this carrying device comprises conveyance mounting panel, this mounting panel is arranged on about one moving mechanism, this left and right moving mechanism and arranges front and back moving mechanism, before and after this, moving mechanism is provided with and gets discharge mechanism; Described get discharge mechanism comprise some can the clamper of vertical gripping rotor body; Described E encloses on insertion apparatus, bearing press-in device and is provided with axle center axially vertical fixing holder, E circle inserts holder, bearing press-in holder is in same level, and E circle inserts holder, bearing press-in holder 2 lines parallel with the left and right moving mechanism of carrying device, make the some clampers be installed on the moving mechanism of left and right can pick and place E simultaneously and enclose the rotor inserted in holder, bearing press-in holder.
The conveyance mounting panel of described carrying device is fixed in frame by column, this mounting panel connects four guide pin bushings and guide pillar along Y-axis, elevating mechanism is provided with below mounting panel, this elevating mechanism is the elevating screw assembly of lift servo driven by motor, lift servo motor drives left and right moving mechanism to move up and down by elevating screw assembly, and elevating mechanism also comprises and is arranged on the heave sensor assembly that column controls the speed that moves up and down.
Described left and right moving mechanism comprises slide rail, the slide block that two levels are arranged along X-axis, and drives the left and right of slide block movement to move servomotor, left and right silk shifting rod assembly, and this two symmetrical slide rail is fixed with four guide pillars respectively; Described front and back moving mechanism comprises the front and back be fixed on the moving mechanism slide block of left and right and moves mounting panel, on this mounting panel, level is provided with two slide rails along Z axis, slide block, and servomotor, front and back silk shifting rod assembly are moved in the front and back moved on mounting panel before and after being fixed on, front and back are moved fixing front and back on slide block, front and back silk shifting rod assembly and are moved sliding panel.
Described discharge mechanism of getting comprises clamper fixed mount, this fixed mount is along X-axis horizontal distribution and move on sliding panel before and after being fixed on, a pair jaw that clamper is gas pawl and is arranged on gas pawl, described a pair jaw opposite face forms semi-circular recesses, and groove surface is provided with shaggy tooth.
The advantage that the present invention has:
1, carrying device adopt about three, up and down, the travel mechanism of front and back combination, travel mechanism arranges material fetching mechanism, and the clamper of this mechanism can vertical grip roll body.Because travel mechanism can realize the movement of three dimensions, what ensure clamper picks and places material function.
2, simultaneously, rotor detects, magnetic, press-in jump ring, bearing, anti-dandruff whole process device all adopt vertical fixed rotor structure, the station (rotor holder) of each operational sequence is all in same straight line, and the station of the clamper of carrying device and each operational sequence (rotor holder) side by side parallel, clamper number, position are corresponding with process operations device, so just can ensure one, carrying device can detect rotor simultaneously, magnetic, press-in jump ring, bearing, anti-dandruff whole process device carry out feed, feeding; Its two, structure adopts vertical, compares traditional horizontal saving space, convenient combines with other rotor assembly processes; Its three, machine operation can increase arbitrarily or reduce each procedure device, because the same straight line of each operation station, equidistant arrangement, to increase or the clamper reduced in carrying device can realize as long as corresponding.
3, fixing rotor, adopt claw bullet formula clamper, increase the flexibility of device, be suitable for the rotor clamping of different-diameter.
Accompanying drawing explanation
Fig. 1 is the stereo amplification figure of rotor assembly, comprises rotor and is arranged on E type circle, the bearing at two ends, axle center.
Fig. 2 is the structural representation comprising frame and controller of rotor assembling device better embodiment of the present invention.
Fig. 3 is the front view that rotor assembling device better embodiment of the present invention removes frame.
Fig. 4 is the vertical view of Fig. 3.
Fig. 5 is the schematic perspective view of Fig. 3.
Fig. 6 is the perspective view in a direction of carrying device.
Fig. 7 is the perspective view in another direction of carrying device.
Fig. 8 is the structural representation of carrying device elevating mechanism.
Fig. 9 is the structural representation of carrying device left and right moving mechanism.
Figure 10 is the stereo amplification figure of screw mandrel group in the moving mechanism of carrying device left and right.
Figure 11 is the structural representation moving mounting panel before and after the slide block on the moving mechanism of carrying device left and right is fixed.
Figure 12 is that before and after carrying device, on moving mechanism, the stereo amplification figure of sliding panel fixed by slide rail.
Figure 13 is the vertical view of Fig. 6, Fig. 7.
Figure 14 is the stereo amplification figure of the material fetching mechanism of carrying device.
Figure 15 is the stereo amplification figure of carrying device material fetching mechanism gas pawl.
Figure 16 is the structural representation of pay-off.
Figure 17 is the stereo amplification figure of pay-off feeding frame.
Figure 18 is the stereo amplification figure of the top measuring mechanism of carrying device.
Figure 19 is the profile of Figure 18.
Figure 20 is the stereo amplification figure of magnetic device.
Figure 21 is the front view of 20.
Figure 22 is that the AA of Figure 21 is to profile.
Figure 23 is the stereo amplification figure that E encloses insertion apparatus.
Figure 24 is the stereo amplification figure that E encloses another angle of insertion apparatus.
Figure 25 is the stereo amplification figure that E encloses that mechanism is inserted in insertion apparatus local.
Figure 26 is the stereo amplification figure that E encloses insertion apparatus Qi Zhao mechanism.
Figure 27 is the schematic perspective view of bearing press-in device.
Figure 28 is the stereo amplification figure of bearing press-in device clamper, for ease of determining the matching relationship with bearing in figure, conceals a claw.
Figure 29 is the stereo amplification figure that bearing press-in device first cylinder assembly matches with rotor axis and the first clamper.
Figure 30 is the stereo amplification figure that bearing press-in device second cylinder assembly passes slide mechanism and bearing fit.
Figure 31 is the stereo amplification figure of bearing press-in device clutch shaft bearing feeding machanism.
Figure 32 is the structural representation of guide groove in Figure 31 mounting panel and the first clamper fed bearings.
Figure 33 is the structural representation that the push rod of Figure 32 middle (center) bearing actuator coordinates in holding tank and guide groove.
Figure 34 is the stereo amplification figure of scrap-removing apparatus.
Figure 35 is the stereo amplification figure of scrap-removing apparatus feeding frame.
Figure 36 is the structural representation of anti-dandruff mechanism.
Figure 37 is the vertical view of Figure 36.
Main element symbol description:
| Rotor | 100 |
| Axle center | 101 |
| Iron core | 102 |
| Magnetic shoe | 103 |
| Bearing | 104 |
| E type circle | 105 |
| Controller | 200 |
| Frame | 300 |
| Take out device | 400 |
| Feeding frame | 410 |
| Top measuring mechanism | 420 |
| Bottom measuring mechanism | 430 |
| Magnetic device | 500 |
| Mounting panel | 510 |
| Elevating mechanism | 520 |
| Ejecting mechanism | 530 |
| E type circle insertion apparatus | 600 |
| Mounting panel | 610 |
| Feeding machanism | 620 |
| Insert mechanism | 630 |
| Detent mechanism | 640 |
| Bearing press-in device | 700 |
| Controller | 720 |
| Mount pad | 730 |
| The first rotor detent mechanism | 740 |
| First clamper | 742 |
| First cylinder assembly | 744 |
| Second rotor positioning mechanism | 750 |
| Second clamper | 752 |
| Second cylinder assembly | 754 |
| Clutch shaft bearing feeding machanism | 760 |
| Mounting panel | 761 |
| Index dial | 762 |
| Bearing actuator | 764 |
| Column | 765 |
| Disc | 766 |
| Material bar | 767 |
| Second bearing feeding machanism | 770 |
| Bearing pushes mechanism | 780 | |
| Slide mechanism | 782 | |
| First actuator | 784 | |
| Scrap-removing apparatus | 800 | |
| Anti-dandruff mechanism | 820 | |
| Feeding frame | 840 | |
| Carrying device | 900 | |
| Conveyance is installed, | 910 | |
| Elevating mechanism | 920 | |
| Left and right moving mechanism | 930 | |
| Front and back moving mechanism | 940 | |
| Get discharge mechanism | 950 |
Embodiment
Below in conjunction with accompanying drawing, detailed introduction is done to the present invention:
Refer to Fig. 1, rotor 100 comprises axle center 101, through-shaft iron core 102 in the heart and is wrapped in the magnetic shoe 103 of its outer diameter.Rotor set of the present invention installation realizes the two ends that the most major general E type circle 105 of operation and bearing 104 are arranged on axle center 101.
Refer to Fig. 2,3,4,5, rotor assembling device better embodiment of the present invention, namely this device comprises and is arranged on outside the mechanism in axle center 101 by E type circle 105 and bearing 104, also comprise rotor feeding, detect, magnetic, anti-dandruff, go the operation of expecting.
Rotor set installation comprises controller 200, frame 300, and be installed on is electrically connected with controller in frame pay-off 400, magnetic device 500, E encloses insertion apparatus 600, bearing press-in device 700, scrap-removing apparatus 800, and can to pay-off 400, magnetic device 500, carrying device 900 that E circle insertion apparatus 600, bearing press-in device 700, scrap-removing apparatus 800 carry out feeding and blowing simultaneously.Pay-off 400, magnetic device 500, E encloses insertion apparatus 600, bearing press-in device 700, scrap-removing apparatus 800. is arranged in order in frame, and concrete rotor detects, magnetic, press-in jump ring, bearing, anti-dandruff whole process device all adopt vertical fixed rotor structure, the station (rotor holder) of each operational sequence is all in same level and lines up same straight line, and carrying device 900 to get the clamper in discharge mechanism 950 parallel with the station (rotor holder) of each operational sequence, correspondence, clamper has four, ensure with the feeding blowing process of five operations can at one time in complete, namely carrying device one-off can by pay-off 400, magnetic device 500, E encloses insertion apparatus 600, rotor correspondence in bearing press-in device 700 is transported to magnetic device 500, E encloses insertion apparatus 600, bearing press-in device 700, scrap-removing apparatus 800, so, rotor is being transported to just successively through the processing of 5 devices on scrap-removing apparatus, and the rotor completing whole manufacturing procedure is sent by frame by scrap-removing apparatus subsequently.
In addition, due to each operation need to remain on dustless and uniform temperature under work, frame 300 can adopt totally enclosed type, and arranges the equipment such as dedusting fan, guard.Frame is also provided with the circuit arrangement and the interface that facilitate controller to be communicated with each device.
First by reference to the accompanying drawings carrying device 900 is described below.
Refer to Fig. 6, the structure of carrying device entirety that what this figure showed is, this carrying device comprises conveyance mounting panel 910, this mounting panel top arranges on about one moving mechanism 930, this left and right moving mechanism and arranges front and back moving mechanism 940, before and after this, moving mechanism is provided with and gets discharge mechanism 950, and mounting panel bottom arranges elevating mechanism 920.
Concrete, refer to Fig. 7,8, carrying device comprises conveyance mounting panel 910 and is fixed in frame by column 911, this mounting panel connects four guide pin bushings 913 along Y-axis, to be slidably connected guide pillar 912 by guide pin bushing, elevating mechanism 920 is provided with below mounting panel, this elevating mechanism is the elevating screw assembly 922 that lift servo motor 921 is driven by belt pulley, lift servo motor drives left and right moving mechanism 930 entirety to move up and down by elevating screw assembly, and elevating mechanism also comprises and is arranged on the heave sensor assembly 923 that column controls the speed that moves up and down.Heave sensor assembly comprises the alignment sensor 924 be arranged on column 911, and the sensing chip 925 fixing with left and right moving mechanism 930, and sensing chip is by the Distance-sensing speed control signal with alignment sensor.
Refer to Fig. 9, left and right moving mechanism 930 comprises slide rail 931, the slide block 932 that two levels are arranged along X-axis, and driving the left and right of slide block movement to move servomotor 933, left and right silk shifting rod assembly 934, the symmetrical slide rail 931 of this two couple is fixed with four guide pillars 912 respectively.Left and right silk shifting rod assembly 934 refers to Figure 10, comprises screw mandrel 934a, feed screw nut pair 934b, and the fixed block 934c of connection is played at two ends, and feed screw nut pair 934b is provided with contiguous block.This left and right moving mechanism is provided with sensor cluster equally, and this sensor cluster structure is identical with heave sensor assembly, and sensor setting is on slide rail, and sensing chip is arranged on slide block.
Refer to Figure 11,12, front and back moving mechanism 940 comprises the front and back be fixed on left and right moving mechanism slide block 932 and feed screw nut pair 934b contiguous block and moves mounting panel 941, on this mounting panel, level is provided with two slide rails 942 along Z axis, slide block 943, and servomotor 944, front and back silk shifting rod assembly 945 are moved in the front and back moved on mounting panel before and after being fixed on, front and back are moved on sliding-rail sliding and are fixed sliding panel 946.Before and after this, moving mechanism is provided with sensor cluster equally, this sensor cluster structure is identical with heave sensor assembly, and transducer 947 is arranged on slide rail, and sensing chip 948 is arranged on the fixing sliding panel 946 on slide block.
Refer to Figure 13,14,15, get discharge mechanism 950 and comprise clamper fixed mount 952, this fixed mount arranges along X-axis and is fixed on front and back and moves on sliding panel 946, and clamper 951 is the gas pawl being electrically connected controller, and has four, is equally distributed on fixed mount.This gas pawl structure is a pair jaw 951a of front end gripping rotor, a pair jaw opposite face forms the semicircle groove 951b holding rotor body, and groove surface is provided with shaggy tooth 951c, makes to clamp between jaw and rotor more fastening like this.
First by reference to the accompanying drawings pay-off 400 is described below.
Refer to Figure 16, pay-off is positioned at the high order end of apparatus for assembling, this device comprises feeding frame 410, comprise grooved body 411, grooved body recess inwall both sides respectively arrange synchronizing wheel 412 and Timing Belt 413, grooved body two ends are provided with feeding motor 414, and motor drives synchronizing wheel 412 by shaft coupling 415.By this structure, rotor is placed in grooved body, and Timing Belt just can move by rotor driven.
Refer to Figure 17, feeding frame grooved body 411 1 end is provided with the band U-type groove holder 416 playing grip roll along Y direction and the riser 417 be connected with holder, is also provided with the transducer of detection rotor in the U-type groove of holder 416.This holder and E enclose and insert holder, bearing is pressed into holder and is in same level straight line along X-axis, make the clamper be installed on the left and right moving mechanism of carrying device can pick and place simultaneously U-type groove holder, E circle insert holder, bearing press-in holder in rotor.
Refer to Figure 18,19 and in conjunction with 16, this riser setting up and down in the Y-axis direction with holder U-type groove concentrically aligned outside top measuring mechanism 420 and bottom measuring mechanism 430.Top measuring mechanism comprises the upper positioning cylinder 421, the upper slide rail set 422 that are fixed on riser upper end, piston rod vertical connecting sliding rail group 422 slide block of cylinder 421, this slide block is arranged movable block 423, this movable block bottom is formed and coordinates the pressure head 424 of locating with rotor upper end, the top of this movable block vertical head arranges the readable cylinder 425 of upper run, and the piston rod of cylinder 425 can pass from pressure head 424 endoporus.
Bottom measuring mechanism 430 comprises the glidepath group 431 being fixed on riser lower end, glidepath group slide block is arranged the readable cylinder 432 of lower run, the piston rod of this cylinder is positioned at below U-type groove holder also vertically aims at U-type groove, this piston rod is movable in holder U-type groove, and bottom measuring mechanism 430 also comprises lower positioning cylinder 433 for controlling lower run readable cylinder 432 position on slide block.
The measuring principle of feed mechanism is: rotor is sent in holder U-type groove by conveyer belt by feeding frame, after transducer detects rotor, controller controls upper positioning cylinder 421, lower positioning cylinder 433 piston rod moves to holder, namely go up positioning cylinder 421 to promote movable block and move down, until pressure head 424 is pressed in above rotor, the piston rod of the readable cylinder 425 of upper run moves down until pushing tow is to rotor axis simultaneously.And lower positioning cylinder 433 pushing tow makes the readable cylinder 432 of lower run be positioned at below holder U-type groove, lower run readable cylinder 432 piston rod is through the axle center below U-type groove pushing tow holder internal rotor subsequently.So just by the clamping of two readable cylinders of stroke, calculate the length of rotor axis.
First be described facing to magnetic device 500 by reference to the accompanying drawings below.
Refer to Figure 20-22, apparatus for assembling is also comprising magnetic device, magnetic device and comprise mounting panel 510, elevating mechanism 520, ejecting mechanism 530, elevating mechanism 520 comprises the fixing guide pillar 521 of mounting panel surrounding, guide pillar top is connected and fixed plate 522, centre connects movable plate 523 by guide pin bushing, movable plate 523 is provided with the holder 524 along Y-axis location rotor, is provided with servomotor 525 above mounting panel, and this servomotor connects movable plate by the pair of nut of screw mandrel 526.Fixed head be provided with coordinate with rotor upper end mould magnetic tool 527, mould magnetic tool 527 comprising magnetic coil and sheath, holder 524 is with to mould magnetic tool 527 concentric up and down corresponding along Y-axis.
And be somebody's turn to do magnetic holder 524 enclose with E inserts holder, bearing be pressed into holder and is in same level straight line along X-axis, the some clampers be installed on the left and right moving mechanism of carrying device can be picked and placeed simultaneously magnetic holder, E enclose insertion holder, bearing is pressed into rotor in holder.
Fixed head is installed with to be moulded magnetic tool back side correspondence position and is provided with ejecting mechanism 530, this ejecting mechanism comprise two guide pillars 531, guide pillar top connecting plate 532, be fixed on pushing tow cylinder 533 on connecting plate, this cylinder piston rod expansion fit and is moulded magnetic tool endoporus.
The course of work of this device, first rotor is placed in holder by carrying device, and elevating mechanism promotes movable plate moves, and moulding in magnetic tool, then carrying out magnetization process by moulding magnetic tool until being pushed by rotor body.After end, rotor ejects by top-pushing mechanism to be moulded in magnetic tool, and then movable plate resets.
First by reference to the accompanying drawings enclose insertion apparatus 600 to E to be below described.
Refer to Figure 23-27, E encloses insertion apparatus, comprise E and enclose insertion apparatus mounting panel 610, mounting panel be provided be connected with controller feeding machanism 620, insert mechanism 630, detent mechanism 640, described detent mechanism comprises along the concentrically aligned outside upper positioning component of Y-axis, lower positioning component, and along the horizontal location assembly of X-axis movement, upper positioning component, lower positioning component, horizontal location assembly by vertically fixing up and down for rotor so that insert mechanism E type circle is inserted rotating shaft two ends.
Upper positioning component comprises two guide pillars 6401 be fixed on E circle insertion mounting panel, guide pillar top fixed connecting plate 6402, centre connect movable plate 6403 by guide pin bushing, be provided with servomotor 6404 above connecting plate, this servomotor connects movable plate by the pair of nut of screw mandrel 6405; Described movable plate is provided with the upper location pressure head 6406. coordinated with rotor upper end.
E encloses insertion apparatus mounting panel bottom and arranges lower positioning component, lower positioning component comprises two guide pillars 6407 be fixed on E circle insertion apparatus mounting panel, guide pillar top fixed connecting plate 6408, centre connect movable plate 6409 by guide pin bushing, cylinder 6410 is provided with above connecting plate, this cylinder connects movable plate by piston rod, and described movable plate is provided with the lower location pressure head 6411 coordinated with rotor lower end.Horizontal location assembly comprises two groups of slide rails 6412 and air cylinder group 6413, is connected and fixed plate between cylinder piston rod, and fixed head is arranged on sliding-rail sliding, and fixed head is provided with the protective cradle with rotor engagement.
Feeding machanism 620 is the feeding rod arranged along Y-axis of suit E type circle..Insertion mechanism 630 comprises the riser 631 along Z axis, riser is fixed a horizontal slide rail 632, the fixing gas claw assembly 633 arranged along X-axis on sliding-rail sliding, slide rail along Z axis parallels with the feeding rod arranged along Y-axis, upper positioning component and the flat line of lower positioning component WAWQ, riser is also provided with cylinder 634 to ensure to move to after gas claw assembly captures E type circle on feeding rod the station of positioning component, lower positioning component fixed rotor, carries out the insert action of E type circle.Gas claw assembly 633 comprises the intermediate plate of head, and this intermediate plate two internal memory forms the inclined-plane of clamping E type circle, also arranges the transducer detecting E type circle at intermediate plate two ends simultaneously.
The course of work of this device is: in rotor body embedding device, upper positioning component, lower positioning component, and along the horizontal location assembly of X-axis movement, rotor is fixed, simultaneously, insert the E type circle on the gas claw assembly gripping feeding machanism of mechanism, then, cylinder action gas claw assembly moves it positioning component, the station of lower positioning component fixed rotor, after gas claw assembly inserts a slice E type circle, reset gripping next E type circle, and then move to positioning component, the station of lower positioning component fixed rotor, go up positioning component simultaneously, rotors normal moves by lower positioning component, with the E type circle facilitating gas claw assembly to insert the axle center other end.
First by reference to the accompanying drawings bearing press-in device 700 is described below.
Refer to Figure 28-33, bearing press-in device, comprises controller 720, mount pad 730, the first rotor detent mechanism 740, second rotor positioning mechanism 750, to the clutch shaft bearing feeding machanism 760 of the first rotor detent mechanism 740 feed, pushes mechanism 780 to the clutch shaft bearing feeding machanism 770 of the second rotor positioning mechanism 750 feed and the bearing be arranged on holder.
The first rotor detent mechanism 740 comprises the first clamper 742, first cylinder assembly 744, second rotor positioning mechanism 750 and comprises the second clamper 752, second cylinder assembly 754.
This apparatus for assembling adopts vertical structure on the whole, vertically places by rotor axis, vertically arranges the first cylinder assembly 744, first clamper 742, second clamper 752, second cylinder assembly 754 from top to bottom, bearing pushes mechanism 780 around rotor.
Bearing pushes the first actuator 784 that mechanism 780 comprises slide mechanism 782, slide mechanism is slided up and down, and slide mechanism moves down and bearing is nested with in rotor axis.Slide mechanism 782 comprises and is fixed on top between the first joint pin 7821 on mount pad and the second joint pin 7822, two joint pins and is connected with fixed head 7823, and centre is connected with sliding panel 7824, and this sliding panel slides up and down along joint pin; This fixed head is installed first and drive 784, the first actuator is that servomotor drives belt pulley and drives sliding panel to slide up and down by screw rod.
The position that sliding panel 7824 is corresponding with the bearing 18 in the second clamper 752 is also fixed with truncated cone-shaped resistance material block 7825, and this resistance material block boss forms the second resistance material ring 7826 corresponding with bearing inner race.Resistance material block on slide mechanism, this resistance material block boss forms the resistance material ring corresponding with bearing inner race size, bearing is promoted through axle center when slide mechanism moves down, the acting surface of guarantee resistance material ring and the power of guarantee pushing tow are at bearing inner race, this is avoided pushing tow outer ring in assembling process to the infringement of bearing, to ensure the assembly quality of axle center and bearing simultaneously.
Because the first clamper is identical with the second holder structure, be described for the first clamper at this.There are a pair claw 7421 and a material blocking block 7422 in this clamper front end, these two claw opposite faces form the holding tank 7423 of the bearing fit pushed with bearing feeding machanism, material blocking block 7422 is set bottom holding tank with location bearing, these two claws also have symmetrical semi-circular shape hole slot 7424, and the circular hole 7425 that this hole slot is formed passes for axle center and axle center and rotors normal is erect.
The hole slot end face that first gripper jaws coordinates with axle center also has concave cone shape block face 7426, the concave cone shape block face 7426 of two claws just forms a recessed taper surface, when above rotor axis is placed on the first clamper and when moving downward, in the circular hole 7425 that this recessed taper surface just can guide axle center accurately to slip between claw, convenient location.
First clamper is also provided with and detects the optoelectronic switch element 7427 that bearing is positioned at bottom holding tank, axle center is positioned at claw circular hole.
Act in rotor axis when bearing pushes mechanism, be fixed between the first clamper and slide mechanism to keep rotor, the first rotor detent mechanism also comprises the first cylinder assembly 744 coordinated with the first clamper, this cylinder assembly comprises push rod 7441 and spring assembly 7442, spring assembly 7442 is fixed on mount pad, claw circular port can be passed and pushing tow rotor axis in this push rod 7441 one end, and push rod 7441 other end acting in opposition is on spring assembly.Namely first cylinder assembly 744 plays fixing thrusting action, ensures that bearing holder (housing, cover) is contained on axle center.Simultaneously owing to being provided with spring assembly 7442, there is elastic buffer effect, avoid the shock of bearing, rotor, improve the assembly quality of axle center and bearing.
Apparatus for assembling has the first clamper to be fixed on above mount pad, and the first cylinder assembly is positioned at below mount pad, and the push rod of this cylinder assembly can pass mount pad, the first gripper jaws circular hole, bearing inner race coordinate with axle center pushing tow.Apparatus for assembling also has the second clamper to be fixed on the below of slide mechanism sliding panel, and the second cylinder assembly is positioned at the top of sliding panel, and the push rod of this cylinder assembly can pass sliding panel, the first gripper jaws circular hole, bearing inner race coordinate with axle center pushing tow.The vertical state of rotor just can be kept by upper and lower two rotor positioning mechanisms, and concentric with bearing to be assembled, facilitate bearing to push away robot mechanism and bearing is pressed into axle center.
Clutch shaft bearing feeding machanism 760, second bearing feeding machanism 770 gives the first clamper, the second clamper feed respectively, the holding tank level correspondence of the first gripper jaws connects clutch shaft bearing feeding machanism, and the holding tank level correspondence of the second gripper jaws connects the second bearing feeding machanism.Specifically consult Fig. 6-8, because clutch shaft bearing feeding machanism is identical with the second bearing feeding machanism structure, so say for clutch shaft bearing feeding machanism, clutch shaft bearing feeding machanism comprises the mounting panel 761 be located on holder, be positioned at the index dial 762 on mounting panel, index dial rotary drive, bearing actuator 764 and column 765, column top is provided with disc 766, this disc is fixed with the material bar 767 of serial connection bearing 18, column bottom is fixed through index dial and mounting panel 761, index dial is uniformly distributed along the circumference at index dial the circular port 7621 of 12 accommodation bearings, this mounting panel also has a guide groove 7611, index dial rotates and arbitrary circular port is overlapped with guide groove, bearing in circular port just falls in guide groove, described bearing actuator is pneumatic element, bearing is released in guide groove by the push rod 7641 that it is provided with.Index dial 762 is arranged optoelectronic switch 7622 and proximity switch 7623, produce signal make bearing actuator pushrod movement with the bearing detected in circular port.
Clutch shaft bearing feeding machanism 760, second bearing feeding machanism 770 respectively and the first clamper, bearing between the second clamper carry, the holding tank level correspondence of the first gripper jaws connects the guide groove of clutch shaft bearing feeding machanism, and the push rod that bearing actuator is provided with is linear reciprocating motion in guide groove and holding tank.
The holding tank also corresponding guide groove connecting the second bearing feeding machanism of level of corresponding second gripper jaws, the push rod that its bearing actuator is provided with linear reciprocating motion in guide groove and holding tank.
Bearing feeding machanism first index dial rotates a station, bearing in material bar is placed in circular port corresponding to bottom, simultaneously, drop in guide groove with the bearing in the circular port of guide groove overlapping positions, optoelectronic switch detection signal also indicates next step bearing actuator work, the push rod of pneumatic bearing actuator is to extrapolation, and in the holding tank that the bearing in guide groove is placed in clamper, pneumatic bearing actuator makes push rod reset subsequently.Thus, bearing feeding is once completed.
First by reference to the accompanying drawings scrap-removing apparatus 800 is described below.
Refer to Figure 34-37, apparatus for assembling comprises anti-dandruff mechanism 820, this anti-dandruff mechanism comprises mounting panel 821, elevating mechanism 822, rotor transverse moving mechanism 823, anti-dandruff adhesive tape mechanism 824, mounting panel is by elevating mechanism 822 column 8221 top fixed connecting plate 8222, this connecting plate is arranged anti-dandruff adhesive tape mechanism, this anti-dandruff adhesive tape mechanism comprises three related roller bearings of motor, between motor shaft with roller vertical place and between be communicated with by anti-dandruff adhesive tape.Have elevating mechanism between connecting plate and mounting panel, this elevating mechanism comprises two columns be made up of guide pillar, movable plate, motor-driven screw mandrel group, and movable plate fixed by two guide pillar guide pin bushings, and the pair of nut of leading screw group is fixed on movable plate..
Rotor transversing gear comprises the U-shaped stand 8231 of grip roll, slide rail set 8232 and reset cylinder 8233, and slide rail set is fixed on movable plate, and U-shaped stand is fixed on slide block, and reset cylinder piston rod is just to U-shaped stand.U-shaped stand overlaps with the anti-dandruff adhesive tape position of anti-dandruff adhesive tape mechanism on Y-axis is vertical.
Concrete, anti-dandruff adhesive tape mechanism comprises two symmetrically arranged anti-dandruff motors 8241, this machine shaft has tape roll axle, correspondingly with tape roll axle is provided with Belt Transmission roller bearing 8242, also have the 3rd roller bearing between described roller bearing, on this roller bearing, cover has cylinder cavernous body 8243.
Scrap-removing apparatus also comprises material frame group 840, and this frame comprises two grooved bodies 841 side by side, and grooved body recess inwall both sides respectively arrange synchronizing wheel and Timing Belt, goes material motor to drive synchronizing wheel by shaft coupling; The fixing U-shaped stand position of described sliding-rail sliding with two side by side grooved body one end overlap.
Specific works process: go material frame to be sent to by rotor on U-shaped stand 8231, rotor is lifted to anti-dandruff adhesive tape mechanism 824 horizontal level by elevating mechanism, anti-dandruff adhesive tape mechanism 824 rotates and makes anti-dandruff adhesive tape friction bowl outer ring, simultaneously, rotor movement to opposite side, and goes to expect that rotor is sent by the grooved body of frame by second half by rotor transverse moving mechanism 823.
Claims (20)
1. rotor set installation, comprises the frame of laying rotor set installation,
The E be connected with controller is installed in frame and encloses insertion apparatus, bearing press-in device, it is characterized in that:
Also being included in can by the carrying device of rotor feeding, feeding (900) between described E circle insertion apparatus (600), bearing press-in device (700), this carrying device comprises conveyance mounting panel (910), this mounting panel is arranged on about one moving mechanism (930), this left and right moving mechanism and arranges front and back moving mechanism (940), before and after this, moving mechanism is provided with and gets discharge mechanism (950);
Described get discharge mechanism comprise some can the clamper of vertical gripping rotor body;
Described E encloses on insertion apparatus, bearing press-in device and is provided with axle center axially vertical fixing holder, E circle inserts holder, bearing press-in holder is in same level, and E circle inserts holder, bearing press-in holder 2 lines parallel with the left and right moving mechanism of carrying device, make the some clampers be installed on the moving mechanism of left and right can pick and place E simultaneously and enclose the rotor inserted in holder, bearing press-in holder.
2. kludge according to claim 1, it is characterized in that, the conveyance mounting panel (910) of described carrying device is fixed in frame by column (911), this mounting panel connects guide pin bushing (913) along Y-axis and is slidably connected with guide pillar (912), elevating mechanism (920) is provided with below mounting panel, this elevating mechanism is the elevating screw assembly (922) that lift servo motor (921) drives, and lift servo motor drives left and right moving mechanism to move up and down by elevating screw assembly.
3. kludge according to claim 2, it is characterized in that, described left and right moving mechanism comprises slide rail (931), the slide block (932) that level is arranged along X-axis, and driving the left and right of slide block movement to move servomotor (933), left and right silk shifting rod assembly (934), this slide rail is fixed with guide pillar respectively; Described front and back moving mechanism comprises the front and back be fixed on the moving mechanism slide block of left and right and moves mounting panel (941), on this mounting panel, level is provided with slide rail (942), the slide block (943) along Z axis, and servomotor, front and back silk shifting rod assembly are moved in the front and back moved on mounting panel before and after being fixed on, front and back are moved on sliding-rail sliding and are fixed sliding panel (946).
4. kludge according to claim 3, it is characterized in that, described discharge mechanism of getting comprises clamper fixed mount (952), this fixed mount is along X-axis horizontal distribution and move on sliding panel (946) before and after being fixed on, a pair jaw that clamper is gas pawl (951) and is arranged on gas pawl, described a pair jaw opposite face forms semi-circular recesses, and groove surface is provided with shaggy tooth.
5. kludge according to claim 1, it is characterized in that, described E encloses insertion apparatus (600), comprise E and enclose insertion apparatus mounting panel (610), mounting panel is provided with the feeding machanism (620) be connected with controller, insert mechanism (630), detent mechanism (640), described detent mechanism comprises along the concentrically aligned outside upper positioning component of Y-axis, lower positioning component, and along the horizontal location assembly of X-axis movement, upper positioning component, lower positioning component, horizontal location assembly is vertically fixing up and down so that insert mechanism by E type circle insertion rotating shaft two ends by rotor.
6. kludge according to claim 5, it is characterized in that, described upper positioning component comprises the guide pillar (6401) be fixed on E circle insertion mounting panel, guide pillar top fixed connecting plate (6402), centre connect movable plate (6403) by guide pin bushing, be provided with servomotor (6404) above connecting plate, this servomotor connects movable plate by the pair of nut of screw mandrel; Described movable plate is provided with upper location pressure head (6406) coordinated with rotor upper end; Described E encloses insertion apparatus mounting panel bottom and arranges lower positioning component, lower positioning component comprises two guide pillars (6407) be fixed on E circle insertion apparatus mounting panel, guide pillar top fixed connecting plate (6408), centre connect movable plate (6409) by guide pin bushing, cylinder (6410) is provided with above connecting plate, this cylinder connects movable plate by piston rod, and described movable plate is provided with lower location pressure head (6411) coordinated with rotor lower end; Described horizontal location assembly comprises two groups of slide rails (6412) and air cylinder group (6413), and be connected and fixed plate between cylinder piston rod, fixed head is arranged on sliding-rail sliding, and fixed head is provided with the protective cradle with rotor engagement.
7. kludge according to claim 5, it is characterized in that, described feeding machanism is the feeding rod arranged along Y-axis of suit E type circle, described insertion mechanism comprises the riser along Z axis, riser is fixed a horizontal slide rail, the fixing gas claw assembly arranged along X-axis on sliding-rail sliding, slide rail along Z axis parallels with the feeding rod arranged along Y-axis, upper positioning component and the flat line of lower positioning component WAWQ, riser is also provided with cylinder (634) to ensure to move to after gas claw assembly captures E type circle on feeding rod the station of positioning component, lower positioning component fixed rotor.
8. kludge according to claim 1, it is characterized in that, apparatus for assembling also comprises bearing press-in device (700), described bearing press-in device comprise controller (720), mount pad (730), the first rotor detent mechanism, the second rotor positioning mechanism, to the clutch shaft bearing feeding machanism of the first rotor detent mechanism feed, to the second bearing feeding machanism of the second rotor positioning mechanism feed and the bearing pressing machine structure that is arranged on holder;
Rotor axis is vertically fixed and is made axle center, bearing shaft to vertical arrangement by rotor positioning mechanism;
Described bearing pressing machine structure is arranged at above described rotor positioning mechanism, and the bearing making to fix with one heart, rotor axis do vertical move toward one another until make bearing be located on axle center.
9. kludge according to claim 7, it is characterized in that, described the first rotor detent mechanism comprises the first clamper, the first cylinder assembly, bearing press-in device has the first clamper to be fixed on above mount pad, first cylinder assembly is positioned at below mount pad, and the push rod of this cylinder assembly can pass mount pad, the first gripper jaws circular hole, bearing inner race coordinate with axle center pushing tow; The holding tank also corresponding guide groove connecting clutch shaft bearing feeding machanism of level of the first gripper jaws, the push rod that described bearing actuator is provided with linear reciprocating motion in guide groove and holding tank; Second rotor positioning mechanism comprises the second clamper, the second cylinder assembly, second clamper is fixed on the below of slide mechanism sliding panel, second cylinder assembly is positioned at the top of sliding panel, and the push rod of this cylinder assembly can pass sliding panel, the first gripper jaws circular hole, bearing inner race coordinate with axle center pushing tow; The holding tank also corresponding guide groove connecting the second bearing feeding machanism of level of the second gripper jaws, the push rod that described bearing actuator is provided with linear reciprocating motion in guide groove and holding tank.
10. kludge according to claim 7, is characterized in that, the first actuator that described bearing pressing machine structure comprises slide mechanism, slide mechanism is slided up and down, and slide mechanism moves down and makes bearing be nested with in rotor axis; Described slide mechanism comprises and is fixed on the first joint pin on mount pad and the second joint pin, and between two joint pins, top is connected with fixed head, and centre is connected with sliding panel, and this sliding panel slides up and down along joint pin; This fixed head is installed the first actuator, the first actuator drives sliding panel to slide up and down by screw rod.
11. kludges according to claim 7, it is characterized in that, described bearing feeding machanism comprises the mounting panel be located on holder, be positioned at the index dial on mounting panel, index dial rotary drive, bearing actuator and column, described column top is provided with disc, described disc is fixed with the material bar of serial connection bearing, described column bottom is fixed through index dial and mounting panel, index dial is uniformly distributed along the circumference at index dial the circular port of some accommodation bearings, this mounting panel also has a guide groove, index dial rotates and arbitrary circular port is overlapped with guide groove, bearing in circular port just falls in guide groove, bearing is released in guide groove by the push rod that described bearing actuator is provided with.
12. kludges according to claim 1, it is characterized in that, apparatus for assembling also comprises pay-off, this device comprises feeding frame, feeding frame one end portion is provided with the U-type groove holder along Y-axis grip roll, this feeding frame holder and E enclose and insert holder, bearing is pressed into holder and is in same level straight line along X-axis, make the some clampers be installed on the left and right moving mechanism of carrying device can pick and place simultaneously feeding frame holder, E circle insert holder, bearing press-in holder in rotor.
13. kludges according to claim 11, is characterized in that, described feeding frame comprises grooved body, and grooved body recess inwall both sides respectively arrange synchronizing wheel and Timing Belt, and grooved body two ends are provided with feeding motor, and motor drives synchronizing wheel by shaft coupling.
14. kludges according to claim 11, is characterized in that, the riser that the holder that described pay-off also comprises band U-type groove connects, this riser concentrically aligned outside top measuring mechanism and bottom measuring mechanism with holder in the Y-axis direction setting up and down; Top measuring mechanism comprises the readable cylinder of the upper run being fixed on riser upper end, upper slide rail set, the vertical connection sliding block of piston rod of this cylinder, this slide block arranges movable block, this movable block bottom is formed and coordinates the pressure head of locating with rotor upper end, and the top of this movable block vertical head arranges positioning cylinder; Bottom measuring mechanism comprises the glidepath group being fixed on riser lower end, glidepath group slide block is arranged the readable cylinder of lower run, and the piston rod of this cylinder is positioned at immediately below holder, and lower positioning cylinder is formed at lower run readable cylinder bottom.
15. kludges according to claim 1, it is characterized in that, apparatus for assembling is also comprising magnetic device, magnetic device and be provided with the holder of locating rotor along Y-axis, be somebody's turn to do magnetic holder and E enclose insert holder, bearing is pressed into holder and is in same level straight line along X-axis, the some clampers be installed on the left and right moving mechanism of carrying device can be picked and placeed simultaneously magnetic holder, E circle insert the rotor in holder, bearing press-in holder.
16. kludges according to claim 14, it is characterized in that, magnetic device and also comprise mounting panel and elevating mechanism, elevating mechanism comprises the fixing guide pillar of mounting panel surrounding, guide pillar top fixed connecting plate, centre connect movable plate by guide pin bushing, be provided with servomotor above mounting panel, this servomotor connects movable plate by the pair of nut of screw mandrel; Described fixed head be provided with coordinate with rotor upper end mould magnetic tool, mould magnetic tool comprising magnetic coil and sheath, holder is with to mould magnetic tool concentric along Y-axis.
17. kludges according to claim 15, it is characterized in that, connecting plate is installed with magnetic coil back side correspondence position and is provided with ejecting mechanism, this ejecting mechanism comprise two guide pillars, guide pillar top connecting plate, be fixed on pushing tow cylinder on connecting plate, this cylinder piston rod is connected to magnetic coil endoporus.
18. kludges according to claim 1, it is characterized in that, apparatus for assembling also comprises scrap-removing apparatus, this scrap-removing apparatus comprises mounting panel, elevating mechanism, rotor transverse moving mechanism, anti-dandruff adhesive tape mechanism, mounting panel is by column top fixed connecting plate, this connecting plate is arranged anti-dandruff adhesive tape mechanism, this anti-dandruff adhesive tape mechanism comprises the related some roller bearings of motor, between motor shaft with roller vertical place and between be communicated with by anti-dandruff adhesive tape; Have elevating mechanism between connecting plate and mounting panel, this elevating mechanism comprises two columns be made up of guide pillar, movable plate, motor-driven screw mandrel group, and movable plate fixed by two guide pillar guide pin bushings, and the pair of nut of leading screw group is fixed on movable plate; Rotor transversing gear comprises the U-shaped stand of rotor, slide rail set and reset cylinder, and slide rail set is fixed on movable plate, and U-shaped stand is fixed on slide block, and reset cylinder piston rod is just to U-shaped stand; U-shaped stand overlaps with the anti-dandruff adhesive tape position of anti-dandruff adhesive tape mechanism on Y-axis is vertical.
19. kludges according to claim 17, it is characterized in that, anti-dandruff adhesive tape mechanism comprises two and is symmetrical arranged anti-dandruff motor, this machine shaft there is tape roll axle, correspondingly with tape roll axle be provided with Belt Transmission roller bearing, also have the 3rd roller bearing between described roller bearing, on this roller bearing, cover has cylinder cavernous body.
20. kludges according to claim 17, it is characterized in that, scrap-removing apparatus also comprises material frame group, and this frame comprises two grooved bodies side by side, grooved body recess inwall both sides respectively arrange synchronizing wheel and Timing Belt, go material motor to drive synchronizing wheel by shaft coupling; The fixing U-shaped stand position of described sliding-rail sliding with two side by side grooved body one end overlap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420469458.7U CN204216749U (en) | 2014-08-20 | 2014-08-20 | Rotor set is installed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420469458.7U CN204216749U (en) | 2014-08-20 | 2014-08-20 | Rotor set is installed |
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| Publication Number | Publication Date |
|---|---|
| CN204216749U true CN204216749U (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420469458.7U Expired - Fee Related CN204216749U (en) | 2014-08-20 | 2014-08-20 | Rotor set is installed |
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| CN (1) | CN204216749U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104702056A (en) * | 2015-03-28 | 2015-06-10 | 上海昭程整流子科技有限公司 | Shaft feeding unit |
| CN104779749A (en) * | 2015-03-28 | 2015-07-15 | 东莞市森江机电科技有限公司 | Intelligent and full-automatic motor rotor assembly line |
| CN105014364A (en) * | 2015-08-19 | 2015-11-04 | 苏州三体智能科技有限公司 | Automatic transplanting and clamp spring pressing device for rotor |
| CN105406656A (en) * | 2014-08-20 | 2016-03-16 | 杭州山博自动化设备有限公司 | Rotor assembly machine |
| CN105540130A (en) * | 2015-12-30 | 2016-05-04 | 金石机器人常州股份有限公司 | Gravity feed channel for motor rotors |
| CN105680634A (en) * | 2016-03-09 | 2016-06-15 | 中特科技工业(青岛)有限公司 | Full automatic rotor assembling machine |
| CN106112447A (en) * | 2016-08-22 | 2016-11-16 | 苏州市吴中区胥口健浩五金加工厂 | The position-limiting unit of electromagnetic valve body feeder |
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| CN105406656A (en) * | 2014-08-20 | 2016-03-16 | 杭州山博自动化设备有限公司 | Rotor assembly machine |
| CN105406656B (en) * | 2014-08-20 | 2019-01-01 | 杭州山博自动化设备有限公司 | Rotor kludge |
| CN104779749A (en) * | 2015-03-28 | 2015-07-15 | 东莞市森江机电科技有限公司 | Intelligent and full-automatic motor rotor assembly line |
| CN104702056A (en) * | 2015-03-28 | 2015-06-10 | 上海昭程整流子科技有限公司 | Shaft feeding unit |
| CN104779749B (en) * | 2015-03-28 | 2017-07-04 | 东莞市森江机电科技有限公司 | Automatic intelligent rotor assembly line |
| CN104702056B (en) * | 2015-03-28 | 2017-12-12 | 上海昭程整流子科技有限公司 | Axle feed unit |
| CN105014364A (en) * | 2015-08-19 | 2015-11-04 | 苏州三体智能科技有限公司 | Automatic transplanting and clamp spring pressing device for rotor |
| CN105540130A (en) * | 2015-12-30 | 2016-05-04 | 金石机器人常州股份有限公司 | Gravity feed channel for motor rotors |
| CN105680634B (en) * | 2016-03-09 | 2018-07-31 | 中特科技工业(青岛)有限公司 | Whole-automatic subgroup is installed |
| CN105680634A (en) * | 2016-03-09 | 2016-06-15 | 中特科技工业(青岛)有限公司 | Full automatic rotor assembling machine |
| CN106112447A (en) * | 2016-08-22 | 2016-11-16 | 苏州市吴中区胥口健浩五金加工厂 | The position-limiting unit of electromagnetic valve body feeder |
| CN106112447B (en) * | 2016-08-22 | 2018-06-29 | 南京涵曦月自动化科技有限公司 | The position-limiting unit of electromagnetic valve body feeder |
| CN108194524A (en) * | 2018-02-13 | 2018-06-22 | 钦州学院 | A kind of press-loading apparatus |
| CN111152017A (en) * | 2020-01-20 | 2020-05-15 | 歌尔股份有限公司 | Belt wheel assembling device |
| CN111152017B (en) * | 2020-01-20 | 2021-10-29 | 歌尔股份有限公司 | Belt wheel assembling device |
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