CN215248005U - Motor shell automatic feeding machine - Google Patents

Abstract

The utility model discloses a motor shell automatic feeding machine, including the frame, get and put manipulator, CCD vision device, angle adjusting device, location die holder, first driver, second driver and charging tray loading attachment. The tray feeding device is arranged on the frame, and the taking and placing manipulator is arranged on the frame and positioned above the tray feeding device; the angle adjusting device and the positioning die holder are arranged on the frame in a sliding mode, and the first driver is arranged on the frame and can drive the angle adjusting device to switch between an avoiding position and a detecting position; the CCD vision device is arranged on the frame and is positioned right above the angle adjusting device at the detection position; the second driver is arranged on the frame and can drive the positioning die holder to be switched between the positioning position and the feeding position; the picking and placing manipulator is responsible for transferring a motor shell on the charging tray feeding device to the angle adjusting device and the positioning die holder in sequence, and the angle adjusting device adjusts the angle of the motor shell under the coordination of the CCD vision device; the aims of more stored materials, labor saving and accurate material loading position are fulfilled.

Description

Motor shell automatic feeding machine

Technical Field

The utility model relates to a material loading machine especially relates to a motor shell automatic feeding machine.

Background

As is well known, motors are widely used in consumer electronics. The motor mainly comprises a stator, a rotor and a motor shell, so that a feeding machine for feeding the motor shell cannot be separated in the assembly equipment of the motor.

At present, in the existing feeding machine, a motor shell in a material tray manually placed to a feeding position by an operator is grabbed away and then placed in an assembly device, and after the motor shell on the material tray is taken out, the operator takes off an empty material tray and then puts on the material tray filled with the motor shell, so that the burden of the operator is increased, and the feeding speed of the motor shell is influenced; meanwhile, because the motor shells have directional requirements and the placing angles of each motor shell stored on the material tray are inconsistent, the feeding machine directly transfers the motor shells in the material tray to the assembling equipment, and the defect of inaccurate position exists.

Therefore, there is a need for an automatic motor casing feeding machine with a large number of stored articles, labor saving and accurate feeding position to overcome the above-mentioned drawbacks.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a deposit many, save artifical and ensure motor shell automatic feeding machine of material loading position accuracy.

In order to realize the purpose, the utility model discloses a motor shell automatic feeding machine is suitable for motor shell location and material loading, include the frame, get and put manipulator, CCD vision device, angle adjusting device, location die holder, first driver, second driver and be used for bearing the charging tray loading attachment of batch charging tray. The material tray feeding device is arranged on the frame, batch material trays are fed upwards along the Z-axis direction of the frame, the picking and placing manipulator is arranged on the frame and is positioned above the material tray feeding device, the angle adjusting device and the positioning die holder are respectively positioned beside the material tray feeding device, and the angle adjusting device and the positioning die holder are also horizontally arranged on the frame in a sliding manner; the first driver is arranged on the frame, the first driver selectively drives the angle adjusting device to slide to an avoiding position close to the material tray feeding device or a detection position far away from the material tray feeding position, and the CCD visual device is arranged on the frame and is positioned right above the angle adjusting device at the detection position; the second driver is installed on the frame, the second driver selectively drives the positioning die holder to slide to a positioning position close to the charging tray feeding device or a feeding position far away from the charging tray feeding device, the pick-and-place manipulator is used for transferring a motor shell in a charging tray conveyed by the charging tray feeding device to the angle adjusting device of the avoiding position, the angle adjusting device adjusts the angle of the motor shell on the angle adjusting device under the cooperation of the CCD vision device, and the pick-and-place manipulator is also used for transferring the motor shell with the adjusted angle on the angle adjusting device of the avoiding position to the positioning die holder of the positioning position.

Preferably, the angle adjusting device and the positioning die holder are located beside the same side of the charging tray feeding device along the X-axis direction of the frame, the angle adjusting device and the positioning die holder also slide along the X-axis direction of the frame, and the angle adjusting device and the positioning die holder are spaced apart along the Y-axis direction of the frame.

Preferably, the number of the tray feeding devices is at least two and the tray feeding devices are arranged along the X-axis direction of the frame.

Preferably, the utility model discloses a motor shell automatic feeding machine still including install in the substandard product collection container of frame, the substandard product collection container is followed the Y axle direction of frame is located back to back of location die holder one side next door of angle adjusting device.

Preferably, the utility model discloses a motor shell automatic feeding machine still includes slide and third driver, the slide is slided to be located the frame, the slide with the output assembled connection of second driver, the location die holder is slided to be located the slide, the third driver install in the slide, the output of third driver with location die holder assembled connection.

Preferably, charging tray loading attachment contains charging tray bracket, elevator motor, lift lead screw and lift screw, the charging tray bracket is followed the Z axle direction of frame is slided and is located the frame, the lift lead screw is followed the Z axle direction of frame is arranged and rotationally assembled in the frame, the lift screw can follow the Z axle direction of frame is slided ground suit in the lift lead screw, the lift screw still with charging tray bracket fixed connection, elevator motor is located the below of charging tray bracket, elevator motor install in the frame and order about the lift lead screw is rotatory.

Preferably, the picking and placing manipulator comprises an XY axis transfer module, a tray picking and placing device and a motor shell picking and placing device, the XY axis transfer module is mounted on the frame, the tray picking and placing device and the motor shell picking and placing device are simultaneously mounted at the output end of the XY axis transfer module, and the XY axis transfer module drives the tray picking and placing device and the motor shell picking and placing device to move horizontally along the X axis direction and the Y axis direction of the frame together.

Preferably, the angle adjusting device includes a rotating electrical machine, a device frame body, and a rotating mold base for sleeving the motor housing, the device frame body is slidably disposed on the frame and is assembled and connected to the output end of the first driver, the rotating electrical machine is mounted on the device frame body, the output end of the rotating electrical machine is upwardly arranged along the Z-axis direction of the frame, and the rotating mold base is located right above the rotating electrical machine and is assembled and connected to the output end of the rotating electrical machine.

Preferably, the frame is a square frame, the tray feeding device, the pick-and-place manipulator, the CCD vision device and the angle adjusting device are surrounded by the frame from the periphery, the positioning die holder slides out of the frame when sliding to the feeding position, and the positioning die holder slides into the frame when sliding to the positioning position.

Preferably, the first driver and the second driver are linear cylinders or linear oil cylinders.

Compared with the prior art, the batch feeding of the material trays is realized by the material tray feeding device so as to achieve the purpose of large storage amount of the motor shell; the pick-and-place manipulator is used for transferring a motor shell in a material tray conveyed by the material tray feeding device to the angle adjusting device at the avoiding position, the angle adjusting device adjusts the angle of the motor shell on the angle adjusting device under the coordination of the CCD visual device, and the pick-and-place manipulator transfers the motor shell with the adjusted angle on the angle adjusting device at the avoiding position to the positioning die holder at the positioning position, so that the motor shell is accurately positioned on the positioning die holder, and is accurately transferred to subsequent assembling equipment; when the motor shell in the uppermost tray is completely taken out, the empty tray is transferred by the taking and placing manipulator to ensure that the motor shell continues to feed; therefore, the utility model discloses a motor shell automatic feeding machine has the deposit many, saves artifically and ensures the advantage of material loading position accuracy.

Drawings

Fig. 1 is a schematic perspective view of the motor casing automatic feeding machine of the present invention.

Fig. 2 is a schematic view of the three-dimensional structure of the tray loading device installed on a partial frame and showing the tray and the motor shell in the motor shell automatic loading machine of the present invention.

Fig. 3 is a schematic perspective view of the tray loading device shown in fig. 2.

Fig. 4 is a schematic view of the three-dimensional structure of the CCD vision device, the angle adjusting device, the positioning die holder, the first driver, the second driver, the slide and the third driver installed in the partial frame and switched to the detecting position and the positioning die holder to the positioning position by the angle adjusting device in the automatic motor shell feeding machine of the present invention.

Fig. 5 is a schematic view of the three-dimensional structure of the CCD vision device, the angle adjusting device, the positioning die holder, the first driver, the second driver, the sliding seat and the third driver installed in the partial frame and switched to the avoiding position and the positioning die holder to the positioning position by the angle adjusting device.

Fig. 6 is a schematic view of the three-dimensional structure of the CCD vision device, the angle adjusting device, the positioning die holder, the first driver, the second driver, the sliding seat and the third driver installed in the partial frame and switched to the avoiding position and the positioning die holder to the feeding position by the angle adjusting device.

Fig. 7 is a schematic view of the three-dimensional structure of the pick-and-place manipulator in the automatic motor casing feeding machine of the present invention.

Detailed Description

The preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

Referring to fig. 1, the automatic motor casing feeding machine 100 of the present invention is suitable for positioning and feeding a motor casing 210, and includes a frame 10, a pick-and-place manipulator 20, a CCD vision device 30, an angle adjusting device 40, a positioning mold seat 50, a first driver 60, a second driver 70, and a tray feeding device 80 for carrying batch trays 220. The tray loading device 80 is installed on the frame 10 and loads the batch trays 220 upwards along the Z-axis direction of the frame 10, and the pick-and-place manipulator 20 is installed on the frame 10 and located above the tray loading device 80, so that the pick-and-place manipulator 20 can pick the motor shell 210 in the tray 220 from above the tray 220 and take the empty tray 220 from above the tray 220, thereby ensuring the smooth pick-and-place operation of the motor shell 210 in each tray 220. The angle adjusting device 40 and the positioning die holder 50 are respectively positioned beside the tray feeding device 80, so as to shorten the distance for the pick-and-place manipulator 20 to transfer the motor shell 210 to the angle adjusting device 40 and shorten the distance for the motor shell 210 at the angle adjusting device 40 to transfer to the positioning die holder 50; the angle adjusting device 40 and the positioning die holder 50 are further horizontally slidably disposed on the frame 10, so that the angle adjusting device 40 and the positioning die holder 50 can horizontally slide on the frame 10. The first driver 60 is mounted on the frame 10, and the frame 10 provides a support and a fixed mounting place for the first driver 60; the first driver 60 selectively drives the angle adjustment device 40 to slide to an avoiding position (shown in fig. 5 or fig. 6) close to the tray loading device 80 or to a detecting position (shown in fig. 4) far from the tray loading device 80, and when the angle adjustment device 40 is switched to the avoiding position, the pick-and-place manipulator 20 reliably transfers the motor housing 210 in the tray 220 to the angle adjustment device 40 or transfers the motor housing 210 in the angle adjustment device 40 to the positioning die holder 50. The CCD vision device 30 is mounted on the frame 10 and located right above the angle adjusting device 40 at the detection position, and is used for photographing the motor housing 210 in the angle adjusting device 40 when switched to the detection position. The second driver 70 is installed on the frame 10, and the frame 10 provides a supporting and fixed installation place for the second driver 70; the second driver 70 selectively drives the positioning die holder 50 to slide to a positioning position close to the tray loading device 80 (see fig. 4 and 5) or to a loading position far from the tray loading device 80 (see fig. 6) to shorten the distance for the pick-and-place manipulator 20 to transfer the motor shell 210 at the angle adjusting device 40 when in the avoiding position to the positioning die holder 50 when in the positioning position, and the positioning die holder 50 when switched to the loading position can avoid the obstruction of the frame 10, so that the external manipulator can take away the motor shell 210 in the positioning die holder 50 when switched to the loading position.

The pick and place manipulator 20 is used for transferring the motor shell 210 in the tray 220 conveyed by the tray feeding device 80 to the angle adjusting device 40 at the avoiding position, the angle adjusting device 40 adjusts the angle of the motor shell 210 on the angle adjusting device 40 under the cooperation of the CCD vision device 40, and the pick and place manipulator 20 is also used for transferring the motor shell 210 after being adjusted in angle on the angle adjusting device 40 at the avoiding position to the positioning die holder 50 at the positioning position. Specifically, in fig. 1, 4, 5 and 6, the angle adjusting device 40 and the positioning die holder 50 are located beside the same side of the tray feeding device 80 along the X-axis direction of the frame 10, the angle adjusting device 40 and the positioning die holder 50 also slide along the X-axis direction of the frame 10, and the angle adjusting device 40 and the positioning die holder 50 are spaced apart along the Y-axis direction of the frame 10, so that the arrangement among the angle adjusting device 40, the positioning die holder 50 and the tray feeding device 80 is more reasonable and compact, and the path of the pick-and-place manipulator 20 for transferring the motor casing 210 is effectively shortened, thereby improving the transfer efficiency of the motor casing 210. More specifically, the following:

as shown in fig. 1 to 3, the three tray loading devices 80 are arranged along the X-axis direction of the frame 10, which greatly increases the number of motor cases 210 to be stored, thereby reducing the number of times that an operator loads and unloads the trays 220; of course, the number of the tray loading devices 80 may also be one, two or four according to actual needs, but is not limited to the above description. It should be noted that, when there are two or more tray feeding devices 80, at this time, one tray feeding device 80 can be used as an empty tray 220 to be stacked and recovered, that is, the picking and placing manipulator 20 picks and places the empty tray 220 at the tray feeding device 80 for batch stacking, so as to achieve the purpose of batch picking and placing the empty tray 220; when the number of the tray feeding devices 80 is more than three (including three), one tray feeding device 80 can be used for batch stacking and discharging of the empty trays 220, so that batch discharging of the empty trays 220 and batch charging of the trays 220 filled with the motor shell 210 can be realized without stopping the machine. Specifically, in fig. 2 and 3, the tray feeding device 80 includes a tray bracket 81, a lifting motor 82, a lifting screw 83, and a lifting screw 84; the tray bracket 81 is arranged on the frame 10 in a sliding manner along the Z-axis direction of the frame 10, so that the tray bracket 81 can slide on the frame 10 in the Z-axis direction; the lifting screw 83 is arranged along the Z-axis direction of the frame 10 and can be rotatably assembled on the frame 10, and the frame 10 provides a supporting and fixed installation place for the lifting screw 83; the lifting screw nut 84 can be sleeved on the lifting screw rod 83 in a sliding manner along the Z-axis direction of the frame 10, and the lifting screw nut 84 is also fixedly connected with the tray bracket 81; the lifting motor 82 is positioned below the tray bracket 81, and the lifting motor 82 is arranged on the frame 10 and drives the lifting screw rod 83 to rotate; therefore, in the rotation process of the lifting screw 83, the lifting screw 84 is driven to slide along the lifting screw 83, and the tray bracket 81 and the lifting screw 84 are fixed, so that the tray bracket 81 and the lifting screw 84 slide on the lifting screw 83 together, and the purpose of accurately feeding the batch trays 220 upwards is achieved. For example, in fig. 2 and 3, the lifting motor 82 drives the lifting screw 83 to rotate through a belt transmission manner, so that the lifting motor 82 and the lifting screw 83 are arranged on the frame 10 in a staggered manner, and of course, according to actual needs, the lifting motor 82 may also drive the lifting screw 83 to rotate through a chain transmission manner or a gear transmission manner, or the lifting motor 82 directly drives the lifting screw 83 to rotate, that is, the lifting screw 83 is directly and fixedly connected with the output end of the lifting motor 82, but not limited to the above description.

As shown in fig. 1, the automatic motor casing feeder 100 of the present invention further includes a defective casing collecting container 91 mounted on the frame 10, wherein the defective casing collecting container 91 is located beside one side of the back angle adjusting device 40 of the positioning mold base 50 along the Y-axis direction of the frame 10, for example, beside the front side of the positioning mold base 50 in fig. 1, on the one hand, the defective casing 210 is collected in batches, and on the other hand, the distance that the pick-and-place manipulator 20 transfers the defective casing 210 is shortened.

As shown in fig. 4 to 6, the motor case automatic feeding machine 100 of the present invention further includes a slide 92 and a third driver 93. The sliding seat 92 is slidably arranged on the frame 10, so that the sliding seat 92 can slide on the frame 10; the slide seat 92 is assembled and connected with an output end of the second driver 70, the positioning die holder 50 is slidably disposed on the slide seat 92, the third driver 93 is installed on the slide seat 92, and an output end of the third driver 93 is assembled and connected with the positioning die holder 50, so that the positioning die holder 50 can perform translation within a small stroke range on the slide seat 92 by means of the third driver 93, and the purpose of large-stroke-range translation of the positioning die holder 50 is achieved by means of the second driver 70. For example, the first actuator 60 and the second actuator 70 are each a linear cylinder or a linear cylinder, and similarly, the third actuator 93 is a linear cylinder or a linear cylinder, but not limited to this description.

As shown in fig. 7, the pick-and-place robot 20 includes an XY-axis transfer module 21, a tray pick-and-place device 22, and a motor housing pick-and-place device 23. The XY-axis transfer module 21 is mounted on the frame 10, and a place for supporting and fixing the XY-axis transfer module is provided by the frame 10; the tray taking and placing device 22 and the motor shell taking and placing device 23 are simultaneously installed at the output end of the XY-axis transfer module 21, and the XY-axis transfer module 21 drives the tray taking and placing device 22 and the motor shell taking and placing device 23 to translate along the X-axis direction and the Y-axis direction of the frame 10 together, so as to meet the motion requirements of the motor shell taking and placing device 23 on taking and placing the motor shell 210 and the tray 220 emptied by the tray taking and placing device 22. Specifically, the XY-axis transfer module 21 includes an X-axis transfer module 21a and a Y-axis transfer module 21b assembled with each other, one of the X-axis transfer module 21a and the Y-axis transfer module 21b is mounted on the frame 10, and the tray taking and placing device 22 and the motor housing taking and placing device 23 are simultaneously mounted on the other of the X-axis transfer module 21a and the Y-axis transfer module 21 b. For example, the X-axis transfer module 21a and the Y-axis transfer module 21b may each be composed of a motor, a lead screw, a nut, and a translation seat, or may be composed of a motor, a primary pulley, a secondary pulley, a belt sleeved on the primary pulley and the secondary pulley, and a translation seat, but their relationships are well known in the art and thus are not described herein again; in addition, the tray taking and placing device 22 and the motor housing taking and placing device 23 take and place in a vacuum adsorption mode.

As shown in fig. 4 to 6, the angle adjusting device 40 includes a rotating motor 41, a device frame 42, and a rotating mold seat 43 for the motor housing 210 to be sleeved on. The device frame body 42 is slidably disposed on the frame 10 and is assembled and connected with the output end of the first driver 60, the rotating electrical machine 41 is mounted on the device frame body 42, the output end 411 of the rotating electrical machine 41 is arranged upwards along the Z-axis direction of the frame 10, and the rotating die holder 43 is located right above the rotating electrical machine 41 and is assembled and connected with the output end 411 of the rotating electrical machine 41, so that the assembling relationship between the rotating die holder 43 and the rotating electrical machine 41 is simplified, and the angle adjustment of the motor shell 210 can be accurately controlled.

As shown in fig. 1, the frame 10 is a square frame, the tray feeding device 80, the pick-and-place manipulator 20, the CCD vision device 30 and the angle adjusting device 40 are surrounded by the frame 10, the positioning die holder 50 slides out of the frame 10 when sliding to the feeding position, and the positioning die holder 50 slides into the frame 10 when sliding to the positioning position, so that the design avoids external interference, improves the reliability of operation, and is suitable for narrow space occasions.

Compared with the prior art, the batch feeding of the material trays 220 is realized by the material tray feeding device 80 so as to achieve the purpose of large storage amount of the motor shell 210; by means of the pick-and-place manipulator 20, the motor shell 210 in the tray 220 conveyed by the tray feeding device 80 is transferred to the angle adjusting device 40 at the avoiding position, the angle of the motor shell 210 on the angle adjusting device 40 is adjusted by the angle adjusting device 40 under the coordination of the CCD vision device 30, and then the pick-and-place manipulator 20 transfers the motor shell 210 on the angle adjusting device 40 at the avoiding position after being adjusted to the positioning die holder 50 at the positioning position, so as to realize the accurate positioning of the motor shell 210 on the positioning die holder 50, and thus the motor shell 210 is accurately transferred to the subsequent assembling equipment; when all the motor shells 210 in the uppermost tray 220 are taken out, the taking and placing manipulator 20 transfers the empty tray 220 to ensure that the motor shells 210 continue to be fed; therefore, the utility model discloses a motor shell automatic feeding machine 100 has the deposit many, save the manual work and ensure the advantage of material loading position accuracy.

The phrase "the angle adjustment device 40 adjusts the angle of the motor housing 210 on the angle adjustment device 40 in cooperation with the CCD vision device 30" means that: the CCD vision device 30 photographs the motor housing 210 in the angle adjusting device 30 when switched to the detection position, and feeds the photographed image back to the controller electrically connected to the motor housing automatic feeder 100, and the controller processes the photographed image to obtain information that the angle of the motor housing 210 needs to be adjusted, so that the angle adjusting device 40 adjusts the angle of the motor housing 210 according to the information; these are well known in the art and will not be described further herein. In fig. 1, the longitudinal direction of the frame 10 is the X-axis direction, the width direction of the frame 10 is the Y-axis direction, and the height direction of the frame 10 is the Z-axis direction.

The above disclosure is only a preferred embodiment of the present invention, and the function is to facilitate the understanding and implementation of the present invention, which is not to be construed as limiting the scope of the present invention, and therefore, the present invention is not limited to the claims.

Claims (10)

1. An automatic motor shell feeding machine is suitable for positioning and feeding motor shells and is characterized by comprising a frame, a taking and placing mechanical arm, a CCD visual device, an angle adjusting device, a positioning die holder, a first driver, a second driver and a material tray feeding device for bearing batch material trays, wherein the material tray feeding device is installed on the frame and enables the batch material trays to be fed upwards along the Z-axis direction of the frame, the taking and placing mechanical arm is installed on the frame and is positioned above the material tray feeding device correspondingly, the angle adjusting device and the positioning die holder are respectively positioned beside the material tray feeding device, the angle adjusting device and the positioning die holder are further horizontally arranged on the frame in a sliding manner, the first driver is installed on the frame, the first driver selectively drives the angle adjusting device to slide to an avoiding position close to the material tray feeding device or slide to a detection position far away from the material tray feeding position, the CCD vision device is arranged on the frame and is positioned right above the angle adjusting device of the detection position, the second driver is arranged on the frame, the second driver selectively drives the positioning die holder to slide to the positioning position close to the material tray feeding device or to slide to the feeding position far away from the material tray feeding device, the pick-and-place manipulator is used for transferring a motor shell in a material tray conveyed by the material tray feeding device to the angle adjusting device of the avoidance position, the angle adjusting device adjusts the angle of the motor shell on the angle adjusting device under the cooperation of the CCD vision device, and the pick-and-place manipulator is also used for transferring the motor shell with the adjusted angle on the angle adjusting device of the avoidance position to the positioning die holder of the positioning position.

2. The automatic motor shell feeder according to claim 1, wherein the angle adjustment device and the positioning die holder are both located beside the same side of the tray feeder in an X-axis direction of the frame, the angle adjustment device and the positioning die holder also slide in the X-axis direction of the frame, and the angle adjustment device and the positioning die holder are spaced apart in a Y-axis direction of the frame.

3. The motor housing automatic feeder of claim 2, wherein the tray loading device is at least two and is arranged along an X-axis direction of the frame.

4. The automatic motor case feeder according to claim 2, further comprising a defective collecting container mounted to the frame, the defective collecting container being located beside a side of the positioning die holder facing away from the angle adjusting device in a Y-axis direction of the frame.

5. The automatic motor shell feeder according to claim 2, further comprising a sliding base and a third driver, wherein the sliding base is slidably disposed on the frame, the sliding base is assembled and connected with an output end of the second driver, the positioning mold base is slidably disposed on the sliding base, the third driver is mounted on the sliding base, and an output end of the third driver is assembled and connected with the positioning mold base.

6. The automatic motor shell feeding machine according to claim 1, wherein the material tray feeding device comprises a material tray bracket, a lifting motor, a lifting screw rod and a lifting screw nut, the material tray bracket is slidably arranged on the frame along the Z-axis direction of the frame, the lifting screw rod is arranged along the Z-axis direction of the frame and rotatably assembled on the frame, the lifting screw nut is slidably sleeved on the lifting screw rod along the Z-axis direction of the frame, the lifting screw nut is further fixedly connected with the material tray bracket, the lifting motor is positioned below the material tray bracket, and the lifting motor is mounted on the frame and drives the lifting screw rod to rotate.

7. The automatic motor shell feeder of claim 1, wherein the pick-and-place robot comprises an XY-axis transfer module, a tray pick-and-place device, and a motor shell pick-and-place device, the XY-axis transfer module is mounted on the frame, the tray pick-and-place device and the motor shell pick-and-place device are simultaneously mounted at the output end of the XY-axis transfer module, and the tray pick-and-place device and the motor shell pick-and-place device are driven by the XY-axis transfer module to translate together along the X-axis direction and the Y-axis direction of the frame.

8. The automatic motor shell feeding machine according to claim 1, wherein the angle adjusting device includes a rotating electrical machine, a device frame body, and a rotating mold seat for sleeving the motor shell, the device frame body is slidably disposed on the frame and is assembled and connected with the output end of the first driver, the rotating electrical machine is mounted on the device frame body, the output end of the rotating electrical machine is arranged upward along the Z-axis direction of the frame, and the rotating mold seat is located right above the rotating electrical machine and is assembled and connected with the output end of the rotating electrical machine.

9. The automatic motor housing feeder of claim 1, wherein the frame is a square frame, the tray feeder, the pick-and-place robot, the CCD vision device, and the angle adjustment device are each surrounded by the frame, the positioning die holder slides out of the frame when slid to the feeding position, and the positioning die holder slides into the frame when slid to the positioning position.

10. The motor housing automatic loader of claim 1, wherein the first and second drives are linear cylinders or linear cylinders.

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