JP2020089212A - Adhesive coating device and adhesive coating method - Google Patents

Abstract

To provide an adhesive coating device which coats an inner face of each magnetic insertion hole of a rotational iron core with an adhesive agent, and effectively perform a coating operation of the adhesive agent for a short time.SOLUTION: An adhesive coating device according to an embodiment comprises: a rotational chuck mechanism that holds a rotational iron core so that a center axis becomes horizontal on a base, and makes the rotational iron core freely rotating around the center axis; a robot that is formed by mounting a coating member to a top of an arm and implements a coating operation for applying an adhesive agent by inserting the coating member into a magnet insertion hole from an axial direction; and a dispenser that supplies a constant amount of the adhesive agent to the coating member moved to a prescribed supply position on the base. In total, the four robots are provided at each of front and rear positions in the rotational axial direction of the rotation iron core one by one at the left and right. A control device makes each robot implement the coating operation sequentially so that the plurality of magnet insertion holes are coated with the adhesive agent from a front face side and a rear face side of the rotational iron core.SELECTED DRAWING: Figure 1

Description

Embodiments of the present invention relate to an adhesive application device and an adhesive application method.

A rotor of a permanent magnet type rotary electric machine is configured such that permanent magnets are embedded in a plurality of magnet insertion holes that are provided in the rotor core so as to penetrate therethrough in the axial direction. In this case, an adhesive is applied to the inner surface of the magnet insertion hole, and the permanent magnet is inserted into the magnet insertion hole and fixed by adhesion. Patent Document 1 discloses an adhesive application device that automatically applies an adhesive into a magnet insertion hole of a rotor iron core. This adhesive application device is provided with a robot arm, and is configured to apply the adhesive from above by a robot arm into the magnet insertion hole with respect to the rotor core set upward on the jig.

JP, 2013-31805, A

However, the above-mentioned conventional adhesive applying device has a problem that it takes a long time to apply the adhesive to all the magnet insertion holes. In this case, as the adhesive, a moisture-curing type that is cured by reacting with moisture in the air is used, but in order to obtain high-quality adhesive performance, high-speed and short-time application work is required. .. Incidentally, in the case of a rotor core configured by joining rotor blocks divided into two in the axial direction, it is necessary to apply an adhesive agent to the magnet insertion holes formed in the front and rear rotor blocks, respectively. Since the adhesive is applied to the rotor block on the front side and then the adhesive is applied to the rotor block on the rear side, there is a problem that the application work takes time.

Therefore, there is an adhesive for applying an adhesive for adhering a permanent magnet to the inner surface of each magnet insertion hole of the rotor core, and the adhesive can be applied efficiently in a short time. An application device and an adhesive application method are provided.

The adhesive application device according to the embodiment, for a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted, an adhesive for bonding the permanent magnets to the inner surface of each magnet insertion hole. A device for coating, which holds a rotor core provided on a base such that its central axis is horizontal, and a rotating chuck mechanism for freely rotating the rotor core around the central axis, A robot which is provided on a base and has an applying member attached to the tip of an arm, and which executes an applying operation of applying the adhesive by inserting the applying member into the magnet insertion hole from the axial direction; Of the dispenser that supplies a fixed amount of adhesive to the coating member moved to the predetermined supply position, and the rotating chuck mechanism, the robot, and the dispenser are controlled to apply the adhesive to the rotor core. With the control device for executing the above, the robot is positioned before and after the rotor core with respect to a horizontal rotation axis direction in which a central axis of the rotor core held by the rotation chuck mechanism extends. A total of four units, one on the left and one on the right, are provided, and the controller repeats the robots to sequentially perform the coating operation to insert the plurality of magnets from the front side and the rear side of the rotor core. Control is performed so that the adhesive is applied to the holes.

The adhesive application method according to the embodiment, for a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted, an adhesive for bonding the permanent magnets to the inner surface of each magnet insertion hole. A method of applying, an adhesive supplying step of supplying a fixed amount of adhesive to the applying member by a dispenser by moving an applying member attached to the tip of an arm to a predetermined supplying position by a robot, and a rotary chuck. A mechanism holds the rotor core so that its central axis is horizontal, and rotates the rotor core around the central axis to position it at a predetermined position of the magnet insertion hole to which the adhesive is applied. The rotor including the rotating step and the applying step of applying the adhesive by axially inserting the applying member into the magnet insertion hole by the robot, and the rotor holding the robot by the rotating chuck mechanism. With respect to the horizontal rotation axis direction in which the central axis of the iron core extends, a total of four units are provided, one each on the front and rear of the rotor iron core, one on the left and one on the right, and by the robots, the dispenser and the rotary chuck mechanism, By repeating each step in sequence, the adhesive application operation is performed from the front side and the rear side of the rotor core to the plurality of magnet insertion holes.

The 1st Embodiment is shown, and the perspective view from the front side which shows the structure of an adhesive application device schematically. A perspective view from the back side schematically showing the configuration of the adhesive application device. Perspective view showing the appearance of one robot Perspective view showing the appearance of the rotary chuck mechanism together with the coating member FIG. 3 is a plan view schematically showing a state of the adhesive applying device when working. Front view of adhesive application device Right side view of adhesive application device Block diagram schematically showing electrical configuration The perspective view (a) and front view (b) which show the external appearance structure (the 1) of a rotor core. The perspective view (a) and front view (b) which show the external appearance structure (the 2) of a rotor core. The perspective view (a) and front view (b) which show the external appearance structure (the 3) of a rotor core. The 2nd Embodiment is shown, and the schematic front view of an adhesive application device. The 3rd Embodiment is shown, and the perspective view of four application members.

(1) First Embodiment Hereinafter, a first embodiment will be described with reference to FIGS. 1 to 11. First, FIG. 9, FIG. 10 and FIG. 11 respectively show external configurations of three types of rotor cores 1, 2 and 3 which are objects of application of an adhesive in the present embodiment. Each of the rotor cores 1, 2, and 3 is formed by punching electromagnetic steel sheets into a predetermined shape, that is, a substantially disk shape, and laminating a plurality of punched electromagnetic steel sheets. At this time, the elongated magnet insertion holes 4 to 9 into which permanent magnets (not shown) are inserted and fixed by adhesion are formed in inverted "C" shapes at the outer peripheral portions of the rotor cores 1, 2, and 3. 8 sets (16 pieces) are formed. Further, a shaft hole 10 into which a rotation shaft (not shown) is inserted is formed at the center of the rotor cores 1, 2, and 3.

More specifically, the rotor core 1 shown in FIG. 9 is for a generator, for example, and is provided with magnet insertion holes 4 and 5 that are parallel to the axial direction, that is, have no skew. Among the magnet insertion holes 4 and 5, those located on the front side in the clockwise direction when viewed from the front are referred to as magnet insertion holes 4, and those located on the rear side in the clockwise direction are referred to as magnet insertion holes 5. The rotor core 2 shown in FIG. 10 is for a motor, for example, and is constituted by joining rotor blocks 2a and 2b which are axially divided into two parts, front and rear, and permanent magnets are provided in the rotor blocks 2a and 2b, respectively. Magnet insertion holes 6 and 7 to be inserted are formed. Also in this case, of the magnet insertion holes 6 and 7, the one located on the front side in the clockwise direction when viewed from the front is the magnet insertion hole 6 and the one located on the rear side in the clockwise direction is the magnet insertion hole 7.

At this time, the magnet insertion holes 6 and 7 are formed in a form having a skew in the central axis direction. In the rotor block 2a and the rotor block 2b, the magnet insertion holes 6 and 7 are provided with skews, for example, at displaced positions and in different directions. The skew angle is, for example, 3.75°. The rotor core 3 shown in FIG. 11 is also for a motor, for example, and is formed by joining rotor blocks 3a and 3b, which are axially divided into two parts, front and rear. Of the magnet insertion holes 8 and 9, the one located on the front side in the clockwise direction when viewed from the front is referred to as the magnet insertion hole 8, and the one located on the rear side in the clockwise direction is referred to as the magnet insertion hole 9. The magnet insertion holes 8 and 9 are formed in a form having a skew with respect to the central axis direction, and the direction of the skew is opposite to that of the rotor core 2. Skews are provided in the rotor block 3a and the rotor block 3b at different positions and in different directions.

In this case, regarding the rotor cores 2 and 3 for the motor, magnet insertion holes 6 to 9 of the front side rotor blocks 2a and 3a, and magnet insertion holes 6 to 9 of the rear side rotor blocks 2b and 3b. For each of No. 9, adhesive application work is performed from both front and rear sides. With respect to the rotor core 1 for the generator, the work of applying the adhesive to the magnet insertion holes 4 and 5 is performed from both front and rear sides.

Next, in the adhesive application device 11 according to the present embodiment, an adhesive for fixing a permanent magnet is applied to the inner surfaces of the magnet insertion holes 4 to 9 formed in the rotor cores 1 to 3. The configuration will be described with reference to FIGS. In the following description, for the sake of convenience, it is assumed that the work of applying the adhesive to the rotor core 1 shown in FIG. 9 is performed. 1, 2, and 5 show the overall configuration of the adhesive application device 11. Here, the adhesive application device 11 includes a rotary chuck mechanism 13, four robots 14, and two dispensers 15 on a base 12 that has a rectangular trapezoidal shape with a horizontal upper surface, and controls for controlling them. The device 16 (only shown in FIG. 8) is provided.

The rotary chuck mechanism 13 holds the rotor core 1 such that its central axis O (see FIG. 4) is horizontal, and also rotates the rotor core 1 freely around the central axis O. It is configured. As will be described later in detail, the robot 14 has a coating member 17 attached to the tip of an arm, and the coating member 17 is inserted into the magnet insertion holes 4 and 5 of the rotor core 1 from the axial direction and bonded. The application operation for applying the agent is executed. The dispenser 15 has a function of supplying a fixed amount of adhesive to the coating member 17 moved to a predetermined supply position on the base 12. In the description of the embodiment, the direction in which the central axis (rotational axis) O of the rotor core 1 held by the rotary chuck mechanism 13 extends is defined as the front-rear direction, and the front side of the rotor core 1 is defined as the front. ..

Specifically, as shown in FIGS. 4 and 5, the rotary chuck mechanism 13 is provided with a chuck portion 18 that is provided in the front part of the center of the base 12 so as to face forward and holds the rotor core 1. And a rotation mechanism section 19 for freely rotating the chuck section 18. The chuck portion 18 is inserted into the center hole 10 from the rear surface side of the rotor core 1 and expands the plurality of holding plate portions in the outer peripheral direction by using, for example, an air cylinder as a drive source, so that the rotor core 1 is circumferentially surrounded. Holds rotatably in the directional positioning state. The rotation mechanism section 19 uses, for example, a servo motor as a drive source, and freely rotates the chuck section 18 and thus the rotor core 1 to stop at a predetermined rotation angle. In this case, the rotor core 1 is rotated by the rotary chuck mechanism 13 so that the application target surface of the plurality of magnet insertion holes 4, 5 to which the adhesive is applied is on the upper side.

As shown in FIGS. 1 to 3, the robot 14 is, in the present embodiment, constituted by a horizontal multi-joint type (scalar type) robot having, for example, three axes or more, in this case four axes. As shown in FIG. 3, the robot 14 has a base 20 fixedly mounted on the base 12, and a base end portion of a horizontally extending first arm 21 pivots about a vertical axis J1 (horizontal turning). ) Connected as possible. The base end portion of the second arm 22 is connected to the upper surface of the tip end portion of the first arm 21 so as to be rotatable (horizontal rotation) about the vertical axis J1. A shaft-shaped upper and lower arm 23 is coupled to the tip of the second arm 22 so as to be vertically movable and coaxially rotatable. The coating member 17 is attached to the mounting flange portion 23a at the tip portion of the upper and lower arms 23, that is, the lower end portion.

As shown in FIGS. 4 and 5, the coating member 17 is configured by attaching a spatula 24 formed of an elastic material such as a leaf spring material into a rectangular plate shape to a holder part 17a made of metal. At this time, as shown in FIG. 4 and the like, the tip end portion of the holder portion 17a projects outward from the lower ends of the upper and lower arms 23, and the spatula 24 has its base end portion bent at a right angle from the holder portion 17a. Mounted horizontally. Thus, the spatula 24 is provided in the form of being bent in an L shape in the horizontal direction together with the holder portion 17a. With this configuration, it is possible to perform the coating operation by the coating member 17 without interfering with the rotary chuck mechanism 13.

As shown in FIG. 5 and the like, the robot 14 is located in the front-rear direction with respect to the horizontal rotation axis direction in which the central axis O of the rotor core 1 held by the rotary chuck mechanism 23 extends, and the robots 14 are disposed in the left-right direction. There are a total of 4 units each. When distinguishing the four robots 14, as shown in FIG. 5 and the like, after the reference numeral 14, the robot 14 located on the left side of the front portion is sequentially rotated in the counterclockwise direction from (A), (B), (C) and (D) will be attached. Further, in FIGS. 4 and 5, in order to distinguish the spatula 24 of the coating member 17 provided on each robot 14, similarly, after the reference numeral 24, (A), (B), (C), in order. (D) is attached.

As shown in FIG. 7, the dispenser 15 includes a syringe 25 that stores an adhesive and an adhesive dropping nozzle 26 that is provided downward, and a predetermined amount of adhesive is applied from the adhesive dropping nozzle 26. It is configured to discharge the agent. Thus, the position directly below the adhesive dropping nozzle 26 is set to a predetermined supply position, and each robot 14 moves the spatula 24 of the coating member 17 to the supply position and supplies the adhesive to the upper surface thereof. I am supposed to receive it. Although not shown in detail, an adhesive detection sensor 27 (shown only in FIG. 8) that detects whether or not a certain amount of adhesive has been supplied onto the spatula 24 is provided at each supply position portion.

At this time, one of the dispensers 15 is provided at an intermediate portion in the front-rear direction of the two robots 14(A) and 14(D) located on the left side of the base 12, and the other one is provided. The robots 14(B) and 14(C) located on the right side of the base 12 are provided at intermediate positions in the front-rear direction. When distinguishing the dispensers 15, the one on the left side is referred to as the dispenser 15(A), and the supply position thereof is referred to as the left supply position. The right side is referred to as a dispenser 15 (B), and its supply position is referred to as a right supply position. The left dispenser 15(A), that is, the left supply position is shared by the two robots 14(A) and 14(D), and the right dispenser 15(B), that is, the right supply position, is the two robots 14(B). ), 14(C).

Now, FIG. 8 schematically shows an electrical configuration centering on the control device 16. Here, the control device 16 includes a computer and controls the rotary chuck mechanism 13 and the two dispensers 15(A) and 15(B). Further, the control device 16 controls the robots 14(A) to 14(D) via the robot controllers 28(A) to 28(D), respectively. A detection signal from the adhesive detection sensor 27 is input to the control device 16. The control device 16 controls the rotary chuck mechanism 13, the four robots 14, the two dispensers 15 and the like based on a preset control program, operation data, sensor signals input in real time, and the like. The operation of applying the adhesive to the rotor core 1, that is, each step of the adhesive applying method according to the present embodiment is executed.

At this time, with respect to one robot 14, the control device 16 executes the following one-cycle operation. That is, first, the robot 14 is operated to move the spatula 24 of the coating member 17 to the adhesive supply position, and a predetermined amount of the adhesive is dripped on the upper surface of the spatula 24 and supplied (adhesive supply). Process). At this time, the adhesive is supplied to the spars 24(A) and 24(D) of the left robots 14(A) and 14(D) at the left dispenser 15(A), that is, at the left supply position. . The adhesive is supplied to the spars 24 (B) and 24 (C) of the right robots 14 (B) and 14 (C) at the right dispenser 15 (B), that is, at the right supply position. When the adhesive is supplied, the robot 14 is operated and the coating member 17 is moved to the front side or the rear side of the rotor core 1 held by the rotary chuck mechanism 13 while keeping the spatula 24 in the upward state. Let

In this case, as shown in FIG. 4 and FIG. 5, the robots 14(A) and 14(B) located on the front side are arranged so that the spars 24(A) and 24(B) of the coating member 17 are directed rearward. , Is moved to the front side of the rotor core 1. The robots 14 (C) and 14 (D) located on the rear side are moved to the rear side of the rotor core 1 while the spars 24 (C) and 24 (D) of the coating member 17 are directed forward. At this time, with respect to the rear robots 14(C) and 14(D), the holder 17a of the coating member 17 and the spatula 24 are L-shaped so that they do not interfere with the rotary chuck mechanism 13. The application work can be performed.

On the other hand, during the adhesive supply step and the movement of the coating member 17, the inner surface of the magnet insertion holes 4 and 5 to be the target of the adhesive coating of the rotor core 1 held horizontally by the rotary chuck mechanism 13 is fixed. The rotor core 1 is rotated around the central axis O so that the surface to which the adhesive is applied is horizontally downward, that is, the upper surface (rotation step). At this time, by the operation of the robot 14, the spatula 24 of the coating member 17 is moved to the front or rear in the horizontal direction of the magnet insertion holes 4 and 5 to be coated on the rotated rotor core 1.

Subsequently, the robot 14 carries out a coating process in which the spatula 24 of the coating member 16 is inserted horizontally into the magnet insertion holes 4 and 5 from the axial direction to coat the adhesive. In this coating process, after the spatula 24 is inserted into the magnet insertion holes 4 and 5, the spatula 24 is held by holding the spatula 24 by slightly raising the spatula 24 and pulling it out from the magnet insertion holes 4 and 5. The adhesive that has been used is transferred and applied to the upper surfaces in the magnet insertion holes 4 and 5. After the coating process, the robot 14 is again moved to the adhesive supply position to obtain the adhesive for the next coating. At this time, it goes without saying that the above-described rotation process by the rotary chuck mechanism 13 is executed in a state where the spatula 24 is not inserted into the magnet insertion holes 4 and 5.

As described above, one cycle of the coating operation for one robot 14 is performed. In the four robots 14, while shifting the time required for one cycle by, for example, 1/4 time. , The adhesive application operation is sequentially performed. For example, after the coating process by the robot 14(A) is performed, the coating process by the robot 14(C) is performed, then the coating process by the robot 14(B) is performed, and finally the coating process by the robot 14(D). Is performed, and the coating process from the robot 14(A) is repeated.

In this manner, the robot 14 and the dispenser 15 and the rotary chuck mechanism 13 repeat the above steps in order to bond the magnets 4 and 5 to the magnet insertion holes 4 and 5 from the front side and the rear side of the rotor core 1. The agent application operation is executed. In this case, when one robot 14 is moving toward the supply position, another robot 14 is performing the coating process, and there is no unnecessary stop time, and the robots 14 interfere with each other. Without that, the coating operation is executed. As a result, the work of applying the adhesive to all the magnet insertion holes 4 and 5 is sequentially performed.

According to the adhesive applying device 11 and the adhesive applying method of the present embodiment as described above, the following actions and effects can be obtained. The rotor core 1 is held by the rotary chuck mechanism 13 such that the central axis O thereof is horizontal and is freely rotated around the central axis O. In the rotating step, the rotor core 1 is rotated around the central axis O so that the magnet insertion holes 4 and 5 to which the adhesive is applied are in predetermined positions, that is, the adhesive application surface is on the upper surface. In the adhesive supply process, the application member 16 attached to the tip of the arm of the robot 14 is moved to a predetermined adhesive supply position by the robot 14, and the dispenser 15 measures the spatula 24 of the application member 16 in a fixed amount. Adhesive is supplied. In the coating step, the robot 14 inserts the spatula 24 of the coating member 16 into the magnet insertion holes 4 and 5 in the axial direction to apply the adhesive.

At this time, before and after the held rotor iron core 1 in the horizontal axis direction, a total of four robots 14 provided on the left and right sides make it possible to insert a plurality of magnet insertion holes 4, from the front side and the rear side of the rotor iron core 1. The adhesive application operation for 5 is sequentially performed. In this case, by the four robots 14, not only from the front side of the rotor core 1, but from both the front side and the rear side, and from the left and right simultaneously (alternately), that is, collectively and continuously. It is possible to perform the adhesive application operation.

Therefore, according to the present embodiment, the inner surface of each of the magnet insertion holes 4 and 5 of the rotor core 1 is coated with the adhesive for bonding the permanent magnet. Unlike the case where the adhesive application work is performed only from one surface side, the excellent effect that the adhesive application work can be efficiently performed from both surface sides of the rotor core 1 in a short time can be obtained. .. At this time, even when a moisture-curing type adhesive that is cured by reacting with moisture in the air is used, the application work can be performed at high speed in a short time, and high-quality adhesive performance can be obtained.

In particular, in this embodiment, each robot 14 is composed of a horizontal articulated robot (scalar robot) having upper and lower arms 23 at its tip, and has a coating member 17 and a spatula 24 made of an elastic material at least at its tip. Then, the spatula 24 is attached to the tip of the upper and lower arms 23 in a horizontally bent L-shape, and the coating operation is performed without interfering with the rotary chuck mechanism 13. As a result, it is possible to apply the adhesive to the magnet insertion holes 4 and 5 on the rear surface side of the rotor core 1 from the rear surface side without interfering with the rotary chuck mechanism 13. The configuration of the robot 14 does not become complicated, and the configuration can be relatively simple, and the control of the operation of the arm can also be relatively simple.

Further, in the present embodiment, as the dispenser 15, the left dispenser 15 (A provided in an intermediate portion of the two robots 14 (A) and 14 (D) located on the left side in the rotation axis O direction on the base 12 is used. ) And two robots 14 (B) located on the right side, and a right dispenser 15 (B) provided in the intermediate portion of the 14 (C). As a result, the dispenser 15 and the supply position are shared by the two front and rear robots 14. Therefore, it is possible to reduce the number of dispensers 15 to simplify the configuration and save space, and to perform a sufficiently efficient adhesive application operation.

(2) Second Embodiment FIG. 12 shows a second embodiment, and schematically shows the external configuration of the adhesive agent applying device 31. In the second embodiment, for example, a case where an adhesive is applied to the rotor core 2 shown in FIG. 10 described above is used as an example. The rotor blocks 2a and 2b are joined together, and magnet insertion holes 6 and 7 into which permanent magnets are respectively inserted are formed in the rotor blocks 2a and 2b. At this time, the magnet insertion holes 6 and 7 are provided with a skew of, for example, 3.75° with respect to the central axis O direction, and the magnet insertion holes 6 and 7 are provided between the rotor block 2a and the rotor block 2b. The skews 7 are formed at different positions and in different directions.

The adhesive application device 31 according to the second embodiment includes, on the base 12, four robots 14 (only two are shown for convenience) having the same configuration as that of the first embodiment. There is. The two robots 14(A) and 14(B) arranged on the front side apply adhesive from the front side to the magnet insertion holes 6 and 7 of the rotor block 2a on the front side. The two robots 14 (C) and 14 (D) arranged on the side apply the adhesive to the magnet insertion holes of the rear rotor block 2b from the rear side.

Then, in the present embodiment, each of the robots 14 is attached to the base 12 with an inclination corresponding to the angle of the skew formed in the magnet insertion holes 6 and 7 of the rotor core 2. .. In this case, the robot 14(A) on the left side is installed, for example, at an angle of −1.875° with respect to the base 12, corresponding to the skew of the magnet insertion holes 6 and 7 of the rotor block 2a on the front side. The robot 14 (B) is installed at an angle of +1.875° with respect to the base 12. Although not shown, the rear robots 14(C) and 14(D) are also installed with an inclination corresponding to the skew of the magnet insertion holes 6 and 7 of the rear rotor block 2b.

According to the second embodiment as described above, even in the case of the rotor core 2 configured by joining the rotor blocks 2a and 2b that are axially divided into two, the front and rear rotor blocks 2a are respectively formed. The operation of applying the adhesive to the magnet insertion holes 6 and 7 thus formed can be continuously performed collectively from the front and rear side surfaces. Therefore, similar to the first embodiment, it is possible to obtain an excellent effect that the adhesive application work can be efficiently performed from both surface sides of the rotor core 2 in a short time.

Further, in this embodiment, even if the magnet insertion holes 6 and 7 have a skew, each robot 14 is installed with an inclination corresponding to the skew, which complicates the configuration and operation. Therefore, the adhesive application work can be performed satisfactorily. Although the rotor core 2 shown in FIG. 10 is taken as an example, the rotor core 3 shown in FIG. 11 is provided with each robot 14 corresponding to the skew of the magnet insertion holes 8 and 9 in the rotor blocks 3a and 3b. It can be carried out in the same manner by installing with an inclination.

(3) Third Embodiment and Other Embodiments FIG. 13 shows a third embodiment. In the third embodiment as well, similar to the second embodiment, the case where the adhesive is applied to the rotor core 2 shown in FIG. 10 is taken as an example. In the present embodiment, instead of installing each robot 14 on the base 12 with an inclination, the coating member 41 is provided at the tip of the upper and lower arms 23 of each robot 14 to prevent the skew of the magnet insertion holes 6 and 7. It is mounted in a form having an inclination corresponding to the angle.

FIG. 13 shows the coating member 41 attached to each of the robots 14(A), 14(B), 14(C), and 14(D). Each of the coating members 41 includes a metal holder portion 41a, and a rectangular plate-shaped spatula 42 is detachably attached to the holder portion 41a from an elastic material such as a leaf spring material. The spatula 42 is provided so as to be bent in an L shape together with the holder portion 41a when viewed from the upper surface. At this time, each spatula 42(A), 42(B), 42(C), 42(D) has an inclination corresponding to the skew angle of the magnet insertion holes 6, 7 with respect to the horizontal direction. Have been installed.

According to the third embodiment, as in the first embodiment, it is possible to efficiently perform the adhesive application work from both surface sides of the rotor core 2 in a short time. You can get the effect. At the same time, even if the magnet insertion holes 6 and 7 have a skew, the spatula 42 of the coating member 41 on the upper and lower arms 23 of each robot 14 has an inclination corresponding to the skew angle. Since it is mounted, the work of applying the adhesive to the magnet insertion holes 6 and 7 having a skew can be favorably performed without complicating the configuration and operation. The same can be applied to the rotor core 3 shown in FIG.

In the above embodiment, the three types of rotor cores 1 to 3 are given as examples of the application of the adhesive, but the present invention is not limited thereto, and the shape of the magnet insertion hole in the rotor core is not limited thereto. Various changes can be made to the number, the skew angle, and the like. Further, the robot in the adhesive application device is not limited to the 4-axis horizontal articulated robot, and may be a 3-axis horizontal articulated robot or a vertical articulated robot. The application member is not limited to one having a spatula, and a brush-shaped member, a roller-shaped member, or the like may be used. In addition, various changes can be made to the configuration of the dispenser and the like.

The embodiments described above are presented as examples, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the scope equivalent thereto.

In the drawings, 1 to 3 are rotor cores, 4 to 9 are magnet insertion holes, 11 and 31 are adhesive application devices, 12 is a base, 13 is a rotary chuck mechanism, 14 is a robot, 15 is a dispenser, and 16 is a control device. , 17 and 41 are coating members, 17a and 41a are holder parts, 23 is upper and lower arms, 24 and 42 are spatulas, and O is a central axis.

Claims (7)

A rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted, an inner surface of each magnet insertion hole, a device for applying an adhesive for bonding the permanent magnets,
A rotary chuck mechanism which is provided on the base, holds the rotor core so that its central axis is horizontal, and freely rotates the rotor core around the central axis;
A robot that is provided on the base and has an application member attached to the tip of an arm, and performs an application operation of applying the adhesive by inserting the application member into the magnet insertion hole from the axial direction;
A dispenser that supplies a fixed amount of adhesive to the coating member moved to a predetermined supply position on the base,
And a controller for controlling the rotary chuck mechanism, the robot, and the dispenser to execute an operation of applying an adhesive to the rotor core,
The robot has a total of four units, one on the left and one on the right and left of the rotor core with respect to the horizontal rotation axis direction in which the central axis of the rotor core held by the rotary chuck mechanism extends. Is provided,
The controller controls the robots to sequentially perform the coating operation so that the coating operation of the adhesive is performed on the plurality of magnet insertion holes from the front side and the rear side of the rotor core. Adhesive coating device. The rotor core is formed by joining rotor blocks divided into two parts in the axial direction, and a plurality of magnet insertion holes into which permanent magnets are respectively inserted are formed in each rotor block.
The two robots arranged on the front side in the rotation axis direction apply the adhesive to the magnet insertion holes of the rotor block on the front side from the front side, and at the rear side in the rotation axis direction. The adhesive application device according to claim 1, wherein the two robots arranged perform an adhesive application operation on the magnet insertion hole of the rear rotor block from the rear surface side. Each of the robots is a horizontal multi-joint robot with three or more axes having upper and lower arms at its tip,
The coating member has a spatula made of an elastic material at least at its tip, and the spatula is attached to the tips of the upper and lower arms in a form of being bent in an L shape in the horizontal direction, and is attached to the rotary chuck mechanism. The adhesive application device according to claim 1, wherein the application operation is performed without interference. The plurality of magnet insertion holes of the rotor core are configured to have a skew with respect to the axial direction,
The adhesive application device according to any one of claims 1 to 3, wherein each of the robots is attached to the base with an inclination corresponding to the skew angle. The plurality of magnet insertion holes of the rotor core are configured to have a skew with respect to the axial direction,
The adhesive application device according to claim 1, wherein the application member is attached to the tip of the arm of the robot in a form having an inclination corresponding to the skew angle. The dispenser is disposed at two positions, that is, an intermediate portion of the two robots located on the left side of the rotation axis direction and an intermediate portion of the two robots located on the right side of the rotation axis direction. The adhesive application device according to claim 1, wherein the adhesive application device is shared by two robots. A method of applying an adhesive for bonding the permanent magnets to a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted, on the inner surface of each magnet insertion hole,
An adhesive supply step of moving a coating member attached to the tip of the arm to a predetermined supply position by a robot and supplying a fixed amount of adhesive to the coating member by a dispenser,
A rotating chuck mechanism holds the rotor core so that its central axis is horizontal, and rotates the rotor core around the central axis to bring it to a predetermined position of a magnet insertion hole to which adhesive is applied. A rotating step to position,
The robot includes a coating step of inserting the coating member into the magnet insertion hole from the axial direction to apply an adhesive,
The robot is provided in front of and behind the rotor core with respect to a horizontal axis of rotation of the central axis of the rotor core held by the rotary chuck mechanism, and four robots are provided, one on each side. ,
The robots, the dispenser, and the rotary chuck mechanism sequentially repeat the above steps to perform an adhesive application operation on the magnet insertion holes from the front side and the rear side of the rotor core. Adhesive application method.

Images