WO2023071510A1 - 一种新能源电机双层大直径o型圈装配装置和系统 - Google Patents

一种新能源电机双层大直径o型圈装配装置和系统 Download PDF

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Publication number
WO2023071510A1
WO2023071510A1 PCT/CN2022/116288 CN2022116288W WO2023071510A1 WO 2023071510 A1 WO2023071510 A1 WO 2023071510A1 CN 2022116288 W CN2022116288 W CN 2022116288W WO 2023071510 A1 WO2023071510 A1 WO 2023071510A1
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WO
WIPO (PCT)
Prior art keywords
assembly
tooling
ring
turntable
stator
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Application number
PCT/CN2022/116288
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English (en)
French (fr)
Inventor
林巨广
崔业臣
徐明涛
李国春
赵学周
Original Assignee
安徽巨一科技股份有限公司
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Application filed by 安徽巨一科技股份有限公司 filed Critical 安徽巨一科技股份有限公司
Publication of WO2023071510A1 publication Critical patent/WO2023071510A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • This application relates to a new energy motor double-layer large-diameter O-ring assembly device and system.
  • the O-ring is one of the important components of the new energy motor. It is generally used for the waterway seal between the motor stator and the motor casing. The quality of its assembly directly affects the overall performance of the new energy motor.
  • the stator of the new energy motor there are two O-rings on the stator of the new energy motor.
  • One O-ring is on the top and the other O-ring is on the bottom.
  • the diameter is slightly larger, for example, the diameter is more than 5mm.
  • the diameter of the O-rings of mainstream new energy motors on the market has reached ⁇ 220.
  • Most of the automobile assembly lines are assembled manually. The lower O-rings are assembled first, and then the upper O-rings are assembled. The labor intensity is high and the production efficiency is low.
  • the purpose of this application is to provide a double-layer large-diameter O-ring assembly device for new energy motors, so as to realize simultaneous assembly of double-layer large-diameter O-rings for motors.
  • the purpose of this application is also to provide a new energy motor double-layer large-diameter O-ring assembly system to realize automatic assembly of motor double-layer large-diameter O-rings.
  • the present application provides a new energy motor double-layer large-diameter O-ring assembly device, including a mast assembly, a servo turntable assembly, a pre-installation tooling assembly, an assembly-position tooling assembly, a set-down drive assembly, and a pressure bar assembly.
  • the pre-installation tooling assembly and the assembly tooling assembly are arranged on the servo turntable assembly and are located on the inner and outer sides of the gantry assembly, wherein the two have the same structure, and their positions are interchanged when the servo turntable assembly rotates, and each includes tooling A and tooling B,
  • Each of the tooling A and tooling B can be turned horizontally, and they are in a side-by-side state during pre-installation with the ring mouth facing upwards, and are used for manual pre-installation of the O-ring, and the tooling B is located directly above the tooling A during assembly. The two are in a concentric state and the circle is facing downwards.
  • the set-down driving assembly is used to vertically place the tooling assembly at the assembly position during assembly, and both the tooling A and the tooling B are placed outside the stator when the tooling assembly at the assembly position is in place, and the pressing rod The assembly is used to push off the O-rings carried on tooling A and tooling B respectively,
  • the tooling A and the tooling B are placed on the outside of the stator one by one after the vertical positioning, and the O-rings carried by the tooling A and the tooling B respectively slide to the in their respective stator annular grooves.
  • the above-mentioned assembly station tooling assembly further includes a lifting base, a horizontal sliding table, and a vertical sliding table, wherein the horizontal sliding table is arranged on the lifting base, and the vertical sliding table is arranged on the horizontal sliding table.
  • the tooling A is set on the lifting base plate, and the tooling is set on the vertical slide table.
  • the above-mentioned door frame assembly includes a door frame, and a hanging plate is also provided on the door frame, and a gap is provided on the outer edge of the hanging plate, and rollers are provided on the lifting base plate, wherein the The rollers are hung on the hanging plate and can slide off when notched when moving.
  • the above-mentioned tooling A is composed of an up and down horizontal turning mechanism and a tooling body, and the tooling body includes an O-ring guide sleeve and an O-ring pushing collar, wherein the O-ring pushing collar is This movement forces the O-ring to slide off the O-ring guide.
  • the pressing rod assembly includes a horizontal slide table, lower layer pressing rods and upper layer pressing rods arranged on the horizontal sliding table, and a pressing rod driving assembly, wherein the horizontal sliding table slides when the servo turntable assembly rotates. Move to the avoidance position, the lower layer pressing rod is used to push off the O-ring set on the tooling A, and the upper layer pressing rod is used to push off the O-ring set on the tooling B.
  • a new energy motor double-layer large-diameter O-ring assembly system including: an O-ring assembly turntable, the O-ring assembly turntable includes O-ring assembly positions and claims The O-ring assembly device described in any one of 1-5;
  • a workpiece transfer system including a grabbing robot, a stator loading turntable arranged around the grabbing robot, and at least one stator unloading turntable, wherein each turntable includes a robot located within the reach of the grabbing robot.
  • a workpiece transfer system including a grabbing robot, a stator loading turntable arranged around the grabbing robot, and at least one stator unloading turntable, wherein each turntable includes a robot located within the reach of the grabbing robot.
  • Grabbing station including a grabbing robot, a stator loading turntable arranged around the grabbing robot, and at least one stator unloading turntable, wherein each turntable includes a robot located within the reach of the grabbing robot.
  • the above-mentioned double-layer large-diameter O-ring assembly system for new energy motors further includes a safety fence arranged on the outer periphery of the grasping robot, wherein at least one stator loading turntable and at least one stator unloading turntable respectively span A safety fence arrangement, wherein the grabbing station is within the safety fence.
  • the grasping assembly of the above-mentioned grasping robot is a double-headed grasper, wherein, the grasper station of the turntable is equipped with the O-ring, and one grasper in the double-headed grasper is used for O
  • the stator is unloaded after the ring is assembled, and another gripper is used to load the stator to be assembled.
  • the above-mentioned double-layer large-diameter O-ring assembly system for new energy motors further includes a visual component for visually inspecting the assembled stator of the O-ring on the grabbing station of the O-ring assembly turntable.
  • the above-mentioned at least one stator blanking turntable includes a defective product turntable and a transition turntable.
  • the above-mentioned large-diameter, double-layer O-rings are assembled at the same time, in which the robot automatically grabs the workpiece to improve the assembly efficiency of the O-ring.
  • the robot automatically grabs the workpiece to improve the assembly efficiency of the O-ring.
  • it breaks the limitation of the double-layer O-ring assembly process. It provides a new simple and effective idea for the assembly of large-diameter O-rings in the future.
  • FIG 1 shows that two O-rings are installed on the stator of the new energy motor of the present application
  • Fig. 2 is a schematic structural diagram of a double-layer large-diameter O-ring assembly system for a new energy motor according to the present application;
  • Fig. 3 is a three-dimensional structural schematic diagram of a double-layer large-diameter O-ring assembly device for a new energy motor according to the present application;
  • Fig. 4 is a side view of a double-layer large-diameter O-ring assembly device for a new energy motor according to the present application;
  • Fig. 5 is a top view of a double-layer large-diameter O-ring assembly device for a new energy motor according to the present application
  • Figure 6 is the front structure of the double-layer large-diameter O-ring assembly device for new energy motors according to the present application
  • Fig. 7 is a schematic diagram of the three-dimensional structure of the pressure rod assembly of the double-layer large-diameter O-ring assembly device for new energy motors according to the present application;
  • Fig. 8 is a structural schematic diagram of an O-ring assembly turntable of a double-layer large-diameter O-ring assembly device for a new energy motor according to the present application;
  • Fig. 9 shows a schematic diagram of the tooling A and the tooling B of the pre-installed tooling assembly according to the present application with the ring opening facing upward;
  • Fig. 10 shows a schematic diagram of the tooling A and the tooling B of the pre-installed tooling assembly according to the present application with the ring opening facing downward;
  • Fig. 11 shows a schematic diagram of tooling B moving directly above tooling A according to the pre-installed tooling assembly of the present application
  • Fig. 12 shows a schematic diagram of tooling B moving directly above tooling A according to the pre-installation tooling assembly of the present application
  • Fig. 13 shows a schematic diagram of the ejector rod assembly of the O-ring assembly device according to the present application in an avoidance position
  • Fig. 14 shows a schematic structural diagram of the push rod assembly of the O-ring assembly device according to the present application in a working and depressed state
  • Fig. 15 shows a schematic diagram of cooperation between the ejector rod assembly and tooling A and tooling B of the O-ring assembly device according to the present application;
  • Fig. 16 shows a schematic structural diagram of a grabbing robot used in a new energy motor double-layer large-diameter O-ring assembly device according to the present application.
  • Fig. 17 shows a schematic structural diagram of a double-head gripper of a gripping robot according to the present application.
  • the O-rings of new energy motors with a diameter of more than 150 mm are basically assembled manually.
  • the lower layer is assembled first, and then the upper O-ring is assembled.
  • the labor intensity is high and the assembly efficiency is low.
  • this application provides a large-diameter double-layer O-ring assembly system, and its main functional modules include: grabbing robot 1, unqualified turntable 2. Stator feeding turntable 3. Assembly position tooling component 4. Pre-installation position tooling component 5. O-ring assembly turntable 6. Press bar component 7. Visual component 8. Transition turntable 9. Safety fence 10.
  • the grabbing robot 1 includes a robot body 101 and a grabbing assembly 103 connected to the robot body through a robot connection flange 102, and the grabbing assembly is used to grab a motor stator.
  • the unqualified turntable 2, the stator feeding turntable 3, the O-ring assembly turntable 6 and the transition turntable 9 are arranged around the grasping robot 1, all of which are double-station turntables, and one of the double-stations is arranged in the gripping robot 1.
  • the grabbing robot 1 picks and places the stator workpiece, and the other station is far away from the grabbing robot 1.
  • the safety fence 10 defines the man-machine working range, wherein the unqualified turntable 2, the stator feeding turntable 3 and the transition turntable 9 are respectively arranged across the safety fence 10, one station is inside the safety fence 10, and the other station is outside the safety fence 10 .
  • Unqualified turntable 2 is used to place unqualified stators after visual inspection; stator feeding turntable 3 is used to place stators on the out-of-line stator conveying line; transition turntable 9 is used to place assembled and qualified stators and rotate to the next station.
  • Pre-installation tooling assembly 5 is used for workers to pre-install O-rings
  • assembly tooling assembly 4 is used to assemble double-layer O-rings
  • pressure rod assembly 7 is used to press O-rings in place
  • visual assembly 8 is used to detect O-rings. Whether the O-ring assembly is qualified, the O-ring assembly turntable 6 is used to switch the stator that has been assembled with O-rings and that has not been assembled with O-rings.
  • the robot gripper 1 is used to grab the stator of the motor, grab the stator to be assembled from the stator feeding turntable 3 and send it to the O-ring assembly turntable 6, and grab the assembled stator from the O-ring assembly turntable 6 and place it to be The assembled stator is then transferred to the transition turntable 9 or the unqualified turntable 2.
  • the grasping assembly 103 is a double-headed grasper, including a robot grasper 1 and a robot grasper 2, which are arranged at an angle, and on the O-ring assembly turntable 6, can Grab and unload the assembled stator, and automatically switch the gripper to place the unassembled stator in place.
  • the use of a double-head gripper can reduce the time for the robot to transfer the workpiece and improve the work cycle.
  • the O-ring assembly turntable automatically rotates 180° to the assembly position
  • Tooling A and tooling B are automatically lowered to a predetermined height, and they are set outside the stator, and then the pressure bar is lowered to automatically press the upper and lower layers of O-rings into place;
  • the O-ring assembly turntable rotates 180° in the opposite direction, and the visual camera automatically detects the O-ring.
  • the robot will place the qualified stator on the transition turntable.
  • the unqualified stator is placed on the unqualified turntable;
  • the second set of tooling A and tooling B are at the pre-installation position, and manually pre-install two O-rings to the second set of tooling A and tooling B at the pre-installation position Then, the second set of tooling A and tooling B are automatically flipped 180° to the downward position of the O-ring, and then tooling B is automatically switched to the top of tooling A to realize the double-layer superposition of tooling, and then rotated to the assembly through the servo turntable bit.
  • the tooling A and the tooling B of the assembly position and the pre-installation position are two sets of identical and symmetrically arranged mechanisms, which are switched to each other through the servo turntable to realize recycling.
  • the present application also provides an O-ring assembly device, which includes a gantry assembly 11 , a servo turntable assembly 12 , an assembly tooling assembly 4 , a pre-installation tooling assembly 5 , a seating drive assembly 13 and a pressing rod assembly 7 .
  • the gantry assembly 11 includes a gantry 111 and a chassis 112.
  • the servo turntable assembly 12 includes a vertical turntable 121 and a turntable servo drive mechanism 122.
  • the vertical turntable is arranged in the gantry and can servo rotate around a vertical axis.
  • the door frame is also provided with a hanging plate 113, and the outer edge of the hanging plate is provided with a gap (not shown in the figure), corresponding to the assembly position.
  • the assembly tooling assembly 4 and the pre-installation tooling assembly 5 have the same structure, and the pre-installation tooling assembly 5 also includes a lifting base plate 51 , a horizontal sliding table 52 , and a vertical sliding table 53 .
  • the horizontal sliding table 52 is arranged on the lifting base plate 51, and can slide horizontally by itself;
  • the vertical sliding table 53 is arranged on the horizontal sliding table 52, and can slide vertically by itself;
  • the tooling B can move directly above the tooling A through vertical movement and then horizontal movement, and is arranged concentrically with the tooling A.
  • the lifting base plate 51 is provided with rollers, which are hung on the hanging plate.
  • the bayonet on the lifting base plate 51 is engaged with the rod head of the lifting electric cylinder assembly 13.
  • the rollers can slide down from the notch, and at this time, the lifting base plate 51 can fall and return under the drive of the set driving assembly 13 .
  • Tooling A and tooling B have the same structure, tooling A is located at the bottom, and the aperture is slightly larger than tooling A.
  • the tooling A is composed of an up and down turning mechanism 54 and a tooling body 55.
  • the tooling body includes an O-ring guide sleeve 551 and an O-ring pushing collar 552.
  • the O-ring pushing collar is set outside the O-ring guiding sleeve.
  • the O-ring is set on the O-ring guide sleeve, and the O-ring pushing collar can force the O-ring to fall off from the O-ring guide sleeve when it moves.
  • the double-layered tooling A and tooling B are placed, and then the O-ring guide sleeves of each tooling are fixed, and the two sets of pressure rods are lowered, and the O-rings of tooling A and tooling B are pushed out at the same time. Press down, and the O-ring pushing collar of the respective tooling is pressed down to slide the O-ring downward, forcing the O-ring to break away from the O-ring guide sleeve and slide into the respective stator annular groove.
  • the pressing bar assembly 7 comprises a horizontal sliding table 71, a pressing bar driving assembly 72 arranged on the horizontal sliding table, and an upper layer pressing bar 73 and a lower layer pressing bar 74 driven by the pressing bar driving assembly 72, wherein the horizontal sliding table 71 is arranged on On the overhanging beam 75 of the gantry, the horizontal sliding table 71 slides to the avoidance position when the servo turntable assembly rotates, and slides to the top of the tooling B during work.
  • the upper and lower pressing rods When press-fitting, under the push of the pressing rod driving component, the upper and lower pressing rods simultaneously press down the upper and lower pushing rings to move downward, and push down the O-rings on tooling A and tooling B until they are The O-rings disengage from the guide sleeves, and the O-rings shrink and slide into their respective stator annular grooves.
  • This application realizes the one-stop work of automatically grabbing workpieces by robots, simultaneous assembly of double-layer O-rings, and automatic detection; realizes large-diameter O-rings and simultaneous assembly of double-layer O-rings, reduces labor intensity and improves work efficiency.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacture Of Motors, Generators (AREA)

Abstract

本申请公开了一种新能源电机双层大直径O型圈装配装置和系统，该系统包括：工件移送系统，包括抓取机器人、以抓取机器人为中心在其四周布置的定子上料转台、O型圈装配转台、至少一个定子下料转台；O型圈装配装置，包括装配位工装组件、落位驱动组件、以及压杆组件，所述装配位工装组件包括工装A和工装B，所述落位驱动组件用于使装配位工装组件在装配时垂直落位，所述工装A和工装B在垂直落位后一上一下地套在定子外，且所述工装A和工装B上各自承载的O型圈经由所述压杆组件推落后滑移至各自的定子环形槽中。

Description

一种新能源电机双层大直径O型圈装配装置和系统
本申请要求于2021年10月29号申请的、申请号为202111275290.7的中国专利申请的优先权。
技术领域
本申请涉及一种新能源电机双层大直径O型圈装配装置和系统。
 背景技术
O型圈是新能源电机中的重要组成部件之一，普遍用于电机定子与电机外壳之间的水道密封，其装配质量的好坏直接影响着新能源电机的整体性能。
如图1所示，新能源电机定子上设有两个O型圈，一个O型圈位置在上，另一个O型圈位置在下，直径稍大，例如直径大5mm以上。
目前市面上的主流新能源电机的O型圈的直径达到了φ220，汽车装配线上大多采用人工方式装配，先装配下层O型圈，再装配上层O型圈，劳动强度大，而且生产效率低。
 技术问题
本申请的目的在于提供一种新能源电机双层大直径O型圈装配装置，以实现电机双层大直径O型圈的同时装配。
本申请的目的还在于提供一种新能源电机双层大直径O型圈装配系统，以实现电机双层大直径O型圈自动装配。
 技术解决方案
为此。本申请一方面提供了一种新能源电机双层大直径O型圈装配装置，包括门架组件、伺服转台组件、预装位工装组件、装配位工装组件、落位驱动组件以及压杆组件，
所述预装位工装组件和装配位工装组件设置在伺服转台组件上且位于所述门架组件的内外两面，其中，二者结构相同，在所述伺服转台组件转动时位置互换，各自包括工装A和工装B，
所述工装A和工装B各自能够水平翻转，在预装时二者呈并列状态且圈口朝上，用于人工预装O型圈，在装配时所述工装B位于工装A的正上方、二者呈同心状态且圈口朝下，
所述落位驱动组件用于使所述装配位工装组件在装配时垂直落位，所述工装A和工装B二者在所述装配位工装组件落位时套于定子外，所述压杆组件用于推落工装A和工装B上各自承载的O型圈，
其中，所述工装A和工装B在垂直落位后一上一下地套在定子外，且所述工装A和工装B上各自承载的O型圈经由所述压杆组件推落时滑移至各自的定子环形槽中。
在一实施方式中，上述装配位工装组件还包括升降基板、水平滑台、以及竖直滑台，其中，所述水平滑台设置在升降基板上，所述竖直滑台设置在水平滑台上，所述工装A设置在升降基板上，所述工装设置在竖直滑台上。
在一实施方式中，上述门架组件包括门架，所述门架上还设有挂盘，所述挂盘的外沿设有一个豁口，所述升降基板上设有滚轮，其中，所述滚轮挂设在挂盘上且在移动时豁口时能够滑落。
在一实施方式中，上述工装A由上下水平翻转机构和工装本体构成，所述工装本体包括O型圈导向套和O型圈推料套环，其中，所述O型圈推料套环在移动时能够迫使O型圈从O型圈导向套上滑落。
在一实施方式中，上述压杆组件包括水平滑台、在水平滑台上设置的下层压杆和上层压杆、以及压杆驱动组件，其中，所述水平滑台在伺服转台组件转动时滑移至避让位置，所述下层压杆用于推落工装A上套装的O型圈，所述上层压杆用于推落所述工装B上套装的O型圈。
根据本申请的另一方面，提供了一种新能源电机双层大直径O型圈装配系统，包括：O型圈装配转台，所述O型圈装配转台包括O型圈装配位和如权利要求1-5任意一项所述的O型圈装配装置；
还包括：工件移送系统，包括抓取机器人、以抓取机器人为中心在其四周布置的定子上料转台、至少一个定子下料转台，其中，各转台均包括位于抓取机器人可及范围内的抓件工位。
在一实施方式中，上述新能源电机双层大直径O型圈装配系统，还包括在所述抓取机器人外周布置的安全围栏，其中至少一个定子上料转台、至少一个定子下料转台各自跨越安全围栏布置，其中，所述抓取工位在安全围栏内。
在一实施方式中，上述抓取机器人的抓取组件为双头抓具，其中，在所述O型圈装配转台的抓件工位，所述双头抓具中的一个抓具用于O型圈装配后的定子下料，另一个抓具将待装配的定子上料。
在一实施方式中，上述新能源电机双层大直径O型圈装配系统，还包括视觉组件，用于视觉检测O型圈装配转台的抓件工位上的O型圈装配后的定子。
在一实施方式中，上述至少一个定子下料转台包括不合格品转台和过渡转台。
 有益效果
本申请通过上述大直径、双层O型圈同时装配，其中机器人自动抓取工件，提高O型圈装配效率，相对于现有依靠人工装配的方式，打破了双层O型圈装配工艺的局限性，为今后大直径的O型圈装配提供了新的简单有效的思路。
除了上面所描述的目的、特征和优点之外，本申请还有其它的目的、特征和优点。下面将参照图，对本申请作进一步详细的说明。
 附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1示出了本申请新能源电机定子上装有两个O型圈；
图2是根据本申请的新能源电机双层大直径O型圈装配系统的结构示意图；
图3是根据本申请的新能源电机双层大直径O型圈装配装置的立体结构示意图；
图4是根据本申请的新能源电机双层大直径O型圈装配装置的侧视图；
图5是根据本申请的新能源电机双层大直径O型圈装配装置的俯视图；
图6是根据本申请的新能源电机双层大直径O型圈装配装置的正面结构；
图7是根据本申请的新能源电机双层大直径O型圈装配装置的压杆组件的立体结构示意图；
图8是根据本申请的新能源电机双层大直径O型圈装配装置的O型圈装配转台的结构示意图；
图9示出了根据本申请的预装位工装组件的的工装A和工装B处于圈口朝上的示意图；
图10示出了根据本申请的预装位工装组件的的工装A和工装B处于圈口朝下的示意图；
图11示出了根据本申请的预装位工装组件的的工装B向工装A的正上方移动的示意图；
图12示出了根据本申请的预装位工装组件的的工装B移动至工装A的正上方的示意图；
图13示出了根据本申请的O型圈装配装置的顶杆组件处于避让位置的示意图；
图14示出了根据本申请的O型圈装配装置的顶杆组件处于工作下压状态的结构示意图；
图15示出了根据本申请的O型圈装配装置的顶杆组件和工装A、工装B的配合示意图；
图16示出了根据本申请的新能源电机双层大直径O型圈装配装置所使用的抓取机器人的结构示意图；以及
图17示出了根据本申请的抓取机器人的双头抓具的结构示意图。
 本发明的实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
目前直径超过150㎜的新能源电机的O型圈基本上都采用人工装配方式，先装配下层再装配上层O型圈，劳动强度大，装配效率低。
结合参照图2至图8，根据定子工件的上小下大的结构特点，本申请提供了一种大直径双层O型圈装配系统，其主要功能模块包括：抓取机器人1、不合格转台2、定子上料转台3、装配位工装组件4、预装位工装组件5、O型圈装配转台6、压杆组件7、视觉组件8、过渡转台9、安全围栏10。
抓取机器人1包括机器人本体101、通过机器人连接法兰102连接至机器人本体的抓取组件103，抓取组件用于抓取电机定子。
不合格转台2、定子上料转台3、O型圈装配转台6和过渡转台9布置在抓取机器人1的四周，均为双工位转台，并且双工位中的一个工位布置在抓取机器人1的可及范围内，由抓取机器人1取放定子工件，另一个工位远离抓取机器人1。
安全围栏10界定了人机工作范围，其中不合格转台2、定子上料转台3和过渡转台9各自跨越安全围栏10布置，一个工位在安全围栏10内，另一个工位在安全围栏10外。
不合格转台2用于放置视觉检测后不合格的定子；定子上料转台3用于线外定子输送线放置定子；过渡转台9用于放置已装配合格的定子，并旋转到下一工位。
预装位工装组件5用于工人预装O型圈、装配位工装组件4用于装配双层O型圈、压杆组件7用于将O型圈压装到位、视觉组件8用于检测O型圈装配是否合格、O型圈装配转台6用于切换已装配O型圈和未装配O型圈的定子。
机器人抓具1用于抓取电机定子，自定子上料转台3抓取待装配的定子送至O型圈装配转台6，从O型圈装配转台6中抓取装配后的定子并放置待装配的定子，然后将装配后的定子转送至过渡转台9或不合格转台2。
优选地，如图16和图17所示，抓取组件103为双头抓具，包括机器人抓具1和机器人抓具2，二者呈夹角布置，在O型圈装配转台6上，可对已装配的定子进行抓取下料，并自动切换抓具，将未装配的定子放置到位，与一个抓具相比采用双头抓具可减少机器人转运工件的时间，提高工作节拍。
结合参照图2、图9至图15，本申请主要从装配工艺性出发，设计的工作流程如下：
S1、通过机器人将已经装配好的定子从O型圈装配转台上取出，然后机器人抓具自动切换，将未装配O型圈的定子放到O型圈装配转台上；
S2、O型圈装配转台自动旋转180°到装配位；
S3、工装A和工装B(双层工装)自动下降到预定高度，套设在定子外，然后压杆下降同时将上下两层O型圈自动压装到位；
S4、当压装完成后，O型圈装配转台反方向旋转180°，视觉相机自动对O型圈进行检测，检测合格后，机器人将装配合格的定子放置到过渡转台，若不合格，机器人将不合格定子放置到不合格转台；
S5、从定子上料转台3抓取待装配的工件，重复步骤S1和S4，实现自动装配。
在第一组工装A和工装B于装配位的同时，第二组工装A和工装B位于预装位，人工在预装位将两个O型圈预装到第二组工装A和工装B上，然后，第二组工装A和工装B各自自动翻转180°至O型圈向下姿态，接着工装B自动切换到工装A的正上方实现工装的双层叠加，再通过伺服转台旋转到装配位。
装配位和预装位的工装A和工装B是两套完全相同对称布置的机构，通过伺服转台相互切换，实现循环使用。
本申请还提供了一种O型圈装配装置，包括门架组件11、伺服转台组件12、装配位工装组件4、预装位工装组件5、落位驱动组件13以及压杆组件7。
门架组件11包括门架111和底盘112，伺服转台组件12包括立式转台121和转台伺服驱动机构122，立式转台设置在门架中，能够围绕立轴伺服转动。门架上还设有挂盘113，挂盘的外沿设有一个豁口(图中未示出)，对应装配位。
装配位工装组件4和预装位工装组件5的结构相同，预装位工装组件5还包括升降基板51、水平滑台52、竖直滑台53。
其中，水平滑台52设置在升降基板51上，自身能够水平滑移；竖直滑台53设置在水平滑台52上，自身能够竖直滑移；工装A设置在升降基板51上，工装B设置在竖直滑台53，工装B通过竖直运动、再水平运动，能够运动至工装A正上方，与工装A同心布置。
升降基板51上设有滚轮，该滚轮挂设在挂盘上，当立式转台上的升降基板51旋转至装配位时，升降基板51上的卡口与升降电缸组件13的杆头接合，滚轮能够从豁口中滑落，此时升降基板51在落位驱动组件13的驱动下能够落位和回位。
工装A和工装B的结构相同，工装A位置在下，孔径较工装A稍大。
工装A由上下翻转机构54和工装本体55构成，该工装本体包括O型圈导向套551和O型圈推料套环552，O型圈推料套环套设在O型圈导向套外，O型圈套装在O型圈导向套上，该O型圈推料套环在移动时可迫使O型圈从O型圈导向套上脱落。
在装配位，双层叠加的工装A和工装B落位，然后各工装的O型圈导向套固定不动，两组压杆下降，将工装A和工装B的O型圈推料套环同时下压，各自工装的O型圈推料套环下压带着O型圈向下滑动，迫使O型圈脱离O型圈导向套并滑入各自的定子环形槽内。
压杆组件7包括水平滑台71、在水平滑台上设置的压杆驱动组件72、以及由压杆驱动组件72驱动的上层压杆73和下层压杆74，其中，水平滑台71设置在门架的外伸梁75上，水平滑台71在伺服转台组件转动时滑移至避让位置，在工作时滑移至工装B的正上方。
压装时，在压杆驱动组件的推动下，上下两层压杆同时下压上下两层推料套环向下移动，将工装A和工装B上套装的O型圈向下推移，直至将O型圈脱离导向套，然后O型圈收缩滑进各自的定子环形槽中。
本申请通过机器人自动抓取工件、双层O型圈同时装配、自动检测等一条龙的工作；实现大直径O型圈，双层O型圈同时装配，降低了劳动强度，提高了工作效率。
以上所述仅为本申请的可选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种新能源电机双层大直径O型圈装配装置，包括门架组件、伺服转台组件、预装位工装组件、装配位工装组件、落位驱动组件以及压杆组件，
    所述预装位工装组件和装配位工装组件设置在伺服转台组件上且位于所述门架组件的内外两面，其中，二者结构相同，在所述伺服转台组件转动时位置互换，各自包括工装A和工装B，
    所述工装A和工装B各自能够水平翻转，在预装时二者呈并列状态且圈口朝上，用于人工预装O型圈，在装配时所述工装B位于工装A的正上方、二者呈同心状态且圈口朝下，
    所述落位驱动组件用于使所述装配位工装组件在装配时垂直落位，所述工装A和工装B二者在所述装配位工装组件落位时套于定子外，所述压杆组件用于推落工装A和工装B上各自承载的O型圈，
    其中，所述工装A和工装B在垂直落位后一上一下地套在定子外，且所述工装A和工装B上各自承载的O型圈经由所述压杆组件推落时滑移至各自的定子环形槽中。
  2. 根据权利要求1所述的新能源电机双层大直径O型圈装配装置，其中，所述装配位工装组件还包括升降基板、水平滑台、以及竖直滑台，其中，所述水平滑台设置在升降基板上，所述竖直滑台设置在水平滑台上，所述工装A设置在升降基板上，所述工装设置在竖直滑台上。
  3. 根据权利要求2所述的新能源电机双层大直径O型圈装配装置，其中，所述门架组件包括门架，所述门架上还设有挂盘，所述挂盘的外沿设有一个豁口，所述升降基板上设有滚轮，其中，所述滚轮挂设在挂盘上且在移动时豁口时能够滑落。
  4. 根据权利要求1所述的新能源电机双层大直径O型圈装配装置，其中，所述工装A由上下水平翻转机构和工装本体构成，所述工装本体包括O型圈导向套和O型圈推料套环，其中，所述O型圈推料套环在移动时能够迫使O型圈从O型圈导向套上滑落。
  5. 根据权利要求1所述的新能源电机双层大直径O型圈装配装置，其中，所述压杆组件包括水平滑台、在水平滑台上设置的下层压杆和上层压杆、以及压杆驱动组件，其中，所述水平滑台在伺服转台组件转动时滑移至避让位置，所述下层压杆用于推落工装A上套装的O型圈，所述上层压杆用于推落所述工装B上套装的O型圈。
  6. 一种新能源电机双层大直径O型圈装配系统，包括：
    O型圈装配转台，所述O型圈装配转台包括O型圈装配位和如权利要求1-5任意一项所述的O型圈装配装置；
    还包括：工件移送系统，包括抓取机器人、以抓取机器人为中心在其四周布置的定子上料转台、至少一个定子下料转台，其中，各转台均包括位于抓取机器人可及范围内的抓件工位。
  7. 根据权利要求6所述的新能源电机双层大直径O型圈装配系统，还包括在所述抓取机器人外周布置的安全围栏，其中至少一个定子上料转台、至少一个定子下料转台各自跨越安全围栏布置，其中，所述抓取工位在安全围栏内。
  8. 根据权利要求6所述的新能源电机双层大直径O型圈装配系统，其中，所述抓取机器人的抓取组件为双头抓具，其中，在所述O型圈装配转台的抓件工位，所述双头抓具中的一个抓具用于O型圈装配后的定子下料，另一个抓具将待装配的定子上料。
  9. 根据权利要求6所述的新能源电机双层大直径O型圈装配系统，还包括视觉组件，用于视觉检测O型圈装配转台的抓件工位上的O型圈装配后的定子。
  10. 根据权利要求6所述的新能源电机双层大直径O型圈装配系统，其中，至少一个定子下料转台包括不合格品转台和过渡转台。
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