JP7128730B2 - Adhesive application device and adhesive application method - Google Patents

Description

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

2. Description of the Related Art A rotor of a permanent magnet type rotary electric machine is configured by embedding permanent magnets in a plurality of magnet insertion holes which are provided so as to penetrate an iron core of the rotor 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 Literature 1 discloses an adhesive application device that automatically applies an adhesive to magnet insertion holes of a rotor core. This adhesive application device is equipped with a robot arm, and is configured to apply an adhesive from above into the magnet insertion hole with respect to a rotor core set upward on a jig by the robot arm.

Japanese Unexamined Patent Application Publication No. 2013-31805

However, the conventional adhesive application device described above has a problem that it takes a long time to apply the adhesive to all the magnet insertion holes. In this case, the adhesive used is a moisture-curing type that cures when it reacts with moisture in the air. . In addition, in the case of a rotor core configured by joining rotor blocks divided into front and rear halves in the axial direction, it is necessary to apply an adhesive to magnet insertion holes respectively formed in the front and rear rotor blocks. Since the adhesive is applied to the rotor block on the front side and then applied to the rotor block on the rear side, there is a problem that the application work takes time.

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

An adhesive applying apparatus according to an embodiment applies an adhesive for adhering the permanent magnets to the inner surface of each magnet insertion hole in a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted. A rotary chuck mechanism provided on a base for holding the rotor core so that its center axis is horizontal and for freely rotating the rotor core around the center axis; a robot that is provided on a base and has an application member attached to the tip of an arm that performs an application operation of applying an 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, and an operation of applying adhesive to the rotor core by controlling the rotating chuck mechanism, the robot, and the dispenser. and the robot is positioned in front of and behind the rotor core with respect to the horizontal rotation axis direction of the central axis of the rotor core held by the rotary chuck mechanism. A total of four robots are provided, one on each side, and the control device repeatedly causes each of the robots to perform the application operation in order, thereby inserting 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.

In the adhesive application method according to the embodiment, a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted is coated with an adhesive for adhering the permanent magnets to the inner surface of each of the magnet insertion holes. A method of applying, comprising: an adhesive supplying step of moving an applying member attached to the tip of an arm to a predetermined supply position by a robot and supplying a fixed amount of adhesive to the applying member by a dispenser; and a rotating chuck. The mechanism holds the rotor core so that the center axis thereof is horizontal, rotates the rotor core around the center axis, and positions the rotor core at a predetermined position in the magnet insertion hole to which the adhesive is applied. a rotating step; and an applying step of applying the adhesive by inserting the applying member into the magnet insertion hole from the axial direction by the robot. A total of four units are provided, one on each side of the rotor core, one on the left and the other on the front and rear of the rotor core with respect to the direction of the horizontal rotation axis in which the center axis of the core extends. By repeating each step in order, the adhesive is applied to the plurality of magnet insertion holes from the front side and the rear side of the rotor core.

FIG. 1 shows a first embodiment, and is a perspective view from the front side schematically showing the configuration of the adhesive applying device. FIG. 2 is a perspective view from the rear side schematically showing the configuration of the adhesive application device; Perspective view showing the appearance of one robot A perspective view showing the appearance of the rotary chuck mechanism together with the application member. FIG. 2 is a plan view schematically showing the state of the adhesive applying device during operation; Front view of adhesive application device Right side view of the adhesive application device Block diagram showing schematic electrical configuration A perspective view (a) and a front view (b) showing an external configuration (part 1) of a rotor core A perspective view (a) and a front view (b) showing an external configuration (part 2) of a rotor core A perspective view (a) and a front view (b) showing an external configuration (part 3) of a rotor core Schematic front view of an adhesive application device, showing a second embodiment Fig. 3 shows a third embodiment, a perspective view of four applicator members;

(1) First Embodiment A first embodiment will be described below with reference to FIGS. 1 to 11. FIG. First, FIGS. 9, 10, and 11 respectively show external configurations of three types of rotor cores 1, 2, and 3 to which the adhesive is applied in this embodiment. These rotor cores 1, 2, and 3 are constructed by punching, for example, an electromagnetic steel sheet into a predetermined shape, ie, a substantially disk shape, and laminating a plurality of the punched electromagnetic steel sheets. At this time, elongated magnet insertion holes 4 to 9, into which permanent magnets (not shown) are inserted and fixed by adhesion, are formed in the outer peripheral portions of the rotor cores 1, 2, and 3 so as to form an inverted "V" shape. 8 pairs (16 pieces) are formed. A shaft hole 10 into which a rotating shaft (not shown) is inserted is formed at the center of each of the rotor cores 1, 2 and 3. As shown in FIG.

More specifically, the rotor core 1 shown in FIG. 9 is for a generator, for example, and has magnet insertion holes 4 and 5 parallel to the axial direction, that is, without skew. Of the magnet insertion holes 4 and 5, the magnet insertion hole 4 is positioned on the forward side in the clockwise direction when viewed from the front, and the magnet insertion hole 5 is positioned on the rear side in the clockwise direction. A rotor core 2 shown in FIG. 10 is for a motor, for example, and is constructed by joining rotor blocks 2a and 2b which are divided into front and rear in the axial direction. Magnet insertion holes 6 and 7 to be inserted are formed. In this case as well, of the magnet insertion holes 6 and 7 , the one located on the forward side in the clockwise direction when viewed from the front is called the magnet insertion hole 6 , and the one located on the rear side in the clockwise direction is called the magnet insertion hole 7 .

Also, at this time, the magnet insertion holes 6 and 7 are formed in a form having a skew with respect to the central axis direction. In the rotor block 2a and the rotor block 2b, the magnet insertion holes 6 and 7 are skewed in different positions and in different directions, for example. The skew angle is, for example, 3.75°. A rotor core 3 shown in FIG. 11 is also for a motor, for example, and is constructed by joining rotor blocks 3a and 3b divided into front and rear parts in the axial direction. Of the magnet insertion holes 8 and 9, the magnet insertion hole 8 is positioned on the forward side in the clockwise direction when viewed from the front, and the magnet insertion hole 9 is positioned on the rear side in the clockwise direction. These magnet insertion holes 8 and 9 are formed to have a skew with respect to the direction of the central axis, but the direction of the skew is opposite to that of the rotor core 2 . Skews are also provided in shifted positions and in different directions between the rotor block 3a and the rotor block 3b.

In this case, regarding the rotor cores 2 and 3 for the motor, the magnet insertion holes 6 to 9 of the rotor blocks 2a and 3a on the front side and the magnet insertion holes 6 to 6 of the rotor blocks 2b and 3b on the rear side are 9, the adhesive application work is performed from both the front and back sides. As for the rotor core 1 for the generator, the adhesive is applied to the magnet insertion holes 4 and 5 from both front and rear sides.

Next, the adhesive application device 11 according to the present embodiment applies an adhesive for fixing the permanent magnets 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. 1-8. In the following description, for the sake of convenience, it is assumed that the adhesive is applied to the rotor core 1 shown in FIG. 1, 2, and 5 show the overall configuration of the adhesive application device 11. FIG. Here, the adhesive application device 11 is provided with a rotary chuck mechanism 13, four robots 14, and two dispensers 15 on a base 12 having a rectangular platform with a horizontal upper surface. It comprises a device 16 (shown only in FIG. 8) and the like.

The rotary chuck mechanism 13 holds the rotor core 1 so that its central axis O (see FIG. 4) is horizontal, and rotates the rotor core 1 around the central axis O freely. It is configured. As will be described later in detail, the robot 14 has an application member 17 attached to the tip of an arm, and the application member 17 is inserted into the magnet insertion holes 4 and 5 of the rotor core 1 from the axial direction and adhered. An application operation for applying the agent is executed. The dispenser 15 has a function of supplying a fixed amount of adhesive to the application member 17 moved to a predetermined supply position on the base 12 . In the description of the embodiment, the longitudinal direction is defined as the direction in which the central axis (rotational axis) O of the rotor core 1 held by the rotary chuck mechanism 13 extends, 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 forwardly at a slightly rear portion of the center of the base 12, and includes a chuck portion 18 for holding the rotor core 1, and a chuck portion 18 for holding the rotor core 1. and a rotation mechanism portion 19 that freely rotates the chuck portion 18 . The chuck portion 18 is inserted into the center hole 10 from the rear surface side of the rotor core 1, and is driven by, for example, an air cylinder or the like. It is rotatably held in the oriented state. The rotating mechanism section 19 uses, for example, a servomotor as a drive source, freely rotates the chuck section 18 and thus the rotor core 1, and stops at a predetermined rotation angle. In this case, the rotor core 1 is rotated by the rotary chuck mechanism 13 so that the surface to be coated with the adhesive among the plurality of magnet insertion holes 4 and 5 faces upward.

As shown in FIGS. 1 to 3, in this embodiment, the robot 14 is composed of, for example, a horizontal articulated (SCARA) robot with three or more axes, in this case four axes. As shown in FIG. 3, the robot 14 is mounted on a base 20 that is fixedly mounted on the base 12. The base end of a horizontally extending first arm 21 rotates about a vertical axis J1 (horizontal rotation). ) is possible. The proximal end of the second arm 22 is connected to the upper surface of the distal end of the first arm 21 so as to be rotatable (horizontally rotatable) around the vertical axis J1. A shaft-shaped vertical arm 23 is connected to the distal end of the second arm 22 so as to be vertically movable and coaxially rotatable. The application member 17 is attached to the mounting flange portion 23a at the tip portion, that is, the lower end portion of the upper and lower arms 23. As shown in FIG.

As shown in FIGS. 4 and 5, the application member 17 is constructed by attaching a spatula 24 made of an elastic material, such as a plate spring, to a metal holder 17a. At this time, as shown in FIG. 4, etc., the tip of the holder portion 17a protrudes outward from the lower end of the vertical arm 23, and the base end of the spatula 24 is bent at a right angle from the holder portion 17a. mounted in a horizontal position. As a result, the spatula 24 is provided in a shape bent in the horizontal direction into an L shape together with the holder portion 17a. This configuration enables the coating operation by the coating member 17 to be performed without interfering with the rotary chuck mechanism 13 .

As shown in FIG. 5 and the like, the robots 14 are positioned on the front and rear sides of the horizontal axis of rotation along which the central axis O of the rotor core 1 held by the rotary chuck mechanism 23 extends. A total of 4 units are provided. When distinguishing the four robots 14, as shown in FIG. (C) and (D) are attached. 4 and 5, similarly, in order to distinguish the spatula 24 of the coating member 17 provided in each robot 14, after the reference numeral 24, (A), (B), (C), (D) is attached.

As shown in FIG. 7, the dispenser 15 includes a syringe 25 for storing adhesive and an adhesive dropping nozzle 26 provided downward. configured to eject an agent. As a result, the position directly below the adhesive dropping nozzle 26 is set as a predetermined supply position, and each robot 14 moves the spatula 24 of the application member 17 to that supply position, and supplies the adhesive to the upper surface thereof. It is designed to receive Although not shown in detail, each supply position is provided with an adhesive detection sensor 27 (shown only in FIG. 8) for detecting whether a given amount of adhesive has been supplied onto the spatula 24 or not.

At this time, one of the dispensers 15 is positioned in the middle of the two robots 14 (A) and 14 (D) positioned on the left side of the base 12 in the front-rear direction, and the other is positioned It is provided at the intermediate portion in the longitudinal direction of the two robots 14 (B) and 14 (C) located on the right side of the base 12 . When distinguishing between the dispensers 15, the one on the left side will be referred to as dispenser 15(A), and its supply position will be referred to as the left supply position. Also, the one on the right side is called dispenser 15 (B), and its supply position is called the right supply position. The left dispenser 15(A) or left dispense position is shared by two robots 14(A), 14(D) and the right dispenser 15(B) or right dispense position is shared by two robots 14(B). ) and 14(C).

Now, FIG. 8 schematically shows an electrical configuration centering on the control device 16. As shown in FIG. Here, the control device 16 includes a computer, controls the rotary chuck mechanism 13, and controls the two dispensers 15(A) and 15(B). The controller 16 also controls the robots 14(A) to 14(D) through 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, etc. based on preset control programs, operation data, sensor signals input in real time, and the like. , the work 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, for one robot 14, the controller 16 executes the following one-cycle operation. That is, first, the robot 14 is operated to move the spatula 24 of the application member 17 to the adhesive supply position, and the dispenser 15 drops and supplies a predetermined amount of adhesive onto the upper surface of the spatula 24 (adhesive supply). process). At this time, adhesive is supplied from the dispenser 15(A) on the left, ie, the left supply position, to the respective spatulas 24(A), 24(D) of the robots 14(A), 14(D) on the left. . Each spatula 24(B), 24(C) of the right robot 14(B), 14(C) is supplied with adhesive at the right dispenser 15(B) or right dispensing position. When the adhesive is supplied, the robot 14 is operated while the spatula 24 is kept facing upward to move the coating member 17 to the front or rear side of the rotor core 1 held by the rotary chuck mechanism 13. Let

In this case, as shown in FIGS. 4, 5, etc., the robots 14(A) and 14(B) located on the front side are rotated while the spatulas 24(A) and 24(B) of the coating members 17 are facing backward. , is moved to the front side of the rotor core 1 . The robots 14(C) and 14(D) positioned on the rear side are moved to the rear side of the rotor core 1 while the spatulas 24(C) and 24(D) of the application member 17 are directed forward. At this time, regarding the robots 14 (C) and 14 (D) on the rear side, since the holder 17a of the coating member 17 and the spatula 24 are L-shaped, they do not interfere with the rotary chuck mechanism 13. Coating work can now be performed.

On the other hand, during the adhesive supply step and the movement of the application member 17, the inner surfaces of the magnet insertion holes 4 and 5 to which the adhesive is applied in the rotor core 1 held horizontally by the rotation chuck mechanism 13 are The rotor core 1 is rotated around the central axis O so that the surface to which the adhesive is applied faces horizontally downward, ie, faces upward (rotating step). At this time, due to the operation of the robot 14, the spatula 24 of the coating member 17 is moved horizontally forward or backward of the magnet insertion holes 4, 5 to be coated on the rotated rotor core 1. As shown in FIG.

Subsequently, the robot 14 performs a coating step of horizontally inserting the spatula 24 of the coating member 16 into the magnet insertion holes 4 and 5 from the axial direction to apply the adhesive. In this coating process, after inserting the spatula 24 into the magnet insertion holes 4 and 5, the spatula 24 is pulled out from the magnet insertion holes 4 and 5 while being slightly raised, so that the spatula 24 is held. The adhesive that has been applied is transferred and applied to the upper surfaces of the magnet insertion holes 4 and 5 . After the application process, the robot 14 is moved to the adhesive supply position again to obtain adhesive for the next application. At this time, the rotating process by the rotating chuck mechanism 13 described above is, of course, executed in a state in which the spatula 24 is not inserted into the magnet insertion holes 4 and 5 .

As described above, one cycle of application operation for one robot 14 is performed. , the adhesive applying operation is executed sequentially. For example, after the coating process is performed by the robot 14(A), the coating process is performed by the robot 14(C), then the coating process is performed by the robot 14(B), and finally the coating process is performed by the robot 14(D). is performed, and then the coating process from the robot 14(A) is repeated.

In this way, by repeatedly executing the above-described steps by each robot 14, dispenser 15, and rotary chuck mechanism 13, adhesion to the plurality of magnet insertion holes 4, 5 from the front side and rear side of the rotor core 1 is achieved. An agent application operation is performed. In this case, one robot 14 is moving toward the supply position while another robot 14 is performing the coating process. The application operation is executed without any delay. As a result, the application of the adhesive to all the magnet insertion holes 4 and 5 is performed in order.

According to the adhesive application device 11 and the adhesive application method of this embodiment, the following functions and effects can be obtained. The rotor core 1 is held by a rotary chuck mechanism 13 so that its central axis O is horizontal, and is freely rotated around the central axis O. As shown in FIG. In the rotating process, 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 to be applied are positioned at predetermined positions, that is, the surface to which the adhesive is applied faces up. In the adhesive supply step, the application member 16 attached to the tip of the arm of the robot 14 is moved by the robot 14 to a predetermined adhesive supply position, and the dispenser 15 applies a fixed amount of adhesive to the spatula 24 of the application member 16 . of adhesive is supplied. In the application step, the robot 14 inserts the spatula 24 of the application member 16 into the magnet insertion holes 4 and 5 from the axial direction to apply the adhesive.

At this time, a total of four robots 14 provided on the left and right sides of the held rotor core 1 in the horizontal axis direction are used to form a plurality of magnet insertion holes 4 and 4 from the front and rear sides of the rotor core 1 . 5 are sequentially applied. In this case, by four robots 14, not only from the front side of the rotor core 1, but also from both the front side and the rear side, and from the left and right simultaneously (alternately), that is, collectively and continuously It becomes possible to perform the application operation of the adhesive.

Therefore, according to this embodiment, the inner surfaces of the magnet insertion holes 4 and 5 of the rotor core 1 are coated with an adhesive for adhering the permanent magnets. It is possible to obtain an excellent effect that the adhesive can be applied efficiently from both sides of the rotor core 1 in a short period of time, unlike the one in which the adhesive is applied only from one side. . At this time, even if a moisture-curable adhesive that cures 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.

Particularly in this embodiment, each robot 14 is composed of a horizontal articulated robot (SCARA robot) having an upper and lower arm 23 at its tip, and the application member 17 has a spatula 24 made of an elastic material at least at its tip. A spatula 24 is attached to the tip of the upper and lower arm 23 so as to be bent in the horizontal direction into an L shape so that the coating operation can be performed without interfering with the rotary chuck mechanism 13 . As a result, the adhesive can be applied to the magnet insertion holes 4 and 5 on the rear side of the rotor core 1 from the rear side without interfering with the rotary chuck mechanism 13 . The configuration of the robot 14 can be relatively simple without complicating the configuration, and the control of the motion of the arm can also be relatively simple.

Further, in this embodiment, as the dispenser 15, the left dispenser 15 (A ) and a dispenser 15(B) on the right provided in the middle of the two robots 14(B) and 14(C) on the right. As a result, the dispenser 15 and the supply position are shared for the front and rear two robots 14 . Therefore, it is possible to reduce the number of dispensers 15, simplify the configuration and save space, and 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 application device 31. As shown in FIG. In this second embodiment, for example, a case where an adhesive is applied to the rotor core 2 shown in FIG. 10 is taken as an example. 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 direction of the central axis O. 7 skews are formed in offset positions and different orientations.

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

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

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 axially divided into front and rear halves, the front and rear rotor blocks 2a are formed respectively. The work of applying the adhesive to the magnet insertion holes 6 and 7 thus formed can be performed collectively and continuously from both the front and rear sides. Therefore, similarly to the first embodiment, it is possible to obtain the excellent effect that the adhesive application work can be efficiently performed from both surfaces of the rotor core 2 in a short period of time.

Furthermore, in the present embodiment, even if the magnet insertion holes 6 and 7 are skewed, 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. It can be implemented similarly by installing with a certain inclination.

(3) Third Embodiment and Other Embodiments FIG. 13 shows a third embodiment. As in the second embodiment, the third embodiment also exemplifies the case where the adhesive is applied to the rotor core 2 shown in FIG. In this embodiment, instead of installing each robot 14 on the base 12 with an inclination, the application member 41 is attached to the tip of the upper and lower arms 23 of each robot 14 so that the magnet insertion holes 6 and 7 are skewed. He is trying to mount in the form with the inclination corresponding to the angle.

FIG. 13 shows the application members 41 attached to each of the robots 14(A), 14(B), 14(C) and 14(D). These application members 41 are provided with a holder portion 41a made of metal, and a spatula 42 made of an elastic material such as a plate spring material and having a rectangular plate shape is detachably attached to the holder portion 41a. The spatula 42 is provided in an L-shaped bent shape together with the holder portion 41a when viewed from above. At this time, the spatulas 42(A), 42(B), 42(C), and 42(D) each have an inclination corresponding to the skew angle of the magnet insertion holes 6 and 7 with respect to the horizontal direction. are fitted.

According to the third embodiment, similarly to the first embodiment, it is possible to efficiently apply the adhesive from both sides of the rotor core 2 in a short time. effect can be obtained. Along with this, even if the magnet insertion holes 6 and 7 are skewed, the spatula 42 of the application member 41 is attached to the upper and lower arms 23 of each robot 14 in a form having an inclination corresponding to the skew angle. Since it is mounted, the adhesive can be applied to the skewed magnet insertion holes 6 and 7 without complicating the configuration and operation. The rotor core 3 shown in FIG. 11 can also be implemented in the same manner.

In the above-described embodiment, three types of rotor cores 1 to 3 were exemplified as objects to be coated with the adhesive, but the present invention is not limited to these. , number, angle of skew, etc., can be changed in various ways. Further, the robot in the adhesive application device is not limited to a four-axis horizontal articulated robot, and may be a three-axis horizontal articulated robot, a vertical articulated robot, or the like. The application member is not limited to one having a spatula, and a brush-like member, a roller-like member, or the like may be employed. In addition, various modifications are possible for 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 modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

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 application members, 17a and 41a are holder portions, 23 is an upper and lower arm, 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, a device for applying an adhesive for adhering the permanent magnets to the inner surface of each magnet insertion hole,
a rotating chuck mechanism provided on a base for holding the rotor core so that its central axis is horizontal and for freely rotating 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 that performs an application operation of applying an 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 application member moved to a predetermined supply position on the base;
a control device for controlling the rotary chuck mechanism, the robot, and the dispenser to apply the adhesive to the rotor core;
A total of four robots, one each on the left and right, are positioned in front of and behind 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. provided,
The control device repeatedly causes the robots to sequentially perform the application operation, thereby controlling the application operation of the adhesive to the plurality of magnet insertion holes from the front surface side and the rear surface side of the rotor core. adhesive applicator. The rotor core is formed by joining two rotor blocks divided into front and rear in the axial direction, and a plurality of magnet insertion holes into which permanent magnets are respectively inserted are formed in each rotor block,
Two robots arranged on the front side in the rotation axis direction apply adhesive to the magnet insertion holes of the rotor block on the front side from the front side. 2. The adhesive application device according to claim 1, wherein the adhesive is applied from the rear side to the magnet insertion holes of the rotor block on the rear side by two robots. Each robot is a horizontal articulated robot with three or more axes having upper and lower arms at the tip,
The applicator member has a spatula made of an elastic material at least at its tip, and is attached to the tip of the upper and lower arms with the spatula bent in the horizontal direction into an L-shape. 3. 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,
4. The adhesive application device according to any one of claims 1 to 3, wherein each robot is attached with an inclination corresponding to the skew angle with respect to the base. the plurality of magnet insertion holes of the rotor core are configured to have a skew with respect to the axial direction,
4. 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 dispensers are arranged in two places, one in the middle part of the two robots located on the left side in the direction of the rotation axis and the other in the middle part of the two robots located on the right side in the direction of the rotation axis. 6. The adhesive application device according to any one of claims 1 to 5, shared by two robots. A method of coating a rotor core having a plurality of magnet insertion holes into which permanent magnets are respectively inserted with an adhesive for adhering the permanent magnets to the inner surface of each of the magnet insertion holes, the method comprising:
an adhesive supply step of moving an application member attached to the tip of an arm to a predetermined supply position by a robot and supplying a fixed amount of adhesive to the application member by a dispenser;
A rotating chuck mechanism holds the rotor core so that its center axis is horizontal, rotates the rotor core around the center axis, and places the rotor core at a predetermined position in the magnet insertion hole to which the adhesive is applied. a rotating step to position;
an applying step of inserting the applying member into the magnet insertion hole from the axial direction by the robot to apply the adhesive;
A total of four robots are provided, one on the left and one on the right and the other on the front and rear of the rotor core with respect to the direction of the horizontal axis of rotation in which the center axis of the rotor core held by the rotary chuck mechanism extends. ,
By repeating the above-described steps in order by the robots, the dispenser, and the rotary chuck mechanism, the adhesive is applied to the plurality of magnet insertion holes from the front side and the rear side of the rotor core. Adhesive application method.

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