CN106736540B

CN106736540B - A kind of automatic assembling for the assembling of vehicle-mounted encoder

Info

Publication number: CN106736540B
Application number: CN201710077675.XA
Authority: CN
Inventors: 曾河
Original assignee: Dongguan Yuehe Automation Technology Co Ltd
Current assignee: Dongguan Yuehe Automation Technology Co Ltd
Priority date: 2017-02-14
Filing date: 2017-02-14
Publication date: 2018-09-18
Anticipated expiration: 2037-02-14
Also published as: CN106736540A

Abstract

The present invention discloses a kind of automatic assembling for the assembling of vehicle-mounted encoder, further include two shaping components for holder shaping and several detection components including the rotary disc assembly in cabinet top surface, Cam splitter component, holder feed mechanism, hand balance staff core sleeve feed mechanism, the first rotor feed mechanism, the first shifting disc feed mechanism, the second rotor and the second shifting disc assemble mechanism, hand pendulum ontology feed mechanism, riveting mechanism, cutting agency is arranged;The disk peripheral edge of rotary disc assembly, which is gone into battle, shows multiple station clamps;The matching of cabinet top surface is additionally provided with cycloidal mechanism;The action of each feed mechanism matching rotary disc assembly feeding successively, the part of riveting mechanism riveted encoder is at encoder finished product, and for cutting agency by encoder finished product blanking to collection box, two shaping components strut shaping and interior crowded shaping to holder;Swing component is used for the second rotor and the second shifting disc integral transfer of the second rotor and the assembly of the second shifting disc assemble mechanism to matched station clamp.

Description

A kind of automatic assembling for the assembling of vehicle-mounted encoder

Technical field

The present invention relates to electronic element processing equipment field, especially a kind of automatic group assembled for vehicle-mounted encoder Installation.

Background technology

Develop with the technology in the fields such as computer, household electrical appliances, lathe, automobile, encoder is increasingly widely used. Encoder be commonly used to multi-media sound system, household electrical appliance, medical equipment, communication equipment, intelligent toy, instrument and meter, intercom, It reprints on audio-visual, mechanical equipment, is mainly the transmission of the stroke and signal to control moving parts.As shown in Fig. 1, In the prior art, vehicle-mounted encoder 100 includes mainly holder 001, hand balance staff core sleeve 002, rotor（003 He of the first rotor Second rotor 004）, shifting disc (the first shifting disc 005, the second shifting disc 006), hand put ontology 007, by holder 001, hand balance staff Core sleeve 002, rotor, shifting disc, hand pendulum 007 riveted of ontology can be assembled into vehicle-mounted encoder finished product.Therefore, it is this obtained kind Vehicle-mounted encoder, it is necessary to assemble above-mentioned several parts.And in the prior art, the side that the assembling of encoder is used Formula includes semi-artificial, semi-automatic assembling mode and automatic equipment assembling two ways, as electronic product increasingly becomes To in small-sized, integrated, therefore, the size of encoder also tends to small-sized.And as encoder size becomes In small-sized, therefore demand is had been unable to meet by the way of semi-artificial, semi-automatic assembling, such mode is substantially by city It eliminates in place.And in the prior art, the assembling to encoder is assembled by the assembling equipment of automation, encoder Each part carries out assembling assembly, oiling and riveting composite encoder finished product by automation equipment successively.But in the prior art this Defect is as follows existing for class apparatus automatization assembling:First, kludge the degree of automation of existing assembling production encoder is low, group Dress production needs that many manpowers are arranged, and packaging efficiency is low;Second is that its assembling processing efficiency of existing encoder kludge is low Under, the coding of assembling production is narrow-minded in the unit interval, and production cost is big;Third, the machining accuracy of existing encoder kludge The connection of low, each component is insecure, and the yields of assembling production encoder is low and the service life of encoder is short;Fourth, existing vehicle Load encoder is because type is more, and greatly, also demand follows variation to corresponding kludge, encoder for the design of part variation of encoder The matching and applicability of kludge are bad;Fifth, existing vehicle-mounted encoder kludge service life is short, replacement cost is high.

Therefore, design that a easy to use, packaging efficiency is high and vehicle-mounted encoder automatic assembling with long service life is Market and major encoder production firm institute there is an urgent need for.

Invention content

The technical issues of solution of the present invention be for the above-mentioned prior art in existing defect, provide and a kind of being used for group The automatic assembling of vehicle-mounted encoder is filled, the encoder automatic assembling is easy to use, packaging efficiency is high, yields is high, dimension It repaiies easy maintenance and service life is long.

To solve above-mentioned technical problem, the technical solution adopted by the present invention is as follows:One kind is assembled for vehicle-mounted encoder Automatic assembling, include the rotary disc assembly on cabinet top surface, which includes turning of setting gradually from bottom to top Disk and price fixing, the rotary disc assembly lower end set Cam splitter component, and the Cam splitter component energy driving disc interval turns Dynamic and driving price fixing intermittent lifting;On cabinet top surface holder feed mechanism is set around the rotary disc assembly, in hand balance staff core sleeve Expect that mechanism, the first rotor feed mechanism, the first shifting disc feed mechanism, the second rotor and the second shifting disc assemble mechanism, hand are put Ontology feed mechanism, riveting mechanism and cutting agency;Two shaping components for holder shaping and several inspections are set on the price fixing Survey component;The disk peripheral edge, which is gone into battle, shows several station clamps shelved and assembled for encoder element;Cabinet top Face matches and is additionally provided with cycloidal mechanism at second rotor and the second shifting disc assemble mechanism installation position;Wherein, the turntable Several station clamp intermittent rotaries are driven, and drive the encoder element rotary motion on feeding to station clamp;It is described Holder feed mechanism, hand balance staff core sleeve feed mechanism, the first rotor feed mechanism, the first shifting disc feed mechanism, hand pendulum are originally Body feed mechanism can be corresponded to puts bulk transport by the holder of encoder, hand balance staff core sleeve, the first rotor, the first shifting disc, hand On to matched station clamp, the riveting mechanism is used for the part of riveted encoder into encoder finished product, the cutting agency For in the encoder finished product blanking to collection box by riveting mechanism riveted, two shaping components to be respectively used to by the holder The holder of material mechanism conveying carries out strutting shaping and to crowded shaping in being carried out by the holder before riveting mechanism riveted;The rotating mechanism When structure then is used to assemble the encoder comprising the second rotor and the second shifting disc, by the second rotor and the second shifting disc assemble mechanism On the second rotor and the second shifting disc integral transfer to matched station clamp of assembly.

It is expanded on further as to above-mentioned technical proposal：

In the above-mentioned technical solutions, the Cam splitter component includes a vertical shaft, and it is perpendicular that the turntable is threaded through this To in shaft, the vertical shaft upper end is flexibly connected with the price fixing, and lower end penetrates one and is installed in subtracting on cabinet downward Fast case is simultaneously sequentially connected therewith, and a lateral rotation axis is horizontally through the reduction box and by gear and the drive being installed on cabinet The rotation axis of dynamic motor is sequentially connected;The vertical shaft is also connected with a cam pack through one end of the reduction box, this is convex Wheel assembly includes connecting seat, connecting rod, eccentric wheel and the first driving motor, and the connecting seat is connect with the vertical shaft, described Connecting rod one end connects the connecting seat, and the other end connects the eccentric wheel, and the eccentric wheel turns with first driving motor Moving axis connects;First driving motor drives the eccentric wheel rotation, is driven the connecting rod and drives connecting seat and vertical shaft perpendicular It is moved to direction, makes the price fixing in vertical direction intermittent lifting, and the driving motor is driven vertical shaft by reduction box Rotation, makes the turntable with respect to cabinet intermittent rotary.

In the above-mentioned technical solutions, the holder feed mechanism include be set to cabinet top surface on holder loading assemblies and The holder gripper assembly docked on the price fixing and with the holder loading assemblies;Wherein, the holder loading assemblies packet Include mount vibration disk, holder feed track and move material component, holder feed track both ends respectively with the mount vibration disk and shifting Expect that single holder is discharged into holder feed track by component docking, the mount vibration disk successively, the holder feed track is towards price fixing Component is expected in center of circle direction transfer gantry to the shifting;First push plate for moving material component and including the first cylinder and being attached thereto, The placement position that system houses holder is opened in first push plate, the first cylinder drives the first push plate movement, makes the placement position and institute It states the delivery outlet activity docking of holder feed track and is moved to holder from holder feed track and docked with the holder gripper assembly Position at;The holder gripper assembly includes line slide rail, and bottom plate is set on the line slide rail, flexible gas is set on the bottom plate Cylinder, and bottom plate front end is equipped with the clamping manipulator of a gripping holder, the telescopic cylinder can drive the bottom plate in line slide rail The diametric(al) telescopic moving of upper edge price fixing, the clamping manipulator follow bottom plate mobile and coordinate the lifting of the price fixing, will Holder from placement position grip and be transplanted on follow turntable turn to on the station clamp from holder feed mechanism face position.

In the above-mentioned technical solutions, hand balance staff core sleeve's feed mechanism and hand pendulum ontology feed mechanism include being set to Loading assemblies on cabinet top surface and the gripper assembly docked on the price fixing and with the loading assemblies;Wherein, described Loading assemblies include material feed track, and the material feed track conveys hand balance staff core sleeve or hand pendulum originally towards price fixing center of circle direction At body to the position docked with the gripper assembly;The gripper assembly includes first straight line sliding rail, the first straight line sliding rail On set the first bottom plate, set the first telescopic cylinder on first bottom plate, and the first bottom plate front end is equipped with a gripping hand balance staff mandrel First clamping manipulator of set or hand pendulum ontology, first telescopic cylinder can drive first bottom plate in first straight line sliding rail The diametric(al) telescopic moving of upper edge price fixing, first clamping manipulator follow the first bottom plate mobile and coordinate the price fixing Lifting, by hand balance staff core sleeve or hand pendulum ontology grip from material feed track end and be transplanted on follow turntable turn to and hand pendulum It is assembled on station clamp at shaft core axle sleeve feed mechanism or hand pendulum ontology feed mechanism face position.

In the above-mentioned technical solutions, the first rotor feed mechanism includes the first rotor vibrating disk, the first rotor conveying Road and the first rotor gripper assembly, single the first rotor is discharged into the first rotor feed track by the first rotor vibrating disk, described The position that the first rotor feed track is extremely docked with the first rotor gripper assembly towards price fixing center of circle direction conveying the first rotor Place;The first rotor gripper assembly is additionally provided with the lower part at the first rotor feed track docking location is placed on following turntable to turn It moves to the sliding mechanism with the hand balance staff core sleeve rotational slippage on the station clamp at the first rotor feed mechanism face position; Wherein, the first rotor gripper assembly includes second straight line sliding rail, sets the second bottom plate on the second straight line sliding rail, and described The second telescopic cylinder is set on two bottom plates, and the second bottom plate front end is equipped with the first rotor gripping manipulator and shaft core solid mechanical successively Hand;Second telescopic cylinder can drive second bottom plate to drive the first rotor gripping manipulator and shaft core solid mechanical hand edge The diametric(al) telescopic moving of price fixing coordinates the lifting of the price fixing, the first rotor gripping manipulator can be by the first rotor Gripped from the first rotor feed track end and be delivered to follow turntable turn to from the first rotor feed mechanism face position On station clamp, the first rotor is made to be assembled with the hand balance staff core sleeve for completing rotational slippage, and the shaft core solid mechanical hand exists When the first rotor gripping manipulator is placed in the first rotor feed track terminal position, insertion follows turntable to turn to and first turn In station clamp at sub- feed mechanism face position, fixed hand balance staff core sleeve simultaneously coordinates the sliding mechanism to act, and makes hand Balance staff core sleeve rotational slippage;The sliding mechanism includes a vertical bottom plate being connect with the cabinet, the vertical bottom plate upper edge Vertical direction is equipped with rolling guide, and the rolling guide is driven by the rotary cylinder for being installed in its bottom end and rolled, and the rolling is led Vertically install a connecting seat on the sliding block of rail, fixed lifting cylinder and skidding cylinder on the connecting seat, the lifting cylinder Piston is connect with a pushing block, and the pushing block is opened with one to be formed with the horizontal block of through-hole and connect, and the skidding cylinder passes through shaft coupling and one Pipe connection is rotated, the upper end of the rotation pipe is provided with expansion-head and the rotation pipe vertically penetrates the through-hole, the expansion-head For the accommodating position of hand balance staff core sleeve;The lifting cylinder can drive the pushing block and horizontal block to move in a vertical direction, described Movement can be such that the expansion-head tightens or fluffy to horizontal block in a vertical direction, to clamp or release hand balance staff core sleeve, cooperation The skidding cylinder drives the rotation pipe to rotate, make to be placed in on the station clamp at the first rotor feed mechanism face position Hand balance staff core sleeve rotate to can with the first rotor complete assemble.

In the above-mentioned technical solutions, the first shifting disc feed mechanism includes being set successively along the first shifting disc feeding direction The first vibrating disk, the first feed track, the first shifting material component and the first feeding material component, first feed track set are equipped with and are used for Purge the first bubbling device of the first shifting disc, first feed track and the first lower part for moving at material component docking location set the One liftout component is additionally provided with the first oiling component below the first feeding material component vertical direction;The first oiling component With the first liftout inter-module every section on be additionally provided with a support base for shelving the first shifting disc;Wherein, first vibrating disk Single first shifting disc is discharged into the first feed track;First bubbling device is to the first shifting disc for being conveyed along the first feed track It is cleaned;The first shifting material component includes the first shifting material cylinder and the first shifting material push plate being attached thereto, first shifting The recess that system houses the first shifting disc is opened in material push plate, the first shifting disc can be moved in the recess from the first feed track and by the One, which moves the first shifting of driving of material cylinder, expects that push plate is mobile and is transferred to the first feeding material component and grips at the first shifting disc position;Described One liftout component includes the first material ejection cylinder and the first fore-set for being attached thereto, and first material ejection cylinder drives the first fore-set perpendicular To being moved upwardly by, jacks up and move the first shifting disc that material component pushes to the first fore-set top by described first;First feeding Component includes the first supporting rack, and the first supporting rack top installs two horizontal slide rails, a vertical pedestal set in two horizontal slide rails, vertically Pedestal is driven by the first transverse cylinder for being installed in the first supporting rack top and is moved along two horizontal slide rails, is vertically pacified on vertical pedestal If two vertical rails, two vertical rails set a connecting plate, and the connecting plate is by being installed in first lifting cylinder on vertical pedestal top Two vertical rails of drives edge lift in a vertical direction, and it is mechanical that the setting of connecting plate upper edge the first shifting disc feeding direction interval is skidded Hand, gripping manipulator, assembly manipulator and sizing manipulator;The skidding manipulator includes the motor being installed on connecting plate, The rotation axis of the motor connects a shaft by gear drive, and end of the shaft far from gear connects a both arms by a connector Clamping manipulator, the rotation of motor drive shaft, both arms clamping manipulator grip the first shifting disc jacked up by the first liftout component And rotary motion, the movement of vertical pedestal and connecting plate is matched, the first shifting disc is transferred on support base by skidding manipulator;Institute The movement that gripping manipulator coordinates vertical pedestal and connecting plate is stated, the first shifting disc gripping on support base is transferred to the On the oiling station of one oiling component;The assembly manipulator includes a wedge, and wedge is also connected with the first both arms clamping machine Hand, the assembly manipulator follow connecting plate to move, and oiling is clamped from oiling station by the first both arms clamping manipulator Rear the first shifting disc is simultaneously transferred to on the station clamp at the first shifting disc feed mechanism face position, and the wedge then will The first shifting disc being transferred on matching station clamp and the holder, hand balance staff core sleeve and the first rotor that are placed on station clamp Assembly;The mechanical hand of the sizing includes an inserting column, matches the movement of vertical pedestal and connecting plate, and inserting column is inserted into be put with holder, hand It is carried out shaping in shaft core axle sleeve and the first shifting disc of the first rotor assembly；The first oiling component includes applying fuel tap, the painting Fuel tap matches with oiling station in position, and energy active alignment is placed in the first shifting disc on oiling station, oiling station Lower part is additionally provided with the first rotary cylinder, which can drive oiling station and the first shifting disc rotary motion.

In the above-mentioned technical solutions, second rotor and the second shifting disc assemble mechanism include the second rotor feed mechanism With the second shifting disc feed mechanism;Wherein, the second rotor feed mechanism includes that the second rotor oscillation disk and the second rotor are defeated It send, single second rotor is discharged into the second rotor feed track, the second rotor feed track court by the second rotor oscillation disk It is conveyed at the second rotor to the position docked with the second shifting disc feed mechanism to price fixing center of circle direction;Described second stirs Disk feed mechanism includes the second vibrating disk set gradually along the second shifting disc feeding direction, the second feed track, second moves material group Part and the second feeding material component, second feed track are equipped with for purging the second bubbling device of the second shifting disc, and described the Lower part at two feed tracks and the second shifting material component docking location sets the second liftout component, the second feeding material component vertical direction Lower section be additionally provided with the second oiling component;The second oiling component and the second liftout inter-module every section on be additionally provided with one and put Set the first support base of the second shifting disc;Second vibrating disk is discharged into the second feed track for single second shifting disc;It is described Second bubbling device is for cleaning the second shifting disc conveyed along the second feed track;Described second to move material component include the Push plates are expected in two shifting material cylinders and the second shifting being attached thereto, and housing for accommodating second shifting disc of system is opened in the second shifting material push plate Slot, the second shifting disc, which can be moved in the storage tank from the second feed track and be moved by second, expects that cylinder driving second moves material push plate and moves It moves and is transferred to the second feeding material component and grips at the second shifting disc position;The second liftout component include the second material ejection cylinder and The second fore-set being attached thereto, second material ejection cylinder drive the second fore-set to be vertically moved upwardly by, and jack-up is moved by described second Material component pushes to second shifting disc on the second fore-set top;Second feeding material component includes the second supporting rack, the second support Two second horizontal slide rails are installed on frame top, one second vertical pedestal are set in two second horizontal slide rails, the second vertical pedestal is by installing The second transverse cylinder on the second supporting rack top drives to be moved along two second horizontal slide rails, is vertically installed on the second vertical pedestal Two second vertical rails, two second vertical rails set one second connecting plate, and second connecting plate is by being installed in the second vertical pedestal Second lifting cylinder drives edge, two second vertical rails on top lift in a vertical direction, and the second connecting plate upper edge second is stirred Disk feeding direction interval is arranged the second skidding manipulator, the second gripping manipulator, the second assembly manipulator and takes rotor manipulator; The second skidding manipulator includes the second motor being installed on the second connecting plate, and the rotation axis of second motor passes through gear Be sequentially connected one second shaft, which connects one second both arms clamping machine by one second connector Tool hand, the rotation of second the second shaft of motor drive, the second both arms clamping manipulator grip second jacked up by the second liftout component Shifting disc and rotary motion, match the movement of the second vertical pedestal and the second connecting plate, and the second skidding manipulator is stirred second Disk is transferred on the first support base;Second gripping manipulator coordinates the movement of the second vertical pedestal and the second connecting plate, will The second shifting disc gripping on the first support base is transferred on the second oiling station of the second oiling component;Second dress Include one second wedge with manipulator, and the second wedge is also connected with third both arms clamping manipulator, second assembly manipulator It follows the second connecting plate to move, is clamped second group after oiling from the second oiling station by the third both arms clamping manipulator Moving plate is simultaneously transferred at the second feeding material component and cycloidal mechanism docking location, and by second wedge by second shifting disc with The the second rotor assembly having been placed at the second feeding material component and cycloidal mechanism docking location is whole；It is described to take rotor manipulator then Second rotor is gripped from the second rotor feed track end and is delivered to the second feeding group by the movement for following the second connecting plate At part and cycloidal mechanism docking location;The second oiling component include second apply fuel tap, this second apply fuel tap in position with Second oiling station matches, and can active alignment be placed in the second shifting disc on the second oiling station, under the second oiling station Portion is additionally provided with the second rotary cylinder, which can drive the second oiling station and the second shifting disc rotary motion.

In the above-mentioned technical solutions, the cycloidal mechanism includes living with second rotor and the second shifting disc assemble mechanism The swing component of dynamic docking and the take-off assembly docked with the swing component activity, the take-off assembly and the swing component pair Connecing the lower end at position and being additionally provided with will follow turntable to turn to and the hand balance staff on the station clamp at cycloidal mechanism face position Second sliding mechanism of core sleeve's rotational slippage;The swing component can integrally revolve the second rotor of assembly and the second shifting disc Turn to be moved to at the take-off assembly docking location, and is transferred to after being gripped by the take-off assembly and turntable is followed to turn to With on the station clamp of the cycloidal mechanism face;Wherein, the swing component includes swing block and swing cylinder, the swing Block both ends set the placed seat of the second rotor and the second shifting disc entirety, and the swing cylinder can drive the swing block and placed seat Rotary oscillation；The take-off assembly includes third line slide rail, sets third bottom plate on third line slide rail, on the third bottom plate If third telescopic cylinder, and third bottom plate front end is equipped with the 4th gripping manipulator and the first shaft core solid mechanical hand successively;It is described Third telescopic cylinder can drive the third bottom plate to drive the 4th gripping manipulator and the first shaft core solid mechanical hand along price fixing Diametric(al) telescopic moving coordinates the lifting of the price fixing, the 4th gripping manipulator that can stir the second rotor and second Consolidation body, which is gripped and is delivered to from placed seat, follows turntable to turn to on the station clamp from cycloidal mechanism face position, makes Second rotor and the second shifting disc are assembled with the hand balance staff core sleeve for completing rotational slippage, and the first shaft core solid mechanical hand When the 4th gripping manipulator is placed in placed seat docking location, insertion follows turntable to turn to and is just being aligned with cycloidal mechanism It sets in the station clamp at place, fixed hand balance staff core sleeve simultaneously coordinates second sliding mechanism to act, the rotation of Shi Shou balance staffs core sleeve Turn to skid;Second sliding mechanism includes a second vertical bottom plate being connect with the cabinet, the second vertical bottom plate upper edge Vertical direction is equipped with the second rolling guide, and second rolling guide drives rolling by the third rotary cylinder for being installed in its bottom end It is dynamic, one second connecting seat is vertically installed on the sliding block of second rolling guide, fixed second lifts on second connecting seat Cylinder and the second skidding cylinder, the piston of second lifting cylinder are connect with one second pushing block, and second pushing block is opened with one It is formed with the second horizontal block connection of first through hole, the second skidding cylinder rotates pipe with one second by shaft coupling and connect, this The upper end of two rotation pipes is provided with the first expansion-head and the second rotation pipe vertically penetrates the first through hole, and described first is swollen Swollen head is the accommodating position of hand balance staff core sleeve;Second lifting cylinder can drive second pushing block and the second horizontal block vertical It is moved on direction, movement can be such that first expansion-head tightens or fluffy to second horizontal block in a vertical direction, to clamp Or hand balance staff core sleeve is unclamped, coordinate the second skidding cylinder to drive the second rotation pipe rotation, makes to be placed in and rotating mechanism Hand balance staff core sleeve on station clamp at structure face position rotates to can complete to assemble with the second rotor and the second shifting disc.

In the above-mentioned technical solutions, the riveting mechanism includes bearing, which sets riveting cylinder, the bearing Set one on side and open the pedestal for being formed with sliding slot, a riveting sliding block activity be installed in the sliding slot of the pedestal and with the riveting gas Cylinder connects, and riveting column and riveting block are set on the riveting sliding block;The riveting cylinder drives the riveting sliding block movement, makes riveting column and riveting Block supports the holder for terminating in encoder, by the part riveting composite encoder finished product of encoder.

In the above-mentioned technical solutions, the cutting agency includes the 4th line slide rail, and the 4th bottom is set on the 4th line slide rail Plate sets the 4th telescopic cylinder on the 4th bottom plate, and the 4th bottom plate front end is additionally provided with the 4th clamping machine of a gripping hand-code device finished product Tool hand, the 4th telescopic cylinder drive the 4th bottom plate in the diametric(al) telescopic moving of the 4th line slide rail upper edge price fixing, the 4th folder Manipulator is held to follow the 4th bottom plate mobile and coordinate the lifting of price fixing, from follow turntable turn to from cutting agency face position Station clamp on gripping encoder and move material to collection box.

Compared with prior art, the beneficial effects of the present invention are:First, the present invention assembles function two kinds of models of assembling Vehicle-mounted encoder (rotor and to stir disc mechanism different）, the matching performance and strong applicability of kludge;Second is that being set on price fixing whole Shape component and matched detection components, shaping component is for strutting shaping by holder at the beginning and squeezing holder before riveted Repoussage shape, make encoder element in an assembling process can quick assembling and after the completion of assembly can riveted it is secured, improve it is vehicle-mounted The yield of encoder assembling;Third, rotary disc assembly upper end sets disk, the gripper assembly of corresponding feed mechanism is installed on price fixing, Lifting with price fixing, the assembling on each station made, which synchronizes, to be carried out, and assembling effect is good;Fourth, kludge of the invention is to needing Sliding mechanism is all arranged in the part for matching angle or direction installation, matched direction is just adjusted before assembling, to feeding After can correctly assemble, dislocation-free;Fifth, kludge high degree of automation of the invention, assembling production efficiency is high, the unit interval The vehicle-mounted encoder number of interior assembling production is big;Sixth, kludge assembling of the invention is accurate, each encoder element connection jail Gu the yields of encoder is high, the encoder service life of assembling production is long, and the kludge maintenance maintenance side of the present invention Just, service life is long, replacement cost is low.

Description of the drawings

Fig. 1 is the product schematic diagram and its explosive view that the present invention assembles, and a is product stereoscopic schematic diagram, and b is to include first turn The explosive view of the encoder of son and the first shifting disc, c are the explosive view of the encoder comprising the second rotor and the second shifting disc；

Fig. 2 is the stereoscopic schematic diagram of kludge of the present invention；

Fig. 3 is Cam splitter component of the present invention and turntable, the installation diagram of price fixing；

Fig. 4 is the stereogram of the holder feed mechanism of the present invention；

Fig. 5 is the hand balance staff spindle sleeve of the present invention and the stereogram of hand pendulum ontology feed mechanism；

Fig. 6 is the stereogram of the first rotor feed mechanism of the present invention；

Fig. 7 is the stereogram of the first wave Moving plate feed mechanism of the present invention；

Fig. 8 is partial structural diagram in Fig. 7；

Fig. 9 is the three-dimensional structure diagram of the first feeding material component in Fig. 7；

Figure 10 is the stereogram of the second rotor and the second shifting disc assemble mechanism of the present invention；

Figure 11 is the stereogram of the second shifting disc feed mechanism in Figure 10；

Figure 12 is the stereogram one of the cycloidal mechanism of the present invention；

Figure 13 is the stereogram two of the cycloidal mechanism of the present invention；

Figure 14 is the stereogram of the riveting mechanism of the present invention；

Figure 15 is the stereogram of the cutting agency of the present invention；

Figure 16 is the stereogram of the 5th clamping manipulator component of the present invention.

Specific implementation mode

The present invention is described in further detail by 1-17 below in conjunction with the accompanying drawings.

The present invention is a kind of automatic assembling for assembling vehicle-mounted encoder, certainly, automatic assembling assembling Encoder is not only only limited to a kind of vehicle-mounted encoder of model, in kludge in the present embodiment, is just applicable in two kinds of types Number vehicle-mounted encoder assembling, can be assembled includes 004 (old shifting disc of the first rotor 003 (old rotor) and the first shifting disc） Vehicle-mounted encoder and it is composable include the vehicle-mounted of the second rotor 005 (new rotor) and the second shifting disc 006 (new shifting disc) By setting the formula i.e. vehicle-mounted encoder of composable different model, the formula illustrated, the application are needed with encoder in practice The embodiment of the kludge illustrated not defines the technical solution that the application is protected.Refer to the attached drawing 1-16, the application's A kind of embodiment of the automatic assembling of vehicle-mounted encoder is assembled, it includes the rotary disc assembly 2 being set on 1 top surface of cabinet, ginseng Attached drawing 2-3 is examined, which includes the turntable 21 set gradually from bottom to top and price fixing 22,2 lower end of the rotary disc assembly (vertical direction) sets Cam splitter component 3, and the Cam splitter component 3 can 21 intermittent rotary of driving disc and driving price fixing 22 intermittent liftings.Refer to the attached drawing 2 sets holder feed mechanism 4, hand balance staff core sleeve on 1 top surface of cabinet around the rotary disc assembly 2 Feed mechanism 5, the first rotor feed mechanism 6, the first shifting disc feed mechanism 7, the second rotor and the second shifting disc assemble mechanism 8, hand pendulum ontology feed mechanism 9, riveting mechanism 10 and cutting agency 11;Two shapings for holder shaping are set on the price fixing 22 Component 12 and several detection components 13;21 circumferential edges of the turntable go into battle show it is several shelved for 100 part of encoder and The station clamp 14 of assembling, it should be noted that, it is to make the above-mentioned each feed mechanism of finger will that so-called encoder element, which is shelved and assembled, Each part of encoder 100 is delivered on matched station clamp 14, meanwhile, the assembling of 100 part of encoder is also in station It is carried out on fixture 14, meanwhile, station clamp 14 is installed on turntable 21, and turntable 21 is followed to rotate together, and part feeding Mechanism, riveting mechanism 10, cutting agency 11, shaping component 12 and detection components 13 are fixed, and on fixed position Repeat a certain assembly action, therefore, each mechanism is rotated after corresponding part feeding, station clamp 14 by turntable 21 It is moved with matching angle, the part of corresponding feeding or assembly is moved to and the assembly of next adjacent mechanism corresponding position, group A part is loaded, and another station clamp 14 after this station clamp 14 carries corresponding part and is turned to and mechanism phase On corresponding position;Refer to the attached drawing 2 and attached drawing 12-13,1 top surface of cabinet match second rotor and the second shifting disc assembly machine It is additionally provided with cycloidal mechanism 15 at 8 installation position of structure, in position, which is placed in the second rotor and the second fluctuation disk dress Fitting mechanism 8 is towards the front end on 22 center of circle direction of price fixing, certainly, is additionally provided with controller (not shown in attached drawing), the controller Assembly working for the vehicle-mounted encoder component for controlling the application;Refer to the attached drawing 2-16, in assembling process, the turntable 21 drive 14 intermittent rotaries of several station clamps, to make through the coding on each feed mechanism feeding to station clamp 14 Device part rotary motion;And the holder feed mechanism 4, hand balance staff core sleeve feed mechanism 5, the first rotor feed mechanism 6, One shifting disc feed mechanism 7 can be corresponded to the holder 001 of encoder 100, hand balance staff core sleeve 002, the first rotor 003, first Shifting disc 004, hand pendulum ontology 007 be delivered on matched station clamp 14 (assembling include the first rotor 003 and the first shifting disc 004 vehicle-mounted encoder), the riveting mechanism 10 is used for the part of riveted encoder 100 into encoder finished product, the blanking machine Structure 11 is used in the encoder finished product blanking to collection box 16 of 10 riveted of riveting mechanism, and two shaping components (12A, 12B) are respectively For strut shaping (when initial, by the corner of holder 001 and four to the holder 001 conveyed by the holder feed mechanism 4 Side struts outward, quick assembling when to enable subsequent parts to assemble, and the opening because of holder 001 is avoided to be assembled less than position influence And generate than encoder defective products) and to by the holder 001 before 10 riveted of riveting mechanism carry out interior crowded shaping (before riveting, Product is molded soon at this time, at this time inwardly squeezes holder, and the holder 001 to enable is solidly connected securely with other parts, is also protected Demonstrate,prove the compactedness of encoder）;And the cycloidal mechanism 15 is then used in assembling include the second rotor 005 and the second shifting disc 006 Encoder when, by the second rotor and the second shifting disc assemble mechanism assembly 8 the second rotor 005 and the second shifting disc 006 it is whole Body transfers on matched station clamp 14, it should be noted that in structure, the kludge satisfaction of the application can make up two The encoder of kind of model can be controlled by controller in practice and assemble a kind of encoder of model, such as, when assembling includes the When the encoder of two rotors 005 and the second shifting disc 006, at this time, the first rotor feed mechanism 6 and the first shifting disc feed mechanism 7 do not work, and turntable 21 drives the rotation of corresponding station clamp 14 as the first rotor feed mechanism 6 and the first shifting disc feeder When at 7 face position of structure, station clamp 14 not feeding the first rotor 004 and the first shifting disc 005, but match turntable 21 Intermittent rotary is accepted when rotation is as at 8 face position of the second rotor and the second shifting disc assemble mechanism by cycloidal mechanism 15 The second rotor 005 and 006 entirety of the second shifting disc of conveying and the hand balance staff core sleeve 002 and the branch that have been placed on station clamp 14 Frame 001 assembles;Otherwise when assembling includes the encoder of the first rotor 003 and the second shifting disc 004, corresponding second rotor with Second shifting disc assemble mechanism 8 does not work.

In the present embodiment, each feed mechanism, riveting mechanism 10, the concrete structure of cutting agency 11 are as follows：Refer to the attached drawing 3, the Cam splitter component 3 includes a vertical shaft 31, and the turntable 21 is threaded through in the vertical shaft 31, described vertical 31 upper end of shaft is flexibly connected with the price fixing 22, and the lower end of vertical shaft 31 penetrates a deceleration being installed on cabinet 1 downward Case 32 is simultaneously sequentially connected with vertical shaft 31, and a lateral rotation axis 33 is horizontally through the reduction box 32 and by gear 34 and peace The rotation axis 351 for being located at the driving motor 35 on cabinet 1 is sequentially connected;The vertical shaft 31 runs through the one of the reduction box 32 End is also connected with a cam pack 36, which includes connecting seat 361, connecting rod 362, the driving electricity of eccentric wheel 363 and first Machine 364, the connecting seat 361 are connect with the vertical shaft 31, and 362 one end of the connecting rod connects the connecting seat 361, another End connects the eccentric wheel 363, and the eccentric wheel 363 is connect with the rotation axis 3641 of first driving motor 364;First drives Dynamic motor 364 drives the eccentric wheel 363 to rotate, and is driven the connecting rod 362 and drives connecting seat 361 and vertical shaft 31 vertical Direction is moved, and makes the price fixing 22 in vertical direction intermittent lifting, and the driving motor 35 is driven vertically by reduction box 32 Shaft 31 rotates, and makes the turntable 21 with respect to 1 intermittent rotary of cabinet.

Refer to the attached drawing 2-4, the holder feed mechanism 4 include the holder loading assemblies 41 being set on 1 top surface of cabinet and set In the holder gripper assembly 42 docked on the price fixing 22 and with the holder loading assemblies 41;Refer to the attached drawing 4, on the holder Expect that component 41 includes mount vibration disk 411, holder feed track 412 and moves material component 413,412 both ends of holder feed track are divided It is not docked with the mount vibration disk 412 and shifting material component 413, single holder 001 is discharged by the mount vibration disk 411 successively Holder feed track 411, the holder feed track 412 expect component towards 22 center of circle direction transfer gantry 001 of price fixing to the shifting 413;And it is described to move material component 413 include first cylinder 414 and the first push plate 415 for being attached thereto, in first push plate 415 The placement position 416 that system houses holder 001 is opened, the first cylinder 414 drives the first push plate 415 movement, makes the placement position 416 and institute The delivery outlet activity for stating material feed track 412 docks and is moved to holder 001 and the holder from 412 end of material feed track At the position that gripper assembly 42 is docked;Holder gripper assembly 42 described in refer to the attached drawing includes line slide rail 421, and the straight line is slided Bottom plate 422 is set on rail 421, telescopic cylinder 423 is set on the bottom plate 422, and 422 front end of bottom plate is equipped with a gripping holder 001 Clamping manipulator 424, the telescopic cylinder 424 can drive the bottom plate 422 in the diameter side of 421 upper edge price fixing 22 of line slide rail To telescopic moving, the clamping manipulator 424 follows bottom plate 422 to move and coordinates the lifting of the price fixing 22, by holder 001 from Placement position 416 grip and be transplanted on follow turntable 21 turn to on the station clamp 14 at 4 face position of holder feed mechanism.

Refer to the attached drawing 2-3 and attached drawing 5, hand balance staff core sleeve feed mechanism 5 and hand pendulum ontology feed mechanism 9 include setting In on 1 top surface of cabinet loading assemblies 51 and the gripper assembly docked on the price fixing 22 and with the loading assemblies 51 52;Loading assemblies 51 described in refer to the attached drawing include material feed track 511, and the material feed track 511 is towards 22 center of circle side of price fixing To at conveying hand balance staff core sleeve 002 or hand pendulum ontology 007 to the position docked with the gripper assembly 52, need to illustrate When, this two station is artificial pendulum material station, in practice, hand balance staff spindle sleeve 002 or hand pendulum ontology 007 is passed through Manual feeding Certainly, it (also can actually corresponding hand balance staff core sleeve or hand pendulum ontology vibrating disk be carried out on automatic to 511 end of material feed track Material）;Gripper assembly 52 described in refer to the attached drawing includes first straight line sliding rail 521, and the first bottom is set on the first straight line sliding rail 521 Plate 522 sets the first telescopic cylinder 523 on first bottom plate 522, and 523 front end of the first bottom plate is equipped with a gripping hand balance staff core First clamping manipulator 524 of axle sleeve 002 or hand pendulum ontology 007, first telescopic cylinder 523 can drive first bottom plate 522 521 upper edge price fixing 22 of first straight line sliding rail diametric(al) telescopic moving, first clamping manipulator 524 follows One bottom plate 522 moves and coordinates the lifting of the price fixing 22, and ontology 007 is put from feed track 511 by hand balance staff core sleeve 002 or hand End, which grips and is transplanted on, follows turntable 21 to turn to hand balance staff core sleeve feed mechanism 5 or hand pendulum ontology feed mechanism 9 just To being assembled on the station clamp 14 at position.

Refer to the attached drawing 2-3 and attached drawing 6, the first rotor feed mechanism 6 include the first rotor vibrating disk 61, the first rotor Single the first rotor 003 is discharged into first turn by feed track 62 and the first rotor gripper assembly 63, the first rotor vibrating disk 61 Sub- feed track 62, the first rotor feed track 62 convey the first rotor 003 to described first towards 22 center of circle direction of price fixing At the position that rotor gripper assembly 63 is docked;The first rotor gripper assembly 63 described in refer to the attached drawing 6 and the first rotor feed track 62 Lower part at docking location, which is additionally provided with, is placed on following turntable 21 to turn to and the work at 6 face position of the first rotor feed mechanism The sliding mechanism 64 of 002 rotational slippage of hand balance staff core sleeve on position fixture 14;Specifically, the first rotor gripper assembly 63 Including second straight line sliding rail 631, the second bottom plate 632 is set on the second straight line sliding rail 631, and is set on second bottom plate 632 Two telescopic cylinders 633,632 front end of the second bottom plate are equipped with the first rotor gripping manipulator 634 and shaft core solid mechanical hand successively 635;Second telescopic cylinder 633 can drive second bottom plate 632 to drive the first rotor gripping manipulator 634 and shaft core solid Determine diametric(al) telescopic moving of the manipulator 635 along price fixing 22, coordinates the lifting of the price fixing 22, the first rotor catching device The first rotor 003 can be gripped from 62 end of the first rotor feed track and is delivered to by tool hand 634 follows turntable 21 to turn to and the On station clamp 14 at one rotor feed mechanism, 6 face position, makes the first rotor 003 and complete the hand balance staff core of rotational slippage Axle sleeve 002 assembles, and in the first rotor gripping manipulator 634 to be placed in the first rotor defeated for the shaft core solid mechanical hand 635 When sending 62 terminal position, insertion follows turntable 21 to turn to and the station clamp at 6 face position of the first rotor feed mechanism In 14, fixed hand balance staff core sleeve 002 simultaneously coordinates the sliding mechanism 64 to act, and 002 rotational slippage of Shi Shou balance staffs core sleeve is real In the action process of border, the first rotor gripping manipulator 634 and axle center solid mechanical hand 635 are synchronization action, the first rotor folder When manipulator 634 being taken to grip the first rotor 003, the matching of axle center solid mechanical hand 635 is placed in sliding mechanism 64 and corresponding station On fixture 14, the action of sliding mechanism 64 is matched, during the first rotor gripping manipulator 634 grips the first rotor 003, 002 rotational slippage of hand balance staff spindle sleeve being placed on station clamp 14, the first rotor gripping manipulator 634 grip the first rotor 003 when being moved on matched station clamp 14, the first rotor 003 can quickly and correctly with holder 001, hand balance staff mandrel 002 assembly of set;And the sliding mechanism 64 includes a vertical bottom plate 641 being connect with the cabinet 1, on the vertical bottom plate 641 It is equipped with rolling guide 642 in the vertical direction, the rolling guide 642 is driven by the rotary cylinder 640 for being installed in its bottom end and is rolled, Keep the sliding block 6421 of the rolling guide 642 vertically movable, and vertically installs a company on the sliding block 6421 of the rolling guide 642 Joint chair 643, fixed lifting cylinder 644 and skidding cylinder 645 on the connecting seat 643, the piston 6441 of the lifting cylinder 644 It is connect with a pushing block 646, the pushing block 646 is opened with one to be formed with the horizontal block 648 of through-hole 647 and connect, and the skidding cylinder 645 passes through Shaft coupling 65 is connect with a rotation pipe 649, and the upper end of the rotation pipe 649 is provided with expansion-head 6491 and the rotation pipe 649 is perpendicular To the through-hole 647 is penetrated, the expansion-head 6491 is the accommodating position 66 of hand balance staff core sleeve 002;644 energy of the lifting cylinder Drive the pushing block 646 and horizontal block 648 to move in a vertical direction, the horizontal block 648 in a vertical direction movement can make it is described Expansion-head 6491 tightens or fluffy, to clamp or release hand balance staff core sleeve 002, the skidding cylinder 645 is coordinated to drive institute It states rotation pipe 649 to rotate, makes to be placed in and the hand balance staff mandrel on the station clamp 14 at 6 face position of the first rotor feed mechanism 002 rotation of set can extremely be completed to assemble with the first rotor 003.

Refer to the attached drawing 2-3 and attached drawing 7-9, the first shifting disc feed mechanism 7 include along 004 feeding side of the first shifting disc It is moved to the first vibrating disk 71 set gradually, the first feed track 72, first and expects component 73 and the first feeding material component 74, described first Feed track 72 is equipped with the first bubbling device 75 for purging the first shifting disc 004, and first feed track 72 and first moves Lower part at material 73 docking location of component sets the first liftout component 76, and the lower section of 74 vertical direction of the first feeding material component is also set There is the first oiling component 77;It is additionally provided with one on the section at the first oiling component 77 and the first liftout component 76 interval and shelves the The support base 78 of one shifting disc 004;In assembling process, single first shifting disc 004 is discharged into first by first vibrating disk 71 Feed track 72;First bubbling device 75 cleans the first shifting disc 004 conveyed along the first feed track 72;And it is described First shifting expects that component 73 includes the first shifting material push plate 732 that the first shifting is expected cylinder 731 and is attached thereto, the first shifting material push plate The recess 733 that system houses the first shifting disc 004 is opened on 732, the first shifting disc 004 can be moved to the recess from the first feed track 72 It in 733 and moves in material cylinder 731 driving the first shifting material 732 moving process of push plate to follow described first and is moved to the first feeding Component 74 can grip at the position of the first shifting disc 004;The first liftout component 76 is including the first material ejection cylinder 761 and therewith First fore-set 762 of connection, top of first fore-set, 762 top equipped with 004 shape of matching first wave Moving plate, described first Material ejection cylinder 761 drives the first fore-set 762 to be vertically moved upwardly by, and jacks up to be moved by described first and expects that component 73 pushes to the first feeding Component 74 can grip the first shifting disc 004 at the position of the first shifting disc 004, that is, jack up and be placed in the first fore-set 762 top The first shifting disc 004 on the top at end is exactly specifically that the first shifting material component 73 is defeated by first wave Moving plate 004 from first Pushing on the position to match with the first liftout component 76 for 72 ends is sent, then the first liftout component 76 pushes up upward First wave Moving plate 004 is played, first feeding material component 74 enable grips the first shifting disc 004 jacked up;Refer to the attached drawing 9, first feeding material component 74 includes the first supporting rack 7401, and two horizontal slide rails 7402 are installed on 7401 top of the first supporting rack, A vertical pedestal 7403 is set in two horizontal slide rails 7402, vertical pedestal 7403 is by being installed in the first of 7401 top of the first supporting rack The drive of transverse cylinder 7404 is moved along two horizontal slide rails 7402, vertically installs two vertical rails 7405 on vertical pedestal 7403, and two Vertical rails 7405 set a connecting plate 7406, and the connecting plate 7406 is by being installed in first lifting cylinder on 7403 top of vertical pedestal 7407 drives edge, two vertical rails 7405 lift in a vertical direction, 7406 the first shifting disc of upper edge of connecting plate, 004 feeding direction Interval setting skidding manipulator 741, gripping manipulator 742, assembly manipulator 743 and sizing manipulator 744;The skidding machinery Hand 741 includes the motor 7411 being installed on connecting plate 7406, and the rotation axis 7412 of the motor 7411 is driven by gear 7413 A shaft 7414 is connected, which connects a both arms clamping manipulator by a connector 7415 7416, the rotation of 7411 drive shaft 7414 of motor, the gripping of both arms clamping manipulator 7416 jacked up by the first liftout component 76 the One shifting disc 004 and rotary motion, match the movement of vertical pedestal 7403 and connecting plate 7406, and skidding manipulator 741 is by first Shifting disc 004 is transferred on support base 78;The gripping manipulator 742 coordinates the shifting of vertical pedestal 7403 and connecting plate 7406 It is dynamic, the first shifting disc 004 gripping on support base 78 is transferred on the oiling station 771 of the first oiling component 77;Institute It includes a wedge 7431 to state assembly manipulator 743, and wedge 7431 is also connected with the first both arms clamping manipulator 7432, the assembly Manipulator 743 follows connecting plate 7406 to move, and painting is clamped from oiling station 771 by the first both arms clamping manipulator 7432 The first shifting disc 004 after oil and be transferred to on the station clamp 14 at 7 face position of the first shifting disc feed mechanism, it is described Wedge 7431 will then be transferred to the first shifting disc 004 on matching station clamp 14 and the holder 001 being placed on station clamp 14, Hand balance staff core sleeve 002 and the first rotor 003 assemble;The sizing manipulator 744 includes an inserting column 7441, matches vertical pedestal 7403 and connecting plate 7406 movement, inserting column 7441 is inserted into be assembled with holder 001, hand balance staff core sleeve 002 and the first rotor 003 The first shifting disc 004 in carry out shaping, so-called sizing is specified 004 opposite brackets 001 of first wave Moving plate, hand balance staff core sleeve 002 and the first rotor 003 direction, and manipulator 744 of shaping carry out shaping action be the skidding manipulator 741 be placed in Progress is synchronized on first liftout component, 76 matched position and when gripping first wave Moving plate 004, is carried out in sizing manipulator 744 While sizing, the gripping manipulator 742, assembly manipulator 743 are corresponding respectively to be placed in support base 78, on oiling station 771, And the first vibrating disk 004 that gripping is placed on support base 78 and oiling station 771 is carried out respectively.In the present embodiment, with first The lower end of the station clamp 14 of 7 face of shifting disc feed mechanism is additionally provided with third liftout component 79, the third liftout component 79 packet A first vertical bottom plate 791 being connect with the cabinet 1 is included, the first rolling is equipped in the vertical direction on the first vertical bottom plate 791 Dynamic guide rail 792, first rolling guide 792 are driven by the 4th rotary cylinder 793 for being installed in its bottom end and are rolled, and make described the The sliding block 7921 of one rolling guide 792 is vertically movable, and the sliding block 7921 of first rolling guide 792 connects a vertical jacking block 794, the top of the vertical jacking block 794 is equipped with the 5th clamping manipulator 795 for gripping hand balance staff core sleeve 002, The assembly manipulator 743 from oiling station 771 grip oiling after the first shifting disc 004 and be transferred to on the first shifting disc Expect that the station clamp 14 of 7 face of mechanism, the third liftout component 79 act, this is placed in by the clamping of the 5th clamping manipulator 795 Hand balance staff core sleeve 002 on station clamp 14, to which the wedge 7431 in assembly manipulator 743 compresses downwards first wave Moving plate When 004, hand balance staff core sleeve 002 is kept not move, to ensure correctly assembly;And the first oiling component 77 includes applying Fuel tap 772, the painting fuel tap 772 match with oiling station 771 in position, and energy active alignment is placed on oiling station 771 The first shifting disc 004,771 lower part of oiling station is additionally provided with the first rotary cylinder 773, which can drive 004 rotary motion of oiling station 771 and the first shifting disc, to make painting fuel tap 772 apply 004 whole body of first wave Moving plate Oil.

Refer to the attached drawing 2-3 and attached drawing 10-11, second rotor and the second shifting disc assemble mechanism 8 include the second rotor Feed mechanism 81 and the second shifting disc feed mechanism 82 are in structure, the second rotor feed mechanism 81 and the first rotor feeder Structure 6 is similar, and the second shifting disc feed mechanism 82 is in structure and similar with the first shifting disc feed mechanism 7, no Be with place, the second rotor feed mechanism 81 and the second shifting disc feed mechanism 82 it is unassembled it is integral before, not on It is corresponding in structure on material to matched station clamp 14, also it is just to set up independent gripper assembly or gripping body.Specifically , refer to the attached drawing 10-11, the second rotor feed mechanism 81 includes the second rotor oscillation disk 811 and the second rotor feed track 812, single second rotor 005 is discharged into the second rotor feed track 812, second rotor by the second rotor oscillation disk 811 Feed track 812 conveys the second rotor 005 to docking with the second shifting disc feed mechanism 82 towards 22 center of circle direction of price fixing At position;Refer to the attached drawing 10-11, the second shifting disc feed mechanism 82 include along 006 feeding direction (this reality of the second shifting disc It applies in example, feeding direction is parallel with the tangential direction of price fixing 22, which refers to being filled with the second rotor and the second shifting disc Tangent line at 14 position of station clamp of 8 face of fitting mechanism) set gradually the second vibrating disk 821, the second feed track 822, Two move material components 83 and the second feeding material component 84, and second feed track 822 is equipped with for purging the second shifting disc 006 Two bubbling devices 85, the lower part that second feed track 822 and second moves at material 83 docking location of component set the second liftout component 86, the second oiling component 87 is additionally provided with below 84 vertical direction of the second feeding material component;Second oiling component, 87 He It is additionally provided with first support base 88 for shelving the second shifting disc 006 on the section at the second liftout component 86 interval.In assembling process, Second vibrating disk 821 is discharged into the second feed track 822 for single second shifting disc 006;Second bubbling device 85 is used It is cleaned in the second shifting disc 006 conveyed along the second feed track 822;Described second moves material component 83 moves material including second Cylinder 831 and the second shifting material push plate 832 being attached thereto, described second moves in material push plate 832 accommodating second shifting disc 006 of system of opening Storage tank 833, the second shifting disc 006 can be moved in the storage tank 833 from the second feed track 822 and be moved described second Material cylinder 831 driving second, which moves in material 832 moving process of push plate to follow to be moved to the second feeding material component 84 and can grip second, stirs At the position of disk 006；The second fore-set 862 that the second liftout component 86 material ejection cylinder 861 and be attached thereto including second, institute The second top that 862 top of the second fore-set is equipped with matching the second fluctuation 006 shape of disk is stated, second material ejection cylinder 861 drives Second fore-set 862 is vertically moved upwardly by, and the can be gripped by jacking up to move material component 83 by described second and push to the second feeding material component 84 The second fluctuation disk 006 at the position of two fluctuation disks 006, that is, jack up and be placed on second top on 862 top of the second fore-set Second shifting disc 006;Specifically, the exactly second shifting material component 83 fluctuates disk 006 from 822 end of the second feed track by second It pushes on the position to match with the second liftout component 86, then the second liftout component 86 jacks up the second fluctuation disk upward 006, second feeding material component 84 enable grips the second shifting disc 006 jacked up;Second feeding described in refer to the attached drawing Component 84 includes the second supporting rack 8401, and two second horizontal slide rails 8402 are installed on 8401 top of the second supporting rack, and two second laterally One second vertical pedestal 8403 is set on sliding rail 8402, the second vertical pedestal 8403 is by being installed in the of 8401 top of the second supporting rack The drive of two transverse cylinders 8404 is moved along two second horizontal slide rails 8402, and it is perpendicular that two second are vertically installed on the second vertical pedestal 8403 To sliding rail 8405, two second vertical rails 8405 set one second connecting plate 8406, and second connecting plate 8406 is by being installed in second Second lifting cylinder, 8407 drives edge, two second vertical rails 8405 on vertical 8403 top of pedestal lift in a vertical direction, the The second skidding manipulator 841, the second gripping manipulator is arranged in two connecting plates, 8406 the second shifting disc of upper edge, 006 feeding direction interval 842, the second assembly manipulator 843 and rotor manipulator 844 is taken;The second skidding manipulator 841 includes being installed in the second company The rotation axis 8412 of the second motor 8411 on fishplate bar 8406, second motor 8411 passes through the drive connection of gear 8,413 one second Shaft 8414, the end of the second shaft 8414 far from gear 8413 connect one second both arms by one second connector 8415 and are clamped Manipulator 8416, the second motor 8411 are driven the rotation of the second shaft 8412, and the second both arms clamping manipulator 8416 is gripped by second The second shifting disc 006 and rotary motion that liftout component 86 jacks up, match the second vertical pedestal 8403 and the second connecting plate 8406 Movement, the second shifting disc 006 is transferred on the first support base 88 by the second skidding manipulator 841;The second gripping machinery Hand 842 coordinates the movement of the second vertical pedestal 8403 and the second connecting plate 8406, by second group on the first support base 88 The gripping of Moving plate 006 is transferred on the second oiling station 871 of the second oiling component 87;Second assembly manipulator 843 includes One second wedge 8431, and the second wedge 8431 is also connected with third both arms clamping manipulator 8432, second assembly manipulator 843 follow the second connecting plate 8406 to move, and are clamped from the second oiling station 871 by the third both arms clamping manipulator 8432 The second shifting disc 006 after oiling and be transferred to the second feeding material component 84 at 15 docking location of cycloidal mechanism, and by described the Two wedges 8431 by second shifting disc 006 and have been placed at 15 docking location of the second feeding material component 84 and cycloidal mechanism second The assembly of rotor 005 is whole;It is described to take rotor manipulator 844 for common clamping manipulator, it is described to take rotor manipulator 844 then Second rotor 005 is gripped and is delivered to from 812 end of the second rotor feed track by the movement for following the second connecting plate 8406 At 15 docking location of second feeding material component 84 and cycloidal mechanism;And rotor manipulator 844 is taken to carry out taking rotor action being described Second skidding manipulator 841 be placed in on 86 matched position of the second liftout component and same stepping when gripping the second fluctuation disk 006 Capable, while taking rotor manipulator 844 to carry out taking rotor, second gripping manipulator 842, the second assembly manipulator 843 it is corresponding respectively be placed in the second support base 88, on the second oiling station 871, and carry out gripping respectively and be placed in the second support base 88 With the second vibrating disk 006 on the second oiling station 871.In this example, the second oiling component 87 includes the second painting fuel tap 872, which matches with the second oiling station 871 in position, and energy active alignment is placed in the second oiling work The second shifting disc 006 on position 871,871 lower part of the second oiling station are additionally provided with the second rotary cylinder 873, second rotary pneumatic Cylinder 873 can drive 006 rotary motion of the second oiling station 871 and the second shifting disc, to make the second painting fuel tap 872 to second group Moving plate 006 carries out oiling all over the body.

Refer to the attached drawing 2-3 and attached drawing 12-13, the cycloidal mechanism 15 include being filled with second rotor and the second shifting disc The swing component 151 of 8 activity docking of fitting mechanism and the take-off assembly 152 docked with 151 activity of swing component, the feeding group Part 152 is additionally provided with the lower end at 151 docking location of swing component will follow turntable 21 to turn to cycloidal mechanism 15 just To the second sliding mechanism 153 of 002 rotational slippage of hand balance staff core sleeve on the station clamp 14 at position;The swing component Second rotor 005 of assembly and the second shifting disc 006 integral-rotation can be moved to and dock position with the take-off assembly 152 by 151 Place is set, and is transferred to and follows turntable 21 to turn to and 15 face of the cycloidal mechanism after being gripped by the take-off assembly 152 On station clamp 14;Wherein, the swing component 151 includes swing block 1511 and swing cylinder 1512, the swing block 1511 Both ends set the placed seat 1513 of the second rotor and the second shifting disc entirety, in position, described in the 1511 activity docking of swing block Second assembly manipulator 843 and take-off assembly 152, the swing cylinder 1512 can drive the swing block 1511 and placed seat 1513 rotary oscillations will be rotated integrally positioned at 1511 one end of swing block, completion assembly the second rotor and the second fluctuation disk 180 ° are placed on at the movable docking location of take-off assembly 152, and take-off assembly 152 is enable to grip the second rotor and the second fluctuation disk It is whole;Refer to the attached drawing 12-13, the take-off assembly 152 include third line slide rail 1521, and the is set on third line slide rail 1521 Three bottom plates 1522, set third telescopic cylinder 1523 on the third bottom plate 1522, and 1522 front end of third bottom plate is equipped with the successively Four gripping manipulators 1524 and the first shaft core solid mechanical hand 1525;The third telescopic cylinder 1523 can drive the third bottom Plate 1522 drives the 4th gripping manipulator 1524 and the first shaft core solid mechanical hand 1525 to stretch along the diametric(al) of price fixing 22 and moves It is dynamic, coordinate the lifting of the price fixing 22, the 4th gripping manipulator 1524 can be by the second rotor 005 and the second shifting disc 006 Entirety, which is gripped and is delivered to from placed seat 1513, follows turntable 21 to turn to and the station clip from 15 face position of cycloidal mechanism On tool 14, the second rotor 005 and the second shifting disc 006 is made to be assembled with the hand balance staff core sleeve 002 for completing rotational slippage, and it is described First shaft core solid mechanical hand 1525 is inserted into when the 4th gripping manipulator 1524 is placed in 1213 docking location of placed seat Turntable 21 is followed to turn to in the station clamp 14 at 15 face position of cycloidal mechanism, fixed hand balance staff core sleeve 002 simultaneously matches It closes second sliding mechanism 153 to act, 002 rotational slippage of Shi Shou balance staffs core sleeve;Second sliding mechanism 153 includes one The second vertical bottom plate 1531 being connect with the cabinet 1 is equipped with second on the second vertical bottom plate 1531 and rolls in the vertical direction Guide rail 1532, second rolling guide 1532 are driven by the third rotary cylinder 1533 for being installed in its bottom end and are rolled, and described the One second connecting seat 1535 is vertically installed on the sliding block 1534 of two rolling guides 1532, fixed on second connecting seat 1535 Two lifting cylinders 1536 and the second skidding cylinder 1537, the piston of second lifting cylinder 1536 and one second pushing block 1538 connect It connects, second pushing block 1538 is opened with one to be formed with the second horizontal block 154 of first through hole 1541 and connect, the second skidding cylinder 1537 are connect by shaft coupling 155 with one second rotation pipe 156, and the upper end of the second rotation pipe 156 is provided with the first expansion First 1561 and the second rotation pipe 156 vertically penetrate the first through hole 1541, first expansion-head 1561 is hand balance staff core The accommodating position of axle sleeve 002;Second lifting cylinder 1536 can drive second pushing block, 1538 and second horizontal block 154 vertical It being moved on direction, movement can be such that first expansion-head 1561 tightens or fluffy to second horizontal block 154 in a vertical direction, from And clamp or release hand balance staff core sleeve 002, coordinate the second skidding cylinder 1537 that the second rotation pipe 156 is driven to revolve Turn, making to be placed in extremely can be with second with the rotation of hand balance staff core sleeve 002 on the station clamp 14 at 15 face position of cycloidal mechanism Rotor 005 and the second shifting disc 006 are completed to assemble.

Refer to the attached drawing 2-3 and attached drawing 14, the riveting mechanism 10 include bearing 101, which sets riveting cylinder 102, one is set on the side of the bearing 101 and opens the pedestal 103 for being formed with sliding slot 104, and 105 activity of a riveting sliding block is installed in described It is connect in the sliding slot 104 of pedestal 103 and with the riveting cylinder 102, riveting column 106 and riveting block is set on the riveting sliding block 105 107;The riveting cylinder 102 drives the riveting sliding block 105 to move, and riveting column 105 and riveting block 107 is made to support the branch for terminating in encoder Frame 001, by the part riveting composite encoder finished product of encoder.

Cutting agency 11 described in refer to the attached drawing 2-3 and attached drawing 15 includes the 4th line slide rail 111, the 4th line slide rail 111 On set the 4th bottom plate 112, the 4th telescopic cylinder 113 is set on the 4th bottom plate 112,112 front end of the 4th bottom plate is additionally provided with a gripping hand 4th clamping manipulator 114 of encoder finished product, the 4th telescopic cylinder 113 drive the 4th bottom plate 112 in the 4th line slide rail 111 The diametric(al) telescopic moving of upper edge price fixing 22, the 4th clamping manipulator 114 follow the 4th bottom plate 12 to move and coordinate price fixing 22 Lifting, encoder and move material from following turntable 21 to turn to and being gripped on the station clamp 14 from 11 face position of cutting agency To collection box 16.

Refer to the attached drawing 2-3 and attached drawing 16 in the present embodiment, fill on the price fixing 22 in the second rotor and the second shifting disc It is additionally provided with the 5th gripping manipulator component 17, the 5th catching device on position between fitting mechanism 8 and hand pendulum ontology feed mechanism 9 Tool hand component 17 includes the 5th line slide rail 171, sets the 5th bottom plate 172 on the 5th line slide rail 171, is set on the 5th bottom plate 172 5th telescopic cylinder 173, it includes 002, first turn of holder 001, hand balance staff core sleeve that 172 front end of the 5th bottom plate, which is additionally provided with a gripping, Son 003 and the first shifting disc 004 or gripping include that holder 001, hand balance staff core sleeve 002 and the second rotor and second stir consolidation 5th clamping manipulator 174 of body, the 5th telescopic cylinder 173 drive the 5th bottom plate 172 in 171 upper edge price fixing of the 5th line slide rail 22 diametric(al) telescopic moving, the 5th clamping manipulator 174 follow the 5th bottom plate 172 to move and coordinate the lifting of price fixing 22, It is moved comprising holder, hand balance staff in main oiling mechanism 18 and between the station clamp 14 of 17 face of the 5th gripping manipulator component Core sleeve, rotor, the encoder semi-finished product for fluctuating disk, the main oiling that matching carries out encoder operates, and the 5th folder described in face It takes and installs main oiling mechanism 18 on the position of mechanical arm assembly 17.Meanwhile in the present embodiment, detection components be to penetrating optical fiber, There is the part of encoder for detecting corresponding part clamp 14.

It is not intended to limit the scope of the present invention above, all technical spirits according to the present invention are to above implementation Any modification, equivalent variations and modification made by example, in the range of still falling within the technical solution of the utility model.

Claims

1. a kind of automatic assembling for the assembling of vehicle-mounted encoder, it is characterised in that:Include turning on cabinet top surface Disk component, the rotary disc assembly include the turntable and price fixing set gradually from bottom to top, and the rotary disc assembly lower end sets cam segmentation Device assembly, the Cam splitter component energy driving disc intermittent rotary and driving price fixing intermittent lifting;Cabinet surrounds on top surface The rotary disc assembly set holder feed mechanism, hand balance staff core sleeve feed mechanism, the first rotor feed mechanism, on the first shifting disc Expect mechanism, the second rotor and the second shifting disc assemble mechanism, hand pendulum ontology feed mechanism, riveting mechanism and cutting agency;It is described Two shaping components for holder shaping and several detection components are set on price fixing;The disk peripheral edge, which is gone into battle, shows several use In the station clamp that encoder element is shelved and is assembled;Cabinet top surface matches second rotor and the second shifting disc assemble mechanism Cycloidal mechanism is additionally provided at installation position;Wherein, several station clamp intermittent rotaries described in the driven by rotary disc, and drive feeding Encoder element rotary motion on to station clamp;The holder feed mechanism, hand balance staff core sleeve feed mechanism, first turn Sub- feed mechanism, the first shifting disc feed mechanism, hand pendulum ontology feed mechanism can be corresponded to the holder of encoder, hand balance staff mandrel Set, the first rotor, the first shifting disc, hand are put in bulk transport to matched station clamp, and the riveting mechanism is compiled for riveted The part of code device is used at encoder finished product, the cutting agency by the encoder finished product blanking of riveting mechanism riveted to collection box In, two shaping components are respectively used to carry out strutting shaping and to by riveting mechanism to the holder conveyed by the holder feed mechanism Holder before riveted squeezes shaping in carrying out;The cycloidal mechanism is then used to assemble the coding for including the second rotor and the second shifting disc When device, the second rotor and the second shifting disc integral transfer that the second rotor and the second shifting disc assemble mechanism are assembled are to matched On station clamp.

2. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described Cam splitter component includes a vertical shaft, and the turntable is threaded through in the vertical shaft, the vertical shaft upper end and institute Price fixing flexible connection is stated, lower end penetrates the reduction box that one is installed on cabinet and is sequentially connected therewith downward, a lateral rotation Axis is horizontally through the reduction box and is sequentially connected by the rotation axis of gear and the driving motor being installed on cabinet;It is described perpendicular Be also connected with a cam pack through one end of the reduction box to shaft, the cam pack include connecting seat, connecting rod, eccentric wheel and First driving motor, the connecting seat are connect with the vertical shaft, and described connecting rod one end connects the connecting seat, and the other end connects Connect the eccentric wheel, the rotation axis connection of the eccentric wheel and first driving motor;The driving of first driving motor is described partially Heart wheel rotates, and is driven the connecting rod and connecting seat and vertical shaft is driven to be moved in vertical direction, make the price fixing in vertical direction Intermittent lifting, and the driving motor is driven vertical shaft by reduction box and rotates, and makes the turntable with respect to cabinet intermittent rotary.

3. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described Holder feed mechanism include the holder loading assemblies being set on cabinet top surface and on the price fixing and with the holder feeding The holder gripper assembly of component docking;Wherein,

The holder loading assemblies include mount vibration disk, holder feed track and move material component, and holder feed track both ends are divided It not being docked with the mount vibration disk and shifting material component, single holder is discharged into holder feed track by the mount vibration disk successively, The holder feed track expects component towards price fixing center of circle direction transfer gantry to the shifting;The shifting material component includes the first cylinder With the first push plate being attached thereto, the placement position that system houses holder is opened in first push plate, the first cylinder drives the first push plate It is mobile, so that the placement position is docked with the delivery outlet activity of the holder feed track and is moved to holder from holder feed track and At the position of the holder gripper assembly docking；

The holder gripper assembly includes line slide rail, and bottom plate is set on the line slide rail, and telescopic cylinder is set on the bottom plate, and Bottom plate front end is equipped with the clamping manipulator of a gripping holder, and the telescopic cylinder can drive the bottom plate fixed in line slide rail upper edge The diametric(al) telescopic moving of disk, the clamping manipulator follow bottom plate mobile and coordinate the lifting of the price fixing, by holder from Placement position grip and be transplanted on follow turntable turn to on the station clamp at holder feed mechanism face position.

4. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described Hand balance staff core sleeve's feed mechanism and hand pendulum ontology feed mechanism include the loading assemblies being set on cabinet top surface and are set to institute The gripper assembly stated on price fixing and docked with the loading assemblies;Wherein,

The loading assemblies include material feed track, and the material feed track conveys hand balance staff core sleeve towards price fixing center of circle direction Or at hand pendulum ontology to the position docked with the gripper assembly;

The gripper assembly includes first straight line sliding rail, sets the first bottom plate on the first straight line sliding rail, on first bottom plate If the first telescopic cylinder, and the first bottom plate front end is equipped with the first clamping machine of a gripping hand balance staff core sleeve or hand pendulum ontology Hand, first telescopic cylinder can drive first bottom plate to stretch in the diametric(al) of first straight line sliding rail upper edge price fixing and move Dynamic, first clamping manipulator follows the first bottom plate mobile and coordinates the lifting of the price fixing, by hand balance staff core sleeve or hand Pendulum ontology, which is gripped and is transplanted on from material feed track end, follows turntable to turn to and hand balance staff core sleeve's feed mechanism or hand pendulum It is assembled on station clamp at ontology feed mechanism face position.

5. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described The first rotor feed mechanism includes the first rotor vibrating disk, the first rotor feed track and the first rotor gripper assembly, and described first Single the first rotor is discharged into the first rotor feed track by rotor oscillation disk, and the first rotor feed track is towards price fixing center of circle direction At conveying the first rotor to the position docked with the first rotor gripper assembly;The first rotor gripper assembly with first turn Lower part at sub- feed track docking location, which is additionally provided with, is placed on following turntable to turn to and the first rotor feed mechanism face position The sliding mechanism of hand balance staff core sleeve rotational slippage on the station clamp at place;Wherein,

The first rotor gripper assembly includes second straight line sliding rail, sets the second bottom plate on the second straight line sliding rail, and described The second telescopic cylinder is set on two bottom plates, and the second bottom plate front end is equipped with the first rotor gripping manipulator and shaft core solid mechanical successively Hand;Second telescopic cylinder can drive second bottom plate to drive the first rotor gripping manipulator and shaft core solid mechanical hand edge The diametric(al) telescopic moving of price fixing coordinates the lifting of the price fixing, the first rotor gripping manipulator can be by the first rotor Gripped from the first rotor feed track end and be delivered to follow turntable turn to from the first rotor feed mechanism face position On station clamp, the first rotor is made to be assembled with the hand balance staff core sleeve for completing rotational slippage, and the shaft core solid mechanical hand exists When the first rotor gripping manipulator is placed in the first rotor feed track terminal position, insertion follows turntable to turn to and first turn In station clamp at sub- feed mechanism face position, fixed hand balance staff core sleeve simultaneously coordinates the sliding mechanism to act, and makes hand Balance staff core sleeve rotational slippage;

The sliding mechanism includes a vertical bottom plate being connect with the cabinet, is equipped with and rolls in the vertical direction on the vertical bottom plate Guide rail, the rolling guide are driven by the rotary cylinder for being installed in its bottom end and are rolled, vertically pacified on the sliding block of the rolling guide If a connecting seat, fixed lifting cylinder and skidding cylinder, the piston of the lifting cylinder are connect with a pushing block on the connecting seat, The pushing block is opened with one to be formed with the horizontal block of through-hole and connect, and the skidding cylinder is connect by shaft coupling with a rotation pipe, the rotation The upper end of pipe is provided with expansion-head and the rotation pipe vertically penetrates the through-hole, and the expansion-head is the appearance of hand balance staff core sleeve Set;The lifting cylinder can drive the pushing block and horizontal block to move in a vertical direction, and the horizontal block is moved in a vertical direction Kinetic energy makes the expansion-head tighten or fluffy, to clamp or release hand balance staff core sleeve, the skidding cylinder is coordinated to drive institute Rotation pipe rotation is stated, makes to be placed in and the hand balance staff core sleeve rotation on the station clamp at the first rotor feed mechanism face position To can with the first rotor complete assemble.

6. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described First shifting disc feed mechanism includes the first vibrating disk set gradually along the first shifting disc feeding direction, the first feed track, One moves material component and the first feeding material component, and first feed track is equipped with the first purging dress for purging the first shifting disc It sets, the lower part at first feed track and the first shifting material component docking location sets the first liftout component, the first feeding group The first oiling component is additionally provided with below part vertical direction;The first oiling component and the first liftout inter-module every section on It is additionally provided with a support base for shelving the first shifting disc；Wherein,

Single first shifting disc is discharged into the first feed track by first vibrating disk；

First bubbling device cleans the first shifting disc conveyed along the first feed track；

The first shifting material component includes the first shifting material cylinder and the first shifting material push plate being attached thereto, the first shifting material push plate On open system house the first shifting disc recess, the first shifting disc can be moved to from the first feed track in the recess and by first move expect Cylinder driving first moves material push plate movement and is transferred to the first feeding material component and grips at the first shifting disc position；

The first liftout component includes the first material ejection cylinder and the first fore-set for being attached thereto, the first material ejection cylinder driving First fore-set is vertically moved upwardly by, and is jacked up and is moved the first shifting disc that material component pushes to the first fore-set top by described first；

First feeding material component includes the first supporting rack, and two horizontal slide rails are installed on the first supporting rack top, in two horizontal slide rails If a vertical pedestal, vertical pedestal is driven by the first transverse cylinder for being installed in the first supporting rack top and is moved along two horizontal slide rails It is dynamic, two vertical rails are vertically installed on vertical pedestal, two vertical rails set a connecting plate, and the connecting plate is by being installed in vertical pedestal First lifting cylinder drives edge, two vertical rails on top lift in a vertical direction, the first shifting disc of connecting plate upper edge feeding side To interval setting skidding manipulator, gripping manipulator, assembly manipulator and sizing manipulator;The skidding manipulator includes fixed The rotation axis of motor on connecting plate, the motor connects a shaft by gear drive, and end of the shaft far from gear passes through One connector connects a both arms clamping manipulator, the rotation of motor drive shaft, and both arms clamping manipulator is gripped by the first liftout group The first shifting disc and rotary motion that part jacks up, match the movement of vertical pedestal and connecting plate, skidding manipulator is stirred first Disk is transferred on support base;The gripping manipulator coordinates the movement of vertical pedestal and connecting plate, by support base The gripping of one shifting disc is transferred on the oiling station of the first oiling component;The assembly manipulator includes a wedge, and wedge is also The first both arms clamping manipulator is connected, the assembly manipulator follows connecting plate to move, by the first both arms clamping manipulator The first shifting disc after oiling is clamped from oiling station and is transferred to and the work from the first shifting disc feed mechanism face position On position fixture, the wedge then will be transferred to matching station clamp on the first shifting disc and be placed on station clamp holder, Hand balance staff core sleeve and the first rotor assembly;The mechanical hand of the sizing includes an inserting column, matches the shifting of vertical pedestal and connecting plate Dynamic, inserting column is inserted into the first shifting disc assembled with holder, hand balance staff core sleeve and the first rotor and carries out shaping；

The first oiling component includes applying fuel tap, which matches with oiling station in position, and can active alignment The first shifting disc being placed on oiling station, oiling station lower part are additionally provided with the first rotary cylinder, the first rotary cylinder energy band Dynamic oiling station and the first shifting disc rotary motion.

7. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described Second rotor and the second shifting disc assemble mechanism include the second rotor feed mechanism and the second shifting disc feed mechanism;Wherein,

The second rotor feed mechanism includes the second rotor oscillation disk and the second rotor feed track, the second rotor oscillation disk Single second rotor is discharged into the second rotor feed track, the second rotor feed track conveys second turn towards price fixing center of circle direction At son to the position docked with the second shifting disc feed mechanism;

The second shifting disc feed mechanism includes the second vibrating disk set gradually along the second shifting disc feeding direction, second defeated It send, the second shifting material component and the second feeding material component, second feed track are equipped with for purging the second of the second shifting disc Bubbling device, second feed track and the second lower part for moving at material component docking location set the second liftout component, and described second The second oiling component is additionally provided with below feeding material component vertical direction;The second oiling component and the second liftout inter-module every First support base for shelving the second shifting disc is additionally provided on section;

Second vibrating disk is discharged into the second feed track for single second shifting disc；

Second bubbling device is for cleaning the second shifting disc conveyed along the second feed track；

The second shifting material component includes the second shifting material cylinder and the second shifting material push plate being attached thereto, the second shifting material push plate On open the storage tank that system houses the second shifting disc, the second shifting disc can be moved to from the second feed track in the storage tank and by second It moves material cylinder driving second and moves and expect that push plate is mobile and is transferred to the second feeding material component and grips at the second shifting disc position；

The second liftout component includes the second material ejection cylinder and the second fore-set for being attached thereto, the second material ejection cylinder driving Second fore-set is vertically moved upwardly by, and is jacked up and is moved the second shifting disc that material component pushes to the second fore-set top by described second；

Second feeding material component includes the second supporting rack, and two second horizontal slide rails are installed on the second supporting rack top, and two second is horizontal One second vertical pedestal is set on sliding rail, the second vertical pedestal is driven by the second transverse cylinder for being installed in the second supporting rack top It is moved along two second horizontal slide rails, two second vertical rails is vertically installed on the second vertical pedestal, two second vertical rails set one Second connecting plate, second connecting plate are vertical by the second lifting cylinder drives edge two second for being installed in the second vertical pedestal top Sliding rail lifts in a vertical direction, the second skidding manipulator of second connecting plate upper edge the second shifting disc feeding direction interval setting, Second gripping manipulator, the second assembly manipulator and take rotor manipulator;The second skidding manipulator includes being installed in second The rotation axis of the second motor on connecting plate, second motor connects one second shaft by gear drive, and second shaft is remote End from gear connects one second both arms clamping manipulator by one second connector, and second the second shaft of motor drive rotates, The second shifting disc and rotary motion that the gripping of second both arms clamping manipulator is jacked up by the second liftout component, the second vertical bottom of matching Second shifting disc is transferred on the first support base by the movement of seat and the second connecting plate, the second skidding manipulator;Second folder It takes manipulator to coordinate the movement of the second vertical pedestal and the second connecting plate, the second shifting disc on the first support base is gripped It is transferred on the second oiling station of the second oiling component;Second assembly manipulator includes one second wedge, and second presses Seat is also connected with third both arms clamping manipulator, and second assembly manipulator follows the second connecting plate to move, double by the third The second shifting disc after oiling is clamped from the second oiling station and is transferred to the second feeding material component and swing for arm clamping manipulator At mechanism docking location, and by second shifting disc and the second feeding material component and cycloidal mechanism pair are had been placed in by second wedge It is whole to connect the second rotor assembly at position；The movement for taking rotor manipulator then to follow the second connecting plate, by second turn Son is gripped and is delivered to from the second feeding material component and cycloidal mechanism docking location from the second rotor feed track end;

The second oiling component includes the second painting fuel tap, which matches with the second oiling station in position, And energy active alignment is placed in the second shifting disc on the second oiling station, the second oiling station lower part is additionally provided with the second rotary pneumatic Cylinder, second rotary cylinder can drive the second oiling station and the second shifting disc rotary motion.

8. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 1, it is characterised in that:It is described Cycloidal mechanism include the swing component docked with the second shifting disc assemble mechanism activity with second rotor and with the swing group The take-off assembly of part activity docking, the take-off assembly, which is additionally provided with to follow with the lower end at the swing component docking location, to be turned Disk turns to the second sliding mechanism with the hand balance staff core sleeve rotational slippage on the station clamp at cycloidal mechanism face position; Second rotor of assembly and the second shifting disc integral-rotation can be moved to and dock position with the take-off assembly by the swing component Place is set, and is transferred to and follows turntable to turn to the station clamp with the cycloidal mechanism face after being gripped by the take-off assembly On;Wherein,

The swing component includes swing block and swing cylinder, and swing block both ends set the second rotor and the second shifting disc is whole Placed seat, the swing cylinder can drive the swing block and placed seat rotary oscillation；

The take-off assembly includes third line slide rail, and third bottom plate is set on third line slide rail, and is set on the third bottom plate Three telescopic cylinders, and third bottom plate front end is equipped with the 4th gripping manipulator and the first shaft core solid mechanical hand successively;The third Telescopic cylinder can drive the diameter that the third bottom plate drives the 4th gripping manipulator and the first shaft core solid mechanical hand along price fixing Direction telescopic moving coordinates the lifting of the price fixing, the 4th gripping manipulator that can the second rotor and second be stirred consolidation Body, which is gripped and is delivered to from placed seat, follows turntable to turn to on the station clamp from cycloidal mechanism face position, makes second Rotor and the second shifting disc are assembled with the hand balance staff core sleeve for completing rotational slippage, and the first shaft core solid mechanical hand is in institute When stating the 4th gripping manipulator and being placed in placed seat docking location, insertion follow turntable turn to at cycloidal mechanism face position Station clamp in, fixed hand balance staff core sleeve simultaneously coordinates second sliding mechanism to act, and the rotation of Shi Shou balance staffs core sleeve is beaten It is sliding;

Second sliding mechanism includes a second vertical bottom plate being connect with the cabinet, on the second vertical bottom plate vertically Direction is equipped with the second rolling guide, and second rolling guide is driven by the third rotary cylinder for being installed in its bottom end and rolled, institute State and vertically install one second connecting seat on the sliding block of the second rolling guide, on second connecting seat fixed second lifting cylinder and Second skidding cylinder, the piston of second lifting cylinder are connect with one second pushing block, and second pushing block and one is opened and is formed with Second horizontal block of one through-hole connects, and the second skidding cylinder is connect by shaft coupling with one second rotation pipe, second rotation The upper end of pipe is provided with the first expansion-head and the second rotation pipe vertically penetrates the first through hole, and first expansion-head is The accommodating position of hand balance staff core sleeve;Second lifting cylinder can drive second pushing block and the second horizontal block in a vertical direction Mobile, movement can be such that first expansion-head tightens or fluffy to second horizontal block in a vertical direction, to clamp or release Hand balance staff core sleeve coordinates the second skidding cylinder to drive the second rotation pipe rotation, makes to be placed in and cycloidal mechanism face Hand balance staff core sleeve on station clamp at position rotates to can complete to assemble with the second rotor and the second shifting disc.

9. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to any one of claims 1 to 8, special Sign is:The riveting mechanism includes bearing, which sets riveting cylinder, sets one on the side of the bearing and opens and is formed with cunning The pedestal of slot, a riveting sliding block activity are installed in the sliding slot of the pedestal and are connect with the riveting cylinder, and the riveting is slided Riveting column and riveting block are set on block;The riveting cylinder drives the riveting sliding block movement, so that riveting column and riveting block is supported and terminates in encoder Holder, by the part riveting composite encoder finished product of encoder.

10. a kind of automatic assembling for the assembling of vehicle-mounted encoder according to claim 9, it is characterised in that:Institute It includes the 4th line slide rail to state cutting agency, sets the 4th bottom plate on the 4th line slide rail, the 4th telescopic cylinder is set on the 4th bottom plate, 4th bottom plate front end is additionally provided with the 4th clamping manipulator of a gripping hand-code device finished product, and the 4th telescopic cylinder drives the 4th bottom plate In the diametric(al) telescopic moving of the 4th line slide rail upper edge price fixing, the 4th clamping manipulator follows the 4th bottom plate mobile and coordinates The lifting of price fixing, from follow turntable turn to on the station clamp from cutting agency face position grip encoder and move material to Collection box.