CN109079720B - Single robot bearing assembly operation platform - Google Patents

Abstract

The invention relates to a single robot bearing assembly operation platform which comprises an operation platform, wherein a robot, a control device, an assembly operation platform, a bearing part storage platform and an operation tool storage device are arranged on the operation platform, the control device is connected with the robot, the tail end of the robot is connected with a multi-purpose claw for grabbing an operation tool and a bearing, and the operation tool storage device is matched with the assembly operation platform and can be used for fixing, filling, separating and fixing the bearing. The invention realizes the high-integration operation of the robot and the bearing, solves the problems of poor flexibility and low intelligence of bearing assembly, expands the application field of the robot, saves the operation space of the bearing assembly and provides a solution for realizing the bearing assembly by the cooperation of two robots.

Description

Single robot bearing assembly operation platform

Technical Field

The invention relates to the technical field of bearing assembly, in particular to a single robot bearing assembly operation platform.

Background

The bearing is an important part used in mechanical equipment, and its main function is to support the mechanical rotator, reduce the friction coefficient in its motion process and ensure its rotation precision.

The invention patent with the Chinese patent number of CN201610764556.7 discloses an automatic bearing assembly production line, which comprises a robot, a workpiece conveying device, a rotary breaking device and a lifting table, wherein the workpiece conveying devices on an upper layer and a lower layer are arranged on two sides of the robot, one is used for conveying an outer ring of a bearing, the other is used for conveying an inner ring of the bearing, the inner ring and the outer ring of the bearing are provided for the robot at the same position, so that the robot can conveniently provide the rotary breaking device with the bearing to assemble workpieces, meanwhile, the upper layer and the lower layer of the workpiece conveying device are transferred through the lifting table to carry out bearing and accessory transfer, the feeding, the blanking and the bearing assembly are fully automatically processed, and the bearing assembly efficiency is improved.

However, the bearing assembly mode is fixed, the use flexibility is poor, the intelligent degree is low, the operation space is large during the bearing assembly, and the bearing assembly is not facilitated.

Disclosure of Invention

In order to avoid and solve the technical problems, the invention provides a single robot bearing assembly operation platform.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

the utility model provides a single robot bearing assembly operation platform, includes operation platform, last robot, controlling means, assembly operation panel, the bearing spare part storage platform, the operation tool strorage device of being equipped with of operation platform, controlling means links to each other with the robot, the end-to-end connection of robot has the multi-purpose hand claw that is used for snatching operation tool and bearing, operation tool strorage device and assembly operation panel adaptation can be used to the bearing fixed, irritate the pearl, divide the pearl and decide the pearl.

Further, multi-purpose hand 7 includes the connecting plate, the pneumatic tong that links to each other with the middle part of connecting plate, the one end of connecting plate is equipped with along the No. 1 electro-magnet of a plurality of same round line equipartition, the other end of connecting plate is equipped with along No. 2 electro-magnets of a plurality of same round line equipartition and along No. 3 electro-magnets of a plurality of another round line equipartition.

Furthermore, the pneumatic clamping hands and the connecting plate are distributed in a T shape.

Furthermore, the operation tool storage device comprises a bottom plate, and a bearing inner ring fixing device, a bead filling device, a bead distributing device and a bead fixing device which are used as operation tools;

furthermore, a fixing block I for installing a bearing inner ring fixing device, a fixing block II for installing a bead filling device, a fixing block III for installing a bead distributing device and a fixing block IV for installing a bead fixing device are arranged on the bottom plate.

Further, the bearing inner ring fixing device comprises a front support, a rear support and an outer pipe, wherein two ends of the outer pipe are respectively connected with the front support and the rear support;

the inner ring stop block is arranged on the outer tube, a support shaft in threaded connection with the inner ring stop block is arranged in the outer tube, and a large spring located in the self limiting shoulder and the outer tube is sleeved on the support shaft.

Furthermore, irritate pearl device including irritating pearl support, preceding clamp plate, install the back clamp plate on irritating pearl support, both ends link to each other and the communicating ball conveyer pipe with preceding clamp plate and back clamp plate respectively, irritate the top of pearl support and be connected with and snatch the handle, the bottom is equipped with the guide slot.

Furthermore, the bead separating device comprises a supporting disc, a plurality of bead separating rods which are different in length and are uniformly distributed on the same round line are arranged on the supporting disc, and a bead separating head is connected to any bead separating rod in a threaded manner.

Furthermore, decide the pearl device including deciding the pearl base, decide and be equipped with spacing face of outer lane, the spacing face of inner circle on the pearl base, it has a plurality of to decide the pearl cambered surface to be the annular equipartition on the spacing face of outer lane, all is equipped with between the adjacent pearl cambered surface and divides pearl pole preformed hole.

Furthermore, the assembly operation platform comprises a fixed support, the fixed support is provided with a positioning device, a rear support, a bead filling and separating auxiliary device arranged corresponding to the positioning device, and a bead fixing and inner ring fixing auxiliary device arranged corresponding to the rear support, and a guide rod is arranged in the rear support.

Furthermore, the control device comprises a control panel and a control system connected with the control panel;

furthermore, the control system comprises a power supply, an input module, an output module, a PLC (programmable logic controller) connected with the power supply, an electromagnetic valve connected with the PLC and a position sensor;

furthermore, the PLC is connected with the input module and the output module through ports, controls the electromagnetic valve and the electromagnet to act, and receives and processes signals of the position sensor.

The invention has the beneficial effects that: according to the invention, through the combination of a single robot and the end paw thereof and the cooperation with a plurality of tool devices, the high-integration operation of the robot and the bearing is realized, the problems of poor flexibility and low intelligence of bearing assembly are solved, the application field of the robot is expanded, the operation space of the bearing assembly is saved, and a solution for realizing the bearing assembly through the cooperative operation of two robots is provided.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the multi-purpose gripper of the present invention;

FIG. 3 is a schematic view of a portion of the multi-purpose gripper of the present invention after removing the pneumatic gripper;

FIG. 4 is a schematic illustration of the work tool storage device of the present invention;

FIG. 5 is a schematic structural view of a bearing inner race fixing device according to the present invention;

FIG. 6 is an internal cross-sectional view of a bearing inner race fixing device of the present invention;

FIG. 7 is a first schematic structural view of a bead filling apparatus according to the present invention;

FIG. 8 is a second schematic structural view of the bead filling apparatus according to the present invention;

FIG. 9 is a first schematic structural view of the bead separation device of the present invention;

FIG. 10 is a second schematic structural view of the bead separation device of the present invention;

FIG. 11 is a schematic view of the bead-fixing device according to the present invention;

FIG. 12 is a schematic structural view of a bearing component storage platform according to the present invention;

FIG. 13 is a first schematic structural view of an assembly operation table according to the present invention;

FIG. 14 is a second schematic structural view of an assembly station according to the present invention;

FIG. 15 is a sectional view showing the internal structure of the bead-fixing inner ring auxiliary device according to the present invention;

FIG. 16 is a first view of a part of the assembly station according to the present invention;

FIG. 17 is a second partial schematic view of the assembly station of the present invention;

FIG. 18 is a schematic view of the assembly of the spring housing, spring shaft, movable stop and spring in the assembly station;

FIG. 19 is a first schematic structural view of the bead filling and separating auxiliary device of the present invention;

FIG. 20 is a second schematic structural view of the bead filling and separating auxiliary device of the present invention;

FIG. 21 is a schematic structural diagram of a control panel according to the present invention;

fig. 22 is a control block diagram of the control system of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.

As shown in fig. 1 to 22, a single robot bearing assembling operation platform comprises an operation platform 1, wherein a robot 2, a control device 3, an assembling operation platform 4, a bearing part storage platform 5 and an operation tool storage device 6 are arranged on the operation platform 1, the control device 3 is connected with the robot 2, the tail end of the robot 2 is connected with a multi-purpose claw 7 used for grabbing an operation tool and a bearing, and the operation tool storage device 6 is matched with the assembling operation platform 4 and can be used for fixing, filling, dividing and fixing the bearing.

Multipurpose gripper 7 includes connecting plate 71, the pneumatic tong 75 that links to each other with the middle part of connecting plate 71, the one end of connecting plate 71 is equipped with along No. 1 electro-magnet 72 of a plurality of same round wire equipartition, the other end of connecting plate 71 is equipped with along No. 2 electro-magnets 73 of a plurality of same round wire equipartition and along No. 3 electro-magnets 74 of a plurality of another round wire equipartition. The diameter of the round wire on which the No. 2 electromagnet 73 is located is smaller than that of the round wire on which the No. 3 electromagnet 74 is located. When using like this, can snatch the bearing through 1 electro-magnet 72 circular telegram, No. 2 electro-magnet 73 circular telegram can snatch the bearing inner race 14 of minor diameter, and No. 3 electro-magnet 74 circular telegram can snatch major diameter's bearing outer race 13, and pneumatic tong 75 then can snatch the operation instrument, concentrates on a paw with a plurality of functions of snatching, realizes multiple operation with the help of the action of robot 2, and convenient to use snatchs fast.

The pneumatic clamping arms 75 and the connecting plate 71 are distributed in a T shape.

The work tool storage device 6 comprises a bottom plate 61, and a bearing inner ring fixing device 66, a bead filling device 67, a bead separating device 68 and a bead fixing device 69 which are used as work tools;

and a fixing block I62 for mounting the bearing inner ring fixing device 66, a fixing block II63 for mounting the bead filling device 67, a fixing block III64 for mounting the bead separating device 68 and a fixing block IV65 for mounting the bead fixing device 69 are arranged on the bottom plate 61.

The bearing inner ring fixing device 66 comprises a front support 661, a rear support 662 and an outer tube 663, wherein two ends of the outer tube 663 are respectively connected with the front support 661 and the rear support 662, an inner ring baffle 664 is fixed on the front support 661, a ball fixing ball stopper 666 and a stop rod 667 are arranged on the inner ring baffle 664, and the inner ring stopper 665 slides horizontally; a support shaft 668 in threaded connection with the inner ring stop block 665 is arranged in the outer tube 663, and a large spring 669 positioned in the self limiting shoulder and the outer tube 663 is sleeved on the support shaft 668.

A handle 6621 is fixed to the top of the rear support, the robot 2 can grab the bearing inner ring fixing device 66 onto the assembly operation table 4 through the jaw handle 6621 to work, and guide grooves 66a are formed in the bottoms of the front support 661 and the rear support 662.

When the bearing inner ring fixing device 66 is used, the position of the end face of the bearing inner ring 14 is determined by the fact that the bearing inner ring 14 contacts the inner ring baffle 664, the inner ring stop 665 is pushed out during assembly and used for placing the bearing inner ring 14, then when the balls are filled in the bearing inner ring 14, the ball fixing ball stop 666 can stop the balls between the inner ring and the outer ring, meanwhile, the stop rods 667 guarantee symmetrical distribution of the balls after ball filling, and finally when the bearing is installed, the inner ring stop 665 is reset through the large spring 669.

The bead filling device 67 comprises a bead filling bracket 671, a front pressing plate 672, a rear pressing plate 673 arranged on the bead filling bracket 671 and a ball conveying pipe 674 with two ends respectively connected and communicated with the front pressing plate 672 and the rear pressing plate 673, wherein the top of the bead filling bracket 671 is connected with a grabbing handle 675, and the bottom of the bead filling bracket 671 is provided with a guide groove 671 a. During the use, pack the ball earlier inside ball conveyer 674, only need can realize the ball filling with the ball is ejecting, robot 2 accessible pneumatic tong 75 snatchs handle 675 will irritate pearl device 67 and snatch the assembly operation panel 4 on and carry out work.

The bead separating device 68 comprises a supporting disk 681, wherein a plurality of bead separating rods 682 which are different in length and are uniformly distributed on the same round line are arranged on the supporting disk 681, and a bead separating head 683 is connected to any bead separating rod 682 through threads. The rod length of the bead separating rod 682 on the supporting disk 681 is increased from top to bottom. The bead former 683 is wedge-shaped. During the use, the ball is packed into the back between the bearing inner and outer lane, piles up together because of self gravity, through promoting whole branch pearl device 68, makes the branch pearl pole 682 of different length contact the ball in proper order, and wherein the longest branch pearl pole 682 in bottom at first separates the ball, then realizes the branch pearl to all balls in proper order, easy operation, convenience.

The top of supporting disk 681 is fixed with connection handle 684, the bottom is equipped with guide groove 681a, be equipped with the branch pearl pole clamp plate 685 that compresses tightly branch pearl pole 682 on the supporting disk 681. In use, the robot 2 can grasp the bead separation device 68 on the assembly console 4 through the jaw connection handle 684 for work.

Decide pearl device 69 including deciding pearl base 691, decide and be equipped with spacing face 692 of outer lane, the spacing face 693 of inner circle on the pearl base 691, be the annular equipartition on the spacing face 692 of outer lane and have a plurality of and decide pearl cambered surface 694, all be equipped with branch pearl pole preformed hole 695 between the adjacent pearl cambered surface 694 of deciding. When the ball separating rod 982 is used, the outer ring limiting surface 692 and the inner ring limiting surface 693 respectively determine the positions of the bearing outer ring 13 and the bearing inner ring 14, when the ball separating rod 982 separates balls, the ball separating rod 982 is matched with the corresponding ball separating rod preformed hole 695, and meanwhile, the balls are respectively pushed to the corresponding ball fixing arc surface 694.

Decide and be connected with the handle 696 of picking up on the pearl base 691, decide and be equipped with long guide slot 691a, location guide surface 691b on the circumferential surface of pearl base 691. In use, the robot 2 can grasp the bead-fixing device 69 on the assembly console 4 by the pick-up handle 696 of the pneumatic gripper 75 to work.

The bearing part storage platform 5 comprises a base plate 51, and an inner ring fixing block 52, an outer ring fixing block 53 and a bearing fixing block 54 are arranged on the base plate 51.

The assembly operation platform 4 comprises a fixed support 41, a positioning device 42, a rear support 43, a bead filling and separating auxiliary device 44 arranged corresponding to the positioning device 42, and a bead fixing and inner ring fixing auxiliary device 46 arranged corresponding to the rear support 43 are arranged on the fixed support 41, and a guide rod 45 is arranged in the rear support 43.

The rear support 43 is in the shape of a semi-circular tube. When the ball fixing device is used, the guide rod 45 is matched with the guide groove 66a and the long guide groove 991a, so that the bearing inner ring fixing device 66 and the ball fixing device 69 are installed and guided during working respectively.

The back of the end face of the fixed support 41 connected with the rear support 43 is provided with an upper boss 41b and a lower boss 41b, and the two bosses 41b form clamping grooves matched with the bearing outer ring 13 and are used for positioning the bearing outer ring 13.

The positioning device 42 includes a spring housing 421 fixed on the fixing bracket 41, a spring shaft 422 installed in the spring housing 421, a movable stop 423 fixed on the spring shaft 422, an upper pressing block 424 and a lower pressing block 425 respectively connected to the two springs 41b, and a spring 426 sleeved on the spring shaft 422 and located between shaft holes in the movable stop 423 and the spring housing 421. During the use, robot 2 snatchs bearing inner race 13, moves to movable dog 423 department, presses down movable dog 423 and makes the terminal surface of bearing inner race 13 and the terminal surface contact of fixed grudging post 41, and robot 2 drives bearing inner race 13 and moves to the draw-in groove department that boss 41b formed along the terminal surface of fixed grudging post 41, and simultaneously, moves dog 423 and pops out under the effect of spring 426, fixes bearing inner race 13 at the assembly position.

The bead filling and separating auxiliary device 44 comprises a vertical frame 441 and a moving adjusting cylinder 442 installed on the vertical frame 441, wherein an output end of the moving adjusting cylinder 442 penetrates through the vertical frame 441 to be connected with a moving seat plate 443, a guide rod 444 is slidably matched on the moving seat plate 443, a bead filling cylinder 445 is fixed on the top of the vertical frame 441, and the moving seat plate 443 is provided with a moving stopper 446 and a through hole 443a through which the output end of the bead filling cylinder 445 penetrates. When the ball filling device is used, the robot 2 grabs the ball filling device 67 and the ball dividing device 68, the ball filling device 67 and the ball dividing device 68 are placed in a matched mode through the guide groove 671a and the guide groove 681a and the guide rod 444, the movable adjusting cylinder 442 extends out, the ball dividing device 68 is pushed through the movable base plate 443 to achieve ball dividing, the ball filling cylinder 445 extends out and enters the ball conveying pipe 674 of the ball filling device 67, and balls can be pushed out to a gap between the bearing outer ring 13 and the bearing inner ring 14 to achieve ball filling.

The bead-fixing and inner-ring-fixing auxiliary device 46 includes a frame 461, a bead-fixing device telescopic cylinder 462 connected to the frame 461, a rear moving bracket 463 connected to an output shaft of the bead-fixing device telescopic cylinder 462, and an inner-ring fixing rod telescopic cylinder 464 connected to the rear moving bracket 463 and having an output shaft capable of passing through the rear moving bracket 463. When the ball fixing device is used, the ball fixing device telescopic cylinder 462 acts to push the ball fixing device 69 to fix balls, the inner ring fixing rod telescopic cylinder 464 acts to extend into the outer tube 663 of the bearing inner ring fixing device 66 to push the support shaft 668 to extend, so that the inner ring stop block 665 extends out of the fixed bearing inner ring 14, the fixing support 41 is provided with the through hole 41a, and the ball fixing device telescopic cylinder 462 can push the bearing inner ring fixing device 66 to move to enable the bearing inner ring 14 to penetrate through the through hole 41a and be placed in the bearing outer ring 13.

The fixed bracket 41 is provided with a bracket 411 No. 1 and a bracket 412 No. 2 for mounting a sensor.

The control device 3 comprises a control panel and a control system connected with the control panel;

the control panel comprises a panel bracket 311, and a touch screen 312, a start button 313, a stop button 314, an emergency stop button 315, a start indicator lamp 316, a stop indicator lamp 317 and a power indicator lamp 318 are mounted on the panel bracket 311.

The control system comprises a power supply, an input module, an output module, a PLC (programmable logic controller) connected with the power supply, an electromagnetic valve connected with the PLC and a position sensor;

the PLC is connected with the input module and the output module through ports, controls the electromagnetic valve and the electromagnet to act, and receives and processes signals of the position sensor.

The PLC is connected to the touch screen 312 via ethernet.

The position sensor comprises a bead filling device in-place detection sensor 8, a bead separating device in-place detection sensor 9, a movable seat plate return in-place detection sensor 10, a rear movable support return in-place detection sensor 11 and an inner ring fixing device in-place detection sensor 12, wherein the bead filling device in-place detection sensor and the bead separating device in-place detection sensor are connected to the No. 1 support 411, the movable seat plate return in-place detection sensor 10, the rear movable support return in-place detection sensor 11 is connected to the No. 2 support 412, and the inner ring fixing device in-place detection sensor 12 is connected to the No. 2 support.

The electromagnetic valve comprises an air claw loosening electromagnetic valve, an air claw closing electromagnetic valve, a bead fixing air cylinder electromagnetic valve, a bead fixing device pushing electromagnetic valve, a bead separating device returning electromagnetic valve, a bead separating device pushing electromagnetic valve, a bead filling air cylinder returning electromagnetic valve, a bead filling air cylinder extending electromagnetic valve, an inner ring fixed rod telescopic air cylinder returning electromagnetic valve and an inner ring fixed rod extending electromagnetic valve.

The output module is connected with a gas claw loosening electromagnetic valve, a gas claw closing electromagnetic valve, a bead fixing air cylinder electromagnetic valve, a bead fixing device pushing electromagnetic valve, a bead separating device returning electromagnetic valve, a bead distributing device pushing electromagnetic valve, a bead filling air cylinder returning electromagnetic valve, a bead filling air cylinder extending electromagnetic valve, an inner ring fixed rod telescopic air cylinder returning electromagnetic valve, an inner ring fixed rod extending electromagnetic valve, a robot controller, a No. 2 electromagnet, a No. 1 electromagnet and a No. 3 electromagnet.

The pneumatic claw release electromagnetic valve and the pneumatic claw closing electromagnetic valve are connected with the pneumatic clamping hand 75;

the bead fixing cylinder electromagnetic valve and the bead fixing device push-out electromagnetic valve are connected with the bead fixing device telescopic cylinder 462;

the bead separating device retreating electromagnetic valve and the bead separating device pushing electromagnetic valve are connected with the movable adjusting cylinder 442;

the inner ring fixed rod telescopic cylinder retreats to the electromagnetic valve, and the inner ring fixed rod extends out of the electromagnetic valve to be connected with the inner ring fixed rod telescopic cylinder 464.

The input module is connected with a bead filling device in-place detection sensor, a bead distribution device in-place detection sensor, a bearing inner ring fixing device in-place detection sensor, a bead fixing device in-place detection sensor and a robot controller.

When in use, the bearing inner ring 14 and the bearing outer ring 13 are respectively arranged on the inner ring fixing block 52 and the outer ring fixing block 53 in the bearing part storage platform 5; then, by inputting an instruction on the control panel 3, the control system controls the robot 2 to grab the bearing outer ring 13 and the bearing inner ring 14 and sequentially place the bearing outer ring and the bearing inner ring into the assembly operation table 4, controls the robot 2 to respectively grab the bearing inner ring fixing device 66 and the bead fixing device 69 in the operation tool storage device 6 on the rear support 43, and grabs the bead filling device 67 and the bead separating device 68 in the bead filling and bead separating auxiliary device 44 to assemble the bearing; finally, when the bearing is assembled, the control system controls the robot 2 to place the assembled bearing on the bearing fixing block 54.

In conclusion, the robot and the bearing assembling method have the advantages that the single robot is combined with the tail end paw of the robot and is matched with the plurality of tool devices, high-integration operation of the robot and the bearing is achieved, the problems of poor flexibility and low intelligence of bearing assembling are solved, the application field of the robot is expanded, the operation space of bearing assembling is saved, and a solution for achieving bearing assembling through cooperation of the double robots is provided.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. The utility model provides a single robot bearing assembly operation platform, includes operation platform (1), its characterized in that: the robot-type bead-filling machine is characterized in that a robot (2), a control device (3), an assembly operation table (4), a bearing part storage platform (5) and a working tool storage device (6) are arranged on the operation platform (1), the control device (3) is connected with the robot (2), the tail end of the robot (2) is connected with a multipurpose gripper (7) used for grabbing a working tool and a bearing, and the working tool storage device (6) is matched with the assembly operation table (4) and can be used for fixing, filling, separating and fixing the bearing; the working tool storage device (6) comprises a bottom plate (61), and a bearing inner ring fixing device (66), a bead filling device (67), a bead separating device (68) and a bead fixing device (69) which are used as working tools; a fixed block I (62) for installing a bearing inner ring fixing device (66), a fixed block II (63) for installing a bead filling device (67), a fixed block III (64) for installing a bead separating device (68) and a fixed block IV (65) for installing a bead fixing device (69) are arranged on the bottom plate (61); the bead separating device (68) comprises a supporting disk (681), a plurality of bead separating rods (682) which are different in length and are uniformly distributed on the same circle line are arranged on the supporting disk (681), and a bead separating head (683) is in threaded connection with any bead separating rod (682); after the steel balls are loaded between the inner ring and the outer ring of the bearing, the steel balls are stacked together due to self gravity, the whole ball separating device (68) is pushed, so that the ball separating rods (682) with different lengths sequentially contact the steel balls, wherein the ball separating rod (682) with the longest bottom firstly separates the steel balls, and then the ball separating of all the steel balls is sequentially realized; the bearing inner ring fixing device (66) comprises a front support (661), a rear support (662) and an outer pipe (663) of which two ends are respectively connected with the front support (661) and the rear support (662), wherein an inner ring baffle (664) is fixed on the front support (661), a ball fixing ball stopper (666) and a stopper rod (667) are arranged on the inner ring baffle (664), and an inner ring stopper (665) slides horizontally;

a support shaft (668) in threaded connection with the inner ring stop block (665) is arranged in the outer tube (663), and a large spring (669) positioned in the self limiting shoulder and the outer tube (663) is sleeved on the support shaft (668).

2. The stand-alone robot bearing assembling operation platform of claim 1, wherein: multipurpose gripper (7) include connecting plate (71), pneumatic tong (75) that link to each other with the middle part of connecting plate (71), the one end of connecting plate (71) is equipped with along a plurality of 1 electromagnet (72) of same round wire equipartition, the other end of connecting plate (71) is equipped with along a plurality of 2 No. electromagnet (73) of same round wire equipartition and along a plurality of 3 No. electromagnet (74) of another round wire equipartition.

3. The stand-alone robot bearing assembling operation platform according to claim 2, wherein: the pneumatic clamping hands (75) and the connecting plate (71) are distributed in a T shape.

4. The stand-alone robot bearing assembling operation platform of claim 1, wherein: irritate pearl device (67) including irritating pearl support (671), preceding clamp plate (672), install back clamp plate (673) on irritating pearl support (671), both ends respectively with preceding clamp plate (672) and back clamp plate (673) continuous and communicating ball conveyer pipe (674), irritate the top of pearl support (671) and be connected with and snatch handle (675), the bottom is equipped with guide slot (671 a).

5. The stand-alone robot bearing assembling operation platform of claim 1, wherein: decide pearl device (69) including deciding pearl base (691), it is equipped with outer lane spacing face (692), inner circle spacing face (693) on pearl base (691) to decide, it has a plurality of to decide pearl cambered surface (694) to be the annular equipartition on spacing face (692) of outer lane, all is equipped with between adjacent fixed pearl cambered surface (694) and divides pearl pole preformed hole (695).

6. The stand-alone robot bearing assembling operation platform of claim 1, wherein: the assembly operation platform (4) comprises a fixing support (41), a positioning device (42), a rear support (43), a bead filling and separating auxiliary device (44) which is arranged corresponding to the positioning device (42), and a bead fixing and inner ring fixing auxiliary device (46) which is arranged corresponding to the rear support (43) are arranged on the fixing support (41), and a guide rod (45) is arranged in the rear support (43).

7. The stand-alone robot bearing assembling operation platform of claim 1, wherein: the control device (3) comprises a control panel and a control system connected with the control panel;

the control system comprises a power supply, an input module, an output module, a PLC (programmable logic controller) connected with the power supply, an electromagnetic valve connected with the PLC and a position sensor;

the PLC is connected with the input module and the output module through ports, controls the electromagnetic valve and the electromagnet to act, and receives and processes signals of the position sensor.

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