CN111355350A

CN111355350A - Automatic assembly production line and assembly method for anti-resonance servo motor rotor

Info

Publication number: CN111355350A
Application number: CN202010219583.2A
Authority: CN
Inventors: 杜广锋; 张玉同
Original assignee: Jiangsu Leonard Automation Equipment Co ltd
Current assignee: Jiangsu Juhui Power Equipment Co ltd
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2020-06-30
Anticipated expiration: 2040-03-25
Also published as: CN111355350B

Abstract

The invention relates to the technical field of automatic assembly, in particular to an automatic assembly production line and an assembly method of an anti-resonance servo motor rotor, which comprises a transmission mechanism, a movable industrial robot, an operation table, a first placing table, a surface mounting mechanism, a second placing table, a heating mechanism, a detection mechanism and a tape bundling mechanism, wherein the transmission mechanism comprises a rotor feeding mechanism, a defective product feeding mechanism and a finished product feeding mechanism, the operation table comprises a first station, a second station and a third station, the feeding mechanism and the stations are respectively and sequentially arranged at two sides of a working end of the movable industrial robot, the stations are respectively arranged at the first station and the second station in an upward mode, a working end of the surface mounting mechanism is arranged at the first station towards the first placing table, working ends of the heating mechanism and the detection mechanism are arranged at two sides of the second placing table, the tape bundling mechanism is arranged at the third station, the production line can continuously assemble the anti-resonance servo motor rotor, and has high working efficiency.

Description

Automatic assembly production line and assembly method for anti-resonance servo motor rotor

Technical Field

The invention relates to the technical field of automatic assembly, in particular to an automatic assembly production line and an assembly method of an anti-resonance servo motor rotor.

Background

A servo motor is an engine that controls the operation of mechanical elements in a servo system, and is an auxiliary motor indirect transmission. The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output. The servo motor is divided into two categories of direct current servo motors and alternating current servo motors, and is mainly characterized in that when the signal voltage is zero, the signal voltage has no autorotation phenomenon, and the rotating speed is reduced at a constant speed along with the increase of the torque.

A motor rotor: also a rotating part in the motor. The motor consists of a rotor and a stator, and is a conversion device for realizing electric energy and mechanical energy and electric energy. The rotor of the motor is divided into a motor rotor and a generator rotor. The motor rotor is divided into an inner rotor rotation mode and an outer rotor rotation mode. The inner rotor rotates in such a way that a core body in the middle of the motor is a rotating body, and torque (referred to as a motor) is output or energy is input (referred to as a generator). The outer rotor rotation mode is that the motor outer body is used as a rotating body, and different modes are convenient for application in various occasions.

When assembling the servo motor, the motor rotor needs to be pasted with a piece, and an adhesive tape needs to be wound. Therefore, an automatic assembly robot is needed by enterprises, and can automatically complete the work of pasting the patch and gluing the adhesive tape.

Chinese patent CN201720522546.2 discloses an automatic assembly device for an anti-resonance servo motor rotor, which comprises a first station, a second station, a third station and a base for clamping the motor rotor, wherein the base is provided with a rotary part for clamping the motor rotor; a patch conveying device and a patch mounting device are arranged on the first station, the patch mounting device comprises a cross beam, a clamping mounting seat is movably arranged on the cross beam, a clamping plate is arranged below the clamping mounting seat, and a plurality of clamping heads are arranged on the clamping plate; the second station is provided with a clamping tray and a blocking and stopping cylinder; the third station is provided with a rotating part for driving the rotating part to move, the third station is further provided with a first support and a second support, the first support is provided with a rubber belt rotating shaft for installing a rubber belt cylinder, the third station is provided with a hot air gun, and a rubber belt clamping part is arranged below the second support.

This device does not guarantee the adhesion of the stator to the rotor, which is shown in plan view in fig. 15.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic assembly production line and an assembly method of the anti-resonance servo motor rotor.

In order to solve the technical problems, the invention provides the following technical scheme:

the utility model provides an automatic assembly line of anti-resonance servo motor rotor, is including transmission device, portable industrial robot, operation panel, first platform, paster mechanism, the platform is placed to the second, heating mechanism, detection mechanism and sticky tape bundling mechanism, and transmission device is including rotor feeding mechanism, substandard product feeding mechanism and finished product feeding mechanism, and the operation panel is including first station, second station and third station, feeding mechanism with the station sets gradually respectively in portable industrial robot work end both sides, and first platform and the second of placing is placed the bench and is set up respectively on first station and second station up, and paster mechanism work end is placed the bench setting towards first on first station, and heating mechanism and detection mechanism work end all are placed the bench setting towards the second in second station both sides, and the sticky tape mechanism sets up on the third station.

Preferably, a placement groove is formed in the top end of the first station, and placement frames are vertically arranged on two sides of the bottom end of the placement groove; the first placing table comprises a fixed support plate, an adjustable carrying frame and a positioning rotating frame, four corners of the end of the fixed support plate are provided with fixed legs, the fixed support plate is coaxially arranged on the placing frame through the fixed legs, the working end of the adjustable carrying frame is arranged at the top end of the fixed legs towards the placing groove, and the working ends on two sides of the positioning rotating frame are arranged at the bottom end of the fixed support plate towards the working end of the adjustable carrying frame; the second placing table and the first placing table are identical in structure, and the second station and the third station are identical in structure with the first station; the operating table further comprises an elastic abutting frame, the elastic abutting frame further comprises a first lifting plate, a telescopic column, a first stop block, a second stop block and a spring, the first lifting plate is fixedly arranged at the bottom fixed end of the second placing table, the telescopic column vertically penetrates through the placing frame arranged at the second station at equal intervals and is in sliding fit with the placing frame, the first stop block and the second stop block are coaxially arranged at the top end and the bottom end of the telescopic column respectively, the first stop block is fixedly arranged at the bottom end of the first lifting plate, the spring is coaxially sleeved on the telescopic column, and two ends of the spring are abutted to the top end of the placing frame arranged at the second station and the bottom end of the first stop block respectively; the adhesive tape bundling mechanism is arranged on the placing frame arranged at the third station.

Preferably, the adjustable bearing frame comprises a first fixing plate, a first directional limiting strip, a first sliding block, a rotating seat, a screw rod nut, a threaded rod, a support plate, a first damping wheel and a second damping wheel, wherein the first fixing plate is coaxially arranged at the top end of a fixed support plate, the first directional limiting strip is coaxially arranged at two sides of the first fixing plate, two sides of the bottom end of the first sliding block are arranged at two ends of the first fixing plate in a sliding fit manner with the first directional limiting strip, the rotating seat is arranged at two ends of the top end of the first fixing plate in a sliding manner, two ends of the threaded rod are coaxially and rotatably arranged on the rotating seat, the screw rod nut is coaxially screwed on the threaded rod and fixedly connected with the bottom end of the first sliding block, the support plate is fixedly arranged at the top end of the first sliding block, and the first damping wheel and the second damping wheel are coaxially; the positioning rotating frame comprises a second fixed plate, a second directional limiting strip, a second sliding block, a first double-shaft double-rod cylinder, a second double-shaft double-rod cylinder, a sliding plate, a first tripod, a first servo motor and a butting column, first two pole cylinder working ends sets up down at first fixed plate both ends, the second fixed plate sets up at second fixed plate both ends with the axial both ends and first two pole cylinder working end fixed connection with first fixed plate, the directional spacing of second sets up in second fixed plate both sides with the axial, second sliding block bottom both sides set up at second fixed plate both ends with the directional spacing of second sliding block sliding fit, second two pole cylinder working ends towards the inboard rather than fixed connection of second sliding block, the sliding plate is fixed to be set up on second sliding block top, the vertical setting of first tripod is on the sliding plate top, location swivel mount working end runs through first tripod top and the coaxial fixed connection of butt post towards second fixed plate center pin.

Preferably, the paster mechanism comprises a first guide rail, a first slide block, a long shaft cylinder, a small portal frame, a first synchronous belt sliding table, a second tripod, a mounting side plate, a hollow column, a rubber sucker, a paster conveying device, a glue box, a second lifting plate and a third double-shaft double-rod cylinder, wherein the first guide rail is axially arranged at two sides of the top end of a first station, the first slide block is slidably arranged at two sides of the first guide rail, the long shaft cylinder and the first guide rail are coaxially and fixedly connected with the first guide rail through a connecting piece, two sides of the bottom end of the small portal frame are fixedly arranged at the top end of the first slide block, the first synchronous belt sliding table is coaxially arranged at the top end of the small portal frame, the second synchronous belt sliding table is vertically arranged at the movable working end of the first synchronous belt sliding table, the second synchronous belt sliding table is fixedly arranged at the movable working end of the second synchronous belt sliding, mounting holes are formed in the mounting side plates at equal intervals along the axial direction, the hollow columns are coaxially arranged in the mounting holes, the rubber suckers are coaxially and fixedly arranged at the bottom ends of the hollow columns, the top ends of the hollow columns are communicated with the negative pressure port through hoses, the surface mounting conveying device and the glue boxes are respectively arranged on two sides of the bottom of the small portal frame, the glue boxes are fixedly arranged on the hollow columns, through holes are formed in the top ends of the second lifting plate at equal intervals, feed ports are further formed in the side surfaces of the feed ports, and glue is injected through the feed ports in a working state; the second lifting plate is arranged inside the glue box in a sliding mode, sealing rings are further arranged on the four sides of the second lifting plate, and the working end of the third double-shaft double-rod air cylinder is vertically upwards fixedly connected with the bottom end of the second lifting plate.

Preferably, heating mechanism is including first slider and electric heat strip, first slider including first ball screw slip table, second ball screw slip table, first connecting plate and, first ball screw slip table and second ball screw slip table radially set up in second station top both sides, fixed bottom both sides respectively with slip table expansion end fixed connection, the grudging post is fixed to be set up on first connecting plate top, and the swash plate slope sets up on the top, and the platform is placed at first slider inboard and towards the second with the axial setting to the electric heat strip.

Preferably, the detection mechanism comprises a second sliding device and a detection head, the second sliding device and the first sliding device are completely arranged on the other side of the operation table in the same structure, and the working end of the detection head faces the second placing table and is arranged on the inclined plate of the sliding device at equal intervals.

Preferably, the adhesive tape bundling mechanism comprises a first placing frame, a second placing frame, a third ball screw sliding table, a bundling device, an induction column, a sensor, a driving piece and a controller, wherein working ends of the first placing frame and the second placing frame are oppositely and coaxially arranged at the top end of a third station, the third ball screw sliding table is coaxially arranged at the top end of the third station, the working end of the first placing frame coaxially penetrates through the working end of the second placing frame and is arranged at the movable working end of the third ball screw sliding table, the induction column is vertically arranged at the bottom end of the working end of the placing frame along the radial direction, the working end of the sensor is vertically arranged at the fixed end of the bottom of the third ball screw sliding table, the sensor and the induction column are in the same radial direction, the driving piece is in synchronous transmission connection with the rotating working end of the.

Preferably, the first placing frame comprises a second guide rail, a second sliding block, a fourth double-shaft double-rod cylinder, an upright post, a second connecting plate and a notch type fixing post, the second guide rail is coaxially arranged on two sides of the top end of the first station, the second sliding block is arranged on the second guide rail in a sliding mode, the fourth double-shaft double-rod cylinder is coaxially arranged on the first station, a working end of the fourth double-shaft double-rod cylinder is fixedly connected with the second sliding block through a connecting piece, the upright post is vertically arranged on the top end of the second sliding block, two sides of the bottom end of the second connecting plate are fixedly connected with the upright post, and a groove portion is horizontally arranged on one side of the; the second placing rack structure is completely the same as the first placing rack structure, and the working end of the bundling device fixes the column when coaxially penetrating through the notch of the second placing rack.

Preferably, the bundling device comprises a fixed bottom plate, an avoiding hole type vertical plate, a fixed limiting ring, a rotating ring, a fixed shaft, a rubber belt wheel, a telescopic rod, an electric heating wire and a micro cylinder, wherein the fixed bottom plate is fixedly arranged at the movable working end of the third ball screw sliding table, the avoiding hole type vertical plate is arranged at the top end, an avoiding hole of the avoiding hole type vertical plate is coaxial with the working end of the second placing frame, the fixed limiting ring is coaxially arranged at one end of the avoiding hole type vertical plate avoiding hole and coaxially and rotatably arranged on the fixed limiting ring, the fixed shaft is axially and vertically arranged at one end of the rotating ring, the rubber belt wheel is coaxially and rotatably arranged on the fixed shaft, the telescopic rod axially penetrates through the fixed limiting ring, one end of the telescopic rod is coaxially and fixedly; the driving piece comprises a servo motor and a synchronous belt transmission mechanism, the synchronous belt transmission mechanism is arranged on the fixed base plate, an output shaft is connected with the rotating ring through the synchronous belt transmission mechanism in a synchronous transmission mode, and one end of the rubber belt wheel is adhered to the telescopic rod before work begins.

An assembly method of an automatic assembly production line of an anti-resonance servo motor rotor comprises the following steps: firstly, placing a rotor on a rotor feeding mechanism and transmitting the rotor by the rotor feeding mechanism;

step two, the movable industrial robot clamps rotating shafts at two ends of the rotor and places the rotating shafts on a first station, and the rotating shafts at the two ends are respectively abutted against the first damping wheel and the second damping wheel;

driving a first double-shaft double-rod cylinder to enable the abutting columns at the two ends to respectively orient the two ends of the rotating shaft so as to position the rotating shaft;

sliding the working end of the paster mechanism to enable the rubber suckers to suck a certain number of pasters on the paster conveying device;

fifthly, sliding the working end of the paster mechanism again to dip a certain amount of glue on the glue box at the bottom end of the paster; and attaching it to the rotor;

step six, the rotor is rotated differently through the first servo motor until the attachment is completed, and the first double-shaft double-rod cylinder is started to enable the abutting column to abut against the rotating shafts at the two ends and move upwards for a certain distance;

step seven, the attached rotor is placed on a second placing table through a tape bundling mechanism, and the detection mechanism observes whether the attachment meets the standard or not;

step eight, the rotor which meets the standard is heated through a heating mechanism, so that the glue is solidified, and the glue is placed on a first placing rack and a second placing rack through a mobile industrial robot; the rotor which does not meet the standard is corrected manually or placed on a defective product feeding mechanism by a mobile industrial robot;

ninth, the rotors are placed on the first placing frame and the second placing frame, the working end of the binding device slides on the periphery of the rotors along the axial direction through a third ball screw sliding table, and the adhesive tape is bound on the rotors in the sliding process;

step ten: and placing the finished product on a finished product feeding mechanism by the mobile industrial robot.

Compared with the prior art, the invention has the beneficial effects that:

the rotor is conveyed by the rotor feeding mechanism, the rotor is placed on a first station through the mobile industrial robot and is positioned by the first placing table, after positioning is completed, the rotor is pasted on the outer circumferential surface of the rotor through the pasting mechanism, the pasting process comprises three steps of taking, dipping and covering, after pasting of the rotor is completed, the rotor is moved through the mobile industrial robot to clamp rotating shafts at two ends of the rotor and is lightly placed on a second station and is positioned by the second placing table, the rotor is rotated to enable the detection mechanism to detect whether the rotor pasting meets the standard or not, the pasting meets the standard, namely the outer circumferential surface of the rotor is heated through the heating mechanism, fixing glue is solidified, the fixing piece can be fixed on the rotor, the rotor is prevented from falling off from the fixing piece in the adhesive tape bundling process, and the rotor which does not meet the standard is placed on the outer circumferential surface of the rotor through manual correction of the fixing piece or through the mobile industrial robot And processing the defective products on the feeding mechanism, placing the defective products on a third station workbench by a mobile industrial robot after the veneering detection meets the standard and the fixing glue is solidified, so that the outer circumferential surface of the rotor is bundled by the adhesive tape bundling mechanism, the fixing sheet is fixed on the rotor by the adhesive tape, the rotor is completely assembled, and then placing the rotor on the finished product feeding mechanism by the mobile industrial robot, so that the anti-resonance servo motor rotor is continuously assembled.

The production line can continuously assemble the anti-resonance servo motor rotor, has high working efficiency and meets the production requirement.

Drawings

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

FIG. 2 is a second perspective view of the present invention;

FIG. 3 is a perspective view of a first station of the present invention;

FIG. 4 is a side view of the first station of the present invention;

fig. 5 is a first perspective view of the first placement table of the present invention;

fig. 6 is a second perspective view of the first placement stage of the present invention;

FIG. 7 is a perspective view of the mounting side plate of the present invention;

FIG. 8 is a side view of the glue cartridge of the present invention;

FIG. 9 is a sectional view taken along line A-A of FIG. 8;

FIG. 10 is a perspective view of a second station of the present invention;

FIG. 11 is a side view of a second station of the present invention;

FIG. 12 is a perspective view of a third station of the present invention;

FIG. 13 is a perspective view of the strapping mechanism of the present invention;

FIG. 14 is an enlarged view of a portion of FIG. 13 at B;

fig. 15 is a finished product drawing.

The reference numbers in the figures are:

1. a transport mechanism; 1a, a rotor feeding mechanism; 1b, a defective product feeding mechanism; 1c, a finished product feeding mechanism;

2. a mobile industrial robot;

3. an operation table; 3a, a first station; 3a1, a placement groove; 3a2, a placing frame; 3b, a second station; 3c, a third station; 3d, elastic abutting frames; 3d1, a first lifter plate; 3d2, telescopic column; 3d3, first stop; 3d4, second stop; 3d5, spring;

4. a first placing table; 4a, fixing a support plate; 4a1, fixing feet; 4b, an adjustable bearing frame; 4b1, a first fixing plate; 4b2, a first orientation limiting strip; 4b3, first slider; 4b4, a rotating seat; 4b5, feed screw nut; 4b6, threaded rod; 4b7, a bracket plate; 4b8, a first damping wheel; 4b9, a second damping wheel; 4c, positioning a rotating frame; 4c1, a second fixing plate; 4c2, a second orientation limiting strip; 4c3, second slider; 4c4, a first double-shaft double-rod cylinder; 4c5, a second double-shaft double-rod cylinder; 4c6, a slide plate; 4c7, a first tripod; 4c8, a first servo motor; 4c9, abutment post;

5. a patch mechanism; 5a, a first guide rail; 5b, a first sliding block; 5c, a long shaft cylinder; 5d, a small portal frame; 5e, a first synchronous belt sliding table; 5f, a second synchronous belt sliding table; 5g, a second tripod; 5h, mounting a side plate; 5h1, mounting holes; 5i, a hollow column; 5j, a rubber sucker; 5k, a patch conveying device; 5l, a fixing frame; 5m, a glue box; 5m1, through hole; 5m2, feed inlet; 5n, a second lifting plate; 5n1, sealing ring; 5o, a third double-shaft double-rod cylinder;

6. a second placing table;

7. a heating mechanism; 7a, a first sliding device; 7a1, a first ball screw sliding table; 7a2, a second ball screw sliding table; 7a3, a first connecting plate; 7a4, a stand; 7a5, sloping plate; 7b, an electric heating strip;

8. a detection mechanism; 8a, a second sliding device; 8b, a detection head;

9. a tape bundling mechanism; 9a, a first placing rack; 9a1, second guide rail; 9a2, second slider; 9a3, fourth double-shaft double-rod cylinder; 9a4, upright; 9a5, a second connecting plate; 9a6, notch fixation post; 9b, a second placing rack; 9c, a third ball screw sliding table; 9d, a binding device; 9d1, fixed bottom plate; 9d2, and an avoiding hole type vertical plate; 9d3, fixing a spacing ring; 9d4, turning circle; 9d5, fixed axle; 9d6, adhesive tape wheel; 9d7, telescopic rod; 9d8, heating wire; 9d9, microcylinder; 9e, an induction column; 9f, a sensor; 9g, a driving piece; 9g1, servo motor; 9g2, synchronous belt drive mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Referring to fig. 1 to 14, the automatic assembly line of the anti-resonance servo motor rotor comprises a transmission mechanism 1, a mobile industrial robot 2, an operation table 3, a first placing table 4, a patch mechanism 5, a second placing table 6, a heating mechanism 7, a detection mechanism 8 and a tape bundling mechanism 9, wherein the transmission mechanism 1 comprises a rotor feeding mechanism 1a, a defective product feeding mechanism 1b and a finished product feeding mechanism 1c, the operation table 3 comprises a first station 3a, a second station 3b and a third station 3c, the feeding mechanisms and the stations are respectively and sequentially arranged at two sides of the working end of the mobile industrial robot 2, the first placing table 4 and the second placing table 6 are respectively arranged at the first station 3a and the second station 3b in an upward manner, the working end of the patch mechanism 5 is arranged at the first station 3a towards the first placing table 4, the working ends of the heating mechanism 7 and the detection mechanism 8 are both arranged at two sides of the second station 3b towards the second placing table 6, a tape bundling mechanism 9 is provided at the third station 3 c.

The conveying mechanism 1 and the operating platform 3 are used for respectively conveying and assembling rotors, the rotors are conveyed by the rotor feeding mechanism 1a, the rotors are placed on a first station 3a through the mobile industrial robot 2 and are positioned by the first placing platform 4, after the positioning is finished, the outer circumferential surfaces of the rotors are pasted through the pasting mechanism 5, the pasting process comprises three steps of sheet taking, glue dipping and sheet covering, after the pasting of the rotors is finished, the rotors are moved through the mobile industrial robot 2 to clamp rotating shafts at two ends of the rotors and are lightly placed on a second station 3b and are positioned by the second placing platform 6, the detection mechanism 8 detects whether the pasting of the rotors meets the standard through rotating the rotors, the pasting meets the standard, namely the outer circumferential surfaces of the rotors are heated through the heating mechanism 7, so that the fixing glue is solidified, the fixing sheets can be fixed on the rotors, and the rotors are prevented from falling off in the process of adhesive tape bundling, the rotor of which the paster does not accord with the standard is placed on a defective product feeding mechanism 1b through manual correction of the stator or through a mobile industrial robot 2 and then processed, the veneering detection accords with the standard, the fixed glue is placed on a third station 3c workbench through the mobile industrial robot 2 after being solidified, the outer circumferential surface of the rotor is bundled through a tape bundling mechanism 9, the stator is fixed on the rotor through a tape, the stator is completely assembled, and then the stator is placed on a finished product feeding mechanism 1c through the mobile industrial robot 2, and therefore the anti-resonance servo motor rotor is assembled continuously.

The top end of the first station 3a is provided with a placement groove 3a1, and two sides of the bottom end of the placement groove 3a1 are vertically provided with placement frames 3a 2; the first placing table 4 comprises a fixed support plate 4a, an adjustable carrying frame 4b and a positioning rotating frame 4c, four corners of the end of the fixed support plate 4a are provided with fixed legs 4a1, the fixed support plate 4a is coaxially arranged on a placing frame 3a2 through fixed legs 4a1, the working end of the adjustable carrying frame 4b is arranged at the top end of the fixed legs 4a1 towards a placing groove 3a1, and the working ends of two sides of the positioning rotating frame 4c are arranged at the bottom end of the fixed support plate 4a towards the working end of the adjustable carrying frame 4 b; the second placing table 6 and the first placing table 4 are identical in structure, and the second station 3b and the third station 3c are identical in structure with the first station 3 a; the operating table 3 further comprises an elastic abutting frame 3d, the elastic abutting frame 3d further comprises a first lifting plate 3d1, a telescopic column 3d2, a first stop block 3d3, a second stop block 3d4 and a spring 3d5, the first lifting plate 3d1 is fixedly arranged at the fixed end of the bottom of the second placing table 6, the telescopic column 3d2 vertically penetrates through the placing frame arranged at the second station 3b at equal intervals and is in sliding fit with the placing frame, the first stop block 3d3 and the second stop block 3d4 are coaxially arranged at the top end and the bottom end of the telescopic column 3d2 respectively, the first stop block 3d3 is fixedly arranged at the bottom end of the first lifting plate 3d1, the spring 3d5 is coaxially sleeved on the telescopic column 3d2, and two ends of the first stop block 3d3 and the top end of the placing frame arranged at the second station 3b are abutted to the bottom end of the first stop block 3d3 respectively; the adhesive tape bundling mechanism 9 is arranged on the placing frame arranged at the third station 3 c.

The top end of the first station 3a is provided with a placement groove 3a1, two sides of the bottom end of the placement groove 3a1 are vertically provided with a placement frame 3a2, four corners of the end of the fixed support plate 4a are provided with fixed feet 4a1, the fixed support plate 4a is coaxially arranged on the placement frame 3a2 through the fixed feet 4a1, the working end of the adjustable bearing frame 4b is arranged at the top end of the fixed feet 4a1 towards the placement groove 3a1, and the working ends of two sides of the positioning rotating frame 4c are arranged at the bottom end of the fixed support plate 4a towards the working end of the adjustable bearing frame 4 b; the second placing table 6 and the first placing table 4 are identical in structure, and the second station 3b and the third station 3c are identical in structure with the first station 3 a; the operating table 3 further comprises an elastic abutting frame 3d, the elastic abutting frame 3d further comprises a first lifting plate 3d1, a telescopic column 3d2, a first stop block 3d3, a second stop block 3d4 and a spring 3d5, the first lifting plate 3d1 is fixedly arranged at the fixed end of the bottom of the second placing table 6, the telescopic column 3d2 vertically penetrates through the placing frame arranged at the second station 3b at equal intervals and is in sliding fit with the placing frame, the first stop block 3d3 and the second stop block 3d4 are coaxially arranged at the top end and the bottom end of the telescopic column 3d2 respectively, the first stop block 3d3 is fixedly arranged at the bottom end of the first lifting plate 3d1, the spring 3d5 is coaxially sleeved on the telescopic column 3d2, and two ends of the first stop block 3d3 and the top end of the placing frame arranged at the second station 3b are abutted to the bottom end of the first stop block 3d3 respectively; the adhesive tape bundling mechanism 9 is arranged on the placing frame arranged at the third station 3c, rotating shafts at two ends of the rotor are clamped by the movable industrial robot 2 and placed on the adjustable bearing frame 4b, so that the rotating shafts of the rotor are abutted against the working end of the adjustable bearing frame 4b, the working end of the positioning rotating frame 4c is abutted against two ends of the rotating shaft, the rotating shaft is positioned, and the adhesive tape is conveniently pasted; make the second place the platform 6 elastic mounting on second station 3b through spring 3d5, when mobile industrial robot 2 placed the rotor that the paster was accomplished on second place the platform 6, eliminated the vibrations when it was placed under the effect of spring 3d5, avoided the paster to drop the rotor, the dog is used for preventing flexible post 3d2 from breaking away from second station 3b and places the frame.

The adjustable bearing frame 4b comprises a first fixed plate 4b1, a first orientation limit strip 4b2, a first sliding block 4b3, a rotating seat 4b4, a screw nut 4b5, a threaded rod 4b6, a support plate 4b7, a first damping wheel 4b8 and a second damping wheel 4b9, wherein the first fixed plate 4b1 is coaxially arranged at the top end of the fixed support plate 4a, the first orientation limit strip 4b2 is coaxially arranged at two sides of the first fixed plate 4b1, two sides of the bottom end of the first sliding block 4b3 are in sliding fit with the first orientation limit strip 4b2 and are arranged at two ends of the first fixed plate 4b1, the rotating seat 4b4 is slidably arranged at two ends of the first fixed plate 4b1, two ends of the threaded rod 4b6 are rotatably arranged on the rotating seat 4b4, the screw nut 4b5 is coaxially screwed on the threaded rod 4b6 and is fixedly connected with the bottom end of the first sliding block 4b 56, the support plate 4b 8653 is arranged at the top end of the first sliding block 7, the first damping wheel 4b8 and the second damping wheel 4b9 are both arranged at the top end of the bracket plate 4b7 in a rotating way along the same axial direction with the threaded rod 4b 6; the positioning rotating frame 4c comprises a second fixed plate 4c1, a second positioning limit bar 4c2, a second sliding block 4c3, a first double-shaft double-rod cylinder 4c4, a second double-shaft double-rod cylinder 4c5, a sliding plate 4c6, a first tripod 4c7, a first servo motor 4c8 and an abutting column 4c9, wherein the working end of the first double-shaft double-rod cylinder 4c4 is arranged at two ends of the first fixed plate 4b1 in a downward direction, the second fixed plate 4c1 and the first fixed plate 4b1 are arranged at two ends of the first double-shaft double-rod cylinder 4c4 in a coaxial direction, a second positioning limit bar 4c2 is arranged at two sides of the second fixed plate 4c1 in a coaxial direction, two sides of the bottom end of the second sliding block 4c3 are arranged at two ends of the second fixed by the second positioning limit bar 4c1 in a sliding fit manner, the working end of the second double-shaft double-rod cylinder 4c5 faces to the inner side of the second fixed block 4c 594 c3, and the sliding block 599 is arranged at, the first tripod 4c7 is vertically arranged at the top end of the sliding plate 4c6, and the working end of the positioning rotating frame 4c penetrates through the top end of the first tripod 4c7 towards the central shaft of the second fixed plate 4c1 and is coaxially and fixedly connected with the abutting column 4c 9.

The first fixing plate 4b1 is coaxially arranged at the top end of the fixing support plate 4a, the first orientation limit strips 4b2 are coaxially arranged at two sides of the first fixing plate 4b1, two sides of the bottom end of the first sliding block 4b3 are arranged at two ends of the first fixing plate 4b1 in a sliding fit manner with the first orientation limit strips 4b2, the rotating seats 4b4 are arranged at two ends of the top end of the first fixing plate 4b1 in a sliding manner, two ends of the threaded rod 4b6 are coaxially arranged on the rotating seats 4b4 in a rotating manner, the lead screw nut 4b5 is coaxially screwed on the threaded rod 4b6 and fixedly connected with the bottom end of the first sliding block 4b3, the support plate 4b7 is fixedly arranged at the top end of the first sliding block 4b3, and the first damping wheel 4b8 and the second damping wheel 4b9 are both axially arranged at the top end of the support plate 4b7 with the; the positioning rotating frame 4c comprises a second fixed plate 4c1, a second positioning limit bar 4c2, a second sliding block 4c3, a first double-shaft double-rod cylinder 4c4, a second double-shaft double-rod cylinder 4c5, a sliding plate 4c6, a first tripod 4c7, a first servo motor 4c8 and an abutting column 4c9, wherein the working end of the first double-shaft double-rod cylinder 4c4 is arranged at two ends of the first fixed plate 4b1 in a downward direction, the second fixed plate 4c1 and the first fixed plate 4b1 are arranged at two ends of the first double-shaft double-rod cylinder 4c4 in a coaxial direction, a second positioning limit bar 4c2 is arranged at two sides of the second fixed plate 4c1 in a coaxial direction, two sides of the bottom end of the second sliding block 4c3 are arranged at two ends of the second fixed by the second positioning limit bar 4c1 in a sliding fit manner, the working end of the second double-shaft double-rod cylinder 4c5 faces to the inner side of the second fixed block 4c 594 c3, and the sliding block 599 is arranged at, the first tripod 4c7 is vertically arranged at the top end of the sliding plate 4c6, the working end of the positioning rotating frame 4c penetrates through the top end of the first tripod 4c7 towards the central shaft of the second fixed plate 4c1 and is coaxially and fixedly connected with the abutting column 4c9, the rotating threaded rod 4b6 controls the distance between the first sliding blocks 4b3 at the two ends of the rotating threaded rod, so that the rotating shafts at the two ends of the rotor can be abutted between the damping wheels, and the rotating shafts do not interfere with the rotation of the rotor; make both ends second double axle double pole cylinder 4c5 butt at the pivot both ends through starting second double axle double pole cylinder 4c5 to the location rotor, and start first servo motor 4c8 and make the rotor can rotate on the damping wheel, thereby the wainscot of being convenient for makes both ends butt post 4c9 can grasp rotor upward movement through starting first double axle double pole cylinder 4c4, thereby portable industrial robot 2 of being convenient for presss from both sides and gets, prevents that the paster from droing the rotor.

The paster mechanism 5 comprises a first guide rail 5a, a first slide block 5b, a long shaft cylinder 5c, a small portal frame 5d, a first synchronous belt sliding table 5e, a second synchronous belt sliding table 5f, a second tripod 5g, a mounting side plate 5h, a hollow column 5i, a rubber sucker 5j, a paster conveying device 5k, a glue box 5m, a second lifting plate 5n and a third double-shaft double-rod cylinder 5o, wherein the first guide rail 5a is axially arranged at two sides of the top end of a first station 3a, the first slide block 5b is slidably arranged at two sides of the first guide rail 5a, the long shaft cylinder 5c and the first guide rail 5a are coaxially and fixedly connected with each other through a connecting piece and the top end of the first guide rail 5a, two sides of the bottom end of the small portal frame 5d are fixedly arranged at the top end of the first slide block 5b, the first synchronous belt sliding table 5e is coaxially arranged at the top end of the small portal frame 5d, the second synchronous belt sliding table 5f is vertically arranged at the, the second tripod 5g is fixedly arranged at the movable working end of the second synchronous belt sliding table 5f, the mounting side plate 5h is fixedly arranged on one side of the bottom end of the second tripod 5g, mounting holes 5h1 are formed in the mounting side plate 5h at equal intervals along the axial direction, the hollow column 5i is coaxially arranged in the mounting hole 5h1, the rubber sucker 5j is coaxially and fixedly arranged at the bottom end of the hollow column 5i, the top end of the hollow column 5i is communicated with the negative pressure port through a hose, the patch conveying device 5k and the glue box 5m are respectively arranged on two sides of the bottom of the small portal frame 5d, the glue box 5m is fixedly arranged on the hollow column 5i, through holes 5m1 are formed in the top end of the second lifting plate 5n at equal intervals, a feed port 5m2 is further arranged on the side surface of the feed port 5m2, and glue is injected; the second lifting plate 5n slides and sets up inside glue box 5m, and the four sides of second lifting plate 5n still are provided with sealing washer 5n1, and the vertical up and second lifting plate 5n bottom fixed connection of third biax double-rod cylinder 5o working end.

The first guide rail 5a is axially arranged at two sides of the top end of the first station 3a, the first slide block 5b is slidably arranged at two sides of the first guide rail 5a, the long-axis cylinder 5c and the first guide rail 5a are coaxially and fixedly connected with the first guide rail 5a through a connecting piece, two sides of the bottom end of the small portal frame 5d are fixedly arranged at the top end of the first slide block 5b, the first synchronous belt sliding table 5e is coaxially arranged at the top end of the small portal frame 5d, the second synchronous belt sliding table 5f is vertically arranged at the movable working end of the first synchronous belt sliding table 5e, the second tripod 5g is fixedly arranged at the movable working end of the second synchronous belt sliding table 5f, the installation side plate 5h is fixedly arranged at one side of the bottom end of the second tripod 5g, installation holes 5h1 are axially arranged on the installation side plate 5h at equal intervals, the hollow columns 5i are coaxially arranged in the installation holes 5h1, the rubber suckers 5j are coaxially, the top end of a hollow column 5i is communicated with a negative pressure port through a hose, a patch conveying device 5k and a glue box 5m are respectively arranged on two sides of the bottom of a small portal frame 5d, the glue box 5m is fixedly arranged on the hollow column 5i, through holes 5m1 are arranged at equal intervals at the top end of a second lifting plate 5n, a feed port 5m2 is further arranged on the side surface of the feed port 5m2, and glue is injected through the feed port 5m2 in a working state; the second lifting plate 5n is arranged in the glue box 5m in a sliding mode, sealing rings 5n1 are further arranged on the four sides of the second lifting plate 5n, and the working end of the third double-shaft double-rod cylinder 5o is vertically upwards fixedly connected with the bottom end of the second lifting plate 5 n; the device of establishing can carry out the paster in duplex position, through hold-in range slip table makes rubber suction cup 5j butt in paster conveyor 5k pay-off end, has inhaled the paster through the negative pressure, the rethread hold-in range slip table removes to glue box top, starts the vertical rebound of third biax double-pole cylinder 5o messenger its work end to make second lifter plate 5n rebound, thereby extrude glue box 5m internal glue through-hole 5m1, thereby be convenient for the ration is glued, and the paster bottom is attached on dipping in glue water back rotor outer periphery, can make the paster speed faster through the continuous paster in duplex position.

The heating mechanism 7 comprises a first sliding device 7a and an electric heating bar 7b, the first sliding device 7a comprises a first ball screw sliding table 7a1, a second ball screw sliding table 7a2, a first connecting plate 7a3 and a second ball screw sliding table 7b4, the first ball screw sliding table 7a1 and the second ball screw sliding table 7a2 are arranged on two sides of the top end of the second station 3b along the radial direction, two sides of the fixed bottom end of 7b3 are fixedly connected with the movable end of the sliding tables respectively, the vertical frame 7a4 is fixedly arranged on the top end of the first connecting plate 7a3, the inclined plate 7a5 is obliquely arranged on the top end of the second sliding table 7b4, and the electric heating bar 7b is coaxially arranged on the inner side of the first sliding device 7a and faces the second placing table 6.

First ball screw slip table 7a1 and second ball screw slip table 7a2 radially set up in second station 3b top both sides, and 7b3 fixed bottom both sides respectively with slip table expansion end fixed connection, and 1 grudging post 7a4 is fixed to be set up on first connecting plate 7a3 top, swash plate 7a5 slope sets up on 7b4 top, electric heat strip 7b with the axial setting place the platform 6 at first slider 7a inboard and towards the second, can make the glue between paster and the rotor solidify rapidly through starting electric heat strip 7b, thereby be convenient for tie up, through the ball screw slip table makes the heating device can remove, thereby do not hinder portable industrial robot 2 material loading and get the material.

The detection mechanism 8 comprises a second sliding device 8a and a detection head 8b, the second sliding device 8a and the first sliding device 7a are completely arranged on the other side of the operation table 3 in the same structure, and the working end of the detection head 8b faces the second placing table 6 and is arranged on the inclined plate of the sliding device at equal intervals.

The second sliding device 8a and the first sliding device 7a are completely the same in structure and are arranged on the other side of the operating platform 3, the working end of the detection head 8b faces the second placing platform 6 and is arranged on the inclined plate of the sliding device at equal intervals, the detection head 8b is the same as the detection device in the anti-resonance servo motor rotor automatic assembly equipment disclosed in the Chinese patent CN201720522546.2, and no description is given here, so that whether the detection patch is attached to or neat with the rotor is detected, and screening is facilitated.

The adhesive tape bundling mechanism 9 comprises a first placing frame 9a, a second placing frame 9b, a third ball screw sliding table 9c, a bundling device 9d, an induction column 9e, a sensor 9f, a driving piece 9g and a controller, wherein the working ends of the first placing frame 9a and the second placing frame 9b are arranged at the top end of a third station 3c in the same axial direction, the third ball screw sliding table 9c is arranged at the top end of the third station 3c in the same axial direction, the working end of the first placing frame 9a coaxially penetrates through the working end of the second placing frame 9b and is arranged at the movable working end of the third ball screw sliding table 9c, the induction column 9e is vertically arranged at the bottom end of the working end of the placing frame in the radial direction, the working end of the sensor 9f is vertically arranged at the fixed end at the bottom of the third ball screw sliding table 9c upwards, the sensor 9f and the induction column 9e are in the same radial direction, the driving piece 9, the sensor 9f is electrically connected to the controller.

The working ends of a first placing frame 9a and a second placing frame 9b are arranged at the top end of a third station 3c in the same axial direction, a third ball screw sliding table 9c is arranged at the top end of the third station 3c in the same axial direction, the working end of the first placing frame 9a coaxially penetrates through the working end of the second placing frame 9b and is arranged at the movable working end of the third ball screw sliding table 9c, an induction column 9e is vertically arranged at the bottom end of the working end of the placing frame along the radial direction, the working end of a sensor 9f is vertically arranged at the fixed end at the bottom of the third ball screw sliding table 9c in an upward direction, the sensor 9f and the induction column 9e are arranged on the same radial surface, a driving piece 9g is synchronously connected with the rotating working end of a binding device 9d in a transmission manner, the sensor 9f is electrically connected with a controller, two ends of a rotating shaft of a rotor are respectively arranged at the working ends of the first placing frame 9a and the second placing frame, when the sensor 9f detects the induction column 9e on the second placing frame 9b, the driving piece 9g is started, so that the working end of the bundling device 9d is driven to bundle the rotor, when the sensor 9f detects the induction column 0e0 on the first placing frame 9a, the third ball screw sliding table 9c is closed, and meanwhile, after the adhesive tape is cut off, the movable end of the third ball screw sliding table 9c resets, so that the bundling is continuously carried out.

The first placing rack 9a comprises a second guide rail 9a1, a second slide block 9a2, a fourth double-shaft double-rod cylinder 9a3, an upright post 9a4, a second connecting plate 9a5 and a notch type fixing post 9a6, the second guide rail 9a1 is coaxially arranged on two sides of the top end of the first station 3a, the second slide block 9a2 is slidably arranged on the second guide rail 9a1, the fourth double-shaft double-rod cylinder 9a3 is coaxially arranged on the first station 3a, the working end of the fourth double-shaft double-rod cylinder is fixedly connected with the second slide block 9a2 through a connecting piece, the upright post 9a4 is vertically arranged on the top end of the second slide block 9a2, two sides of the bottom end of the second connecting plate 9a5 are fixedly connected with the upright post 9a4, and the groove portion of the second connecting plate 9a9 is horizontally arranged on one side of the second connecting plate; the structure of the second placing frame 9b is completely the same as that of the first placing frame 9a, and the working end of the bundling device 9d coaxially penetrates through the notch of the second placing frame 9b to fix the column.

The second guide rails 9a1 are coaxially arranged on two sides of the top end of the first station 3a, the second sliding block 9a2 is arranged on the second guide rails 9a1 in a sliding mode, the fourth double-shaft double-rod cylinder 9a3 is coaxially arranged on the first station 3a, the working end of the fourth double-shaft double-rod cylinder is fixedly connected with the second sliding block 9a2 through a connecting piece, the upright post 9a4 is vertically arranged on the top end of the second sliding block 9a2, two sides of the bottom end of the second connecting plate 9a5 are fixedly connected with the upright post 9a4, and the groove portion of the second connecting plate 9a9 is horizontally arranged on one side of the second connecting plate 9a5 towards the center of the; the structure of the second placing frame 9b is completely the same as that of the first placing frame 9a, the working ends of the bundling device 9d coaxially penetrate through the notches of the second placing frame 9b to fix the rotor ends, the rotating shafts at the two ends of the rotor are abutted to the notches of the fixing columns 9a6 and the fixing columns of the second placing frame 9b, and the rotor ends are clamped by the working ends of the first placing frame 9a and the second placing frame 9b through starting 9s3, so that the rotor ends are conveniently positioned and bundled.

The bundling device 9d comprises a fixed bottom plate 9d1, an avoiding hole type vertical plate 9d2, a fixed limiting ring 9d3, a rotating ring 9d4, a fixed shaft 9d5, a rubber belt wheel 9d6, an expansion link 9d7, an electric heating wire 9d8 and a micro cylinder 9d9, wherein the fixed bottom plate 9d1 is fixedly arranged at the movable working end of a third ball screw sliding table 9c, the avoiding hole type vertical plate 9d2 is arranged at the top end of a 9b1, the avoiding hole type vertical plate 9d2 is coaxial with the working end of a second placing frame 9b, the fixed limiting ring 9d3 is coaxially arranged at one end of the avoiding hole type vertical plate 2, the fixed limiting ring 9b4 is coaxially and rotatably arranged on the fixed limiting ring 9d3, the fixed shaft 9d5 is axially and vertically arranged at one end of the rotating ring 9d4, the rubber belt wheel 9d6 is coaxially and rotatably arranged on the fixed shaft 5, the expansion link 9d7 penetrates through the fixed limiting ring 9d3 and one end of the fixed shaft 9 is, the heating wire 9d8 is axially arranged on the circumferential surface of the telescopic rod 9d 7; the driving piece 9g comprises a servo motor 9g1 and a synchronous belt transmission mechanism 9g2, the synchronous belt transmission mechanism 9g2 is arranged on the fixed bottom plate 9d1, an output shaft is in synchronous transmission connection with the rotating ring 9d4 through the synchronous belt transmission mechanism 9g2, and one end of the adhesive tape wheel 9d6 is adhered to the telescopic rod 9d7 before work begins.

The fixed bottom plate 9d1 is fixedly arranged at the movable working end of the third ball screw sliding table 9c, the avoidance hole type vertical plate 9d2 is arranged at the top end of the 9b1, the avoidance hole of the avoidance hole type vertical plate 9d2 is coaxial with the working end of the second placing frame 9b, the fixed limiting ring 9d3 is coaxially arranged at one end of the avoidance hole type vertical plate 9d2 avoidance hole, the 9b4 is coaxially and rotatably arranged on the fixed limiting ring 9d3, the fixed shaft 9d5 is axially and vertically arranged at one end of the rotating ring 9d4, the adhesive tape wheel 9d6 is coaxially and rotatably arranged on the fixed shaft 9d5, the telescopic rod 9d7 axially penetrates through the fixed limiting ring 9d3 and is axially and fixedly connected with the output shaft of the micro cylinder 9d9, and the electric heating wire 9d8 is axially arranged on the circumferential surface of the; the driving member 9g comprises a servo motor 9g1 and a synchronous belt transmission mechanism 9g2, the synchronous belt transmission mechanism 9g2 is arranged on the fixed bottom plate 9d1, and the output shaft is in synchronous transmission connection with the rotating ring 9d4 through the synchronous belt transmission mechanism 9g2, referring to fig. 13 and fig. 14, when the sensor 9f detects the induction column 9e on the second placing frame 9b, the servo motor 9g1 is started, so that the rotating ring 9d4 coaxially rotates on the fixed spacing ring 9d3 through the synchronous belt transmission mechanism 9g2, before the work starts, one end of the adhesive tape wheel 9d6 is stuck on the telescopic rod 9d7, when the adhesive tape surrounds the rotor for about one circle, the telescopic rod 9d7 retracts through the micro cylinder 9d9, so as not to block the rotation of the adhesive tape, so that the adhesive tape is continuously wound on the rotor under the action of the third ball screw sliding table 9c, when the sensor 9f detects 0e0 on the first placing frame 9a, the micro cylinder 9d9 is started to enable the telescopic rod 7 to, so that the adhesive tape is attached to the telescopic rod 9d7 to be cut by heating the heating wire 9d8 and a part of the adhesive tape remains stuck to the telescopic rod 9d7 to facilitate the next binding, and then the working end of the third ball screw sliding table 9c is reset to facilitate the continuous binding.

An assembly method of an automatic assembly production line of an anti-resonance servo motor rotor comprises the following steps: firstly, placing a rotor on a rotor feeding mechanism 1a and transmitting the rotor;

step two, the movable industrial robot 2 clamps rotating shafts at two ends of the rotor and places the rotating shafts on the first station 3a, and the rotating shafts at the two ends are respectively abutted against the first damping wheel 4b8 and the second damping wheel 4b 9;

driving a first double-shaft double-rod cylinder 4c4 to enable two abutting columns 4c9 to respectively orient two ends of the rotating shaft so as to position the rotating shaft;

fourthly, the working end of the paster mechanism 5 slides to enable the rubber sucker 5j to suck a certain number of pasters on the paster conveying device 5 k;

fifthly, sliding the working end of the paster mechanism 5 again to dip a certain amount of glue on the glue box 5m at the bottom end of the paster; and attaching it to the rotor;

step six, the rotor is rotated differently by the first servo motor 4c8 until the attachment is completed, and the first double-shaft double-rod cylinder 4c4 is started to enable the abutting column 4c9 to abut against the rotating shafts at the two ends to move upwards for a certain distance;

seventhly, the attached rotor is placed on the second placing table 6 through the adhesive tape bundling mechanism 9, and whether the attachment meets the standard or not is observed through the detection mechanism 8;

step eight, the rotor which meets the standard is heated through the heating mechanism 7, so that the glue is solidified, and the glue is placed on the first placing frame 9a and the second placing frame 9b through the mobile industrial robot 2; the rotor which does not meet the standard is corrected manually or placed on a defective product feeding mechanism 1b by a mobile industrial robot 2;

ninth, the working end of the bundling device 9d slides on the periphery of the rotor along the axial direction through a third ball screw sliding table 9c of the rotor arranged on the first placing frame 9a and the second placing frame 9b, and the adhesive tape is bundled on the rotor in the sliding process;

step ten: the finished product is placed on the finished product feeding mechanism 1c by the mobile industrial robot 2.

The working principle of the invention is as follows:

Claims

1. An automatic assembly production line of an anti-resonance servo motor rotor is characterized by comprising a transmission mechanism (1), a mobile industrial robot (2), an operation table (3), a first placing table (4), a surface mounting mechanism (5), a second placing table (6), a heating mechanism (7), a detection mechanism (8) and a rubber belt bundling mechanism (9), wherein the transmission mechanism (1) comprises a rotor feeding mechanism (1 a), a defective product feeding mechanism (1 b) and a finished product feeding mechanism (1 c), the operation table (3) comprises a first station (3 a), a second station (3 b) and a third station (3 c), the feeding mechanism and the stations are respectively and sequentially arranged on two sides of a working end of the mobile industrial robot (2), the first placing table (4) and the second placing table (6) are upwards and respectively arranged on the first station (3 a) and the second station (3 b), the working end of the paster mechanism (5) faces the first placing table (4) and is arranged on the first station (3 a), the working ends of the heating mechanism (7) and the detection mechanism (8) face the second placing table (6) and are arranged on two sides of the second station (3 b), and the adhesive tape bundling mechanism (9) is arranged on the third station (3 c).

2. The automatic assembly line of the rotor of the anti-resonance servo motor as claimed in claim 1, wherein the top end of the first station (3 a) is provided with a placement groove (3 a 1), and two sides of the bottom end of the placement groove (3 a 1) are vertically provided with placement frames (3 a 2); the first placing table (4) comprises a fixed support plate (4 a), an adjustable bearing frame (4 b) and a positioning rotating frame (4 c), four corners of the end of the fixed support plate (4 a) are provided with fixed feet (4 a 1), the fixed support plate (4 a) is coaxially arranged on the placing frame (3 a 2) through the fixed feet (4 a 1), the working end of the adjustable bearing frame (4 b) faces towards the placing groove (3 a 1) and is arranged at the top end of the fixed feet (4 a 1), and the working ends of two sides of the positioning rotating frame (4 c) face towards the working end of the adjustable bearing frame (4 b) and are arranged at the bottom end of the fixed support plate (4 a); the second placing table (6) and the first placing table (4) are identical in structure, and the second station (3 b) and the third station (3 c) are identical in structure with the first station (3 a); the operating platform (3) further comprises an elastic abutting frame (3 d), the elastic abutting frame (3 d) further comprises a first lifting plate (3 d 1), a telescopic column (3 d 2), a first stop block (3 d 3), a second stop block (3 d 4) and a spring (3 d 5), the first lifting plate (3 d 1) is fixedly arranged at the fixed end of the bottom of the second placing platform (6), the telescopic column (3 d 2) vertically penetrates through the placing frame arranged at the second station (3 b) at equal intervals and is in sliding fit with the placing frame, the first stop block (3 d 3) and the second stop block (3 d 4) are coaxially arranged at the top end and the bottom end of the telescopic column (3 d 2) respectively, the first stop block (3 d 3) is fixedly arranged at the bottom end of the first lifting plate (3 d 1), the spring (3 d 5) is coaxially sleeved on the telescopic column (3 d 2), and two ends of the spring respectively abut against the top end of the mounting frame arranged at the second station (3 b) and the bottom end of the first stop block (3 d 3); the adhesive tape bundling mechanism (9) is arranged on the arranging frame arranged at the third station (3 c).

3. The automatic assembly line of the anti-resonance servo motor rotor as claimed in claim 2, wherein the adjustable supporting frame (4 b) comprises a first fixing plate (4 b 1), a first orientation limiting bar (4 b 2), a first sliding block (4 b 3), a rotating seat (4 b 4), a screw nut (4 b 5), a threaded rod (4 b 6), a support plate (4 b 7), a first damping wheel (4 b 8) and a second damping wheel (4 b 9), the first fixing plate (4 b 1) is coaxially arranged at the top end of the fixing plate (4 a), the first orientation limiting bar (4 b 2) is coaxially arranged at two sides of the first fixing plate (4 b 1), two sides of the bottom end of the first sliding block (4 b 3) are slidably matched with the first orientation limiting bar (4 b 2) and arranged at two ends of the first fixing plate (4 b 1), the rotating seat (4 b 4) is slidably arranged at two ends of the top end of the first fixing plate (4 b 1), the two ends of the threaded rod (4 b 6) are coaxially and rotatably arranged on the rotating seat (4 b 4), the lead screw nut (4 b 5) is coaxially screwed on the threaded rod (4 b 6) and fixedly connected with the bottom end of the first sliding block (4 b 3), the support plate (4 b 7) is fixedly arranged at the top end of the first sliding block (4 b 3), and the first damping wheel (4 b 8) and the second damping wheel (4 b 9) are coaxially and rotatably arranged at the top end of the support plate (4 b 7) with the threaded rod (4 b 6); the positioning rotating frame (4 c) comprises a second fixed plate (4 c 1), a second directional limiting bar (4 c 2), a second sliding block (4 c 3), a first double-shaft double-rod cylinder (4 c 4), a second double-shaft double-rod cylinder (4 c 5), a sliding plate (4 c 6), a first tripod (4 c 7), a first servo motor (4 c 8) and a butting column (4 c 9), wherein the working end of the first double-shaft double-rod cylinder (4 c 4) is downwards arranged at two ends of the first fixed plate (4 b 1), the second fixed plate (4 c 1) and the first fixed plate (4 b 1) are coaxially connected with the working end of the first double-shaft double-rod cylinder (4 c 4), the second directional limiting bar (4 c 2) is coaxially arranged at two sides of the second fixed plate (4 c 1), two sides of the bottom end of the second fixed plate (4 c 3) and the second directional limiting bar (4 c 2) are arranged at two ends of the second fixed plate (4 c 1) in a sliding fit manner, the working end of the second double-shaft double-rod cylinder (4 c 5) faces the inner side of the second sliding block (4 c 3) and is fixedly connected with the second sliding block, the sliding plate (4 c 6) is fixedly arranged at the top end of the second sliding block (4 c 3), the first tripod (4 c 7) is vertically arranged at the top end of the sliding plate (4 c 6), and the working end of the positioning rotating frame (4 c) faces the central shaft of the second fixing plate (4 c 1) and penetrates through the top end of the first tripod (4 c 7) to be coaxially and fixedly connected with the abutting column (4 c 9).

4. The automatic assembly production line of the anti-resonance servo motor rotor as claimed in claim 1, wherein the pasting mechanism (5) comprises a first guide rail (5 a), a first slide block (5 b), a long shaft cylinder (5 c), a small portal frame (5 d), a first synchronous belt sliding table (5 e), a second synchronous belt sliding table (5 f), a second tripod (5 g), a mounting side plate (5 h), a hollow column (5 i), a rubber suction cup (5 j), a pasting conveying device (5 k), a glue box (5 m), a second lifting plate (5 n) and a third double-shaft double-rod cylinder (5 o), the first guide rail (5 a) is axially arranged on two sides of the top end of the first station (3 a), the first slide block (5 b) is slidably arranged on two sides of the first guide rail (5 a), the long shaft cylinder (5 c) and the first guide rail (5 a) are coaxially and fixedly connected with the first guide rail (5 a) through a connecting piece, two sides of the bottom end of the small portal frame (5 d) are fixedly arranged at the top end of a first sliding block (5 b), a first synchronous belt sliding table (5 e) is coaxially arranged at the top end of the small portal frame (5 d), a second synchronous belt sliding table (5 f) is vertically arranged at the movable working end of the first synchronous belt sliding table (5 e), a second triangular frame (5 g) is fixedly arranged at the movable working end of the second synchronous belt sliding table (5 f), an installation side plate (5 h) is fixedly arranged at one side of the bottom end of the second triangular frame (5 g), installation holes (5 h 1) are axially and equidistantly arranged on the installation side plate (5 h), hollow columns (5 i) are coaxially arranged in the installation holes (5 h 1), rubber suction cups (5 j) are coaxially and fixedly arranged at the bottom ends of the hollow columns (5 i), the top ends of the hollow columns (5 i) are communicated with a negative pressure port through hoses, a patch conveying device (5 k) and a rubber box (5 m) are respectively arranged at two sides of the bottom of the small portal frame (5, the glue box (5 m) is fixedly arranged on the hollow column (5 i), through holes (5 m 1) are formed in the top end of the second lifting plate (5 n) at equal intervals, a feed port (5 m 2) is further formed in the side face of the feed port (5 m 2), and glue is injected through the feed port (5 m 2) in a working state; second lifter plate (5 n) slides and sets up inside glue box (5 m), and second lifter plate (5 n) four sides still are provided with sealing washer (5 n 1), and vertical upwards and second lifter plate (5 n) bottom fixed connection of third biax double-pole cylinder (5 o) working end.

5. The automatic assembling line of rotor of anti-resonance servo motor according to claim 1, the heating mechanism (7) is characterized by comprising a first sliding device (7 a) and an electric heating strip (7 b), wherein the first sliding device (7 a) comprises a first ball screw sliding table (7 a 1), a second ball screw sliding table (7 a 2), a first connecting plate (7 a 3) and a second ball screw sliding table (7 b 4), the first ball screw sliding table (7 a 1) and the second ball screw sliding table (7 a 2) are arranged on two sides of the top end of the second station (3 b) in the radial direction, two sides of the fixed bottom end of 7b3 are fixedly connected with the movable end of the sliding tables respectively, a stand (7 a 4) is fixedly arranged on the top end of the first connecting plate (7 a 3), an inclined plate (7 a 5) is obliquely arranged on the top end of the 7b4, and the electric heating strip (7 b) is coaxially arranged on the inner side of the first sliding device (7 a) and faces the second placing table (6).

6. The automatic assembly line of the anti-resonance servo motor rotor as recited in claim 1, characterized in that the detection mechanism (8) comprises a second sliding device (8 a) and a detection head (8 b), the second sliding device (8 a) is arranged on the other side of the operation table (3) in the same structure as the first sliding device (7 a), and the working end of the detection head (8 b) is arranged on the inclined plate of the sliding device at equal intervals towards the second placing table (6).

7. The automatic assembly production line of the anti-resonance servo motor rotor as recited in claim 1, wherein the adhesive tape bundling mechanism (9) comprises a first placing rack (9 a), a second placing rack (9 b), a third ball screw sliding table (9 c), a bundling device (9 d), an induction column (9 e), a sensor (9 f), a driving piece (9 g) and a controller, the working ends of the first placing rack (9 a) and the second placing rack (9 b) are arranged at the top end of the third station (3 c) in the same axial direction, the third ball screw sliding table (9 c) is arranged at the top end of the third station (3 c) in the same axial direction, the working end of the first placing rack (9 a) coaxially penetrates through the working end of the second placing rack (9 b) and is arranged at the movable working end of the third ball screw sliding table (9 c), the induction column (9 e) is vertically arranged at the bottom end of the placing rack in the radial direction, the working end of the sensor (9 f) is vertically arranged at the fixed end at the bottom of the third ball screw sliding table (9 c) upwards, the sensor (9 f) and the induction column (9 e) are on the same radial surface, the driving piece (9 g) is connected with the bundling device (9 d) in a rotating working end synchronous transmission mode, and the sensor (9 f) is electrically connected with the controller.

8. The automatic assembly line of the anti-resonance servo motor rotor as claimed in claim 7, wherein the first placing frame (9 a) comprises a second guide rail (9 a 1), a second slide block (9 a 2), a fourth double-shaft double-rod cylinder (9 a 3), a vertical column (9 a 4), a second connecting plate (9 a 5) and a notch type fixing column (9 a 6), the second guide rail (9 a 1) is coaxially arranged at two sides of the top end of the first station (3 a), the second slide block (9 a 2) is slidably arranged on the second guide rail (9 a 1), the fourth double-shaft double-rod cylinder (9 a 3) is coaxially arranged at the first station (3 a) and the working end is fixedly connected with the second slide block (9 a 2) through a connecting piece, the vertical column (9 a 4) is vertically arranged at the top end of the second slide block (9 a 4636), two sides of the bottom end of the second connecting plate (9 a 5) are fixedly connected with the vertical column (9 a 4), and the third connecting plate (9 a 9) is horizontally arranged at one side of the notch type fixing column (8938); the structure of the second placing frame (9 b) is completely the same as that of the first placing frame (9 a), and the working end of the bundling device (9 d) coaxially penetrates through the notch of the second placing frame (9 b) to fix the column.

9. The automatic assembly production line of the anti-resonance servo motor rotor as claimed in claim 7, wherein the strapping device (9 d) comprises a fixed bottom plate (9 d 1), an avoidance hole type vertical plate (9 d 2), a fixed spacing ring (9 d 3), a rotating ring (9 d 4), a fixed shaft (9 d 5), a rubber belt wheel (9 d 6), an expansion link (9 d 7), an electric heating wire (9 d 8) and a micro cylinder (9 d 9), the fixed bottom plate (9 d 1) is fixedly arranged at the movable working end of the third ball screw sliding table (9 c), the avoidance vertical plate (9 d 2) is arranged at the top end of the hole type vertical plate (9 d 8) and the working end of the second placing frame (9 b) are coaxial, the fixed spacing ring (9 d 3) is coaxially arranged at one end of the avoidance hole type vertical plate (9 d 2), the hole type vertical plate (9 d 3) is coaxially arranged at one end of the fixed shaft (9 d 5), the adhesive tape wheel (9 d 6) is coaxially and rotatably arranged on the fixed shaft (9 d 5), the telescopic rod (9 d 7) axially penetrates through the fixed limiting ring (9 d 3) and one end of the telescopic rod is coaxially and fixedly connected with the output shaft of the micro cylinder (9 d 9), and the electric heating wire (9 d 8) is axially arranged on the circumferential surface of the telescopic rod (9 d 7); the driving piece (9 g) comprises a servo motor (9 g 1) and a synchronous belt transmission mechanism (9 g 2), the synchronous belt transmission mechanism (9 g 2) is arranged on the fixed bottom plate (9 d 1), an output shaft is in synchronous transmission connection with the rotating ring (9 d 4) through the synchronous belt transmission mechanism (9 g 2), and one end of the adhesive tape wheel (9 d 6) is adhered to the telescopic rod (9 d 7) before work begins.

10. The assembling method of an automatic assembling line of anti-resonance servo motor rotor according to any one of claims 1 to 9, characterized by comprising the steps of: firstly, placing a rotor on a rotor feeding mechanism (1 a) and transmitting the rotor by the rotor feeding mechanism;

step two, the movable industrial robot (2) clamps rotating shafts at two ends of the rotor and places the rotating shafts on a first station (3 a), and the rotating shafts at the two ends are respectively abutted against a first damping wheel (4 b 8) and a second damping wheel (4 b 9);

driving a first double-shaft double-rod cylinder (4 c 4) to enable two end butting columns (4 c 9) to respectively orient two ends of the rotating shaft so as to position the rotating shaft;

fourthly, the working end of the patch attaching mechanism (5) slides to enable the rubber sucker (5 j) to suck a certain number of patches on the patch conveying device (5 k);

fifthly, the working end of the paster mechanism (5) slides again to dip a certain amount of glue on the glue box (5 m) at the bottom end of the paster; and attaching it to the rotor;

step six, after the rotor is rotated differently through the first servo motor (4 c 8) until the attachment is completed, the first double-shaft double-rod cylinder (4 c 4) is started to enable the abutting columns (4 c 9) to abut against the rotating shafts at the two ends to move upwards for a certain distance;

seventhly, the attached rotor is placed on a second placing table (6) through a tape bundling mechanism (9), and whether the attachment meets the standard or not is observed through a detection mechanism (8);

step eight, the rotor which meets the standard is heated through a heating mechanism (7) so that glue is solidified, and the glue is placed on a first placing frame (9 a) and a second placing frame (9 b) through a mobile industrial robot (2); the rotor which does not meet the standard is corrected manually or is placed on a defective product feeding mechanism (1 b) by a mobile industrial robot (2);

ninthly, the rotors placed on the first placing frame (9 a) and the second placing frame (9 b) enable the working end of the bundling device (9 d) to slide on the periphery of the rotors along the axial direction through a third ball screw sliding table (9 c), and the adhesive tape is bundled on the rotors in the sliding process;

step ten: the finished product is placed on a finished product feeding mechanism (1 c) by a mobile industrial robot (2).