CN113400336B - Automatic assembling equipment of miniature industrial joint robot - Google Patents

Automatic assembling equipment of miniature industrial joint robot Download PDF

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Publication number
CN113400336B
CN113400336B CN202110840119.XA CN202110840119A CN113400336B CN 113400336 B CN113400336 B CN 113400336B CN 202110840119 A CN202110840119 A CN 202110840119A CN 113400336 B CN113400336 B CN 113400336B
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CN
China
Prior art keywords
cylinder
assembly
rear end
end cover
screw
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CN202110840119.XA
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Chinese (zh)
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CN113400336A (en
Inventor
胡安喜
彭长龙
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Shenzhen Rizhao Automation Equipment Co ltd
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Shenzhen Rizhao Automation Equipment Co ltd
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Priority to CN202110840119.XA priority Critical patent/CN113400336B/en
Publication of CN113400336A publication Critical patent/CN113400336A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/30—Belts or like endless load-carriers

Abstract

The invention discloses automatic assembling equipment of a miniature industrial joint robot, which comprises a turntable device, a rear end cover assembling device, a wave plate assembling device, a stator assembling device, a frame assembling device, a rotor shifting hand device, a screw assembling device and a blanking shifting hand device, wherein the turntable device is connected with the rear end cover assembling device through a connecting rod; the rear end cover assembling device, the wave plate assembling device, the stator assembling device, the frame assembling device, the rotor shifting hand device, the screw assembling device and the blanking shifting hand device are sequentially arranged around the rotary table device in a surrounding manner and are partially arranged on a plurality of independent fixing frames; the invention has high automation degree, enables the miniature industrial joint robot to be assembled more conveniently and quickly, improves the production efficiency, reduces the difficulty of assembling the miniature industrial joint robot and has good market application value.

Description

Automatic assembling equipment of miniature industrial joint robot
Technical Field
The invention relates to the field of high-end equipment, in particular to automatic assembling equipment for a miniature industrial joint robot.
Background
The miniature industrial joint robot motor is manufactured as intelligence, especially, the robot, the very general product of robot tongs is used in each industry of intelligent manufacturing, how effectively quick in the miniature industrial joint robot of current is with miniature industrial joint robot three subassembly assembling together be a difficult problem, operating space is little when miniature industrial joint robot assembles the time of installation connecting screw, it is high to the operating accuracy demand, it is more difficult that manual operation accomplishes the equipment, at present, the equipment mainly relies on manual equipment when miniature industrial joint robot assembles, the equipment degree of difficulty is big, the equipment time is long, make miniature industrial joint robot assemble inefficiency, and high in production cost becomes the bottleneck link of production line.
The prior art has defects and needs to be improved.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides automatic assembling equipment for a miniature industrial joint robot.
The invention provides technical documentation, in particular to automatic assembling equipment of a miniature industrial joint robot, which comprises a turntable device, a rear end cover assembling device, a wave plate assembling device, a stator assembling device, a frame assembling device, a rotor shifting hand device, a screw assembling device and a blanking shifting hand device; the rotary table device is installed on a fixed table and comprises a rotary table, a plurality of station grooves are formed in the rotary table, and the rear end cover assembling device, the wave plate assembling device, the stator assembling device, the frame assembling device, the rotor shifting hand device, the screw assembling device and the blanking shifting hand device are sequentially arranged on a plurality of independent fixed frames in a surrounding mode. The turntable device is a conventional turntable device;
preferably, the rear end cover assembling device comprises a rear end cover transplanting hand assembly and a rear end cover mounting assembly, the rear end cover transplanting hand assembly is mounted on a fixing table beside the turntable starting position station groove, and the rear end cover mounting assembly is mounted on a fixing frame on the right side of the rear end cover transplanting hand assembly.
Preferably, the rear end cap transplanting hand assembly comprises a first cylinder bracket assembly and a first clamping assembly, the first clamping component is arranged on one side of the upper end of the first air cylinder bracket component, the first air cylinder bracket component comprises a first aluminum bracket, a rear end cover shifting fixed seat, a rear end cover shifting sliding seat, a first horizontal air cylinder and a first downward-pressing air cylinder, the first aluminum bracket is vertically arranged on the fixed platform, the rear end cover shifting fixed seat is horizontally arranged on one side of the upper end of the first aluminum bracket, the first horizontal cylinder is arranged at one end of the rear end cover shifting fixed seat, the rear end cover shifting sliding seat is vertically arranged at one side of the rear end cover shifting fixed seat and is horizontally and slidably connected with the rear end cover shifting fixed seat, one side of the rear end cover transfer sliding seat is connected with the output end of a first horizontal cylinder, and the first downward pressing cylinder is installed at the top end of the rear end cover transfer sliding seat; the first clamping assembly comprises a rear end cover L-shaped clamping cylinder base and a first clamping cylinder, the vertical surface of the rear end cover L-shaped clamping cylinder base is connected with a rear end cover transfer sliding seat in a sliding mode and is connected with the output end of a first downward pressing cylinder, and the first clamping cylinder is installed at the bottom of the horizontal plane of the rear end cover L-shaped clamping cylinder base.
Preferably, the rear end cover mounting assembly comprises a plurality of fixed aluminum materials, a rear end cover vibration disc, a rear end cover direct vibration assembly, a hexagon nut vibration disc, a copper bush vibration disc, a hexagon nut direct vibration assembly, a first rear end cover station assembly, a copper bush direct vibration assembly, a second rear end cover station assembly, a first nut copper bush transfer assembly, a rear end cover transfer assembly, a second nut copper bush transfer assembly and a rear end cover conveying belt; the hexagonal nut direct vibration assembly, the first rear end cover station assembly, the copper bush direct vibration assembly and the second rear end cover station assembly are sequentially and horizontally arranged on a fixing frame from front to back, the plurality of fixed aluminum products are vertically arranged on the fixing frame, the first nut copper bush transferring assembly, the rear end cover transferring assembly and the second nut copper bush transferring assembly are sequentially and horizontally arranged at the top end of the fixed aluminum products from left to right and are positioned above the hexagonal nut direct vibration assembly, the first rear end cover station assembly, the copper bush direct vibration assembly and the second rear end cover station assembly, the rear end cover vibration disc and the rear end cover direct vibration assembly are arranged on the side face of the hexagonal nut direct vibration assembly, the output end of the hexagonal nut vibration disc is connected with the hexagonal nut direct vibration assembly, the output end of the copper bush vibration disc is connected with the copper bush direct vibration assembly, one end of the rear end cover conveying belt is arranged on the rear side of the rear end cover transferring assembly, the other end of the rear end cover conveying belt is positioned on a fixing table on the right side of the rear end cover transplanting hand assembly.
Preferably, the first rear end cover station assembly comprises a second horizontal cylinder, a third horizontal cylinder, a rear end cover tooling plate, a first telescopic block and a second telescopic block, the rear end cover tooling plate is horizontally arranged on the fixed frame, the second horizontal cylinder and the third horizontal cylinder are respectively arranged at the left end and the right end of the rear end cover tooling plate, the first telescopic block and the second telescopic block are respectively connected with the output ends of the second horizontal cylinder and the third horizontal cylinder, and the second rear end cover station assembly and the first rear end cover station assembly have the same structure; the second nut copper bush transferring component comprises a nut copper bush transferring fixed seat, a nut copper bush transferring sliding seat, a finger air cylinder component, a fourth horizontal air cylinder and a second pressing air cylinder, the nut copper sleeve shifting and fixing seat is horizontally arranged at the left side of the upper ends of the fixed aluminum materials, the fourth horizontal cylinder is arranged at one side of the nut copper sleeve shifting and fixing seat, the nut copper sleeve shifting and sliding seat is connected with the output end of the fourth horizontal cylinder and vertically and slidably connected with one side of the nut copper sleeve shifting and fixing seat, the second lower pressing cylinder is arranged at the top of the nut copper sleeve shifting sliding seat, the finger cylinder component is connected with the output end of the second lower pressing cylinder and is vertically and slidably connected with the nut copper sleeve shifting sliding seat, the first nut copper bush transferring assembly and the second nut copper bush transferring assembly are identical in structure and opposite in position; the rear end cover transplanting assembly comprises a rear end cover mounting base, a rear end cover transplanting base, a rear end cover clamping jaw air cylinder assembly, a fifth horizontal air cylinder and a third pressing air cylinder, the rear end cover mounting base is horizontally mounted on the tops of the fixed aluminum products, the fifth horizontal air cylinder is mounted on one side of the rear end cover mounting base, the rear end cover transplanting base is L-shaped, the horizontal plane of the rear end cover transplanting base is connected with the bottom of the rear end cover mounting base plate in a sliding mode and is connected with the output end of the fifth horizontal air cylinder, the third pressing air cylinder is mounted at the bottom of the horizontal plane of the rear end cover transplanting base, the rear end cover clamping jaw air cylinder assembly is horizontally mounted on one side of the vertical face of the rear end cover transplanting base and is vertically connected with the rear end cover transplanting base in a sliding mode, and the rear end cover clamping jaw air cylinder assembly is connected with the output end of the third pressing air cylinder.
Preferably, the wave plate assembly device comprises a wave plate vibration disc, a wave plate direct vibration assembly and a wave plate transfer hand assembly; the wave plate shifting hand assembly is arranged on a fixed table beside the working position groove at which the turntable rotates one eighth clockwise, and the wave plate vibration disc and the wave plate direct vibration assembly are arranged on a fixed frame at the front side of the wave plate shifting hand assembly; the wave plate moves and carries hand subassembly and includes that second cylinder bracket component and second press from both sides the subassembly, the second is got one side of subassembly installation in second cylinder bracket component upper end, second cylinder bracket component includes that second aluminum product support, wave plate move and carry fixing base, wave plate move and carry sliding seat, sixth horizontal cylinder and fourth push down the cylinder, and second cylinder bracket component is the same with first cylinder bracket component's structure, the second is got the subassembly and is included propping claw L type cylinder base and prop the claw cylinder, prop claw L type cylinder base's horizontal plane and fourth push down the output of cylinder and link to each other, prop claw L type cylinder base's vertical face and wave plate and move and carry sliding seat sliding connection, prop the claw cylinder and install the bottom at claw L type cylinder base horizontal plane.
Preferably, the stator assembly device comprises a stator conveying belt and a stator transfer hand assembly, the output end of the stator conveying belt is mounted on a fixed table beside a station groove where the turntable rotates by two eighths, and the stator transfer hand assembly is mounted on the right side of the output end of the stator conveying belt; the stator moves and carries hand subassembly and includes that first cylinder installation component and third clamp get the subassembly, one side at first cylinder installation component upper end is got to the third clamp, first cylinder installation component includes that third aluminum product support, stator move and carry fixing base, stator move and carry sliding seat and seventh horizontal cylinder, fifth down-pressure cylinder, third aluminum product support is vertical to be installed on the fixed station, the stator moves and carries one side that fixing base horizontal installation was in third aluminum product support upper end, seventh horizontal cylinder installs the one end that moves the fixing base at the stator, the stator moves and carries the sliding seat and vertically to install one side that moves the fixing base at the stator and move and carry fixing base horizontal sliding connection with the stator, one side that the stator moved and carried the sliding seat links to each other with the output of seventh horizontal cylinder, fifth down-pressure cylinder installs the upper end that the stator moved and carried the sliding seat, the subassembly is got including stator clamp cylinder base, the third clamp, The stator clamp air cylinder base is horizontally arranged on the left side of the stator transfer sliding seat and is vertically and slidably connected with the stator transfer sliding seat, the upper end of the stator clamp air cylinder base is connected with the output end of the fifth pressing air cylinder, and the second clamp air cylinder and the third clamp air cylinder are arranged on the front side and the rear side of the bottom of the stator clamp air cylinder base.
Preferably, the frame assembling device comprises a frame material storing turntable assembly and a frame transferring hand assembly, the frame transferring hand assembly is arranged on a fixed platform beside a station groove where the turntable rotates by three eighths, and the frame material storing turntable assembly is arranged on a fixed frame on the front side of the frame transferring hand assembly; the frame transfer hand assembly comprises a fourth aluminum material support, a fifth aluminum material support, a frame transfer fixing seat, a frame transfer sliding seat, a rotating cylinder base, a frame rotating cylinder, a claw opening cylinder base, a frame claw opening cylinder, an eighth horizontal cylinder and a sixth pressing cylinder, wherein the fourth aluminum material support and the fifth aluminum material support are vertically arranged on the bottom platform, the frame transfer fixing seat is horizontally arranged on the right side of the upper ends of the fourth aluminum material support and the fifth aluminum material support, the eighth horizontal cylinder is horizontally arranged at one end of the frame transfer fixing seat, the frame transfer sliding seat is vertically arranged on the right side of the frame transfer fixing seat and is horizontally and slidably connected with the frame transfer fixing seat, one side of the frame transfer seat is connected with the output end of the eighth horizontal cylinder, the sixth pressing cylinder is vertically arranged at the top end of the frame transfer sliding seat, and the rotating cylinder base is L-shaped, the vertical surface of the rotary cylinder base is vertically and slidably connected with the right side of the frame transfer sliding seat and is connected with the output end of a sixth pressing cylinder, the frame rotary cylinder is installed at the bottom of the horizontal surface of the rotary cylinder base, the claw-opening cylinder base is L-shaped, the upper surface of the horizontal surface of the claw-opening cylinder base is connected with the output end of the rotary cylinder, and the frame claw-opening cylinder is installed on one side of the vertical surface of the claw-opening cylinder base; the frame material storage rotary disc assembly device comprises a rotary material storage assembly and a lifting assembly, wherein the lifting assembly is arranged at the right rear part of the rotary material storage assembly, and the rotary material storage assembly comprises a first motor, a motor base, a material storage rotary disc and a plurality of fixing rods; the motor base is installed on the mount, first motor install at motor base's left end the storage carousel is installed at motor base's top and is linked to each other with the output of first motor, storage carousel edge is equipped with a plurality of openings, a plurality of dead levers are vertical to be installed by the opening.
Preferably, the screw assembling device comprises a screw transfer assembly and a screw driving assembly, the screw transfer assembly comprises a screw transfer hand assembly, a screw vibration disc, a screw direct vibration assembly and a screw rotating assembly, the screw transfer hand assembly is installed on a fixed table beside a five-eighth station slot of the rotation disc, the screw driving assembly is installed on a fixed table beside a six-eighth station slot of the rotation disc, the screw vibration disc and the screw direct vibration assembly are installed on a fixed frame behind the screw driving assembly, an output end of the screw direct vibration assembly is connected with the screw rotating assembly, and the screw rotating assembly is installed on a fixed table on the right rear side of the screw transfer hand assembly; the screw transferring hand assembly comprises a second air cylinder mounting assembly and a fourth clamping assembly, the second air cylinder mounting assembly comprises a sixth aluminum material support, a screw transferring fixing seat, a screw transferring sliding seat, a ninth horizontal air cylinder and a seventh pressing air cylinder, the second air cylinder mounting assembly is identical to the first air cylinder mounting assembly in structure, the fourth clamping assembly comprises a screw finger air cylinder base, a first finger air cylinder and a second finger air cylinder, the screw finger air cylinder base is mounted on one side of the screw transferring sliding seat and is vertically and slidably connected with the screw transferring sliding seat, and the first finger air cylinder and the second finger air cylinder are respectively mounted on the left side and the right side of the bottom of the screw finger air cylinder base; the screw driving assembly comprises a seventh aluminum material support, a jacking air cylinder, an air cylinder mounting block, a third motor, a fourth motor, a screw driving fixing seat, a first screw driving machine and a second screw driving machine, the seventh aluminum material support is vertically mounted on a fixing table, the air cylinder mounting block is mounted on one side of the middle part of the seventh aluminum material support, the jacking air cylinder is mounted at the bottom of the air cylinder mounting block, the screw driving fixing seat is mounted on the seventh aluminum material support and positioned above the air cylinder mounting block, the rear side of the screw driving fixing seat is in sliding connection with the seventh aluminum material support, the output end of the jacking air cylinder is connected with the bottom end of the screw driving fixing seat, the third motor and the fourth motor are mounted at the top of the screw driving fixing seat, the upper parts of the first screw driving machine and the second screw driving machine are positioned at the inner lower part of the screw driving fixing seat and are connected with the output ends of the third motor and the fourth motor, the lower parts of the first screw driving machine and the second screw driving machine penetrate through the bottom of the screw driving fixing seat.
Preferably, the rotor transfer hand device is mounted on a fixed table beside a four-eighth station groove of the rotating disc, the blanking transfer hand device is mounted on a fixed table beside a seventh eighth station groove of the rotating disc, and the rotor transfer hand device and the blanking transfer hand device are identical in structure with the frame transfer hand assembly.
Compared with the prior art, the invention realizes the surrounding type assembly operation by arranging the turntable device, so that the equipment structure is more compact, and the space occupied by the equipment is saved; the automatic assembly of the rear end cover, the wave plate, the stator, the frame, the rotor and the screws and the blanking operation after the assembly are realized by arranging the rear end cover assembly device, the wave plate assembly device, the stator assembly device, the frame shifting hand device, the screw assembly device and the blanking shifting hand device; the invention has high automation degree, enables the miniature industrial joint robot to be assembled more conveniently and quickly, improves the production efficiency, reduces the difficulty of assembling the miniature industrial joint robot and has good market application value.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a rear end cap transplanting hand assembly of the present invention;
FIG. 3 is a schematic view of the rear end cap mounting assembly of the present invention;
FIG. 4 is a schematic view of a wave plate assembly apparatus according to the present invention;
FIG. 5 is a schematic view of an assembly apparatus of the micro industrial joint robot according to the present invention;
FIG. 6 is a schematic view of the frame assembly apparatus of the present invention;
FIG. 7 is a schematic view of a screw transfer assembly according to the present invention;
FIG. 8 is a schematic view of the present invention driving screw assembly;
the reference numbers indicated in the figures: a turntable device 1; the device comprises a rear end cover transplanting hand component 2, a rear end cover mounting component 3, a wave plate assembling device 4, a stator assembling device 5, a frame assembling device 6 and a screw transferring component 7; a screwing assembly 8; a rotor transfer hand device 9; a blanking transfer hand device 10; a first aluminum material bracket 21; the rear end cover is moved and carried the permanent seat 22; a first horizontal cylinder 23; the rear end cover is moved and carried with the sliding seat 24; a first down-pressure cylinder 25; a rear end cover L-shaped clamp cylinder base 26; a first clamp cylinder 27; a rear end cover vibration plate 31; a rear end cap direct vibration assembly 32; a hexagonal nut vibrating plate 33; a copper sheathing vibrating pan 34; a hexagonal nut direct vibration assembly 35; a second horizontal cylinder 36; a third horizontal cylinder 37; a rear end cap tooling plate 38; the nut copper bush is moved and carried the fixed seat 39; a fourth horizontal cylinder 310; the nut copper bush is moved and carried the sliding seat 311; a second down-pressure cylinder 312; a finger cylinder assembly 313; a rear end cap mounting base 314; a rear end cap transfer base 315; a fifth horizontal cylinder 316; a rear end cap jaw cylinder assembly 317; a first nut copper sleeve transfer assembly 318; a rear end cap conveyor belt 319; a wave plate vibration plate 41; the wave plate direct vibration assembly 42; a second aluminum bracket 43; a wave plate transfer fixing seat 44; a sixth horizontal cylinder 45; a wave plate transfer slide 46; a stay claw L-shaped cylinder base 47; a fourth down-pressure cylinder 48; a supporting claw cylinder 49; a stator conveying belt 51; a third aluminum bracket 52; a stator transfer fixing seat 53; a seventh horizontal cylinder 54; a stator transfer slide 55; a fifth push-down cylinder 56; stator clamp cylinder base 57; a third clamp cylinder 58; a second clamp cylinder 59; a motor base 61; a first motor 62; a storage turntable 63; a lifting assembly 64; a frame transfer holder 65; an eighth horizontal cylinder 66; a frame transfer slide seat 67; a sixth down-pressure cylinder 68; a rotary cylinder mount 69; a frame rotating cylinder 610; a claw cylinder base 611; a frame jaw cylinder 612; the screw vibrating plate 71; a screw rotation assembly 72; a screw transfer fixing base 73; a ninth horizontal cylinder 74; a screw transfer sliding base 75; the seventh push-down cylinder 76; screw finger cylinder base 77; a first finger cylinder 78; a second finger cylinder 79; a seventh aluminum material bracket 81; a cylinder mounting block 82; a jacking cylinder 83; screwing the fixed seat 84; a third motor 85; a fourth motor 86; a first screw driving machine 87; a second screw machine 88.
Detailed Description
In order to facilitate an understanding of the invention, reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The present invention will be described in detail with reference to the accompanying drawings.
Embodiment 1 as shown in fig. 1 to 8, an automatic assembling apparatus of a micro industrial joint robot includes a turntable device 1, a rear end cover assembling device, a wave plate assembling device 4, a stator assembling device 5, a frame assembling device 6, a rotor shifting hand device 9, a screw assembling device, and a blanking shifting hand device 10; the rotary table device 1 is installed on a fixed table, the rotary table device 1 comprises a rotary table, a plurality of station grooves are formed in the rotary table, and the rear end cover assembling device, the wave plate assembling device 4, the stator assembling device 5, the frame assembling device 6, the rotor shifting hand device 9, the screw assembling device and the blanking shifting hand device 10 are sequentially arranged on a plurality of independent fixed frames in a surrounding mode and are partially installed on the rotary table device 1.
Further, the turntable device 1 is a conventional turntable device 1.
Example 2: as shown in fig. 2 to 3, in order to automatically mount the rear end cover and clamp the mounted rear end cover, a rear end cover assembly device is arranged in a station groove of subsequent operation, the rear end cover assembly device comprises a rear end cover transplanting hand assembly 2 and a rear end cover mounting assembly 3, the rear end cover transplanting hand assembly 2 is mounted on a fixed table beside the station groove at the starting position of the turntable, and the rear end cover mounting assembly 3 is mounted on a fixed frame on the right side of the rear end cover transplanting hand assembly 2.
The rear end cover transplanting hand assembly 2 comprises a first air cylinder bracket assembly and a first clamping assembly, the first clamping assembly is arranged on one side of the upper end of the first air cylinder bracket assembly, the first air cylinder bracket assembly comprises a first aluminum product bracket 21, a rear end cover shifting fixing seat 22, a rear end cover shifting sliding seat 24, a first horizontal air cylinder 23 and a first down-pressing air cylinder 25, the first aluminum product bracket 21 is vertically arranged on a fixing table, the rear end cover shifting fixing seat 22 is horizontally arranged on one side of the upper end of the first aluminum product bracket 21, the first horizontal air cylinder 23 is arranged at one end of the rear end cover shifting fixing seat 22, the rear end cover shifting sliding seat 24 is vertically arranged on one side of the rear end cover shifting fixing seat 22 and is horizontally and slidably connected with the rear end cover shifting fixing seat 22, one side of the rear end cover shifting sliding seat 24 is connected with the output end of the first horizontal air cylinder 23, the first horizontal cylinder 23 can push the rear end cover transfer sliding seat 24 to slide horizontally, and the first downward air cylinder 25 is installed at the top end of the rear end cover transfer sliding seat 24; the first clamping assembly comprises a rear end cover L-shaped clamp cylinder base 26 and a first clamp cylinder 27, the vertical surface of the rear end cover L-shaped clamp cylinder base 26 is connected with the rear end cover transfer sliding seat 24 in a sliding way and is connected with the output end of the first downward-pressing cylinder 25, the first clamp cylinder 27 is arranged at the bottom of the horizontal plane of the L-shaped clamp cylinder base 26 of the rear end cover, the first horizontal cylinder 23 pushes the rear end cover transfer sliding seat 24 to slide horizontally so as to push the first clamp cylinder 27 to move horizontally, the rear end cover L-shaped clamp cylinder base 26 slides vertically under the pushing of the first downward-pressing cylinder 25 so as to push the first clamp cylinder 27 to move vertically, the first clamp cylinder 27 can move left and right up and down to clamp the rear end cover into the station groove of the turntable, hand subassembly 2 can be more accurate press from both sides through setting up the rear end cap and get the rear end cap and place in the station groove.
The rear end cover mounting assembly 3 comprises a plurality of fixed aluminum materials, a rear end cover vibration disc 31, a rear end cover direct vibration assembly 32, a hexagon nut vibration disc 33, a copper bush vibration disc 34, a hexagon nut direct vibration assembly 35, a first rear end cover station assembly, a copper bush direct vibration assembly, a second rear end cover station assembly, a first nut copper bush transfer assembly 318, a rear end cover transfer assembly, a second nut copper bush transfer assembly and a rear end cover conveying belt 319; the hexagonal nut direct vibration component 35, the first rear end cover station component, the copper bush direct vibration component and the second rear end cover station component are sequentially and horizontally arranged on a fixing frame from front to back, the plurality of fixed aluminum products are vertically arranged on the fixing frame, the first nut copper bush transferring component 318, the rear end cover transferring component and the second nut copper bush transferring component are sequentially and horizontally arranged at the top end of the fixed aluminum products from left to right and are positioned above the hexagonal nut direct vibration component 35, the first rear end cover station component, the copper bush direct vibration component and the second rear end cover station component, the rear end cover vibration disc 31 and the rear end cover direct vibration component 32 are arranged on the side face of the hexagonal nut direct vibration component 35, the output end of the hexagonal nut vibration disc 33 is connected with the hexagonal nut direct vibration component 35, the output end of the copper bush vibration disc 34 is connected with the copper bush direct vibration component, one end of the rear end cover 319 conveyer belt is arranged on the rear side of the rear end cover transferring component, the other end of the rear end cover conveyer belt 319 is positioned on a fixed table on the right side of the rear end cover transplanting hand assembly 2.
The first rear end cover station assembly comprises a second horizontal cylinder 36, a third horizontal cylinder 37, a rear end cover tooling plate 38, a first telescopic block and a second telescopic block, the rear end cover tooling plate 38 is horizontally arranged on a fixed frame, the second horizontal cylinder 36 and the third horizontal cylinder 37 are respectively arranged at the left end and the right end of the rear end cover tooling plate 38, the first telescopic block and the second telescopic block are respectively connected with the output ends of the second horizontal cylinder 36 and the third horizontal cylinder 37, the second rear end cover station assembly is identical to the first rear end cover station assembly in structure, the second horizontal cylinder 36 and the third horizontal cylinder 37 of the first rear end cover station assembly respectively push the first telescopic block and the second telescopic block to extend and contract so as to push a rear end cover on the rear end cover tooling plate 38 to move leftwards and rightwards, and the working principle of the second rear end cover station assembly is identical; the second nut copper bush transferring assembly comprises a nut copper bush transferring fixed seat 39, a nut copper bush transferring sliding seat 311, a finger air cylinder assembly 313, a fourth horizontal air cylinder 310 and a second pressing air cylinder 312, the nut copper bush transferring fixed seat 39 is horizontally arranged on the left side of the upper ends of a plurality of fixed aluminum materials, the fourth horizontal air cylinder 310 is arranged on one side of the nut copper bush transferring fixed seat 39, the nut copper bush transferring sliding seat 311 is connected with the output end of the fourth horizontal air cylinder 310 and is vertically and slidably connected with one side of the nut copper bush transferring fixed seat 39, the nut copper bush transferring sliding seat 311 is horizontally slid under the pushing of the fourth horizontal air cylinder 310, the second pressing air cylinder 312 is arranged on the top of the nut copper bush transferring sliding seat 311, the finger air cylinder assembly 313 is connected with the output end of the second pressing air cylinder 312, and the finger air cylinder assembly 313 is vertically and slidably connected with the nut copper bush transferring fixed seat 311, the finger cylinder assembly 313 slides up and down under the pushing of the second pressing cylinder 312, and moves horizontally under the driving of the nut copper bush transferring sliding seat 311, and the first nut copper bush transferring assembly 318 and the second nut copper bush transferring assembly have the same structure and opposite positions; the rear end cover transfer assembly comprises a rear end cover mounting base 314, a rear end cover transfer base 315, a rear end cover clamping jaw air cylinder assembly 317, a fifth horizontal air cylinder 316 and a third pressing air cylinder, wherein the rear end cover mounting base 314 is horizontally mounted at the top ends of a plurality of fixed aluminum materials, the fifth horizontal air cylinder 316 is mounted on one side of the rear end cover mounting base 314, the rear end cover transfer base is L-shaped, the horizontal plane of the rear end cover transfer base 315 is in sliding connection with the bottom of a rear end cover mounting base plate and is connected with the output end of the fifth horizontal air cylinder 316, the third pressing air cylinder is mounted at the bottom of the horizontal plane of the rear end cover transfer base 315, the rear end cover clamping jaw air cylinder assembly 317 is horizontally mounted on one side of the vertical plane of the rear end cover transfer base 315 and is in vertical sliding connection with the rear end cover transfer base 315, and the rear end cover clamping jaw air cylinder assembly 317 is connected with the output end of the third pressing air cylinder, the rear end cover transfer base 315 slides horizontally under the pushing of the fifth horizontal cylinder 316 to drive the rear end cover clamping jaw cylinder assembly 317 to move horizontally, and the rear end cover clamping jaw cylinder assembly 317 slides up and down under the pushing of the third pressing cylinder.
Further, the rear end cover vibration disc 31, the rear end cover direct vibration assembly 32, the hexagon nut vibration disc 33, the hexagon nut direct vibration assembly 35, the copper sheathing vibration disc 34 and the copper sheathing direct vibration assembly are all conventional vibration discs and direct vibration assemblies, the finger cylinder assembly 313 comprises a nut copper sheathing finger cylinder mounting plate, a third finger cylinder and a fourth finger cylinder, the nut copper sheathing finger cylinder mounting plate is of an 'L' shape, the vertical surface of the nut copper sheathing finger cylinder mounting plate is vertically and slidably connected with one side of the nut copper sheathing transfer sliding seat 311, the top end of the vertical surface of the nut copper sheathing finger cylinder mounting plate is connected with the output end of the second pressing cylinder 312, and the third finger cylinder and the fourth finger cylinder are respectively mounted on the front side and the rear side of the horizontal plane of the nut copper sheathing finger cylinder mounting plate; the rear end cover clamping jaw air cylinder assembly 317 comprises a rear end cover clamping jaw air cylinder mounting plate, a first clamping jaw air cylinder, a second clamping jaw air cylinder and a third clamping jaw air cylinder, wherein the rear end cover clamping jaw air cylinder mounting plate is horizontally mounted on one side of a rear end cover transfer base 315 and is in sliding connection with the rear end cover transfer base 315, the upper end of the rear end cover clamping jaw air cylinder base is connected with the output end of a third pressing air cylinder, and the first clamping jaw air cylinder, the second clamping jaw air cylinder and the third clamping jaw air cylinder are sequentially mounted on one side of the rear end cover clamping jaw mounting plate from front to back.
Example 3: as shown in fig. 4, in order to automatically mount a wave plate on a rear end cover in a station tank, a wave plate assembly device 4 is provided, where the wave plate assembly device 4 includes a wave plate vibration plate 41, a wave plate direct vibration assembly 42, and a wave plate transfer hand assembly; the wave plate shifting hand assembly is arranged on a fixed table beside a station groove at which the turntable rotates one eighth clockwise, and the wave plate vibration disc 41 and the wave plate direct vibration assembly 42 are arranged on a fixed frame at the front side of the wave plate shifting hand assembly; the wave plate shifting hand assembly comprises a second cylinder bracket assembly and a second clamping assembly, the second clamping assembly is arranged on one side of the upper end of the second cylinder bracket assembly, the second cylinder bracket assembly comprises a second aluminum material bracket 43, a wave plate shifting fixing seat 44, a wave plate shifting sliding seat 46, a sixth horizontal cylinder 45 and a fourth pressing cylinder 48, the second cylinder bracket assembly is identical to the first cylinder bracket assembly in structure, the second clamping assembly comprises a supporting claw L-shaped cylinder base 47 and a supporting claw cylinder 49, the horizontal plane of the supporting claw L-shaped cylinder base 47 is connected with the output end of the fourth pressing cylinder 48, the vertical plane of the supporting claw L-shaped cylinder base 47 is in sliding connection with the wave plate shifting sliding seat 46, the supporting claw cylinder 49 is arranged at the bottom of the horizontal plane of the supporting claw L-shaped cylinder base 47, and the wave plate shifting sliding seat 46 can horizontally slide under the pushing of the sixth horizontal cylinder 45 to drive the supporting claw cylinder 49 to horizontally move, prop claw L type cylinder base 47 can vertically slide under fourth down-pressure cylinder 48's promotion and thereby drive and prop claw cylinder 49 vertical removal, thereby prop claw cylinder 49 and can snatch the wave plate transportation on the wave plate directly shakes the subassembly 42 and install to the rear end cover of carousel station slot on from top to bottom side right-hand movement, with propping claw cylinder 49 installation and having improved installation effectiveness and accuracy with transporting the wave plate.
Further, the wave plate vibration plate 41 and the wave plate direct vibration assembly 42 are conventional vibration plates and direct vibration assemblies.
Example 4: as shown in fig. 5, in order to automatically mount a stator on a rear end cover in a station slot, a stator assembly device 5 is provided, the stator assembly device 5 includes a stator conveying belt 51 and a stator transfer hand assembly, an output end of the stator conveying belt 51 is mounted on a fixed table beside the station slot where a turntable rotates by two eighths, the stator transfer hand assembly is mounted on a right side of the output end of the stator conveying belt 51, and the stator conveying belt 51 is a conventional conveying belt; the stator transfer hand assembly comprises a first air cylinder installation assembly and a third clamping assembly, the third clamping assembly is installed on one side of the upper end of the first air cylinder installation assembly, the first air cylinder installation assembly comprises a third aluminum material bracket 52, a stator transfer fixing seat 53, a stator transfer sliding seat 55, a seventh horizontal air cylinder 54 and a fifth downward pressing air cylinder 56, the third aluminum material bracket 52 is vertically installed on a fixed platform, the stator transfer fixing seat 53 is horizontally installed on one side of the upper end of the third aluminum material bracket 52, the seventh horizontal air cylinder 54 is installed at one end of the stator transfer fixing seat 53, the stator transfer sliding seat 55 is vertically installed on one side of the stator transfer fixing seat 53 and is horizontally and slidably connected with the stator transfer fixing seat 53, one side of the stator transfer sliding seat 55 is connected with the output end of the seventh horizontal air cylinder 54, and the fifth downward pressing air cylinder 56 is installed at the upper end of the stator transfer sliding seat 55, the third clamping assembly comprises a stator clamping cylinder base 57, a second clamping cylinder 59 and a third clamping cylinder 58, the stator clamping cylinder base 57 is horizontally arranged on the left side of the stator transfer sliding seat 55 and is vertically and slidably connected with the stator transfer sliding seat 55, the upper end of the stator clamping cylinder base 57 is connected with the output end of the fifth downward pressing cylinder 56, the second clamping cylinder 59 and the third clamping cylinder 58 are arranged on the front side and the rear side of the bottom of the stator clamping cylinder base 57, the stator transfer sliding seat 55 is pushed by the seventh horizontal cylinder 54 to horizontally slide so as to drive the second clamping cylinder 59 and the third clamping cylinder 58 to horizontally move, the stator clamping cylinder base 57 is pushed by the fifth downward pressing cylinder 56 to vertically slide so as to drive the second clamping cylinder 59 and the third clamping cylinder 58 to vertically move, the second clamping cylinder 59 and the third clamping cylinder 58 slide up and down and left to grasp the stator and are arranged on the rear end cover of the turntable work groove, the stator mounting efficiency is improved by simultaneously gripping and mounting the stator one by the second and third clamp cylinders 59 and 58.
Example 5: as shown in fig. 6, in order to automatically mount the frame on the rear end cover in the station slot, the frame assembly device 6 is provided, where the frame assembly device 6 includes a frame material storage turntable assembly and a frame transfer hand assembly, the frame transfer hand assembly is mounted on a fixed platform beside the station slot where the turntable rotates three eighths, and the frame material storage turntable assembly is mounted on a fixed frame at the front side of the frame transfer hand assembly; the frame transfer hand assembly comprises a fourth aluminum material bracket, a fifth aluminum material bracket, a frame transfer fixed seat 65, a frame transfer sliding seat 67, a rotary air cylinder base 69, a frame rotary air cylinder 610, an opening claw air cylinder base 611, a frame opening claw air cylinder 612, an eighth horizontal air cylinder 66 and a sixth downward pressing air cylinder 68, wherein the fourth aluminum material bracket and the fifth aluminum material bracket are vertically arranged on the bottom platform, the frame transfer fixed seat 65 is horizontally arranged on the right side of the upper ends of the fourth aluminum material bracket and the fifth aluminum material bracket, the eighth horizontal air cylinder 66 is horizontally arranged at one end of the frame transfer fixed seat 65, the frame transfer sliding seat 67 is vertically arranged on the right side of the frame transfer fixed seat 65 and is horizontally and slidably connected with the frame transfer fixed seat 65, one side of the frame transfer sliding seat 67 is connected with the output end of the eighth horizontal air cylinder 66, and the sixth downward pressing air cylinder 68 is vertically arranged at the top end of the frame transfer sliding seat 67, the rotating cylinder base 69 is L-shaped, the vertical surface of the rotating cylinder base 69 is vertically and slidably connected with the right side of the frame transfer sliding base 67 and is connected with the output end of the sixth pushing cylinder 68, the frame rotating cylinder 610 is installed at the bottom of the horizontal surface of the rotating cylinder base 69, the open claw cylinder base 611 is L-shaped, the upper surface of the horizontal surface of the open claw cylinder base 611 is connected with the output end of the rotating cylinder, the frame open claw cylinder 612 is installed at one side of the vertical surface of the open claw cylinder base 611, the frame transfer sliding base 67 is pushed by the eighth horizontal cylinder 66 to launch the horizontal movement of the open claw cylinder, the rotating cylinder base 69 is pushed by the sixth pushing cylinder 68 to vertically slide so as to drive the open claw cylinder to vertically move, the open claw cylinder base 611 can rotate under the action of the rotating cylinder so as to drive the open claw cylinder to rotate, the gripping frame is arranged on the rear end cover of the turntable station groove in a manner of rotating up and down and left and right by the jaw-opening cylinder; the frame material storage rotary disc assembly device comprises a rotary material storage assembly and a lifting assembly 64, wherein the lifting assembly 64 is installed at the rear right side of the rotary material storage assembly, and the rotary material storage assembly comprises a first motor 62, a motor base 61, a material storage rotary disc 63 and a plurality of fixing rods; motor base 61 installs on the mount, first motor 62 install at motor base 61 the left end storage carousel 63 install at motor base 61 the top and link to each other with first motor 62's output, storage carousel 63 edge is equipped with a plurality of openings, the vertical installation of a plurality of dead levers is other at the opening, first motor 62 drives storage carousel 63 rotatory to the position of opening the frame that the claw cylinder conveniently snatched, the fixed frame of a plurality of dead levers is on storage carousel 63, and revolving cylinder's rotation snatchs frame and the rotatory pay-off of frame storage component makes revolving cylinder's clamp get more accurate and swift.
Further, lifting unit 64 includes second motor, conveyer belt base, promotion conveyer belt and promotion card needle, the conveyer belt base is vertical to be installed on the mount, the right side at conveyer belt base lower extreme is installed to the second motor, the one end that promotes the conveyer belt links to each other with the output of second motor, promote card needle horizontal installation on promoting the conveyer belt, promote the opening joint of card needle and storage carousel 63 edge, promote the card needle and pass the opening of storage carousel 63 edge under the promotion of promotion conveyer belt, hold the frame of bottommost and upwards promote to make the frame upward movement, conveniently press from both sides the clamp and get.
Example 6: as shown in fig. 7 to 8, a screw assembling device is provided for automatically installing and tightening screws, the screw assembling device includes a screw transfer component 7 and a screw driving component 8, the screw transfer component 7 includes a screw transfer hand component, a screw vibrating disk 71, a screw direct vibration component and a screw rotating component 72, the screw transfer hand component is installed on a fixed table beside a five-eighths station slot of the rotary table rotation, the screw driving component 8 is installed on a fixed table beside a six-eighths station slot of the rotary table rotation, the screw vibrating disk 71 and the screw direct vibration component are installed on a fixed frame behind the screw driving component 8, an output end of the screw direct vibration component is connected with the screw rotating component 72, and the screw rotating component 72 is installed on a fixed table at the right rear side of the screw transfer hand component; the screw transferring hand component comprises a second air cylinder installation component and a fourth clamping component, the second air cylinder installation component comprises a sixth aluminum material bracket, a screw transferring fixed seat 73, a screw transferring sliding seat 75, a ninth horizontal air cylinder 74 and a seventh pressing air cylinder 76, the second air cylinder installation component has the same structure as the first air cylinder installation component, the fourth clamping component comprises a screw finger air cylinder base 77, a first finger air cylinder 78 and a second finger air cylinder 79, the screw finger air cylinder base 77 is installed on one side of the screw transferring sliding seat 75 and is vertically and slidably connected with the screw transferring sliding seat 75, the first finger air cylinder 78 and the second finger air cylinder 79 are respectively installed on the left side and the right side of the bottom of the screw finger air cylinder base 77, the screw transferring sliding seat 75 horizontally slides under the pushing of the ninth horizontal air cylinder 74 to drive the first finger air cylinder 78 and the second finger air cylinder 79 to horizontally move, the screw finger cylinder base 77 vertically slides under the action of the seventh pressing cylinder 76 to drive the first finger cylinder 78 and the second finger cylinder 79 to vertically move, so that the first finger cylinder 78 and the second finger cylinder 79 vertically move left and right to clamp the screw and are arranged on the frame of the turntable station slot.
Further, the screw rotating assembly 72 includes a fifth motor, a screw rotating disk and a screw rotating holder; the screw rotating support is installed on the fixed table, the screw rotating disc is installed in a circular notch at the center of an upper end plate of the screw rotating support, notches of the size of screws are arranged at two ends of the screw rotating disc, an upper end plate of the screw rotating support, corresponding to the notches of the screw rotating disc, is provided with an open slot, the fifth motor is installed on a clamping plate of the screw rotating support, the output end of the fifth motor is connected with the bottom end of the screw rotating disc, the screws are clamped in the notches of the screw rotating disc after passing through the open slots of the upper end plate of the screw rotating support, the fifth motor drives the screw rotating disc to rotate to the other side, and the notches of the other side of the screw rotating disc continue to be clamped with another screw. The cooperation of the screw rotating assembly 72 and the screw transferring hand assembly enables the first finger cylinder 78 and the second finger cylinder 79 to simultaneously clamp and mount screws, and the mounting efficiency is improved.
Beat screw subassembly 8 and include seventh aluminum product support 81, jacking cylinder 83, cylinder installation piece 82, third motor 85, fourth motor 86, beat screw fixing base 84, first screw machine 87 and second screw machine 88, seventh aluminum product support 81 is vertical to be installed on the fixed station, cylinder installation piece 82 is installed in one side at seventh aluminum product support 81 middle part, jacking cylinder 83 is installed in cylinder installation piece 82 bottom, beat screw fixing base 84 and install on seventh aluminum product support 81 and be located the top of cylinder installation piece 82, beat the rear side and seventh aluminum product support 81 sliding connection of screw fixing base 84, the output of jacking cylinder 83 links to each other with the bottom of beating screw fixing base 84, third motor 85 and fourth motor 86 are installed at beating screw fixing base 84 top, the upper portion of first screw machine 87 and second screw machine 88 is located the interior lower part of beating screw fixing base 84 and holds and with the output of third motor 85 and fourth motor 86 Even, the bottom of the screw fixing seat 84 is run through to the lower part of first screw machine 87 and second screw machine 88, thereby the jacking cylinder 83 promotes whole screw fixing seat 84 and has slided from top to bottom and has driven first screw machine 87 and second screw machine 88 and reciprocate, third motor 85 and fourth motor 86 make first screw machine 87 and second screw machine 88 can the rotatory screw of screwing up, and the mode of the screw of screwing up has been adopted simultaneously to the screw subassembly 8 of beating first screw machine 87 and second screw machine 88, and work efficiency is high.
A rotor shifting hand device 9 and a blanking shifting hand device 10 are arranged for automatically mounting a rotor and blanking, the rotor shifting hand device 9 is mounted on a fixed table beside a four-eighth station groove of a rotating disc, the blanking shifting hand device 10 is mounted on a fixed table beside a seventh eighth station groove of the eight-eighth station groove of the rotating disc, the rotor shifting hand device 9 and the blanking shifting hand device 10 are identical in structure with a frame shifting hand assembly, and the working principle of the rotor shifting hand device 9, the blanking shifting hand device 10 and the frame shifting hand assembly is identical.
The working principle of the invention is as follows: the rear end cover vibrating disc and the rear end cover direct-vibration assembly transport a plurality of rear end covers to the front side of the hexagon nut direct-vibration assembly, the first clamping jaw cylinder clamps a first rear end cover under the action of the fifth horizontal cylinder and the third downward-pressing cylinder and places the first rear end cover on a rear end cover tooling plate of the first rear end cover station assembly, the first rear end cover moves rightwards under the action of the second horizontal cylinder and moves to the second nut copper sleeve transfer assembly, the hexagon nut vibrating disc and the copper sleeve vibrating disc transport the hexagon nut and the copper sleeve to the hexagon nut direct-vibration assembly and the copper sleeve direct-vibration assembly, the third finger cylinder of the second nut copper sleeve transfer assembly clamps the hexagon nut under the action of the fourth horizontal cylinder and the second downward-pressing cylinder and installs the hexagon nut in the first rear end cover, the first rear end cover moves leftwards under the action of the third horizontal cylinder and moves to the first nut copper sleeve transfer assembly, and installs a hexagon nut on the first rear end cover, a second clamping jaw air cylinder clamps a first rear end cover and places the first rear end cover on a second rear end cover station component, a first clamping air cylinder clamps a second rear end cover and places the second rear end cover on a rear end cover tooling plate, a fourth finger air cylinder of a second nut copper sleeve transfer component installs a copper sleeve on the first rear end cover, a first nut copper sleeve transfer component installs another copper sleeve on the first rear end cover, a third clamping air cylinder clamps the first rear end cover and places the first rear end cover on a rear end cover conveying belt, a second clamping air cylinder clamps the second rear end cover with two hexagon nuts installed on the second rear end cover station component, a first clamping air cylinder clamps a third rear end cover to the first rear end cover station component, the subsequent operation is circulated, the first rear end cover is conveyed to the output end of the rear end cover conveying belt, a first clamping air cylinder of a rear end cover transferring hand component clamps the first rear end cover and places the first rear end cover in a station groove at the initial position of a working disc under the action of a first horizontal air cylinder and a first downward pressing air cylinder, the rotary table rotates to one eighth, the wave plate vibration plate and the wave plate direct vibration assembly transport the wave plates to the output end of the wave plate direct vibration assembly, the wave plate transfer hand assembly moves under the action of the sixth horizontal cylinder and the fourth down-pressure cylinder to clamp the wave plates and place the wave plates on the rear end cover in the rotary table station groove, the rotary table rotates to two eighths, the second clamp cylinder and the third clamp cylinder of the stator assembly device move under the action of the seventh horizontal cylinder and the fifth down-pressure cylinder to clamp the stator on the stator conveying belt, the third clamp cylinder firstly installs the stator on the rear end cover in the rotary table station groove, the second clamp cylinder waits for the next station groove to install, the rotary table rotates to three eighths, the rotary table rotates to rotate the material storage assembly to rotate the material transfer plate part to the front of the lifting assembly, the lifting assembly drives the lifting clamp pin to jack the frame by the conveying belt, and the frame tension cylinder of the frame hand assembly moves on the eighth horizontal cylinder, the wave plate vibration plate and the wave plate vibration assembly and the output end cover of the wave plate direct vibration assembly, the wave plate transfer hand assembly moves to two eighths, the back end cover to the back end cover, the back end of the back end cover is connected with the stator clamping assembly, the clamping device is connected with the clamping device, the clamping, A sixth downward pressing cylinder and a frame rotating cylinder are used for rotating and grabbing the frame and installing the frame on a base of a station groove, a turntable is rotated to four eighths of the position, a rotor is moved by a hand to clamp the rotor and is installed in the station groove, the turntable is rotated to five eighths of the position, a screw vibrating disc and a screw direct vibrating assembly are supplied to a screw rotating assembly, one side opening of the screw rotating disc is clamped with one screw, after a fifth motor drives the screw rotating disc to rotate, the other side opening of the screw rotating disc is clamped with another screw, a first finger cylinder and a second finger cylinder of the screw moving hand assembly are moved by a ninth horizontal cylinder and a seventh downward pressing cylinder to clamp two screws and are installed on the frame of the station groove, the turntable is rotated to six eighths of the position, a first screw screwing machine and a second screw screwing machine of the screw assembly are pressed by a third motor, a fourth motor and a jacking cylinder to screw tightly screw, the turntable rotates to seven eighths of the total, and the blanking shifting hand device clamps the finished motor blanking.
The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The automatic assembling equipment of the miniature industrial joint robot is characterized by comprising a rotary table device, a rear end cover assembling device, a wave plate assembling device, a stator assembling device, a frame assembling device, a rotor shifting hand device, a screw assembling device and a blanking shifting hand device; the rear end cover assembling device, the wave plate assembling device, the stator assembling device, the frame assembling device, the rotor shifting hand device, the screw assembling device and the blanking shifting hand device are sequentially arranged around the rotary table device in a surrounding manner and are partially arranged on a plurality of independent fixing frames; the rear end cover assembling device comprises a rear end cover transfer hand assembly and a rear end cover mounting assembly, the rear end cover transfer hand assembly is mounted on a fixed table beside the station groove at the starting position of the turntable, and the rear end cover mounting assembly is mounted on a fixed frame on the right side of the rear end cover transfer hand assembly; the rear end cover mounting assembly comprises a plurality of fixed aluminum materials, a rear end cover vibration disc, a rear end cover direct vibration assembly, a hexagon nut vibration disc, a copper sheathing vibration disc, a hexagon nut direct vibration assembly, a first rear end cover station assembly, a copper sheathing direct vibration assembly, a second rear end cover station assembly, a first nut copper sheathing transfer assembly, a rear end cover transfer assembly, a second nut copper sheathing transfer assembly and a rear end cover conveying belt; the hexagonal nut direct vibration assembly, the first rear end cover station assembly, the copper bush direct vibration assembly and the second rear end cover station assembly are sequentially and horizontally arranged on a fixing frame from front to back, the plurality of fixed aluminum products are vertically arranged on the fixing frame, the first nut copper bush transferring assembly, the rear end cover transferring assembly and the second nut copper bush transferring assembly are sequentially and horizontally arranged at the top end of the fixed aluminum products from left to right and are positioned above the hexagonal nut direct vibration assembly, the first rear end cover station assembly, the copper bush direct vibration assembly and the second rear end cover station assembly, the rear end cover vibration disc and the rear end cover direct vibration assembly are arranged on the side face of the hexagonal nut direct vibration assembly, the output end of the hexagonal nut vibration disc is connected with the hexagonal nut direct vibration assembly, the output end of the copper bush vibration disc is connected with the copper bush direct vibration assembly, one end of the rear end cover conveying belt is arranged on the rear side of the rear end cover transferring assembly, the other end of the rear end cover conveying belt is positioned on a fixed table on the right side of the rear end cover transfer hand assembly.
2. The automatic assembling equipment of micro industrial joint robot according to claim 1, wherein the rear end cap transfer hand assembly comprises a first cylinder bracket assembly and a first clamping assembly, the first clamping assembly is mounted on one side of the upper end of the first cylinder bracket assembly, the first cylinder bracket assembly comprises a first aluminum bracket, a rear end cap transfer fixing seat, a rear end cap transfer sliding seat, a first horizontal cylinder and a first downward pressing cylinder, the first aluminum bracket is vertically mounted on the fixing platform, the rear end cap transfer fixing seat is horizontally mounted on one side of the upper end of the first aluminum bracket, the first horizontal cylinder is mounted at one end of the rear end cap transfer fixing seat, the rear end cap transfer sliding seat is vertically mounted on one side of the rear end cap transfer fixing seat and horizontally slidably connected with the rear end cap transfer fixing seat, one side of the rear end cap transfer sliding seat is connected with the output end of the first horizontal cylinder, the first downward pressing air cylinder is arranged at the top end of the rear end cover transfer sliding seat; the first clamping assembly comprises a rear end cover L-shaped clamping cylinder base and a first clamping cylinder, the vertical surface of the rear end cover L-shaped clamping cylinder base is connected with a rear end cover transfer sliding seat in a sliding mode and is connected with the output end of a first downward pressing cylinder, and the first clamping cylinder is installed at the bottom of the horizontal plane of the rear end cover L-shaped clamping cylinder base.
3. The automatic assembling equipment of the micro industrial joint robot as claimed in claim 1, wherein the first rear end cover station assembly comprises a second horizontal cylinder, a third horizontal cylinder, a rear end cover tooling plate, a first telescopic block and a second telescopic block, the rear end cover tooling plate is horizontally arranged on the fixing frame, the second horizontal cylinder and the third horizontal cylinder are respectively arranged at the left end and the right end of the rear end cover tooling plate, the first telescopic block and the second telescopic block are respectively connected with the output ends of the second horizontal cylinder and the third horizontal cylinder, and the second rear end cover station assembly has the same structure as the first rear end cover station assembly; the second nut copper bush transferring component comprises a nut copper bush transferring fixed seat, a nut copper bush transferring sliding seat, a finger air cylinder component, a fourth horizontal air cylinder and a second pressing air cylinder, the nut copper sleeve shifting and fixing seat is horizontally arranged at the left side of the upper ends of the fixed aluminum materials, the fourth horizontal cylinder is arranged at one side of the nut copper sleeve shifting and fixing seat, the nut copper sleeve shifting and sliding seat is connected with the output end of the fourth horizontal cylinder and vertically and slidably connected with one side of the nut copper sleeve shifting and fixing seat, the second lower pressing cylinder is arranged at the top of the nut copper sleeve shifting sliding seat, the finger cylinder component is connected with the output end of the second lower pressing cylinder and is vertically and slidably connected with the nut copper sleeve shifting sliding seat, the first nut copper bush transferring assembly and the second nut copper bush transferring assembly are identical in structure and opposite in position; the rear end cover moving and carrying assembly comprises a rear end cover mounting base, a rear end cover moving and carrying base, a rear end cover clamping jaw air cylinder assembly, a fifth horizontal air cylinder and a third pressing air cylinder, the rear end cover mounting base is horizontally mounted on the tops of the fixed aluminum products, the fifth horizontal air cylinder is mounted on one side of the rear end cover mounting base, the rear end cover moving and carrying base is L-shaped, the horizontal plane of the rear end cover moving and carrying base is connected with the bottom of the rear end cover mounting base plate in a sliding mode and connected with the output end of the fifth horizontal air cylinder, the third pressing air cylinder is mounted on the bottom of the horizontal plane of the rear end cover moving and carrying base, the rear end cover clamping jaw air cylinder assembly is horizontally mounted on one side of the vertical face of the rear end cover moving and carrying base and vertically connected with the rear end cover moving and carrying base in a sliding mode, and the rear end cover clamping jaw air cylinder assembly is connected with the output end of the third pressing air cylinder.
4. The automatic assembling equipment of the micro industrial joint robot as claimed in claim 2, wherein the wave plate assembling device comprises a wave plate vibration plate, a wave plate direct vibration assembly and a wave plate transfer hand assembly; the wave plate shifting hand assembly is arranged on a fixed table beside the working position groove at which the turntable rotates one eighth clockwise, and the wave plate vibration disc and the wave plate direct vibration assembly are arranged on a fixed frame at the front side of the wave plate shifting hand assembly; the wave plate moves and carries hand subassembly and includes that second cylinder bracket component and second press from both sides the subassembly, the second is got one side of subassembly installation in second cylinder bracket component upper end, second cylinder bracket component includes that second aluminum product support, wave plate move and carry fixing base, wave plate move and carry sliding seat, sixth horizontal cylinder and fourth push down the cylinder, and second cylinder bracket component is the same with first cylinder bracket component's structure, the second is got the subassembly and is included propping claw L type cylinder base and prop the claw cylinder, prop claw L type cylinder base's horizontal plane and fourth push down the output of cylinder and link to each other, prop claw L type cylinder base's vertical face and wave plate and move and carry sliding seat sliding connection, prop the claw cylinder and install the bottom at claw L type cylinder base horizontal plane.
5. The automatic assembling equipment of the micro industrial joint robot as claimed in claim 1, wherein the stator assembling device comprises a stator conveying belt and a stator transfer hand assembly, the output end of the stator conveying belt is mounted on the fixed table beside the two-eighth rotating station slot of the turntable, and the stator transfer hand assembly is mounted on the right side of the output end of the stator conveying belt; the stator moves and carries hand subassembly and includes that first cylinder installation component and third clamp get the subassembly, one side at first cylinder installation component upper end is got to the third clamp, first cylinder installation component includes that third aluminum product support, stator move and carry fixing base, stator move and carry sliding seat and seventh horizontal cylinder, fifth down-pressure cylinder, third aluminum product support is vertical to be installed on the fixed station, the stator moves and carries one side that fixing base horizontal installation was in third aluminum product support upper end, seventh horizontal cylinder installs the one end that moves the fixing base at the stator, the stator moves and carries the sliding seat and vertically to install one side that moves the fixing base at the stator and move and carry fixing base horizontal sliding connection with the stator, one side that the stator moved and carried the sliding seat links to each other with the output of seventh horizontal cylinder, fifth down-pressure cylinder installs the upper end that the stator moved and carried the sliding seat, the subassembly is got including stator clamp cylinder base, the third clamp, The stator clamp air cylinder base is horizontally arranged on the left side of the stator transfer sliding seat and is vertically and slidably connected with the stator transfer sliding seat, the upper end of the stator clamp air cylinder base is connected with the output end of the fifth pressing air cylinder, and the second clamp air cylinder and the third clamp air cylinder are arranged on the front side and the rear side of the bottom of the stator clamp air cylinder base.
6. The automated assembling apparatus of micro industrial joint robot as claimed in claim 1, wherein the frame assembling device comprises a frame storage turntable assembly and a frame transfer hand assembly, the frame transfer hand assembly is mounted on a fixed platform beside the station slot where the turntable rotates three eighths, and the frame storage turntable assembly is mounted on a fixed frame at the front side of the frame transfer hand assembly; the frame transfer hand assembly comprises a fourth aluminum material support, a fifth aluminum material support, a frame transfer fixing seat, a frame transfer sliding seat, a rotating cylinder base, a frame rotating cylinder, a claw-opening cylinder base, a frame claw-opening cylinder, an eighth horizontal cylinder and a sixth pressing cylinder, wherein the fourth aluminum material support and the fifth aluminum material support are vertically arranged on a base platform, the frame transfer fixing seat is horizontally arranged on the right side of the upper ends of the fourth aluminum material support and the fifth aluminum material support, the eighth horizontal cylinder is horizontally arranged at one end of the frame transfer fixing seat, the frame transfer sliding seat is vertically arranged on the right side of the frame transfer fixing seat and is horizontally and slidably connected with the frame transfer fixing seat, one side of the frame transfer sliding seat is connected with the output end of the eighth horizontal cylinder, the sixth pressing cylinder is vertically arranged at the top end of the frame transfer sliding seat, and the rotating cylinder base is L-shaped, the vertical surface of the rotary cylinder base is vertically and slidably connected with the right side of the frame transfer sliding seat and is connected with the output end of a sixth pressing cylinder, the frame rotary cylinder is installed at the bottom of the horizontal surface of the rotary cylinder base, the claw-opening cylinder base is L-shaped, the upper surface of the horizontal surface of the claw-opening cylinder base is connected with the output end of the rotary cylinder, and the frame claw-opening cylinder is installed on one side of the vertical surface of the claw-opening cylinder base; the frame material storage turntable assembly device comprises a rotary material storage assembly and a lifting assembly, the lifting assembly is mounted at the right rear side of the rotary material storage assembly, and the rotary material storage assembly comprises a first motor, a motor base, a material storage turntable and a plurality of fixing rods; the motor base is installed on the mount, first motor install at motor base's left end the storage carousel is installed at motor base's top and is linked to each other with the output of first motor, storage carousel edge is equipped with a plurality of openings, a plurality of dead levers are vertical to be installed by the opening.
7. The automatic assembling equipment of the micro industrial joint robot as claimed in claim 5, wherein the screw assembling device comprises a screw transferring component and a screw driving component, the screw transferring component comprises a screw transferring hand component, a screw vibrating disk, a screw direct vibrating component and a screw rotating component, the screw transferring hand component is installed on a fixed table beside five eighths of the station slot for rotating the turntable, the screw driving component is installed on a fixed table beside six eighths of the station slot for rotating the turntable, the screw vibrating disk and the screw direct vibrating component are installed on a fixed frame behind the screw driving component, the output end of the screw direct vibrating component is connected with the screw rotating component, and the screw rotating component is installed on a fixed table at the right rear side of the screw transferring hand component; the screw transferring hand assembly comprises a second air cylinder mounting assembly and a fourth clamping assembly, the second air cylinder mounting assembly comprises a sixth aluminum material support, a screw transferring fixing seat, a screw transferring sliding seat, a ninth horizontal air cylinder and a seventh pressing air cylinder, the second air cylinder mounting assembly is identical to the first air cylinder mounting assembly in structure, the fourth clamping assembly comprises a screw finger air cylinder base, a first finger air cylinder and a second finger air cylinder, the screw finger air cylinder base is mounted on one side of the screw transferring sliding seat and is vertically and slidably connected with the screw transferring sliding seat, and the first finger air cylinder and the second finger air cylinder are respectively mounted on the left side and the right side of the bottom of the screw finger air cylinder base; the screw driving assembly comprises a seventh aluminum material support, a jacking air cylinder, an air cylinder mounting block, a third motor, a fourth motor, a screw driving fixing seat, a first screw driving machine and a second screw driving machine, the seventh aluminum material support is vertically mounted on a fixing table, the air cylinder mounting block is mounted on one side of the middle part of the seventh aluminum material support, the jacking air cylinder is mounted at the bottom of the air cylinder mounting block, the screw driving fixing seat is mounted on the seventh aluminum material support and positioned above the air cylinder mounting block, the rear side of the screw driving fixing seat is in sliding connection with the seventh aluminum material support, the output end of the jacking air cylinder is connected with the bottom end of the screw driving fixing seat, the third motor and the fourth motor are mounted at the top of the screw driving fixing seat, the upper parts of the first screw driving machine and the second screw driving machine are positioned at the inner lower part of the screw driving fixing seat and are connected with the output ends of the third motor and the fourth motor, the lower parts of the first screw driving machine and the second screw driving machine penetrate through the bottom of the screw driving fixing seat.
8. The automated assembling apparatus of claim 6, wherein said rotor transfer hand device is mounted on a fixed platform beside a four-eighths station slot of the rotation disc, said unloading transfer hand device is mounted on a fixed platform beside an eight-eighths station slot of the rotation disc, and said rotor transfer hand device and unloading transfer hand device are identical in structure to the frame transfer hand assembly.
CN202110840119.XA 2021-07-24 2021-07-24 Automatic assembling equipment of miniature industrial joint robot Active CN113400336B (en)

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Publication number Priority date Publication date Assignee Title
CN115255848B (en) * 2022-06-28 2023-10-17 北京轩宇智能科技有限公司 Storage platform with protection function and multifunctional assembly system

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101618206B1 (en) * 2015-08-28 2016-05-18 (주)라바기업 Apparatue for assembling oriental medical acupuncture needles
CN209731010U (en) * 2019-04-12 2019-12-03 游保华 A kind of assembling equipment of rotor and commutator
CN112894347A (en) * 2021-01-18 2021-06-04 亿伟亚机电(深圳)有限公司 Assembly equipment of transfer robot and working method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101618206B1 (en) * 2015-08-28 2016-05-18 (주)라바기업 Apparatue for assembling oriental medical acupuncture needles
CN209731010U (en) * 2019-04-12 2019-12-03 游保华 A kind of assembling equipment of rotor and commutator
CN112894347A (en) * 2021-01-18 2021-06-04 亿伟亚机电(深圳)有限公司 Assembly equipment of transfer robot and working method thereof

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