CN206686040U - Servomotor full-automatic intelligent manipulator assembling line - Google Patents
Servomotor full-automatic intelligent manipulator assembling line Download PDFInfo
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- CN206686040U CN206686040U CN201720445099.5U CN201720445099U CN206686040U CN 206686040 U CN206686040 U CN 206686040U CN 201720445099 U CN201720445099 U CN 201720445099U CN 206686040 U CN206686040 U CN 206686040U
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Abstract
Industrial automation equipment is the utility model is related to, more specifically to a kind of automated assembling equipment for being used to manufacture motor.The utility model servomotor full-automatic intelligent manipulator assembling line includes：Workbench, the bearing assembly machine structure for bearing to be assembled on motor rotor, the gear assemble mechanism for little gear to be assembled on the motor rotor, the No.1 frock for placing the motor rotor, platform for placing material, No. two frocks, No. three frocks, the charging pipeline for transmitting the motor rotor, the discharging transmission line for transmitting the motor rotor, the No.1 truss-like manipulator for capturing the motor rotor, No. two truss-like manipulators.The utility model servomotor full-automatic intelligent manipulator assembling line, realize by two bearings, little gears it is full-automatic be assembled on motor rotor, because bearing is in flexible clamping state in assemble mechanism, assemble mechanism is fast to the grasp speed of bearing, and bearing can be well adapted to the deviation of motor rotor in position.
Description
Technical field
Industrial automation equipment is the utility model is related to, more specifically to a kind of automation for being used to manufacture motor
Assembly equipment.
Background technology
Motor（English：Electric machinery, it is commonly called as " motor "）Motor refer to can make mechanical energy be converted into electric energy,
Electric energy is converted into all machines of mechanical energy.Refer in particular to generator, electric energy machine, motor.Refer to realize according to the law of electromagnetic induction
A kind of calutron of conversion or the transmission of electric energy.Motor is also referred to as（It is commonly called as motor）, letter ' M ' is used in circuit（Old plant
With " D "）Represent.Its main function is to produce driving torque, as electrical appliance or various mechanical power sources.
Motor is in industry, largely exist in agricultural production, and the amount of parts of motor is numerous, complicated, precision size,
It is a large amount of in present motor manufacturing to be realized by artificial.
Utility model content
The purpose of this utility model is the provision of a kind of servomotor full-automatic intelligent manipulator assembling line,
In the Automated assembly production process of motor, using vibrating disk and feeding machanism realize automation feed to bearing, using with
The No.1 truss-like manipulator of double-mechanical-arm structure is put, No. two truss-like manipulators realize efficiently removing to motor rotor
Fortune, realized using two sets of bearing assembly machine structures and the flexible clamping and precision of bearing are installed, utilize the realization pair of gear assemble mechanism
The assembling of little gear, two bearings, little gears are assembled on motor rotor；The utility model servomotor fully-automatic intelligent
Change manipulator assembling line, realize by two bearings, little gears it is full-automatic be assembled on motor rotor, due to axle
Hold and flexible clamping state is in assemble mechanism, assemble mechanism is fast to the grasp speed of bearing, and bearing can be well adapted to
The deviation of motor rotor in position.
A kind of servomotor full-automatic intelligent manipulator assembling line, including：Workbench, for bearing to be assembled to
Bearing assembly machine structure on motor rotor, for little gear is assembled on the motor rotor gear assemble mechanism,
For place the No.1 frock of the motor rotor, platform for placing material, No. two frocks, No. three frocks, for transmitting the motor
The charging pipeline of rotor, the discharging transmission line for transmitting the motor rotor, for capturing the motor rotor
No.1 truss-like manipulator, No. two truss-like manipulators；
The quantity of the bearing assembly machine structure is two, respectively No.1 bearing assembly machine structure and No. two bearing assembly machines
Structure；The bearing assembly machine structure includes：For bearing to be realized to the vibrating disk of order output, for the bearing to be entered into traveling one
Walk feeding machanism, the assembly machine for capturing the bearing and the bearing being assembled in motor rotor of order output
Structure；
The vibrating disk, feeding machanism, assemble mechanism, No.1 frock and No.1 truss-like manipulator are fixed on the work
On platform, the output track of the vibrating disk is connected to the feeding machanism, and the bearing is delivered to described by the feeding machanism
The bearing is delivered on the motor rotor by assemble mechanism, the assemble mechanism；The assemble mechanism is located at the confession
Expect the top of mechanism；The part-structure of the No.1 frock and charging pipeline is located at the work of the No.1 truss-like manipulator
Within the scope of；The No.1 frock and the No.1 bearing assembly machine structure match, No. two frocks and No. two bearings
Assemble mechanism matches, and No. three frocks and the gear assemble mechanism match；No. two frocks, No. three frocks and go out
The part-structure of material pipeline is located within the working range of No. two truss-like manipulators；
The assemble mechanism includes：Feed cylinder, sliding bar, column, No.1 support, guide pad, sliding bottom, swing
Head, mandrel, pendular body, straight-line guidance block, oscillating cylinder, rack, gear, the No.1 support are fixed on the workbench, institute
The cylinder block for stating feeding cylinder is fixed on the No.1 support by the column, and the end of the piston rod of the feeding cylinder is consolidated
It is connected in one end of the sliding bar；The guide pad is fixed on the No.1 support, and the sliding bar and guide pad are engaged, institute
State sliding bar one end and be fixed with the sliding bottom；The mandrel is movably connected on the sliding bottom, the swinging head, gear
The mandrel is fixed on, the straight-line guidance block, the cylinder block of oscillating cylinder are fixed on the sliding bottom, the oscillating cylinder
The end of piston rod be fixed on the rack, the rack is movably connected on the guide pad, the rack and pinion phase
Match somebody with somebody；The installation opening to match with the external diameter of the bearing is provided with the swinging head；
The feeding machanism includes：Transmission track, push rod, it is horizontal walk cylinder, push rod, rise cylinder, it is described it is horizontal walk cylinder consolidate
Be connected in one end of the transmission track, the push rod be fixed on it is described it is horizontal walk cylinder aerodynamic slider；The one of the transmission track
End is connected to the output track of the vibrating disk, and the end of the transmission track is the middle indexing of the bearing, in the transfer
The ready bit of the bearing is set near position；The rising cylinder, the rising gas are fixed with the bottom of the ready bit
The end of the piston rod of cylinder is fixed on the push rod, and the push rod is movably connected on the ready bit.
Preferably, the No.1 truss-like manipulator includes：Manipulator slide unit, No.1 manipulator, No. two manipulators, machineries
Hand support, the manipulator support are fixed on the workbench, and the manipulator slide unit is movably connected on the manipulator branch
Frame, the No.1 manipulator, No. two manipulators are fixed on the manipulator slide unit.
Preferably, No. two truss-like manipulators include：No.1 paw, two trumpeter's pawls, three trumpeter's pawls, gantry support,
Paw slide unit, the gantry support are fixed on the workbench, and the paw slide unit is movably connected on the gantry support, described
No.1 paw, two trumpeter's pawls, three trumpeter's pawls are fixed on the paw slide unit, the No.1 paw, two trumpeter's pawls, three trumpeter's pawls three
It is to be equidistantly spaced between person.
Preferably, when the manipulator slide unit is in right working position, the No.1 manipulator and on the pallet
The motor rotor matches, No. two manipulators and the motor rotor phase in the No.1 frock
Match somebody with somebody；When the manipulator slide unit is in left station, the No.1 manipulator and described electronic in the No.1 frock
Machine rotor matches, and No. two manipulators and the motor rotor on platform for placing material match.
Preferably, ripple pearl screw is fixed with the radial direction in the installation opening, the quantity of the ripple pearl screw is three
It is individual and be distributed in the side wall of the installation opening.
Preferably, the central axis of the central axis of the mandrel and the sliding bar is mutually perpendicular to.
Preferably, caging bolt and damper, the caging bolt, damper and institute are fixed with the sliding bottom
Pendular body is stated to match.
Preferably, sensor is fixed with the radial direction in the installation opening.
Preferably, when the piston rod of the feeding cylinder is in retracted mode, and the piston rod of the oscillating cylinder is in
During retracted mode, the central axis of the installation opening is in horizontal attitude, and the installation opening and No.1 frock match, the dress
The motor rotor with mouth and in the No.1 frock is in coaxially arranged；At the piston rod of the feeding cylinder
In retracted mode, and when the piston rod of the oscillating cylinder is in stretching state, the central axis of the installation opening is in vertical
Posture, the installation opening are located at the surface of the ready bit, the installation opening and ready non-colinear position.
Preferably, when the piston rod of the oscillating cylinder is in retracted mode, and the piston rod of the feeding cylinder is in
During stretching state, the installation opening reaches the motor rotor position.
The motor rotor being preferably located in the No.1 frock and the sliding bar keep coaxially arranged, institute
State motor rotor and be in horizontally disposed.
Compared with conventional art, the utility model servomotor full-automatic intelligent manipulator assembling line has following
Positive role and beneficial effect：
The utility model servomotor full-automatic intelligent manipulator assembling line, using the bearing assembly machine structure,
Gear assemble mechanism, No.1 frock, No. two frocks, No. three frocks, charging pipeline, discharging transmission line, No.1 truss-like machinery
Hand and No. two truss-like manipulators, realize and the bearing and little gear are automatically assembled on the motor rotor.
The charging pipeline is constantly conveyed the motor rotor toward direction where the No.1 frock, the No.1 purlin
Frame type mechanical arm grabs the motor rotor on the pallet in the No.1 frock；The No.1 bearing dress
The bearing is assembled on the motor rotor by fitting mechanism, and the bearing is realized and exported in an orderly manner to institute by the vibrating disk
State in feeding machanism, the feeding machanism is delivered to the ready bit, the assembly machine after the bearing is carried out into position correction
Structure is arrived in the gripping of the top of the ready bit after the bearing；Then, posture is adjusted to the bearing；Then by the bearing
It is assembled on the motor rotor；Then, No. two truss-like manipulators by the motor rotor from the platform for placing material
On, grab in No. two frocks, meanwhile, the No.1 truss-like manipulator is by the motor rotor from the frock
It is moved on the platform for placing material；Then, the bearing is assembled to described electronic by No. two bearing assembly machine structures from opposite side
On machine rotor；Then, No. two truss-like manipulators grab described by the motor rotor from No. two frocks
In No. three frocks, meanwhile, No. two truss-like manipulators from the platform for placing material, grab the motor rotor described
In No. two frocks；Then, the little gear is assembled on the motor rotor by the gear assemble mechanism；Then, it is described
The motor rotor from No. three frocks, is grabbed the discharging transmission line by No. two truss-like manipulators, meanwhile, institute
No. two truss-like manipulators are stated by the motor rotor from No. two frocks, grabbed in No. three frocks, meanwhile,
No. two truss-like manipulators from the platform for placing material, grab the motor rotor in No. two frocks.This reality
Realized with Novel servomotor full-automatic intelligent manipulator assembling line by the charging pipeline and discharging transmission line
To the Automatic Conveying of the motor rotor, realized by the No.1 truss-like manipulator and No. two truss-like manipulators
Automation crawl and carrying to the motor rotor, assemble the utility model servomotor full-automatic intelligent manipulator
Streamline possesses automation continuous productive process, the beneficial effect of high-efficiency operation.
Two bearing dresses are provided with the utility model servomotor full-automatic intelligent manipulator assembling line
Fitting mechanism：No.1 bearing assembly machine structure and No. two bearing assembly machine structures., can be from described using two bearing assembly machine structures
The bearing is assembled on the motor rotor by the both sides of motor rotor respectively, and efficiency of assembling is high, speed is fast, quality
It is good.
The utility model servomotor full-automatic intelligent manipulator assembling line is by vibrating disk, feeding machanism, assembling
Mechanism, No.1 frock, charging pipeline and No.1 truss-like manipulator etc. technical scheme carry out organic assembling, constitute new skill
Art scheme：Realize to the Automated assembly of the motor rotor, solve that efficiency present in hand assembled is low, assembling quality
The problems such as poor.
Because bearing is high-precision Data Encryption Standard component, matching somebody with somebody for the bearing and motor rotor is combined into interference fit, both
Realizing that both axialities need to reach micron-sized precision when cooperation.The utility model servomotor full-automatic intelligent
Manipulator assembling line can be changed, using the ripple pearl screw, the installation opening is realized flexible clamping to the bearing, prevented
Sliding injury only is carried out to the outer surface of the bearing；Meanwhile can be in the rising gas using the ripple pearl screw, the installation opening
Under the cooperation of cylinder, realize the fast clamp to the bearing, the installation opening need not by Pneumatic paw or etc drive
The mechanism of power output is that the clamping to the bearing can be achieved, and reduces dynamical element, reduces cost；Meanwhile using described
Ripple pearl screw also has unexpected technique effect：In assembling, if the axiality of the bearing and motor rotor is deposited
In certain error, elastic deformation can occur for three ripple pearl screws, the endoporus of the bearing is adapted to automatically
Position where the motor rotor, the bearing is set successfully to be assembled on the motor rotor.
Next feeding machanism, the course of work and operation principle of assemble mechanism described in description the utility model：
At first, the push rod it is described it is horizontal walk cylinder driving under be in the middle indexing；The transmission track
One end is connected to the output track of the vibrating disk, and the bearing is delivered to the middle indexing from the transmission track；Then, institute
State it is horizontal walk cylinder drive the push rod that the bearing is moved into the ready bit from the transfer position.
The assemble mechanism is clamped to the bearing：The piston rod of the feeding cylinder is in retracted mode, the swing
The piston rod of cylinder is in stretching state, and the central axis of the installation opening is in vertical posture, and the installation opening is positioned at described
The surface of ready bit, institute of the installation opening direction towards the ready bit, the installation opening and in the ready bit
State bearing and be in coaxial state.Then, the piston rod for rising cylinder stretches out, and will be located at the ready bit by the push rod
The bearing at place moves up, and is directly pushed into the installation opening.
The bearing is assembled on the motor rotor by the assemble mechanism：The piston rod of the feeding cylinder is in
Retracted mode, the piston rod of the oscillating cylinder are in retracted mode, and the central axis of the installation opening is in horizontal attitude, institute
State installation opening and No.1 frock matches, the installation opening and the motor rotor in the No.1 frock are in same
Axle is arranged；Then, the piston rod of the feeding cylinder stretches out, and the bearing is placed on the motor rotor, and direct institute
State bearing assembling in place.The installation opening reaches the motor rotor position.Described in the No.1 frock
Motor rotor and the sliding bar keep coaxially arranged, turn when the bearing is assembled all described motor by the feeding cylinder
When on son, the sliding bar, bearing, motor rotor three keep coaxial state, there is provided more stable stress,
Make assembling process more steady.
Next the course of work and operation principle of No.1 truss-like manipulator described in description the utility model：
The No.1 truss-like manipulator is configured with double-mechanical-arm structure, including No.1 manipulator, No. two manipulators, utilizes
Double-mechanical-arm structure can effectively improve the handling efficiency to the motor rotor.When the manipulator slide unit is in right work
During position, the No.1 manipulator grabs the motor rotor on the pallet, meanwhile, No. two manipulators are grabbed
Get the motor rotor in the No.1 frock；Then the manipulator slide unit moves to left station, and described one
The motor rotor is positioned in the No.1 frock by number manipulator, meanwhile, No. two manipulators are by the motor
Rotor is positioned on the platform for placing material.The No.1 truss-like manipulator with traditional when robot manipulator structure is compared, operating efficiency
It is doubled.
Next the course of work and operation principle of No. two truss-like manipulators described in description the utility model：
No. two truss-like manipulators are configured with three robot manipulator structures, including No.1 paw, two trumpeter's pawls, three trumpeters
Pawl, the handling efficiency to the motor rotor can be effectively improved using three robot manipulator structures.At the paw slide unit
When left station, the No.1 paw and the platform for placing material match, and the two trumpeters pawl and No. two frocks match, institute
State three trumpeter's pawls and No. three frocks match；When the paw slide unit is located at right working position, the No.1 paw and described
No. two frocks match, and the two trumpeters pawl and No. three frocks match, the three trumpeters pawl and the discharging transmission line
Match.No. two truss-like manipulators be configured with three robot manipulator structures can disposably capture and carry three it is described electronic
The motor rotor from No. three frocks, it is defeated to be grabbed the discharging by machine rotor, No. two truss-like manipulators
Line sending；Meanwhile No. two truss-like manipulators by the motor rotor from No. two frocks, grab described No. three
In frock；Meanwhile No. two truss-like manipulators by the motor rotor from the platform for placing material, grab described No. two
In frock.With traditional when robot manipulator structure is compared, operating efficiency improves twice No. two truss-like manipulators.
Brief description of the drawings
Fig. 1,2,3 are the structural representations of the utility model servomotor full-automatic intelligent manipulator assembling line；
Fig. 4 is No. two truss-like manipulators of the utility model servomotor full-automatic intelligent manipulator assembling line
Structural representation；
Fig. 5,6,7,8 are that the part-structure of the utility model servomotor full-automatic intelligent manipulator assembling line shows
It is intended to；
Fig. 9 is the signal of the assemble mechanism of the utility model servomotor full-automatic intelligent manipulator assembling line
Figure；
Figure 10,11 be the utility model servomotor full-automatic intelligent manipulator assembling line assemble mechanism office
Portion's structural representation；
Figure 12 is feeding machanism and the assembling of the utility model servomotor full-automatic intelligent manipulator assembling line
The partial structural diagram of mechanism.
1 workbench, 2 vibrating disks, 3 feeding machanisms, 4 assemble mechanisms, 5 No.1 frocks, 6 rotors, 7 bearings, 8 are entered
To cylinder, 9 sliding bars, 10 columns, 11 No.1 supports, 12 guide pads, 13 sliding bottoms, 14 swinging heads, 15 mandrels,
16 bead screws, 17 sensors, 18 installation openings, 19 pendular bodies, 20 straight-line guidance blocks, 21 oscillating cylinders, 22 racks,
Indexing, 28 ready bits, 29 push rods, 30 aerodynamic slides in 23 gears, 24 caging bolts, 25 dampers, 26 conveyer belts, 27
Block, 31 it is horizontal walk cylinder, 32 push rods, 33 rise cylinders, 34 charging pipelines, 35 No.1 truss-like manipulators, 36 pallets,
37 manipulator slide units, 38 No.1 manipulators, 39 No. two manipulators, 40 platform for placing material, 41 manipulator supports, 42 No.1 bearings
Assemble mechanism, 43 gear assemble mechanisms, 44 No. two No.1 truss-like manipulators, 45 discharging transmission lines, 46 little gears, 47
No. two No.1 frocks, 48 No. three No.1 frocks, 49 No.1 paws, 50 2 trumpeter's pawls, 51 3 trumpeter's pawls, 52 gantry supports,
53 paw slide units.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing, but not formed to of the present utility model
What is limited, and similar element numbers represent similar element in accompanying drawing.As described above, the utility model provides a kind of servo electricity
Machine full-automatic intelligent manipulator assembling line, in the Automated assembly production process of motor, utilizes vibrating disk and feed
Mechanism realizes that the automation to bearing is fed, utilizes No.1 truss-like manipulator, No. two truss for being configured with double-mechanical-arm structure
Formula manipulator realizes the efficient carrying to motor rotor, the flexible clamping using two sets of bearing assembly machine structures realizations to bearing
The assembling to little gear is realized with accurate installation, using gear assemble mechanism, two bearings, little gear are assembled into motor turns
On son；The utility model servomotor full-automatic intelligent manipulator assembling line, is realized two bearings, little gears are complete
Automatically it is assembled on motor rotor, because bearing is in flexible clamping state in assemble mechanism, assemble mechanism is to axle
The grasp speed held is fast, and bearing can be well adapted to the deviation of motor rotor in position.
Fig. 1,2,3 are the structural representations of the utility model servomotor full-automatic intelligent manipulator assembling line,
Fig. 4 is No. two truss-like robot manipulator structures signal of the utility model servomotor full-automatic intelligent manipulator assembling line
Figure, Fig. 5,6,7,8 are the part-structure schematic diagrams of the utility model servomotor full-automatic intelligent manipulator assembling line,
Fig. 9 is the schematic diagram of the assemble mechanism of the utility model servomotor full-automatic intelligent manipulator assembling line, Figure 10,11
It is the partial structural diagram of the assemble mechanism of the utility model servomotor full-automatic intelligent manipulator assembling line, figure
12 be the feeding machanism of the utility model servomotor full-automatic intelligent manipulator assembling line and the part of assemble mechanism
Structural representation.
A kind of servomotor full-automatic intelligent manipulator assembling line, including：Workbench 1, for bearing to be assembled
Bearing assembly machine structure on to motor rotor 6, the gear assembling for being assembled to little gear 46 on the motor rotor 6
Mechanism, the No.1 frock 5 for placing the motor rotor 6, the frock 47, three of platform for placing material 40, two frock 48, for passing
Send the charging pipeline 34 of the motor rotor 6, the discharging transmission line 45 for transmitting the motor rotor 6, for grabbing
Take 35, No. two truss-like manipulators 44 of No.1 truss-like manipulator of the motor rotor 6；
The quantity of the bearing assembly machine structure is two, respectively No.1 bearing assembly machine structure 42 and No. two bearing assembly machines
Structure 54；The bearing assembly machine structure 42 includes：For bearing 7 to be realized to the vibrating disk 2 of order output, for by the bearing 7
Carry out the feeding machanism 3 of further order output, for capturing the bearing 7 and the bearing 7 being assembled into motor rotor 6
In assemble mechanism 4；
The vibrating disk 2, feeding machanism 3, assemble mechanism 4, No.1 frock 5 and No.1 truss-like manipulator 35 are fixed on institute
State on workbench 1, the output track of the vibrating disk 2 is connected to the feeding machanism 3, and the feeding machanism 3 is by the bearing 7
The assemble mechanism 4 is delivered to, the bearing 7 is delivered on the motor rotor 6 by the assemble mechanism 4；The assembling
Mechanism 4 is located at the top of the feeding machanism 3；The part-structure of the No.1 frock 5 and charging pipeline 34 is located at described one
Within the working range of number truss-like manipulator 35；The No.1 frock 5 and the No.1 bearing assembly machine structure 42 match, institute
State No. two frocks 47 and No. two bearing assembly machine structures 54 match, No. three frocks 48 and the gear assemble mechanism 43
Match；The part-structure of described 47, No. three frocks 48 of No. two frocks and discharging transmission line 45 is located at No. two truss-like machines
Within the working range of tool hand 44；
The assemble mechanism 4 includes：Feed cylinder 8, sliding bar 9, column 10, No.1 support 11, guide pad 12, slip bottom
Seat 13, swinging head 14, mandrel 15, pendular body 19, straight-line guidance block 20, oscillating cylinder 21, rack 22, gear 23, the No.1
Support 11 is fixed on the workbench 1, and the cylinder block of the feeding cylinder 8 is fixed on the No.1 support by the column 10
11, the end of the piston rod of the feeding cylinder 8 is fixed on one end of the sliding bar 9；The guide pad 12 is fixed on described
No.1 support 11, the sliding bar 9 and guide pad 12 are engaged, and described one end of sliding bar 9 is fixed with the sliding bottom 13；Institute
State mandrel 15 and be movably connected on the sliding bottom 13, the swinging head 14, gear 23 are fixed on the mandrel 15, the straight line
Guide pad 20, the cylinder block of oscillating cylinder 21 are fixed on the sliding bottom 13, the end of the piston rod of the oscillating cylinder 21
The rack 22 is fixed on, the rack 22 is movably connected on the guide pad 12, and the rack 22 and gear 23 match；Institute
State the installation opening 18 for being provided with swinging head 14 and matching with the external diameter of the bearing 7；
The feeding machanism 3 includes：Transmission track 26, push rod 29, it is horizontal walk cylinder 31, push rod 32, rise cylinder 33, it is described
It is horizontal walk cylinder 31 be fixed on one end of the transmission track 26, the push rod 29 be fixed on it is described it is horizontal walk cylinder 31 aerodynamic slider
30；One end of the transmission track 26 is connected to the output track of the vibrating disk 2, and the end of the transmission track 26 is described
Middle indexable the 27 of bearing 7, the ready bit 28 of the bearing 7 is set near described middle indexable 27；In the ready bit 28
Bottom is fixed with the rising cylinder 33, and the end of the piston rod for rising cylinder 33 is fixed on the push rod 32, the top
Bar 32 is movably connected on the ready bit 28.
More specifically, the No.1 truss-like manipulator 35 includes：38, No. two manipulator slide unit 37, No.1 manipulator machines
Tool hand 39, manipulator support 41, the manipulator support 41 are fixed on the workbench 1, the activity of manipulator slide unit 37
The manipulator support 41 is connected to, described 38, No. two manipulators 39 of No.1 manipulator are fixed on the manipulator slide unit 37.
More specifically, No. two truss-like manipulators 44 include：No.1 paw 49, two trumpeter's pawls 50, three trumpeter's pawls 51,
Gantry support 52, paw slide unit 53, the gantry support 52 are fixed on the workbench 1, and the paw slide unit 53 is flexibly connected
In the gantry support 52, the No.1 paw 49, two trumpeter's pawls 50, three trumpeter's pawls 51 are fixed on the paw slide unit 53, institute
State between No.1 paw 49, two trumpeter's pawls 50, the three of three trumpeter's pawl 51 is to be equidistantly spaced from.
More specifically, when the manipulator slide unit 37 is in right working position, the No.1 manipulator 38 and positioned at the support
The motor rotor 6 on disk 36 matches, No. two manipulators 39 and described electronic in the No.1 frock 5
Machine rotor 6 matches；When the manipulator slide unit 37 is in left station, the No.1 manipulator 38 and positioned at the No.1 work
The motor rotor 6 filled on 5 matches, No. two manipulators 39 and the motor rotor on platform for placing material 40
6 match.
More specifically, ripple pearl screw 16 is fixed with the radial direction in the installation opening 18, the ripple pearl screw 16
Quantity is three and is distributed in the side wall of the installation opening 18.
More specifically, the central axis of the mandrel 15 and the central axis of the sliding bar 9 are mutually perpendicular to.
More specifically, caging bolt 24 and damper 25 are fixed with the sliding bottom 13, the caging bolt 24,
Damper 25 and the pendular body 19 match.
More specifically, sensor 17 is fixed with the radial direction in the installation opening 18.
More specifically, when the piston rod of the feeding cylinder 8 is in retracted mode, and the piston rod of the oscillating cylinder 21
During in retracted mode, the central axis of the installation opening 18 is in horizontal attitude, the installation opening 18 and the phase of No.1 frock 5
Match somebody with somebody, the installation opening 18 and the motor rotor 6 in the No.1 frock 5 are in coaxially arranged；When the feeding
The piston rod of cylinder 8 is in retracted mode, and when the piston rod of the oscillating cylinder 21 is in stretching state, the installation opening 18
Central axis be in vertical posture, the installation opening 18 is located at the surface of the ready bit 28, the installation opening 18 and just
Thread position 28 matches.
More specifically, when the piston rod of the oscillating cylinder 21 is in retracted mode, and the piston rod of the feeding cylinder 8
During in the state of stretching, the installation opening 18 reaches the position of motor rotor 6.
More specifically, the motor rotor 6 and the sliding bar 9 in the No.1 frock 5 keep coaxial cloth
Put, the motor rotor 6 is in horizontally disposed.
Below in conjunction with Fig. 1 to 12, the utility model servomotor full-automatic intelligent manipulator assembling stream is further described
The operation principle and the course of work of waterline：
The utility model servomotor full-automatic intelligent manipulator assembling line, using the bearing assembly machine structure,
Gear assemble mechanism 43, the frock 47, three of No.1 frock 5, two frock 48, charging pipeline 34, discharging transmission line 45, No.1
Truss-like manipulator 35 and No. two truss-like manipulators 44, realize and are automatically assembled to the bearing 7 and little gear 46
On the motor rotor 6.The charging pipeline 34 is by the motor rotor 6 constantly toward the place of No.1 frock 5
Direction is conveyed, and the No.1 truss-like manipulator 35 grabs the motor rotor 6 on the pallet 36
In the No.1 frock 5；The bearing 7 is assembled on the motor rotor by the No.1 bearing assembly machine structure 42, described
The bearing 7 is realized and exported in an orderly manner into the feeding machanism 3 that the feeding machanism 3 enters the bearing 7 by vibrating disk 2
The ready bit 28 is delivered to after row position correction, the axle is arrived in gripping to the assemble mechanism 4 in the top of the ready bit 28
Hold after 7；Then, posture is adjusted to the bearing 7；Then the bearing 7 is assembled on the motor rotor 6；Then,
The motor rotor 6 from the platform for placing material 40, is grabbed No. two frocks 47 by No. two truss-like manipulators 44
On, meanwhile, the motor rotor 6 is moved to the platform for placing material by the No.1 truss-like manipulator 35 from the frock 5
On 40；Then, the bearing 7 is assembled on the motor rotor 6 by No. two bearing assembly machine structures 54 from opposite side；Connect
, the motor rotor 6 from No. two frocks 47, is grabbed No. three works by No. two truss-like manipulators 54
Fill on 48, meanwhile, the motor rotor 6 from the platform for placing material 40, is grabbed institute by No. two truss-like manipulators 54
State in No. two frocks 47；Then, the little gear 46 is assembled on the motor rotor 6 by the gear assemble mechanism 43；
Then, No. two truss-like manipulators 54 grab the discharging by the motor rotor 6 from No. three frocks 48
Pipeline 45, meanwhile, No. two truss-like manipulators 54 from No. two frocks 47, capture the motor rotor 6
Onto No. three frocks 48, meanwhile, No. two truss-like manipulators 54 are by the motor rotor 6 from the platform for placing material 40
On, grab in No. two frocks 47.The utility model servomotor full-automatic intelligent manipulator assembling line relies on
The charging pipeline 34 and discharging transmission line 45 realize the Automatic Conveying to the motor rotor 6, by the No.1
Truss-like manipulator 35 and No. two truss-like manipulators 44 realize the automation crawl to the motor rotor 6 and carried,
The utility model servomotor full-automatic intelligent manipulator assembling line is set to possess automation continuous productive process, high-efficiency operation
Beneficial effect.
Two bearing dresses are provided with the utility model servomotor full-automatic intelligent manipulator assembling line
Fitting mechanism：No.1 bearing assembly machine structure 42 and No. two bearing assembly machine structures 54.Utilize two bearing assembly machine structures, Ke Yicong
The bearing 7 is assembled on the motor rotor 6 by the both sides of the motor rotor 6 respectively, and efficiency of assembling is high, speed
Hurry up, quality it is good.
The utility model servomotor full-automatic intelligent manipulator assembling line by vibrating disk 2, feeding machanism 3, dress
Fitting mechanism 4, No.1 frock 5, charging pipeline 34 and No.1 truss-like manipulator 35 etc. technical scheme carry out organic assembling, form
New technical scheme：The Automated assembly to the motor rotor 6 is realized, solves the efficiency present in hand assembled
It is low, assembling it is of poor quality the problems such as.
Because bearing is high-precision Data Encryption Standard component, matching somebody with somebody for the bearing 7 and motor rotor 6 is combined into interference fit, and two
Person is realizing that both axialities need to reach micron-sized precision when cooperation.The utility model servomotor is full-automatic
Intelligentized manipulator assembling line, using the ripple pearl screw 16, the installation opening 18 is set to realize flexibility to the bearing 7
Clamping, prevent from carrying out sliding injury to the outer surface of the bearing 7；Meanwhile using the ripple pearl screw 16, the installation opening 18 can be with
Under the cooperation of the rising cylinder 33, the fast clamp to the bearing 7 is realized, the installation opening 18 is without relying on pneumatic hand
Pawl or etc the mechanism of drive output be that clamping to the bearing 7 can be achieved, reduce dynamical element, reduce into
This；Meanwhile also there is unexpected technique effect using the ripple pearl screw 16：In assembling, if the bearing 7 and electricity
When the axiality of motivation rotor 6 has certain error, elastic deformation can occur for three ripple pearl screws 16, make the axle
The position at the place of motor rotor 6 can be adapted to automatically by holding 7 endoporus, the bearing 7 is successfully assembled to institute
State on motor rotor 6.
Next feeding machanism 3, the course of work and operation principle of assemble mechanism 4 described in description the utility model：
At first, the push rod 29 it is described it is horizontal walk cylinder 31 driving under be in the middle indexing；The transmission rail
The one end in road 26 is connected to the output track of the vibrating disk 2, and the bearing 7 is delivered to the transfer from the transmission track 26
Position 27；Then, it is described it is horizontal walk cylinder 31 to drive the push rod 29 to be moved to the bearing 7 from described middle indexable 27 described ready
Position 28.
The assemble mechanism 4 is clamped to the bearing 7：The piston rod of the feeding cylinder 8 is in retracted mode, the pendulum
The piston rod of cylinder 21 of taking offence is in stretching state, and the central axis of the installation opening 18 is in vertical posture, the installation opening 18
Positioned at the surface of the ready bit 28, the direction of installation opening 18 installation opening 18 and is located at towards the ready bit 28
The bearing 7 in the ready bit 28 is in coaxial state.Then, the piston rod for rising cylinder 33 stretches out, and passes through institute
State push rod 32 to move up the bearing 7 at the ready bit 28, and be directly pushed into the installation opening 18.
The bearing 7 is assembled on the motor rotor 6 by the assemble mechanism 4：The piston rod of the feeding cylinder 8
In retracted mode, the piston rod of the oscillating cylinder 21 is in retracted mode, and the central axis of the installation opening 18 is in water
Flat posture, the installation opening 18 and No.1 frock 5 match, the installation opening 18 and described in the No.1 frock 5
Motor rotor 6 is in coaxially arranged；Then, the piston rod of the feeding cylinder 8 stretches out, and the bearing 7 is placed on the electricity
On motivation rotor 6, and the directly bearing 7 assembles in place.The installation opening 18 reaches the position of motor rotor 6.
The motor rotor 6 and the sliding bar 9 in the No.1 frock 5 keep coaxially arranged, when the feeding cylinder 8
When the bearing 7 is assembled on all described motor rotor 6, the sliding bar 9, bearing 7, the three of motor rotor 6 protect
Hold coaxial state, there is provided more stable stress, make assembling process more steady.
Next the course of work and operation principle of No.1 truss-like manipulator 35 described in description the utility model：
The No.1 truss-like manipulator 35 is configured with double-mechanical-arm structure, including 38, No. two manipulators of No.1 manipulator
39, it can effectively improve the handling efficiency to the motor rotor 6 using double-mechanical-arm structure.When the manipulator slide unit
37 when being in right working position, and the No.1 manipulator 38 grabs the motor rotor 6 on the pallet 36, meanwhile,
No. two manipulators 39 grab the motor rotor 6 in the No.1 frock 5；Then the manipulator slide unit
37 move to left station, and the motor rotor 6 is positioned in the No.1 frock 5 by the No.1 manipulator 38, meanwhile, institute
State No. two manipulators 39 motor rotor 6 is positioned on the platform for placing material 40.The He of No.1 truss-like manipulator 35
It is traditional when robot manipulator structure is compared, operating efficiency is doubled.
Next the course of work and operation principle of No. two truss-like manipulators 44 described in description the utility model：
No. two truss-like manipulators 44 are configured with three robot manipulator structures, including No.1 paw 49, two trumpeter's pawls 50, three
Trumpeter's pawl 51, the handling efficiency to the motor rotor 6 can be effectively improved using three robot manipulator structures.When the paw
When slide unit 53 is in left station, the No.1 paw 49 and the platform for placing material 40 match, the two trumpeters pawl 50 and described two
Number frock 47 matches, and the three trumpeters pawl 51 and No. three frocks 48 match；When the paw slide unit 53 is located at right work
During position, the No.1 paw 49 and No. two frocks 47 match, the two trumpeters pawl 50 and No. three frocks 48 phase
Match somebody with somebody, the three trumpeters pawl 51 and the discharging transmission line 45 match.No. two truss-like manipulators 44 are configured with three machineries
Hand structure can disposably capture and carry three motor rotors 6, and No. two truss-like manipulators 54 are by the electricity
Motivation rotor 6 grabs the discharging transmission line 45 from No. three frocks 48；Meanwhile No. two truss-like manipulators
54 by the motor rotor 6 from No. two frocks 47, grab in No. three frocks 48；Meanwhile No. two purlins
Frame type mechanical arm 54 from the platform for placing material 40, grabs the motor rotor 6 in No. two frocks 47.Described No. two
With traditional when robot manipulator structure is compared, operating efficiency improves twice truss-like manipulator 44.
Finally it is pointed out that above example is only the assembling of the utility model servomotor full-automatic intelligent manipulator
The more representational example of streamline.Obviously, the utility model servomotor full-automatic intelligent manipulator assembling line is not
It is limited to above-described embodiment, there can also be many deformations.Every foundation the utility model servomotor full-automatic intelligent manipulator
Any simple modification, equivalent change and modification that the technical spirit of assembling line makees above example, it is considered as belonging to
In the protection domain of the utility model servomotor full-automatic intelligent manipulator assembling line.
Claims (10)
- A kind of 1. servomotor full-automatic intelligent manipulator assembling line, it is characterised in that including：Workbench, for will Bearing assembly machine structure that bearing is assembled on motor rotor, the gear for being assembled to little gear on the motor rotor Assemble mechanism, the No.1 frock for placing the motor rotor, platform for placing material, No. two frocks, No. three frocks, for transmitting State the charging pipeline of the motor rotor, discharging transmission line for transmitting the motor rotor, described electronic for capturing No.1 truss-like manipulator, No. two truss-like manipulators of machine rotor；The quantity of the bearing assembly machine structure is two, respectively No.1 bearing assembly machine structure and No. two bearing assembly machine structures；Institute Stating bearing assembly machine structure includes：For bearing to be realized to the vibrating disk of order output, for the bearing further to be had Feeding machanism, the assemble mechanism for capturing the bearing and being assembled to the bearing in motor rotor of sequence output；The vibrating disk, feeding machanism, assemble mechanism, No.1 frock and No.1 truss-like manipulator are fixed on the workbench On, the output track of the vibrating disk is connected to the feeding machanism, and the bearing is delivered to the dress by the feeding machanism The bearing is delivered on the motor rotor by fitting mechanism, the assemble mechanism；The assemble mechanism is located at the feed The top of mechanism；The part-structure of the No.1 frock and charging pipeline is located at the work model of the No.1 truss-like manipulator Within enclosing；The No.1 frock and the No.1 bearing assembly machine structure match, No. two frocks and No. two bearings dress Fitting mechanism matches, and No. three frocks and the gear assemble mechanism match；No. two frocks, No. three frocks and discharging The part-structure of pipeline is located within the working range of No. two truss-like manipulators；The assemble mechanism includes：Feed cylinder, sliding bar, column, No.1 support, guide pad, sliding bottom, swinging head, core Axle, pendular body, straight-line guidance block, oscillating cylinder, rack, gear, the No.1 support are fixed on the workbench, the feeding The cylinder block of cylinder is fixed on the No.1 support by the column, and the end of the piston rod of the feeding cylinder is fixed on institute State one end of sliding bar；The guide pad is fixed on the No.1 support, and the sliding bar and guide pad are engaged, the slip Bar one end is fixed with the sliding bottom；The mandrel is movably connected on the sliding bottom, and the swinging head, gear are fixed on The mandrel, the straight-line guidance block, the cylinder block of oscillating cylinder are fixed on the sliding bottom, the piston of the oscillating cylinder The end of bar is fixed on the rack, and the rack is movably connected on the guide pad, and the rack and pinion matches；It is described The installation opening to match with the external diameter of the bearing is provided with swinging head；The feeding machanism includes：Transmission track, push rod, it is horizontal walk cylinder, push rod, rise cylinder, it is described it is horizontal walk cylinder be fixed on One end of the transmission track, the push rod be fixed on it is described it is horizontal walk cylinder aerodynamic slider；One end of the transmission track connects The output track of the vibrating disk is connected to, the end of the transmission track is the middle indexing of the bearing, described middle indexable The ready bit of the bearing is nearby set；The rising cylinder is fixed with the bottom of the ready bit, the rising cylinder The end of piston rod is fixed on the push rod, and the push rod is movably connected on the ready bit.
- 2. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that described No.1 truss-like manipulator includes：Manipulator slide unit, No.1 manipulator, No. two manipulators, manipulator supports, the manipulator branch Frame is fixed on the workbench, and the manipulator slide unit is movably connected on the manipulator support, the No.1 manipulator, two Number manipulator is fixed on the manipulator slide unit.
- 3. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that described No. two truss-like manipulators include：No.1 paw, two trumpeter's pawls, three trumpeter's pawls, gantry support, paw slide unit, gantry branch Frame is fixed on the workbench, and the paw slide unit is movably connected on the gantry support, the No.1 paw, two trumpeter's pawls, Three trumpeter's pawls are fixed on the paw slide unit, are cloth at equal intervals between the No.1 paw, two trumpeter's pawls, three trumpeter pawl threes Put.
- 4. servomotor full-automatic intelligent manipulator assembling line according to claim 2, it is characterised in that work as institute When stating manipulator slide unit and being in right working position, the No.1 manipulator and the motor rotor on pallet match, institute State No. two manipulators and the motor rotor in the No.1 frock matches；When the manipulator slide unit is in a left side During station, the No.1 manipulator and the motor rotor in the No.1 frock match, No. two machinery Hand and the motor rotor on platform for placing material match.
- 5. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that in institute That states installation opening is fixed with ripple pearl screw in the radial direction, and the quantity of the ripple pearl screw is three and is distributed in the assembling In the side wall of mouth.
- 6. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that in institute State and caging bolt and damper are fixed with sliding bottom, the caging bolt, damper and the pendular body match.
- 7. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that in institute That states installation opening is fixed with sensor in the radial direction.
- 8. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that work as institute The piston rod for stating feeding cylinder is in retracted mode, and when the piston rod of the oscillating cylinder is in retracted mode, the assembling Mouthful central axis be in horizontal attitude, the installation opening and No.1 frock match, the installation opening and positioned at the No.1 The motor rotor in frock is in coaxially arranged；It is and described when the piston rod of the feeding cylinder is in retracted mode When the piston rod of oscillating cylinder is in stretching state, the central axis of the installation opening is in vertical posture, the installation opening position In the surface of the ready bit, the installation opening and ready non-colinear position.
- 9. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that work as institute The piston rod for stating oscillating cylinder is in retracted mode, and when the piston rod of the feeding cylinder is in stretching state, the assembling Mouth reaches the motor rotor position.
- 10. servomotor full-automatic intelligent manipulator assembling line according to claim 1, it is characterised in that position Keep coaxially arranged in the motor rotor in the No.1 frock and the sliding bar, the motor rotor is in water Plain cloth is put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445099.5U CN206686040U (en) | 2017-04-26 | 2017-04-26 | Servomotor full-automatic intelligent manipulator assembling line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720445099.5U CN206686040U (en) | 2017-04-26 | 2017-04-26 | Servomotor full-automatic intelligent manipulator assembling line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206686040U true CN206686040U (en) | 2017-11-28 |
Family
ID=60400778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720445099.5U Expired - Fee Related CN206686040U (en) | 2017-04-26 | 2017-04-26 | Servomotor full-automatic intelligent manipulator assembling line |
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| CN (1) | CN206686040U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109149874A (en) * | 2018-08-06 | 2019-01-04 | 珠海凯邦电机制造有限公司 | Shaft sleeve penetrating device |
| CN109244008A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | For manufacturing the intelligent assembly line of chip |
| CN109262234A (en) * | 2018-08-20 | 2019-01-25 | 深圳市金岷江智能装备有限公司 | Press-loading apparatus |
-
2017
- 2017-04-26 CN CN201720445099.5U patent/CN206686040U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109149874A (en) * | 2018-08-06 | 2019-01-04 | 珠海凯邦电机制造有限公司 | Shaft sleeve penetrating device |
| CN109262234A (en) * | 2018-08-20 | 2019-01-25 | 深圳市金岷江智能装备有限公司 | Press-loading apparatus |
| CN109244008A (en) * | 2018-09-01 | 2019-01-18 | 温州市科泓机器人科技有限公司 | For manufacturing the intelligent assembly line of chip |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20181120 Address after: 323000 Hong Kong Industrial Zone, Wenxi Town, Qingtian County, Lishui, Zhejiang Patentee after: QINGTIAN XINJI ELECTRICAL APPLIANCE CO., LTD. Address before: 325000 Zhejiang science and technology business incubator C building 522 and 524, Wenzhou Wenzhou hi tech Industrial Development Zone Patentee before: Wenzhou branch Robot Technology Co., Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20210426 |