CN206811476U

CN206811476U - A kind of needle roller automatic assembling machine

Info

Publication number: CN206811476U
Application number: CN201720770356.2U
Authority: CN
Inventors: 王峰
Original assignee: Dalian Ding Tai Machinery Equipment Co Ltd
Current assignee: Dalian Ding Tai Machinery Equipment Co Ltd
Priority date: 2017-06-28
Filing date: 2017-06-28
Publication date: 2017-12-29
Anticipated expiration: 2027-06-28

Abstract

The utility model is a kind of needle roller automatic assembling machine, belongs to needle roller mounting technology field.This assembly machine includes frame, rack-mounted spacer extension feed device, spacer collator, needle roller and extends feed device, needle roller collator, needle roller insertion apparatus, gear storehouse, gear feeding device, manipulator, warehouse for finished product, mandrel assembling device, mandrel storehouse, rotating disk and spacer erecting device, the spacer feed device and needle roller feed device being arranged on around frame.Mandrel, spacer and needle roller can be installed in bore by this assembly machine, and its assembly precision is high, and efficiency of assembling is high, reduces labor strength, not produce grease pollution.

Description

A kind of needle roller automatic assembling machine

Technical field

The utility model belongs to needle roller mounting technology field, especially designs a kind of needle roller automatic assembling machine.

Background technology

Power transmission has 16-24 roots double often using planetary gear in engineering machinery in each inner hole of planetary gear Row's needle roller, a spacer and a mandrel, current assembly method are：Mandrel and spacer are installed in bore by hand, Grease is smeared to gear inner ring, needle roller is installed to bore one by one by hand.It is substantial amounts of consumption to be present in this assembly method Manually, grease pollutes, and labor strength is big, low production efficiency, the defects of assembly precision difference, while is possible to occur because manually Needle roller gap is uneven in assembling process, the phenomenon for filling needle roller less occurs, influences product quality.

Utility model content

The purpose of this utility model is exactly to solve above mentioned problem present in present technology, there is provided a kind of needle roller fills automatically With machine, mandrel, spacer and needle roller being installed to using the machinery in bore, its assembly precision is high, and efficiency of assembling is high, Labor strength is reduced, does not produce grease pollution.

The technical solution of the utility model：

A kind of needle roller automatic assembling machine, including frame 14, the spacer in frame 14 extend feed device 2, spacer Collator 3, needle roller extend feed device 5, needle roller collator 6, needle roller insertion apparatus 7, gear storehouse 8, gear feeding device 9th, manipulator 10, warehouse for finished product 11, mandrel assembling device 12, mandrel storehouse 13, rotating disk 15 and spacer erecting device 16, are arranged on frame Spacer feed device 1 and needle roller feed device 4 around 14；Wherein, needle roller feed device 4, needle roller extend feed device 5, rolling Needle sort device 6 and needle roller insertion apparatus 7 each two；It is the center of circle with rotating disk 15, is set successively clockwise on the circumference of rotating disk 15 Put gear feeding device 9, needle roller insertion apparatus 7, spacer insertion apparatus 16, needle roller insertion apparatus 7, mandrel erecting device 12；Rolling Pin insertion apparatus 7, needle roller collator 6, needle roller extend feed device 5 and needle roller feed device 4 is sequentially connected；Spacer insertion dress Put 16, spacer collator 3, spacer extends feed device 2 and spacer feed device 1 is sequentially connected；

Described rotating disk 15 includes rotating disk chassis 34, the first servomotor 35, disk 36, backing plate 37, pipe pin 38, socket 39th, telescopic shaft 40, sleeve 41, the first spring 42, axle sleeve 43 and disc holder 44；Rotating disk chassis 34 is middle recessed ladder circle Disk, edge are fixed in frame 14, it is middle it is recessed in the first servomotor 35 is installed；The output shaft of first servomotor 35 with The lower surface of disk 36 is fixed, and five backing plates 37 are uniformly fixed along the radial direction of disk 36；Backing plate 37 is stepped, and one End face is plane, and other end is raised step, and arc surface, the lowest part of arc surface are formed centered on the symmetry axis of step For conduit along its length, the outer face of step is alignd with the edge of disk 36；Socket 39 is plate-like, is fixed on backing plate 37 On step, alignd with inner face, the top surface of socket 39 sets conduit, is communicated with the conduit of backing plate 37, and be in straight line；Disk Support 44 is L-type, is made up of side plate and bottom plate, and bottom plate is fixed on backing plate 37, concordant with socket 39, and side plate upper end is provided with circle Hole；Telescopic shaft 40 is multi-diameter shaft, including butt end and taper end, butt end are provided with diametric through hole；Sleeve 41 and axle sleeve 43 are all For T-shaped cylinder, one end is annular steps, and the other end is cylinder；The cylinder end of sleeve 41 sets diametric through hole, is enclosed on The butt end of telescopic shaft 40, and the through hole of telescopic shaft 40 aligns with the through hole of sleeve 41；The annular steps end of axle sleeve 43 and set The annular steps end of cylinder 41 is fixedly linked, and the cylinder end of axle sleeve 43 is enclosed on the taper end of telescopic shaft 40, and simultaneously solid with telescopic shaft 40 Due in the circular hole of the side plate of disc holder 44；First spring 42 is enclosed on the taper end of telescopic shaft 40, positioned at axle sleeve 43 and telescopic shaft 40 Between；Pipe pin 38 is the cylinder of L-type, and sleeve 41 is stretched out in one end of pipe pin 38 through sleeve 41 and the through hole of telescopic shaft 40, The other end is fixed in the conduit of backing plate 37 and socket 39, and the length of conduit and the diameter of through hole are both greater than the straight of pipe pin 38 Footpath, pipe pin 38 move horizontally in running through in groove for sleeve 41；First servomotor 35 rotates after being powered, and drives disk 36 to rotate, Pipe pin 38 moves along the conduit in socket 39 and backing plate 37 under external force, and recovers former in the presence of the first spring 42 Shape, after pipe pin 38 and telescopic shaft 40 move, a gear 32 is placed on the arc surface of backing plate 37 by manipulator, the He of pipe pin 38 Telescopic shaft 40 restore to the original state after, the butt end of telescopic shaft 40 is inserted into the axis hole of gear, and gap be present, be put into needle roller and every Set；

Gear storehouse 8 includes the first cylinder 20, steel pad 28, gear storehouse stand 29, gear storehouse skewed slot 30, gear switch 31, tooth Wheel 32, height adjuster 33 and reflective photoelectric switch 67；Height adjuster 33 is L-type support, is fixed in frame 14；Steel pad 28 be in inverted T fonts, and bottom is flat board, is fixed in frame 14, and upper end is square column；Gear storehouse stand 29 totally two, In the hollow long cylinder of square, there are multiple mounting holes in the longitudinal direction, the end of gear storehouse stand 29 is inserted and fixed steel pad 28 Square column on；Gear storehouse skewed slot 30 is multi-segment structure, and every section is square socket, and the square socket of multistage passes sequentially through circular arc Shape tube head connects into zigzag structure, and the rectangular tube tube length of bottom is in other square sockets, and distal opening；Gear storehouse skewed slot 30 are fixed in gear storehouse stand 29 by mounting hole, and gear 32 is entered in gear storehouse skewed slot 30 by rectangular tube tubular；It is fixed The first cylinder 20 in frame 14 is located at immediately below gear storehouse skewed slot 30；Gear switch 31 is the gear pin with bottom plate, fixed In the output end of the first cylinder 20, gear pin is used to control gear to fall one by one；Reflective photoelectric switch 67 is fixed on height and adjusted On device 33, for identifying whether have object to block light path, if not provided, the action of the first cylinder 20 is stretched out, gear switch 31 is driven Rise, gear pin release a gear, and the action of the first cylinder 20 is withdrawn, and drives gear switch to reduce, reflective photoelectric switch 67 Detect that object blocks, the first cylinder 20 is failure to actuate；

Gear feeding device 9 includes feeding support 47, the second cylinder 48, reflective photoelectric switch 67 and optoelectronic switch support 68；Feeding support 47 is fixed in frame 14, and the second cylinder 48 and optoelectronic switch support 68 are respectively and fixedly installed to feeding support 47 top, reflective broadcasting and TV switch 67 are fixed on the mounting hole of optoelectronic switch support 68；Second cylinder 48 action stretch out and Withdraw, output end moves together with the pipe pin 38 on rotating disk 15, drives the telescopic shaft 40 on rotating disk 15 to move together；

Needle roller insertion apparatus 7 includes the second cylinder 48, the first air cylinder support 49, ejector retainner plate 50, the second servomotor 51, electricity Machine support 52, needle roller support 53, shaft coupling 54, shaft sleeve 55, rotating shaft 56, second spring 57, matrix support 58, the 3rd cylinder 69 and second air cylinder support 70；First air cylinder support 49 is made up of plane bottom plate and stand, and plane bottom plate is fixed in frame 14, Stand is fixedly linked with the second cylinder 48；Needle roller support 53 is the matrix support that side is put, and side plate is fixed in frame 14, another The both ends of side plate are connected to the electric machine support 52 and matrix support 58 of L-type, are stayed between electric machine support 52 and matrix support 58 There is space；Two side plate thickness differences of matrix support 58, i.e. slab and thin plate, two side plates are provided with one through front and rear panel Circular hole, it is provided with and communicates and mutually perpendicular square groove along the vertical and horizontal directions respectively on slab, the square groove of vertical direction For needle roller passage, the square groove of horizontal direction is thimble board slot；Second servomotor 51 is fixed on the side plate of electric machine support 52, The output shaft of second servomotor 51 is connected by shaft coupling 54 with one end of rotating shaft 56, and rotating shaft 56 passes through 58 two, matrix support Circular hole on side plate, the other end of rotating shaft 56 are uniformly along the circumferential direction provided with multiple dead slots in gear-like, and dead slot is used to place Needle roller, the diameter of needle roller are more than the diameter of dead slot, i.e. needle roller part protrudes from rotating shaft 56；The thin plate upper end of matrix support 58 passes through Second air cylinder support 70 is connected with the 3rd cylinder 69；Shaft sleeve 55 includes cylinder and is fixed on the outer peripheral cylinder of cylinder, circle Post is fixed on the output end of the 3rd cylinder 69, and cylindrical sleeve is in rotating shaft 56, for the needle roller in the dead slot of rotating shaft 56 to be passed through into level Move and eject；Second spring 57 is enclosed in rotating shaft 56, and between shaft sleeve 55 and matrix support 58, ejector retainner plate 50 is side Template, one end are fixed on the output end of the second cylinder 48, and the other end is inserted into the thimble board slot of matrix support 58, for that will roll Pin is inserted into the dead slot of rotating shaft 56；Second cylinder 48 is fixed in frame 14 by the first air cylinder support 49；Second cylinder 48 Once, ejector retainner plate 50 is moved forward by one piece of needle roller top into the gap of the gear-like of rotating shaft 56, then the second servomotor for action 51 turn an angle, the repetitive operation of the second cylinder 48, move in circles and complete a number of needle roller insertion, then the 3rd cylinder 69 actions, drive shaft sleeve 55 to travel forward, and second spring 57 extends, and the needle roller of the gear end of rotating shaft 56 is ejected, pushed into In the corresponding gear inner ring of rotating disk 15, after the completion of the action of the 3rd cylinder 69 withdraw, drive shaft sleeve 55 to move backward, and compress the Two springs 57, complete an assembling process.

Needle roller collator 6 includes triangle body 86, fixing device 87, fixation steel plate 88, shielding cover the 89, the 3rd in guide groove Triangle body 91 under transparent panel 90 and guide groove；Fixing device 87 is L-type thin plate, and bottom plate is fixed on the matrix of needle roller insertion apparatus 7 On the thin plate of support 58, a right-angle side end face of thin plate and triangle body in guide groove 86 is fixedly linked；Triangle body 86 in guide groove It is triangular steel plate with triangle body under guide groove 91, hypotenuse end face is zigzag, in guide groove three under triangle body 86 and guide groove Gap is reserved between the hypotenuse end face of angle body 91, right-angle side end face keeps same horizontal line, and fixation steel plate 88 is rectangle thin flat plate, 3rd transparent panel 90 is rectangle, and edge sets a square groove on top, and two triangle bodies pass through the fixation steel plate of one side respectively 88 and the transparent panel 90 of another side the 3rd be fixedly linked, two triangle bodies, the transparent panel 90 of fixation steel plate 88 and the 3rd formed one The guide groove of upper and lower opening, the square groove of the 3rd transparent panel 90 are located at the oblique upper of guide groove, and guide groove is carried out as needle roller Input port, shielding cover 89 are square steel plate, are fixed in guide groove on the upper right-angle side of triangle body 86, and the one of confined bed track slot Individual port, the delivery outlet of another port of guide groove as needle roller；

Needle roller extends feed device 5 and is fixed in frame 14, and long guideway one end and the guide groove of needle roller collator 6 input Mouth is connected, and the other end is connected with the delivery outlet of needle roller vibration feeder 19；Needle roller from needle roller extend feed device 5 automatically into In the guide groove of needle roller collator 6；

Needle roller feed device 4 includes support 17 and needle roller vibration feeder 19, and needle roller vibration feeder 19 is fixed on support On 17；Needle roller vibration feeder 19 completes the feeding task of needle roller with needle roller extension feed device 5 jointly；

Spacer insertion apparatus 16 includes the first cylinder 20, the second cylinder 48, spacer support 59, spacer stand 60, push rod shaft 61st, push rod shaft axle sleeve 62, the air cylinder support 93 of push pedal 63 and the 4th；Spacer support 59 is the concave structure that side is put, and side plate is fixed In frame 14, the first cylinder 20 and spacer stand 60 are fixed on another side plate, is left between the first cylinder 20 and spacer stand 60 Space, the bottom of spacer stand 60 are fixed with spacer support 59, and upper end is provided with the U-type groove of insertion, for placing spacer；Push rod shaft 61 For circular shaft, one end is inserted into the spacer of spacer stand 60, and fixed spacer simultaneously drives rotating disk 15 to telescopic shaft 40；The other end connects In the end face of push pedal 63, the other end of push pedal 63 and the output end of the first cylinder 20 are fixedly linked；Push rod shaft axle sleeve 62 includes Cylinder and the outer peripheral cylinder of cylinder is fixed on, the output end of cylinder and the second cylinder 48 is fixedly linked, and cylindrical sleeve is in push rod shaft On 61, the second cylinder 48 is supported by the 4th air cylinder support 93 being fixed on spacer support 59；First, the first cylinder 20 acts Shrink, drive push pedal 63 and the action of push rod shaft 61 to withdraw, spacer drops to the top of push rod shaft 61 naturally；The action of first cylinder 20 is stretched Go out, drive push pedal 63 and the action of push rod shaft 61 to stretch out, push rod shaft 61 is connected through axle sleeve and with the telescopic shaft 50 of rotating disk 15；Second The action of cylinder 48 is stretched out, and is driven push rod shaft axle sleeve 43 to stretch out, spacer is pushed into the planetary gear of rotating disk 15, the first cylinder 20 Act and withdraw with the second cylinder 48, fallen under next spacer is automatic in spacer stand；

Spacer collator 3 includes support frame 76, spacer 77, lower corner block 78, inlet device 79, small front apron 80, entrance Block 81, the first transparent panel 82, upper corner block 83, the second transparent panel 84 and big baffle plate 85；Support frame 76 is L-type, is fixed on machine On frame 14, inlet device 79 and big baffle plate 85 are fixed on the hypotenuse end of side plate upper end, upper corner block 83 and lower corner block 78 side by side Face coordinates alignment, and leaves gap, and upper corner block 83 and the lower side of corner block 78 are connected by the second transparent panel 84, opposite side with Big baffle plate 85 is connected, i.e., upper corner block 83, lower corner block 78, the second transparent panel 84 and big baffle plate 85 form upper and lower opening Spacer gap；Entrance block 81 is cylinder, and inlet device 79 inlet device 79 and enters to remove the quadrangular of entrance block 81 Mouth block 81 cooperatively forms circular arc passage, and the side of circular arc passage is connected by the transparent panel 84 of small front apron 80 and second respectively Connect, the upper end of circular arc passage is the entrance of spacer 77, and lower end is connected with the entrance in spacer gap, and spacer 77 is from inlet device 79 Upper entrance enter, spacer gap is entered by circular arc passage, and fall from the lower mouth in spacer gap；

Spacer extends feed device 2 and is fixed in frame 14, and the entrance that long guideway one end extends feed device 2 with spacer fills Put 79 upper entrance to be connected, the other end is connected with the delivery outlet of spacer vibration feeder 18；Spacer extends feeding dress from spacer 2 are put automatically into the inlet device 79 to spacer collator 3；

Spacer feed device 1 includes spacer vibration feeder 18 and support 17, and spacer vibration feeder 18 is fixed on support On 17；Spacer vibration feeder 18 completes the feeding task of spacer with spacer extension feed device 2 jointly；

Mandrel storehouse 13 includes the first cylinder 20, mandrel house bottom plate 21, slide rail 22, mandrel storehouse vertical rod 23, mandrel push bracket 24, the heart Axle storehouse stand 25, mandrel 26, floor 27, protective plate 71, reflective photoelectric switch 67 and mandrel storehouse top plate 75；Mandrel house bottom plate 21 For T fonts, it is made up of transverse slat and riser, transverse slat is fixed in frame 14, the first cylinder 20, slide rail 22 and two reflection type photoelectricities Switch 67 is sequentially fixed on the riser of mandrel house bottom plate 21 from bottom to top；Mandrel push bracket 24 is made up of two side plates, L-shaped, The output end of side plate and the first cylinder 20 is fixed, and mandrel recesses are provided with another side plate, is fixedly linked with slide rail 22, mandrel pushes away Temporary container of the frame 24 as mandrel, mandrel is released into mandrel storehouse stand 25, slide rail 22 ensures the direction of motion of mandrel push bracket 24, First cylinder 20 is that mandrel push bracket 24 provides power；Mandrel storehouse vertical rod 23 is cylindrical bar, and totally four, there are mounting hole, one end in both ends It is fixed on mandrel house bottom plate 21, the other end is connected with mandrel storehouse top plate 75, plays a part of supporting mandrel storehouse top plate 75；Mandrel Storehouse top plate 75 is Back Word type flat board, and centre is used for through mandrel storehouse stand 25, and mandrel storehouse stand 25 is hollow framework, mandrel 26 Insert in mandrel storehouse stand 25, the bottom of mandrel storehouse stand 25 exports for mandrel, and mandrel outlet is recessed with the mandrel of mandrel push bracket 24 Groove aligns, and distance is less than the diameter of mandrel 26, and floor 27 is L-type, and side is fixed on mandrel storehouse top plate 75, and opposite side is fixed In mandrel storehouse stand 25, play a part of stationary spindle storehouse stand 25, a reflecting light is set on mandrel storehouse top plate 75 Electric transducer 67；Protective plate 71 is the U-shaped thin plate that side is put, and bottom surface is fixed on the transverse slat of mandrel house bottom plate 21, prevents mandrel Push bracket 24 hurts operator when moving；The action of first cylinder 20 is withdrawn, and is driven mandrel push bracket 24 to move, is fallen in mandrel push bracket 24 Groove in mandrel 26 move with mandrel push bracket 24, while the reflective photoelectric switch 67 before mandrel house bottom plate 21 detects Object blocks, and the reflective photoelectric switch 67 after mandrel house bottom plate 21 detects no object and blocked, the reflection on mandrel storehouse top plate 21 Formula optoelectronic switch 67 has detected whether that object blocks always, if nothing, returns to addition raw material mandrel 26, the first cylinder 20 acts Stretch out, drive mandrel push bracket 24 to move, the mandrel 26 in groove is removed, and the heart is fallen under the mandrel in mandrel storehouse stand 25 is automatic In the groove of axle push bracket, an action is completed in mandrel storehouse 13.

Mandrel erecting device 12 includes pad 45, the first cylinder 20, the air cylinder support 92 of push rod 46 and the 3rd；3rd cylinder branch Frame 92 is L-type, is made up of bottom plate and side plate, and bottom plate is fixed in frame 14, and side plate is provided with the first cylinder 20；Pad 45 is length Bar steel plate, it is fixed in side by side with the 3rd air cylinder support 92 in frame, the upper end of pad 45 is provided with the U-type groove of insertion, for putting Mandrel is put, the lower section of U-type groove, which is provided with, runs through circular hole, and the lower end of pad 45 is fixed in frame 14；Push rod 46 is to be hung down on a surface plate Straight to be welded with two cylinders, two cylinders are arranged up and down, and surface plate is vertically arranged in one end of the first cylinder 20, and upper cylinder is used to pacify Mandrel is filled, lower cylinder insertion pad 45 runs through in circular hole, and surface plate is used for the output end for fixing the first cylinder 20；First cylinder 20 actions extend and retract, and drive push rod 46 to extend and retract, while the thick cylinder of push rod 46 promotes and is placed on pad 45V type grooves Mandrel, thin cylinder promotes the pipe pin 38 of rotating disk 15.

Warehouse for finished product 11 includes warehouse for finished product support 65 and finished product 64, and warehouse for finished product support 65 is I-shaped, and the flat board of bottom surface is fixed In frame 14, flat board above has certain angle inclination, and interior fluted, finished product 64 is placed on the oblique flat board of warehouse for finished product support 65 Groove in；

Manipulator 10 includes horizontal articulated robot 66, mechanical chuck 72, the 4th cylinder 73 and fixed mount 74；It is horizontal more The bottom of articulated robot 66 is fixed in frame 14, and the output end of horizontal articulated robot 66 is connected with fixed mount 74, fixed The other end of frame 74 is fixed with the 4th cylinder 73, and the 4th cylinder 73 has two output ends, can be stretched out or be shunk simultaneously, mechanical chuck 72 be stairstepping, totally two, and one end of each mechanical chuck 72 is connected with the output end of the 4th cylinder 73, and the other end is welded with folder Tool, fixture is side indent triangular shape, for gripping mandrel, gear or finished product；The repeatable accuracy of horizontal articulated robot 66 Less than 0.1mm, taught point can accurately be reached, then the 4th cylinder 73 acts, mechanical chuck 72 with cylinder act unclamp or Person clamps, and completes release workpiece or grabbing workpiece task.

Operation principle of the present utility model is as follows：

Each rotating disk has five stations, just the same, only introduces one of station below and expects what finished product was carried from above Whole process, other stations repeat this process.

In gear storehouse 8, the action of cylinder 20 is stretched out, and a gear 32 is released, gear storehouse skewed slot 30 is rolled under nature End, manipulator 10 take out gear 32 from the end of gear storehouse skewed slot 30, and the action of cylinder 48 of gear feeding device 9 is stretched out, will turned The pipe pin 38 of disk 15 ejects, and drives telescopic shaft 40 to move together, gear 32 is put on the arc surface of backing plate 37 by manipulator 10, tooth The action of cylinder 48 for taking turns feeding device 9 is retracted, and the telescopic shaft 40 of rotating disk 15 resets in the presence of the first spring 42, drives pipe pin 38 are also resetted, and the butt end of telescopic shaft 40 is inserted into the axis hole of gear 32, and rotating disk 15 rotates, the alignment needle roller insertion of the axis hole of gear 32 The rotating shaft 56 of device 7, a number of needle roller is placed in the dead slot of rotating shaft 56 in needle roller insertion apparatus 7, the 3rd gas The action of cylinder 69 is stretched out, and is driven shaft sleeve 55 to move forward, needle roller is pushed into the gap of gear 32 and telescopic shaft 40, needle roller The 3rd cylinder 69 action of insertion apparatus 7 is retracted, and rotating disk 15 rotates, the push rod of the axis hole alignment spacer insertion apparatus 16 of gear 32 Axle 61, the first cylinder 20 action of spacer insertion apparatus 16 are shunk, and drive push pedal 63 and the action of push rod shaft 61 to withdraw, spacer is natural The position that the top of push rod shaft 61 is vacated is dropped to, then the first cylinder 20 action is stretched out, and drives push pedal 63 and push rod shaft 61 to act Stretch out, push rod shaft 61 is connected through axle sleeve and with the telescopic shaft 50 of rotating disk 15, and then the second cylinder 48 action is stretched out, and drives push rod Axle axle sleeve 43 stretches out, and spacer is pushed into the gear 32 of rotating disk 15 and the gap of telescopic shaft 40, and the rolling inserted with previous step Pin is close to, and the first cylinder 20 and the action of the second cylinder 48 are withdrawn, and rotating disk 15 rotates, the axis hole alignment needle roller insertion apparatus of gear 32 Pipe pin is pushed into the gap of gear 32 and telescopic shaft 40, inserted with previous step by 7 rotating shaft 56, needle roller insertion apparatus 7 again The spacer entered is close to, and rotating disk 15 rotates, the cylinder of the top of mandrel push bracket 24 of the axis hole alignment mandrel assembling device 12 of gear 32, First cylinder 20 action in mandrel storehouse 13 is stretched out, and drives mandrel push bracket 24 to send out a mandrel 26, and manipulator 10 is by mandrel 26 It is put into the U-type groove of the pad 45 of mandrel assembling device 12, the cylinder action in mandrel storehouse 13 is withdrawn, and drives mandrel push bracket 24 to move It is dynamic, fallen under next mandrel 26 is automatic in the mandrel recesses of mandrel push bracket 24, the first cylinder 20 of mandrel assembling device 12 is dynamic Stretch out, the cylinder of the top of push rod 46 promotes the pipe pin 38 of rotating disk 15 to move, and drives the telescopic shaft 40 of rotating disk 15 to retreat together, together When the lower section of push rod 46 cylinder mandrel 26 is pushed into the endoporus of gear, finished product 64 is picked up and is put into warehouse for finished product 11 by manipulator In, the first cylinder 20 action of mandrel erecting device 12 is withdrawn, and the telescopic shaft 40 and pipe pin 38 of rotating disk 15 are in the first spring 42 Effect is lower to restore, and rotating disk rotates, and all working of assembling is completed, into next gear needle roller assembly period.

The beneficial effects of the utility model：

1st, the utility model planetary gear of solving over needs the necessary material by the use of lubricating grease as auxiliary assembling；

2nd, such planetary needle roller automatic assembling demand is realized, has prevented manual operation and neglected loading, few dress rolling has occurred The problem of pin；

3rd, assembled using machine, improve operating efficiency, liberated labour；

4th, flexible assembly can be realized after renewal part.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model.

Fig. 2 is spacer feed device schematic diagram of the present utility model.

Fig. 3 is needle roller feed device schematic diagram of the present utility model.

Fig. 4 (a) is mandrel storehouse of the present utility model front schematic view.

Fig. 4 (b) is mandrel storehouse of the present utility model side schematic view.

Fig. 5 is gear storehouse of the present utility model schematic diagram.

Fig. 6 is rotating disk schematic diagram of the present utility model.

Fig. 7 is mandrel erecting device schematic diagram of the present utility model.

Fig. 8 is gear feeding device schematic diagram of the present utility model.

Fig. 9 (a) is needle roller insertion apparatus profile of the present utility model.

Fig. 9 (b) is needle roller insertion apparatus top view of the present utility model.

Figure 10 is spacer insertion apparatus schematic diagram of the present utility model.

Figure 11 is warehouse for finished product schematic diagram of the present utility model.

Figure 12 (a) is spacer collator left view of the present utility model.

Figure 12 (b) is spacer collator front view of the present utility model.

Figure 13 (a) is needle roller collator top view of the present utility model.

Figure 13 (b) is needle roller collator front view of the present utility model.

Figure 14 is manipulator schematic diagram of the present utility model.

In figure：1 spacer feed device；2 spacers extend feed device；3 spacer collators；4 needle roller feed devices；5 rollings Pin extends feed device；6 needle roller collators；7 needle roller insertion apparatus；8 gear storehouses；9 gear feeding devices；10 manipulators；11 Warehouse for finished product；12 mandrel erecting devices；13 mandrel storehouses；14 frames；15 rotating disks；16 spacer insertion apparatus；17 supports；18 spacers vibrate Feeder；19 needle roller vibration feeders；20 first cylinders；21 mandrel house bottom plates；22 slide rails；23 mandrel storehouse vertical rods；24 mandrels push away Frame；25 mandrel storehouse stands；26 mandrels；27 floors；28 steel pads；29 gear storehouse stands；30 gear storehouse skewed slots；31 gear switches；32 Gear；33 height adjusters；34 rotating disk chassis；35 first servomotors；36 disks；37 backing plates；38 pipe pins；39 sockets；40 stretch Contracting axle；41 sleeves；42 first springs；43 axle sleeves；44 disc holders；45 pads；46 push rods；47 feeding supports；48 second cylinders； 49 first air cylinder supports；50th, ejector retainner plate；51 second servomotors；52 electric machine supports；53 needle roller supports；54 shaft couplings；55 rotating shafts Sleeve；56 rotating shafts；57 second springs；58 U-shaped supports；59 spacer supports；60 spacer stands；61 push rod shafts；62 push rod shaft axles Set；63 push pedals；64 finished products；65 warehouse for finished product supports；66 horizontal articulated robots；67 reflective photoelectric switches；68 optoelectronic switches Support；69 the 3rd cylinders；70 second air cylinder supports；71 protective plates；72 mechanical chucks；73 the 4th cylinders；74 fixed mounts；75 mandrels Storehouse top plate；76 support frames；77 spacers；78 times corner blocks；79 inlet devices；80 small front aprons；81 entrance blocks；82 first is transparent Plate；Corner block on 83；84 second transparent panels；85 big baffle plates；Triangle body in 86 guide grooves；87 fixing devices；88 fixation steel plates；89 Shielding cover；90 the 3rd transparent panels；Triangle body under 91 guide grooves；92 the 3rd air cylinder supports；93 the 4th air cylinder supports.

Embodiment

In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation Example, to the further detailed description of the utility model.It should be appreciated that specific embodiment described herein is used only for explaining this Utility model, it is not used to limit the utility model.

As shown in Fig. 1-Figure 14, the utility model is a kind of needle roller automatic assembling machine, including frame 14, installed in frame 14 On spacer extend feed device 2, spacer collator 3, needle roller extend feed device 5, needle roller collator 6, needle roller insertion Device 7, gear storehouse 8, gear feeding device 9, manipulator 10, warehouse for finished product 11, mandrel assembling device 12, mandrel storehouse 13, rotating disk 15 And spacer erecting device 16, the spacer feed device 1 and needle roller feed device 4 that are arranged on around frame, wherein needle roller feeding fill Put 4, needle roller and extend feed device 5, needle roller collator 6 and needle roller insertion apparatus 7 each two；It is the center of circle with rotating disk 15, is turning Gear feeding device 9, needle roller insertion apparatus 7, spacer insertion apparatus 16, needle roller insertion are set gradually on the circumference of disk 15 clockwise Device 7, mandrel erecting device 12；Needle roller insertion apparatus 7 extends feed device 5 and needle roller with needle roller collator 6, needle roller successively Feed device 4 is connected；Spacer insertion apparatus 16 extends feed device 2 with spacer collator 3, spacer successively and spacer feeding fills 1 is put to be connected；

Rotating disk 15 includes rotating disk chassis 34, the first servomotor 35, disk 36, backing plate 37, pipe pin 38, socket 39, flexible Axle 40, sleeve 41, the first spring 42, axle sleeve 43, disc holder 44；Rotating disk chassis 34 is middle recessed ladder disk, edge Be fixed in frame 14, recessed bottom is fixedly linked with the first servomotor 35 among disk, the first servomotor 35 it is defeated The lower surface of shaft and disk 36 is mutually fixed, and five backing plates 37 are uniformly fixed along the radial direction of disk 36, backing plate 37 be in Stepped, one end is plane, and the other end is raised step, centered on the symmetry axis of step, digs an arc surface, arc surface Lowest part have an elongated slot along its length, the outer face of step is alignd with the edge of disk 36；Socket 39 is plate-like, tightly The inner face of the step of backing plate 37 is suffered, is fixed on backing plate 37, the top surface of socket 39 sets an elongated slot, elongated with backing plate 37 Groove communicates, and is in straight line；Disc holder 44 is L-type, is made up of side plate and bottom plate, and bottom plate is fixed on backing plate 37, side plate Upper end have a circular hole；Telescopic shaft 40 is ladder circular shaft, including butt end and taper end, and butt end, which is provided with one, diametric to be run through Hole；Sleeve 41 and axle sleeve 43 are all T-shaped cylinder, and one end is annular steps, and the other end is long cylinder, and the long cylinder end of sleeve 41 is set The diametric butt end for running through groove, being enclosed on telescopic shaft 40 is put, and the through hole of telescopic shaft 40 aligns with the through hole of sleeve 41, The annular steps end of axle sleeve 43 is fixedly linked with the annular steps end of sleeve 41, and the long cylinder end of axle sleeve 43 is enclosed on telescopic shaft 40 Taper end, and be fixed on simultaneously in the circular hole of the side plate of disc holder 44 with telescopic shaft 40；First spring 42 is enclosed on the thin of telescopic shaft 40 End, between axle sleeve 43 and telescopic shaft 40；Pipe pin 38 is the cylinder of L-type, and one end of pipe pin 38 passes through sleeve 41 and telescopic shaft 40 through hole, and stretch out sleeve 41, the other end is fixed in the elongated slot of backing plate 37 and socket 39, the length of elongated slot and The diameter of through hole is both greater than the diameter of pipe pin 38, and pipe pin 38 can move horizontally in running through in groove for sleeve 41；First servo Motor 35 rotates after being powered, and drives disk 36 and the miscellaneous part being fixed in the above to rotate, and pipe pin 38 is under external force along pipe Elongated slot movement in cylinder 39 and backing plate 37, and restored to the original state in the presence of the first spring 42, in pipe pin 38 and telescopic shaft 40 After movement, a gear 32 is placed on the arc surface of backing plate 37 by manipulator, after pipe pin 38 and the reinstatement of telescopic shaft 40, is stretched The butt end of contracting axle 40 is inserted into the axis hole of gear, and gap be present, can just be put into needle roller and spacer；

Gear storehouse 8 includes the first cylinder 20, steel pad 28, gear storehouse stand 29, gear storehouse skewed slot 30, gear switch 31, tooth Wheel 32, height adjuster 33, reflective photoelectric switch 67；Height adjuster 33 is L-type support, and bottom is fixed in frame 14； Steel pad 28 is in inverted T fonts, and bottom is flat board, is fixed in frame 14, and upper end is square column, gear storehouse stand 29 totally two It is individual, in the hollow long cylinder of square, there are multiple mounting holes in the longitudinal direction, the end of gear storehouse stand 29 is inserted and fixed steel pad It is on 28 column and fixed；Gear storehouse skewed slot 30 is multi-segment structure, and every section is rectangular tube tubular, passes through circular arc between square socket Shape tube head connects, and it is in zigzag that gear storehouse skewed slot 30 is overall, is fixed on by mounting hole in gear storehouse stand 29, and there is entrance on top, Gear 32 can be put into, final stage skewed slot is longer than other skewed slots, and end is without closing cap；First cylinder 20 is arranged at two gears Between storehouse stand 29, and immediately below gear storehouse skewed slot 30, including an output end, the flexible fortune on a direction can be completed Dynamic, the other end is fixed in frame 14, and gear switch 31 is the gear pin with bottom plate, and bottom plate is fixed on the output of the first cylinder 20 End, gear pin are used to control gear to fall one by one；Reflective photoelectric switch 67 is fixed on height adjuster 33, for identifying whether There is object to block light path；Reflective photoelectric switch 67 has detected whether that object blocks, if not provided, the action of the first cylinder 20 is stretched Going out, drive gear switch 31 to raise, gear pin releases a gear, and the action of the first cylinder 20 is withdrawn, and drives gear switch to reduce, Reflective photoelectric switch 67 detects that object blocks, and the first cylinder 20 is failure to actuate.

Gear feeding device 9 includes feeding support 47, the second cylinder 48, reflective photoelectric switch 67, optoelectronic switch support 68；Feeding support 47 is fixed in frame 14, the top of feeding support 47 and the second cylinder 48, the stationary phase of optoelectronic switch support 68 Even, reflective broadcasting and TV switch 67 is fixed on the mounting hole of optoelectronic switch support 68；The action of second cylinder 48 is stretched out and withdrawn, circle Post output end moves together with the pipe pin 38 on rotating disk 15, drives the telescopic shaft 40 on rotating disk 15 to move together.

Needle roller insertion apparatus 7 includes the second cylinder 48, the first air cylinder support 49, ejector retainner plate 50, the second servomotor 51, electricity Machine support 52, needle roller support 53, shaft coupling 54, shaft sleeve 55, rotating shaft 56, second spring 57, matrix support 58, the 3rd cylinder 69th, the second air cylinder support 70；First air cylinder support 49 is made up of plane bottom plate and stand, and plane bottom plate is fixed in frame 14, Stand is fixedly linked with the second cylinder 48；Needle roller support 53 is the matrix support that side is put, and side plate is fixed in frame 14, another The bottom plate of side plate and the electric machine support of L-type 52, the bottom plate of matrix support 58 are fixedly linked；Between electric machine support 52 and matrix support 58 Leave space；Two side plate thickness differences of matrix support 58, two side plates are provided with a circular hole for running through front and rear panel, in thickness Communicated along the vertical and horizontal directions provided with two respectively on side plate plate body and mutually perpendicular square groove, the square groove of vertical direction For needle roller passage, the square groove of horizontal direction is thimble board slot；Second servomotor 51 is fixed on the side plate of electric machine support 52, The output shaft of second servomotor 51 is connected by shaft coupling 54 with one end of rotating shaft 56, and rotating shaft 56 passes through 58 two, matrix support Circular hole on side plate, the other end of rotating shaft 56 are uniformly along the circumferential direction provided with multiple dead slots in gear-like, and dead slot is used to place Needle roller, the diameter of needle roller are more than the diameter of dead slot, i.e. needle roller part protrudes from rotating shaft 56；The thin side plate upper end of matrix support 58 It is connected by the second air cylinder support 70 with the 3rd cylinder 69；Shaft sleeve 55 includes cylinder and to be fixed on cylinder outer peripheral elongated Cylinder, elongate cylinder are fixed on the output end of the 3rd cylinder 69, and cylindrical sleeve is in rotating shaft 56, for by the rolling in the dead slot of rotating shaft 56 Pin is by moving horizontally and ejecting；Second spring 57 is enclosed in rotating shaft 56, between shaft sleeve 55 and matrix support, thimble Plate 50 is square thin plate, and one end is fixed on the output end of the second cylinder 48, and the other end is inserted into the thimble board slot of matrix support 58 In, for needle roller to be inserted into the dead slot of rotating shaft 56；Second cylinder 48 is fixed in frame 14 by the first air cylinder support 49； Second cylinder 48 is acted once, and ejector retainner plate is moved forward by one piece of needle roller top into the gap of the gear-like of rotating shaft 56, and then second Servomotor 51 turns an angle, the repetitive operation of cylinder (two) 48, moves in circles and completes a number of needle roller insertion, then 3rd cylinder 69 acts, and drives shaft sleeve 55 to travel forward, second spring 57 extends, by the needle roller top of the gear end of rotating shaft 56 Go out, push into the corresponding gear inner ring of rotating disk 15, after the completion of the 3rd cylinder 69 action withdraw, drive shaft sleeve 55 transport backward It is dynamic, and second spring 57 is compressed, complete an assembling process.

Needle roller collator 6 includes triangle body 86, fixing device 87, fixation steel plate 88, shielding cover the 89, the 3rd in guide groove Triangle body 91 under transparent panel 90, guide groove；Fixing device 87 is L-type thin plate, and bottom plate is fixed on the matrix branch of needle roller insertion apparatus 7 On the thin side plate of frame 58, a right-angle side end face of side plate and triangle body in guide groove 86 is fixedly linked；Triangle body in guide groove 86 and guide groove under triangle body 91 be triangular steel plate, hypotenuse end face is zigzag, in guide groove under triangle body 86 and guide groove Gap is reserved between the hypotenuse end face of triangle body 91, right-angle side end face keeps same horizontal line, and fixation steel plate 88 is rectangle Boping Plate, the 3rd transparent panel 90 are rectangle, and edge sets a square groove on top, and two triangle bodies pass through the fixation steel of one side respectively Plate 88 and the transparent panel 90 of another side the 3rd are fixedly linked, and two triangle bodies, the transparent panel 90 of fixation steel plate 88 and the 3rd form one The guide groove of individual upper and lower opening, the square groove of the 3rd transparent panel 90 are located at the oblique upper of guide groove, and guide groove is carried out as needle roller Input port, shielding cover 89 is square steel plate, be fixed in guide groove on the upper right-angle side of triangle body 86, and confined bed track slot A port, the delivery outlet of another port of guide groove as needle roller；

Needle roller feed device 4 includes support 17 and needle roller vibration feeder 19, and support 17 fixes on the ground, needle roller vibration Feeder 19 is fixed on support 17；Needle roller vibration feeder 19 completes the feeding of needle roller with needle roller extension feed device 5 jointly Task；

Spacer insertion apparatus 16 includes the first cylinder 20, the second cylinder 48, spacer support 59, spacer stand 60, push rod shaft 61st, push rod shaft axle sleeve 62, push pedal 63, the 4th air cylinder support 93；Spacer support 59 is the matrix plate that side is put, and side plate is fixed on machine On framves 14, the first cylinder 20 and spacer stand 60 are fixed on another side plate, space is left between the first cylinder 20 and spacer stand 60, The bottom of spacer stand 60 is fixed with spacer support 59, and upper end is provided with the U-type groove of insertion, for placing spacer；Push rod shaft 61 is circle Axle, one end are inserted into the spacer of spacer stand 60, for through spacer is fixed and runs to the telescopic shaft 40 of rotating disk 15, The other end is connected with push pedal 63, and the output end of the other end of push pedal 63 and the first cylinder 20 is fixedly linked, and push rod shaft axle sleeve 62 wraps Include cylinder and be fixed on the outer peripheral elongate cylinder of cylinder, elongate cylinder and the output end of the second cylinder 48 are fixedly linked, cylinder It is enclosed in push rod shaft 61, the second cylinder 48 is connected with the 4th air cylinder support 93 being fixed on spacer support 59；First cylinder 20 Action is shunk, and drives push pedal 63 and the action of push rod shaft 61 to withdraw, spacer drops to the position that the top of push rod shaft 61 is vacated naturally, so Afterwards the first cylinder 20 action stretch out, drive push pedal 63 and push rod shaft 61 action stretch out, push rod shaft 61 through axle sleeve and and rotating disk 15 telescopic shaft 50 is connected, and then the second cylinder 48 action is stretched out, and drives push rod shaft axle sleeve 43 to stretch out, spacer is pushed into rotating disk Planetary gear in, the first cylinder 20 and the second cylinder 48 action withdraw, fallen under next spacer is automatic in spacer stand；

Spacer collator 3 includes support frame 76, spacer 77, lower corner block 78, inlet device 79, small front apron 80, entrance Block 81, the first transparent panel 82, upper corner block 83, the second transparent panel 84, big baffle plate 85；Support frame 76 is L-type, and bottom plate is fixed on In frame 14, inlet device 79 is fixed in side plate upper end and big baffle plate 85, inlet device 79 and big baffle plate 85 are arranged side by side, and the two Side be closely packed together, big baffle plate 85 is rectangular flat, and the second transparent panel 84 is rectangular transparent board, upper corner block 83 and lower triangle Block 78 is triangular steel plate, and two corner block hypotenuse end faces coordinate alignment, gap are left between two hypotenuse end faces, upper corner block 83 is with The side of corner block 78 is connected together by the second transparent panel 84, and opposite side is connected with big baffle plate 85, i.e., upper corner block 83, under Corner block 78, the second transparent panel 84 and big baffle plate 85 form the spacer gap of a upper and lower opening；Entrance block 81 be four/ One cylinder, inlet device 79 are that quadrangular removes and the block of a quarter cylinder, entrance block 81 are engaged to form four / mono- circular arc passage, the side of circular arc passage are connected together by small front apron 80 with the second transparent panel 84 respectively, circle The upper end of curved channel is the entrance of spacer 77, and lower end is connected with the entrance in spacer gap, and spacer 77 is upper from inlet device 79 Portion's entrance enters, and enters spacer gap by circular arc passage, and fall from the lower mouth in spacer gap；

Spacer feed device 1 includes spacer vibration feeder 18 and support 17, and support 17 fixes on the ground, spacer vibration Feeder is fixed on support 17；The feeding that spacer vibration feeder 18 completes spacer with spacer extension feed device 2 jointly is appointed Business；

Mandrel storehouse 13 includes the first cylinder 20, mandrel house bottom plate 21, slide rail 22, mandrel storehouse vertical rod 23, mandrel push bracket 24, the heart Axle storehouse stand 25, mandrel 26, floor 27, protective plate 71, reflective photoelectric switch 67, mandrel storehouse top plate 75；Mandrel house bottom plate 21 For T fonts, it is made up of transverse slat and riser, transverse slat is fixed in frame 14, the first cylinder 20, slide rail 22 and two reflection type photoelectricities Switch 67 is sequentially fixed on the riser of mandrel house bottom plate 21 from bottom to top；Mandrel push bracket 24 is made up of two side plates, L-shaped, The output end of wherein side plate and the first cylinder 20 is fixed, and mandrel recesses are provided with another side plate, is fixedly linked with slide rail 22, the heart Single mandrel is released mandrel storehouse stand 25 by axle push bracket 24 as the temporary container of mandrel, and slide rail ensures the motion of mandrel push bracket 24 Direction, the first cylinder 20 are that mandrel push bracket 24 provides power；Mandrel storehouse vertical rod 23 is cylindrical bar, and four altogether, there is installation at both ends Hole, one end are fixed on mandrel house bottom plate 21, and the other end is connected with mandrel storehouse top plate 75, play the work of support mandrel storehouse top plate 75 With；The middle part of mandrel storehouse top plate 75 is dug through, and is Back Word type flat board, and centre is used for through mandrel storehouse stand 25, mandrel storehouse stand 25 For hollow framework, centre is put into mandrel 26, and the bottom of mandrel storehouse stand 25 exports for mandrel, mandrel outlet and mandrel push bracket 24 Mandrel recesses alignment, and distance be less than mandrel diameter, floor 27 is L-type, and side is fixed on mandrel storehouse top plate 75, side It is fixed in mandrel storehouse stand 25, plays a part of stationary spindle storehouse stand 25, a reflection is set on mandrel storehouse top plate 75 Formula photoelectric sensor 67, protective plate 71 are the U-shaped thin plate that side is put, and bottom surface is fixed on the transverse slat of mandrel house bottom plate 21, prevented Mandrel push bracket 24 hurts operator when moving；The action of first cylinder 20 is withdrawn, and is driven mandrel push bracket 24 to move, is fallen and pushed away in mandrel Mandrel 26 in the groove of frame is moved with mandrel push bracket 24, while the reflective photoelectric switch 67 before mandrel house bottom plate 21 is examined Measure object to block, the reflective photoelectric switch 67 behind mandrel house bottom plate 21 detects no object and blocked, on mandrel storehouse top plate 21 Reflective photoelectric switch 67 detected whether that object blocks always, if nothing, return needs to add raw material mandrel 26, first The action of cylinder 20 is stretched out, and drives mandrel push bracket 24 to move, and the mandrel 26 in groove is removed, and the mandrel in mandrel storehouse stand 25 is certainly Fallen under dynamic in the groove of mandrel push bracket, an action is completed in mandrel storehouse 13.

Mandrel erecting device 12 includes pad 45, the first cylinder 20, push rod 46, the 3rd air cylinder support 92；3rd cylinder branch Frame 92 is L-type, is made up of bottom plate and side plate, and bottom plate is fixed in frame 14, and side plate is provided with the first cylinder 20；Pad 45 is length Bar steel plate, it is fixed in side by side with the 3rd air cylinder support 92 in frame, the upper end of pad 45 is provided with the U-type groove of insertion, for putting Mandrel is put, the lower section of U-type groove, which is provided with, runs through circular hole, and the lower end of pad 45 is fixed in frame 14；Push rod 46 is to be hung down on a surface plate Straight to be welded with two cylinders, two cylinders are arranged up and down, and surface plate is vertically arranged in one end of the first cylinder 20, and the cylinder of top is used In installation mandrel, the cylinder insertion pad 45 of lower section runs through in circular hole, and surface plate is used for the output end for fixing the first cylinder 20； The action of first cylinder 20 extends and retracts, and drives push rod 46 to extend and retract, while the thick cylinder of push rod 46 promotes and is placed on support The mandrel of 45V type grooves is padded, thin cylinder promotes the pipe pin 38 of rotating disk 15.

Manipulator 10 includes horizontal articulated robot 66, mechanical chuck 72, the 4th cylinder 73, fixed mount 74；It is horizontal more The bottom of articulated robot 66 is fixed in frame 14, and the output end of horizontal articulated robot 66 is connected with fixed mount 74, fixed The other end of frame 74 is fixed with the 4th cylinder 73, and the 4th cylinder 73 has two output ends, can be stretched out or be shunk simultaneously, mechanical chuck 72 be stairstepping, totally two, and one end of each mechanical chuck 72 is connected with the output end of the 4th cylinder 73, and the other end is welded with folder Tool, fixture is side indent triangular shape, for gripping mandrel, gear or finished product；The repeatable accuracy of horizontal articulated robot 66 Less than 0.1mm, taught point can accurately be reached, then the 4th cylinder 73 acts, mechanical chuck 72 with cylinder act unclamp or Person clamps, and completes release workpiece or grabbing workpiece task.

Claims

1. a kind of needle roller automatic assembling machine, it is characterised in that described needle roller automatic assembling machine includes frame (14), installed in machine Spacer on frame (14) extends feed device (2), spacer collator (3), needle roller and extends feed device (5), needle roller sequence dress Put (6), needle roller insertion apparatus (7), gear storehouse (8), gear feeding device (9), manipulator (10), warehouse for finished product (11), mandrel dress With device (12), mandrel storehouse (13), rotating disk (15) and spacer erecting device (16), the spacer feeding being arranged on around frame (14) Device (1) and needle roller feed device (4)；Wherein, needle roller feed device (4), needle roller extend feed device (5), needle roller sequence dress Put (6) and each two of needle roller insertion apparatus (7)；With rotating disk (15) for the center of circle, set successively clockwise on the circumference of rotating disk (15) Put gear feeding device (9), needle roller insertion apparatus (7), spacer insertion apparatus (16), needle roller insertion apparatus (7), mandrel installation dress Put (12)；Needle roller insertion apparatus (7), needle roller collator (6), needle roller extend feed device (5) and needle roller feed device (4) according to It is secondary to be connected；Spacer insertion apparatus (16), spacer collator (3), spacer extend feed device (2) and spacer feed device (1) It is sequentially connected；

Described rotating disk (15) includes rotating disk chassis (34), the first servomotor (35), disk (36), backing plate (37), pipe pin (38), socket (39), telescopic shaft (40), sleeve (41), the first spring (42), axle sleeve (43) and disc holder (44)；Rotating disk bottom Frame (34) is middle recessed ladder disk, and edge is fixed in frame (14), it is middle it is recessed in the first servomotor is installed (35)；The lower surface of the output shaft of first servomotor (35) and disk (36) is fixed, equal along the radial direction of disk (36) It is even to fix five backing plates (37)；Backing plate (37) is stepped, and end face is plane, and other end is raised step, with platform Arc surface is formed centered on the symmetry axis of rank, the lowest part of arc surface is conduit along its length, the outer face of step and circle The edge alignment of disk (36)；Socket (39) is plate-like, is fixed on the step of backing plate (37), is alignd with inner face, socket (39) Top surface set conduit, communicated with the conduit of backing plate (37), and be in straight line；Disc holder (44) is L-type, by side plate and bottom Plate is formed, and bottom plate is fixed on backing plate (37), concordant with socket (39), and side plate upper end is provided with circular hole；Telescopic shaft (40) is ladder Axle, including butt end and taper end, butt end are provided with diametric through hole；Sleeve (41) and axle sleeve (43) are all T-shaped cylinder, one end For annular steps, the other end is cylinder；The cylinder end of sleeve (41) sets diametric through hole, is enclosed on telescopic shaft (40) Butt end, and the through hole of telescopic shaft (40) aligns with the through hole of sleeve (41)；The annular steps end of axle sleeve (43) and sleeve (41) annular steps end is fixedly linked, and the cylinder end of axle sleeve (43) is enclosed on the taper end of telescopic shaft (40), and with telescopic shaft (40) It is fixed on simultaneously in the circular hole of disc holder (44) side plate；First spring (42) is enclosed on the taper end of telescopic shaft (40), positioned at axle sleeve (43) between telescopic shaft (40)；Pipe pin (38) is the cylinder of L-type, and one end of pipe pin (38) passes through sleeve (41) and telescopic shaft (40) through hole, and sleeve (41) is stretched out, the other end is fixed in the conduit of backing plate (37) and socket (39), the length of conduit And the diameter of through hole is both greater than the diameter of pipe pin (38), pipe pin (38) moves horizontally in running through in groove for sleeve (41)；The One servomotor (35) rotates after being powered, and drives disk (36) to rotate, and pipe pin (38) is under external force along socket (39) and pad Conduit movement in plate (37), and restored to the original state in the presence of the first spring (42), moved in pipe pin (38) and telescopic shaft (40) After dynamic, a gear (32) is placed on the arc surface of backing plate (37) by manipulator, and pipe pin (38) and telescopic shaft (40) recover former After shape, the butt end of telescopic shaft (40) is inserted into the axis hole of gear, and gap be present, is put into needle roller and spacer；

Gear storehouse (8) includes the first cylinder (20), steel pad (28), gear storehouse stand (29), gear storehouse skewed slot (30), gear switch (31), gear (32), height adjuster (33) and reflective photoelectric switch (67)；Height adjuster (33) is L-type support, fixed In frame (14)；Steel pad (28) is in inverted T fonts, and bottom is flat board, is fixed in frame (14), and upper end is square vertical Post；Gear storehouse stand (29) totally two, in the hollow long cylinder of square, there are multiple mounting holes, the stand of gear storehouse in the longitudinal direction (29) end is inserted and fixed on the square column of steel pad (28)；Gear storehouse skewed slot (30) is multi-segment structure, and every section is side Shape socket, the square socket of multistage pass sequentially through circular arc tube head and connect into zigzag structure, and the rectangular tube tube length of bottom is in other Square socket, and distal opening；Gear storehouse skewed slot (30) is fixed in gear storehouse stand (29) by mounting hole, and gear (32) is logical It is interior into gear storehouse skewed slot (30) to cross rectangular tube tubular；The first cylinder (20) being fixed in frame (14) is located at gear storehouse skewed slot (30) immediately below；Gear switch (31) is the gear pin with bottom plate, is fixed on the output end of the first cylinder (20), and gear pin is used to control Gear falls one by one；Reflective photoelectric switch (67) is fixed on height adjuster (33), for identifying whether have object to block Light path, if not provided, the first cylinder (20) action is stretched out, gear switch (31) rise being driven, gear pin releases a gear, the One cylinder (20) action is withdrawn, and drives gear switch to reduce, and reflective photoelectric switch (67) detects that object blocks, the first cylinder (20) it is failure to actuate；

Gear feeding device (9) includes feeding support (47), the second cylinder (48), reflective photoelectric switch (67) and optoelectronic switch Support (68)；Feeding support (47) is fixed in frame (14), and the second cylinder (48) and optoelectronic switch support (68) are fixed respectively Installed in the top of feeding support (47), reflective broadcasting and TV switch (67) is fixed on the mounting hole of optoelectronic switch support (68)； Second cylinder (48) action is stretched out and withdrawn, and output end moves together with the pipe pin (38) on rotating disk (15), drives rotating disk (15) On telescopic shaft (40) move together；

Needle roller insertion apparatus (7) includes the second cylinder (48), the first air cylinder support (49), ejector retainner plate (50), the second servomotor (51), electric machine support (52), needle roller support (53), shaft coupling (54), shaft sleeve (55), rotating shaft (56), second spring (57), Matrix support (58), the 3rd cylinder (69) and the second air cylinder support (70)；First air cylinder support (49) is by plane bottom plate and stand Form, plane bottom plate is fixed in frame (14), and stand is fixedly linked with the second cylinder (48)；Needle roller support (53) is what side was put Matrix support, side plate are fixed in frame (14), and the both ends of another side plate are connected to the electric machine support of L-type (52) and recessed Type support (58), space is left between electric machine support (52) and matrix support (58)；Two side plate thickness of matrix support (58) Difference, i.e. slab and thin plate, two side plates are provided with a circular hole for running through front and rear panel, respectively along vertically and horizontally side on slab To provided with communicating and mutually perpendicular square groove, the square groove of vertical direction is needle roller passage, and the square groove of horizontal direction is top Needle plate slot；Second servomotor (51) is fixed on the side plate of electric machine support (52), and the output shaft of the second servomotor (51) leads to One end that shaft coupling (54) is crossed with rotating shaft (56) is connected, and rotating shaft (56) turns through the circular hole on (58) two side plates of matrix support The other end of axle (56) is uniformly along the circumferential direction provided with multiple dead slots in gear-like, and dead slot is used to placing needle roller, needle roller it is straight Footpath is more than the diameter of dead slot, i.e. needle roller part protrudes from rotating shaft (56)；The thin plate upper end of matrix support (58) passes through the second cylinder Support (70) is connected with the 3rd cylinder (69)；Shaft sleeve (55) includes cylinder and is fixed on the outer peripheral cylinder of cylinder, cylinder The output end of the 3rd cylinder (69) is fixed on, cylindrical sleeve is in rotating shaft (56), for the needle roller in rotating shaft (56) dead slot to be passed through Move horizontally and eject；Second spring (57) is enclosed in rotating shaft (56), between shaft sleeve (55) and matrix support (58), Ejector retainner plate (50) is square-panel, and one end is fixed on the output end of the second cylinder (48), and the other end is inserted into matrix support (58) In thimble board slot, for needle roller to be inserted into the dead slot of rotating shaft (56)；Second cylinder (48) passes through the first air cylinder support (49) It is fixed in frame (14)；Second cylinder (48) is acted once, and ejector retainner plate (50) is moved forward one piece of needle roller top to rotating shaft (56) in the gap of gear-like, then the second servomotor (51) turns an angle, the second cylinder (48) repetitive operation, circulation A number of needle roller insertion is back and forth completed, then the 3rd cylinder (69) acts, and drives shaft sleeve (55) to travel forward, and second Spring (57) is extended, and the needle roller of rotating shaft (56) gear end is ejected, pushed into rotating disk (15) corresponding gear inner ring, after the completion of the Three cylinders (69) action is withdrawn, and drives shaft sleeve (55) to move backward, and compresses second spring (57), is completed one and was assembled Journey；

Needle roller collator (6) includes triangle body (86), fixing device (87), fixation steel plate (88), shielding cover in guide groove (89), triangle body (91) under the 3rd transparent panel (90) and guide groove；Fixing device (87) is L-type thin plate, and bottom plate is fixed on needle roller On the thin plate of the matrix support (58) of insertion apparatus (7), a right-angle side end face of thin plate and triangle body in guide groove (86) is fixed It is connected；Triangle body (91) is triangular steel plate under triangle body (86) and guide groove in guide groove, and hypotenuse end face is zigzag, guide rail Reserve gap on groove under triangle body (86) and guide groove between the hypotenuse end face of triangle body (91), right-angle side end face keeps same water Horizontal line, fixation steel plate (88) they are rectangle thin flat plate, and the 3rd transparent panel (90) is rectangle, on top one square groove of edge setting, two Individual triangle body is fixedly linked by the fixation steel plate (88) and the transparent panel (90) of another side the 3rd of one side respectively, two triangles Body, fixation steel plate (88) and the 3rd transparent panel (90) form the guide groove of a upper and lower opening, the square of the 3rd transparent panel (90) Groove is located at the oblique upper of guide groove, the input port of guide groove is carried out as needle roller, shielding cover (89) is square steel plate, is fixed on and leads In track slot on the upper right-angle side of triangle body (86), and a port of confined bed track slot, another port of guide groove is as rolling The delivery outlet of pin；

Needle roller extends feed device (5) and is fixed in frame (14), and the guide groove of long guideway one end and needle roller collator (6) is defeated Entrance is connected, and the other end is connected with the delivery outlet of needle roller vibration feeder (19)；Needle roller extends feed device (5) automatically from needle roller Enter in the guide groove of needle roller collator (6)；

Needle roller feed device (4) includes support (17) and needle roller vibration feeder (19), and needle roller vibration feeder (19) is fixed on On support (17)；Needle roller vibration feeder (19) extends the common feeding task for completing needle roller of feed device (5) with needle roller；

Spacer insertion apparatus (16) include the first cylinder (20), the second cylinder (48), spacer support (59), spacer stand (60), Push rod shaft (61), push rod shaft axle sleeve (62), push pedal (63) and the 4th air cylinder support (93)；Spacer support (59) is the matrix that side is put Structure, side plate are fixed in frame (14), and the first cylinder (20) and spacer stand (60), the first cylinder are fixed on another side plate (20) space is left between spacer stand (60), spacer stand (60) bottom is fixed with spacer support (59), and upper end is provided with insertion U-type groove, for placing spacer；Push rod shaft (61) is circular shaft, and one end is inserted into the spacer of spacer stand (60), fixed spacer And rotating disk (15) is driven to telescopic shaft (40)；The other end is connected to push pedal (63) end face, the other end of push pedal (63) and the The output end of one cylinder (20) is fixedly linked；Push rod shaft axle sleeve (62) includes cylinder and is fixed on the outer peripheral cylinder of cylinder, circle Post and the output end of the second cylinder (48) are fixedly linked, and cylindrical sleeve is in push rod shaft (61), and the second cylinder (48) is by being fixed on The 4th air cylinder support (93) support on spacer support (59)；First, the first cylinder (20) action shrink, drive push pedal (63) and Push rod shaft (61) action is withdrawn, and spacer drops to push rod shaft (61) top naturally；First cylinder (20) action is stretched out, and drives push pedal (63) stretched out with push rod shaft (61) action, push rod shaft (61) is connected through axle sleeve and with the telescopic shaft (50) of rotating disk (15)；Second Cylinder (48) action is stretched out, and is driven push rod shaft axle sleeve (43) to stretch out, spacer is pushed into the planetary gear of rotating disk (15), first Cylinder (20) and the second cylinder (48) action are withdrawn, and are fallen under next spacer is automatic in spacer stand；

Spacer collator (3) includes support frame (76), spacer (77), lower corner block (78), inlet device (79), small front apron (80), entrance block (81), the first transparent panel (82), upper corner block (83), the second transparent panel (84) and big baffle plate (85)；Support Frame (76) is L-type, is fixed in frame (14), and inlet device (79) and big baffle plate (85) are fixed on side plate upper end side by side, upper three The hypotenuse end face of hornblock (83) and lower corner block (78) coordinates alignment, and leaves gap, upper corner block (83) and lower corner block (78) side is connected by the second transparent panel (84), and opposite side is connected with big baffle plate (85), i.e., upper corner block (83), lower corner block (78), the second transparent panel (84) and big baffle plate (85) form the spacer gap of a upper and lower opening；Entrance block (81) is cylinder Body, to remove the quadrangular of entrance block (81), inlet device (79) and entrance block (81) cooperatively form inlet device (79) Circular arc passage, the side of circular arc passage are connected by small front apron (80) and the second transparent panel (84) respectively, circular arc passage Upper end be spacer (77) entrance, lower end is connected with the entrance in spacer gap, and spacer (77) is from the top of inlet device (79) Entrance enters, and enters spacer gap by circular arc passage, and fall from the lower mouth in spacer gap；

Spacer extends feed device (2) and is fixed in frame (14), and long guideway one end extends the entrance of feed device (2) with spacer The upper entrance of device (79) is connected, and the other end is connected with the delivery outlet of spacer vibration feeder (18)；Spacer extends from spacer Feed device (2) is automatically into the inlet device (79) to spacer collator (3)；

Spacer feed device (1) includes spacer vibration feeder (18) and support (17), and spacer vibration feeder (18) is fixed on On support (17)；Spacer vibration feeder (18) extends the common feeding task for completing spacer of feed device (2) with spacer；

Mandrel storehouse (13) pushes away including the first cylinder (20), mandrel house bottom plate (21), slide rail (22), mandrel storehouse vertical rod (23), mandrel Frame (24), mandrel storehouse stand (25), mandrel (26), floor (27), protective plate (71), reflective photoelectric switch (67) and mandrel storehouse Top plate (75)；Mandrel house bottom plate (21) is T fonts, is made up of transverse slat and riser, and transverse slat is fixed in frame (14), the first cylinder (20), slide rail (22) and two reflective photoelectric switches (67) are sequentially fixed at the riser of mandrel house bottom plate (21) from bottom to top On；Mandrel push bracket (24) is made up of two side plates, L-shaped, and side plate and the output end of the first cylinder (20) are fixed, another side plate On be provided with mandrel recesses, be fixedly linked with slide rail (22), temporary container of the mandrel push bracket (24) as mandrel, mandrel released into the heart Axle storehouse stand (25), slide rail (22) ensure the direction of motion of mandrel push bracket (24), and the first cylinder (20) is that mandrel push bracket (24) carries For power；Mandrel storehouse vertical rod (23) is cylindrical bar, and totally four, there is mounting hole at both ends, and one end is fixed on mandrel house bottom plate (21), The other end is connected with mandrel storehouse top plate (75), plays a part of supporting mandrel storehouse top plate (75)；Mandrel storehouse top plate (75) is Back Word Type flat board, centre are used for through the stand of mandrel storehouse (25), and mandrel storehouse stand (25) is hollow framework, and mandrel (26) inserts mandrel In storehouse stand (25), the bottom of mandrel storehouse stand (25) exports for mandrel, mandrel outlet and the mandrel recesses of mandrel push bracket (24) Alignment, and distance is less than the diameter of mandrel (26), floor (27) is L-type, and side is fixed on mandrel storehouse top plate (75), opposite side It is fixed in mandrel storehouse stand (25), plays a part of stationary spindle storehouse stand (25), one is set on mandrel storehouse top plate (75) Individual reflective photoelectric sensor (67)；Protective plate (71) is the U-shaped thin plate that side is put, and bottom surface is fixed on mandrel house bottom plate (21) On transverse slat, operator is hurt when preventing mandrel push bracket (24) from moving；First cylinder (20) action is withdrawn, and drives mandrel push bracket (24) it is mobile, fall the mandrel (26) in the groove of mandrel push bracket (24) as mandrel push bracket (24) is mobile, while mandrel bottom storehouse Reflective photoelectric switch (67) before plate (21) detects that object blocks, the reflective photoelectric switch after mandrel house bottom plate (21) (67) detection is blocked without object, and the reflective photoelectric switch (67) on mandrel storehouse top plate (21) has detected whether object screening always Gear, if nothing, addition raw material mandrel (26) is returned to, the first cylinder (20) action is stretched out, and drives mandrel push bracket (24) mobile, recessed Mandrel (26) in groove is removed, and is fallen under the mandrel in mandrel storehouse stand (25) is automatic in the groove of mandrel push bracket, mandrel storehouse (13) an action is completed；

Mandrel erecting device (12) includes pad (45), the first cylinder (20), push rod (46) and the 3rd air cylinder support (92)；3rd Air cylinder support (92) is L-type, is made up of bottom plate and side plate, and bottom plate is fixed in frame (14), and side plate is provided with the first cylinder (20)；Pad (45) is elongate steel plate, is fixed in side by side with the 3rd air cylinder support (92) in frame, and the upper end of pad (45) is set There is the U-type groove of insertion, for placing mandrel, the lower section of U-type groove, which is provided with, runs through circular hole, and pad (45) lower end is fixed on frame (14) On；Push rod (46) is that two cylinders are vertically welded with a surface plate, and two cylinders are arranged up and down, and surface plate is vertically arranged in first One end of cylinder (20), upper cylinder are used to install mandrel, and lower cylinder insertion pad (45) is run through in circular hole, and surface plate is used for solid The output end of fixed first cylinder (20)；First cylinder (20) action extends and retracts, and drives push rod (46) to extend and retract, simultaneously The thick cylinder of push rod (46) promotes the mandrel for being placed on pad 45V type grooves, and thin cylinder promotes the pipe pin (38) of rotating disk (15)；

Warehouse for finished product (11) includes warehouse for finished product support (65) and finished product (64), and warehouse for finished product support (65) is I-shaped, the flat board of bottom surface It is fixed in frame (14), flat board above has certain angle inclination, interior fluted, and finished product (64) is placed on warehouse for finished product support (65) Oblique flat board on groove in；

Manipulator (10) includes horizontal articulated robot (66), mechanical chuck (72), the 4th cylinder (73) and fixed mount (74)； Horizontal articulated robot (66) bottom is fixed in frame (14), the output end and fixed mount of horizontal articulated robot (66) (74) it is connected, the other end of fixed mount (74) and the 4th cylinder (73) are fixed, and the 4th cylinder (73) there are two output ends, can be simultaneously Stretch out or shrink, mechanical chuck (72) be stairstepping, totally two, one end of each mechanical chuck (72) and the 4th cylinder (73) Output end is connected, and the other end is welded with fixture, and fixture is side indent triangular shape, for gripping mandrel, gear or finished product；It is horizontal more The repeatable accuracy of articulated robot (66) is less than 0.1mm, accurately reaches taught point, and then the 4th cylinder (73) acts, machinery Chuck (72) unclamps or clamped as cylinder acts, and completes release workpiece or grabbing workpiece task.