Modularized unmanned aerial vehicle rotor efficient assembly detection equipment and method

Abstract

The invention discloses modular unmanned aerial vehicle rotor efficient assembly detection equipment and method, and belongs to the technical field of unmanned aerial vehicle rotor assembly. Modular unmanned aerial vehicle rotor efficient assembling and detecting equipment comprises an eight-station rotating disc mechanism, and the eight-station rotating disc mechanism is sequentially provided with a hand machine shell and support station, a machine shell front and back face detecting mechanism, a shaft loading station, a machine shell gluing, material taking and gluing post-preassembling station, a machine shell pressing-in station and a product assembly discharging station in the rotating direction. The device further comprises a shaft feeding mechanism. A casing gluing mechanism; according to the rotor assembling machine, workpieces are driven by the eight-station rotary table mechanism to orderly flow, and core procedures of feeding, gluing, pressing, detecting, magnet inserting and the like of rotor assembling are integrated into an automatic process in cooperation with the modular design of the shaft feeding mechanism, the machine shell gluing mechanism, the pressing and detecting mechanism and the automatic magnet inserting module; and a traditional manual and semi-automatic production mode is replaced, the productivity in unit time is greatly improved, and the large-scale expansion requirement of the market is met.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) rotor assembly technology, and in particular to a modular UAV rotor high-efficiency assembly and testing equipment and method. Background Technology

[0002] The brushless motor is the core component of the FPV drone's power system. Its assembly quality directly determines the drone's flight speed, endurance, and flight stability. Therefore, FPV drones impose stringent standards on the rotational speed, power density, and vibration amplitude of the brushless motors they are equipped with.

[0003] Currently, the core assembly and testing processes of brushless motors, including shaft pressing, housing gluing, ferromagnetic steel assembly, product runout testing, and shaft height testing, generally rely on manual operation or manual assistance with semi-automatic tooling fixtures. The industry has not yet formed a mature automated production line and is still dominated by manual assembly line production mode.

[0004] Under this production model, a complete motor assembly line requires more than twenty processes, and a skilled worker can only assemble a little over a hundred units per day, resulting in low production efficiency that cannot keep up with the rapid growth of the market. Furthermore, repetitive labor easily leads to operator fatigue, and individual differences in operating techniques among personnel result in problems such as large assembly errors, shaft misalignment, and uneven glue application on the casing during motor assembly. This directly causes excessive vibration amplitude and unstable power density in the motor products, failing to meet the high-performance requirements of FPV drones and even potentially leading to fatal risks such as flight malfunctions. Moreover, the randomness of manual operation results in poor consistency of various performance parameters and a high defect rate in the motor products, further restricting the large-scale mass production of brushless drive motors. Therefore, the need for automated and standardized production transformation of brushless drive motors is extremely urgent. Summary of the Invention

[0005] The purpose of this invention is to solve the problems mentioned in the background art, and to propose a modular unmanned aerial vehicle rotor high-efficiency assembly and testing equipment and method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A modular, high-efficiency assembly and testing device for UAV rotors includes an eight-station turntable mechanism. Along the rotation direction, the eight-station turntable mechanism is sequentially equipped with a man-mounted unit for mounting the UAV housing and support, a housing front and back inspection mechanism, a shaft insertion station, a housing glue application and pre-assembly station, a housing pressing station, and a product component unloading station. The man-mounted unit for mounting the UAV housing and support is equipped with a support for placing the housing. The device also includes:

[0008] The shaft feeding mechanism, which is matched with the shaft loading station, is used for gluing and feeding the rotor shaft;

[0009] The casing gluing mechanism is matched with the pre-assembly station after the casing gluing material is taken out and glued, and is used to apply glue to the rotor casing.

[0010] The pressing and testing mechanism is matched with the product component unloading station and is used to press and test the rotor housing and rotor shaft.

[0011] Preferably, the housing front and back detection mechanism includes a housing orientation CCD detection device and a housing orientation adjustment structure mounted on an eight-station turntable mechanism. The housing orientation CCD detection device is used to detect the front and back of the housing, and the housing orientation adjustment structure is used to flip the housing.

[0012] Preferably, the shaft feeding mechanism includes:

[0013] The shaft lifting automatic feeding device is used to feed the rotor shaft;

[0014] Axial orientation vision positioning mechanism, used to detect the orientation of the rotor shaft;

[0015] An automatic shaft orientation adjustment mechanism is used to adjust the orientation of defective rotor shafts;

[0016] Dual-grip automatic feeding robot, used to grip the rotor shaft at the automatic adjustment mechanism of the gripping shaft direction;

[0017] The automatic rotating mechanism for applying glue to the shaft is used to rotate the rotor shaft gripped by the dual-grip automatic feeding robot.

[0018] The automatic glue applicator at the shaft riveting position is used to apply glue to the rotating rotor shaft on the automatic rotating shaft glue applicator.

[0019] A visual inspection mechanism for adhesive application on rotor shafts is used to visually inspect adhesive application points on rotor shafts.

[0020] The automatic shaft loading bracket station is matched with the shaft loading station and is used to place the rotor shaft into the station;

[0021] The shaft preloading station is used to preload the rotor shaft onto the station.

[0022] Preferably, the casing adhesive application mechanism includes:

[0023] Adhesive supply system, used for storing adhesive;

[0024] A robotic arm for picking up and loading machine casings;

[0025] The glue-applying rotary platform is used to rotate and apply glue to the casing gripped by the casing loading and unloading robot.

[0026] Automatic ejector-type dispensing valve is used to control the on / off state of dispensing glue onto the machine housing;

[0027] A glue application visual inspection agency is used to visually inspect the amount of glue applied to the casing.

[0028] The casing pressing station is used to press the glued casing into the bracket.

[0029] Preferably, the glue-applying rotating platform, the automatic ejector-type glue-applying valve, and the glue-applying visual inspection mechanism are provided in two sets.

[0030] Preferably, the pressing and testing mechanism includes:

[0031] The automatic riveting station is used to automatically press the housing and bracket together, and to automatically press the rotor shaft and bracket together.

[0032] The housing runout and shaft press-in height detection station is used to detect the pressing effect;

[0033] NG material handling conveyor belts are used to recycle defective workpieces.

[0034] The component includes a CCD positioning mechanism for positioning the bracket.

[0035] Component 3 is a gripping and unloading robot used to move workpieces.

[0036] Preferably, the component three-grip unloading robot includes a first unloading robot actuator, a second unloading robot actuator, and a third unloading robot actuator. The first unloading robot actuator is used to move the workpiece on the product component unloading station to the automatic shaft riveting station. The second unloading robot actuator is used to move the workpiece on the automatic shaft riveting station to the housing runout and shaft pressing height detection station. The third unloading robot actuator is used to move unqualified workpieces from the housing runout and shaft pressing height detection station to the NG throwing conveyor belt and qualified workpieces to the component CCD positioning mechanism.

[0037] Preferably, it further includes an automatic magnet insertion module, the automatic magnet insertion module comprising:

[0038] The positioning NG automatic throwing conveyor belt is used to transport defective workpieces at the component CCD positioning mechanism;

[0039] An automatic magnet insertion platform is used to automatically insert magnets into the pressed workpiece.

[0040] The upper end of the automatic magnetic steel insertion platform is equipped with a magnetic insertion platform CCD automatic positioning structure, magnetic insertion auxiliary pressing and unloading robot arm;

[0041] An automatic magnetizing mechanism is used to reinforce the magnets after they have been magnetized.

[0042] An automatic magnetizing mechanism is used to press the magnetized steel firmly.

[0043] Finished product output conveyor belt is used to transport the magnetized finished product;

[0044] Dual-grip conveying robotic arm;

[0045] The magnetic levitation high-precision transfer robot is used to transport workpieces from the component CCD positioning mechanism to the positioning NG automatic throwing conveyor belt or automatic magnet insertion platform.

[0046] Preferably, the automatic magnet insertion platform is provided in two sets;

[0047] A method for efficient assembly and testing of modular UAV rotors, comprising a modular UAV rotor efficient assembly and testing equipment, mainly including the following steps:

[0048] At the man-machine housing and bracket station of the eight-station turntable mechanism, the drone rotor housing is manually placed on the preset bracket to complete the initial positioning of the housing and bracket.

[0049] As the eight-station turntable mechanism rotates, the housing and bracket, after being positioned, move to the housing front and back detection mechanism. The housing orientation is detected by the housing orientation CCD detection device. If the housing orientation is not qualified, the housing is flipped and adjusted by the housing orientation adjustment structure to make the housing in the correct assembly orientation.

[0050] The shaft feeding mechanism applies glue to the rotor shaft, and then transports the glued rotor shaft to the shaft loading station of the eight-station turntable mechanism, where the rotor shaft is loaded into the preset assembly position of the corresponding bracket.

[0051] The casing glue application mechanism applies glue to the casing after the front and back sides have been adjusted. After the glue application is completed, the casing is transferred to the eight-station turntable mechanism for casing glue application and material picking and pre-assembly, completing the pre-assembly and positioning of the casing and bracket.

[0052] The eight-station turntable mechanism continues to rotate, moving the bracket assembly pre-installed with the housing and rotor shaft to the housing pressing station. The housing is pressed into the bracket by the pressing structure at this station, thus achieving the initial fixation of the housing and the bracket.

[0053] The eight-station turntable mechanism transfers the initially fixed product components to the product component unloading station. The pressing and testing mechanism performs secondary pressing on the housing and bracket, and the rotor shaft and bracket in the product components to ensure assembly tightness. At the same time, the pressing product components are tested for assembly accuracy to screen out qualified products.

[0054] Compared with the prior art, the present invention provides a modular UAV rotor high-efficiency assembly and testing equipment and method, which has the following beneficial effects:

[0055] The parts not covered in this device are the same as or can be implemented using existing technologies. This invention uses an eight-station turntable mechanism to drive the orderly flow of workpieces. Combined with the modular design of the shaft feeding mechanism, the housing gluing mechanism, the pressing and inspection mechanism, and the automatic magnet insertion module, the core processes of rotor assembly, such as feeding, gluing, pressing, inspection, and magnet insertion, are integrated into an automated process, replacing the traditional manual and semi-automatic production mode. Combined with the design of dual gripping robots and multiple parallel workstations, the unit time output is greatly improved to meet the needs of market expansion.

[0056] The equipment integrates multiple sets of visual inspection and precise positioning mechanisms, coupled with secondary pressing and automatic error correction functions, which effectively avoids various errors caused by manual operation, improves product performance consistency, reduces defect rate, and ensures that the product meets the stringent performance requirements of FPV drones.

[0057] By using automated robotic arms to complete repetitive tasks, only initial positioning needs to be done manually, significantly reducing the number of manual interventions and the intensity of operations, and reducing reliance on skilled workers; a full-process quality control system is built, and through multi-node detection and automatic diversion of non-conforming products, non-conforming products are prevented from flowing into subsequent processes; automated control enables the standardized setting and recording of operating parameters, improving the stability and traceability of the production process, and providing data support for production optimization. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the modular unmanned aerial vehicle rotor high-efficiency assembly and testing equipment and method proposed in this invention;

[0059] Figure 2 This invention proposes a modular unmanned aerial vehicle (UAV) rotor high-efficiency assembly and testing equipment and method. Figure 1 A schematic diagram of the structure of part A;

[0060] Figure 3 This is a schematic diagram of the eight-station turntable mechanism of a modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention.

[0061] Figure 4 This is a schematic diagram of the shaft feeding mechanism of a modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention;

[0062] Figure 5 This is a schematic diagram of the casing glue application mechanism of a modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention.

[0063] Figure 6This is a schematic diagram of the pressing and testing mechanism of a modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention;

[0064] Figure 7 This invention proposes a modular unmanned aerial vehicle (UAV) rotor high-efficiency assembly and testing equipment and method. Figure 6 A structural diagram of section B;

[0065] Figure 8 This is a schematic diagram of the automatic magnet insertion platform for a modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention.

[0066] Figure 9 This is a schematic diagram of the magnetic insertion-assisted pressing and unloading robot arm of the modular UAV rotor high-efficiency assembly and testing equipment and method proposed in this invention;

[0067] Figure 10 This invention proposes a modular unmanned aerial vehicle (UAV) rotor high-efficiency assembly and testing equipment and method. Figure 9 A structural diagram of part C.

[0068] In the diagram: 1. Eight-station turntable mechanism; 101. Workstation for manipulator to handle the machine housing and support; 102. CCD detection device for machine housing orientation; 103. Machine housing orientation adjustment structure; 104. Shaft loading station; 105. Machine housing glue application and material handling station; 106. Machine housing pressing station; 107. Product component unloading station; 2. Shaft loading mechanism; 201. Automatic shaft lifting and loading device; 202. Shaft orientation vision positioning mechanism; 203. Automatic shaft orientation adjustment mechanism; 204. Dual-grip shaft automatic loading robot; 205. Automatic shaft glue application rotation mechanism; 206. Automatic glue application mechanism for shaft riveting position; 207. Visual inspection mechanism for shaft glue application effect; 208. Automatic shaft loading and support station; 209. Shaft pre-pressing station; 3. Machine housing glue application mechanism; 301. Machine housing loading and unloading robot; 302. Glue application rotating platform; 303. Automatic ejector pin type 304. Glue dispensing valve; 305. Glue dispensing vision inspection mechanism; 4. Glue supply system; 4. Pressing and inspection mechanism; 401. Component three-grip unloading robot; 402. Unloading robot first actuator; 403. Unloading robot second actuator; 404. Automatic shaft riveting station; 405. Unloading robot third actuator; 406. Housing runout and shaft pressing height detection station; 407. NG throwing conveyor belt; 408. Component CCD positioning mechanism; 5. Automatic magnet insertion module; 501. Magnetic levitation high-precision transfer robot; 502. Positioning NG automatic throwing conveyor belt; 503. Automatic magnet insertion steel platform; 504. Magnet insertion platform CCD automatic positioning structure; 505. Magnet insertion assisted pressing and unloading robot; 506. Automatic magnet expansion mechanism; 507. Double gripping and conveying robot; 508. Automatic magnet pressing mechanism; 509. Finished product output pull belt. Detailed Implementation

[0069] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0070] Example 1:

[0071] Reference Figure 1-10 A modular UAV rotor high-efficiency assembly and testing equipment, comprising:

[0072] The eight-station turntable mechanism 1 is provided with the following components in sequence along the rotation direction: a man-mounted machine housing and bracket station 101, a machine housing front and back inspection mechanism, a shaft installation station 104, a machine housing glue application and material handling and pre-assembly station 105, a machine housing pressing station 106, and a product component unloading station 107. A bracket for placing the machine housing is provided at the man-mounted machine housing and bracket station 101.

[0073] The casing front and back detection mechanism includes a casing orientation CCD detection device 102 and a casing orientation adjustment structure 103 installed on an eight-station turntable mechanism 1. The casing orientation CCD detection device 102 is used to detect the front and back of the casing, and the casing orientation adjustment structure 103 is used to flip the casing.

[0074] The eight-station turntable mechanism 1 rotates at a preset speed, driving the bracket and housing to each station in sequence. After the operator completes the initial positioning of the housing and bracket at the housing and bracket station 101, the turntable moves them to the housing front and back inspection station. The housing orientation CCD detection device 102 captures and identifies the housing orientation. If it is determined to be unqualified, the housing orientation adjustment structure 103 automatically flips the housing to the correct orientation. Then, the eight-station turntable mechanism 1 moves the qualified housing and bracket to the shaft installation station 104.

[0075] The shaft loading mechanism 2, matched with the shaft loading station 104, is used for gluing and loading the rotor shaft. The shaft loading mechanism 2 includes: an automatic shaft lifting and loading device 201 for loading the rotor shaft; a shaft orientation vision positioning mechanism 202 for detecting the orientation of the rotor shaft; an automatic shaft orientation adjustment mechanism 203 for adjusting the orientation of defective rotor shafts; a dual-grip automatic shaft loading robot 204 for gripping the rotor shaft at the automatic shaft orientation adjustment mechanism 203; and an automatic shaft gluing rotation mechanism 2. 05, used to rotate the rotor shaft gripped by the dual-grip automatic feeding robot 204; 206, automatic glue application mechanism for shaft riveting position, used to apply glue to the rotor shaft rotating on the automatic glue application rotating mechanism 205; 207, visual inspection mechanism for shaft glue application effect, used to visually inspect the glue application points on the rotor shaft; 208, automatic shaft loading bracket station, matched with shaft loading station 104, used to place the rotor shaft into the station; 209, shaft pre-pressing station, used to pre-press the rotor shaft into the station;

[0076] The automatic shaft lifting and feeding device 201 transports rotor shafts in batches. The shaft direction vision positioning mechanism 202 detects the orientation of each rotor shaft, and those that are not qualified are corrected by the shaft direction automatic adjustment mechanism 203. The dual-grip shaft automatic feeding robot 204 grabs the corrected rotor shafts and transfers them to the shaft glue application automatic rotation mechanism 205. During the rotation of the rotor shaft, the shaft riveting position automatic glue application mechanism 206 completes precise glue application, and the shaft glue application effect vision inspection mechanism 207 checks the integrity and uniformity of the glue application points. The qualified rotor shafts are placed into the corresponding bracket assembly positions of the eight-station turntable mechanism 1 shaft loading station 104 through the shaft automatic loading bracket station 208, and finally pre-pressed by the shaft pre-pressing station 209 to prevent displacement during circulation.

[0077] The casing gluing mechanism 3, matched with the casing gluing and pre-assembly station 105, is used to glu the rotor casing. The casing gluing mechanism 3 includes: a glue supply system 305 for storing glue; a casing loading and unloading robot 301 for gripping the casing; a gluing rotary platform 302 for rotating and gluing the casing gripped by the casing loading and unloading robot 301; an automatic ejector-type dispensing valve 303 for controlling the on / off state of the casing during gluing; and a gluing vision inspection mechanism 304 for visually inspecting the amount of glue applied to the casing. The casing pressing station 106 is used to press the glued casing into the bracket, and two sets of the gluing rotary platform 302, the automatic ejector-type dispensing valve 303, and the gluing vision inspection mechanism 304 are provided.

[0078] The glue supply system 305 continuously supplies glue for the glue application process. The housing loading and unloading robot 301 picks up the housing after front and back adjustment from the flow station of the eight-station turntable mechanism 1 and transfers it to the glue application rotary platform 302. The two sets of glue application rotary platforms 302 work in parallel, driving the housing to rotate while the automatic pin-type glue dispensing valve 303 precisely controls the glue flow and dispensing amount. After glue application is completed, the glue application vision inspection mechanism 304 checks whether the glue amount meets the standard. The qualified housing is transferred by the housing loading and unloading robot 301 to the housing glue application and glue application pre-assembly station 105 of the eight-station turntable mechanism 1 to complete the pre-assembly. Then, the eight-station turntable mechanism 1 sends it to the housing pressing station 106, where the housing is pressed into the bracket through the pressing structure of the station to achieve initial fixation.

[0079] The pressing and testing mechanism 4, matched with the product component unloading station 107, is used for pressing and testing the rotor housing and rotor shaft. The pressing and testing mechanism 4 includes: an automatic shaft riveting station 404, used for automatically pressing the housing and bracket, and automatically pressing the rotor shaft and bracket. The riveting device on the automatic shaft riveting station 404 uses an electric cylinder in conjunction with a pressure sensor. The pressure can be flexibly set and data visualized according to product requirements, with a pressure accuracy of ±1N; a housing circular runout and shaft pressing height detection station 406, used for detecting the pressing effect; an NG throwing conveyor belt 407, used for recycling unqualified workpieces; a component CCD positioning mechanism 408, used for positioning the bracket; and a component three-grip unloading robot 401, used for moving the workpiece.

[0080] Among them, the component three gripping and unloading robot 401 includes unloading robot first execution end 402, unloading robot second execution end 403, and unloading robot third execution end 405. Unloading robot first execution end 402 is used to move the workpiece on the product component unloading station 107 to the shaft automatic riveting station 404. Unloading robot second execution end 403 is used to move the workpiece on the shaft automatic riveting station 404 to the housing circular runout and shaft pressing height detection station 406. Unloading robot third execution end 405 is used to move unqualified workpieces at the housing circular runout and shaft pressing height detection station 406 to the NG throwing conveyor belt 407 and qualified workpieces to the component CCD positioning mechanism 408.

[0081] The eight-station turntable mechanism 1 transfers the initially fixed product components to the product component unloading station 107. The first execution end 402 of the component three gripping and unloading robot 401 grips the workpiece and transfers it to the shaft automatic riveting station 404 to complete the secondary pressing of the housing and bracket, and the rotor shaft and bracket. The second execution end 403 of the unloading robot transfers the pressed workpiece to the housing circular runout and shaft pressing height detection station 406 to detect the assembly accuracy, with a detection accuracy of ≤5μm. If the detection is unqualified, the third execution end 405 of the unloading robot transfers it to the NG throwing conveyor belt 407 for recycling. If it is qualified, the third execution end 405 of the unloading robot transfers the workpiece to the component CCD positioning mechanism 408, where the position is located by capturing the internal features of the bracket through the bottom vision. The positioning coordinate deviation will be adjusted in real time by the rotation adjustment mechanism, and the positioning accuracy can reach ±0.1mm.

[0082] The automatic magnet insertion module 5 includes: a positioning NG automatic throwing conveyor belt 502 for conveying unqualified workpieces at the component CCD positioning mechanism 408; two sets of automatic magnet insertion platforms 503 for automatically inserting magnets into the pressed workpieces; wherein, the upper end of the automatic magnet insertion platform 503 is equipped with a magnet insertion platform CCD automatic positioning structure 504, a magnet insertion auxiliary pressing and unloading robot 505; an automatic magnet expansion mechanism 506 for reinforcing the magnets after insertion; an automatic magnet pressing mechanism 508 for pressing the magnets after expansion; a finished product output pull belt 509 for transporting the magnetized finished products; a dual gripping and conveying robot 507; and a magnetic levitation high-precision transfer robot 501 for transporting the workpieces at the component CCD positioning mechanism 408 to the positioning NG automatic throwing conveyor belt 502 or the automatic magnet insertion platform 503.

[0083] The magnetic levitation high-precision transfer robot 501 grasps the workpiece at the CCD positioning mechanism 408. If the positioning test fails, it is transferred to the positioning NG automatic throwing conveyor belt 502. If it passes, it is transferred to two sets of parallel-working automatic magnet insertion platforms 503. After the CCD automatic positioning structure 504 of the magnet insertion platform accurately positions the workpiece, it completes the automatic magnet insertion operation. The magnet insertion auxiliary pressing and unloading robot 505 assists in fixing. The magnetized workpiece is transferred by the magnetic levitation high-precision transfer robot 501 to the automatic magnet expansion mechanism 506 to reinforce the magnet. Then, it is sent by the dual gripping and conveying robot 507 to the automatic pressing magnet mechanism 508. The product magnetic sheet is pressed into the top of the bracket by the combination of electric cylinder and pressure sensor with customized pressing magnet fixture. Finally, the dual gripping and conveying robot 507 grabs the magnetized rotor finished product and places it on the finished product output pull belt 509 for output.

[0084] Example 2:

[0085] Reference Figure 1-10A method for efficient assembly and testing of modular UAV rotors, comprising a modular UAV rotor efficient assembly and testing device, mainly including the following steps:

[0086] At the eight-station turntable mechanism 1, the operator precisely places the drone rotor housing into the positioning slot of the preset bracket at the man-machine housing and bracket station 101. The initial positioning of the housing and bracket is completed by the limiting structure of the bracket, providing a benchmark for subsequent transfer processes.

[0087] The eight-station turntable mechanism 1 rotates at a preset speed, driving the initially positioned housing and bracket to the housing front and back detection mechanism; the housing orientation CCD detection device 102 starts visual imaging and determines the front and back orientation by identifying the surface features of the housing; if the detection result is that the orientation is unqualified, the housing orientation adjustment structure 103 automatically activates to flip and adjust the housing until the housing is in the correct assembly orientation; after the adjustment is qualified, the eight-station turntable mechanism 1 continues to drive the housing and bracket to the shaft installation station 104;

[0088] The shaft feeding mechanism 2 starts working synchronously; the shaft lifting automatic feeding device 201 transports the batch of rotor shafts one by one to the inspection area; the shaft direction vision positioning mechanism 202 detects the orientation of each rotor shaft; for rotor shafts with unqualified orientation, the shaft direction automatic adjustment mechanism 203 completes the orientation correction; the double gripping shaft automatic feeding robot 204 grips the corrected rotor shaft and transfers it to the shaft glued automatic rotating mechanism 205; the rotor shaft rotates at a uniform speed on the shaft glued automatic rotating mechanism 205; the shaft riveting position automatic glued mechanism 206 accurately performs glued operation on the riveting position of the rotor shaft; after the glued operation is completed, the shaft glued effect vision inspection mechanism 207 detects the integrity and uniformity of the glued points; qualified rotor shafts are transferred to the shaft loading station 104 of the eight-station turntable mechanism 1 through the shaft automatic loading bracket station 208 and placed in the preset assembly position of the corresponding bracket; finally, the rotor shaft is pre-pressed by the shaft pre-pressing station 209 to prevent displacement during subsequent circulation.

[0089] The casing glue application mechanism 3 starts operating; the glue supply system 305 continuously supplies glue to the glue application components; the casing loading and unloading robot 301 picks up the casing after front and back adjustments from the flow path of the eight-station turntable mechanism 1 and transfers it to any one of the two sets of parallel glue application rotary platforms 302; the glue application rotary platform 302 drives the casing to rotate at a uniform speed, and the automatic ejector-type glue dispensing valve 303 precisely controls the glue flow and dispensing amount to complete the casing glue application; the glue application vision inspection mechanism 304 inspects the glue application amount of the casing to ensure that it meets the assembly requirements; the qualified glued casing is transferred by the casing loading and unloading robot 301 to the casing glue application and unloading pre-assembly station 105 of the eight-station turntable mechanism 1 to complete the pre-assembly positioning of the casing and the bracket;

[0090] The eight-station turntable mechanism 1 continues to rotate, moving the bracket assembly pre-installed with the housing and rotor shaft to the housing pressing station 106; the pressing structure of this station is activated, smoothly pressing the glued housing into the bracket, realizing the initial fixation of the housing and the bracket, laying the foundation for subsequent secondary pressing.

[0091] The eight-station turntable mechanism 1 transfers the initially fixed product components to the product component unloading station 107;

[0092] The component three-grip unloading robot 401 of the pressing and testing mechanism 4 is started. Its unloading robot first execution end 402 grabs the product component and transfers it to the shaft automatic riveting station 404. This station automatically performs secondary pressing on the machine housing and bracket, and the rotor shaft and bracket to ensure assembly tightness.

[0093] The second actuator 403 of the unloading robot moves the product component after secondary pressing to the housing runout and shaft pressing height detection station 406 to perform precision detection of the pressing effect;

[0094] If the inspection fails, the third actuator 405 of the unloading robot will transfer the defective workpiece to the NG throwing conveyor belt 407 for recycling; if the inspection passes, the third actuator 405 of the unloading robot will transfer the qualified workpiece to the component CCD positioning mechanism 408 for position positioning.

[0095] The magnetic levitation high-precision transfer robot 501 of the automatic magnet insertion module 5 grasps the qualified workpiece at the CCD positioning mechanism 408 of the component and transfers it to two sets of parallel automatic magnet insertion steel platforms 503; after the CCD automatic positioning structure 504 of the magnet insertion platform accurately positions the workpiece, the automatic magnet insertion operation is completed, and the magnet insertion auxiliary pressing and unloading robot 505 assists in fixing.

[0096] After the magnets are inserted, the workpiece is reinforced with magnets by the automatic magnet expansion mechanism 506, and then transferred to the automatic magnet pressing mechanism 508 by the dual gripping and conveying robot arm 507 for pressing.

[0097] Finally, the finished product after magnetic pressing is transferred by the dual gripper robot 507 to the finished product output pull belt 509, completing the entire assembly and testing process.

[0098] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular unmanned aerial vehicle rotor high efficiency assembly inspection apparatus, characterized in that, The eight-station turntable mechanism (1) is provided with a hand-held shell and support station (101), a shell front and back detection mechanism, a shaft loading station (104), a shell glueing and material taking and pre-assembly station (105), a shell pressing station (106), and a product assembly unloading station (107) in sequence along a rotation direction. Wherein, it further comprises: A shaft feeding mechanism (2) matched with the shaft loading station (104) for glueing and feeding the rotor shaft; A shell glueing mechanism (3) matched with the shell glueing and material taking and pre-assembly station (105) for glueing the rotor shell; A pressing and detection mechanism (4) matched with the product assembly unloading station (107) for pressing and detecting the rotor shell and the rotor shaft.

2. The modular unmanned aerial vehicle rotor efficient assembly inspection apparatus of claim 1, wherein, The shell front and back detection mechanism comprises a shell direction CCD detection device (102) and a shell direction adjusting structure (103) installed on the eight-station turntable mechanism (1), the shell direction CCD detection device (102) is used for detecting the front and back of the shell, and the shell direction adjusting structure (103) is used for turning over the shell.

3. The modular unmanned aerial vehicle rotor efficient assembly inspection apparatus of claim 1, wherein, The shaft feeding mechanism (2) comprises: A shaft lifting automatic feeding device (201) for feeding the rotor shaft; A shaft direction visual positioning mechanism (202) for detecting the direction of the rotor shaft; A shaft direction automatic adjusting mechanism (203) for adjusting the direction of the unqualified rotor shaft; A double-grabbing shaft automatic feeding manipulator (204) for grabbing the rotor shaft at the shaft direction automatic adjusting mechanism (203); A shaft glueing automatic rotating mechanism (205) for rotating the rotor shaft grabbed by the double-grabbing shaft automatic feeding manipulator (204); A shaft riveting position automatic glueing mechanism (206) for glueing the rotating rotor shaft on the shaft glueing automatic rotating mechanism (205); A shaft glueing effect visual detection mechanism (207) for visually detecting the glueing points on the rotor shaft; A shaft automatic loading support station (208) matched with the shaft loading station (104) for loading the rotor shaft into the station; A shaft pre-pressing station (209) for pre-pressing the rotor shaft on the station.

4. The modular unmanned aerial vehicle rotor high-efficiency assembly and detection device according to claim 1, wherein, The shell glueing mechanism (3) comprises: A glue supply system (305) for storing glue; A shell taking and loading manipulator (301) for grabbing the shell; A glueing rotating platform (302) for rotating and glueing the shell grabbed by the shell taking and loading manipulator (301); An automatic thimble type glue valve (303) for controlling the on-off of the shell glueing; A glueing visual detection mechanism (304) for visually detecting the glueing amount of the shell; The shell pressing station (106) is used for pressing the glued shell into the support.

5. The modular unmanned aerial vehicle rotor efficient assembly inspection apparatus of claim 4, wherein, The glueing rotating platform (302), the automatic thimble type glue valve (303), and the glueing visual detection mechanism (304) are provided with two groups.

6. The modular unmanned aerial vehicle rotor high-efficiency assembly and detection device according to claim 1, characterized in that, The pressing and detection mechanism (4) comprises: The shaft automatic riveting and pressing station (404) is used for automatically pressing the shell and the support and automatically pressing the rotor shaft and the support; The shell round run-out and shaft pressing height detection station (406) is used for detecting the pressing effect; The NG throwing material conveying belt (407) is used for recycling unqualified workpieces; The assembly CCD positioning mechanism (408) is used for positioning the position of the support; The assembly three-grasp blanking mechanical hand (401) is used for moving the workpieces.

7. The modular unmanned aerial vehicle rotor high-efficiency assembly and detection device according to claim 6, characterized in that, The assembly three-grasp blanking mechanical hand (401) comprises a blanking mechanical hand No. 1 execution end (402), a blanking mechanical hand No. 2 execution end (403) and a blanking mechanical hand No. 3 execution end (405). The blanking mechanical hand No. 1 execution end (402) is used for moving the workpieces on the product assembly blanking station (107) to the shaft automatic riveting and pressing station (404). The blanking mechanical hand No. 2 execution end (403) is used for moving the workpieces on the shaft automatic riveting and pressing station (404) to the shell round run-out and shaft pressing height detection station (406). The blanking mechanical hand No. 3 execution end (405) is used for moving the unqualified workpieces at the shell round run-out and shaft pressing height detection station (406) to the NG throwing material conveying belt (407) and moving the qualified workpieces to the assembly CCD positioning mechanism (408).

8. The modular unmanned aerial vehicle rotor high-efficiency assembly and detection device according to claim 7, characterized in that, Further comprising an automatic magnetic steel inserting module (5), the automatic magnetic steel inserting module (5) comprising: A positioning NG automatic throwing material conveying belt (502) is used for conveying the unqualified workpieces at the assembly CCD positioning mechanism (408); An automatic magnetic steel inserting platform (503) is used for automatically inserting magnetic steel into the pressed workpieces; The upper end of the automatic magnetic steel inserting platform (503) is provided with a magnetic steel inserting platform CCD automatic positioning structure (504) and a magnetic steel inserting auxiliary pressing and blanking mechanical hand (505); An automatic magnetic steel reinforcing mechanism (506) is used for reinforcing the magnetic steel after the magnetic steel is inserted; An automatic magnetic steel pressing mechanism (508) is used for pressing the magnetic steel after the magnetic steel is reinforced; A finished product output pulling belt (509) is used for transporting the magnetic steel after the magnetic steel is pressed; A double-grasp conveying mechanical hand (507); A magnetic suspension high-precision conveying mechanical hand (501) is used for transporting the workpieces at the assembly CCD positioning mechanism (408) to the positioning NG automatic throwing material conveying belt (502) or the automatic magnetic steel inserting platform (503).

9. The modular unmanned aerial vehicle rotor high-efficiency assembly and detection device according to claim 8, characterized in that, The automatic magnetic steel inserting platform (503) is provided with two groups. 10.A modular unmanned aerial vehicle rotor efficient assembly detection method, comprising the modular unmanned aerial vehicle rotor efficient assembly detection device of any one of claims 1-9, characterized in that, The main steps are as follows: At the shell and support station (101) of the eight-station turntable mechanism (1), a worker places a drone rotor shell on a preset support to complete the initial positioning of the shell and the support; With the rotation of the eight-station turntable mechanism (1), the positioned shell and support are moved to the shell front and back face detection mechanism, and the front and back face orientations of the shell are detected by the shell orientation CCD detection device (102). If the orientation of the shell is detected to be unqualified, the shell is flipped and adjusted by the shell orientation adjustment structure (103) so that the shell is in the correct assembly orientation. The shaft feeding mechanism (2) performs glue coating treatment on the rotor shaft, and then transports the rotor shaft after glue coating to the shaft loading station (104) of the eight-station turntable mechanism (1), and loads the rotor shaft into the preset assembly position of the corresponding support; The shell glue coating mechanism (3) performs glue coating treatment on the shell after the front and back surfaces are adjusted, and after the glue coating is completed, the shell is transferred to the shell glue coating and taking glue coating and pre-assembly station (105) of the eight-station turntable mechanism (1), and the pre-assembly positioning of the shell and the support is completed; The eight-station turntable mechanism (1) continues to rotate, moves the support assembly pre-assembled with the shell and the rotor shaft to the shell pressing station (106), and presses the shell into the support through the pressing structure of the station, thereby realizing the preliminary fixation of the shell and the support; The eight-station turntable mechanism (1) moves the product assembly after preliminary fixation to the product assembly unloading station (107), and the pressing and detection mechanism (4) performs secondary pressing on the shell and the support, the rotor shaft and the support in the product assembly, thereby ensuring the assembly fastening, and simultaneously detecting the assembly precision of the product assembly after pressing, thereby screening out qualified products.

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