Automatic pressing equipment and its pressing process

Abstract

The present invention relates to an automated press-fitting equipment and its press-fitting process, including a frame and a lifting and feeding mechanism, a bushing identification mechanism, a bushing rotation detection mechanism, a bushing transfer mechanism, a workpiece dual-position grabbing mechanism and a press-fitting mechanism installed on the frame, wherein the lifting and feeding mechanism is used to output the bushing in a fixed posture; the bushing identification mechanism is used to identify the positive and negative directions of the bushing; the bushing rotation detection mechanism is used to place the bushing in the same state; the bushing transfer mechanism is used to transport the bushing to the press-fitting station; the workpiece dual-position grabbing mechanism is used to pick and place the workpiece. The advantages of the present invention are: stable function during press-fitting, high precision after press-fitting; full monitoring of force and displacement during press-fitting; full automation of the press-fitting process from workpiece feeding, bushing feeding, press-fitting angle, bushing placement, overall press-fitting, etc.; no excessive extrusion during press-fitting causes deformation of the inner hole.

Description

Technical Field

[0001] The invention relates to automatic press-fitting equipment and a press-fitting process thereof, belonging to the field of press-fitting. Background Art

[0002] The plunger pump relies on the reciprocating motion of the plunger in the plunger hole of the cylinder to produce volume changes to achieve oil compression and oil suction. Due to the advantages of high rated pressure, compact structure, high efficiency and convenient flow regulation, the plunger pump has been widely used in engineering machinery, shipbuilding and other fields.

[0003] When the plunger pump is working, the transmission shaft drives the cylinder body to rotate, so that the plunger slidingly assembled in the plunger hole of the cylinder body rotates synchronously. The variable piston drives the variable head and the return swash plate to change the angle to adjust the reciprocating stroke of the plunger, thereby changing the oil suction and supply volume. At the same time, an oil distribution plate is installed at the bottom of the cylinder body, and the oil distribution plate is used to convert the oil channel for the plunger to enter and exit the oil.

[0004] When installing the bushing into the plunger pump, the bushing position is usually adjusted manually, and then hammered or pressed into place by a press. The disadvantages are:

[0005] There is instability during press-fitting, and the precision after press-fitting is low; the degree of automation of the press-fitting process is low. In short, the existing press-fitting efficiency is low, the labor intensity is high, and the precision is not easy to guarantee. The force on the press-fitting surface is uneven during the press-fitting process, which can easily cause the product to be scrapped and affect product delivery. Summary of the invention

[0006] In order to overcome the defects of the prior art, the present invention provides an automated press-fitting device and a press-fitting process thereof. The technical solution of the present invention is:

[0007] An automated press-fitting device comprises a frame and a lifting and feeding mechanism, a bushing identification mechanism, a bushing rotation detection mechanism, a bushing transfer mechanism, a workpiece dual-position grabbing mechanism, a workpiece centering and angle adjustment mechanism and a press-fitting mechanism installed on the frame, wherein the lifting and feeding mechanism is used to output the bushing in a fixed posture; the bushing identification mechanism is used to identify the positive and reverse directions of the bushing; the bushing rotation detection mechanism is used to place the bushing in the same state; the bushing transfer mechanism is used to transport the bushing to a press-fitting station; the workpiece dual-position grabbing mechanism is used to pick and place the workpiece, the workpiece centering and angle adjustment mechanism is used to locate the center of the workpiece and adjust the rotation angle of the workpiece when pressing the bushing; the press-fitting mechanism is used to press the bushing into the workpiece to complete the assembly of the bushing and the workpiece, and the lifting and feeding mechanism, the bushing identification mechanism, the bushing rotation detection mechanism, the bushing transfer mechanism, the workpiece dual-position grabbing mechanism and the press-fitting mechanism are all connected to a control box.

[0008] The bushing identification mechanism includes several visual cameras for identifying bushings and workpieces.

[0009] The bushing rotation detection mechanism comprises a detection base, a rocker drive cylinder, a rocker, a bushing clamping cylinder and a bushing rotating cylinder. A rocker hinge seat and a cylinder hinge seat are installed on the detection base. The lower end of the rocker is hinged on the rocker hinge seat. A bushing rotating cylinder is installed on the rocker, and the bushing rotating cylinder swings with the swing of the rocker; a bushing clamping cylinder is installed on the rotating workbench of the bushing rotating cylinder, and the bushing clamping cylinder is used to clamp the bushing; the cylinder body of the rocker drive cylinder is rotatably installed on the detection base through the cylinder hinge seat. The piston rod of the rocker arm driving cylinder is hinged together with the rocker arm. Driven by the rocker arm driving cylinder, the rocker arm switches between the horizontal position and the vertical position, thereby driving the bushing to switch between the horizontal position and the vertical position. A visual camera is also installed on the detection base to detect whether the bushing is in the forward placement position. If the bushing meets the position requirement, the bushing is transported to the pressing station through the bushing transfer mechanism. If the bushing position is detected to be incorrect, the bushing clamp cylinder is driven to rotate by the bushing rotation cylinder, thereby driving the bushing to rotate until the bushing position meets the forward placement position.

[0010] The bushing transfer mechanism is a manipulator or a bushing conveying linear module, and the bushing conveying linear module includes a supporting vertical plate, a reinforcing rib plate, a bushing conveying drive motor, a bushing conveying clamp cylinder, a linear module, a bushing clamp and a cylinder bracket. A linear module arranged in a horizontal direction is installed on the supporting vertical plate, and the linear module is driven by the bushing conveying drive motor; a cylinder bracket is installed on the slide of the linear module, and the cylinder bracket reciprocates with the slide; a bushing conveying clamp cylinder is fixedly installed on the cylinder bracket, and the bushing clamp of the bushing conveying clamp cylinder clamps the bushing and then conveys it in the horizontal direction; reinforcing ribs are installed on the supporting vertical plate.

[0011] The workpiece dual-position grasping mechanism includes a workpiece rotating cylinder, a workpiece clamping unit and a rotating plate. The rotating plate is installed on the rotating worktable of the workpiece rotating cylinder, and the rotating plate is driven to rotate by the workpiece rotating cylinder; two workpiece clamping units are symmetrically installed on the rotating plate, and when one of the workpiece clamping units clamps the workpiece that has been pressed, the other workpiece clamping unit clamps the workpiece to be processed and prepares to move to the pressing station; the position of the workpiece is photographed by a visual camera.

[0012] The cam is connected to the workpiece clamping unit by a plurality of support columns, and the rear push plate is provided with a rear push plate between the end plate and the front fixed plate. The rear push plate is connected with the piston rod of the workpiece clamping cylinder and is pushed by the workpiece clamping cylinder. A side push rod is hinged on the two ends of the rear push plate, and the other end of each side push rod is hinged on the grabbing clamping frame. The grabbing clamping frame is slidably matched with the front fixed plate, and a grabbing clamp is installed on the grabbing clamping frame. A workpiece clamping space is formed between the two grabbing clamps, and the swing directions of the two side push rods are opposite; a limiting plate is installed on the rear push plate, one end of the limiting plate is installed on the rear push plate, and the other end is movably matched with the front fixed plate.

[0013] The press mechanism is a press machine, on the workbench of which is installed a workpiece centering and angle adjustment mechanism, which includes a chassis, an angle adjustment motor, a wedge, a lifting cylinder, a cushion seat, a slewing bearing, a coupling, a reducer and a motor mounting frame, wherein the reducer is installed on the angle adjustment motor and is transmission-connected to the angle adjustment motor, the output end of the reducer is transmission-connected to the input end of the coupling, the output end of the coupling is fixedly connected to the transmission shaft, the transmission shaft is fixedly connected to the cushion seat after passing through the slewing bearing, and the cushion seat is rotated The bearing is supported, and the chassis is installed on a cushion seat. A cavity for accommodating a lifting cylinder is provided in the chassis, and the lifting cylinder is placed in the cavity. A wedge block that reciprocates between the inside and outside of the chassis is installed on the piston rod of the lifting cylinder, and the wedge block cooperates with the workpiece to position the workpiece; the reducer is connected with the angle adjustment motor and then installed on the motor mounting frame; a visual camera for detecting the position of the workpiece is also installed on the frame, and the workpiece on the chassis is driven to rotate by the angle adjustment motor to adjust the position of the workpiece so that the pressing head and the workpiece hole correspond during press-fitting.

[0014] A press-fitting process based on the automated press-fitting equipment comprises the following steps:

[0015] (1) The step of conveying the workpiece to the pressing station: after conveying the workpiece to the pressing station via the conveyor line, adjusting the angle of the workpiece so that the workpiece hole corresponds to the pressing head;

[0016] (2) The step of conveying the bushing to the press-fitting station;

[0017] (3) The bushing is pressed into the workpiece for the pressing step and then the material is unloaded; during the pressing step, a double-station mode is adopted; one station is the pressing station, and the other station is the station for grabbing the workpiece. The pressing station is equipped with a visual camera, which captures the angle position of the workpiece. The control box drives the angle adjustment motor to rotate the workpiece on the chassis according to the angle captured by the visual camera. After the angle compensation is completed, the pressing head presses the bushing into the workpiece to complete the assembly of the bushing and the workpiece.

[0018] The step (2) is specifically as follows:

[0019] (2-1) Bushing loading: The bushing is output in a fixed posture;

[0020] (2-2) Bushing direction identification: The front and back directions of the bushing are identified by using a visual camera to assist in detection. Bushings that cannot be identified are removed and placed in the same position.

[0021] (2-3) Oil spraying: Before the bushing is placed in the workpiece, the bushing is sprayed with oil;

[0022] (2-4) Bushing conveying: The bushing is conveyed to the pressing station. At the pressing station, the bushing is adsorbed by an O-ring, and the pressing head is positioned in a stepped manner. Specifically, an upper O-ring and a lower O-ring are arranged on the pressing head of the pressing machine, and a gap is formed between the lower O-ring and the upper O-ring. When the bushing is installed into the pressing head, the upper O-ring and the lower O-ring are adsorbed to prevent the bushing from falling.

[0023] The advantages of the present invention are: when the inner hole of the bushing and the plunger pump are press-fitted, by setting up the lifting and feeding mechanism, the bushing identification mechanism, the bushing rotation detection mechanism, the bushing transfer mechanism, the workpiece double-position grasping mechanism, the workpiece centering and angle adjustment mechanism and the pressing mechanism, the function is stable during the press-fitting and the precision is high after the press-fitting; the press-fitting process is fully automated from the workpiece loading, bushing loading, pressing angle, bushing placement, overall pressing, etc.; there is no excessive extrusion during the press-fitting process to cause deformation of the inner hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the main structure of the present invention.

[0025] Figure 2 yes Figure 1 Left view of .

[0026] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle bushing rotation detection mechanism.

[0027] Figure 4 yes Figure 3 main view.

[0028] Figure 5 yes Figure 1 Schematic diagram of the structure of the middle bushing transfer mechanism.

[0029] Figure 6 yes Figure 1 Schematic diagram of the structure of the dual-position grasping mechanism for the workpiece.

[0030] Figure 7 yes Figure 6 Top view of the .

[0031] Figure 8 yes Figure 1 Schematic diagram of the structure of the workpiece centering and angle adjustment mechanism.

[0032] Fig. 9 It is a schematic structural diagram of the pressure head of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with specific embodiments, and the advantages and features of the present invention will become clearer as the description proceeds. However, these embodiments are exemplary only and do not constitute any limitation to the scope of the present invention. It should be understood by those skilled in the art that the details and forms of the technical solution of the present invention may be modified or replaced without departing from the spirit and scope of the present invention, but these modifications and replacements all fall within the scope of protection of the present invention.

[0034] See also Figures 1 to 9 The present invention relates to an automated press-fitting device. It should be noted that the present invention completes the automated press-fitting of a copper sleeve onto a plunger pump, and introduces a press-fitting process flow and a press-fitting device, wherein the plunger pump is referred to as a workpiece and the copper sleeve is referred to as a bushing.

[0035] The automated press-fitting equipment comprises a frame 1 and a lifting and feeding mechanism 2, a bushing identification mechanism, a bushing rotation detection mechanism 3, a bushing transfer mechanism 6, a workpiece dual-position grabbing mechanism 4, a workpiece centering and angle adjustment mechanism and a press-fitting mechanism 5 installed on the frame 1. The lifting and feeding mechanism 2 is a prior art, and is used to output the bushing 39 in a fixed posture; the bushing identification mechanism is used to identify the positive and negative directions of the bushing 39; the bushing rotation detection mechanism 3 is used to place the bushing in the same state; the bushing The transfer mechanism 6 is used to transport the bushing 38 to the pressing station; the workpiece dual-position grasping mechanism 4 is used to pick up and place the workpiece, and the workpiece centering and angle adjustment mechanism is used to center the workpiece and adjust the rotation angle of the workpiece when pressing the bushing; the pressing mechanism 5 is used to press the bushing 38 into the workpiece 73 to complete the assembly of the bushing 38 and the workpiece 73. The lifting and feeding mechanism 2, the bushing identification mechanism, the bushing rotation detection mechanism 3, the bushing transfer mechanism 6, the workpiece dual-position grasping mechanism 4 and the pressing mechanism 5 are all connected to the control box.

[0036] like Figure 3 and Figure Figure 8 As shown, the bushing recognition mechanism of the present application includes several visual cameras 38 for recognizing the bushing 39 and the workpiece 73, and is used to recognize the positions of the bushing and the workpiece and feed back to the control box.

[0037] like Figure 3 and Figure 4 As shown, the bushing rotation detection mechanism 3 includes a detection base 31, a rocker drive cylinder 34, a rocker 35, a bushing clamping cylinder 37 and a bushing rotating cylinder 36. A rocker hinge seat 22 and a cylinder hinge seat 32 are installed on the detection base 31. The lower end of the rocker 35 is hinged on the rocker hinge seat 32. A bushing rotating cylinder 36 is installed on the rocker 35. The bushing rotating cylinder 36 swings with the swing of the rocker 35. A bushing clamping cylinder 37 is installed on the rotating workbench of the bushing rotating cylinder 36, and the bushing clamping cylinder 37 is used to clamp the bushing 39; the cylinder body of the swing rod driving cylinder 34 is rotatably installed on the detection base 31 through the cylinder hinge seat 32, and the piston rod of the swing rod driving cylinder 34 is hinged with the swing rod 35. Under the drive of the swing rod driving cylinder 34, the swing rod 35 switches between the horizontal position and the vertical position, thereby driving The bushing 39 switches between the horizontal position and the vertical position; a visual camera 38 is also installed on the detection base 31 to detect whether the bushing is in the forward placement position. If the bushing 39 meets the position requirements, the bushing 39 is transported to the pressing station through the bushing transfer mechanism 6; if it is detected that the position of the bushing 39 is incorrect, the bushing rotating cylinder 36 drives the bushing clamping cylinder 37 to rotate, thereby driving the bushing 39 to rotate until the bushing position meets the forward placement position, specifically: the clamping claw of the bushing clamping cylinder 37 grabs the bushing 39 from the lifting and feeding mechanism 2, and is driven by the rocker drive cylinder 34, and the rocker 35 rotates from the horizontal position to the vertical position, and the bushing changes from the horizontal position to the vertical position. The front and back of the bushing 39 are detected by the visual camera 38. When the bushing meets the position requirements, the bushing transfer mechanism 6 is sent to the pressing station. If it is detected that the bushing position is reversed, it is driven by the bushing rotating cylinder 36 to rotate 180 degrees to reach the required position.

[0038] like Figure 5As shown, the bushing transfer mechanism 6 is a manipulator or a bushing conveying linear module, and the bushing conveying linear module includes a supporting plate 61, a reinforcing rib plate 68, a bushing conveying drive motor 62, a bushing conveying clamp cylinder 64, a linear module 67, a bushing clamp 65 and a cylinder bracket 63. A linear module 67 arranged in a horizontal direction is installed on the supporting plate 61, and the linear module 67 is driven by the bushing conveying drive motor 62; a cylinder bracket 63 is installed on the slide of the linear module 67, and the cylinder bracket 63 reciprocates with the slide; a bushing conveying clamp cylinder 64 is fixedly installed on the cylinder bracket 63, and the bushing conveying clamp cylinder 64 is arranged in a horizontal direction, and the bushing clamp 65 of the bushing conveying clamp cylinder 64 clamps the bushing 39 and then conveys it in a horizontal direction; reinforcing ribs 68 are installed on the supporting plate 61.

[0039] like Figure 6 and Figure 7 As shown, the workpiece dual-position grasping mechanism includes a workpiece rotating cylinder 41, a workpiece clamping unit and a turn plate 42. The turn plate 42 is installed on the rotating workbench of the workpiece rotating cylinder 41, and the turn plate 42 is driven to rotate by the workpiece rotating cylinder 41; two workpiece clamping units are symmetrically installed on the turn plate 42, and when one of the workpiece clamping units clamps the workpiece that has been pressed, the other workpiece clamping unit clamps the workpiece to be processed and prepares to move to the pressing station; the position of the workpiece 73 is photographed by a visual camera.

[0040] Each of the workpiece clamping units includes an end plate 44, a support column 49, a front fixed plate 50, a rear push plate 45, a side push rod 46, a workpiece clamping cylinder 43, a grabbing claw frame 47 and a grabbing claw 51. The end plate 44 is vertically installed on the rotating plate 42. The front fixed plate 50 is located at the front part of the end plate 44 and is connected to the end plate 44 through several support columns 49. The rear push plate 45 is arranged between the end plate 44 and the front fixed plate 50. The rear push plate 45 is connected to the piston rod 48 of the workpiece clamping cylinder 43 and is pushed by the workpiece clamping cylinder 43. A side push rod 46 is hinged at both ends of the rear push plate 45, and the other end of each side push rod 46 is hinged to the grabbing claw frame 47. The two grabbing claw frames 47 are slidably matched with the front fixed plate 50 and slide toward each other on the front fixed plate 50. A grabbing claw 51 is installed on the grabbing claw frame 47, and a workpiece clamping space 52 is formed between the two grabbing claws 51. The swing directions of the two side push rods 46 are opposite; a limiting plate 53 is installed on the rear push plate 45, one end of the limiting plate 53 is installed on the rear push plate 45, and the other end is movably matched with the front fixed plate 50. The moving distance of the rear push plate 45 is limited by the moving distance of the limiting plate 53. During the movement of the rear push plate 45 (driven by the workpiece clamping cylinder 43), the two side push rods 46 are driven to swing, thereby pushing the grabbing claw frames 47 and the grabbing claws 51 connected to each other to move, thereby completing the clamping of the workpiece 73.

[0041] like Figure 8 and Fig. 9As shown, the pressing mechanism is a pressing machine (existing technology, the present invention mainly improves the pressing head), and a workpiece centering and angle adjustment mechanism is installed on the working table 59 of the pressing machine, and the workpiece centering and angle adjustment mechanism includes a chassis 54, an angle adjustment motor 58, a wedge block, a lifting cylinder, a cushion seat, a slewing bearing 55, a coupling 57, a reducer and a motor mounting frame, wherein the wedge block, the lifting cylinder and the cushion seat are all located inside the chassis and are blocked by the chassis 54; the reducer is installed on the angle adjustment motor 58 and is transmission-connected to the angle adjustment motor, the output end of the reducer is transmission-connected to the input end of the coupling 57, and the output end of the coupling 57 is fixedly connected to the transmission shaft 56, and the The transmission shaft 56 passes through the slewing bearing 55 and is fixedly connected to the cushion seat. The cushion seat is supported by the slewing bearing 55. The chassis 54 is installed on the cushion seat. A cavity for accommodating a lifting cylinder is provided in the chassis 54. The lifting cylinder is inserted into the cavity. A wedge block that reciprocates between the inside and outside of the chassis is installed on the piston rod of the lifting cylinder. The wedge block cooperates with the workpiece to position the workpiece; the reducer is connected to the angle adjustment motor 58 and then installed on the motor mounting frame; a visual camera for detecting the position of the workpiece 73 is also installed on the frame, and the workpiece 73 on the chassis is driven to rotate by the angle adjustment motor 58 to adjust the position of the workpiece 73.

[0042] The workpiece clamping cylinder 43 drives the grabbing claw 51 to grab the workpiece sent by the transport truss, and the workpiece rotating cylinder 41 drives the rotating plate 42 to rotate 180°, so that the workpiece to be pressed is rotated to the workbench 59 of the pressing mechanism, thereby completing the grabbing and transfer of the workpiece; the visual camera is used to determine the angular position of the workpiece, and the signal based on the angular position is fed back to the control box, and the control box controls the angle adjustment motor to drive the workpiece to rotate, thereby completing the angle compensation.

[0043] Each workpiece needs to be press-fitted with 7-9 bushings. A workpiece 73 is fixed on the chassis 54 of the press-fitting station. The chassis 54 is driven by the angle adjustment motor 58 to rotate the workpiece. The correspondence between the pressing head and the workpiece hole is achieved during each press-fitting through detection by a visual camera.

[0044] The present invention also relates to a press-fitting process based on automated press-fitting equipment, comprising the following steps:

[0045] (1) The step of conveying the workpiece to the pressing station: after conveying the workpiece to the pressing station via the conveyor line, adjusting the angle of the workpiece so that the workpiece hole corresponds to the pressing head;

[0046] (2) The step of conveying the bushing to the press-fitting station;

[0047] (3) Pressing the bushing into the workpiece for press-fitting and then unloading; when performing press-fitting, a double-station mode is adopted; one station is a press-fitting station, and the other station is a station for grabbing the workpiece. The press-fitting station is equipped with a visual camera, which captures the angle position of the workpiece. The control box drives the angle adjustment motor to rotate the workpiece on the chassis according to the angle captured by the visual camera. After completing the angle compensation, the pressing head presses the bushing into the workpiece to complete the assembly of the bushing and the workpiece.

[0048] The step (2) is specifically as follows:

[0049] (2-1) Bushing loading: The bushing is output in a fixed posture;

[0050] (2-2) Bushing direction identification: The front and back directions of the bushing are identified by using a visual camera to assist in detection. Bushings that cannot be identified are removed and placed in the same position.

[0051] (2-3) Oil spraying: Before the bushing is placed in the workpiece, the bushing is sprayed with oil;

[0052] (2-4) Bushing conveying: The bushing is conveyed to the pressing station. At the pressing station, the bushing is adsorbed by an O-ring, and the pressing head is positioned in a stepped manner. Specifically, an upper O-ring 71 and a lower O-ring 72 are provided on the pressing head of the pressing machine. A gap is formed between the lower O-ring 72 and the upper O-ring 71. When the bushing is installed into the pressing head, the upper O-ring 71 and the lower O-ring 72 are adsorbed to prevent the bushing from falling. Of course, a negative pressure suction hole can also be provided on the pressing head to further adsorb the bushing.

[0053] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automated press-fitting device, characterized in that: It includes a frame and a lifting and feeding mechanism, a bushing identification mechanism, a bushing rotation detection mechanism, a bushing transfer mechanism, a workpiece dual-position grabbing mechanism, a workpiece centering and angle adjustment mechanism and a press-fitting mechanism installed on the frame. The lifting and feeding mechanism is used to output the bushing in a fixed posture; the bushing identification mechanism is used to identify the positive and negative directions of the bushing; the bushing rotation detection mechanism is used to place the bushing in the same state; the bushing transfer mechanism is used to transport the bushing to the press-fitting station; the workpiece dual-position grabbing mechanism is used to pick and place the workpiece, the workpiece centering and angle adjustment mechanism is used to locate the center of the workpiece, and adjust the rotation angle of the workpiece when pressing the bushing; the press-fitting mechanism is used to press the bushing into the workpiece to complete the assembly of the bushing and the workpiece, and the lifting and feeding mechanism, bushing identification mechanism, bushing rotation detection mechanism, bushing transfer mechanism, workpiece dual-position grabbing mechanism and press-fitting mechanism are all connected to the control box; The bushing rotation detection mechanism includes a detection base, a rocker arm driving cylinder, a rocker arm, a bushing clamping cylinder and a bushing rotating cylinder. A rocker arm hinge seat and a cylinder hinge seat are installed on the detection base. The lower end of the rocker arm is hinged on the rocker arm hinge seat. A bushing rotating cylinder is installed on the rocker arm. The bushing rotating cylinder swings along with the swing of the rocker arm; a bushing clamping cylinder is installed on the rotating workbench of the bushing rotating cylinder. The bushing clamping cylinder is used to clamp the bushing; the cylinder body of the rocker arm driving cylinder is rotatably installed on the detection base through the cylinder hinge seat, and the piston rod of the rocker arm driving cylinder is hinged together with the rocker arm. Under the drive of the rocker arm driving cylinder, the rocker arm switches between the horizontal position and the vertical position, thereby driving the bushing to switch between the horizontal position and the vertical position. The inspection base is also provided with a visual camera for detecting whether the bushing is in the forward placement position. If the bushing meets the position requirement, the bushing is transported to the press-fitting station through the bushing transfer mechanism. If the bushing position is detected to be incorrect, the bushing rotating cylinder drives the bushing clamp cylinder to rotate, thereby driving the bushing to rotate until the bushing position meets the forward placement position. Specifically, the clamp of the bushing clamp cylinder grabs the bushing from the lifting and feeding mechanism, and the swing rod is driven by the swing rod driving cylinder to rotate the swing rod from the horizontal position to the vertical position, and the bushing changes from the horizontal position to the vertical position. The front and back of the bushing are detected by the visual camera. When the bushing meets the position requirement, the bushing transfer mechanism is sent to the press-fitting station. If it is detected that the bushing position is reversed, the bushing rotating cylinder drives it to rotate 180 degrees to reach the required position. The workpiece dual-position grasping mechanism comprises a workpiece rotating cylinder, a workpiece clamping unit and a rotating plate. The rotating plate is installed on the rotating worktable of the workpiece rotating cylinder, and the rotating plate is driven to rotate by the workpiece rotating cylinder; two workpiece clamping units are symmetrically installed on the rotating plate, and when one of the workpiece clamping units clamps the workpiece that has been pressed, the other workpiece clamping unit clamps the workpiece to be processed and prepares to move to the pressing station; the position of the workpiece is photographed by a visual camera; The pressing process based on the automated pressing equipment includes the following steps: (1) The step of conveying the workpiece to the pressing station: after conveying the workpiece to the pressing station via the conveyor line, adjusting the angle of the workpiece so that the workpiece hole corresponds to the pressing head; (2) The step of conveying the bushing to the press-fitting station; (3) Pressing the bushing into the workpiece for the press-fitting step and then unloading; when performing the press-fitting, a double-station mode is adopted; one station is the press-fitting station, and the other station is the station for grabbing the workpiece. The press-fitting station is equipped with a visual camera, which captures the angle position of the workpiece. The control box drives the angle adjustment motor to rotate the workpiece on the chassis according to the angle captured by the visual camera. After completing the angle compensation, the press head presses the bushing into the workpiece to complete the assembly of the bushing and the workpiece; The step (2) is specifically as follows: (2-1) Bushing loading: The bushing is output in a fixed posture; (2-2) Bushing direction identification: Identify the front and back directions of the bushing. Use visual camera-assisted detection to identify the front and back directions of the bushing. Those that cannot be identified are removed and placed in the same posture. (2-3) Oil spraying: Before the bushing is placed in the workpiece, the bushing is sprayed with oil; (2-4) Bushing conveying: The bushing is conveyed to the pressing station. At the pressing station, the bushing is adsorbed by an O-ring, and the pressing head is positioned in a stepped manner. Specifically, an upper O-ring and a lower O-ring are arranged on the pressing head of the pressing machine, and a gap is formed between the lower O-ring and the upper O-ring. When the bushing is inserted into the pressing head, the upper O-ring and the lower O-ring are adsorbed to prevent the bushing from falling.

2. The automated press-fitting equipment according to claim 1, characterized in that: The bushing identification mechanism includes several visual cameras for identifying the bushing and the workpiece.

3. The automated press-fitting equipment according to claim 1 or 2, characterized in that: The bushing transfer mechanism is a manipulator or a bushing conveying linear module, and the bushing conveying linear module includes a supporting vertical plate, a reinforcing rib plate, a bushing conveying drive motor, a bushing conveying clamp cylinder, a linear module, a bushing clamp and a cylinder bracket. A linear module arranged in a horizontal direction is installed on the supporting vertical plate, and the linear module is driven by the bushing conveying drive motor; a cylinder bracket is installed on the slide of the linear module, and the cylinder bracket reciprocates with the slide; a bushing conveying clamp cylinder is fixedly installed on the cylinder bracket, and the bushing clamp of the bushing conveying clamp cylinder clamps the bushing and then conveys it in the horizontal direction; reinforcing ribs are installed on the supporting vertical plate.

4. The automated press-fitting equipment according to claim 1, characterized in that: The cam is connected to the workpiece clamping unit by the support column, the support column is connected to the workpiece clamping cylinder by the support column, the workpiece clamping unit comprises an end plate, a support column, a front fixed plate, a rear pushing plate, a side pushing rod, a workpiece clamping cylinder, a grabbing claw frame and a grabbing claw, the end plate is vertically mounted on the rotating plate, the front fixed plate is located at the front part of the end plate, and is connected to the end plate through several supporting columns, the rear pushing plate is arranged between the end plate and the front fixed plate, the rear pushing plate is connected to the piston rod of the workpiece clamping cylinder, and is pushed by the workpiece clamping cylinder, and the two ends of the rear pushing plate are respectively hinged to a side pushing rod, and the other end of each side pushing rod is hinged to the grabbing claw frame, the grabbing claw frame is slidably matched with the front fixed plate, and a grabbing claw is installed on the grabbing claw frame, a workpiece clamping space is formed between the two grabbing claws, and the swinging directions of the two side pushing rods are opposite; a limiting plate is installed on the rear pushing plate, one end of the limiting plate is installed on the rear pushing plate, and the other end is movably matched with the front fixed plate.

5. The automated press-fitting equipment according to claim 4, characterized in that: The pressing mechanism is a pressing machine, on the workbench of which is installed a workpiece centering and angle adjustment mechanism, which includes a chassis, an angle adjustment motor, a wedge, a lifting cylinder, a cushion seat, a slewing bearing, a coupling, a reducer and a motor mounting frame, wherein the reducer is installed on the angle adjustment motor and is transmission-connected to the angle adjustment motor, the output end of the reducer is transmission-connected to the input end of the coupling, the output end of the coupling is fixedly connected to the transmission shaft, the transmission shaft is fixedly connected to the cushion seat after passing through the slewing bearing, and the cushion seat is connected to the slewing bearing through the slewing bearing For support, the chassis is installed on a cushion seat, a cavity for accommodating a lifting cylinder is provided in the chassis, the lifting cylinder is placed in the cavity, a wedge block which reciprocates between the inside and outside of the chassis is installed on the piston rod of the lifting cylinder, the wedge block cooperates with the workpiece to position the workpiece; the reducer is connected with the angle adjustment motor and then installed on the motor mounting frame; a visual camera for detecting the position of the workpiece is also installed on the frame, the workpiece on the chassis is driven to rotate by the angle adjustment motor, and the position of the workpiece is adjusted so that the pressing head and the workpiece hole correspond during press-fitting.

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