A bearing intelligent press-fitting system and press-fitting control method

Abstract

The application relates to a bearing intelligent press-fitting system and a press-fitting control method, which comprises a support frame, a base arranged at the top of the support frame, three sets of mechanical arms arranged on the base, each set of the mechanical arms comprising a first servo motor, a speed reducer, a driving arm and a driven arm; the first servo motor and the speed reducer are fixedly arranged on the base, the output end of the first servo motor is connected with the speed reducer, one end of a rotating shaft in a top joint is connected with the output end of the speed reducer, the other end of the rotating shaft in the top joint is connected with the driving arm, and then the power output by the first servo motor is transmitted to the driving arm; the second end of the driving arm is connected with the first end of the driven arm, the second end of the driven arm is connected with a moving platform, the second servo motor is arranged on the upper portion of the moving platform, a press-fitting head is arranged at the bottom of the moving platform, and the press-fitting head is driven to rotate by the second servo motor. The application can effectively improve the production efficiency, realizes the demand of flexible production, and improves the stability and reliability of the system.

Description

TECHNICAL FIELD

[0001] The application relates to a press-fitting system used in the field of new energy vehicles, in particular to a bearing intelligent press-fitting system and a press-fitting control method. BACKGROUND

[0002] With the use of new energy vehicles, higher requirements are put forward for the automation and intelligentization of the design and manufacturing of new energy vehicles. The assembly line of the gear shifting mechanism of the new energy vehicle transmission has a large number of bearing press-fitting requirements. The press-fitting machine is a pressure assembly device for realizing interference fit. At present, most bearing interference fit assemblies use hydraulic press-fitting machines. The four columns of the four-column hydraulic press-fitting machine play the roles of guiding, supporting the weight of the upper mechanism of the press-fitting machine and bearing the axial load on the column due to the press-fitting force during press-fitting. In the case of bearing tensile load or compression load, the four columns may be slightly bent and deformed, which makes the gap between the column and the press-fitting plate slide block smaller, the pressure larger and the friction force increased. If the press-fitting head 9 and the press rod of the servo cylinder are not on the same axis during press-fitting, the press-fitting plate bears an overturning moment, which makes the gap between the column and the press-fitting plate smaller, causing the wear between the slide block and the column to increase, and even causing the phenomenon of jamming. A small number of light interference assemblies use pneumatic press-fitting machines, but the press-fitting force provided by the pneumatic press-fitting machine is smaller.

[0003] Therefore, how to solve the problems of the slow working rate, low repeat positioning accuracy and hydraulic oil leakage of the existing press-fitting machine to pollute the environment has become a technical problem to be solved at present. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a bearing intelligent press-fitting system and a press-fitting control method, which can effectively improve the production efficiency, realize the demand of flexible production and improve the stability and reliability of the system.

[0005] To achieve the above-mentioned purpose, the application adopts the following technical scheme: a bearing intelligent press-fitting system, which comprises a support frame, a base is arranged at the top of the support frame, three sets of mechanical arms are arranged on the base, each set of the mechanical arms comprises a first servo motor, a speed reducer, a driving arm and a driven arm, the first servo motor and the speed reducer are fixedly arranged on the base, the output end of the first servo motor is connected with the speed reducer, one end of a rotating shaft in a top joint is connected with the output end of the speed reducer, the other end of the rotating shaft in the top joint is connected with the driving arm, thereby transmitting the power output by the first servo motor to the driving arm, the second end of the driving arm is connected with the first end of the driven arm, the second end of the driven arm is connected with a moving platform, a second servo motor is arranged on the upper portion of the moving platform, a press-fitting head is arranged on the bottom of the moving platform, and the press-fitting head is driven to rotate by the second servo motor.

[0006] Further, the support frame lower part is provided with a base, and a slide rail is arranged on the base, and a workbench is slidingly arranged on the slide rail, and a clamp for clamping a to-be-pressed part is arranged in the middle of the workbench.

[0007] Further, each of the driven arms adopts a parallelogram structure composed of two supporting arms and two horizontal shafts, the two ends of the two supporting arms are connected by one of the horizontal shafts respectively, one end of the horizontal shaft is connected with the second end of the driving arm, and the other end of the horizontal shaft is connected with the moving platform; the horizontal shaft connected with the driving arm is arranged in parallel with the rotating shaft in the top joint.

[0008] Further, the supporting arms in the driven arms are composed of a mechanical arm body and a spherical joint; the two ends of the mechanical arm body are respectively provided with the spherical joints, and the two ends of the horizontal shaft are hingedly connected with the spherical joints.

[0009] Further, the pressing heads are provided in four types, which are bottom bearing pressing models and top bearing pressing models for two types of products A and B.

[0010] Further, a third servo motor is arranged on the workbench, and the workbench is driven to move on the slide rail by the third servo motor; a fourth servo motor is arranged on the clamp, and the clamp is driven to work by the fourth servo motor.

[0011] Further, the pressing system further comprises a controller, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are controlled to work by the controller.

[0012] Further, a CCD camera is arranged at the top of the support frame, and image information of a to-be-pressed part at a pressing station is transmitted to the controller for part identification after being photographed by the CCD camera.

[0013] A bearing intelligent pressing control method based on the above pressing system, comprising the following steps: 1) a mechanical arm takes a to-be-pressed part from a stock bin and places it on a clamp of a workbench, and a fourth servo motor drives the clamp to clamp a main shell of the to-be-pressed part; 2) the workbench is driven by a third servo motor to move the to-be-pressed part on a slide rail to a pressing station, and lubricating oil is applied to the bottom end of a bottom bearing in the to-be-pressed part; meanwhile, the to-be-pressed part is photographed by a CCD camera; 3) the photographed image of the to-be-pressed part is subjected to grayscale and binaryzation processing, and an image contour is extracted; 4) the image contour of the to-be-pressed part is matched with four pressing models of the pressing heads to identify different parts, and the pressing heads are moved to the pressing station for automatic pressing.

[0014] Further, the matching method in the step 4) comprises the following steps: 4.1) after the profile of the piece to be pressed is extracted, the Euclidean distance of the profile and the profile graph of the bottom bearing pressing model of the A product is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the bottom bearing pressing of the A product is carried out; otherwise, the next step is carried out; 4.2) the Euclidean distance of the profile of the piece to be pressed and the profile graph of the top bearing pressing model of the A product is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the top bearing pressing of the A product is carried out; otherwise, the next step is carried out; 4.3) the Euclidean distance of the profile of the piece to be pressed and the profile graph of the bottom bearing pressing model of the B product is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the bottom bearing pressing of the B product is carried out; otherwise, the next step is carried out; 4.4) the top bearing pressing of the B product is carried out.

[0015] The present application has the following advantages: the present application has the characteristics of rapidness and high efficiency, and the machine vision is used to automatically identify the piece to be pressed, so that the intelligentization of pressing is realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is the overall structure schematic diagram of the present application;

[0017] Figure 2 is the three sets of mechanical arm structure schematic diagram of the present application;

[0018] Figure 3 is the control method flowchart of the present application;

[0019] Figure 4 is the matching method flowchart of the image profile of the part and the four kinds of pressing heads 9. DETAILED DESCRIPTION

[0020] The present application is described in detail below in combination with the drawings and examples.

[0021] As Figure 1 , Figure 2As shown, the application provides a bearing intelligent press-fitting system, which comprises a support frame 1, a base 2 is arranged at the top of the support frame 1, three sets of mechanical arms are arranged on the base 2, each set of mechanical arms comprises a first servo motor 3, a speed reducer 4, a driving arm 5 and a driven arm 6. The first servo motor 3 and the speed reducer 4 are fixedly arranged on the base 2, the output end of the first servo motor 3 is connected with the speed reducer 4, the output end of the speed reducer 4 is connected with one end of a rotating shaft in a top joint, the other end of the rotating shaft in the top joint is connected with the driving arm 5, and then the power output by the first servo motor 3 is transmitted to the driving arm 5. The second end of the driving arm 5 is connected with the first end of the driven arm 6, the second end of the driven arm 6 is connected with a movable platform 7, the upper part of the movable platform 7 is provided with a second servo motor 8, the bottom of the movable platform 7 is provided with a press-fitting head 9, the press-fitting head 9 is driven to work by the second servo motor 8, and rotation is realized. When the to-be-press-fitted part 15 exceeds the press-fitting range, the press-fitting range can be expanded by rotating the press-fitting head 9. The bottom of the support frame 1 is provided with a base 10, and a sliding rail 11 is arranged on the base 10. A workbench 12 is slidingly arranged on the sliding rail 11, and a clamp 13 for clamping the to-be-press-fitted part 15 is arranged in the middle of the workbench 12.

[0022] In the above embodiments, the driving arm 5 and the driven arm 6 in the three sets of mechanical arms constitute a parallel mechanism, the first servo motor 3 drives the driving arm 5 to rotate, and the second end of the driving arm 5 is connected with the movable platform 7 through the driven arm 6. Each driven arm 6 adopts a parallelogram structure composed of two supporting arms 61 and two horizontal shafts 62, the two ends of the two supporting arms 61 are connected by a horizontal shaft 62 respectively, one end of the horizontal shaft 62 is connected with the second end of the driving arm 5, and the other end of the horizontal shaft 62 is connected with the movable platform 7. The horizontal shaft 62 connected with the driving arm 5 is arranged in parallel with the rotating shaft in the top joint. Since the two horizontal shafts 62 are arranged in parallel, that is, the three horizontal shafts 62 connected with the movable platform 7 are always parallel with the three rotating shafts respectively. The parallelogram structure can rotate up and down around the horizontal shaft 62 and shift left and right through the spherical joint of the driven arm 6.

[0023] Among them, the parallel mechanism has three degrees of freedom, which respectively realize the translation in the up-down, horizontal and vertical directions, that is, the movable platform 7 and the base 2 always remain parallel and there is no rotation in the vertical direction, which is just corresponding to the task to be completed by the multi-head press-fitting machine, that is, the press-fitting head 9 can be moved to the same vertical line position of the to-be-press-fitted part in the horizontal plane, and then the rapid feeding and press-fitting can be completed by moving up and down in the vertical direction.

[0024] In the above embodiments, the driving arm 5 bears the bending load when the speed reducer 4 outputs the torque outward. In order to reduce the motion inertia and meet the force transmission requirement with lighter weight, the driving arm 5 is made of hollow cylindrical steel material, which has more stable performance and can make the driving arm 5 bear the bending load more reasonably.

[0025] In each of the above embodiments, the driven arm 6 is used to transmit power and bear extrusion load, the support arm 61 in the driven arm 6 is composed of a mechanical arm body 63 and a spherical joint 64, the spherical joint 64 is arranged at both ends of the mechanical arm body 63, and the horizontal shaft 62 is hinged at both ends of the spherical joint 64. Among them, the mechanical arm body 63 is an elastic rod; three driven arms 6 constitute three motion branches, which ensure the parallelism of the moving platform 7 and the base 2.

[0026] In each of the above embodiments, the moving platform 7 is an end effector, which is used to carry the spherical joint 64 at the bottom of the driven arm 6 and the press-fitting head 9. The moving platform 7 is a circular metal plate.

[0027] In each of the above embodiments, the press-fitting head 9 is provided in four types, which are the bottom bearing press-fitting model and the top bearing press-fitting model of the A and B products.

[0028] In each of the above embodiments, a third servo motor is further arranged on the workbench 12, and the workbench 12 is driven to move on the slide rail 11 through the third servo motor. A fourth servo motor is arranged on the clamp 13, and the clamp 13 is driven to work by the fourth servo motor.

[0029] In each of the above embodiments, the bearing intelligent press-fitting system further comprises a controller, and the first servo motor 3, the second servo motor 8, the third servo motor and the fourth servo motor are all controlled by the controller to work.

[0030] In each of the above embodiments, a CCD camera 14 is further arranged at the top of the support frame 1, which is used to shoot the image information of the to-be-press-fitted part 15 at the press-fitting station and transmit the image information to the controller to identify the part and realize intelligent flexible press fitting.

[0031] As shown in Figure 3 The application further provides a bearing intelligent press-fitting control method, which comprises the following steps:

[0032] 1) The mechanical arm takes the to-be-press-fitted part 15 out of the hopper and places it on the clamp 13 of the workbench 12, and the fourth servo motor drives the clamp 13 to clamp the main shell of the to-be-press-fitted part 15.

[0033] 2) The workbench 12 drives the to-be-press-fitted part 15 to move to the press-fitting station on the slide rail 11 under the drive of the third servo motor, and lubricating oil is applied to the bottom end of the bottom bearing in the to-be-press-fitted part 15 to reduce the friction between the bottom bearing and the bearing mounting hole in the to-be-press-fitted part 15 during press fitting; meanwhile, the CCD camera 14 shoots the to-be-press-fitted part 15;

[0034] 3) The image of the to-be-press-fitted part 15 shot is subjected to grayscale and binaryzation processing, and the image contour is extracted;

[0035] The extraction of the image contour is based on the binary image, the edge contour of the image is extracted, the middle cavity of the image is filled, and finally the overall contour of the image is left;

[0036] 4) The image contour of the to-be-pressed part 15 is matched with the pressing models of the four pressing heads 9, different parts are identified, and the pressing head 9 moves to the pressing station for automatic pressing;

[0037] As shown in the figure, the specific matching method comprises the following steps: Figure 4

[0038] 4.1) After the contour of the to-be-pressed part 15 is extracted, the Euclidean distance between the contour and the contour graph of the A product bottom bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the A product bottom bearing pressing is performed, otherwise, the next step is performed;

[0039] 4.2) The Euclidean distance between the contour of the to-be-pressed part 15 and the contour graph of the A product top bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the A product top bearing pressing is performed, otherwise, the next step is performed;

[0040] 4.3) The Euclidean distance between the contour of the to-be-pressed part 15 and the contour graph of the B product bottom bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the B product bottom bearing pressing is performed, otherwise, the next step is performed;

[0041] 4.4) B product top bearing pressing is performed.

[0042] In the above step 4), the pressing work is divided into three processes of rapid feeding, pressing, and rapid exit. The rapid feeding is that the pressing head 9 moves to the pressing station on the workbench 12, at this time, the bottom bearing in the to-be-pressed part 15 and the bearing mounting hole are on the same vertical axis with the pressing head 9, and the waiting position is fed to the position where the bottom bearing is about to be contacted at a faster speed. The pressing is that the pressing head 9 is changed from the fast speed to the slower speed, so that the greater pressing force is obtained at the slower speed, and the bottom bearing is pressed to the bottom of the bearing mounting hole. After the pressing is completed, the pressing head 9 exits from the main shell at a faster speed and returns to the waiting position.

[0043] In summary, the present application can make different pressing actions according to different pressing requirements when in use, the workbench 12 moves to the corresponding pressing position, and the pressing head 9 is aligned with the pressed part for pressing. Only one pressing station can complete multiple pressing steps, and the intelligentization of pressing is realized.

[0044] ​The application has compact structure, only occupies less than one square meter of working space, more pressing machines can be arranged in the same working space, and the productivity of enterprises is further improved; compared with the traditional hydraulic or pneumatic pressing machine, the intelligent pressing machine uses electric energy as power source, avoids the pollution of oil leakage to the environment, and reduces the damage to the worker's body.

[0045] The application adopts parallel mechanism with faster speed and higher repeat positioning accuracy in structure, significantly improves the working efficiency and product qualification rate of the pressing machine, and realizes the intelligentization of the bearing pressing production line by combining with the automatic identification of parts. The application identifies different types of products through the CCD camera 14, compares and judges with the pressing models of the four pressing heads 9, switches to the corresponding pressing process, meets the flexible design concept, meets the demand of improving production efficiency and realizing flexible production, improves the stability and reliability of the system. After putting into production, a large amount of labor cost can be saved, the product production cycle is shortened, the waste of funds is avoided, certain economic and social benefits are brought to enterprises, and the application has certain popularization value.

[0046] The above embodiments are only used for describing the application, the structure, size, setting position and shape of each component can be changed, on the basis of the technical scheme of the application, any improvement and equivalent transformation of individual components according to the principle of the application should not be excluded from the protection scope of the application.

Claims

1. A bearing intelligent press-fit system, characterized by: The application relates to a press fitting system, which comprises a support frame, a base arranged at the top of the support frame, three sets of mechanical arms arranged on the base, a first servo motor, a speed reducer, a driving arm and a driven arm in each set of the mechanical arms, the first servo motor and the speed reducer are fixedly arranged on the base, the output end of the first servo motor is connected with the speed reducer, one end of a rotating shaft in a top joint is connected with the output end of the speed reducer, the other end of the rotating shaft in the top joint is connected with the driving arm, and the power output by the first servo motor is transmitted to the driving arm; the second end of the driving arm is connected with the first end of the driven arm, the second end of the driven arm is connected with a movable platform, a second servo motor is arranged on the upper portion of the movable platform, a press fitting head is arranged on the bottom of the movable platform, and the press fitting head is driven to rotate by the second servo motor. Each of the driven arms adopts a parallelogram structure composed of two supporting arms and two horizontal shafts, the two ends of the two supporting arms are connected by one horizontal shaft respectively, one end of the horizontal shaft is connected with the second end of the driving arm, and the other end of the horizontal shaft is connected with the movable platform; the horizontal shaft connected with the driving arm is arranged in parallel with the rotating shaft in the top joint; the three horizontal shafts connected with the movable platform are always arranged in parallel with the three rotating shafts respectively; the parallelogram structure can rotate up and down around the horizontal shaft and can be deviated left and right through the spherical joint of the driven arm. The driving arm and the driven arm in the three sets of mechanical arms constitute a parallel mechanism, the parallel mechanism has three degrees of freedom, and horizontal movements in three directions, i.e. up and down, horizontal and vertical, are realized, so that the movable platform and the base always keep parallel and vertical without rotation, which is just corresponding to the task to be completed by the multi-head press fitting machine, the press fitting head can be moved to the position of the same vertical line with the press fitting piece to be pressed in the horizontal plane, and then the press fitting head can be moved up and down in the vertical direction to complete the rapid feeding and press fitting. A base is arranged at the lower portion of the support frame, a slide rail is arranged on the base, a workbench is slidably arranged on the slide rail, and a clamp for clamping a press fitting piece is arranged at the middle portion of the workbench. The supporting arm in the driven arm is composed of a mechanical arm body and a spherical joint, the spherical joints are arranged at the two ends of the mechanical arm body respectively, and the horizontal shafts are hinged with the spherical joints at the two ends. Different press fitting actions are made according to different press fitting requirements, the workbench is moved to the corresponding press fitting position, the press fitting head is aligned with the press fitting piece to be pressed for press fitting, and only one press fitting station can complete multiple press fitting steps. A third servo motor is arranged on the workbench, the workbench is driven to move on the slide rail by the third servo motor, a fourth servo motor is arranged on the clamp, and the clamp is driven to work by the fourth servo motor. The press fitting system further comprises a controller, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are controlled by the controller.

2. The press system of claim 1, wherein: The press fitting head is provided in four types, i.e. bottom bearing press fitting models and top bearing press fitting models of A and B products.

3. The press system of claim 2, wherein: A CCD camera is arranged on the top of the support frame to transmit the image information of the parts to be pressed to the controller for part identification.

4. A method of intelligent press loading of a bearing based on the press loading system of any one of claims 1 to 3, characterized in that The method comprises the following steps: 1) the mechanical arm takes the parts to be pressed from the hopper and places them on the clamps of the workbench, and the fourth servo motor drives the clamps to clamp the main shell of the parts to be pressed; 2) the workbench is driven by the third servo motor to move the parts to be pressed on the slide rail to the pressing station, and lubricating oil is applied to the bottom end of the bottom bearing in the parts to be pressed; at the same time, the CCD camera takes pictures of the parts to be pressed; 3) the image of the parts to be pressed is subjected to grayscale and binaryzation processing, and the image contour is extracted; 4) the image contour of the parts to be pressed is matched with four pressing models of the pressing heads to identify different parts, and the pressing heads are moved to the pressing station for automatic pressing.

5. The intelligent press-fit control method of a bearing as set forth in claim 4, wherein: The matching method in step 4) comprises the following steps: 4.1) after the contour of the parts to be pressed is extracted, the Euclidean distance between the contour and the contour graph of the A product bottom bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the A product bottom bearing pressing is performed; otherwise, the next step is performed; 4.2) the Euclidean distance between the contour of the parts to be pressed and the contour graph of the A product top bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the A product top bearing pressing is performed; otherwise, the next step is performed; 4.3) the Euclidean distance between the contour of the parts to be pressed and the contour graph of the B product bottom bearing pressing model is calculated, and it is judged whether the Euclidean distance is less than or equal to 0.005, if yes, the B product bottom bearing pressing is performed; otherwise, the next step is performed; 4.4) the B product top bearing pressing is performed.

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