An automatic assembly method for aerospace servo supporting bearings

Abstract

An automatic assembly method for aerospace servo supporting bearings, using an automatic assembly equipment for aerospace servo supporting bearings. The assembly method includes: placing the ear to be assembled and the spherical plain bearing on the pre-assembly platform of the automatic loading and unloading mechanism; the manipulator of the automatic loading and unloading mechanism performs the loading operation to transfer the workpiece to the turntable of the product transfer mechanism; the turntable of the product transfer mechanism rotates to the automatic pressing mechanism to start the pressing; the turntable of the product transfer mechanism rotates to the automatic rolling mechanism, and then performs single-sided rolling and hemming; after the workpiece after single-sided rolling and hemming is inspected and qualified, it is turned over and placed on the pre-assembly platform of the automatic loading and unloading mechanism; the manipulator of the automatic loading and unloading mechanism performs the loading operation to transfer the workpiece to the automatic rolling mechanism for rolling operation on the other side; the manipulator of the automatic loading and unloading mechanism performs the unloading operation.

Description

Technical Field

[0001] The present invention relates to an automatic assembly method for aerospace servo supporting bearings, belonging to the technical field of aerospace servo mechanisms, and is particularly applicable to the automatic assembly of articulated bearings during large-scale production of aerospace servos. Background Art

[0002] As a subsystem under the control system of China's launch vehicle, the servo mechanism can receive control commands from the flight control system, follow the control signals, and dynamically adjust the flight attitude during flight to achieve the pitch, yaw, and roll control of the aircraft. The external installation interface between the actual rudder cabin of the aerospace vehicle and the servo mechanism is often realized through a pin shaft. The servo supporting articulated bearing is a high-precision aerospace product. However, in the existing production and manufacturing mode of servo products, the assembly method of the articulated bearing and the ear is manual operation in the workshop. A special tooling is designed using a manual press and an ordinary bench drill to assemble a single ear and a single bearing. This method depends greatly on the operation ability and proficiency of workers, and it is difficult to ensure the consistency of assembly quality. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and solve the problems of automatic, high-efficiency, and high-quality assembly of servo supporting bearings.

[0004] The object of the present invention is achieved through the following technical solutions:

[0005] An automatic assembly method for aerospace servo supporting bearings uses an automatic assembly device for aerospace servo supporting bearings. The automatic assembly device includes an automatic feeding and discharging mechanism, an automatic pressing-in mechanism, a product transfer mechanism, an automatic rolling mechanism, and an equipment auxiliary mechanism;

[0006] The automatic feeding and discharging mechanism is used for pre-installing and fixing the tooling and completing automatic feeding and discharging processing;

[0007] The automatic pressing-in mechanism is used for pressing the articulated bearing into the ear;

[0008] The product transfer mechanism is used for transfer and switching between different workstations;

[0009] The automatic rolling mechanism is used for rolling and closing the edge of the ear;

[0010] The equipment auxiliary mechanism is used for controlling the automatic feeding and discharging mechanism, the automatic pressing-in mechanism, the product transfer mechanism, and the automatic rolling mechanism, and for human-computer interaction;

[0011] The assembly method includes:

[0012] Put the ear to be assembled and the articulated bearing on the pre-assembly platform of the automatic feeding and discharging mechanism;

[0013] The manipulator of the automatic feeding and discharging mechanism performs the feeding operation and transfers the workpiece to the transfer plate of the product transfer mechanism.

[0014] The transfer plate of the product transfer mechanism rotates to the automatic pressing mechanism and starts pressing; the transfer plate of the product transfer mechanism rotates to the automatic rolling mechanism and then performs single-sided rolling reaming and edge wrapping.

[0015] After the workpiece after single-sided rolling reaming and edge wrapping is inspected and qualified, it is turned over and placed on the pre-assembly platform of the automatic feeding and discharging mechanism.

[0016] The manipulator of the automatic feeding and discharging mechanism performs the feeding operation and transfers the workpiece to the automatic rolling mechanism for rolling operation on the other side.

[0017] The manipulator of the automatic feeding and discharging mechanism performs the discharging operation.

[0018] Preferably, the automatic feeding and discharging mechanism includes a pre-assembly platform, a three-axis conveying mechanism, and a manipulator.

[0019] The pre-assembly platform is used for placing and pre-fixing the tooling.

[0020] The three-axis conveying mechanism is used for driving the product.

[0021] The manipulator is used for product transfer.

[0022] Preferably, the pre-assembly platform includes a pre-assembly platform, a platform tooling, a platform motor, a transmission lead screw, and a guide rail bar;

[0023] Both the pre-assembly platform and the platform tooling are made of stainless steel. Threaded holes are provided at the bottom of the platform tooling and the pre-assembly platform, and the two are cooperatively positioned and installed through connecting pieces; the mating holes opened on the platform tooling are cooperatively installed with the positioning pins of the pre-assembly platform to complete positioning. The pre-assembly platform has multiple stations, and the platform motor drives the pre-assembly platform to move horizontally on the guide rail bar through the transmission lead screw.

[0024] Preferably, the three-axis conveying mechanism includes an X-axis, a Y-axis, a Z-axis, a coupling 2, a slider, an X-axis motor, a Y-axis motor, and a Z-axis motor. The three-axis conveying mechanism adopts a gantry structure, and the two Y-axes are connected by the coupling 2 to ensure motion synchronization; travel switches are provided on the X-axis, Y-axis, and Z-axis for limit protection. The X-axis, Y-axis, and Z-axis are selected as different length modules, and the X-axis, Y-axis, and Z-axis are supported and fixed by four vertically placed aluminum profiles; the running speed of the slider can be adjusted according to the rotation speeds of the X-axis motor, Y-axis motor, and Z-axis motor for material feeding and transfer.

[0025] Preferably, the manipulator includes a cylinder, a pneumatic gripper, an infrared sensor, and a transmission connecting plate; as an actuator, the manipulator controls the opening and closing of the pneumatic gripper through the telescopic movement of the cylinder; the infrared sensor determines whether there is a product by detecting the distance of the red dot, thereby controlling whether the gripper performs the pick-and-place loading and unloading actions; the connection with the Z-axis is achieved through the transmission connecting plate.

[0026] Preferably, the product transfer mechanism includes a transfer main shaft, a transfer main shaft motor, and a transfer disk;

[0027] The transfer main shaft motor drives the transfer disk to rotate through the transfer main shaft. Multiple groups of positioning holes are provided on the contact surfaces of the transfer main shaft and the transfer disk. The transfer main shaft and the transfer disk are connected through connectors. Multiple workstations can be stored on the transfer disk simultaneously for pressing and rolling operations. The infrared sensor under the transfer disk detects whether there is a product in real time, thereby determining whether to perform transfer switching.

[0028] Preferably, the automatic pressing mechanism includes a press for pressing the joint bearing, that is, pressing the joint bearing into the lug.

[0029] Preferably, the press includes a pressing upper frame top plate, pressing upper frame side plates, a pressing lower frame bottom plate, pressing lower frame side plates, a pressing support rear plate, rear plate guide columns, sliders, a fixing plate, fixed side plates, a fixed rear plate, a fixed servo motor, universal guide blocks, a support pallet, pallet reinforcing ribs, a pallet motor, a connecting shaft, a connecting block, a rotating shaft, and a pressing head. The pressing upper frame top plate is installed on the pressing support rear plate through a connector. The two vertical surfaces of the pressing upper frame side plates are respectively installed on the pressing upper frame top plate and above the pressing support rear plate through connectors. The pressing lower frame side plates are installed on the pressing lower frame bottom plate through connectors. The pressing lower frame side plates are installed on the pressing support rear plate through connectors. The fixed side plates are installed on the fixing plate through connectors. The fixed side plates are installed on the fixed rear plate through connectors. The fixed rear plate is installed on the pressing support rear plate through connectors; the fixed servo motor and the rotating shaft are flexibly assembled using universal guide blocks; the fixed servo motor is used to control the rotation of the rotating shaft. Through the fixing plate connected to the slider, the motion form is converted into vertical motion to achieve the effect of applying pressure. The pallet motor controls the up and down movement of the support pallet. When the product to be pressed, that is, the lug and the joint bearing, move to the pressing station, the support pallet moves upward to contact the transfer disk. When the joint bearing is pressed into the lug, it plays a supporting role. The support pallet is provided with reinforcing ribs to improve the pressing stiffness and strength and ensure the reliability of the pressed workpiece; the rear plate guide columns are used to guide the sliders and are installed on the pressing support rear plate; the pressing head is fitted with the rotating shaft using a set screw hole and is integrally machined in one pass. The pressing head is designed as a stepped shaft type, and the pressing surface contacts the outer ring of the bearing.

[0030] Preferably, the automatic rolling mechanism includes a rolling machine, and the rolling machine is equipped with different rolling heads according to the specifications of the lug joint bearings.

[0031] Preferably, the pressure range values of both the automatic pressing mechanism and the automatic rolling mechanism are from 300 N to 5000 N.

[0032] The present invention has the following beneficial effects compared with the prior art:

[0033] (1) The present invention utilizes the reflection principle, adopts the infrared diffuse emission sensing technology, and realizes automatic clamping, autonomous positioning, and automatic feeding and discharging functions by servo supporting lugs, bearings, etc., improving the accuracy of each clamping, installation positioning, and the consistency of assembly quality; integrating automatic pressing and automatic rolling into one, and uniformly integrating them into a digital control machining center, the equipment has a high integration degree and automation degree, realizing an efficient manufacturing mode with the equipment as the main and manual work as the auxiliary during assembly;

[0034] (2) In the present invention, a universal joint is used for flexible assembly between the servo motor of the pressing platform and the rotating shaft. Compared with the rigid connection of traditional pressing equipment, it can effectively reduce the influence of the lateral force generated by eccentricity during installation between the two, thereby improving the service life of the equipment, and having high robustness and adaptability; moreover, the platform is provided with a supporting tray and reinforcing ribs to improve the pressing stiffness and strength, ensuring the reliability of the pressed workpiece. Compared with ordinary equipment, the force application point during the pressing operation is optimized from point contact to surface contact, reducing stress concentration;

[0035] (3) The pre-assembly platform of the present invention is optimized and designed to be servo-driven, improving the reliability of the equipment, avoiding the influence of the artificial dragging of the pre-assembly platform on the installation stability of the product, and reducing the labor force in the workshop; shock-absorbing and noise-reducing pads are provided at the places where the tooling and the manipulator are placed on the platform. The material of the shock-absorbing pad is made of environmentally friendly EVA foam, which can effectively reduce the noise hazard and protect the product from external forces and have a buffering effect during the operation of the equipment;

[0036] (4) The three-axis conveying mechanism of the present invention is designed with a gantry structure, which runs more stably and reliably compared with structures such as the cantilever type, reducing the instability of the equipment operation caused by the own gravity of the manipulator, connecting plate, etc.; when the equipment is started once, the feeding and discharging operations of ten workstations can be realized, and the rolling, necking, and edge wrapping operations can be carried out synchronously during the pressing at multiple workstations, greatly improving the production efficiency and meeting the requirements of batch production;

[0037] (5) The present invention designs the limit by the stepped surface of the equipment tooling and the positioning shaft. When the bearing is pressed into the lug, it is symmetrically positive with the center of the lug, ensuring the pressing assembly quality; the position of the bearing to be pressed and the lug can be restricted by the positioning shaft and the contact surface, preventing the axial movement of the lug and the bearing, improving the pressing quality, ensuring the accuracy of the installation position of the product, and effectively avoiding the consequence of product scrapping caused by pressing deviation during the pressing operation;

[0038] (6) The present invention optimizes the tooling structure of the pre-assembly platform, reduces the redundant installation surfaces, increases the contact area between the tooling and the product, makes the fitting more stable, enhances the reliability, and adopts a coaxial design for the press-in shaft and the press-in head, effectively ensuring their coaxiality, avoiding the shaking of the press-in head driven by the shaft during the press-in process, which affects the press-in effect, and making the bearing press-in operation more stable and reliable, improving the press-fitting accuracy.

[0039] (7) The automatic assembly equipment for aerospace servo bearings of the present invention is used for the press-in and flanging and closing of the joint bearings supporting aerospace servo. By adopting a press-fitting machine, a corresponding feeding and discharging mechanism, a positioning tooling and an automatic control system, it effectively improves the first-pass qualification rate of assembly, quality consistency, etc. Through the Internet of Things system, this bearing automatic assembly equipment is connected to the industrial control network interconnection platform of the production workshop to realize remote automation control and interconnection of the equipment. Description of the Drawings

[0040] Figure 1 It is a schematic diagram of the main composition of the automatic assembly equipment.

[0041] Figure 2 It is a general assembly drawing of the automatic assembly equipment.

[0042] Figure 3 It is a schematic diagram of the pre-assembly platform.

[0043] Figure 4 It is a schematic diagram of the three-axis conveying mechanism.

[0044] Figure 5 It is a schematic diagram of the product transfer mechanism.

[0045] Figure 6 It is a schematic diagram of the press-in mechanism.

[0046] Figure 7 It is a schematic diagram of the product fixing tooling.

[0047] Figure 8 It is a schematic diagram of the press-in head.

[0048] Figure 9 It is a schematic diagram of the electrical principle design.

[0049] Figure 10 It is a schematic diagram of the assembly operation process. Detailed Embodiment

[0050] To make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the embodiments of the present invention in detail with reference to the drawings.

[0051] An automatic assembly equipment for aerospace servo supporting bearings. The bearing automatic assembly equipment consists of an automatic feeding and discharging mechanism 2, an automatic pressing-in mechanism 3, a product transfer mechanism 4, an automatic rolling mechanism 5 and other equipment mechanisms 6, namely equipment auxiliary mechanisms. The picking and placing of products, the flipping of workpieces, the equipment program control, etc. are carried out manually. The automatic feeding and discharging mechanism mainly consists of a pre-assembly platform 21, a three-axis conveying mechanism 22 and a manipulator 23. The main function of this mechanism is the pre-assembly and fixation of the tooling placed on the platform. Through the manipulator and the three-axis conveying mechanism, automatic feeding and discharging processing can be realized. The product transfer mechanism is mainly a multi-station turntable 41, which can realize rapid transfer and switching between different stations. The automatic pressing-in mechanism mainly consists of a press 30, with a wide adjustable pressure range, and corresponding pressing heads can be designed according to different specifications of supporting ear-joint bearings. The automatic rolling mechanism mainly consists of a rolling machine 51. The rolling machine can also be equipped with different rolling heads according to the specifications of ear-joint bearings, and the rolling heads can be used in combination with steel balls of the same specifications. Other equipment mechanisms mainly include the equipment electrical control part 61, the operation display screen 62, the box body 63 and the safety protection 64, etc.

[0052] Such as Figure 1 , Figure 2 As shown in the figure, an automatic assembly equipment for aerospace servo supporting bearings includes an automatic feeding and discharging mechanism 2, an automatic pressing-in mechanism 3, a product transfer mechanism 4, an automatic rolling mechanism 5 and other equipment mechanisms 6; other equipment mechanisms are mainly composed of an electrical control part 61, an operation display part 62, an equipment box body part 63 and a safety protection part 64, etc. The overall frame part of the box body is made of aluminum profiles and carbon steel, the frame covering parts are made of sheet metal parts, and the observation window part is made of acrylic material.

[0053] The automatic feeding and discharging mechanism mainly consists of parts such as a pre-assembly platform 21, a three-axis conveying mechanism 22 and a manipulator 23. The automatic feeding and discharging mechanism mainly realizes the automatic loading and unloading operations in space. The pre-assembly platform 21 mainly includes a pre-assembly platform 211, a platform placing tooling 212, a platform motor 213, a transmission lead screw 214 and a guide rail strip 215, etc. Such as Figure 3As shown in the figure, the pre-assembly platform is mainly used for the pre-installation and fixation of the platform placement tooling. The pre-assembly platform and the platform placement tooling are made of stainless steel. Threaded holes are provided at the bottom of both the platform placement tooling and the pre-assembly platform. The two are positioned and installed in cooperation through the first screw 1. The platform motor and the transmission lead screw are connected through the coupling 1. Equally spaced threaded holes are provided on both the guide rail strip and the pre-assembly platform. The guide rail strip is installed under the pre-assembly platform through multiple groups of the third screws 3. Four through holes are provided on both sides of the platform placement tooling. These four through holes are the clamping positions of the manipulator 23. Shock-absorbing and noise-reducing pads are provided at the platform placement tooling and the manipulator, etc. The material of the shock-absorbing pad is made of environmentally friendly EVA foam, which can effectively reduce the noise hazard and protect the product from external forces and has a buffering effect during the operation of the equipment. The optimized design of the pre-assembly platform can achieve the assembly of ten workstations. It is driven electrically. The platform motor rotates through the transmission lead screw to drive the pre-assembly platform to move horizontally, so as to achieve free transmission on the guide rail strip. The driving method by the motor is more reliable and stable than the manual pushing and pulling of the tray method.

[0054] As Figure 4 shown in the figure, the three-axis conveying mechanism 22 mainly includes the X-axis 221a, the Y-axis 221b, the Z-axis 221c, the coupling 2(222), the slider 223, and the X-axis motor 224a, the Y-axis motor 224b, and the Z-axis motor 224c. As the main transmission part, the three-axis conveying mechanism adopts a gantry structure, which is simple to operate, has higher stability, and can bear a larger load. The two Y-axes 221b are connected through the coupling 2(222) to ensure motion synchronization. Travel switches are provided on the X-axis 221a, the Y-axis 221b, and the Z-axis 221c for limit protection. The X-axis, the Y-axis, and the Z-axis are selected as different length modules, and the X-axis, the Y-axis, and the Z-axis are supported and fixed by four vertically placed aluminum profiles. The running speed of the slider 223 can be adjusted according to the rotation speeds of the X-axis motor 224a, the Y-axis motor 224b, and the Z-axis motor 224c for material feeding and transfer.

[0055] The manipulator 23 is mainly composed of components such as the cylinder 231, the pneumatic hand clamp 232, the infrared sensor 233, and the transmission connection plate 234. As the execution mechanism, the manipulator is mainly responsible for the transfer of products. The effective load of the hand clamp of this mechanism is 10 kg, and the opening and closing of the manipulator clamp are controlled by the telescopic movement of the cylinder. The infrared sensor determines whether there is a product by detecting the distance of the red dot, so as to control whether the hand clamp performs the clamping and loading / unloading actions. It is fixed to the Z-axis through the transmission connection plate.

[0056] As Figure 5As shown, the product transfer mechanism mainly includes a transfer main shaft 411, a transfer main shaft motor 412, a transfer disk 413, an infrared sensor 414, etc. The product transfer mechanism is mainly responsible for the transfer and switching of products between different workstations. The transfer main shaft motor drives the transfer disk to rotate. Six groups of positioning holes for mating installation are provided on the contact surfaces of the transfer main shaft and the transfer disk. The transfer main shaft and the transfer disk are installed by six groups of second screws 2. The transfer disk is made of carbon steel plate and designed as a circle. When the equipment is running, it can bear the press-fitting force and rolling force at the same time, and can store six workstations at the same time for press-fitting and rolling operations. The infrared sensor under the transfer disk can detect whether there is a product in real time, so as to judge whether to perform transfer and switching. The transfer speed of the transfer disk is adjustable according to the motor speed. The equipment can not only perform the feeding operation of unprocessed parts and the rolling operation of processed parts while press-fitting, but also perform the discharging operation of processed parts while rolling, which improves the overall operation efficiency to a certain extent.

[0057] As Figure 6 , Figure 8As shown in the figure, the automatic pressing mechanism is mainly composed of a press-fitting machine 30, which is mainly used for press-fitting spherical plain bearings, that is, pressing the spherical plain bearings into the lug. The press-fitting machine mainly includes a top plate of the upper press-fitting frame 301, side plates of the upper press-fitting frame 302, a bottom plate of the lower press-fitting frame 303, side plates of the lower press-fitting frame 304, a rear support plate of the press-fitting 305, rear plate guide columns 306, sliders 307, fixing plates 308, fixed side plates 309, fixed rear plates 310, fixed servo motors 311, universal guide blocks 312, support pallets 313, pallet reinforcing ribs 314, pallet motors 315, connecting shafts 316, connecting blocks 317, rotating shafts 318, press-fitting heads 319, etc. The top plate of the upper press-fitting frame is installed on the rear support plate of the press-fitting through two groups of fourth screws 4. The two vertical surfaces of the side plates of the upper press-fitting frame are respectively installed on the top plate of the upper press-fitting frame and above the rear support plate of the press-fitting through two groups of fifth screws 5. The side plates of the lower press-fitting frame are installed on the bottom plate of the lower press-fitting frame through three groups of sixth screws 6. The side plates of the lower press-fitting frame are installed on the rear support plate of the press-fitting through two groups of seventh screws 7. The fixed side plates are installed on the fixing plates through two groups of eighth screws 8. The fixed side plates are installed on the fixed rear plates through two groups of ninth screws 9. The fixed rear plates are installed on the rear support plate of the press-fitting through four groups of tenth screws 10. A flexible assembly is adopted between the fixed servo motor 311 and the rotating shaft 318 by using a universal guide block (universal joint). Compared with the rigid connection of traditional press-fitting equipment, it can effectively reduce the influence of the lateral force generated by eccentricity during installation between the two, thereby improving the service life of the equipment and having high robustness and adaptability. The fixed servo motor mainly controls the rotation of the rotating shaft. Through the fixing plate connected to the slider, the motion form is converted into vertical motion to achieve the effect of applying pressure. The pallet motor controls the up and down movement of the support pallet. When the product to be pressed, that is, the lug and the spherical plain bearing, move to the press-fitting station, the support pallet moves upward to contact the transfer turntable. When the spherical plain bearing is pressed into the lug, it plays a supporting role. The support pallet is provided with reinforcing ribs, which can improve the press-fitting stiffness and strength and ensure the reliability of the pressed workpiece. The rear plate guide columns 306 are used to guide the sliders 307 and are installed on the rear support plate of the press-fitting 305. The press-fitting head 319 is matched with the rotating shaft 318 by a set screw hole 319a, and both are integrally machined in one time. The main installation hole is machined with one-time clamping to ensure coaxial design, improve the fitting accuracy and stability. The press-fitting head is designed as a stepped shaft type, and the press-fitting surface 319b contacts the outer ring of the bearing for subsequent assembly operations.

[0058] As Figure 7 shown, the upper surface of the product fixing fixture is designed with a stepped surface (732 - 734) for limit protection design to ensure the press-fitting dimension, and the contact surface 735 is chamfered to make the product fit more reliably and stably. A positioning shaft 731 is designed so that when the bearing is pressed into the lug, it is symmetrically centered with the lug to ensure the press-fitting quality.

[0059] The electrical principle design of the equipment is as Figure 9 shown.

[0060] The operation process method of equipment assembly is as Figure 10 shown below.

[0061] An automatic assembly method for aerospace servo supporting bearings is as follows:

[0062] 1. The automatic assembly equipment is grounded as required and started as required (start the pump power supply at the same time to ensure the air supply pressure and prepare for the operation of the automatic rolling mechanism). Turn on the equipment and rotate the switch button to the ON position;

[0063] 2. After starting up, the automatic assembly equipment conducts self-check on its status, resets the equipment, and restores the pre-assembly platform, three-axis conveying mechanism, manipulator, and multi-station transfer table to the initial zero position state (perform the zeroing operation);

[0064] 3. After starting up, log in according to the operation account and then carry out the operation of the automatic assembly equipment;

[0065] 4. By default, the automatic assembly mode is selected after starting up. Touch the operation to display the corresponding operations in the lower menu bar. Confirm that the "program setting" in the electrical control is correct and select the pressing and rolling programs;

[0066] 5. Place the ear to be installed and the joint bearing on the pre-assembly platform of the automatic feeding and discharging mechanism;

[0067] 6. Select the corresponding preset program according to the specifications of the ear and the joint bearing;

[0068] 7. After the "Start" button appears, the operator clicks the button and the equipment starts to execute;

[0069] 8. The three-axis conveying mechanism automatically moves to the first station of the pre-assembly platform, and the manipulator performs the feeding operation;

[0070] 9. The rotation main shaft motor starts to work, the turntable rotates to the automatic pressing mechanism, and the first station starts to press; (at the same time, the three-axis conveying mechanism automatically moves to the second station of the pre-assembly platform, and the manipulator performs the feeding operation)

[0071] 10. After the pressing at the first station is completed, it rotates to the automatic rolling mechanism, and the first station starts to roll and close the edge and wrap the edge; (the second station rotates to the automatic pressing mechanism for pressing);

[0072] 11. The three-axis conveying mechanism automatically moves to the third station of the pre-assembly platform, and the manipulator performs the feeding operation;

[0073] 12. After the rolling at the first station is completed, the three-axis conveying mechanism moves to the first station, and the manipulator performs the discharging operation;...

[0074] 13. Until the rolling operation and discharging operation of 6 stations are completed;

[0075] 14. Manually inspect the quality of press-fitting and roll-formed hemming. If unqualified, make corresponding treatments according to the assembly quality. If qualified, turn over the ear component (bearing pressed into the ear and one side has completed roll-formed hemming), and place the turned-over ear component into the pre-assembly platform;

[0076] 15. Select the roll-forming program;

[0077] 16. After the "Start" button appears, the operator clicks the button, and the equipment starts to execute;

[0078] 17. The three-axis conveying mechanism automatically moves to the first station of the pre-assembly platform, and the manipulator performs the feeding operation in sequence;

[0079] 18. The rotating spindle motor starts to work, the rotating disk rotates to the automatic roll-forming mechanism, and the roll-forming operation is performed at 6 stations in sequence;

[0080] 19. The manipulator performs the unloading operation in sequence;

[0081] 20. Manually inspect the quality of roll-formed hemming. If qualified, store the ear component (at this time, the roll-formed hemming on both sides has been completed) in the warehouse. If unqualified, make corresponding treatments according to the assembly quality;

[0082] 21. Shut down the equipment.

[0083] The present invention is applicable to the automated assembly operations of various aerospace servo model supporting joint bearings and their supports. For example, it can achieve but is not limited to the batch assembly of joint bearings in series such as GE5E, UG10, GE10E GEG10E-C2, GE8E / U, GE12E / U, GE20ES / U, GE15DE1T, GE15ES, GE20ES, GE25ES, etc. and their corresponding ears.

[0084] In the present invention, the pressure range values of the automatic press-in mechanism and the automatic roll-forming mechanism are from 300 N to 5000 N.

[0085] The content not described in detail in the specification of the present invention belongs to the well-known technology of those skilled in the art.

[0086] Although the present invention has been disclosed above with preferred embodiments, it is not used to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention all belong to the protection scope of the technical solution of the present invention.

Claims

1. An automatic assembly method for aerospace servo supporting bearings, characterized in that, An automatic assembly equipment for aerospace servo supporting bearings is adopted. The automatic assembly equipment includes an automatic feeding and discharging mechanism, an automatic pressing mechanism, a product transfer mechanism, an automatic rolling mechanism, and an equipment auxiliary mechanism; The automatic feeding and discharging mechanism is used for pre-assembling and fixing the tooling and completing the automatic feeding and discharging process; The automatic pressing mechanism is used for pressing the spherical plain bearing into the lug. The automatic pressing mechanism includes a press-fitting machine for press-fitting the spherical plain bearing, that is, pressing the spherical plain bearing into the lug. The press-fitting machine includes a top plate of the upper press-fitting frame, side plates of the upper press-fitting frame, a bottom plate of the lower press-fitting frame, side plates of the lower press-fitting frame, a rear support plate for pressing, a rear plate guide post, a slider, a fixing plate, fixed side plates, a fixed rear plate, a fixed servo motor, a universal guide block, a support pallet, a pallet reinforcing rib, a pallet motor, a connecting shaft, a connecting block, a rotating shaft, and a press-fitting head. The top plate of the upper press-fitting frame is installed on the rear support plate for pressing through a connecting piece. Two vertical surfaces of the side plates of the upper press-fitting frame are respectively installed on the top plate of the upper press-fitting frame and above the rear support plate for pressing through connecting pieces. The side plates of the lower press-fitting frame are installed on the bottom plate of the lower press-fitting frame through a connecting piece. The side plates of the lower press-fitting frame are installed on the rear support plate for pressing through a connecting piece. The fixed side plates are installed on the fixing plate through a connecting piece. The fixed side plates are installed on the fixed rear plate through a connecting piece. The fixed rear plate is installed on the rear support plate for pressing through a connecting piece. The fixed servo motor and the rotating shaft are flexibly assembled by a universal guide block. The fixed servo motor is used to control the rotation of the rotating shaft. Through the fixing plate connected to the slider, the motion form is converted into vertical motion to achieve the effect of applying pressure. The pallet motor controls the up and down movement of the support pallet. When the product to be pressed, that is, the lug and the spherical plain bearing, move to the press-fitting station, the support pallet moves upward to contact the transfer disk. When the spherical plain bearing is pressed into the lug, it plays a supporting role. The support pallet is provided with a reinforcing rib to improve the press-fitting stiffness and strength and ensure the reliability of the pressed workpiece. The rear plate guide post is used to guide the slider and is installed on the rear support plate for pressing. The press-fitting head and the rotating shaft are matched by a set screw hole and are both integrally machined in one time. The press-fitting head is designed as a stepped shaft type, and the press-fitting surface contacts the outer ring of the bearing; The product transfer mechanism is used for transfer and switching between different stations; The automatic rolling mechanism is used for rolling, closing the mouth and wrapping the edge of the lug; The equipment auxiliary mechanism is used to control the automatic feeding and discharging mechanism, the automatic pressing mechanism, the product transfer mechanism, the automatic rolling mechanism and is used for human-computer interaction; The assembly method includes: Put the lug and the spherical plain bearing to be assembled on the pre-assembly platform of the automatic feeding and discharging mechanism; The manipulator of the automatic feeding and discharging mechanism performs the feeding operation and transfers the workpiece to the transfer disk of the product transfer mechanism; The transfer disk of the product transfer mechanism rotates to the automatic pressing mechanism and starts press-fitting. The transfer disk of the product transfer mechanism rotates to the automatic rolling mechanism and then performs single-sided rolling, closing the mouth and wrapping the edge; After the workpiece after single-sided rolling, closing the mouth and wrapping the edge is inspected and qualified, turn it over and put it on the pre-assembly platform of the automatic feeding and discharging mechanism; The manipulator of the automatic feeding and discharging mechanism performs the feeding operation and transfers the workpiece to the automatic rolling mechanism for rolling on the other side; The manipulator of the automatic feeding and discharging mechanism performs the discharging operation.

2. The automatic assembly method according to claim 1, wherein The automatic feeding and discharging mechanism includes a pre-assembly platform, a three-axis conveying mechanism, and a manipulator; The pre-assembly platform is used for pre-installing and fixing the tooling; The three-axis conveying mechanism is used for driving the product; The manipulator is used for product transfer.

3. The automatic assembly method according to claim 2, wherein The pre-assembly platform includes a pre-assembly platform, a platform tooling fixture, a platform motor, a transmission lead screw, and a guide rail; Both the pre-assembly platform and the platform tooling fixture are made of stainless steel. Threaded holes are provided at the bottom of the platform tooling fixture and the pre-assembly platform, and the two are cooperatively positioned and installed through connecting parts; The mating holes opened on the platform tooling fixture are mated with the positioning pins of the pre-assembly platform to complete the positioning. The pre-assembly platform has multiple workstations, and the platform motor drives the pre-assembly platform to move horizontally on the guide rail through the transmission lead screw.

4. The automatic assembly method according to claim 2, wherein The three-axis conveying mechanism includes an X-axis, a Y-axis, a Z-axis, a coupling, a slider, an X-axis motor, a Y-axis motor, and a Z-axis motor. The three-axis conveying mechanism adopts a gantry structure, and the two Y-axes are connected by a coupling to ensure motion synchronization; Limit switches are provided on the X-axis, Y-axis, and Z-axis for limit protection. The X-axis, Y-axis, and Z-axis are selected as different length modules, and the X-axis, Y-axis, and Z-axis are supported and fixed by four vertically placed aluminum profiles; The running speed of the slider can be adjusted according to the rotation speeds of the X-axis motor, Y-axis motor, and Z-axis motor for material feeding and transfer.

5. The automatic assembly method according to claim 4, wherein, The manipulator includes a cylinder, a pneumatic hand clamp, an infrared sensor, and a transmission connecting plate; As an actuator, the manipulator controls the opening and closing of the pneumatic hand clamp through the telescopic movement of the cylinder; The infrared sensor determines whether there is a product by detecting the distance of the red dot, so as to control whether the hand clamp performs the clamping and loading / unloading actions; It is fixed to the Z-axis through the transmission connecting plate.

6. The automatic assembly method according to claim 1, characterized in that The product transfer mechanism includes a transfer main shaft, a transfer main shaft motor, and a transfer disk; The transfer main shaft motor drives the transfer disk to rotate through the transfer main shaft. Multiple groups of positioning holes are opened on the contact surfaces of the transfer main shaft and the transfer disk, and the transfer main shaft and the transfer disk are connected through connecting parts. Multiple workstations can be stored on the transfer disk simultaneously for pressing and rolling operations. The infrared sensor under the transfer disk detects whether there is a product in real time, so as to judge whether to perform transfer switching.

7. The automatic assembly method according to any one of claims 1 to 6, characterized in that, The automatic rolling mechanism includes a rolling press, and the rolling press is equipped with different rolling heads according to the specifications of the trunnion spherical bearings.

8. The automatic assembly method according to any one of claims 1 to 6, characterized in that, The pressure range values of both the automatic pressing mechanism and the automatic rolling mechanism are from 300N to 5000N.

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