An automatic assembly equipment for aerospace servo supporting bearings

Abstract

An automatic assembly equipment for aerospace servo supporting bearings, comprising an automatic feeding and discharging mechanism, an automatic pressing-in mechanism, a product transfer mechanism, an automatic rolling mechanism, and an equipment auxiliary mechanism; the automatic feeding and discharging mechanism is used for pre-installing and fixing the tooling and completing the automatic feeding and discharging process; the automatic pressing-in mechanism is used for pressing the spherical plain bearing into the lug; the product transfer mechanism is used for transferring and switching between different workstations; the automatic rolling mechanism is used for rolling and hemming the lug; 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-machine interaction. The automatic assembly equipment for aerospace servo bearings of the present invention is used for pressing and hemming the spherical plain bearing for aerospace servo supporting; by using a press, a corresponding feeding and discharging mechanism, a positioning tooling, and an automatic control system, the first-pass assembly qualification rate and quality consistency are effectively improved.

Description

Technical Field

[0001] The present invention relates to an automatic assembly equipment 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 servo systems. 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 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 lug is manual operation in the workshop. A special tooling is designed using a manual press and an ordinary bench drill to assemble a single lug 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 equipment for aerospace servo supporting bearings includes an automatic loading and unloading mechanism, an automatic pressing-in mechanism, a product transfer mechanism, an automatic rolling mechanism, and an equipment auxiliary mechanism;

[0006] The automatic loading and unloading mechanism is used for pre-assembling and fixing the tooling and completing automatic loading and unloading processing;

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

[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 lug;

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

[0011] Preferably, the automatic loading and unloading mechanism includes a pre-assembly platform, a three-axis conveying mechanism, and a manipulator;

[0012] The pre-assembly platform is used for placing and fixing the pre-assembled tooling;

[0013] The three-axis conveying mechanism is used for driving the product;

[0014] The manipulator is used for product transfer.

[0015] Preferably, the pre-assembly platform includes a pre-installation platform, a platform placement tooling, a platform motor, a transmission lead screw, and a guide rail bar;

[0016] Both the pre-installation platform and the platform placement tooling are made of stainless steel. Threaded holes are provided at the bottom of the platform placement tooling and the pre-assembly platform, and the two are cooperatively positioned and installed through connecting parts; the mating holes opened on the platform placement tooling are mated with the positioning pins of the pre-installation platform to complete the positioning. The pre-installation platform has multiple workstations, and the platform motor drives the pre-installation platform to move horizontally on the guide rail bar through the transmission lead screw.

[0017] 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.

[0018] Preferably, the manipulator includes a cylinder, a pneumatic hand clamp, an infrared sensor, and a transmission connecting plate; the manipulator, as an actuator, 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.

[0019] Preferably, the product transfer mechanism includes a transfer main shaft, a transfer main shaft motor, and a transfer disk;

[0020] 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 at the same time 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.

[0021] Preferably, the automatic pressing mechanism includes a press for pressing the joint bearing, that is, pressing the joint bearing into the lug.

[0022] Preferably, the press-fitting machine includes a press-fitting upper frame top plate, press-fitting upper frame side plates, press-fitting lower frame bottom plate, press-fitting lower frame side plates, press-fitting support rear plate, rear plate guide columns, sliders, fixed plates, fixed side plates, fixed rear plates, fixed servo motors, universal guide blocks, support pallets, pallet reinforcing ribs, pallet motors, connecting shafts, connecting blocks, rotating shafts, and press-fitting heads. The press-fitting upper frame top plate is installed on the press-fitting support rear plate through a connecting member. The two vertical surfaces of the press-fitting upper frame side plates are respectively installed on the press-fitting upper frame top plate and above the press-fitting support rear plate through connecting members. The press-fitting lower frame side plates are installed on the press-fitting lower frame bottom plate through connecting members, and the press-fitting lower frame side plates are installed on the press-fitting support rear plate through connecting members. The fixed side plates are installed on the fixed plates through connecting members, the fixed side plates are installed on the fixed rear plates through connecting members, and the fixed rear plates are installed on the press-fitting support rear plate through connecting members; a flexible assembly is adopted between the fixed servo motor and the rotating shaft using a universal guide block; the fixed servo motor is used to control the rotation of the rotating shaft, and through the fixed plate connected to the slider, the motion form is converted into a 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 press-fitted, i.e., 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 press-fitted 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 press-fitted workpiece; the rear plate guide columns are used to guide the sliders and are installed on the press-fitting support rear plate; the press-fitting head is matched with the rotating shaft by a set screw hole, and both are 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.

[0023] Preferably, the automatic rolling press mechanism includes a rolling press, and the rolling press is equipped with different rolling heads according to the specifications of the lug spherical plain bearings.

[0024] Preferably, the pressure range values of both the automatic press-fitting mechanism and the automatic rolling press mechanism are from 300 N to 5000 N.

[0025] The present invention has the following beneficial effects compared with the prior art:

[0026] (1) The present invention utilizes the reflection principle and adopts the infrared diffuse reflection sensing technology. The servo is matched with the lugs, bearings, etc. to achieve automatic clamping, autonomous positioning, and realize the automatic feeding and discharging function, improving the accuracy of each clamping, installation positioning, and the consistency of the assembly quality; integrating automatic press-fitting and automatic rolling press into one, and uniformly integrating them into a digital control machining center, with high equipment integration and automation degree, realizing an efficient manufacturing mode with the equipment as the main and manual work as the auxiliary during assembly;

[0027] (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 lateral force caused by eccentricity during installation, thereby improving the service life of the equipment, and having high robustness and adaptability. Moreover, the platform is provided with a supporting pallet and reinforcing ribs to improve the pressing stiffness and strength, ensure the reliability of the pressed workpiece, and optimize the pressing force application point from point contact to surface contact during the pressing operation compared with ordinary equipment, reducing stress concentration.

[0028] (3) The optimized design of the pre-assembly platform of the present invention is servo-driven, improving the reliability of the equipment, avoiding the influence of the manual 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 manipulator are placed on the platform. The material of the shock-absorbing pad is 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.

[0029] (4) The three-axis conveying mechanism of the present invention is designed with a gantry structure, which is more stable and reliable in operation compared with structures such as cantilever type, reducing the instability of the equipment operation caused by the self-weight 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, closing, and hemming operations can be carried out synchronously during the pressing at multiple workstations, greatly improving the production efficiency and meeting the requirements of mass production.

[0030] (5) Through the limit design of the stepped surface of the equipment tooling and the positioning shaft, when the bearing is pressed into the lug, it is symmetrically centered with the lug to ensure 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 product installation position, and effectively avoiding the consequence of product scrapping caused by pressing deviation during the pressing operation.

[0031] (6) The present invention optimizes the tooling structure of the pre-assembly platform, reduces the redundant installation surface, increases the contact surface between the tooling and the product, makes the fit more stable, increases the reliability, and the pressed rotating shaft and the pressing head adopt a coaxial design, effectively ensuring their coaxiality, avoiding the shaking of the pressing head driven by the rotating shaft during pressing, affecting the pressing effect, and making the bearing pressing operation more stable and reliable, improving the pressing accuracy.

[0032] (7) The automatic assembly equipment for aerospace servo bearings of the present invention is used for the pressing and rolling edge closing of aerospace servo supporting joint bearings. By using a press, a corresponding feeding and discharging mechanism, positioning tooling, and an automatic control system, the first-pass assembly qualification rate, quality consistency, etc. are effectively improved. 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

[0033] Figure 1 It is a schematic diagram of the main components of the automatic assembly equipment.

[0034] Figure 2 It is the general assembly drawing of the automatic assembly equipment.

[0035] Figure 3 It is the schematic diagram of the pre-assembly platform.

[0036] Figure 4 It is the schematic diagram of the three-axis conveying mechanism.

[0037] Figure 5 It is the schematic diagram of the product transfer mechanism.

[0038] Figure 6 It is the schematic diagram of the pressing-in mechanism.

[0039] Figure 7 It is the schematic diagram of the product fixing tooling.

[0040] Figure 8 It is the schematic diagram of the pressing head.

[0041] Figure 9 It is the schematic diagram of the electrical principle design.

[0042] Figure 10 It is the schematic diagram of the assembly operation process. Specific implementation manners

[0043] To make the objectives, technical solutions and advantages of the present invention clearer, the following will further describe the implementation manners of the present invention in detail with reference to the accompanying drawings.

[0044] An automatic assembly equipment for aerospace servo supporting bearings, which 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, namely equipment auxiliary mechanisms. The taking 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-installation and fixation of the tooling on the platform, and the automatic feeding and discharging process can be realized through the manipulator and the three-axis conveying mechanism. The product transfer mechanism is mainly a multi-station transfer table 41, which can realize the 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 the ear joint bearings, and the rolling heads can be used in combination with steel balls of the following 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.

[0045] Such as Figure 1 , Figure 2As 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 mechanisms 6 of the equipment; the other mechanisms of the equipment mainly consist of an electrical control part 61, an operation display part 62, an equipment box part 63, a safety protection part 64, etc. The overall frame part of the box is made of aluminum profiles and carbon steel, the frame cover parts are made of sheet metal parts, and the observation window part is made of acrylic material.

[0046] The automatic feeding and discharging mechanism mainly consists of a pre-assembly platform 21, a three-axis conveying mechanism 22, a manipulator 23, etc. The automatic feeding and discharging mechanism mainly realizes automatic loading and unloading operations in space. The pre-assembly platform 21 mainly includes a pre-assembly platform 211, a platform placement tooling 212, a platform motor 213, a transmission lead screw 214, a guide rail strip 215, etc. As Figure 3 shown, the pre-assembly platform is mainly used for 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 cooperatively positioned and installed through the first screw 1; the platform motor and the transmission lead screw are connected through a 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 below the pre-assembly platform through multiple groups of third screws 3. Four sets of through holes are provided on both sides of the platform placement tooling. These four sets of 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. During equipment operation, it can effectively reduce the noise hazard and protect the product from external forces with a buffering effect; the optimized design of the pre-assembly platform can achieve the assembly of ten workstations. It is driven electrically by the platform motor rotating 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 method of driving by the motor is more reliable and stable than the method of manually pushing and pulling the tray.

[0047] As Figure 4 shown, the three-axis conveying mechanism 22 mainly includes an X-axis 221a, a Y-axis 221b, a Z-axis 221c, a coupling 2 (222), a slider 223, an X-axis motor 224a, a Y-axis motor 224b, and a Z-axis motor 224c. The three-axis conveying mechanism, as the main transmission part, adopts a gantry structure, which is simple to operate, has higher stability, and can bear a greater load. The two Y-axes 221b are connected through a coupling 2 (222) to ensure motion synchronization; Limit switches are provided on the X-axis 221a, Y-axis 221b, and Z-axis 221c 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 223 can be adjusted according to the rotational speeds of the X-axis motor 224a, Y-axis motor 224b, and Z-axis motor 224c for material feeding and transmission.

[0048] The manipulator 23 mainly consists of components such as a cylinder 231, a pneumatic gripper 232, an infrared sensor 233, and a transmission connecting plate 234. As an actuator, the manipulator is mainly responsible for the transfer of products. The effective payload of the gripper of this mechanism is 10 kg, and the opening and closing of the manipulator gripper 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, thereby controlling whether the gripper performs the clamping and loading / unloading operations; the connection with the Z-axis is achieved through the transmission connecting plate.

[0049] As Figure 5 shown, the product transfer mechanism mainly includes a transfer main shaft 411, a transfer main shaft motor 412, a transfer disk 413, and 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 through six groups of second screws 2. The transfer disk is made of carbon steel plate and is designed as a circle. When the equipment is running, it can bear the pressing force and rolling force at the same time, and can store six workstations simultaneously for pressing 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 rotation 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 pressing, but also perform the discharging operation of processed parts while rolling, which improves the overall operation efficiency to a certain extent.

[0050] 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 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 using 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, improving 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.

[0051] 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.

[0052] The electrical principle design of the equipment is as Figure 9 shown.

[0053] The operation process method of equipment assembly is as Figure 10 shown below.

[0054] The operation process of this automatic assembly equipment is as follows:

[0055] 1. This automatic assembly equipment is grounded as required and started as required (while starting the pump power supply, ensuring the air supply pressure to prepare for the operation of the automatic rolling mechanism). Turn on the equipment and rotate the switch button to the ON position;

[0056] 2. After starting up, this 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 zero return operation);

[0057] 3. Log in according to the operation account after starting up, and then carry out the operation of this automatic assembly equipment;

[0058] 4. The default automatic assembly mode is set after starting up. Touch operation can be used to display the lower menu bar for corresponding operations. Confirm that the "program settings" in the electrical control are correct and select the pressing and rolling programs;

[0059] 5. Place the ear to be installed and the spherical plain bearing on the pre-assembly platform of the automatic loading and unloading mechanism;

[0060] 6. Select the corresponding preset program according to the specifications of the ear and the spherical plain bearing;

[0061] 7. After the "Start" button appears, the operator clicks this button and the equipment starts to execute;

[0062] 8. The three-axis conveying mechanism automatically moves to the first station of the pre-assembly platform, and the manipulator performs the loading operation;

[0063] 9. The rotation main shaft motor starts to work, the turntable rotates to the automatic pressing-in mechanism, and the first station starts to press-fit; (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 loading operation)

[0064] 10. After the pressing-in at the first station is completed, it rotates to the automatic rolling mechanism, and the first station starts to roll and close the edge; (the second station rotates to the automatic pressing-in mechanism for pressing-in);

[0065] 11. The three-axis conveying mechanism automatically moves to the third station of the pre-assembly platform, and the manipulator performs the loading operation;

[0066] 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 unloading operation;...

[0067] 13. Until the rolling operation and unloading operation of 6 stations are completed;

[0068] 14. Manually inspect the quality of press-fitting and roll-formed hemming. If unqualified, make corresponding treatment according to the assembly quality. If qualified, turn over the lug assembly (the bearing is pressed into the lug and one side has completed roll-formed hemming), and place the turned-over lug assembly into the pre-assembly platform.

[0069] 15. Select the roll-forming program.

[0070] 16. After the "Start" button appears, the operator clicks the button and the equipment starts to execute.

[0071] 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.

[0072] 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.

[0073] 19. The manipulator performs the unloading operation in sequence.

[0074] 20. Manually inspect the quality of roll-formed hemming. If qualified, store the lug assembly (at this time, the roll-formed hemming on both sides has been completed) in the warehouse. If unqualified, make corresponding treatment according to the assembly quality.

[0075] 21. Shut down the equipment.

[0076] The present invention can be applied to the automated assembly operations of various aerospace servo model supporting spherical plain bearings and their supports, such as batch assembly of spherical plain bearings and their corresponding lugs in series such as GE5E, UG10, GE10E GEG10E-C2, GE8E / U, GE12E / U, GE20ES / U, GE15DE1T, GE15ES, GE20ES, GE25ES, etc.

[0077] In the present invention, the pressure range values of the automatic press-fitting mechanism and the automatic roll-forming mechanism are from 300N to 5000N.

[0078] 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.

[0079] Although the present invention has been disclosed above with preferred embodiments, it is not intended 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 modification, equivalent change and modification made to the above embodiments according to 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 equipment for aerospace servo supporting bearings, characterized in that, it includes an automatic loading and unloading mechanism, an automatic pressing-in mechanism, a product transfer mechanism, an automatic rolling mechanism, and an equipment auxiliary mechanism; The automatic loading and unloading mechanism is used for pre-assembling and fixing the tooling, and completing the automatic loading and unloading process; The automatic pressing-in mechanism is used for pressing the spherical plain bearing into the lug; The automatic pressing-in 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 press-fitting upper frame top plate, press-fitting upper frame side plates, press-fitting lower frame bottom plate, press-fitting lower frame side plates, press-fitting support rear plate, rear plate guide posts, sliders, fixing plates, fixed side plates, fixed rear plates, fixed servo motors, universal guide blocks, support pallets, pallet reinforcing ribs, pallet motors, connecting shafts, connecting blocks, rotating shafts, and press-fitting heads. The press-fitting upper frame top plate is installed on the press-fitting support rear plate through a connecting piece. The two vertical surfaces of the press-fitting upper frame side plates are respectively installed on the press-fitting upper frame top plate and above the press-fitting support rear plate through connecting pieces. The press-fitting lower frame side plates are installed on the press-fitting lower frame bottom plate through connecting pieces. The press-fitting lower frame side plates are installed on the press-fitting support rear plate through connecting pieces. The fixed side plates are installed on the fixing plates through connecting pieces. The fixed side plates are installed on the fixed rear plates through connecting pieces. The fixed rear plates are installed on the press-fitting support rear plate through connecting pieces; The fixed servo motor and the rotating shaft are flexibly assembled using 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 reinforcing ribs to improve the press-fitting stiffness and strength and ensure the reliability of the pressed workpiece; The rear plate guide posts are used to guide the sliders and are installed on the press-fitting support rear plate; The press-fitting head is matched with the rotating shaft by a set screw hole, and both are 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 loading and unloading mechanism, the automatic pressing-in mechanism, the product transfer mechanism, and the automatic rolling mechanism, and is used for human-machine interaction.

2. The automatic assembly equipment according to claim 1, characterized in that, the automatic loading and unloading mechanism includes a pre-assembly platform, a three-axis conveying mechanism, and a manipulator; The pre-assembly platform is used for placing and fixing the pre-assembled tooling; The three-axis conveying mechanism is used for transmitting the product; The manipulator is used for product transfer.

3. The automatic assembly equipment according to claim 2, characterized in that, the pre-assembly platform includes a pre-assembly platform, platform placing tooling, platform motor, transmission lead screw, and guide rail strip; Both the pre-installed 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-assembled platform. They are cooperatively positioned and installed through connecting parts. The mating holes opened on the platform placement tooling are cooperatively installed with the positioning pins of the pre-installed platform to complete positioning. The pre-installed platform is provided with multiple workstations. The platform motor drives the pre-installed platform to move horizontally on the guide rail through the transmission lead screw.

4. The automatic assembly equipment according to claim 2, characterized in that 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. Two Y-axes are connected through the coupling 2 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 equipment according to claim 4, characterized in that the manipulator includes a cylinder, a pneumatic hand clamp, an infrared sensor, and a transmission connecting plate; the manipulator is used as an actuating mechanism, and the opening and closing of the pneumatic hand 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, thereby controlling 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 equipment 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. 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 to determine whether to perform transfer and switching.

7. The automatic assembly equipment 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 spherical plain bearings.

8. The automatic assembly equipment 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 300 N to 5000 N.

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