Automatic bearing assembly device and method

Abstract

The application provides a bearing automatic assembling device and method. The bearing automatic assembling device comprises an assembling positioning mechanism, a jaw replacement mechanism for providing a plurality of different types of jaws, a first feeding mechanism adjacent to the assembling positioning mechanism for providing a plurality of bearing assemblies to be assembled, a second feeding mechanism provided on a workbench and located at one side of the assembling positioning mechanism for providing locking pieces for locking the bearing assemblies, and a moving robot provided adjacent to one side of the workbench and comprising a first mechanical arm and a second mechanical arm cooperating with each other for automatically loading different types of jaws from the jaw replacement mechanism by the first mechanical arm and the second mechanical arm, clamping the bearing assemblies and the locking pieces from the first feeding mechanism and the second feeding mechanism and moving to the assembling positioning mechanism, and then completing the assembling of the bearing. The application effectively improves the assembling precision and efficiency of the bearing and realizes the automatic assembling of the bearing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic assembly, in particular to a bearing automatic assembly device and method. BACKGROUND

[0002] Bearing is a basic mechanical element, which is widely used in various mechanisms, such as automobiles, ships, aircrafts, washing machines, etc.

[0003] However, bearing assembly is a tedious and precise process, and most of the existing bearing assembly is manually assembled. If the bearing assembly is completed manually, when the number of bearings is large, especially in bearing manufacturing and assembly factories, it will consume a lot of time and waste human resources, and the automation degree is low, and the assembly abnormal rate is high. SUMMARY

[0004] In view of the above, it is necessary to provide a bearing automatic assembly device and method to improve the bearing assembly efficiency and assembly accuracy.

[0005] The embodiment of the present application provides a bearing automatic assembly device, which comprises a workbench, an assembly positioning mechanism arranged on the workbench, a jaw replacement mechanism arranged on the workbench and used for providing a plurality of different types of jaws, a first feeding mechanism arranged adjacent to the assembly positioning mechanism and used for providing a plurality of bearing assemblies to be assembled, a second feeding mechanism arranged on the workbench and located on one side of the assembly positioning mechanism and used for providing a locking piece for locking the bearing assembly, and a mobile robot arranged adjacent to one side of the workbench, wherein the assembly positioning mechanism, the jaw replacement mechanism, the first feeding mechanism and the second feeding mechanism are arranged around the mobile robot, the mobile robot comprises a first mechanical arm and a second mechanical arm which cooperate with each other, and is used for automatically loading different types of jaws from the jaw replacement mechanism by the first mechanical arm and the second mechanical arm, clamping the bearing assembly and the locking piece from the first feeding mechanism and the second feeding mechanism and moving them to the assembly positioning mechanism, and then completing the assembly of the bearing.

[0006] The bearing automatic assembly device provided by the embodiment is characterized in that the mobile robot automatically loads different types of jaws from the jaw replacement mechanism by the first mechanical arm and the second mechanical arm, different types of jaws are respectively adapted to each bearing assembly and locking piece, and then the clamping and assembly of the bearing assembly and the locking piece are realized under the cooperation of the first mechanical arm and the second mechanical arm, which replaces the manual assembly mode, effectively improves the assembly accuracy and efficiency of the bearing, reduces the demand for manpower, and realizes the automatic assembly of the bearing.

[0007] In some embodiments, the bearing assembly includes a bearing fitting for assembling a bearing, the first feeding mechanism includes a bearing support arranged on one side of the workbench for placing the bearing fitting, the gripper includes a first gripper and a second gripper; the mobile robot is configured to automatically load the first gripper from the gripper changing mechanism by the first mechanical arm and automatically load the second gripper from the gripper changing mechanism by the second mechanical arm; wherein the first gripper and the second gripper cooperate with each other to clamp the bearing fitting from the bearing support of the first feeding mechanism and move the bearing fitting to the assembly positioning mechanism, thereby completing partial assembly of the bearing fitting on the bearing.

[0008] In some embodiments, the bearing assembly further includes a roller, the first feeding mechanism further includes a roller vibration assembly arranged on the workbench for providing the roller placed in a predetermined direction, the gripper includes a third gripper; the mobile robot is configured to automatically unload the first gripper from the gripper changing mechanism by the first mechanical arm and automatically load the third gripper, so as to repeatedly suck the roller from the roller vibration assembly and move the roller to the assembly positioning mechanism, thereby completing assembly of the roller on the bearing fitting.

[0009] In some embodiments, the third gripper includes a first gripper finger including a groove suction head and a second gripper finger including a convex column suction head; wherein the roller includes a horizontal roller and a vertical roller, the groove suction head is configured to suck the horizontal roller, and the convex column suction head is configured to suck the vertical roller, so as to allow the first gripper finger and the second gripper finger to repeatedly suck the horizontal roller and the vertical roller from the roller vibration assembly respectively and move the horizontal roller and the vertical roller to the assembly positioning mechanism, thereby placing the horizontal roller and the vertical roller in a cross manner at a designated position of the bearing fitting.

[0010] In some embodiments, the gripper includes a fourth gripper, and the mobile robot is configured to automatically unload the third gripper from the gripper changing mechanism by the first mechanical arm and automatically load the fourth gripper, so as to repeatedly clamp the locking member from the second feeding mechanism and move the locking member to the assembly positioning mechanism, and lock the locking member at a predetermined position of the bearing assembly under cooperation of the second gripper, thereby completing assembly of the bearing.

[0011] In some embodiments, the mobile robot further comprises a torque detection component disposed on the first robot arm, configured to detect whether a torque of the fourth gripper driving the locking member to be locked reaches a first predetermined requirement; wherein when the torque does not reach the first predetermined requirement, the fourth gripper continues to lock the locking member which does not reach the first predetermined requirement; and when the torque reaches the first predetermined requirement, the second gripper removes the assembled bearing from the assembly positioning mechanism.

[0012] In some embodiments, the bearing automatic assembly device further comprises:

[0013] a bearing detection mechanism disposed on a side of the assembly positioning mechanism away from the mobile robot, configured to detect whether the assembled bearing reaching the first predetermined requirement meets a second predetermined requirement;

[0014] wherein the bearing meeting the second predetermined requirement and the bearing not meeting the second predetermined requirement are respectively removed to different positions.

[0015] In some embodiments, the bearing automatic assembly device further comprises a double-layer transport line disposed on the same side of the bearing detection mechanism and the workbench; wherein when the torque reaches the first predetermined requirement, the second gripper removes the assembled bearing from the assembly positioning mechanism and removes it to the double-layer transport line, the double-layer transport line transports the assembled bearing reaching the first predetermined requirement to the bearing detection mechanism, and transports the bearing meeting the second predetermined requirement away from the bearing detection mechanism.

[0016] In some embodiments, the mobile robot further comprises a three-dimensional force sensor disposed on an output end of the second robot arm, configured to detect whether a rotational resistance of the bearing meeting the second predetermined requirement on the double-layer transport line reaches a third predetermined requirement under cooperation of the first gripper and the second gripper; wherein the bearing reaching the third predetermined requirement and the bearing not reaching the third predetermined requirement are respectively removed to different positions.

[0017] In some embodiments, the mobile robot further comprises an arm camera disposed on the second robot arm, configured to obtain assembly images of an assembly process of the bearing to complete assembly of the bearing.

[0018] The embodiment of the present application also provides a bearing automatic assembling method, which applies the bearing automatic assembling device described in the above embodiment and comprises the following steps: providing a bearing assembly to a first feeding mechanism and a locking piece to a second feeding mechanism, wherein the bearing assembly comprises a bearing accessory and a roller; moving a robot to a jaw replacement mechanism, and a first mechanical arm and a second mechanical arm automatically load a first jaw and a second jaw respectively; clamping the bearing accessory from the first feeding mechanism by the first jaw and the second jaw and moving to an assembling positioning mechanism; moving the robot to the jaw replacement mechanism again, and the first mechanical arm automatically unloads the first jaw and automatically loads a third jaw; clamping the roller from the first feeding mechanism by the third jaw and moving to a specified position of the bearing accessory on the assembling positioning mechanism; moving the robot to the jaw replacement mechanism again, and the first mechanical arm automatically unloads the third jaw and automatically loads a fourth jaw; clamping the locking piece from the second feeding mechanism by the fourth jaw and locking the locking piece to the bearing assembly to complete the assembling of the bearing.

[0019] The bearing automatic assembling method provided by the embodiment moves the robot to automatically load different types of jaws from the jaw replacement mechanism by the first mechanical arm and the second mechanical arm, the different types of jaws are respectively adapted to each bearing assembly and locking piece, and then the first mechanical arm and the second mechanical arm realize the clamping and assembling of the bearing assembly and the locking piece in cooperation with each other, which replaces the manual assembling mode, effectively improves the assembling precision and efficiency of the bearing, reduces the demand for manpower, and realizes the automation of bearing assembling.

[0020] In some embodiments, the step of clamping the locking piece from the second feeding mechanism by the fourth jaw and locking the locking piece to the bearing assembly to complete the assembling of the bearing further comprises: detecting whether a torsion force of the first mechanical arm driving the fourth jaw to lock the locking piece reaches a first predetermined requirement; when the torsion force reaches the first predetermined requirement, the second jaw clamps and moves the bearing reaching the first predetermined requirement to a double-layer conveying line; when the torsion force does not reach the first predetermined requirement, the fourth jaw continues to lock the locking piece not reaching the first predetermined requirement; and conveying the bearing reaching the first predetermined requirement to a bearing detection mechanism by the double-layer conveying line.

[0021] In some embodiments, the step of conveying the bearing reaching the first predetermined requirement to the bearing detection mechanism by the double-layer conveying line comprises: detecting, by the bearing detection mechanism, whether the bearing conveyed by the double-layer conveying line meets a second predetermined requirement; placing the bearing meeting the second predetermined requirement on the double-layer conveying line and placing the bearing not meeting the second predetermined requirement in a corresponding position.

[0022] In some embodiments, the bearing automatic assembling method further comprises: moving the mobile robot to the gripper replacement mechanism again, and the first mechanical arm automatically loads the first gripper again; the three-dimensional force sensor detects whether the rotation resistance of the bearing on the double-layer conveying line that meets the second predetermined requirement reaches a third predetermined requirement under cooperation of the first gripper and the second gripper; the double-layer conveying line conveys the bearing that reaches the third predetermined requirement to a corresponding position; and the first gripper or the second gripper moves the bearing that does not reach the third predetermined requirement to a corresponding position. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0024] Figure 2 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0025] Figure 3 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0026] Figure 4 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0027] Figure 5 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0028] Figure 6 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0029] Figure 7 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 6 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0030] Figure 8 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0031] Figure 9 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application. Figure 1 Structure schematic diagram of bearing automatic assembling device in the embodiment of the present application.

[0032] MAIN COMPONENT SYMBOL EXPLANATION

[0033] Workbench 11

[0034] Assembly positioning mechanism 12

[0035] Gripper replacement mechanism 13

[0036] First feeding mechanism 14

[0037] Second feeding mechanism 15

[0038] Mobile robot 16

[0039] Head 1611

[0040] Main body 1612

[0041] First arm 1613

[0042] Second arm 1614

[0043] Mobile chassis 1615

[0044] First mechanical arm 161

[0045] Second mechanical arm 162

[0046] Laser navigator 163

[0047] Head camera 164

[0048] Arm camera 165

[0049] Display 168

[0050] First gripper 131

[0051] Second gripper 132

[0052] Bearing 20

[0053] Oil seal 21

[0054] Roller flange cover 22

[0055] Rotary shaft roller 23

[0056] Roller flange base 24

[0057] Carrying bracket 141

[0058] Oil seal tray 1411

[0059] Roller flange cover tray 1412

[0060] Rotary shaft roller tray 1413

[0061] Roller flange base tray 1414

[0062] Positioning jig 121

[0063] Positioning shaft 1211

[0064] Carrying seat 1212

[0065] Oil seal press-fit mechanism 122

[0066] Press-fit shaft 1221

[0067] Press-fit seat 1222

[0068] Third clamping jaw 133

[0069] First clamping finger 1331

[0070] Second clamping finger 1332

[0071] Groove suction head 1333

[0072] Convex column suction head 1334

[0073] Roller vibration assembly 142

[0074] Camera 1421

[0075] Vibration disc 1422

[0076] Fourth clamping jaw 134

[0077] First acupoint 135

[0078] Second acupoint 136

[0079] Third acupoint 137

[0080] Fourth acupoint 138

[0081] Torsion detection assembly 166

[0082] Bearing detection mechanism 17

[0083] Product storage mechanism 18

[0084] Double-layer transport line 19

[0085] Upper-layer transport line 191

[0086] Lower-layer transport line 192

[0087] Three-dimensional force sensor 167

[0088] Locking piece 25

[0089] Transverse roller 26

[0090] Vertical roller 27 DETAILED DESCRIPTION

[0091] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout the drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0092] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0093] Please refer to Figure 1 The embodiment of the present application provides a bearing automatic assembling device 100. The present application takes the automatic assembly of the bearing 20 as an example to describe the bearing automatic assembling device 100 in detail. Figure 2

[0094] Specifically, the bearing automatic assembling device 100 comprises a workbench 11, an assembling positioning mechanism 12, a jaw changing mechanism 13, a first feeding mechanism 14, a second feeding mechanism 15 and a mobile robot 16. The assembling positioning mechanism 12 and the jaw changing mechanism 13 are arranged on the workbench 11, and the jaw changing mechanism 13 is used to provide a plurality of different types of jaws. The first feeding mechanism 14 is arranged adjacent to the assembling positioning mechanism 12 and is used to provide a plurality of bearing assemblies to be assembled. The second feeding mechanism 15 is arranged on the workbench 11 and is located on one side of the assembling positioning mechanism 12, and is used to provide a locking piece 25 for locking the bearing assembly. The mobile robot 16 is arranged adjacent to one side of the workbench 11. The assembling positioning mechanism 12, the jaw changing mechanism 13, the first feeding mechanism 14 and the second feeding mechanism 15 are all arranged around the mobile robot 16.

[0095] Among them, the mobile robot 16 comprises a first mechanical arm 161 and a second mechanical arm 162 which cooperate with each other, and is used to automatically load different types of jaws from the jaw changing mechanism 13 through the first mechanical arm 161 and the second mechanical arm 162, so as to clamp the bearing assembly and the locking piece 25 from the first feeding mechanism 14 and the second feeding mechanism 15 and move them to the assembling positioning mechanism 12, thereby completing the assembly of the bearing 20.

[0096] In the above embodiment, the mobile robot 16 automatically loads different types of jaws from the jaw changing mechanism 13 through the first mechanical arm 161 and the second mechanical arm 162, first clamps the bearing assembly from the first feeding mechanism 14 and moves it to the assembling positioning mechanism 12 to complete the assembly of the bearing assembly, then clamps the locking piece 25 from the second feeding mechanism 15 and moves it to the assembling positioning mechanism 12 to lock the locking piece 25 on the assembled bearing assembly, thereby completing the assembly of the bearing 20.

[0097] ​The bearing automatic assembling device 100 provided by the embodiment is capable of automatically loading different types of clamps by the mobile robot 16 through the first mechanical arm 161 and the second mechanical arm 162 and the clamp jaw changing mechanism 13, the different types of clamps are respectively adapted to each bearing assembly and the locking piece 25, and then the bearing assembly and the locking piece 25 are clamped and assembled under the cooperation of the first mechanical arm 161 and the second mechanical arm 162, which replaces the manual assembling mode, effectively improves the assembling precision and efficiency of the bearing 20, reduces the labor demand, and realizes the bearing 20 assembling automation.

[0098] For further understanding Figure 3 , the mobile robot 16 comprises a head portion 1611, a main body portion 1612, a first arm portion 1613, a second arm portion 1614 and a mobile chassis 1615. The main body portion 1612 is arranged on the mobile chassis 1615, the head portion 1611 is arranged at the upper end of the main body portion 1612, and the first arm portion 1613 and the second arm portion 1614 are respectively arranged at the two sides of the main body portion 1612. The first mechanical arm 161 and the second mechanical arm 162 are respectively connected to the first arm portion 1613 and the second arm portion 1614.

[0099] Further, the mobile chassis 1615 of the mobile robot 16 is provided with a laser navigator 163 for scanning the working area of the mobile robot 16 and establishing a three-dimensional space map.

[0100] Further, the head portion 1611 of the mobile robot 16 is provided with a head camera 164 for acquiring environmental images of the working area of the mobile robot 16.

[0101] Further, the mobile robot 16 further comprises a controller (not shown in the figure), the laser navigator 163 and the head camera 164 are electrically connected to the controller, the controller establishes a three-dimensional model according to the three-dimensional space map obtained by the laser navigator 163 and the environmental images obtained by the head camera 164, and calculates and analyzes the three-dimensional model to plan the walking path and operation steps of the mobile robot 16 in advance. For example, the head camera 164 can be a CCD camera, and the laser navigator 163 can be a SLAM navigation.

[0102] In some embodiments, the mobile robot 16 further comprises an arm camera 165. The arm camera 165 is arranged at the output end of the second mechanical arm 162, and is used to acquire relevant images in the assembling process to assist the first mechanical arm 161 and the second mechanical arm 162 to complete the assembling of the bearing 20 by different types of clamps. For example, the arm camera 165 can be a CCD camera.

[0103] Further, the arm camera 165 is electrically connected with the controller, and the controller controls the operation steps of the different types of clamping jaws installed on the first mechanical arm 161 and the second mechanical arm 162 according to the relevant images obtained by the arm camera 165 during the assembly process, so as to complete the assembly of the bearing 20.

[0104] In some embodiments, the mobile robot 16 further comprises a display 168. The display 168 is arranged on the main body 1612. The display 168 is electrically connected with the controller, and is used to display relevant image data and operation buttons, so as to facilitate the operator to control the assembly process of the bearing 20.

[0105] In the above embodiments, the mobile robot 16 is arranged to replace manual operation to realize the relevant assembly steps of the bearing 20, thereby effectively improving the assembly precision and efficiency of the bearing 20, reducing the demand for manpower, and realizing the automation of the bearing 20 assembly.

[0106] For further reference Figure 1 In some embodiments, the bearing assembly comprises bearing accessories and rollers for assembling the bearing 20, wherein the first feeding mechanism 14 comprises a bearing support 414 and a roller vibration assembly 142. The bearing support 414 is arranged on one side of the workbench 11 and is used to place the bearing accessories. The roller vibration assembly 142 is arranged on the workbench 11 and is used to provide rollers placed in a predetermined direction.

[0107] Further, the clamping jaw comprises a first clamping jaw 131 and a second clamping jaw 132. The mobile robot 16 is used to automatically load the first clamping jaw 131 from the clamping jaw changing mechanism 13 through the first mechanical arm 161, and automatically load the second clamping jaw 132 from the clamping jaw changing mechanism 13 through the second mechanical arm 162.

[0108] The first clamping jaw 131 and the second clamping jaw 132 cooperate with each other to clamp the bearing accessories from the bearing support 414 of the first feeding mechanism 14, and then move the bearing accessories to the assembly positioning mechanism 12, thereby completing the partial assembly of the bearing accessories on the bearing 20.

[0109] For further reference Figure 2 In this embodiment, the bearing accessories placed on the bearing support 414 at least comprise an oil seal 21, a raceway flange cover 22, a rotating shaft raceway 23, and a raceway flange base 24. For further reference Figure 1 The bearing support 414 is sequentially arranged with an oil seal tray 1411, a raceway flange cover tray 1412, a rotating shaft raceway tray 1413, and a raceway flange base tray 1414, which are respectively used to accommodate the oil seal 21, the raceway flange cover 22, the rotating shaft raceway 23, and the raceway flange base 24.

[0110] For further reference Figure 1In the embodiment, the assembling positioning mechanism 12 at least comprises a positioning jig 121 and an oil seal pressing mechanism 122. The positioning jig 121 is used for positioning the bearing assembly during the assembling process, and the oil seal pressing mechanism 122 is used for pressing the oil seal 21.

[0111] Please refer to Figure 4 The positioning jig 121 comprises a positioning shaft 1211 and a bearing seat 1212, and the positioning shaft 1211 and the bearing seat 1212 are coaxially arranged, with the positioning shaft 1211 arranged in the bearing seat 1212.

[0112] Please refer to Figure 5 The oil seal pressing mechanism 122 comprises a pressing shaft 1221 and a pressing seat 1222, and the pressing shaft 1221 is used for bearing the oil seal 21. The pressing shaft 1221 can drive the oil seal 21 to press against the pressing seat 1222, so as to press the oil seal 21.

[0113] In the above embodiment, first, the mobile robot 16 moves to the side of the bearing support 141, the second mechanical arm 162 uses the arm camera 165 to shoot the position of the oil seal 21, the first gripper 131 clamps the oil seal 21 from the oil seal tray 1411, the second mechanical arm 162 again uses the arm camera 165 to shoot the position of the race flange cover 22, and the second gripper 132 clamps the race flange cover 22 from the race flange cover tray 1412; then, the mobile robot 16 moves to the side of the workbench 11, the second mechanical arm 162 uses the arm camera 165 to shoot the position of the pressing shaft 1221, and the oil seal 21 is sleeved on the pressing shaft 1221. The second mechanical arm 162 uses the arm camera 165 to shoot the positioning position of the race flange cover 22, and the second gripper 132 places the race flange cover 22 on the workbench 11; then, the mobile robot 16 again moves to the side of the bearing support 141, the second mechanical arm 162 uses the arm camera 165 to shoot the position of the rotating shaft raceway 23, the first gripper 131 clamps the rotating shaft raceway 23 from the rotating shaft raceway tray 1413, and the second mechanical arm 162 uses the arm camera 165 to shoot the position of the race flange base 24, and the second gripper 132 clamps the race flange base 24 from the race flange base 24; then, the mobile robot 16 again moves to the side of the workbench 11, the second mechanical arm 162 uses the arm camera 165 to shoot the positioning position of the race flange base 24, and the second gripper 132 places the race flange base 24 on the bearing seat 1212. The second mechanical arm 162 uses the arm camera 165 to shoot the positioning position of the rotating shaft raceway 23, and the first gripper 131 places the rotating shaft raceway 23 on the positioning shaft 1211, thereby completing the partial assembling of the bearing assembly on the bearing 20.

[0114] Please refer to Figure 6Further, the gripper includes a third gripper 133. The mobile robot 16 is configured to unload the first gripper 131 and load the third gripper 133 automatically from the gripper changing mechanism 13 by the first robot arm 161 to suck the rollers from the roller shaking assembly 142 multiple times and transfer the rollers to the assembly positioning mechanism 12 to complete the assembly of the rollers on the bearing fitting.

[0115] Further referring to Figure 7 In some embodiments, the third gripper 133 includes a first gripper finger 1331 and a second gripper finger 1332. The first gripper finger 1331 includes a groove suction head 1333 and the second gripper finger 1332 includes a convex column suction head 1334.

[0116] Further referring to Figure 2 The rollers include horizontal rollers 26 and vertical rollers 27. The groove suction head 1333 is configured to suck the horizontal rollers 26 and the convex column suction head 1334 is configured to suck the vertical rollers 27 to allow the first gripper finger 1331 and the second gripper finger 1332 to suck the horizontal rollers 26 and the vertical rollers 27 from the roller shaking assembly 142 multiple times respectively and transfer the horizontal rollers 26 and the vertical rollers 27 to the assembly positioning mechanism 12 to cross the horizontal rollers 26 and the vertical rollers 27 on the corresponding positions of the bearing fitting.

[0117] Further referring to Figure 8 In some embodiments, the roller shaking assembly 142 includes a camera 1421 and a shaking disc 1422. The camera 1421 is configured to face the shaking disc 1422. The shaking disc 1422 is configured to obtain the horizontal rollers 26 and the vertical rollers 27 arranged in a predetermined direction by shaking. The camera 1421 is configured to obtain images of the horizontal rollers 26 and the vertical rollers 27 on the shaking disc 1422.

[0118] Further, the camera 1421 is electrically connected to a controller. The controller is configured to determine the number of the horizontal rollers 26 and the vertical rollers 27 according to the images of the horizontal rollers 26 and the vertical rollers 27 on the shaking disc 1422 obtained by the camera 1421. When the number of the horizontal rollers 26 and the vertical rollers 27 is greater than 0, the first gripper finger 1331 and the second gripper finger 1332 are configured to suck the horizontal rollers 26 and the vertical rollers 27 from the shaking disc 1422 respectively and transfer the horizontal rollers 26 and the vertical rollers 27 to the designated positions of the bearing fitting on the positioning jig 121.

[0119] In the above embodiment, firstly, the camera 1421 photographs the positions of the horizontal rollers 26 and the vertical rollers 27 on the vibration disc 1422, and the third gripper 133 repeatedly sucks the horizontal rollers 26 and the vertical rollers 27 from the vibration disc 1422 on the workbench 11; then, the second mechanical arm 162 photographs the position of the race flange base 24 on the positioning jig 121 by using the arm camera 165, and the third gripper 133 crosses the horizontal rollers 26 and the vertical rollers 27 into the race flange base 24 until the race flange base 24 is filled with the horizontal rollers 26 and the vertical rollers 27; then, the second mechanical arm 162 photographs the assembly image of the horizontal rollers 26 and the vertical rollers 27 in the race flange base 24 by using the arm camera 165 to determine whether the horizontal rollers 26 and the vertical rollers 27 in the race flange base 24 meet the assembly requirements, if not, the third gripper 133 takes back the rollers that do not meet the assembly requirements to the vibration disc 1422; if yes, the second gripper 132 takes out the pressed oil seal 21 from the oil seal pressing mechanism 123, the second mechanical arm 162 photographs the positioning position of the pressed oil seal 21 by using the arm camera 165, and the pressed oil seal 21 is assembled to the specified position of the bearing assembly; then, the second gripper 132 clamps the race flange cover 22 placed on the workbench 11, and holds the outer diameter of the race flange cover 22 and the race flange base 24 to ensure the coaxiality of the race flange cover 22 and the race flange base 24.

[0120] For further reference Figure 6 The gripper includes a fourth gripper 134. For further reference Figure 9 The mobile robot 16 is used to automatically unload the third gripper 133 and automatically load the fourth gripper 134 from the gripper changing mechanism 13 by the first mechanical arm 161, to repeatedly clamp the locking member 25 from the second feeding mechanism 15 and move the locking member 25 to the assembly positioning mechanism 13, and to lock the locking member 25 at the predetermined position of the bearing assembly under the cooperation of the second gripper 132, so as to complete the assembly of the bearing 20. For example, the locking member 25 can be a screw, and the fourth gripper 134 can be a screwdriver suitable for the screw.

[0121] In the embodiment, the number of the locking members 25 required by each bearing 20 is four, which are respectively installed at the opposite corners of the bearing 20 to ensure the balance of the locking force of the locking members 25 on the bearing 20, thereby improving the stability of the assembly of the bearing 20.

[0122] In the above embodiment, the second mechanical arm 162 uses the arm camera 165 to capture the position of the locking piece 25 in the second feeding mechanism 15, and the fourth gripper 134 takes the locking piece 25 from the second feeding mechanism 15 and locks the locking piece 25 at the specified position of the race flange cover 22 and the race flange base 24. Among them, the fourth gripper 134 is rotated by the output of the first mechanical arm 161 6th axis rotation torque, respectively takes 4 locking pieces 25 in a diagonal installation mode, and uses the arm camera 165 of the second mechanical arm 162 to capture the specified position of the locking piece 25 locked, and locks the locking piece 25 at the specified position of the race flange cover 22 and the race flange base 24.

[0123] For further reference Figure 9 In some embodiments, the mobile robot 16 further comprises a torque detection assembly 166. The torque detection assembly 166 is arranged on the first mechanical arm 161, and is used to detect whether the torque of the first mechanical arm 161 driving the fourth gripper 134 to lock the locking piece 25 reaches a first predetermined requirement.

[0124] Among them, when the torque does not reach the first predetermined requirement, the fourth gripper 134 continues to lock the locking piece 25 in cooperation with the second gripper 132; when the torque reaches the first predetermined requirement, the second gripper 132 takes the completed bearing 20 away from the assembly positioning mechanism 12.

[0125] In this embodiment, the fourth gripper 134 locks the locking piece 25 three times, the first torque is 1N, the second torque is 2N, and the third torque is 4.5N. The size of the torque of each time is adjusted by the controller controlling the rotation output torque of the second mechanical arm 162. If the torque of the first mechanical arm 161 output to the fourth gripper 134 to lock the locking piece 25 does not reach the first predetermined requirement, the fourth gripper 134 continues to lock the locking piece 25 in cooperation with the second gripper 132, until the torque of the first mechanical arm 161 output to the fourth gripper 134 to lock the locking piece 25 reaches the first predetermined requirement. When the torque of the first mechanical arm 161 output to the fourth gripper 134 to lock the locking piece 25 reaches the first predetermined requirement, the second gripper 132 takes the completed bearing 20 away from the assembly positioning mechanism 12.

[0126] For further reference Figure 1 In some embodiments, the bearing automatic assembly device 100 further comprises a bearing detection mechanism 17. The bearing detection mechanism 17 is arranged on the side of the assembly positioning mechanism 12 away from the mobile robot 16, and is used to detect whether the completed bearing 20 meets a second predetermined requirement. Among them, the second gripper 132 moves the bearing 20 meeting the second predetermined requirement and the bearing 20 not meeting the second predetermined requirement to different positions respectively.

[0127] For further reference Figure 1In some embodiments, the bearing automatic assembly device 100 further comprises a double-layer conveying line 19 arranged on the same side of the bearing detection mechanism 17 and the workbench 11. If the torsion force of the second mechanical arm 162 to the locking element 25 reaches the first predetermined requirement, the second gripper 132 picks up and transports the completed bearing 20 to the double-layer conveying line 19, and then the double-layer conveying line 19 transports the completed bearing 20 to the bearing detection mechanism 17 and transports the bearing 20 meeting the second predetermined requirement away from the bearing detection mechanism 17.

[0128] In some embodiments, the bearing automatic assembly device 100 further comprises a product storage mechanism 18. The product storage mechanism 18 and the double-layer conveying line 19 are arranged on the same side of the workbench 11, and the double-layer conveying line 19 is arranged between the bearing detection mechanism 17 and the product storage mechanism 18.

[0129] Further, the double-layer conveying line 19 comprises an upper-layer conveying line 191 and a lower-layer conveying line 192 arranged in layers and conveying in opposite directions. The output end of the upper-layer conveying line 191 is directed to the bearing detection mechanism 17 for transporting the completed bearing 20 meeting the first predetermined requirement to the bearing detection mechanism 17. The output end of the lower-layer conveying line 192 is directed to the product storage mechanism 18 for transporting the completed bearing 20 meeting the second predetermined requirement away from the bearing detection mechanism 17.

[0130] Further referring to Figure 3 In some embodiments, the mobile robot 16 further comprises a three-dimensional force sensor 167 arranged at the output end of the second mechanical arm 162 for detecting whether the rotational resistance of the completed bearing 20 meeting the second predetermined requirement on the double-layer conveying line 19 reaches the third predetermined requirement under the cooperation of the first gripper 131 and the second gripper 132.

[0131] The bearing 20 reaching the third predetermined requirement and the bearing 20 not reaching the third predetermined requirement are transported to different positions, respectively. For example, the bearing 20 reaching the third predetermined requirement is placed in the product storage mechanism 18, and the bearing 20 not reaching the third predetermined requirement is transported to the recycling area, respectively.

[0132] Further referring to Figure 6 The gripper replacement mechanism 13 is provided with a first acupoint 135, a second acupoint 136, a third acupoint 137, and a fourth acupoint 138 for placing the first gripper 131, the second gripper 132, the third gripper 133, and the fourth gripper 134, respectively.

[0133] In the above embodiments, the mobile robot 16 moves to the gripper replacement mechanism 13, and the corresponding gripper mechanism on the acupoint automatically loads the unloaded gripper to the corresponding acupoint to complete the assembly of the bearing 20.

[0134] The embodiment of the present application also provides a bearing automatic assembling method, comprising:

[0135] (1) providing the bearing assembly to the first feeding mechanism 14 and the locking piece 25 to the second feeding mechanism 15.

[0136] Specifically, the bearing assembly comprises bearing fittings and rollers for assembling the bearing 20. The first feeding mechanism 14 comprises a bearing support 141 and a roller vibration assembly 142. The bearing support 141 is arranged on one side of the workbench 11 and used for placing the bearing fittings. The roller vibration assembly 142 is arranged on the workbench 11 and used for providing the rollers placed in a predetermined direction.

[0137] In the embodiment, the bearing fittings at least comprise an oil seal 21, a race flange cover 22, a rotating shaft raceway 23 and a race flange base 24. The bearing support 141 is sequentially arranged with an oil seal tray 1411, a race flange cover tray 1412, a rotating shaft raceway tray 1413 and a race flange base tray 1414, which are respectively used for containing the oil seal 21, the race flange cover 22, the rotating shaft raceway 23 and the race flange base 24.

[0138] (2) moving the mobile robot 16 to the gripper replacement mechanism 13, and automatically loading the first gripper 131 and the second gripper 132 by the first mechanical arm 161 and the second mechanical arm 162 respectively.

[0139] Before step (2) is performed, the mobile robot 16 needs to firstly scan the working area and establish a three-dimensional model, and plan the walking path and operation steps of the mobile robot 16 in advance. Specifically, the laser navigator 163 scans the working area of the mobile robot 16 and establishes a three-dimensional space map, the head camera 164 obtains the environmental image of the working area of the mobile robot 16, and the controller establishes a three-dimensional model according to the three-dimensional space map obtained by the laser navigator 163 and the environmental image obtained by the head camera 164, and calculates and analyzes the three-dimensional model to plan the walking path and operation steps of the mobile robot 16 in advance.

[0140] Therefore, when the bearing fittings need to be gripped, the mobile robot 16 can move to the gripper replacement mechanism 13, so that the first mechanical arm 161 and the second mechanical arm 162 automatically load the first gripper 131 and the second gripper 132 respectively.

[0141] (3) gripping the bearing fittings from the first feeding mechanism 14 by the first gripper 131 and the second gripper 132 and moving to the assembling positioning mechanism 12.

[0142] Specifically, the mobile robot 16 moves to the side of the bearing support 141, the second mechanical arm 162 uses the arm camera 165 to take a picture of the position of the oil seal 21, the first gripper 131 picks up the oil seal 21 from the oil seal tray 1411, the second mechanical arm 162 uses the arm camera 165 to take a picture of the position of the race flange cover 22 again, and the second gripper 132 picks up the race flange cover 22 from the race flange cover tray 1412. The mobile robot 16 moves to the side of the workbench 11, the second mechanical arm 162 uses the arm camera 165 to take a picture of the position of the press-fit shaft 1221, and the sleeve is fitted on the press-fit shaft 1221. The second mechanical arm 162 uses the arm camera 165 to take a picture of the positioning position of the race flange cover 22, and the second gripper 132 places the race flange cover 22 on the workbench 11. The mobile robot 16 moves to the side of the bearing support 141 again, the second mechanical arm 162 uses the arm camera 165 to take a picture of the position of the rotating shaft raceway 23, the first gripper 131 picks up the rotating shaft raceway 23 from the rotating shaft raceway tray 1413, and the second mechanical arm 162 uses the arm camera 165 to take a picture of the position of the race flange base 24, and the second gripper 132 picks up the race flange base 24 from the race flange base 24. The mobile robot 16 moves to the side of the workbench 11 again, the second mechanical arm 162 uses the arm camera 165 to take a picture of the positioning position of the race flange base 24, the second gripper 132 places the race flange base 24 on the bearing seat 1212, the second mechanical arm 162 uses the arm camera 165 to take a picture of the positioning position of the rotating shaft raceway 23, and the first gripper 131 places the rotating shaft raceway 23 on the positioning shaft 1211, completing the partial assembly of the bearing assembly on the bearing 20.

[0143] (4) The mobile robot 16 is moved to the gripper changing mechanism 13 again, and the first mechanical arm 161 automatically unloads the first gripper 131 and automatically loads the third gripper 133.

[0144] Specifically, according to the walking path of the mobile robot 16 planned in advance, the mobile robot 16 is moved to the gripper changing mechanism 13 again, and the first mechanical arm 161 automatically unloads the first gripper 131 and automatically loads the third gripper 133.

[0145] (5) The third gripper 133 picks up the rollers from the first feeding mechanism 14 multiple times and moves them to the designated position of the bearing assembly on the assembly positioning mechanism 12.

[0146] Specifically, the camera 1421 captures the positions of the horizontal rollers 26 and the vertical rollers 27 on the vibration disc 1422, and the third gripper 133 repeatedly picks up the horizontal rollers 26 and the vertical rollers 27 from the vibration disc 1422 on the workbench 11. The second mechanical arm 162 uses the arm camera 165 to capture the position of the race flange base 24 on the positioning jig 121, and the third gripper 133 crosses the horizontal rollers 26 and the vertical rollers 27 into the race flange base 24 until the horizontal rollers 26 and the vertical rollers 27 are fully placed in the race flange base 24. The second mechanical arm 162 uses the arm camera 165 to capture the assembly image of the horizontal rollers 26 and the vertical rollers 27 in the race flange base 24 to determine whether the horizontal rollers 26 and the vertical rollers 27 in the race flange base 24 meet the assembly requirements. If not, the third gripper 133 retrieves the rollers that do not meet the assembly requirements from the vibration disc 1422; if so, the second gripper 132 takes out the pressed oil seal 21 from the oil seal pressing mechanism 123, the second mechanical arm 162 uses the arm camera 165 to capture the positioning position of the pressed oil seal 21, and the pressed oil seal 21 is assembled at the specified position of the bearing assembly. The second gripper 132 picks up the race flange cover 22 placed on the workbench 11, and tightly holds the outer diameter of the race flange cover 22 and the race flange base 24 to ensure the coaxiality of the race flange cover 22 and the race flange base 24.

[0147] (6) The mobile robot 16 is moved to the gripper changing mechanism 13 again, and the first mechanical arm 161 automatically unloads the third gripper 133 and automatically loads the fourth gripper 134.

[0148] Specifically, according to the planned walking path of the mobile robot 16 in advance, the mobile robot 16 is moved to the gripper changing mechanism 13 again, and the first mechanical arm 161 automatically unloads the third gripper 133 and automatically loads the fourth gripper 134.

[0149] (7) The fourth gripper 134 picks up the locking piece 25 from the second feeding mechanism 15 and locks it to the bearing assembly to complete the assembly of the bearing 20.

[0150] Specifically, the second mechanical arm 162 uses the arm camera 165 to capture the position of the locking piece 25 in the second feeding mechanism 15, and the fourth gripper 134 picks up the locking piece 25 from the second feeding mechanism 15 and locks it to the specified position of the race flange cover 22 and the race flange base 24. Among them, the fourth gripper 134 is rotated by the 6th axis rotation output of the first mechanical arm 161 to rotate the torque, and 4 locking pieces 25 are taken respectively in a diagonal installation manner. The arm camera 165 of the second mechanical arm 162 captures the specified position of the locking piece 25, and locks the locking piece 25 to the specified position of the race flange cover 22 and the race flange base 24.

[0151] In some embodiments, step (7) of completing the assembly of the bearing 20 by the fourth gripper 134 clamping the locking member 25 from the second feeding mechanism 15 and locking to the bearing assembly, further comprises:

[0152] (7.1) detecting whether the torque of the first mechanical arm 161 driving the fourth gripper 134 to lock the locking member 25 reaches a first predetermined requirement.

[0153] When the torque reaches the first predetermined requirement, the second gripper 132 clamps and transports the bearing 20 reaching the first predetermined requirement to the double-layer transportation line 19; when the torque does not reach the first predetermined requirement, the fourth gripper 134 continues to lock the locking member 25 not reaching the first predetermined requirement.

[0154] Specifically, the torque detection assembly 166 detects whether the torque of the first mechanical arm 161 driving the fourth gripper 134 to lock the locking member 25 reaches the first predetermined requirement. The second gripper 132 clamps and transports the bearing 20 reaching the first predetermined requirement to the double-layer transportation line 19, and the fourth gripper 134 continues to lock the locking member 25 not reaching the first predetermined requirement.

[0155] (7.2) transporting the bearing 20 reaching the first predetermined requirement to the bearing detection mechanism 17 by the double-layer transportation line 19.

[0156] Specifically, the upper transportation line 191 of the double-layer transportation line 19 transports the bearing 20 reaching the first predetermined requirement to the bearing detection mechanism 17.

[0157] In some embodiments, step (7.2) of transporting the bearing 20 reaching the first predetermined requirement to the bearing detection mechanism 17 by the double-layer transportation line 19, further comprises:

[0158] The bearing detection mechanism 17 detects whether the bearing 20 transported by the double-layer transportation line 19 meets a second predetermined requirement. The bearing 20 meeting the second predetermined requirement is placed on the double-layer transportation line 19, and the bearing 20 not meeting the second predetermined requirement is placed in a corresponding position.

[0159] Specifically, the bearing detection mechanism 17 detects whether the bearing 20 reaching the first predetermined requirement transported by the upper transportation line 191 of the double-layer transportation line 19 meets the second predetermined requirement. The bearing 20 meeting the second predetermined requirement is placed on the lower transportation line 192. The bearing 20 not meeting the second predetermined requirement is placed in a corresponding position, for example, a recycling area.

[0160] In some embodiments, the bearing automatic assembly method further comprises:

[0161] The mobile robot 16 is moved to the jaw changing mechanism 13 again, and the first mechanical arm 161 automatically loads the first jaw 131 again. The three-dimensional force sensor 167 detects whether the rotation resistance of the bearing 20 that meets the second predetermined requirement on the double-layer transport line 19 reaches a third predetermined requirement in cooperation with the first jaw 131 and the second jaw 132. The double-layer transport line 19 transports the bearing 20 that reaches the third predetermined requirement to a corresponding position. The first jaw 131 or the second jaw 132 moves the bearing 20 that does not reach the third predetermined requirement to a corresponding position.

[0162] Specifically, the first jaw 131 clamps the raceway flange base 24, the second jaw 132 grabs the raceway flange cover 22, the second jaw 132 rotates clockwise by 180 degrees, and the three-dimensional force sensor 167 detects that the rotation resistance of the bearing 20 is less than 5 N, and then the second jaw 132 is released. For example, the second jaw 132 rotates clockwise 6 times and then counterclockwise 6 times. If it is detected that the bearing 20 meets the third predetermined requirement, the bearing 20 that meets the third predetermined requirement is placed on the lower transport line 192, the lower transport line 192 transports the bearing 20 that meets the second predetermined requirement and is completely assembled to the product storage mechanism 18, and the first jaw 131 or the second jaw 132 moves the bearing 20 that does not meet the third predetermined requirement to a corresponding position, for example, a recycling area.

[0163] The bearing automatic assembly method provided in the embodiment is characterized in that the mobile robot 16 automatically loads different types of jaws through the first mechanical arm 161 and the second mechanical arm 162 and the jaw changing mechanism 13, the different types of jaws are respectively adapted to each bearing fitting and locking piece 25, and the bearing assembly and the locking piece 25 are clamped and assembled in cooperation between the first mechanical arm 161 and the second mechanical arm 162, thereby replacing the manual assembly mode, effectively improving the assembly precision and efficiency of the bearing 20, reducing the labor demand, and realizing the automatic assembly of the bearing 20.

[0164] It is apparent for those skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, and the present application can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended to include all changes falling within the meaning and range of equivalents of the claims.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.

Claims

1. A bearing automatic assembling apparatus characterized by comprising: Comprising: a workbench; an assembly positioning mechanism disposed on the workbench; a gripper replacement mechanism disposed on the workbench for providing a plurality of different types of grippers, the grippers comprising a third gripper, the third gripper comprising: a first gripper finger comprising a recess suction head; a second gripper finger comprising a protrusion suction head; a first feeding mechanism disposed adjacent to the assembly positioning mechanism for providing a plurality of bearing assemblies to be assembled, the bearing assemblies comprising rollers, wherein the rollers comprise horizontal rollers and vertical rollers; a second feeding mechanism disposed on the workbench and located at one side of the assembly positioning mechanism for providing locking members for locking the bearing assemblies; a mobile robot disposed adjacent to one side of the workbench, the assembly positioning mechanism, the gripper replacement mechanism, the first feeding mechanism and the second feeding mechanism are all disposed around the mobile robot, the mobile robot comprising a first mechanical arm and a second mechanical arm cooperating with each other for automatically loading different types of grippers from the gripper replacement mechanism by the first mechanical arm and the second mechanical arm, for picking up the bearing assemblies and the locking members from the first feeding mechanism and the second feeding mechanism and moving them to the assembly positioning mechanism, thereby completing the assembly of the bearing, wherein the recess suction head is used for sucking the horizontal rollers, and the protrusion suction head is used for sucking the vertical rollers, to allow the first gripper finger and the second gripper finger to suck the horizontal rollers and the vertical rollers from the first feeding mechanism multiple times respectively, and move the horizontal rollers and the vertical rollers to the assembly positioning mechanism, thereby placing the horizontal rollers and the vertical rollers crosswise at designated positions of a bearing fitting.

2. The automatic bearing assembly device of claim 1, wherein: the bearing assemblies comprise bearing fittings for assembling bearings, the first feeding mechanism comprises a bearing fitting carrier disposed at one side of the workbench for placing the bearing fittings, and the grippers comprise first grippers and second grippers; the mobile robot is used for automatically loading the first grippers from the gripper replacement mechanism by the first mechanical arm and automatically loading the second grippers from the gripper replacement mechanism by the second mechanical arm; and wherein the first grippers and the second grippers cooperate with each other to pick up the bearing fittings from the bearing fitting carrier of the first feeding mechanism and move the bearing fittings to the assembly positioning mechanism, thereby completing the partial assembly of the bearing fittings on the bearings.

3. The automatic bearing assembly device of claim 2, wherein: the first feeding mechanism further comprises a roller vibration assembly disposed on the workbench for providing the rollers placed in a predetermined direction; the mobile robot is used for automatically unloading the first grippers from the gripper replacement mechanism by the first mechanical arm and automatically loading the third grippers, for sucking the rollers from the roller vibration assembly multiple times and moving the rollers to the assembly positioning mechanism, thereby completing the assembly of the rollers on the bearing fittings.

4. The automatic bearing assembling device of claim 3, wherein the gripper comprises a fourth gripper, and the mobile robot is configured to automatically unload the third gripper and automatically load the fourth gripper from the gripper replacement mechanism by the first mechanical arm to repeatedly pick up the locking member from the second feeding mechanism and transfer the locking member to the assembling positioning mechanism, and lock the locking member at a predetermined position of the bearing assembly with the cooperation of the second gripper to complete the assembling of the bearing. The mobile robot further comprises:

5. The bearing automatic assembly apparatus of claim 4, wherein a torque detection assembly arranged on the first mechanical arm and configured to detect whether a torque of the fourth gripper driven by the first mechanical arm to lock the locking member reaches a first predetermined requirement; wherein when the torque does not reach the first predetermined requirement, the fourth gripper continues to lock the locking member that does not reach the first predetermined requirement; and when the torque reaches the first predetermined requirement, the second gripper removes the assembled bearing from the assembling positioning mechanism. The automatic bearing assembling device further comprises:

6. The bearing automatic assembly apparatus of claim 5, wherein a bearing detection mechanism arranged on a side of the assembling positioning mechanism away from the mobile robot and configured to detect whether the assembled bearing that reaches the first predetermined requirement meets a second predetermined requirement; wherein the bearing that meets the second predetermined requirement and the bearing that does not meet the second predetermined requirement are respectively transferred to different positions. The automatic bearing assembling device further comprises:

7. The bearing automatic assembly apparatus of claim 6, wherein a double-layer transportation line arranged on the same side of the bearing detection mechanism and the workbench; wherein when the torque reaches the first predetermined requirement, the second gripper removes the assembled bearing from the assembling positioning mechanism and transfers the assembled bearing to the double-layer transportation line, the double-layer transportation line transports the assembled bearing that reaches the first predetermined requirement to the bearing detection mechanism, and transports the bearing that meets the second predetermined requirement away from the bearing detection mechanism. The mobile robot further comprises:

8. The bearing automatic assembly apparatus of claim 7, wherein, a three-dimensional force sensor arranged on an output end of the second mechanical arm and configured to detect whether a rotational resistance of the bearing that meets the second predetermined requirement on the double-layer transportation line reaches a third predetermined requirement under the cooperation of the first gripper and the second gripper; wherein the bearing that reaches the third predetermined requirement and the bearing that does not reach the third predetermined requirement are respectively transferred to different positions. The mobile robot further comprises:

9. The bearing automatic assembly apparatus of claim 8, wherein an arm camera arranged on the second mechanical arm and configured to obtain assembling images of the assembling process of the bearing to complete the assembling of the bearing. The method comprises:

10. A method of automatically assembling a bearing using the bearing automatic assembling apparatus according to any one of claims 1 to 9, characterized by, providing a bearing assembly to a first feeding mechanism and a locking member to a second feeding mechanism, wherein the bearing assembly comprises a bearing fitting and a roller; moving a mobile robot to a gripper replacement mechanism, and a first mechanical arm and a second mechanical arm are automatically loaded with a first gripper and a second gripper, respectively; picking up the bearing fitting from the first feeding mechanism by the first gripper and the second gripper, respectively, and transferring the bearing fitting to an assembling positioning mechanism; moving the mobile robot to the gripper replacement mechanism again, and the first mechanical arm automatically unloads the first gripper and automatically loads a third gripper; ​ The third gripper picks up the roller from the first feeding mechanism and moves to the designated position of the bearing assembly on the assembly positioning mechanism; The mobile robot moves to the gripper replacement mechanism again, and the first mechanical arm automatically unloads the third gripper and automatically loads the fourth gripper; The fourth gripper picks up the locking piece from the second feeding mechanism and locks it to the bearing assembly to complete the assembly of the bearing.

11. The method of automatically assembling a bearing of claim 10, wherein, The step of picking up the locking piece from the second feeding mechanism by the fourth gripper and locking it to the bearing assembly to complete the assembly of the bearing further comprises: Detecting whether the torque of the fourth gripper locking the locking piece reaches a first predetermined requirement; When the torque reaches the first predetermined requirement, the second gripper picks up and moves the bearing that reaches the first predetermined requirement to the double-layer transportation line; when the torque does not reach the first predetermined requirement, the fourth gripper continues to lock the locking piece that does not reach the first predetermined requirement; The double-layer transportation line transports the assembled bearing that reaches the first predetermined requirement to the bearing detection mechanism.

12. The method of automatically assembling a bearing of claim 11, wherein, The step of transporting the assembled bearing that reaches the first predetermined requirement to the bearing detection mechanism by the double-layer transportation line comprises: The bearing detection mechanism detects whether the bearing transported by the double-layer transportation line meets a second predetermined requirement; The bearing that meets the second predetermined requirement is placed on the double-layer transportation line, and the bearing that does not meet the second predetermined requirement is placed in a corresponding position.

13. The method of automatically assembling a bearing of claim 12, wherein, Further comprising: The mobile robot moves to the gripper replacement mechanism again, and the first mechanical arm automatically loads the first gripper again; The three-dimensional force sensor detects whether the rotational resistance of the bearing that meets the second predetermined requirement on the double-layer transportation line reaches a third predetermined requirement under the cooperation of the first gripper and the second gripper; The double-layer transportation line transports the bearing that reaches the third predetermined requirement to a corresponding position; The first gripper or the second gripper moves the bearing that does not reach the third predetermined requirement to a corresponding position.

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