Camshaft and pulley automatic assembly device and method

Abstract

The present invention belongs to the field of mechanical assembly, and specifically relates to an assembly device and an assembly method for a camshaft and a pulley, including a plurality of engine supporting mechanisms moving along a conveying track and a lifting and positioning mechanism for adjusting the height of the engine; a sensor lifting cylinder is installed on a frame above the lifting and positioning mechanism, and a height displacement sensor for measuring the height of the engine is installed at the output end of the sensor lifting cylinder, and the engine supporting mechanism includes: a lower tray and an upper tray rotatably mounted on the lower tray, four RFID code blocks are arranged in an array on the side of the upper tray, and an RFID read-write head for reading the position information of the RFID code block is installed on the frame next to the lower tray. The present invention performs a secondary lifting of the engine through the lifting and positioning mechanism, and can achieve accurate docking of the height of the camshaft with the camshaft alignment mechanism and the pulley tightening mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical assembly, and in particular relates to a camshaft and a pulley automatic assembly device and method. Background Art

[0002] In the automated assembly line of the engine, the engine is placed on a pallet for assembly at each station. The pallet has a high positioning accuracy of 0.05mm. The pallet requires very high assembly accuracy. Even if the design and assembly of the pallet meet the accuracy requirements, the pallet will inevitably have positioning errors after a period of use, resulting in a low success rate in the docking of the tightening device.

[0003] After the camshaft and pulley of the engine are installed together, they are connected together by tightening the pulley tightening bolts. The camshaft timing position needs to be adjusted first. The traditional method is to adjust it manually using tooling, and the cylinder drives the tightening mechanism to dock with the camshaft of the engine. After the camshaft timing position is adjusted, the pulley tightening mechanism inserts the reaction plate (pulley clamping joint) into the end hole of the pulley, and then tightens the bolt by rotating the tightening shaft. In the process of docking the reaction plate and the pulley, in the prior art, the reaction plate is first docked to the end face of the pulley. During the rotation of the reaction plate, the reaction plate is pressed into the end hole of the pulley by a spring. During the docking process, the pulley will be worn due to the relative rotational friction between the pulley clamping joint of the reaction plate and the end face of the pulley.

[0004] Before adjusting the timing position of the camshaft, the pallet needs to be raised to make the height of the camshaft correspond to the height of the rotating shaft of the pulley tightening mechanism. However, since the size of each pallet is different and the size of the engine is slightly different, if the same height is raised, it will lead to inaccurate docking. Summary of the invention

[0005] The purpose of the present invention is to overcome the defect in the prior art that the engine height adjustment is inaccurate, resulting in the pulley tightening mechanism being unable to accurately dock with the camshaft and the pulley, and to provide a camshaft and pulley automatic assembly device that can achieve accurate engine height adjustment through two lifts.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A camshaft and pulley automatic assembly device, characterized in that it includes multiple engine supporting mechanisms moving along a conveying track and a lifting and positioning mechanism for adjusting the engine height; a sensor lifting cylinder is installed on a frame above the lifting and positioning mechanism, and a height displacement sensor for measuring the engine height is installed at the output end of the sensor lifting cylinder; the engine supporting mechanism includes: a lower tray and an upper tray rotatably installed on the lower tray, four RFID code blocks are arranged in an array on the side of the upper tray, and an RFID read-write head for reading the position information of the RFID code block is installed on the frame next to the lower tray.

[0008] Furthermore, the lifting and positioning mechanism includes: a mounting frame, a lifting servo motor mounted on the mounting frame, and a linkage shaft vertically transmitted with the output shaft of the lifting servo motor through bevel gears; both ends of the linkage shaft are vertically connected to ball screws through bevel gears, the ball screw is connected to a lifting seat through a screw nut pair, and the lower tray is mounted on the lifting seat.

[0009] Furthermore, a support plate is fixedly mounted on the upper tray, and the support plate has a plurality of positioning columns for positioning the engine; the bottom end of the lower tray has a plurality of rollers that roll along the conveying track; a handle is rotatably connected to one corner of the lower tray, and the lower end of the handle passes through the lower tray and is rotatably connected to a positioning connecting rod, a positioning wheel is installed at the end of the positioning connecting rod, and four positioning grooves are arranged in an array at the outer edge of the bottom end of the upper tray, and the positioning wheel is clamped in different positioning grooves by pulling the handle to achieve positioning of different positions of the upper tray.

[0010] Furthermore, it also includes a camshaft positioning mechanism, which includes: a first servo motor, a first sleeve fixedly connected to the end of the output shaft of the first servo motor, and a first telescopic spline slidably connected in the first sleeve through a spline, a spring is arranged between the first telescopic spline and the first sleeve, and the end of the first telescopic spline has a camshaft docking joint, and the camshaft docking joint can be docked with the camshaft slot.

[0011] Furthermore, two visual cameras are arranged in front of the camshaft and pulley tightening station, which are used to measure the angular deviation of the intake camshaft and the timing position, the angular deviation of the exhaust camshaft and the timing position, and the graphics of the pulley end face.

[0012] Furthermore, it also includes a pulley tightening mechanism arranged opposite to the camshaft positioning mechanism and used to tighten the camshaft and the pulley. The pulley tightening mechanism is installed on the frame through a screw nut linear mechanism for left and right sliding. The pulley tightening mechanism includes a second servo motor, a driving gear coaxially connected to the second servo motor, a driven gear meshing with the driving gear, a second sleeve coaxially connected to the driven gear, a second telescopic spline slidably connected in the second sleeve through a spline, and a pulley clamping joint arranged at the end of the second telescopic spline, the pulley clamping joint is clamped with a clamping point on the end surface of the pulley; a spring is provided between the second telescopic spline and the second sleeve, and the second telescopic spline is elastically connected to the front end of the second sleeve.

[0013] Furthermore, a guide bolt is fixedly connected to the second sleeve, and a guide long hole is correspondingly provided on the second telescopic spline, and the guide bolt is slidably installed in the guide long hole.

[0014] Furthermore, the pulley tightening mechanism also includes a third servo motor installed on the frame and a bolt tightening shaft coaxially connected to the output shaft of the third servo motor, and the bolt tightening shaft passes through the hollow driven gear, the hollow second telescopic spline and the hollow pulley clamping joint in sequence, and the bolt tightening shaft is used to clamp with the pulley tightening bolt.

[0015] The present invention also discloses a method for automatically assembling a camshaft and a pulley, which adopts the above-mentioned automatic assembly device for assembling a camshaft and a pulley, and is characterized in that it comprises the following steps:

[0016] Step S2, when the engine supporting mechanism drives the engine to the tightening station of the pulley and camshaft, the RFID read / write head reads the data of the RFID code block to determine whether the posture of the pallet is consistent with the process requirements of this station. If it is consistent, proceed to the next step; if it is inconsistent, an alarm signal is issued, and it is necessary to manually pull the handle inward to loosen the upper pallet and rotate the upper pallet to the appropriate position. Then, the handle is manually pulled to a vertical state so that the positioning wheel is stuck in the positioning groove to achieve the positioning of the upper pallet.

[0017] Step S3, the lifting servo motor rotates to drive the engine supporting mechanism to perform the first lifting. After the lifting is in place, the sensor lifting cylinder drives the height displacement sensor to descend and contact the plane of the cover with the high-pressure pump, so that the height displacement sensor has a certain amount of compression, and the value of the height displacement sensor at this time is recorded as H2; the tightening position height required by the process is known to be H0, △H=H0-H2 is the displacement deviation, and the pallet compensation is required. The displacement deviation value is transmitted to the lifting positioning mechanism, and the secondary lifting value of the lifting servo motor is △H. At this time, the height displacement sensor value is detected as H0, and the engine height is lifted into place.

[0018] Furthermore, the above-mentioned automatic assembly device for axles and pulleys is used, and before step S2, the step S1 is further included, in which during the process of conveying the engine support mechanism, a visual camera captures images of the camshaft and the end faces of the pulley, and calculates an angle deviation θ between the camshaft and the camshaft timing position, and transmits the angle deviation θ to the first servo motor;

[0019] After step S3, the method further includes step S4, wherein the camshaft aligning mechanism moves closer to the engine until the camshaft butt joint contacts the end of the camshaft, at which time the first servo motor drives the camshaft butt joint to rotate at a low speed until the camshaft butt joint slides into the camshaft slot, the first telescopic spline pops out under the action of the spring, the first servo motor continues to drive the camshaft to rotate to the timing position, and then the first pneumatic brake disc locks the output shaft of the first servo motor;

[0020] Step S5, the second servo motor drives the pulley clamping joint to rotate according to the image information of the pulley end face, so that the pulley clamping joint accurately corresponds to the clamping point of the pulley end face surface, and then the pulley tightening mechanism is moved toward the pulley, and the pulley clamping joint is directly connected to the clamping point of the pulley end face surface, and the second elastic telescopic spline is used to clamp the joint, and then the second pneumatic brake disc locks the rotating shaft of the driving gear;

[0021] Step S6, the pulley tightening mechanism continues to move closer to the pulley, so that the end of the bolt tightening shaft clamps the pulley tightening bolt, and the third servo motor rotates to tighten the pulley tightening bolt, completing the assembly of the camshaft and the pulley.

[0022] The beneficial effects of the camshaft and pulley automatic assembly device and method of the present invention are:

[0023] 1. After the first lifting of the engine is completed, the height H2 of the plane on which the high-pressure pump is mounted on the cover is measured by a height displacement sensor. According to the tightening position H0 required by the process, the displacement deviation △H=H0-H2 is height compensated, and the engine is lifted for a second time by a lifting positioning mechanism, so that the height of the camshaft, the camshaft alignment mechanism, and the pulley tightening mechanism can be accurately connected.

[0024] 2. Use a visual camera to capture the image of the pulley end face, calculate the angle that the second servo motor needs to rotate, and then drive the second servo motor to rotate the appropriate angle so that the pulley clamping joint accurately corresponds to the clamping point of the pulley end face hole, and no wear on the pulley will be caused during docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] Figure 1is a three-dimensional structural diagram of a camshaft and pulley automatic assembly device according to an embodiment of the present invention;

[0027] Figure 2 is a front view of a camshaft and pulley automatic assembly device according to an embodiment of the invention;

[0028] Figure 3 is a three-dimensional diagram of a lifting and positioning mechanism according to an embodiment of the present invention;

[0029] Figure 4 is a top perspective view of an engine supporting mechanism according to an embodiment of the present invention;

[0030] Figure 5 is a bottom perspective view of an engine supporting mechanism according to an embodiment of the present invention;

[0031] Figure 6 It is a side view of the connection between the engine support mechanism and the conveying track;

[0032] Figure 7 is a three-dimensional diagram of a camshaft positioning mechanism according to an embodiment of the present invention;

[0033] Figure 8 is a three-dimensional diagram of a pulley tightening mechanism according to an embodiment of the present invention;

[0034] Fig. 9 is an enlarged view of a partial structure of a pulley tightening mechanism according to an embodiment of the present invention;

[0035] Fig.10 1 is a diagram of the engine structure of an embodiment of the present invention.

[0036] In the figure: 1, frame, 2, conveying track, 3, engine supporting mechanism, 31, lower tray, 32, upper tray, 321, positioning groove, 33, supporting plate, 34, positioning column, 35, roller, 36, handle, 37, positioning connecting rod, 38, positioning wheel, 39, RFID code block, 4, lifting positioning mechanism, 41, mounting frame, 42, lifting servo motor, 44, linkage shaft, 45, ball screw, 46, lifting seat, 5, camshaft positioning mechanism, 51, first servo motor, 52, first sleeve, 53, first telescopic spline, 55, camshaft joint, 56, first pneumatic brake disc, 6 , pulley tightening mechanism, 60, second pneumatic brake disc, 61, second servo motor, 62, driving gear, 63, driven gear, 64, second sleeve, 65, second telescopic spline, 651, guide long hole, 66, spring, 67, guide bolt, 68, third servo motor, 69, bolt tightening shaft, 610, pulley card joint, 7, RFID read / write head, 8, engine, 9, driving light bar, 10, sensor lifting cylinder, 11, height displacement sensor, 12, visual camera, 13 camshaft, 14, pulley, 141, card contact point, 15, belt, 16, 45° bearing. DETAILED DESCRIPTION

[0037] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0038] like Figure 1-Figure 9 The specific embodiment of the camshaft and pulley automatic assembly device of the present invention shown in the figure includes a plurality of engine supporting mechanisms 3 moving along a conveying track 2, a lifting and positioning mechanism 4 for adjusting the height of the engine 8, and a camshaft alignment mechanism 5 and a pulley tightening mechanism 6 respectively arranged on the left and right sides of the conveying track 2.

[0039] The engine support mechanism 3 is linearly slidably mounted on two conveying rails 2 arranged parallel to each other. Figure 4 and Figure 5 The engine supporting mechanism 3 includes: a lower tray 31, an upper tray 32 rotatably mounted on the lower tray 31, a supporting plate 33 fixedly mounted on the upper tray 32, and a plurality of positioning posts 34 fixed on the supporting plate 33 for positioning the engine 8. The bottom end of the lower tray 31 has a plurality of rollers 35 rolling along the conveying track 2; a handle 36 is rotatably connected to one corner of the lower tray 31, the lower end of the handle 36 passes through the lower tray 31, and is rotatably connected to a positioning link 37, the end of which is mounted with a positioning wheel 38, and four positioning grooves 321 are arranged in an array at the outer edge of the bottom end of the upper tray 32, and the positioning wheels 38 are clamped into different positioning grooves 321 by pulling the handle 36 to achieve positioning of different positions of the upper tray 32.

[0040] The engine 8 is installed on the upper tray 32 through the positioning column 34. At different workstations, different assembly surfaces of the engine 8 need to be assembled. The upper tray 32 drives the engine 8 to adjust four angles, usually 0°, 90°, 180° and 270°. Four RFID code blocks 39 are arranged in an array on the side of the upper tray 32, and the angle mark data 16#OA, 16#OB, 16#OC, and 16#OD are stored respectively. An RFID reader 7 is installed on the frame 1 next to the lower tray 31. It is used to read the data content of the RFID code block 39 to determine whether the current tray posture is consistent with the process of this workstation.

[0041] The engine 8 is transported to Figure 1When the pulley and camshaft are tightened, the front end of the engine 8 faces forward and the end face of the cylinder head cover faces upward, that is, the upper tray 32 is at the 0° position. The engine support mechanism 3 needs to be lifted to a height corresponding to the pulley tightening mechanism 6 to achieve accurate docking. The lifting and positioning mechanism 4 drives the engine support mechanism 3 to rise and fall. Figure 3 The lifting and positioning mechanism 4 includes: a mounting frame 41, a lifting servo motor 42 mounted on the mounting frame 41, and a linkage shaft 44 which is vertically driven by the output shaft of the lifting servo motor 42 through bevel gears; both ends of the linkage shaft 44 are vertically driven by bevel gears and connected to a ball screw 45, and a lifting seat 46 is connected to the ball screw 45 through a screw nut pair, and the lower tray 31 is mounted on the lifting seat 46.

[0042] See also Figure 6 The conveying track 2 is a cylindrical track, and the rows of I-shaped rollers 35 under the lower tray 31 ride on the cylindrical track. At the same time, a driving light bar 9 is arranged in the middle position of the two conveying tracks 2, and the lower end surface of the lower tray 31 is connected to the driving light bar 9 through a 45° bearing 16.

[0043] A sensor lifting cylinder 10 is installed on the frame 1 above the lifting and positioning mechanism 4, and a height displacement sensor 11 is installed at the output end of the sensor lifting cylinder 10. When the engine 8 reaches the tightening position of the pulley and the camshaft, the lifting servo motor 42 drives the two ball screws 45 to lift synchronously to complete the first lifting of the engine 8. The height of the first lift to the position measured by the height displacement sensor 11 is set as H1, and then the sensor lifting cylinder 10 drives the height displacement sensor 11 to descend and contact the plane of the cover with the high-pressure pump, so that the height displacement sensor 11 has a certain amount of compression, and the value of the height displacement sensor 11 at this time is recorded; the tightening position height required by the known process is H0, △H=H0-H2 is the displacement deviation, and the tray compensation is required. The displacement deviation value is transmitted to the lifting and positioning mechanism 4, and the lifting servo motor 42 has a secondary lifting value of △H. At this time, the value of the height displacement sensor 11 is detected as H0.

[0044] In the prior art, the engine 8 is directly connected to the pulley tightening mechanism 6 by only one lifting, which is prone to dimensional errors of the engine 8 and wear of the engine supporting mechanism 3, resulting in wear of the assembly surface of the engine 8 during the assembly process.

[0045] In the present application, since the relative position of the plane of the cover mounted high-pressure pump contacted by the height displacement sensor 11 and the camshaft 13 is fixed, it is only necessary to adjust the height of the plane of the cover mounted high-pressure pump to achieve accurate height docking of the camshaft 13 with the camshaft alignment mechanism 5 and the pulley tightening mechanism 6.

[0046] See also Fig.10Before the pulley and camshaft tightening station, the pulley 14 has been sleeved on the camshaft 13, and the bolts need to be tightened to fix the two. The crankshaft located below the camshaft 13 has been adjusted to the timing position, and the crankshaft is locked. The pulley 14 on the camshaft 13 is connected to the pulley on the crankshaft through a belt 15. Since the crankshaft is locked, the pulley 14 on the camshaft 13 remains in place when the camshaft 13 rotates.

[0047] See also Figure 7 The camshaft alignment mechanism 5 is slidably mounted on the frame 1, and the camshaft alignment mechanism 5 includes an intake camshaft alignment mechanism 5 and an exhaust camshaft alignment mechanism 5. The camshaft alignment mechanism 5 includes: a first servo motor 51, a first sleeve 52 fixedly connected to the end of the output shaft of the first servo motor 51, and a first telescopic spline 53 slidably connected to the first sleeve 52 through a spline. A spring is provided between the first telescopic spline 53 and the first sleeve 52. The end of the first telescopic spline 53 has a camshaft docking joint 55, and the camshaft docking joint 55 can dock with the camshaft slot. After the height of the engine 8 is adjusted to the right position, the cam alignment mechanism moves close to the engine 8 until the camshaft docking joint 55 contacts the end of the camshaft 13. At this time, the first servo motor 51 drives the cam docking joint to rotate at a low speed until the cam docking joint slides into the camshaft slot, and the first telescopic spline 53 pops out under the action of the spring. At this time, the in-position sensor sends a docking success signal, and the first servo motor 51 continues to rotate to the camshaft timing position. A first pneumatic brake disc 56 is also provided on the output shaft of one of the first servo motors 51 . When both camshafts 13 reach the timing position, the first pneumatic brake disc 56 locks the output shaft of the first servo motor 51 .

[0048] See also Figure 1 and Figure 2 Two visual cameras 12 are arranged in front of the camshaft and pulley tightening station, which are used to measure the angular deviation between the intake camshaft and the timing position, the angular deviation between the exhaust camshaft and the timing position, and the figure of the pulley end face. The camshaft timing position is used as the coordinate origin of the visual camera 12. The camshaft 13 of the engine 8 arrives at a different angle each time. The visual camera 12 is required to calculate the angular deviation θ from the coordinate origin and transmit the angular deviation θ to the first servo motor 51. The first servo motor 51 rotates to rotate the camshaft 13 to the timing position.

[0049] See also Figure 8 and Fig. 9The pulley tightening mechanism 6 has two parts, which are used to tighten the pulleys on the intake camshaft and the exhaust camshaft respectively. The pulley tightening mechanism 6 is installed on the frame 1 by sliding left and right through a screw nut linear mechanism. The pulley tightening mechanism 6 includes a second servo motor 61, a driving gear 62 coaxially connected to the second servo motor 61, a driven gear 63 meshing with the driving gear 62, a second sleeve 64 coaxially connected to the driven gear 63, a second telescopic spline 65 slidably connected to the second sleeve 64 through a spline, and a pulley clamping joint 610 arranged at the end of the second telescopic spline 65, and the pulley clamping joint 610 is clamped with a clamping point 141 on the end hole of the pulley; a spring 66 is provided between the second telescopic spline 65 and the second sleeve 64, and the second telescopic spline 65 is elastically connected to the front end of the second sleeve 64. A guide bolt 67 is fixedly connected to the second sleeve 64, and a guide long hole 651 is correspondingly provided on the second telescopic spline 65, and the guide bolt 67 is slidably installed in the guide long hole 651. The pulley tightening mechanism 6 also includes a third servo motor 68 mounted on the frame 1 and a bolt tightening shaft 69 coaxially connected to the output shaft of the third servo motor 68, the bolt tightening shaft 69 sequentially passes through the hollow driven gear 63, the hollow second telescopic spline 65 and the hollow pulley clamping joint 610, and the bolt tightening shaft 69 is used to clamp with the pulley tightening bolt. The image of the pulley end face collected by the visual camera 12 is used to calculate the angle at which the second servo motor 61 needs to rotate, and then the second servo motor 61 is driven to rotate at a suitable angle so that the pulley clamping joint 610 accurately corresponds to the clamping point 141 of the end face of the pulley 14, and then the pulley tightening mechanism 6 is moved closer to the pulley 14, and the pulley clamping joint 610 is directly docked with the clamping point 141 of the end face of the pulley, and docked and clamped through the elastic second telescopic spline 65. A second pneumatic brake disc 60 is also provided on the rotating shaft of the driving gear 62. When the pulley clamping joint is clamped in place, the second pneumatic brake disc 60 locks the rotating shaft of the driving gear 62. When tightening the pulley tightening bolt, it is necessary to tighten the belt 15 in the reverse direction by locking the pulley clamping joint 610 to avoid friction generated when tightening the pulley tightening bolt to affect the crankshaft from leaving the timing position.

[0050] Next, the pulley tightening mechanism 6 continues to move closer to the pulley 14 so that the end of the bolt tightening shaft 69 clamps the pulley tightening bolt, and the third servo motor 68 rotates to tighten the pulley tightening bolt, completing the assembly of the camshaft 13 and the pulley 14.

[0051] The specific steps of assembling the camshaft and the pulley of the present invention are as follows:

[0052] S1. During the process of conveying the engine supporting mechanism 3, the visual camera 12 captures images of the camshaft 13 and the end surface of the pulley, calculates the angle deviation θ between the camshaft 13 and the camshaft timing position, and transmits the angle deviation θ to the first servo motor 51.

[0053] S2. When the engine supporting mechanism 3 drives the engine 8 to the tightening station of the pulley and camshaft, the RFID read / write head 7 reads the data of the RFID code block 39 to determine whether the posture of the tray is consistent with the process requirements of this station. If it is consistent, the next step is continued; if it is inconsistent, an alarm signal is issued, and it is necessary to manually pull the handle 36 inward to loosen the upper tray 32. At the same time, after rotating the upper tray 32 to a suitable position, the handle 36 is manually pulled to a vertical state so that the positioning wheel 38 is clamped in the positioning groove 321 to achieve the positioning of the upper tray 32.

[0054] S3, the lifting servo motor 42 rotates to drive the engine supporting mechanism 3 to perform the first lifting. After the lifting is in place, the sensor lifting cylinder 10 drives the height displacement sensor 11 to descend and contact the plane of the cover with the high-pressure pump, so that the height displacement sensor 11 has a certain amount of compression, and the value of the height displacement sensor 11 at this time is recorded as H2; the tightening position height required by the process is known to be H0, △H=H0-H2 is the displacement deviation, and the pallet compensation is required. The displacement deviation value is transmitted to the lifting positioning mechanism 4, and the lifting servo motor 42 has a secondary lifting value of △H. At this time, the value of the height displacement sensor 11 is detected to be H0, and the height of the engine 8 is lifted into place.

[0055] S4, the camshaft alignment mechanism 5 moves closer to the engine 8 until the camshaft joint 55 contacts the end of the camshaft 13. At this time, the first servo motor 51 drives the camshaft joint 55 to rotate at a low speed until the camshaft joint 55 slides into the camshaft slot. The first telescopic spline 53 pops out under the action of the spring, and the first servo motor 51 continues to drive the camshaft 13 to rotate to the timing position. Then the first pneumatic brake disc 56 locks the output shaft of the first servo motor 51.

[0056] S5. The second servo motor 61 drives the pulley clamping joint 610 to rotate according to the image information of the pulley end face, so that the pulley clamping joint 610 accurately corresponds to the clamping point 141 of the pulley end face surface, and then the pulley tightening mechanism 6 moves closer to the pulley, directly docks the pulley clamping joint 610 into the clamping point 141 of the pulley end face surface, and docks and clamps it through the elastic second telescopic spline 65, and then the second pneumatic brake disc 60 locks the rotating shaft of the driving gear 62.

[0057] S6, the pulley tightening mechanism 6 continues to move closer to the pulley, so that the end of the bolt tightening shaft 69 clamps the pulley tightening bolt, and the third servo motor 68 rotates to tighten the pulley tightening bolt, completing the assembly of the camshaft 13 and the pulley.

[0058] The present invention has a high degree of automation and does not require manual adjustment of the camshaft timing position. Since the pulley clamping joint 610 is connected only after it is rotated to be consistent with the clamping point 141 of the end surface of the pulley, there is no wear on the pulley caused by the two rotating and connecting at the same time as in the prior art.

[0059] The pallet height adjustment of the present invention has high precision, and the error caused by the wear of the pallet is eliminated through the measurement of the height displacement sensor 11 and two lifting adjustments.

[0060] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A camshaft and pulley automatic assembly device, characterized in that: The invention comprises a plurality of engine supporting mechanisms (3) that move along a conveying track (2) and a lifting and positioning mechanism (4) for adjusting the height of an engine (8); a sensor lifting cylinder (10) is installed on a frame (1) above the lifting and positioning mechanism (4); a height displacement sensor (11) for measuring the height of the engine is installed at the output end of the sensor lifting cylinder (10); the engine supporting mechanism (3) comprises: a lower tray (31) and an upper tray (32) rotatably mounted on the lower tray (31); four RFID code blocks (39) are arranged in an array on the side of the upper tray (32); An RFID read / write head (7) for reading the position information of the RFID code block (39) is installed on the frame (1) next to the lower tray (31); the machine also includes a camshaft alignment mechanism (5) and a pulley tightening mechanism (6) arranged opposite to the camshaft alignment mechanism (5) for tightening the camshaft and the pulley, the pulley tightening mechanism (6) being slidably mounted on the frame (1) via a screw nut linear mechanism, the pulley tightening mechanism (6) comprising a second servo motor (61), a driving gear (62) coaxially connected to the second servo motor (61), and a driven gear meshing with the driving gear (62). A gear (63), a second sleeve (64) coaxially connected to the driven gear (63), a second telescopic spline (65) slidably connected to the second sleeve (64) via a spline, and a pulley clamping joint (610) arranged at the end of the second telescopic spline (65), the pulley clamping joint (610) being clamped with a clamping point (141) on the end hole of the pulley; a spring (66) is provided between the second telescopic spline (65) and the second sleeve (64), and the second telescopic spline (65) is elastically connected to the front end of the second sleeve (64); a guide bolt (66) is fixedly connected to the second sleeve (64) 7), a guide long hole (651) is correspondingly provided on the second telescopic spline (65), and the guide bolt (67) is slidably installed in the guide long hole (651); the pulley tightening mechanism (6) also includes a third servo motor (68) installed on the frame (1) and a bolt tightening shaft (69) coaxially connected to the output shaft of the third servo motor (68), the bolt tightening shaft (69) passes through the hollow driven gear (63), the hollow second telescopic spline (65) and the hollow pulley clamping joint (610) in sequence, and the bolt tightening shaft (69) is used to be clamped with the pulley tightening bolt.

2. The camshaft and pulley automatic assembly device according to claim 1, characterized in that: The lifting and positioning mechanism (4) comprises: a mounting frame (41), a lifting servo motor (42) mounted on the mounting frame (41), and a linkage shaft (44) vertically driven by an output shaft of the lifting servo motor (42) via bevel gears; both ends of the linkage shaft (44) are vertically driven by ball screws (45) via bevel gears, the ball screw (45) is connected to a lifting seat (46) via a screw nut pair, and the lower tray (31) is mounted on the lifting seat (46).

3. The camshaft and pulley automatic assembly device according to claim 2, characterized in that: A support plate (33) is fixedly mounted on the upper tray (32), and the support plate (33) has a plurality of positioning columns (34) for positioning the engine (8); the bottom end of the lower tray (31) has a plurality of rollers (35) that roll along the conveying track (2); a handle (36) is rotatably connected to one corner of the lower tray (31), the lower end of the handle (36) passes through the lower tray (31) and is rotatably connected to a positioning link (37), a positioning wheel (38) is mounted at the end of the positioning link (37), and four positioning grooves (321) are arranged in an array at the outer edge of the bottom end of the upper tray (32), and the positioning wheel (38) is clamped into different positioning grooves (321) by pulling the handle (36), thereby realizing positioning of different positions of the upper tray (32).

4. The camshaft and pulley automatic assembly device according to claim 3, characterized in that: The invention also comprises a camshaft positioning mechanism (5), wherein the camshaft positioning mechanism (5) comprises: a first servo motor (51), a first sleeve (52) fixedly connected to the end of an output shaft of the first servo motor (51), and a first telescopic spline (53) slidably connected to the first sleeve (52) via a spline, wherein a spring is provided between the first telescopic spline (53) and the first sleeve (52), and a camshaft butt joint (55) is provided at the end of the first telescopic spline (53), and the camshaft butt joint (55) can be butted with a camshaft slot.

5. The camshaft and pulley automatic assembly device according to claim 4, characterized in that: Two visual cameras (12) are arranged in front of the camshaft and pulley tightening station, and are used to measure the angle deviation between the intake camshaft and the timing position, the angle deviation between the exhaust camshaft and the timing position, and the graphics of the pulley end face.

6. A method for automatically assembling a camshaft and a pulley, using the automatic assembling device for assembling a camshaft and a pulley according to claim 5, characterized in that: The following steps are involved: Step S1, in the process of conveying the engine support mechanism (3), the visual camera (12) captures images of the camshaft (13) and the end surface of the pulley, calculates the angle deviation θ between the camshaft (13) and the camshaft timing position, and transmits the angle deviation θ to the first servo motor (51); Step S2, when the engine support mechanism (3) drives the engine (8) to the pulley and camshaft tightening station, the RFID read / write head (7) reads the data of the RFID code block (39) to determine whether the posture of the tray is consistent with the process requirements of this station. If it is consistent, the next step is continued; if it is inconsistent, an alarm signal is issued, and it is necessary to manually pull the handle (36) inward to loosen the upper tray (32), and rotate the upper tray (32) to a suitable position, and then manually pull the handle (36) to a vertical state, so that the positioning wheel (38) is locked in the positioning groove (321), thereby realizing the positioning of the upper tray (32); Step S3, the lifting servo motor (42) rotates to drive the engine supporting mechanism (3) to perform the first lifting. After the lifting is in place, the sensor lifting cylinder (10) drives the height displacement sensor (11) to descend and contact the plane of the cover on which the high-pressure pump is mounted, so that the height displacement sensor (11) has a certain amount of compression, and the value of the height displacement sensor (11) at this time is recorded as H2; the tightening position height required by the process is known to be H0, △H=H0-H2 is the displacement deviation, and the tray compensation is required. The displacement deviation value is transmitted to the lifting positioning mechanism (4), and the secondary lifting value of the lifting servo motor (42) is △H. At this time, the value of the height displacement sensor (11) is detected to be H0, and the height of the engine (8) is lifted to the desired position.

7. The camshaft and pulley automatic assembly method according to claim 6, characterized in that: After step S3, the method further includes step S4, wherein the camshaft aligning mechanism (5) moves closer to the engine (8) until the camshaft butt joint (55) contacts the end of the camshaft (13), at which time the first servo motor (51) drives the camshaft butt joint (55) to rotate at a low speed until the camshaft butt joint (55) slides into the camshaft slot, the first telescopic spline (53) pops out under the action of the spring, the first servo motor (51) continues to drive the camshaft (13) to rotate to the timing position, and then the first pneumatic brake disc (56) locks the output shaft of the first servo motor (51); Step S5, the second servo motor (61) drives the pulley clamping joint (610) to rotate according to the image information of the pulley end face, so that the pulley clamping joint (610) accurately corresponds to the clamping point (141) of the pulley end face hole, and then the pulley tightening mechanism (6) is moved toward the pulley, and the pulley clamping joint (610) is directly connected to the clamping point (141) of the pulley end face hole, and the pulley clamping joint (610) is connected and clamped by the elastic second telescopic spline (65), and then the second pneumatic brake disc (60) locks the rotating shaft of the driving gear (62); Step S6: The pulley tightening mechanism (6) continues to move closer to the pulley, so that the end of the bolt tightening shaft (69) clamps the pulley tightening bolt, and the third servo motor (68) rotates to tighten the pulley tightening bolt, thereby completing the assembly of the camshaft (13) and the pulley (14).

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