A damage-free automatic assembly machine for radial spherical plain bearings

Abstract

The present invention discloses a non-destructive automatic assembly machine for radial spherical bearings, comprising a feeding device and a fitting device installed on the right side thereof. The feeding device is used to continuously and stably input the inner and outer rings into the fitting device, and comprises a base, an outer ring vibration plate, an outer ring material channel, an inner ring vibration plate, an inner ring material channel, a material channel mounting seat and a linear feeder. The fitting device is used to complete the fitting operation of the inner and outer rings, and comprises a workbench and a fitting operation table installed on the workbench, a material-retrieving manipulator, an outer ring positioning assembly, a pushing manipulator, a shifting manipulator, an outer ring supporting assembly, a press and a discharge channel. The invention can be used for the automatic and non-destructive assembly of radial spherical bearings. Compared with manual operation, it can effectively improve the assembly quality and efficiency of radial spherical bearings and reduce the operator's work intensity.

Description

Technical Field

[0001] The invention relates to the technical field of automatic assembly of spherical plain bearings, in particular to a damage-free automatic assembly machine for radial spherical plain bearings. Background Art

[0002] At present, the assembly (fitting) of radial spherical plain bearings usually adopts the manual contact assembly method. The assembly process is roughly as follows: first, the inner ring is placed upright or flat on the single-slit (axial) outer ring end that has been cracked; then, the inner ring (or outer ring) is manually rotated to align the inner ring with the slit; finally, the inner ring is pressed into the outer ring with a press to form a spherical contact friction pair and complete the fitting.

[0003] This assembly process has the following problems: First, when pressing in vertically (the situation is similar when pressing in horizontally), the elastic reaction force of the outer ring will cause scratches near the end face of the inner ring and the contact point of the outer ring inner diameter, forming surface defects of the inner and outer rings. Moreover, as the size of the bearing increases, the reaction elastic force of the outer ring increases, and such defects are more obvious (for example, this problem is prominent in spherical plain bearings above 50); Second, the operator needs to determine the slit position with the naked eye and manually rotate the outer ring, which results in large positioning errors and the operator is prone to visual fatigue after working for a long time; Third, most operations are completed manually on the press, which has low production efficiency and certain safety hazards.

[0004] CN115837567A discloses a single-slit radial spherical plain bearing automatic assembly machine, comprising a workbench with a stamping cylinder mounted above the workbench for stamping and assembling bearings; an inner ring feeding structure mounted on one side of the workbench and an outer ring feeding structure mounted on the other side, the inner ring feeding structure and the outer ring feeding structure respectively used to deliver inner and outer rings to the workbench for assembly; a discharge structure secured to a mounting plate secured to the workbench; and a collection structure disposed below the workbench for recovering assembled bearings. The machine utilizes inner and outer ring vibrating plates to hold a large number of inner and outer rings, automatically and accurately transporting the outer rings to the workbench in an orderly and directional manner. The stamping cylinder then punches the inner ring into the outer ring. Upon completion, the discharge cylinder pushes the assembled bearings into the collection structure.

[0005] Although it solves the problems of low efficiency and safety hazards of manual assembly, its use method cannot solve the problem of scratches near the inner ring end face and the outer ring inner diameter contact due to pressing, forming surface defects of the inner and outer rings. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a damage-free automatic assembly machine for radial spherical plain bearings, so as to realize automatic and damage-free assembly and improve the assembly quality and efficiency of radial spherical plain bearings.

[0007] In order to solve the above technical problems, the present invention adopts the following technical means:

[0008] A damage-free automatic assembly machine for radial spherical plain bearings comprises a feeding device and a sleeve closing device mounted on the right side thereof, the feeding device being used to convey outer rings and inner rings to the sleeve closing device, the sleeve closing device comprising a workbench provided with a sleeve closing operation table, the sleeve closing operation table being provided with an outer ring rotation and positioning station, a ring joining station, a sleeve closing station, and a discharge station; the outer ring rotation and positioning station being used to place the outer ring and convey the outer ring to the ring joining station, the ring joining station receiving the outer ring and inner ring for combined assembly; the outer ring and inner ring of the ring joining station being conveyed to the sleeve closing station, the pressing head of a press being provided directly above the sleeve closing station, the press driving the pressing head to press the outer ring and inner ring together, and the outer ring supporting assembly being mounted directly below the sleeve closing station;

[0009] The outer ring supporting assembly includes an electric linear module, an anvil, anvil connecting seat, telescopic electromagnet, module support, screw, and slide; the electric linear module is installed directly below the fitting station of the fitting operation table through the module support, the screw adopts a left-right bidirectional ball screw, and the left and right sections of the screw are each provided with a threaded slide; there are two anvil connecting seats, which are respectively installed on the two slides, and guide columns are provided at both ends of the anvil; there are two anvils, which are slidingly sleeved on the anvil connecting seat through the guide grooves at both ends. The guide column of the connecting seat is provided with two telescopic electromagnets, the lower ends of which are installed on the anvil connecting seat, and the upper ends are connected to the anvils. When the telescopic electromagnet is energized, it pushes the anvil upward to insert into the inner hole of the outer ring. Then, the electric linear module rotates forward, and the two slides drive the two anvils to move in reverse through the anvil connecting seat, thereby expanding the outer ring. When the inner ring is pressed together, the electric linear module is controlled to reverse, driving the two anvils to move toward each other, loosening the outer ring and closing the gap. Then, the telescopic electromagnet is de-energized, and the anvils move downward to exit the inner hole of the outer ring.

[0010] The bearings assembled at the assembly station are transported to the discharging station and output.

[0011] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features:

[0012] By setting an outer ring holding assembly just below the fitting station, the outer ring is held open by the outer ring holding assembly when the inner ring is pressed into the outer ring. After the outer ring is held open, the press drives the pressure head to press the outer and inner rings together. The operation method of first holding open the outer ring, then pressing the inner ring, and finally closing the outer ring is adopted. Compared with the traditional direct pressing method, the holding and pressing between the inner and outer rings can effectively avoid surface scratches on the inner and outer rings and improve the assembly quality.

[0013] Further preferred technical solutions are as follows:

[0014] The feeding device includes a base, an outer ring vibration plate, an outer ring material channel, an inner ring vibration plate, an inner ring material channel, a material channel mounting seat and a linear feeder; the base is placed on a horizontal ground and serves as an installation basis for other components; the outer ring vibration plate and the inner ring vibration plate are installed side by side at the front and rear ends on the left upper part of the base; the outer ring material channel and the inner ring material channel are both straight material channels, which are respectively installed at the front and rear ends of the upper part of the material channel mounting seat, and the feeding ports of the outer ring material channel and the inner ring material channel are respectively opposite to the discharging ports of the outer ring vibration plate and the inner ring vibration plate, and the end discharging ports of the outer ring material channel and the inner ring material channel are provided with a feeding part, and the side walls of the feeding part are low for convenient feeding.

[0015] Through the above arrangement, it is convenient to use the outer ring vibration plate, outer ring vibration plate, and outer ring material channel to transport the outer ring while using the inner ring vibration plate, inner ring material channel, and material channel mounting seat to transport the inner ring; the outer ring material channel and the inner ring material channel end discharge port are provided with a material taking part, which is convenient for taking out the transported outer ring and inner ring.

[0016] The material channel mounting seat is mounted on the linear guide rail of the linear feeder, and the linear feeder is mounted on the upper right side of the base through a feeder support.

[0017] The outer and inner ring material channels are fixedly connected to the linear guide rails of the linear feeder through the material channel mounting base. During operation, the linear guide rails of the linear feeder will vibrate linearly and reciprocatingly, thereby driving the linear reciprocating vibration of the material channel, causing the inner and outer rings to slide toward the discharge port.

[0018] The width of the inner ring material channel feed port is slightly larger than the inner ring diameter, and the width of the discharge port is slightly larger than the inner ring width. The side wall of the material channel is provided with a spiral transition surface, so that the inner ring entering horizontally can be discharged vertically, thereby adjusting the posture of the inner ring.

[0019] The above arrangement facilitates the adjustment of the posture during the inner ring conveying process.

[0020] The fitting operation table is installed in the middle of the workbench. The fitting operation table includes an operation table top and two sets of channel steels for support thereunder. The fitting operation table is L-shaped, and its short side is provided with an outer ring rotation positioning station, and its long side is provided with a ring combination station, a fitting station and a discharge station in sequence.

[0021] By setting up a combined operating table, it is convenient to set up several workstations.

[0022] An outer ring positioning assembly is provided at the outer ring rotation positioning station of the fitting operating table; the outer ring positioning assembly includes a rotating table, an electric turntable, a turntable support, a photoelectric sensor and a sensor bracket; the rotating table is installed on the top of the electric turntable; the electric turntable is installed on the lower side of the outer ring rotation positioning station of the fitting operating table through the turntable support; the photoelectric sensor is a through-beam photoelectric sensor, and its transmitting end and receiving end are symmetrically installed on both sides of the turntable support through the sensor bracket; a key slot is provided at the connection between the sensor bracket and the turntable support, so that its installation height relative to the turntable support is adjustable.

[0023] By setting up the outer ring positioning component, it is convenient to use the sensor set therein to detect the slot position, and rotate the outer ring to align the slot with the inner ring to be placed.

[0024] A material-grabbing robot is provided above the outer ring rotation positioning station and the ferrule engagement station on the fitting operation table; the material-grabbing robot comprises a first rodless cylinder, a first cylinder support, a first double-axis cylinder, a second double-axis cylinder, a second cylinder support, an outer ring claw and an inner ring claw; the first rodless cylinder drives the second cylinder support to reciprocate, and the first double-axis cylinder and the second double-axis cylinder are respectively provided at both ends of the second cylinder support, the first double-axis cylinder and the second double-axis cylinder are vertically arranged, the first double-axis cylinder drives the outer ring claw at the bottom to rise and fall vertically, and the second double-axis cylinder drives the inner ring claw at the bottom to rise and fall, the outer ring claw is used to clamp and transfer the outer ring, and the inner ring claw is used to clamp and transfer the inner ring.

[0025] By arranging a material taking manipulator, it is convenient to use the material taking manipulator to move the outer ring and the inner ring from the feeding device to the inner ring for conveying to the sleeve closing device.

[0026] The outer ring gripper includes an inner ring cylinder and two outer ring fingers installed at its protruding end and arranged opposite to each other. The inner ring gripper includes an inner ring cylinder and two inner ring fingers installed at its protruding end and arranged opposite to each other. The inner side of the lower end of the outer ring finger is provided with an arc groove matching the outer diameter of the outer ring; the inner side of the lower end of the inner ring finger is provided with an arc boss matching the inner diameter of the inner ring.

[0027] The above arrangement improves the stability of clamping and conveying.

[0028] A pushing robot is provided at the outer ring rotation positioning station, and the pushing robot includes a third double-axis cylinder, a third cylinder support and a pushing finger. The third double-axis cylinder is installed on the side of the outer ring rotation positioning station through the third cylinder support, and the pushing finger is installed at the protruding end of the third double-axis cylinder, and an arc groove matching the outer diameter of the outer ring is provided on its outer side, and the opening of the arc groove faces the ring combination station. The third double-axis cylinder drives the arc groove to push the outer ring toward the ring combination station.

[0029] By setting the above components, the outer ring can be conveyed more accurately.

[0030] The ring combining station and the rear end of the fitting station of the fitting operation table are provided with a shift robot, the shift robot adopts an XY two-degree-of-freedom robot arm, and the shift robot includes a second rodless cylinder, a slide cylinder and a shift work plate; the second rodless cylinder is installed on the fitting operation table through the cylinder left support and the cylinder right support; there are two slide cylinders, which are installed on the slide of the second rodless cylinder through the cylinder connecting plate; the shift work plate is installed on the slide of the slide cylinder, and two arc grooves are provided on the inner side thereof that are consistent with the outer diameter of the outer ring, which are respectively opposite to the ring combining station and the fitting station, and the slide cylinder drives the shift work plate to extend or retract toward the ring combining station and the fitting station; the second rodless cylinder drives the shift work plate to move along the straight line connecting the ring combining station, the fitting station and the discharge station.

[0031] By arranging a shift robot, it is convenient to utilize the arc groove on the shift working plate of the shift robot to transfer the outer ring and the inner ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention;

[0033] Figure 2 This is a structural diagram of a feeding device according to an embodiment of the present invention;

[0034] Figure 3 This is a structural diagram of a sleeve assembly according to an embodiment of the present invention;

[0035] Figure 4 This is a structural diagram of a reclaiming manipulator according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic structural diagram of an outer ring positioning assembly according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the structure of a pushing robot according to an embodiment of the present invention;

[0038] Figure 7 This is a schematic structural diagram of a shift robot according to an embodiment of the present invention;

[0039] Figure 8 Schematic diagram of the outer ring support assembly structure of an embodiment of the present invention.

[0040] In the picture:

[0041] 1-feeding device, 2-closing device, 3-retrieving manipulator, 4-outer ring positioning assembly, 5-pushing manipulator, 6-shifting manipulator, 7-outer ring supporting assembly, 11-base, 12-outer ring vibration disk, 13-outer ring material channel, 14-inner ring vibration disk, 15-inner ring material channel, 16-material channel mounting seat, 17-linear feeder, 18-feeder support, 21-workbench, 22-closing operation table, 23-press, 24-discharging channel, 25-outer ring rotation positioning station, 26-ring combination station, 27-closing station, 28-discharging station, 29-rectangular slot, 31-first rodless cylinder, 32-first cylinder support, 33-first double-axis cylinder, 34-second double-axis cylinder, 35- Second cylinder support, 36-outer ring gripper, 361-outer ring finger cylinder, 362-outer ring finger, 37-inner ring gripper, 371-inner ring finger cylinder, 372-inner ring finger, 41-rotating table, 42-electric turntable, 43-turntable support, 44-photoelectric sensor, 45-sensor bracket, 51-third dual-axis cylinder, 52-third cylinder support, 53-pushing finger, 61-second rodless cylinder, 62-slide cylinder, 63-shift working plate, 64-cylinder left support, 65-cylinder right support, 66-cylinder connecting plate, 71-electric linear module, 72-anvil, 73-anvil connecting seat, 74-telescopic electromagnet, 75-module support, 76-screw, 77-slide. DETAILED DESCRIPTION

[0042] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0043] like Figures 1-8 As shown, an embodiment of the present invention provides a damage-free automatic assembly machine for radial spherical plain bearings, which is composed of a feeding device 1 and a sleeve assembly device 2 installed on the right side thereof.

[0044] See also Figure 2 It can be seen that the feeding device 1 is composed of a base 11, an outer ring vibration plate 12, an outer ring material channel 13, an inner ring vibration plate 14, an inner ring material channel 15, a material channel mounting seat 16, a linear feeder 17, and a feeder support 18.

[0045] Among them, the base 11 is placed on the horizontal ground and serves as the installation foundation for other components; the outer ring vibration plate 12 and the inner ring vibration plate 14 are installed in parallel at the front and rear ends of the upper left side of the base 11, and are used for automatic sorting and loading of the outer and inner rings of the spherical bearing; the outer ring material channel 13 and the inner ring material channel 15 are both straight material channels, which are installed at the front and rear ends of the upper part of the material channel mounting seat 16 respectively; the feeding port of the outer ring material channel 13 is opposite to the discharging port of the outer ring vibration plate 12, and the feeding port of the inner ring material channel 15 is opposite to the discharging port of the inner ring vibration plate 14.

[0046] The outer ring material channel 13 and the inner ring material channel 15 are provided with a feeding part at the discharge end. The side wall of the feeding part is relatively low, which is convenient for feeding. The material channel mounting seat 16 is installed on the linear guide rail of the linear feeder 17. The linear feeder 17 is installed on the upper right side of the base 11 through the feeder support 18. The linear feeder 17 enables the outer ring and the inner ring to slide more smoothly along the outer ring material channel 13 and the inner ring material channel 15 toward the discharge port.

[0047] The inner ring material channel 15 has the function of adjusting the posture of the inner ring. The width of the feed port is slightly larger than the diameter of the inner ring, and the width of the discharge port is slightly larger than the width of the inner ring. The side wall of the material channel is provided with a spiral transition surface. The inner ring entering the material channel 15 is gradually adjusted from the horizontal state at the entrance to the vertical state at the exit under the action of the forward thrust of the linear feeder 17 and the subsequent inner ring and the side pressure of the spiral transition surface.

[0048] See also Figure 3 It can be seen that the sleeve closing device 2 is composed of a material-taking robot 3, an outer ring positioning assembly 4, a pushing robot 5, a shifting robot 6, an outer ring supporting assembly 7, a press 23, a discharge channel 24, a workbench 21, a sleeve closing operating table 22, a press 23, a discharge channel 24, an outer ring rotation positioning station 25, a ring combining station 26, a sleeve closing station 27, a discharge station 28, and a rectangular groove 29.

[0049] The material-retrieving robot 3 is mounted on the upper part of the sleeve-fitting operating table 22 and on both sides of the short plate. It is used to take out the outer ring and inner ring from the discharge ports of the outer ring material channel 13 and the inner ring material channel 15, and place them respectively on the outer ring rotation positioning station 25 and the ferrule combination station 26 of the sleeve-fitting operating table 22.

[0050] The outer ring positioning assembly 4 is installed at the outer ring rotation positioning station 25 of the sleeve assembly operation table 22, and is used to detect the slot position of the outer ring and rotate the outer ring to align the slot with the inner ring to be placed.

[0051] The pushing robot 5 is installed at the front end of the short plate of the sleeve assembly operating table 22, opposite to the outer ring rotation positioning station 25, and is used to push the indexed outer ring from the outer ring rotation positioning station 25 to the ring assembly station 26.

[0052] The shift robot 6 is installed at the rear end of the long side of the sleeve operation table 22, opposite to the ring combination station 26 and the sleeve operation station 27. It is used to transport the combined inner and outer rings from the ring combination station 26 to the sleeve operation station 27, and at the same time transport the pressed finished product from the sleeve operation station 27 to the discharge station 28.

[0053] See also Figure 4As can be seen, the retrieving robot 3 consists of a first rodless cylinder 31, a first cylinder support 32, a first double-axis cylinder 33, a second double-axis cylinder 34, a second cylinder support 35, an outer ring gripper 36, and an inner ring gripper 37. The first rodless cylinder 31 drives the second cylinder support 35 to reciprocate. The first double-axis cylinder 33 and the second double-axis cylinder 34 are respectively arranged at both ends of the second cylinder support 35. The first double-axis cylinder 33 and the second double-axis cylinder 34 are arranged vertically. The first double-axis cylinder 33 drives the outer ring gripper 36 at the bottom to rise and fall vertically, and the second double-axis cylinder 34 drives the inner ring gripper 37 at the bottom to rise and fall. The outer ring gripper 36 is used to clamp and transfer the outer ring, and the inner ring gripper 37 is used to clamp and transfer the inner ring. The first rodless cylinder 31 is mounted on both sides of the short plate of the fitting operation platform 22 through the first cylinder support 32, and its two ends of the stroke are respectively opposite to the discharge ports of the inner ring material channel 15, the outer ring material channel 13 and the short plate of the fitting operation platform 22; the first double-axis cylinder 33 and the second double-axis cylinder 34 are respectively arranged on the front and rear sides of the first rodless cylinder 31, and are connected to the slide seat of the first rodless cylinder 31 through the second cylinder support 35; the first double-axis cylinder 33 is opposite to the discharge port of the outer ring material channel 13 and the outer ring rotation positioning station 25, and the second double-axis cylinder 34 is opposite to the discharge port of the inner ring material channel 15 and the ring combination station 26; the outer ring gripper 36 and the inner ring gripper 37 are respectively installed on the protruding ends of the first double-axis cylinder 33 and the second double-axis cylinder 34. The coordinated cooperation of the first rodless cylinder 31, the first double-axis cylinder 33 and the outer ring gripper 36 can deliver the outer ring from the discharge port of the outer ring material channel 13 to the outer ring rotation positioning station 25; the coordinated cooperation of the first rodless cylinder 31, the second double-axis cylinder 34 and the inner ring gripper 37 can deliver the inner ring from the discharge port of the inner ring material channel 15 to the ring combination station 26.

[0054] The outer ring gripper 36 includes an outer ring finger, an inner ring cylinder 361 and two outer ring fingers 362 installed at the protruding ends thereof and arranged opposite to each other; the inner ring gripper 37 includes an inner ring finger, an inner ring cylinder 371 and two inner ring fingers 372 installed at the protruding ends thereof and arranged opposite to each other; the inner side of the lower end of the outer ring finger 362 is provided with an arc groove matching the outer diameter of the outer ring to facilitate clamping the outer surface of the outer ring; the inner side of the lower end of the inner ring finger 372 is provided with an arc boss matching the inner diameter of the inner ring. When the inner ring is clamped, the boss surface fits with the inner surface of the inner ring to ensure reliable clamping.

[0055] See also Figure 5It can be seen that the outer ring positioning assembly 4 consists of a rotating table 41, an electric turntable 42, a turntable support 43, a photoelectric sensor 44 and a sensor bracket 45; the rotating table 41 is installed on the top of the electric turntable 42; the electric turntable 42 is installed on the lower side of the outer ring rotation positioning station 25 of the assembly operating table 22 through the turntable support 43; the photoelectric sensor 44 is a through-beam photoelectric sensor, and its transmitting end and receiving end are symmetrically installed on both sides of the turntable support 43 through the sensor bracket 45; a keyway is provided at the connection between the sensor bracket 45 and the turntable support 43, so that its installation height relative to the turntable support 43 is adjustable.

[0056] Since the two oil groove holes of the outer ring are located on the diameter of the outer ring, and the slit is located on the median vertical plane of the line connecting the two oil groove holes, the position of the slit can be determined by detecting the position of the two oil groove holes; the photoelectric sensor 44 is arranged on the diameter line at the same height as the oil groove holes, and the rotating table 41 drives the outer ring to rotate. When the two oil groove holes are rotated to the same radial direction as the sending and receiving ends of the photoelectric sensor 44, the photoelectric sensor 44 will receive a trigger signal. At this time, the slit is located on the median vertical plane of the sending and receiving ends of the photoelectric sensor 44, and then the electric turntable 42 is controlled to rotate 90 degrees to align the slit with the inner ring to be placed.

[0057] See also Figure 6 As can be seen, the pushing robot 5 consists of a third dual-axis cylinder 51, a third cylinder support 52, and a pushing finger 53. The third dual-axis cylinder 51 is mounted via the third cylinder support 52 at the front end of the outer ring rotation positioning station 25 of the ferrule assembly platform 22. The pushing finger 53 is mounted on the protruding end of the third dual-axis cylinder 51. The outer side of the pushing finger is provided with an arc groove that matches the outer diameter of the outer ring to prevent the outer ring from shifting during the pushing process. The opening of the arc groove faces the ferrule assembly station 26. The third dual-axis cylinder 51 drives the arc groove to push the outer ring toward the ferrule assembly station 26.

[0058] See also Figure 7 It can be seen that the shifting manipulator 6 is composed of an XY two-degree-of-freedom manipulator arm, including a second rodless cylinder 61, a slide cylinder 62, a shifting working plate 63, a cylinder left support 64, and a cylinder right support 65; the second rodless cylinder 61 is installed at the rear ends of the ring combination station 26 and the fitting station 27 of the fitting operation table 22 through the cylinder left support 64 and the cylinder right support 65; there are two slide cylinders 62, which are installed on the slide of the second rodless cylinder 61 through the cylinder connecting plate 66; the shifting working plate 63 is installed on the slide of the slide cylinder 62, and two arc grooves are provided on the inner side thereof that are consistent with the outer diameter of the outer ring, which are respectively opposite to the ring combination station 26 and the fitting station 27; the arc grooves can prevent the outer ring from shifting during the pushing process. The slide cylinder 62 drives the shifting working plate 63 to extend or retract toward the ring combining station 26 and the sleeve closing station 27; the second rodless cylinder 61 drives the shifting working plate 63 to move along the straight line connecting the ring combining station 26, the sleeve closing station 27 and the discharge station 28.

[0059] See also Figure 8 It can be seen that the outer ring support assembly 7 is composed of an electric linear module 71, an anvil 72, an anvil connecting seat 73, a telescopic electromagnet 74, a module support 75, a screw 76, and a slide 77; the electric linear module 71 is installed on the lower side of the fitting station 27 of the fitting operation table 22 through the module support 75, and the screw 76 adopts a left-hand and right-hand bidirectional ball screw. The left and right sections of the screw 76 are each provided with a threaded slide 77; there are two anvil connecting seats 73, which are respectively installed on two slides 77, and guide columns are provided at their left and right ends; there are two anvils 72, which are slid onto the guide columns of the anvil connecting seat 73 through the guide grooves at both ends; there are two telescopic electromagnets 74, the lower ends of which are installed on the anvil connecting seat 73, and the upper ends are connected to the anvil 72.

[0060] The outer ring closing assembly 7 is installed directly below the closing station 27 of the closing operation table 22. It is used to open the outer ring to facilitate the pressing of the inner ring into the outer ring. After the inner ring is pressed in, it is slowly released to avoid scratches that are easily caused by forceful pressing. During operation, the telescopic electromagnet 74 is first energized, pushing the anvil 72 upward to insert into the inner hole of the outer ring. Then, the electric linear module 71 rotates forward, and the two slides 77 drive the two anvils 72 to move in opposite directions through the anvil connecting seat 73 to open the outer ring. After the inner ring is pressed, the electric linear module 71 is controlled to reverse, driving the two anvils 72 to move toward each other, loosening the outer ring and closing the gap. Then, the telescopic electromagnet 74 is de-energized, and the anvils 72 descend and exit the inner hole of the outer ring.

[0061] The workbench 21 is placed on a level ground and serves as a base for installing other components.

[0062] The ferrule assembly platform 22 is mounted in the middle of the workbench 21. It consists of an operating table and two sets of channel steel supports below it, forming an L-shape. Its short side houses an outer ring rotation and positioning station 25, while its long side, from left to right, houses a ferrule assembly station 26, a ferrule assembly station 27, and a discharge station 28. These stations perform the four operations of outer ring rotation, inner ring insertion, inner and outer ring pressing, and finished product discharge, respectively. A rectangular slot 29 is located between the ferrule assembly station 27 and the discharge station 28 of the ferrule assembly platform 22. The slot width of the rectangular slot 29 is slightly larger than the width of the inner ring to accommodate the inner ring as it descends.

[0063] The press 23 is installed on the front side of the long side of the sleeve closing operation table 22, and its pressure head is located directly above the sleeve closing station 27. It is used to press the inner ring and outer ring together after the outer ring is expanded.

[0064] The discharge channel 24 is mounted at the right end of the assembly platform 22, opposite the discharge station 28. It guides the discharge of finished products after lamination. The discharge channel 24 consists of three sections: an upper straight track, a middle slant, and a lower straight track. The upper straight track and the middle slant are equipped with rectangular slots 29, which are the same size as those in the discharge station 28. After the shifting robot 6 is activated, the finished products are pushed from the assembly station 27 to the middle slant. The shifting robot 6 then retracts, and the finished products are discharged along the channel.

[0065] The rectangular groove 29 is provided on the fitting station 27 , the discharging station 28 and the discharging channel 24 .

[0066] In this embodiment, two symmetrically arranged columns are provided on the upper part of the anvil 72. The outer side of the columns is provided with a cylindrical surface that matches the inner circle of the inner ring, which can increase the actual contact area with the inner ring and prevent scratching its inner surface.

[0067] The automatic assembly machine assembly method comprises the following steps:

[0068] (1) The operator places a batch of outer rings and inner rings into the outer ring vibration plate 12 and the inner ring vibration plate 14 respectively;

[0069] (2) After the outer ring vibrating plate 12 and the inner ring vibrating plate 14 are running, the outer ring and the inner ring are sorted and output respectively, and enter the outer ring material channel 13 and the inner ring material channel 15. Under the action of the linear feeder 17, the outer ring is pushed horizontally to the discharge port for standby, and the inner ring is pushed vertically to the discharge port for standby.

[0070] (3) The first rodless cylinder 31, the first double-axis cylinder 33 and the outer ring gripper 36 of the material-retrieving robot 3 coordinate their actions to take the outer ring out of the material outlet and place it on the rotating table 41 of the outer ring positioning assembly 4; at the same time, the first rodless cylinder 31, the second double-axis cylinder 34 and the inner ring gripper 37 coordinate their actions to take the inner ring out of the material outlet and hover it above the ring combining station 26.

[0071] (4) The electric turntable 42 drives the outer ring to rotate, and the photoelectric sensor 44 is used to detect the two oil groove through holes and judge the slit position accordingly. Then, the outer ring continues to rotate 90 degrees to align the slit with the inner ring.

[0072] (5) The pushing manipulator 5 moves to push the outer ring to the ferrule combination station 26; then, the second dual-axis cylinder 34 and the inner ring gripper 37 move to place the inner ring on the outer ring port; then the pushing manipulator 5 and the material-retrieving manipulator 3 are reset in sequence.

[0073] (6) The shift robot 6 moves to move the combined inner and outer rings from the ring combining station 26 to the sleeve closing station 27; and then reset.

[0074] (7) The outer ring expansion assembly 7 is actuated to expand the outer ring to a certain size; then, the press 23 is actuated to press the inner ring in; after pressing in, the outer ring expansion assembly 7 is reset and the outer ring is closed.

[0075] (8) The movement of the mobile manipulator 6 will simultaneously move the assembled finished product from the assembly station 27 to the discharge station 28 and discharge it along the discharge channel 24.

[0076] The beneficial effects of this embodiment are:

[0077] (1) The automation of the assembly of the inner and outer rings of the radial spherical plain bearing has been realized. Compared with the traditional manual operation, it can significantly improve the assembly productivity and reduce the operator's work intensity.

[0078] (2) An outer ring support assembly was designed. When the inner and outer rings were put together, the outer ring was first spread open, then the inner ring was pressed in, and finally the outer ring was closed. Compared with the traditional direct pressing method, this method can effectively avoid surface scratches on the inner and outer rings and improve the assembly quality.

[0079] (3) An outer ring positioning component is designed, which can automatically detect the slot position through a photoelectric sensor. Compared with the naked eye, it can effectively improve the detection accuracy and help to realize the automation of assembly operations.

[0080] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A damage-free automatic assembly machine for radial spherical plain bearings, comprising a feeding device (1) and a sleeve assembly device (2) mounted on the right side thereof, wherein the feeding device (1) is used to convey the outer ring and the inner ring to the sleeve assembly device (2), and is characterized in that: The assembly device (2) includes a workbench (21), a assembly operation table (22) is provided on the workbench (21), and the assembly operation table (22) is provided with an outer ring rotation positioning station (25), a ring combination station (26), an assembly station (27), and a discharge station (28); the outer ring rotation positioning station (25) is used to place the outer ring and transport the outer ring to the ring combination station (26), and the ring combination station (26) receives the outer ring and the inner ring for assembly; the outer ring and the inner ring of the ring combination station (26) are transported to the assembly station (27), and a pressure head of a press (23) is provided directly above the assembly station (27), and the press (23) drives the pressure head to press the outer ring and the inner ring together, and the outer ring support assembly (7) is installed directly below the assembly station (27); The outer ring supporting assembly (7) includes an electric linear module (71), an anvil (72), an anvil connecting seat (73), a telescopic electromagnet (74), a module support (75), a lead screw (76), and a slide (77); the electric linear module (71) is installed directly below the fitting station (27) of the fitting operation table (22) through the module support (75); the lead screw (76) adopts a left-hand and right-hand bidirectional ball screw, and the left and right sections of the lead screw (76) are each provided with a threaded fitting slide (77); there are two anvil connecting seats (73), which are respectively installed on the two slides (77), and the left and right ends thereof are provided with guide columns; the anvil (72) is provided with two guide posts, which are provided through the guide posts at both ends. The slot slides on the guide column of the anvil connecting seat (73); two telescopic electromagnets (74) are provided, the lower ends of which are mounted on the anvil connecting seat (73) and the upper ends are connected to the anvil (72); the telescopic electromagnet (74) is energized to push the anvil (72) upward to insert into the inner hole of the outer ring, and then the electric linear module (71) rotates forward, and the two slides (77) drive the two anvils (72) to move in opposite directions through the anvil connecting seat (73), so that the outer ring can be opened; when the inner ring is pressed together, the electric linear module (71) is controlled to reverse, drive the two anvils (72) to move in opposite directions, loosen the outer ring, and close the gap, and then the telescopic electromagnet (74) is de-energized, and the anvil (72) moves downward to exit the inner hole of the outer ring; The bearings assembled at the fitting station (27) are transported to the discharging station (28) and output; The feeding device (1) comprises a base (11), an outer ring vibration disk (12), an outer ring material channel (13), an inner ring vibration disk (14), an inner ring material channel (15), a material channel mounting seat (16) and a linear feeder (17); the base (11) is placed on a horizontal ground and serves as a mounting base for other components; the outer ring vibration disk (12) and the inner ring vibration disk (14) are mounted in parallel at the front and rear ends of the upper left side of the base (11); the outer ring material channel (13) and the inner ring material channel (15) are both straight material channels, which are mounted at the front and rear ends of the upper part of the material channel mounting seat (16) respectively, and the feeding ports of the outer ring material channel (13) and the inner ring material channel (15) are respectively opposite to the discharging ports of the outer ring vibration disk (12) and the inner ring vibration disk (14), and the end discharging ports of the outer ring material channel (13) and the inner ring material channel (15) are provided with a material taking portion, and the side wall of the material taking portion is low for convenient material taking.

2. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: The material channel mounting seat (16) is mounted on the linear guide rail of the linear feeder (17), and the linear feeder (17) is mounted on the upper right side of the base (11) through a feeder support (18).

3. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: The width of the feed port of the inner ring material channel (15) is slightly larger than the inner ring diameter, and the width of the discharge port is slightly larger than the inner ring width. The side wall of the material channel is provided with a spiral transition surface so that the inner ring entering horizontally can be discharged vertically, thereby adjusting the posture of the inner ring.

4. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: The said fitting operation table (22) is installed in the middle of the workbench (21), and the fitting operation table (22) comprises an operation table top and two sets of channel steels for supporting it. The fitting operation table (22) is L-shaped, and its short side is provided with an outer ring rotation positioning station (25), and its long side is provided with a ring combination station (26), a fitting station (27) and a discharge station (28) in sequence.

5. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: An outer ring positioning assembly (4) is provided at the outer ring rotation positioning station (25) of the said combined operation platform (22); the outer ring positioning assembly (4) comprises a rotating table (41), an electric turntable (42), a turntable support (43), a photoelectric sensor (44) and a sensor bracket (45); the rotating table (41) is mounted on the top of the said electric turntable (42); the electric turntable (42) is mounted on the lower side of the outer ring rotation positioning station (25) of the combined operation platform (22) through the said turntable support (43); the photoelectric sensor (44) is a beam-type photoelectric sensor (44), the transmitting end and the receiving end of which are symmetrically mounted on both sides of the turntable support (43) through the said sensor bracket (45); a keyway is provided at the connection between the sensor bracket (45) and the turntable support (43), so that the installation height thereof relative to the turntable support (43) is adjustable.

6. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: A material-retrieving manipulator (3) is provided above the outer ring rotation positioning station (25) and the ferrule coupling station (26) on the said sleeve operation table (22); the material-retrieving manipulator (3) comprises a first rodless cylinder (31), a first cylinder support (32), a first double-axis cylinder (33), a second double-axis cylinder (34), a second cylinder support (35), an outer ring gripper (36) and an inner ring gripper (37); the first rodless cylinder (31) drives the second cylinder support (35) to move The first and second double-axis cylinders (33 and 34) are respectively provided at both ends of the second cylinder support (35). The first and second double-axis cylinders (33 and 34) are vertically arranged. The first double-axis cylinder (33) drives the outer ring claw (36) at the bottom to rise and fall vertically. The second double-axis cylinder (34) drives the inner ring claw (37) at the bottom to rise and fall. The outer ring claw (36) is used to clamp and transfer the outer ring, and the inner ring claw (37) is used to clamp and transfer the inner ring.

7. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 6, characterized in that: The outer ring gripper (36) includes an outer ring finger cylinder (361) and two outer ring fingers (362) mounted on the protruding end thereof and arranged opposite to each other, and the inner ring gripper (37) includes an inner ring cylinder (371) and two inner ring fingers (372) mounted on the protruding end thereof and arranged opposite to each other; an arc groove matching the outer diameter of the outer ring is provided on the inner side of the lower end of the outer ring finger (362); and an arc boss matching the inner diameter of the inner ring is provided on the inner side of the lower end of the inner ring finger (372).

8. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: A pushing manipulator (5) is provided at the outer ring rotation positioning station (25), and the pushing manipulator (5) includes a third double-axis cylinder (51), a third cylinder support (52) and a pushing finger (53). The third double-axis cylinder (51) is installed on the side of the outer ring rotation positioning station (25) through the third cylinder support (52). The pushing finger (53) is installed at the protruding end of the third double-axis cylinder (51), and an arc groove matching the outer diameter of the outer ring is provided on the outer side thereof. The opening of the arc groove faces the ring combination station (26). The third double-axis cylinder (51) drives the arc groove to push the outer ring toward the ring combination station (26).

9. The damage-free automatic assembly machine for radial spherical plain bearings according to claim 1, characterized in that: The rear ends of the ferrule combination station (26) and the ferrule combination station (27) of the said ferrule combination operation table (22) are provided with a shifting manipulator (6), the shifting manipulator (6) adopts an XY two-degree-of-freedom manipulator, and the shifting manipulator (6) comprises a second rodless cylinder (61), a slide cylinder (62) and a shifting working plate (63); the second rodless cylinder (61) is installed on the ferrule combination operation table (22) through a cylinder left support (64) and a cylinder right support (65); there are two slide cylinders (62) which are installed on the second rodless cylinder through a cylinder connecting plate (66). The shifting working plate (63) is mounted on the sliding seat of the slide cylinder (61); the shifting working plate (63) is mounted on the sliding seat of the slide cylinder (62), and two arc grooves are provided on the inner side thereof, which are consistent with the outer diameter of the outer ring and are respectively opposite to the ring combining station (26) and the sleeve closing station (27). The slide cylinder (62) drives the shifting working plate (63) to extend or retract toward the ring combining station (26) and the sleeve closing station (27); the second rodless cylinder (61) drives the shifting working plate (63) to move along the straight line formed by the ring combining station (26), the sleeve closing station (27) and the discharge station (28).

Images