A bearing assembly mechanical arm and assembly equipment

Abstract

The present application discloses a bearing assembly robot arm and assembly equipment, which relate to the field of motor production equipment. When the assembly robot arm needs to assemble bearings, the material picking portion of the material picking shaft is connected downward to the bearing to be assembled to pick up the material, and then the assembly robot arm moves as a whole to the top of the workpiece and then moves downward as a whole to install the bearing on the workpiece, and the lower end of the first push rod drives the sliding sleeve and the second push rod to move downward, and the lower end of the second push rod pushes the bearing to be disengaged from the material picking portion, thereby realizing the disengagement of the bearing from the assembly robot arm, and after the force of the first push rod is removed, the sliding sleeve and the second push rod are quickly reset upward under the action of the first elastic member; the assembly robot arm of the present application can be used for large-scale bearing assembly work on the production line, can be quickly disengaged after the bearing is assembled, and can be quickly reset after the assembly is completed; the assembly equipment includes a feeding assembly, a transverse movement mechanism, a servo downward pressure mechanism, a first telescopic member and a bearing assembly robot arm.

Description

Technical Field

[0001] The present application relates to the field of motor production equipment, and in particular to a bearing assembly robot arm and assembly equipment. Background Art

[0002] The intelligent integrated brake system (IPB) is one of the main development directions of modern automobile brake control, and the brake wire motor is one of the main equipment of the intelligent integrated brake system. In the production process of the wire motor, the bearing needs to be assembled to the end cover of the motor. The assembly process mainly includes the feeding process and the pressing process. The problems of the existing technology are: (1) There is a lack of efficient assembly robot arms. After the pressing is completed, the pressed bearing cannot be quickly separated from the assembly robot arm; (2) It is impossible to achieve large-scale orderly feeding of bearings. Although the existing vibration feeding method can be used for large-scale orderly feeding, the vibration will damage the bearings and may cause abnormal working conditions such as bearing scratches. Summary of the invention

[0003] The embodiments of the present application provide a bearing assembly robot arm and an assembly device, which can be applicable to large-scale bearing assembly and can be quickly detached after the bearing is assembled.

[0004] In the first aspect, the present application provides a bearing assembly robot arm, comprising a first shaft, a second shaft, a material-picking shaft, a first push rod, a first elastic member, a sliding sleeve and a second push rod; the first shaft, the second shaft and the material-picking shaft are connected in sequence; a material-picking portion for connecting to a bearing to be assembled is provided at one end of the material-picking shaft away from the second shaft; a first axial hole is provided on the first shaft, and a second axial hole coaxially connected to the first axial hole is provided on the second shaft, and at least part of the first push rod is coaxially penetrated in the first axial hole and the second axial hole; the first elastic member is provided between the inner wall of the second axial hole and the first push rod, and the telescopic direction of the first elastic member is consistent with the axial direction of the first push rod; the sliding sleeve is slidably sleeved on the second shaft; and the sliding sleeve is connected to the first push rod; the second push rod is provided at the lower end of the sliding sleeve, and the second push rod is used to push the bearing to be assembled downward to disengage from the material-picking portion.

[0005] On the second aspect, the present application also provides a bearing assembly device, including a feeding assembly, a transverse movement mechanism, a servo pressing mechanism, a first telescopic member and a bearing assembly robot arm; the feeding assembly is used to transport the bearing to be assembled to a predetermined position; the transverse movement mechanism is arranged on one side of the feeding assembly, and is used to drive the servo pressing mechanism and the bearing assembly robot arm to move transversely to a predetermined position to pick up the bearing; the servo pressing mechanism is arranged on the transverse movement mechanism, and the first axis of the bearing assembly robot arm is arranged on the servo pressing mechanism; the first telescopic member is arranged on the servo pressing mechanism, and the first telescopic member can drive the first push rod of the bearing assembly robot arm to move downward.

[0006] The bearing assembly robot and assembly equipment of the present application have at least the following beneficial effects:

[0007] When the assembly robot arm of the present application needs to assemble the bearing, the assembly robot arm moves downward as a whole, and the picking part of the picking shaft is connected downward with the bearing to be assembled to pick up the material. Then the assembly robot arm moves as a whole to just above the workpiece (motor end cover) and then moves downward as a whole to install the bearing on the workpiece. Then the first push rod is pushed downward, and the lower end of the first push rod drives the sliding sleeve and the second push rod to move downward. The lower end of the second push rod pushes the bearing to disengage from the picking part, thereby realizing the disengagement of the bearing from the assembly robot arm. After the force of the first push rod is removed, the sliding sleeve and the second push rod are quickly reset upward under the action of the first elastic member. The assembly robot arm of the present application can be used for large-scale bearing assembly work on the production line, and can be quickly disengaged after the bearing is assembled, and can be quickly reset after the assembly is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0009] Figure 1 is a vertical cross-sectional view of the bearing assembly robot arm of the present application;

[0010] Figure 2 is another vertical cross-sectional view of the bearing assembly robot arm of the present application;

[0011] Figure 3 It is a partial schematic diagram of the bottom structure of the bearing assembly robot arm of the present application;

[0012] Figure 4 It is a schematic diagram of the structure of the bearing assembly robot arm of the present application (without showing the outer sleeve);

[0013] Figure 5 It is a structural schematic diagram of the bearing assembly equipment of the present application;

[0014] Figure 6 yes Figure 5 The enlarged view of point A in the middle;

[0015] Figure 7 yes Figure 5 A top view of the cutting mechanism;

[0016] Figure 8 yes Figure 7 AA schematic diagram;

[0017] Fig. 9 yes Figure 5 Schematic diagram of the belt conveyor mechanism and the silo mechanism (P1 indicates the conveying direction);

[0018] Fig.10 yes Fig. 9 Schematic diagram of the middle silo mechanism;

[0019] Fig.11 yes Fig.10 A vertical cross-sectional diagram of the middle silo mechanism;

[0020] Fig.12 yes Fig.11 The enlarged view of point B in the middle;

[0021] Fig.13 It is a schematic diagram of the structure of the traverse mechanism, the servo pressing mechanism and the bearing assembly mechanical arm;

[0022] Fig.14 It is a schematic diagram of the state in which the bearing assembly robot arm assembles the bearing onto the workpiece (P2 shows the downward movement direction of the bearing assembly robot arm);

[0023] Description of the reference numerals is as follows:

[0024] 100, bearing assembly robot; 110, first axis; 110a, first axis hole; 120, second axis; 120a, second axis hole; 120b, first limiting slide groove; 120c, second limiting slide groove; 130, material picking axis; 131, material picking part; 140, first push rod; 141, connecting pin; 150, first elastic member; 160, sliding sleeve; 170, second push rod; 180, outer sleeve; 181, first positioning surface; 182, second positioning surface; 183, limiting pin; 184, magnetic column; 180a, avoidance hole; 190, second elastic member;

[0025] 200, feeding assembly; 210, workbench; 220, belt conveyor mechanism; 230, cutting mechanism; 231, transition block; 231a, transition chute; 231b, matching hole; 232, cutting block; 232a, cutting chute; 233, slide rail assembly; 234, top pin assembly; 2341, third telescopic member; 2342, lifting platform; 2343, top pin sleeve; 2344, top Pin; 2345, third elastic member; 240, silo mechanism; 241, fixed block; 241a, feeding slot; 2411, second L-shaped limiting surface; 2412, rotating pin; 242, second telescopic member; 243, pushing block; 244, silo tube; 245, plug plate; 2451, tongue pressing part; 2452, first L-shaped limiting surface; 2453, limiting slot; 246, spring marble;

[0026] 300, transverse movement mechanism; 310, frame; 320, transverse movement assembly;

[0027] 400, servo pressing mechanism; 410, servo press; 420, slide table;

[0028] 500, first telescopic member;

[0029] 600, bearings;

[0030] 700, motor end cover; 700a, end cover hole. DETAILED DESCRIPTION

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] like Figure 1 and Figure 2 As shown, this embodiment discloses a bearing assembly robot arm and an assembly device. First, the bearing assembly robot arm 100 of this embodiment is introduced.

[0034] The bearing assembly robot arm 100 includes a first shaft 110, a second shaft 120, a first push rod 140, a material taking shaft 130, a first elastic member 150, a sliding sleeve 160 and a second push rod 170;

[0035] like Figure 1 Shown and Figure 2As shown, the first shaft 110, the second shaft 120 and the material-collecting shaft 130 are sequentially connected in the height direction, and the lower end of the material-collecting shaft 130 is provided with a material-collecting portion 131 for connecting with the bearing 600 to be assembled. In some embodiments, the material-collecting portion 131 can be a magnet, etc., and in this embodiment, the material-collecting portion 131 includes a double-headed marble arranged at the lower end of the material-collecting shaft 130. When it is necessary to collect materials, the material-collecting shaft 130 moves downward, and the lower end of the material-collecting shaft 130 is inserted into the inner ring of the bearing 600 to be assembled. Due to the squeezing effect of the inner circumference of the inner ring, the double-headed marble is retracted into the material-collecting shaft 130 along the radial direction of the material-collecting shaft 130. At the same time, due to the elastic force of the double-headed marble, the double-headed marble can be radially abutted against the inner circumference of the inner ring, thereby realizing elastic abutment between the material-collecting shaft 130 and the bearing 600, and completing the material-collecting work. In some preferred embodiments, the first shaft 110, the second shaft 120 and the material-collecting shaft 130 are coaxially connected.

[0036] like Figure 1 Shown and Figure 2 As shown, the first shaft 110 is provided with a first shaft hole 110a (through hole), and the second shaft 120 is provided with a second shaft hole 120a (blind hole) coaxially connected to the first shaft hole 110a. The first shaft hole 110a and the second shaft hole 120a are combined to form a channel for the first push rod 140 to slide up and down. The first push rod 140 is coaxially slidably arranged in the first shaft hole 110a and the second shaft hole 120a. The first push rod 140 can slide up and down in the first shaft hole 110a and the second shaft hole 120a along its axial direction (that is, the height direction).

[0037] like Figure 1 Shown and Figure 2 As shown, the first elastic member 150 is disposed between the first push rod 140 and the inner bottom wall of the second shaft hole 120a. The expansion and contraction direction of the first elastic member 150 is consistent with the sliding direction of the first push rod 140. The first elastic member 150 is configured as a spring, and the upper and lower ends of the spring respectively abut against the lower surface of the first push rod 140 and the inner wall of the second shaft hole 120a. When the first push rod 140 is pushed downward, the first elastic member 150 is compressed, so that the first push rod 140 has a tendency to reset upward.

[0038] like Figure 1 and Figure 2As shown, a second limiting groove 120c is arranged on the side wall of the second shaft 120, and the length direction of the second limiting groove 120c is configured as the height direction, that is, the second limiting groove 120c extends along the axial direction of the second shaft, and a connecting pin 141 is arranged at the lower end of the first push rod 140, and the connecting pin 141 radially penetrates the second limiting groove 120c, and the connecting pin 141 extends to one end on the outer peripheral side of the second shaft 120 and is connected to the sliding sleeve 160. The second limiting groove 120c can limit the upward and downward movement strokes of the connecting pin 141 in the axial direction of the second shaft, thereby limiting the upward and downward movement strokes of the first push rod 140 and the sliding sleeve 160.

[0039] like Figure 4 As shown, the sleeve 160 is coaxially slidably sleeved on the outer circumferential surface of the second shaft 120, and the sleeve 160 can slide up and down relative to the second shaft 120; a second push rod 170 extending downward is provided at the lower end of the sleeve 160, and the number of the second push rods 170 can be multiple, and the multiple second push rods 170 are arranged at equal intervals along the circumference of the sleeve 160. When the sleeve 160 moves downward, the second push rods 170 move downward together, and the second push rod 170 can contact the upper surface of the bearing 600 connected to the feeding part 131, and push the bearing 600 downward, so that the bearing 600 is disengaged downward from the feeding part 131 to achieve the disengagement of the bearing 600.

[0040] In some preferred embodiments, the bearing assembly robot arm 100 further includes an outer sleeve 180, a second elastic member 190 and a limit pin 183, as follows:

[0041] like Figure 1 and Figure 2 As shown, the outer sleeve 180 is coaxially sleeved on the outer circumference of the first shaft 110, the second shaft 120 and the material taking shaft 130, and the outer sleeve 180 can slide a certain distance in the height direction relative to the first shaft 110, the second shaft 120 and the material taking shaft 130. Among them, the outer sleeve 180, the sliding sleeve 160 and the second shaft 120 are coaxially sleeved in sequence, and the lower end of the outer sleeve 180 is provided with an avoidance hole 180a for the second push rod 170 to extend downward.

[0042] like Figure 3As shown, the lower end of the outer sleeve 180 is provided with a first positioning surface 181, which is configured as a horizontal plane. The material taking part 131 of the material taking shaft 130 is located below the first positioning surface 181, which is convenient for taking materials and assembling the bearing 600. In some preferred embodiments, at least part of the first positioning surface 181 is configured as a magnetic surface for adsorbing the bearing 600, wherein the first positioning surface 181 is recessed upward to form a plurality of mounting grooves, and the plurality of mounting grooves are arranged at equal intervals along the circumferential direction, and a magnetic column 184 is inserted into the mounting groove, and the lower surface of the magnetic column 184 is configured as the magnetic surface, which can fit and attract the upper surface of the bearing 600 to be assembled, so as to ensure the stability of the bearing 600 and make the bearing 600 in a horizontal state, so as to facilitate the assembly of the bearing 600.

[0043] like Figure 1 As shown, a second elastic member 190 (spring) is provided at the upper end of the outer sleeve 180, a retaining ring is fixedly provided on the outer periphery of the first shaft 110, the second elastic member 190 is coaxially sleeved on the first shaft 110, and the upper end of the second elastic member 190 abuts against the lower surface of the retaining ring, and the lower end of the second elastic member 190 abuts against the upper end of the outer sleeve 180, and the telescopic direction of the second elastic member 190 is configured as the axial direction of the first shaft 110, that is, the height direction.

[0044] like Figure 3 As shown, a second positioning surface 182 is provided at the lower end of the outer sleeve 180, and the second positioning surface 182 is configured as a horizontal plane. The second positioning surface 182 is located above the first positioning surface 181, and the projections of the two in the height direction do not overlap or do not completely overlap, so that at least part of the second positioning surface 182 is located on the outside of the first positioning surface 181, and the second positioning surface 182 located on the outside of the first positioning surface 181 can fit against the inner upper surface of the workpiece (motor end cover 700) to achieve positioning with the motor end cover 700, and the second elastic member 190 can prevent the outer sleeve 180 from rigidly colliding with the workpiece when the bearing assembly robot arm 100 is over-pressed.

[0045] like Figure 1 As shown, a limit pin 183 is fixedly provided on the outer periphery of the outer sleeve 180, and a first limit slot 120b is provided on the second shaft 120. The length direction of the first limit slot 120b is configured as the height direction. The limit pin 183 extends radially inward at least partially into the first limit slot 120b. The up and down sliding stroke of the limit pin 183 is limited by the first limit slot 120b, thereby limiting the up and down sliding stroke of the outer sleeve 180 relative to the second shaft 120.

[0046] like Figure 5As shown, this embodiment also discloses a bearing assembly device, including a feeding assembly 200, a lateral movement mechanism 300, a servo pressing mechanism 400, a first telescopic member 500 and a bearing assembly robot arm 100, as follows:

[0047] The feeding assembly 200 is used to transport the bearings 600 to be assembled to a predetermined position in an orderly manner, so that the transverse movement mechanism 300 and the servo pressing mechanism 400 can drive the bearing assembly robot arm 100 to move to the predetermined position to pick up the material;

[0048] like Figure 5 As shown, the feeding assembly 200 includes a workbench 210, a belt conveyor mechanism 220, a cutting mechanism 230 and a silo mechanism 240; the workbench 210 is arranged on the ground or other stable plane, the belt conveyor mechanism 220 is arranged on the workbench 210, and the belt conveyor mechanism 220 conveys the bearing 600 to be assembled forward to the cutting mechanism 230 along its length direction. The specific structural form of the belt conveyor mechanism 220 can be referred to the prior art and will not be repeated here.

[0049] like Figure 6 and Figure 7 As shown, the cutting mechanism 230 includes a transition block 231, a cutting block 232, a slide rail assembly 233 and a top pin assembly 234; a transition groove 231a is provided on the upper surface of the transition block 231, and the transition groove 231a is opened along the length direction (i.e., the conveying direction) of the belt conveying mechanism 220, and the entrance end of the transition groove 231a is connected to the tail end of the belt conveying mechanism 220, so that the bearing 600 to be assembled on the belt conveying mechanism 220 can be conveyed into the transition groove 231a; the cutting block 232 is slidably arranged on the upper surface of the transition block 231, and the sliding direction of the cutting block 232 is perpendicular to the conveying direction of the belt conveying mechanism 220 in the horizontal plane, which can facilitate the cutting block 232 to perform transverse cutting, wherein the cutting block 232 is provided with a U-shaped cutting groove 2 32a, the opening of the U-shaped cutting groove 232a faces the outlet end of the transition chute 231a, that is, the cutting groove 232a can correspond to the outlet end of the transition chute 231a in the conveying direction of the belt conveyor mechanism 220. When the cutting groove 232a corresponds to the outlet end of the transition chute 231a in the conveying direction, a bearing 600 in the transition chute 231a is pushed into the cutting groove 232a by the rear bearing 600, and the cutting block 232 then slides horizontally and uses its side wall to block the outlet end of the transition chute 231a to achieve orderly cutting; the slide rail assembly 233 is respectively connected to the transition block 231 and the cutting block 232, and the slide rail assembly 233 can drive the cutting block 232 to slide and cut materials. The specific structural form of the slide rail assembly 233 can refer to the prior art.

[0050] like Figure 8As shown, the ejector pin assembly 234 includes a third telescopic member 2341, a lifting platform 2342, a ejector pin sleeve 2343, an ejector pin 2344 and a third elastic member 2345; a matching hole 231b is provided on the transition block 231, which is connected vertically. In the sliding direction of the cutting block 232, the matching hole 231b is located on one side of the outlet end of the transition chute 231a. When the cutting block 232 slides to above the matching hole 231b, the cutting chute 232a can correspond coaxially with the matching hole 231b up and down; the third telescopic member 2341 is arranged below the matching hole 231b, and the third telescopic member 2341 is coaxially corresponding to the matching hole 231b. The telescopic direction of the third telescopic member 2341 is configured as the height direction. 2342 is arranged on the telescopic end of the third telescopic member 2341, the ejector pin sleeve 2343 is fixedly arranged on the upper surface of the lifting platform 2342, the ejector pin 2344 is coaxially slidably sleeved in the ejector pin sleeve 2343, and at least part of the ejector pin 2344 can extend upward above the ejector pin sleeve 2343 and be coaxially penetrated in the matching hole 231b, the third elastic member 2345 is arranged between the ejector pin 2344 and the lifting platform 2342, the telescopic direction of the third elastic member 2345 is configured as the sliding direction of the ejector pin 2344, that is, the height direction, the third elastic member 2345 is configured as a spring, the two ends of the spring are respectively against the lifting platform 2342 and the ejector pin 2344, and the spring can give the ejector pin 2344 an upward elastic force. In this embodiment, when the cutting block 232 pushes the bearing 600 laterally to the top of the matching hole 231b, the third telescopic member 2341 drives the push pin 2344 to lift the bearing 600 above the matching hole 231b to the predetermined position, so as to facilitate the material picking part 131 of the material picking shaft 130 to pick up materials, wherein the third elastic member 2345 can avoid rigid contact between the material picking shaft 130 and the push pin 2344.

[0051] like Fig. 9 As shown, arrow P1 indicates the conveying direction of the belt conveyor mechanism 220 . There are multiple silo mechanisms 240 , and the multiple silo mechanisms 240 are arranged on the workbench 210 at intervals along the conveying direction of the belt conveyor mechanism 220 .

[0052] like Figures 10 to 12As shown, the silo mechanism 240 includes a fixed block 241, a second telescopic member 242, a pushing block 243, a silo cylinder 244 and a plug plate 245; the fixed block 241 is fixedly arranged on the workbench 210, and a feeding slot 241a is arranged on the fixed block 241. The opening direction of the feeding slot 241a is perpendicular to the conveying direction of the belt conveyor mechanism 220 in the horizontal plane, and the outlet end of the feeding slot 241a is connected to the belt conveyor mechanism 220, so that the second telescopic member 242 can push the silo cylinder 244 and the plug plate 245. The bearing 600 in the feeding slot 241a is pushed onto the belt conveying mechanism 220, wherein the pushing block 243 is slidably arranged in the feeding slot 241a, and the sliding direction of the pushing block 243 is consistent with the opening direction of the feeding slot 241a. The second telescopic member 242 is arranged on the workbench 210, and the telescopic end of the second telescopic member 242 is connected to the pushing block 243. The pushing block 243 is driven to slide in the feeding slot 241a by the telescopic movement of the second telescopic member 242, thereby The bearing 600 is pushed onto the belt conveyor mechanism 220; one end of the silo barrel 244 is hinged to the fixed block 241 by a rotating pin 2412, and the silo barrel 244 can rotate relative to the fixed block 241 by means of a hinge, specifically, it rotates around the conveying direction of the belt conveyor mechanism 220. The silo barrel 244 is a structure with open ends and a hollow middle. Multiple bearings 600 to be conveyed can be stacked in the silo barrel 244, wherein the upper end of the silo barrel 244 is configured as a bearing loading port, and the silo barrel 244 is provided with a plurality of bearings 600 to be transported. The lower end of the silo barrel 244 is configured as a drop opening corresponding to the feeding slot 241a in the height direction. The bearing 600 in the silo barrel 244 can drop downward from the drop opening into the feeding slot 241a and be pushed to the belt conveyor mechanism 220 by the pushing block 243. The insert plate 245 is inserted at the lower end of the silo barrel 244 along the radial sliding direction of the silo barrel 244. The insert plate 245 can extend radially into the interior of the silo barrel 244 and block and isolate the bearing to achieve the blocking of the drop opening. In this embodiment, after the loading is completed, the silo barrel 244 can be rotated to a vertical state, and the insert plate 245 can be pulled out. The bearing in the silo barrel 244 falls into the feeding slot 241a under the action of gravity.

[0053] In this embodiment, when the staff needs to load materials into the silo barrel 244, they only need to block the drop opening with the insert plate 245 and rotate the silo barrel 244 to a horizontal state. The staff can then stack the bearings 600 one by one in the silo barrel 244 at a lower position, or can push the stacked bearings 600 as a whole into the silo barrel 244 through a horizontal pushing mechanism (not shown), thereby improving the convenience of loading. The loading method in this embodiment abandons the traditional vibration loading method, and can effectively avoid damage to the bearings 600 caused by vibration. At the same time, the multiple silo mechanisms 240 arranged in parallel in this embodiment can push the bearings 600 to the belt conveyor mechanism 220 as needed, thereby realizing large-scale and orderly loading.

[0054] like Fig.12 As shown, in some preferred embodiments, along the horizontal radial direction of the silo barrel 244 (that is, the sliding direction of the plug plate 245), a tongue pressing portion 2451 is provided at one end of the plug plate 245 away from the silo barrel 244, and the tongue pressing portion 2451 has a first L-shaped limiting surface 2452, and a second L-shaped limiting surface 2411 is provided on the fixed block 241, and the first L-shaped limiting surface 2452 can be in contact with the second L-shaped limiting surface 2411 along the sliding direction of the plug plate 245, and when the first L-shaped limiting surface 2452 is in contact with the second L-shaped limiting surface 2411 (or is close to being in contact), the first L-shaped limiting surface 2452 and the second L-shaped limiting surface 2411 restrict each other, so that the silo barrel 244 cannot rotate relative to the fixed block 241, and at this time, the state of the silo barrel 244 is limited to a vertical state, which can ensure the stability of the silo barrel 244 during normal operation. Specifically, when the silo barrel 244 needs to be rotated to a horizontal state, the insert plate 245 only needs to be retracted toward the inside of the silo barrel 244 to release the fit between the first L-shaped limit surface 2452 and the second L-shaped limit surface 2411, thereby releasing the rotational freedom of the silo barrel 244. It should be noted that when the insert plate 245 is retracted into the silo barrel 244, if a certain number of bearings are still retained in the silo barrel 244, this part of the bearings 600 will prevent the insert plate 245 from being retracted into the inside of the silo barrel 244, and thus the rotational freedom of the silo barrel 244 cannot be released. The insert plate 245 can only be retracted when the number of bearings 600 in the silo barrel 244 is less than a certain number or is close to zero, so as to avoid accidental rotation of the silo barrel 244 when there are a large number of bearings 600 in the silo barrel 244, resulting in a large number of bearings 600 falling off or abnormal operating conditions.

[0055] like Fig.12 As shown, in some preferred embodiments, a spring marble 246 is provided on the silo barrel 244, and the spring marble 246 can extend downward, and two limiting grooves 2453 (V-shaped grooves) are provided on the plug plate 245. When the spring marble 246 extends downward into the limiting groove 2453, the sliding of the plug plate 245 relative to the silo barrel 244 can be limited. When the plug plate 245 needs to slide relative to the silo barrel 244, the plug plate 245 can be pulled by hand to slide, and the elastic force of the spring marble 246 can be overcome to pull the plug plate 245. When the plug plate 245 blocks the drop opening of the silo barrel 244, the spring marble 246 is inserted into one limiting groove 2453, and when the first L-shaped limiting surface 2452 and the second L-shaped limiting surface 2411 are in a fit state or close to a fit state, the spring marble 246 is inserted into the other limiting groove 2453.

[0056] like Fig.13As shown, the transverse movement mechanism 300 includes a frame 310 and a transverse movement assembly 320. The frame 310 is arranged on the horizontal side of the cutting mechanism 230. The transverse movement assembly 320 is arranged on the frame 310. The transverse movement assembly 320 is used to drive the servo pressing mechanism 400 and the bearing assembly robot arm 100 to move transversely to a predetermined position to pick up materials. After the material is picked up, the transverse movement assembly 320 drives the servo pressing mechanism 400 and the bearing assembly robot arm 100 to move transversely to the top of the workpiece (motor end cover 700). In this embodiment, the workpiece is transported to the bottom of the bearing assembly robot arm 100 through the line body and the pallet. The specific structural form of the transverse movement assembly 320 can refer to the prior art.

[0057] like Fig.13 As shown, the servo pressing mechanism 400 includes a servo press 410 and a slide 420. The servo press 410 is arranged on the transverse moving assembly 320, and the slide 420 is arranged on the servo press 410. The slide 420 is driven to slide up and down in the height direction by the servo press 410. Among them, the first shaft 110 of the bearing assembly robot arm 100 is detachably arranged on the slide 420, and when the slide 420 moves downward, it can drive the bearing assembly robot arm 100 to move downward as a whole.

[0058] like Fig.13 As shown, the first telescopic member 500 is arranged on the slide 420, and the first telescopic member 500 and the first push rod 140 of the bearing assembly robot arm 100 are coaxially arranged correspondingly up and down. The telescopic end of the first telescopic member 500 can extend downward and push the first push rod 140 to move downward.

[0059] This embodiment also discloses a bearing assembly method, comprising:

[0060] Step S100, the worker slides the plug plate 245 of the silo mechanism 240 back into the silo barrel 244, then rotates the silo barrel 244 to a horizontal state, and uses manual or other existing mechanical equipment to push the bearing 600 horizontally into the silo barrel 244. Since the plug plate 245 blocks the bottom of the silo barrel 244, the bearings 600 pushed into the silo barrel 244 can be stacked in the silo barrel 244. When the number of bearings 600 placed reaches the standard, the silo barrel 244 is rotated to a vertical state. During the rotation process, the insert plate 245 has not been pulled out yet, and the insert plate 245 can bear the gravity of the bearing 600. After rotating to a vertical state, the insert plate 245 is pulled out, and the first L-shaped limiting surface 2452 of the insert plate 245 is pulled to fit or nearly fit with the second L-shaped limiting surface 2411 on the fixed block 241, thereby limiting the silo barrel 244 to be in a vertical state. After the bottom of the silo barrel 244 is no longer limited by the insert plate 245, the bearing 600 at the bottom of the silo barrel 244 can fall downward into the feeding slot 241a.

[0061] Step S200, the second telescopic member 242 drives the push block 243 to slide in the feeding slot 241a, and the push block 243 pushes the bearing 600 that falls into the feeding slot 241a onto the belt conveyor mechanism 220, and the belt conveyor mechanism 220 conveys the bearing 600 forward along its conveying direction;

[0062] Step S300, the bearing 600 on the belt conveyor mechanism 220 is conveyed to the transition block 231 of the cutting mechanism 230 and enters the transition chute 231a. The cutting block 232 is driven by the slide rail assembly 233 to move horizontally to a position corresponding to the transition chute 231a. At this time, the cutting groove 232a of the cutting block 232 is aligned with the transition chute 231a in the conveying direction, and the bearing 600 in the transition chute 231a is pushed into the cutting groove 232a. Then the cutting block 232 moves horizontally again, so that the cutting groove 232a and the matching hole 231b on the transition block 231 are in a coaxial corresponding position, and then the third telescopic member 2341 drives the ejector pin 2344 to pass through the matching hole 231b upward and lift the bearing 600 in the cutting groove 232a upward to a predetermined position, waiting for the bearing assembly robot 100 to pick up the material;

[0063] Step S400, the transverse movement mechanism 300 drives the servo pressing mechanism 400 and the bearing assembly robot arm 100 to move transversely to just above the predetermined position, the servo pressing mechanism 400 drives the bearing assembly robot arm 100 to move downward, and the material picking shaft 130 of the bearing assembly robot arm 100 also moves downward accordingly, the material picking shaft 130 and the ejector pin 2344 are in a state of coaxial correspondence up and down, the lower end of the material picking shaft 130 is inserted into the inner ring of the bearing 600, and the material picking portion 131 (double-headed marble) at the lower end of the material picking shaft 130 is radially abutted or connected to the inner circumferential surface of the inner ring, so that the material picking shaft 130 and the bearing 600 are connected together, during the downward movement of the servo pressing mechanism 400, since the ejector pin 2344 is slidably arranged up and down and supported by the third elastic member 2345, the servo pressing mechanism 400 has a certain downward movement margin, which can avoid rigid contact between the material picking shaft 130 and the ejector pin 2344;

[0064] Step S500: After the material is taken, the servo pressing mechanism 400 drives the bearing assembly robot arm 100 to move upward, and then the transverse movement mechanism 300 drives the servo pressing mechanism 400 and the bearing assembly robot arm 100 to move transversely to the top of the workpiece (motor end cover 700), and prepares to assemble the bearing 600 onto the workpiece (specifically, into the end cover hole 700a of the motor end cover 700);

[0065] Step S600: The bearing assembly process is as follows:

[0066] Step S610: The servo pressing mechanism 400 drives the bearing assembly robot arm 100 to move downward. Fig.14As shown, P2 indicates the downward movement direction of the bearing assembly robot arm 100, and the bearing 600 to be assembled on the material picking shaft 130 moves downward therewith. Since the material picking shaft 130, the bearing 600 to be assembled and the end cover hole 700a on the workpiece correspond coaxially, the material picking shaft 130 can drive the bearing 600 to be assembled to extend downward into the end cover hole 700a. At this time, the bearing 600 to be assembled is assembled into the end cover hole 700a, and at the same time, the second positioning surface 182 of the outer sleeve 180 is downwardly fitted against the inner upper surface of the workpiece. After the second positioning surface 182 is fitted against the inner upper surface of the workpiece, the servo pressing mechanism 400 continues to drive the bearing assembly robot arm 100 to move downward a short distance (the distance is relatively small, for example, 2mm to 6mm), so that the second elastic member 190 is pressed. The second elastic member 190 can avoid rigid contact between the outer sleeve 180 and the workpiece. At the same time, the elastic force of the second elastic member 190 can make the second positioning surface 182 press the workpiece downward.

[0067] Step S620, the first telescopic member 500 pushes the first push rod 140 to move downward, the first push rod 140 drives the connecting pin 141 and the sliding sleeve 160 to move downward, and the plurality of second push rods 170 at the lower end of the sliding sleeve 160 immediately extend downward to the lower side of the outer sleeve 180 and contact the bearing 600 on the material-retrieving shaft 130, the second push rod 170 pushes the bearing 600 downward to separate from the material-retrieving shaft 130, and at the same time the servo pressing mechanism 400 drives the first shaft 110, the second shaft 120, and the material-retrieving shaft 130 to move upward, thereby realizing There is an up-and-down action process, that is, the first push rod 140 moves downward, and the first shaft 110, the second shaft 120, and the material picking shaft 130 move upward, so that the material picking shaft 130 is separated from the bearing 600; when the servo pressing mechanism 400 moves up to a certain height, the first telescopic member 500 removes the force on the first push rod 140, and under the action of the first elastic member 150, the first push rod 140, the connecting pin 141, the sliding sleeve 160 and the second push rod 170 are reset upward to the initial state, and the assembly work of the current bearing 600 is completed.

[0068] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A bearing assembly robot, characterized in that: It comprises a first shaft (110), a second shaft (120), a material taking shaft (130), a first push rod (140), a first elastic member (150), a sliding sleeve (160) and a second push rod (170); The first shaft (110), the second shaft (120) and the material taking shaft (130) are connected in sequence; an end of the material taking shaft (130) which is away from the second shaft (120) is provided with a material taking portion (131) for connecting with the bearing (600) to be assembled; a first shaft hole (110a) is provided on the first shaft (110), and a second shaft hole (120a) which is coaxially connected to the first shaft hole (110a) is provided on the second shaft (120); at least a portion of the first push rod (140) is coaxially inserted into the first shaft hole (110a) and the second shaft hole (120a); The first elastic member (150) is arranged between the inner wall of the second shaft hole (120a) and the first push rod (140), and the expansion and contraction direction of the first elastic member (150) is consistent with the axial direction of the first push rod (140); The sliding sleeve (160) is slidingly mounted on the second shaft (120); the sliding sleeve (160) is connected to the first push rod (140); the second push rod (170) is arranged at the lower end of the sliding sleeve (160), and the second push rod (170) is used to push the bearing (600) to be assembled downward to separate from the material taking part (131).

2. The bearing assembly robot arm according to claim 1, characterized in that: It also comprises an outer sleeve (180), which is coaxially sleeved on the outer circumference of the first shaft (110), the second shaft (120) and the material taking shaft (130); a first positioning surface (181) is provided at the lower end of the outer sleeve (180), and at least a part of the first positioning surface (181) is configured as a magnetic attraction surface for adsorbing the bearing.

3. The bearing assembly robot arm according to claim 2, characterized in that: A second elastic member (190) is arranged between the outer sleeve (180) and the first shaft (110), and the extension and contraction direction of the second elastic member (190) is configured as the axial direction of the outer sleeve (180); a second positioning surface (182) is arranged at the lower end of the outer sleeve (180), and the second positioning surface (182) is located above the first positioning surface (181), and the second positioning surface (182) is used to fit with a workpiece.

4. The bearing assembly robot arm according to claim 3, characterized in that: A limit pin (183) is provided on the outer sleeve (180), and a first limit slot (120b) is provided on the second shaft (120). At least part of the limit pin (183) is disposed in the first limit slot (120b), and the axial sliding stroke of the outer sleeve (180) is limited by the first limit slot (120b).

5. The bearing assembly robot arm according to claim 1, characterized in that: The material taking portion (131) comprises a double-headed marble arranged at the lower end of the material taking shaft (130), and the double-headed marble can abut against the inner ring of the bearing to be assembled.

6. The bearing assembly robot according to any one of claims 1 to 5, characterized in that: The first push rod (140) is provided with a connecting pin (141), and the connecting pin (141) is connected to the sliding sleeve (160); the second shaft (120) is provided with a second limiting sliding groove (120c) extending along the axial direction of the second shaft, and the connecting pin (141) passes through the second limiting sliding groove (120c), and the axial sliding stroke of the connecting pin (141) and the sliding sleeve (160) is limited by the second limiting sliding groove (120c).

7. A bearing assembly device, characterized in that: It comprises a feeding assembly (200), a transverse movement mechanism (300), a servo pressing mechanism (400), a first telescopic member (500), and the bearing assembly robot arm (100) according to any one of claims 1 to 6; The feeding assembly (200) is used to transport the bearing (600) to be assembled to a predetermined position; the transverse movement mechanism (300) is arranged on one side of the feeding assembly (200) and is used to drive the servo pressing mechanism (400) and the bearing assembly robot arm (100) to move transversely to the predetermined position to pick up the bearing (600); the servo pressing mechanism (400) is arranged on the transverse movement mechanism (300), and the first axis (110) of the bearing assembly robot arm is arranged on the servo pressing mechanism (400); the first telescopic member (500) is arranged on the servo pressing mechanism (400), and the first telescopic member (500) can drive the first push rod (140) of the bearing assembly robot arm to move downward.

8. The bearing assembly device according to claim 7, characterized in that: The material feeding assembly (200) comprises a workbench (210), a belt conveying mechanism (220), a material cutting mechanism (230) and a material bin mechanism (240); The workbench (210) is arranged on one side of the transverse movement mechanism (300); the belt conveyor mechanism (220) is arranged on the workbench (210); the material cutting mechanism (230) is arranged at the rear end of the belt conveyor mechanism (220) and is connected to the belt conveyor mechanism (220); the material cutting mechanism (230) can transport the bearing (600) on the belt conveyor mechanism (220) to a predetermined position; The silo mechanism (240) comprises a fixed block (241), a second telescopic member (242), a material pushing block (243), a silo cylinder (244) and a plug plate (245); the fixed block (241) is arranged on the workbench (210), a material feeding slot (241a) is arranged on the fixed block (241), and the material feeding slot (241a) is connected to the belt conveyor mechanism (220); the second telescopic member (242) is arranged on the workbench (210), and the telescopic end of the second telescopic member (242) is connected to the sliding member (245) The pushing block (243) in the feeding slot (241a) is connected to push the bearing (600) to be assembled onto the belt conveying mechanism (220) through the second telescopic member (242); the silo barrel (244) is hinged on the fixed block (241), and the upper end of the silo barrel (244) is configured as a bearing loading port; the lower end of the silo barrel (244) is configured as a drop opening corresponding to the feeding slot (241a); the plug plate (245) is slidably inserted at the lower end of the silo barrel (244) to block the drop opening.

9. The bearing assembly device according to claim 8, characterized in that: A tongue-pressing portion (2451) is provided at one end of the plug plate (245) facing away from the silo tube (244); the tongue-pressing portion (2451) has a first L-shaped limiting surface (2452); a second L-shaped limiting surface (2411) is provided on the fixed block (241); the first L-shaped limiting surface (2452) is in contact with the second L-shaped limiting surface (2411) to limit the silo tube (244) to be in a vertical state.

10. The bearing assembly device according to claim 9, characterized in that: The silo tube (244) is provided with a spring ball (246), and the inserting plate (245) is provided with a limiting groove (2453). When the spring ball (246) extends into the limiting groove (2453), the sliding of the inserting plate (245) relative to the silo tube (244) can be limited.

11. The bearing assembly device according to claim 8, characterized in that: The cutting mechanism (230) comprises a transition block (231), a cutting block (232), a slide rail assembly (233) and a top pin assembly (234); a transition slide groove (231a) is provided on the upper surface of the transition block (231), and the entrance end of the transition slide groove (231a) is butted with the rear end of the belt conveyor mechanism (220); the cutting block (232) is slidably arranged on the upper surface of the transition block (231), and the cutting block (232) is provided with a cutting groove (232a), and the cutting groove (232a) can correspond to the exit end of the transition slide groove (231a) in the conveying direction of the belt conveyor mechanism (220); the slide rail assembly (233) is respectively connected to the transition block (231) and the cutting block (232), and is used to drive the cutting block (232) to move in a direction perpendicular to the conveying direction; The ejector pin assembly (234) comprises a third telescopic member (2341), a lifting platform (2342), an ejector pin sleeve (2343), an ejector pin (2344) and a third elastic member (2345); a matching hole (231b) extending vertically through the transition block (231) is provided, the third telescopic member (2341) is provided below the matching hole (231b), and the lifting platform (2342) is provided on the telescopic end of the third telescopic member (2341). The ejector pin sleeve (2343) is arranged on the lifting platform (2342); the ejector pin (2344) is slidably arranged on the ejector pin sleeve (2343) and the ejector pin (2344) is coaxially arranged with the matching hole (231b); the third elastic member (2345) is arranged between the ejector pin (2344) and the lifting platform (2342); and the bearing (600) to be assembled above the matching hole (231b) is lifted to the predetermined position by the ejector pin (2344).

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