An assembly device for producing universal couplings

Abstract

The present invention is applicable to the technical field of universal coupling assembly, and provides an assembly device for universal coupling production, including a production table, a coupling assembly, an upper and lower pressure assembly, a left and right pressure assembly, three groups of bearing clamping assemblies, and a visual inspection and control system. The production table is suitable for providing a placement and installation environment for the coupling assembly; the coupling assembly is arranged on the top of the production table, and the coupling assembly is a universal coupling to be assembled; the coupling assembly includes a shaft head, a connecting rod is arranged on one side of the shaft head, a cross axis is arranged between the shaft head and the connecting rod, and four groups of bearings are arranged around the outer side of the cross axis; the upper and lower pressure assemblies are arranged around the coupling assembly. The device solves the problems of press-fitting accuracy, the probability of press-fitting failure, and bearing damage, and achieves the effects of improving press-fitting accuracy, reducing the probability of press-fitting failure, improving the yield rate, reducing the driver, reducing the cost, reducing the production time, and improving the production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of universal coupling assembly, and more specifically, to an assembly device for universal coupling production. Background Art

[0002] The assembly of the universal coupling mainly involves the assembly of its shaft head, connecting rod, cross axis and bearing. The bearing is assembled by single-sided press-fitting. However, when one side of the bearing is installed tilted with the cross axis during assembly, other bearings may not be installed, or the bearings may be damaged, and the efficiency of single-sided press-fitting is low.

[0003] At present, the installation of universal couplings is mainly carried out by press-fitting by manual and auxiliary equipment. However, the shaft head and connecting rod of the universal coupling are both circular structures, which are easy to roll during press-fitting, and the shaft head and connecting rod need to be clamped. During assembly, the center cross axis needs to be fixed, but the gap between the shaft head and the connecting rod is small, so it needs to be clamped by an external extension device, and the cross axis and the bearing grooves of the connecting rod and the shaft head need to be coaxial with the cross axis, which requires the external extension clamping device to drive the cross axis to rotate and move. On the one hand, the detection of concentricity requires a visual inspection system to detect the concentricity. At the same time, the visual camera needs to detect at least two surfaces of the cross axis. Generally, one visual camera needs a set of light sources. However, the two surfaces to be detected are adjacent surfaces. The two sets of light sources will make the overlapping part brighter, affecting the data collection of the two sets of cameras. On the other hand, when the bearings on both sides are press-fitted, the bearings will fall due to gravity, and auxiliary devices need to be set to support the bearings, but their installation position is small and it is very easy to interfere with other equipment.

[0004] Therefore, an assembly device for universal coupling production is proposed to solve the problems of press-fitting accuracy, probability of press-fitting failure and bearing damage. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an assembly device for the production of universal couplings, which improves press-fitting accuracy, reduces the probability of press-fitting failure, improves the yield rate, reduces the number of drivers, reduces costs, reduces production time, and improves production efficiency.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an assembly device for universal coupling production, comprising a production table, a coupling assembly, an upper and lower pressure assembly, a left and right pressure assembly, three groups of bearing clamping assemblies and a visual inspection and control system, wherein the production table is suitable for providing a placement and installation environment for the coupling assembly; the coupling assembly is arranged at the top of the production table, and the coupling assembly is a universal coupling to be assembled; the coupling assembly comprises a shaft head, a connecting rod is arranged on one side of the shaft head, a cross axis is arranged between the shaft head and the connecting rod, and four groups of bearings are arranged around the outer side of the cross axis; the upper and lower pressure assembly is arranged around the coupling assembly, and the upper and lower pressure assembly is suitable for providing concentricity detection of the top end of the coupling assembly and press-fitting the bearings at the top and bottom ends; the upper and lower pressure assembly comprises a top drive motor, a screw rod is fixedly installed at the output end of the top drive motor, the screw rod is slidably connected to a top slide, a down-pressing oil cylinder is arranged at the bottom end of the top slide, a top camera is arranged on one side of the down-pressing oil cylinder, and a top camera is arranged at the bottom end of the down-pressing oil cylinder A bearing clamping assembly is provided, and the lower pressure cylinder is symmetrically provided with a lifting cylinder along the axis of the coupling assembly; the left and right pressure assemblies are arranged around the coupling assembly, and the left and right pressure assemblies are suitable for providing concentricity detection at both ends of the coupling assembly and press-fitting the bearings at both ends; the left and right pressure assemblies include a first side pressure cylinder, and the first side pressure cylinder is provided with a first auxiliary block on the side close to the coupling assembly, and the coupling assembly is provided with a second auxiliary block on the side away from the first auxiliary block, and the second auxiliary block is provided with a side slide on the side away from the coupling assembly, and a side end camera is installed on the top of the side slide; three groups of bearing clamping assemblies are arranged around the coupling assembly, and the bearing clamping assemblies are suitable for clamping the bearings at the top and both ends before press-fitting; the visual inspection and control system is connected with the top camera, the side end camera, the axis moving assembly, the shaft head moving assembly, and the connecting rod moving assembly, and the visual inspection and control system processes the collected images, converts them into data, obtains the concentricity deviation based on the data comparison, and adjusts the concentricity.

[0007] The present invention is further configured as follows: the shaft head and the connecting rod are slidably connected to the top of the production table, the top slide is fixedly connected to the downward pressure cylinder, the top slide is fixedly connected to the top camera, and the lifting cylinder is arranged inside the production table.

[0008] The present invention is further configured as follows: the first side pressure cylinder is arranged at the top of the production table, a bearing clamping assembly is arranged at the top of the first side pressure cylinder, the first auxiliary block is adapted to the shape of the bearing, and the second auxiliary block is adapted to the shape of the bearing.

[0009] The present invention is further configured as follows: the first auxiliary block is fixedly connected to the side slide plate, the bottom end of the side slide plate is slidably connected to a screw rod, the input end of the screw rod is fixedly connected to a side drive motor, a second side pressure cylinder is installed on the top end of the side slide plate, and a bearing clamping assembly is provided on the top end of the second side pressure cylinder.

[0010] By adopting the above technical scheme, the first side pressure cylinder is driven to press-fit the bearing on the right side. During press-fitting, even if the bearing is clamped by the bearing clamping assembly, it will still fall due to gravity. The first auxiliary block assists the first side pressure cylinder in press-fitting, which can improve the accuracy and efficiency of side press-fitting. The side drive motor is driven to drive the screw to rotate, and the screw drives the side slide plate to slide. The second side pressure cylinder, the second auxiliary block, and the side end camera follow the movement of the side slide plate. The side end camera performs concentricity detection on the left shaft head and the cross axis. The second auxiliary block and the side end camera assist the second side pressure cylinder in press-fitting the bearing. The upper and lower pressing assemblies cooperate with the left and right pressing assemblies to realize press-fitting of the bearing, thereby improving press-fitting efficiency, reducing manual production time, improving production efficiency, and improving press-fitting accuracy.

[0011] The present invention is further configured as follows: the bearing clamping assembly includes a cylinder sliding block, one end of the cylinder sliding block is connected to the output ends of the downward pressure cylinder, the first side pressure cylinder, and the second side pressure cylinder, a first clamping strip is arranged at the top of the cylinder sliding block, a first slot is opened at the top of the first clamping strip, the first slot is plugged into one side of the outer shell of the downward pressure cylinder, the first side pressure cylinder, and the second side pressure cylinder, a second clamping strip is arranged at the top of the first clamping strip, a second slot is opened at the top of the second clamping strip, the second slot is plugged into the other side of the outer shell of the downward pressure cylinder, the first side pressure cylinder, and the second side pressure cylinder, and the other end of the cylinder sliding block is plugged into the first clamping strip and the second clamping strip.

[0012] The present invention is further configured as follows: an axis moving assembly is symmetrically arranged at the bottom end of the coupling assembly, and the two groups of the axis moving assemblies are suitable for providing clamping and movement for the cross axis; an axis head moving assembly is arranged on the side of the shaft head away from the connecting rod, and the axis head moving assembly is suitable for providing movement and rotation for the shaft head; a connecting rod moving assembly is arranged on the side of the connecting rod away from the shaft head, and the connecting rod moving assembly is suitable for providing movement and rotation for the connecting rod.

[0013] The present invention is further configured as follows: the axial moving assembly includes a sliding mechanism, and a rotating mechanism is provided at the top of the sliding mechanism; the sliding mechanism includes a sliding motor, a screw rod is fixedly connected to the output end of the sliding motor, and a sliding block is slidably connected to the top of the screw rod; the rotating mechanism includes an arc plate, the arc plate is installed at the top of the sliding block, the arc plate is configured as an arc structure with a groove, and a sliding column is slidably connected to the top of the groove of the arc plate, and a clamping plate is fixedly connected to the side of the sliding column close to the cross axis, a moving ring is inserted into one side of the sliding column, and a sliding groove block is slidably connected to the side of the moving ring away from the sliding column, and a push screw is rotatably connected to the side of the push screw rod, and a ball roller is slidably connected to one side of the push screw rod, and a screw driving motor is fixedly connected to one side of the ball roller.

[0014] The present invention is further configured as follows: the shaft head moving assembly includes a shaft head driver, one side of the shaft head driver is meshingly connected with a shaft head screw, the output end of the shaft head screw is fixedly connected with two groups of shaft head clamp connecting rods, the two groups of shaft head clamp connecting rods are arranged around the output end of the shaft head screw, the shaft head clamp connecting rod is provided with a shaft head clamp on the side away from the shaft head screw, and the two groups of shaft head clamps are adapted to the shape of the shaft head.

[0015] The present invention is further configured as follows: the connecting rod moving assembly includes a connecting rod driver, one side of the connecting rod driver is meshedly connected with a connecting rod screw, the output end of the connecting rod screw is fixedly connected with two groups of connecting rod clamping links, the two groups of connecting rod clamping links are arranged around the output end of the connecting rod screw, the connecting rod clamping link is provided with a connecting rod claw on the side away from the connecting rod screw, and the two groups of connecting rod claws are adapted to the shape of the connecting rod.

[0016] By adopting the above technical solution, the sliding mechanism controls the forward and backward movement of the bearing, and the rotating mechanism controls the rotation of the bearing angle. When the front and rear position of the bearing needs to be adjusted after the detection is completed, the driving sliding motor drives the screw to rotate, the screw rotation drives the sliding block to slide, the sliding block slides and drives the rotating mechanism to move as a whole. When the rotating mechanisms on both sides clamp the bearing together and move to the target distance in the same direction, the adjustment of the front and rear position is completed. When the detection is completed and the bearing angle needs to be adjusted, the driving screw drive motor drives the ball inside the ball roller to move, so that the push screw rotates and moves to one end, the push screw movement drives the slide block to move, the slide block drives the moving ring eye push screw direction to move, the sliding column is driven by the moving ring, so that the sliding column moves along the groove track of the arc plate, the arc plate is an arc structure, the moving ring is affected by it and slides on the slide block, when the sliding column moves along the arc track of the arc plate, the clamping plate rotates along the arc track, the two sets of clamping plates on both sides clamp the bearing, and the bearing rotates when the clamping plate rotates. The precision of the bearing press-fitting is improved, the probability of press-fitting failure is reduced, and the yield rate is improved.

[0017] The present invention is further configured as follows: the visual detection and control system includes a visual detection unit, an image processing unit, a data comparison unit, and a posture control unit;

[0018] The visual inspection unit is suitable for photographing the actual position and posture of the coupling assembly. First, when the connecting rod is placed on the top of the production table, the state of the connecting rod and the cross axis is photographed by the top camera. Then, when the shaft head is placed on the top of the production table, the state of the shaft head and the cross axis is photographed by the side camera. Finally, the image output in RGB format is uploaded to the image processing unit.

[0019] The image processing unit includes a preprocessing module and a data module, and the image processing unit processes the image uploaded by the visual detection unit and converts it into data;

[0020] The pre-processing module includes grayscale and denoising filtering;

[0021] The data conversion module includes binarization and edge extraction;

[0022] The data comparison unit compares the data converted by the image processing unit with the reference point data, and converts the compared values ​​into displacement data;

[0023] The data comparison unit further converts the measured deviation angle into the number of revolutions of the motor, and transmits the number of revolutions to the attitude control unit for adjustment;

[0024] The posture control unit drives the device to operate through the data of the data comparison unit, and adjusts the shaft head and the connecting rod in the horizontal direction and the rotational direction respectively through the shaft head moving assembly and the connecting rod moving assembly. When the posture adjustment is completed, it is photographed again through the visual detection unit and the above steps are repeated until the data obtained by the data comparison unit reaches the consistency of the concentricity of the shaft head, the connecting rod and the cross axis.

[0025] By adopting the above technical solution, after the posture adjustment is completed, the visual inspection unit will take pictures again, and the image processing unit and the data comparison unit will process them to determine whether the position is in place and whether the concentricity meets the requirements. If the requirements are met, press-fitting will be carried out. If the requirements are not met, the posture control will continue. This can improve the press-fitting accuracy, reduce the press-fitting error rate, and improve the production quality.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. The first side pressure cylinder is driven to press-fit the bearing on the right side. During press-fitting, even if the bearing is clamped by the bearing clamping assembly, it will still fall due to gravity. The first auxiliary block assists the first side pressure cylinder in press-fitting, which can improve the accuracy and efficiency of side press-fitting. The side drive motor is driven to drive the screw to rotate, and the screw drives the side slide to slide. The second side pressure cylinder, the second auxiliary block, and the side end camera follow the movement of the side slide. The side end camera performs concentricity detection on the shaft head and the cross axis on the left. The second auxiliary block and the side end camera assist the second side pressure cylinder in press-fitting the bearing. The upper and lower pressing assemblies cooperate with the left and right pressing assemblies to realize press-fitting of the bearing, thereby improving press-fitting efficiency, reducing manual production time, improving production efficiency, and improving press-fitting accuracy.

[0028] 2. After the posture adjustment is completed, the visual inspection unit will take pictures again, and the image processing unit and data comparison unit will process them to determine whether the position is in place and whether the concentricity meets the requirements. If the requirements are met, press-fitting will be carried out. If the requirements are not met, the posture control will continue. This can improve the press-fitting accuracy, reduce the press-fitting error rate, and improve the production quality.

[0029] 3. The bearing is controlled to move forward and backward through the sliding mechanism, and the bearing angle is controlled to rotate through the rotating mechanism. When the front and rear position of the bearing needs to be adjusted after the detection is completed, the sliding motor is driven to drive the screw to rotate, and the screw rotation drives the sliding block to slide, and the sliding block slides to drive the rotating mechanism to move as a whole. When the rotating mechanisms on both sides clamp the bearing together and move to the target distance in the same direction, the front and rear position adjustment is completed. When the bearing angle needs to be adjusted after the detection is completed, the screw drive motor is driven to drive the ball inside the ball roller to move, so that the push screw rotates and moves to one end, the push screw movement drives the slide block to move, and the slide block drives the moving ring eye to move in the direction of the push screw. The sliding column is driven by the moving ring, so that the sliding column moves along the groove track of the arc plate. The arc plate is an arc structure, and the moving ring is affected by it and slides on the slide block. When the sliding column moves along the arc track of the arc plate, the clamping plate rotates along the arc track. The two sets of clamping plates on both sides clamp the bearing, and the bearing rotates when the clamping plate rotates. Improve the accuracy of bearing press-fitting, reduce the probability of press-fitting failure, and improve the yield rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural schematic diagram of an assembly device for producing a universal coupling according to the present invention;

[0031] Figure 2 It is an exploded schematic diagram of the coupling assembly in the present invention;

[0032] Figure 3 It is a structural schematic diagram of the upper and lower pressing components in the present invention;

[0033] Figure 4 It is a structural schematic diagram of the bearing clamping assembly in the present invention;

[0034] Figure 5 A structural schematic diagram of the bearing clamping assembly of the present invention from another perspective;

[0035] Figure 6 It is a structural schematic diagram of the left and right pressing components in the present invention;

[0036] Figure 7 It is a schematic diagram of the state of the axis moving component in the present invention;

[0037] Figure 8 It is an exploded schematic diagram of the axis moving assembly in the present invention;

[0038] Fig. 9 It is a structural schematic diagram of the shaft head moving assembly in the present invention;

[0039] Fig.10 It is a structural schematic diagram of the connecting rod moving assembly in the present invention;

[0040] Fig.11 It is a schematic diagram of the process of the visual detection and control system in the present invention;

[0041] Description of the accompanying drawings: 1. production platform;

[0042] 2. Coupling assembly; 21. Shaft head; 22. Connecting rod; 23. Cross axis; 24. Bearing;

[0043] 3. Upper and lower pressure components; 31. Top drive motor; 32. Top slide; 33. Downward pressure cylinder; 34. Top camera; 35. Lifting cylinder;

[0044] 4. Left and right pressure components; 41. First side pressure oil cylinder; 42. First auxiliary block; 43. Side drive motor; 44. Side slide plate; 45. Second side pressure oil cylinder; 46. Second auxiliary block; 47. Side end camera;

[0045] 5. Bearing clamping assembly; 51. Cylinder sliding block; 52. First clamping bar; 53. Second clamping bar; 54. First slot; 55. Second slot;

[0046] 6. Axis moving assembly; 61. Sliding mechanism; 611. Sliding motor; 612. Screw; 613. Sliding block; 62. Rotating mechanism; 621. Arc plate; 622. Sliding column; 623. Clamping plate; 624. Moving ring; 625. Slide block; 626. Push screw; 627. Ball roller; 628. Screw drive motor;

[0047] 7. Axis head moving assembly; 71. Axis head driver; 72. Axis head screw rod; 73. Axis head clamping claw connecting rod; 74. Axis head clamping claw;

[0048] 8. Connecting rod moving assembly; 81. Connecting rod driver; 82. Connecting rod screw; 83. Connecting rod clamp connecting rod; 84. Connecting rod clamp. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0051] See also Figure 1-11 , the present invention provides the following technical solutions:

[0052] Embodiment 1: Currently, the universal coupling is mainly assembled by a combination of manual installation and hydraulic equipment. During the press-fitting of the equipment, the center cross axis needs to be aligned with the cross axis of the shaft head and the groove of the connecting rod. Manual installation is based on the operator's visual inspection and experience, which can easily lead to errors and damage to the bearing during press-fitting.

[0053] See also Figure 1 , an assembly device for universal coupling production, comprising a production table 1, the production table 1 is suitable for providing a placement and installation environment for a coupling assembly 2, a coupling assembly 2 is arranged on the top of the production table 1, the coupling assembly 2 is a universal coupling to be assembled, and the specific structure of the coupling assembly 2 is as follows:

[0054] See also Figure 2 The coupling assembly 2 includes a shaft head 21, a connecting rod 22 is arranged on one side of the shaft head 21, a cross axis 23 is arranged between the shaft head 21 and the connecting rod 22, and four groups of bearings 24 are arranged around the outer side of the cross axis 23; the shaft head 21 and the connecting rod 22 are slidably connected to the top of the production table 1. The universal coupling drives the shaft head 21 through an external motor, so that when the shaft head 21 rotates at a certain angular velocity, due to the special structure of the universal coupling, the cross axis 23 will transmit the motion to the connecting rod 22. Ideally, the connecting rod 22 will rotate at the same angular velocity as the shaft head 21. During assembly, it is necessary to press-fit the four groups of bearings 24 on the cross axis 23, and the four groups of bearings 24 need to have the same cross axis as the shaft head 21, the connecting rod 22, and the cross axis 23 to ensure the press-fit accuracy. Therefore, it is necessary to detect and press-fit the shaft head 21, the connecting rod 22, and the cross axis 23, and detect and press-fit the upper and lower groups of bearings 24 through the upper and lower pressing components 3. The specific structure of the upper and lower pressing components 3 is as follows:

[0055] See also Figure 3The upper and lower pressure components 3 include a top drive motor 31, a screw rod is fixedly installed at the output end of the top drive motor 31, a top slide plate 32 is slidably connected to the screw rod, a downward pressure cylinder 33 is arranged at the bottom end of the top slide plate 32, a top camera 34 is arranged on one side of the downward pressure cylinder 33, a bearing clamping component 5 is arranged at the bottom end of the downward pressure cylinder 33, and the downward pressure cylinder 33 is symmetrically provided with a lifting cylinder along the axis of the coupling assembly 2; the top slide plate 32 is fixedly connected to the downward pressure cylinder 33, the top slide plate 32 is fixedly connected to the top camera 34, and the lifting cylinder 35 is arranged inside the production table 1. The top drive motor 31 is driven to drive the screw rod to rotate, the top slide plate 32 slides on the screw rod, the downward pressure cylinder 33 and the top camera 34 move with the top slide plate 32, the bearing clamping assembly 5 arranged at the output end of the downward pressure cylinder 33 provides clamping for the bearing 24, the downward pressure cylinder 33 presses the top bearing 24, and the top camera 34 detects the concentricity of the top connecting rod 22 and the cross axis 23. During the detection, the top drive motor 31 is driven to drive the top slide plate 32 to slide, and the top camera 34 moves with the top slide plate 32 until the top camera 34 moves to the axis center line position of the downward pressure cylinder 33. At this time, the connecting rod 22 and the cross axis 23 are photographed, and the photographed images are processed by the visual detection and control system to obtain the motor and its number of rotations required to be moved or adjusted, so as to realize the posture adjustment of the connecting rod 22 and the cross axis 23; on the other hand, the bearing 24 at the bottom is pressed by the lifting cylinder 35, and the bearing 24 at the bottom is used as a reference point to facilitate the detection of the offset and correction of the cross axis 23. After the top and bottom ends are pressed, the bearings 24 at the left and right ends still need to be pressed. The left and right pressing components 4 can be used to detect and press the bearings 24 at the left and right ends. The specific structure of the left and right pressing components 4 is as follows:

[0056] See also Figure 6The left and right pressure components 4 include a first side pressure oil cylinder 41, a first auxiliary block 42 is arranged on the side of the first side pressure oil cylinder 41 close to the coupling component 2, a second auxiliary block 46 is arranged on the side of the coupling component 2 away from the first auxiliary block 42, a side slide 44 is arranged on the side of the second auxiliary block 46 away from the coupling component 2, and a side end camera 47 is installed on the top of the side slide 44; the first side pressure oil cylinder 41 is arranged on the top of the production table 1, a bearing clamping component 5 is arranged on the top of the first side pressure oil cylinder 41, the first auxiliary block 42 is adapted to the shape of the bearing 24, and the second auxiliary block 46 is adapted to the shape of the bearing 24. The first auxiliary block 42 is fixedly connected to the side slide 44, a screw rod is slidably connected to the bottom end of the side slide 44, and a side drive motor 43 is fixedly connected to the input end of the screw rod, a second side pressure oil cylinder 45 is installed on the top of the side slide 44, and a bearing clamping component 5 is arranged on the top of the second side pressure oil cylinder 45. The first side pressure cylinder 41 is driven to press fit the bearing 24 on the right side. During press fitting, even if the bearing 24 is clamped by the bearing clamping assembly 5, it will still fall due to gravity. The first auxiliary block 42 assists the first side pressure cylinder 41 in press fitting, which can improve the accuracy and efficiency of side press fitting. The side drive motor 43 is driven to drive the screw rod to rotate, and the screw rod drives the side slide plate 44 to slide. The second side pressure cylinder 45, the second auxiliary block 46, and the side end camera 47 follow the side slide plate 44 to move. The side end camera 47 performs concentricity detection on the left shaft head 21 and the cross axis 23. When detecting, the side drive motor 43 is driven to drive the side slide plate 44 to slide, and the side end camera 47 follows the side slide plate 44 to move until the side end camera 47 moves to the second side pressure cylinder 43. The axis centerline position of the oil cylinder 45, at this time, the shaft head 21 and the cross axis 23 are photographed, and the visual detection and control system is used to process the photographed images to obtain the motor and its rotation number that need to be moved or adjusted, so as to achieve the posture adjustment of the shaft head 21 and the cross axis 23; the second auxiliary block 46 and the side end camera 47 assist the second side pressure oil cylinder 45 to press the bearing 24, and the upper and lower pressing components 3 cooperate with the left and right pressing components 4 to achieve the press fitting of the bearing 24, thereby improving the press fitting efficiency, reducing the time of manual production, improving the production efficiency, and improving the press fitting accuracy. On the other hand, the bearing clamping component 5 can assist the bearing 24 in press fitting, and can carry the bearing 24 for movement. The specific mechanism of the bearing clamping component 5 is as follows:

[0057] See also Figure 4-5The bearing clamping assembly 5 includes a cylinder sliding block 51, one end of which is connected to the output ends of the downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45. A first clamping bar 52 is arranged at the top of the cylinder sliding block 51, and a first slot 54 is provided at the top of the first clamping bar 52. The first slot 54 is plugged into one side of the outer shell of the downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45. A second clamping bar 53 is arranged at the top of the first clamping bar 52, and a second slot 55 is provided at the top of the second clamping bar 53. The second slot 55 is plugged into the other side of the outer shell of the downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45. The other end of the cylinder sliding block 51 is plugged into the first clamping bar 52 and the second clamping bar 53. The downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45 can drive the cylinder sliding block 51 arranged at its output end to move. When clamping the bearing, the downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45 are retracted, and one end of the cylinder sliding block 51 is fixed to the cylinder output end. The cylinder output end extends and the cylinder sliding block 51 moves with it. The cylinder sliding block 51 drives the first clamping strip 52 and the second clamping strip 53 to close toward the middle, so as to clamp the bearing 24. When die-casting, the downward pressure cylinder 33, the first side pressure cylinder 41, and the second side pressure cylinder 45 extend. When the cylinder output end extends, the cylinder sliding block 51 moves with it. The cylinder sliding block 51 drives the first clamping strip 52 and the second clamping strip 53 to open to both sides, and the bearing 24 is no longer clamped, so as to facilitate the subsequent die-casting of the bearing 24, improve the press-fitting accuracy, drive the opening and closing through the press-fitting drive, reduce the drive, and reduce the cost.

[0058] In the second embodiment, the position offset and angle offset of the shaft head, connecting rod and cross axis of the universal joint need to be detected, so it is necessary to set up a visual detection unit, an image processing unit, a data comparison unit and a posture control unit to adjust the position offset and angle offset.

[0059] See also Fig.11 The visual inspection unit is suitable for photographing the actual position and posture of the coupling assembly 2. First, when the connecting rod 22 is placed on the top of the production table 1, the state of the connecting rod 22 and the cross axis 23 is photographed by the top camera 34. Then, when the shaft head 21 is placed on the top of the production table 1, the state of the shaft head 21 and the cross axis 23 is photographed by the side camera 47. Finally, the image output in RGB format is uploaded to the image processing unit.

[0060] The image processing unit includes a preprocessing module and a data module. The image processing unit processes the image uploaded by the visual detection unit and converts it into data; the preprocessing module includes grayscale and denoising filtering; the data module includes binarization and edge extraction. The camera outputs images in RGB format, and in image processing, grayscale images are more processed, so grayscale processing is required, using integer algorithms:

[0061]

[0062] Among them, Gray represents the gray value calculated by this formula. R represents the value of the red channel, G represents the value of the green channel, and B represents the value of the blue channel. These three channels are the basic color channels that constitute a color image. In the common RGB color mode, the value range of each channel is usually 0-255 (8-bit image). RGB color images can be converted into grayscale images for output.

[0063] In the process of image acquisition, encoding and transmission, various interference noises may be superimposed, such as light, electromagnetic interference of electronic components, etc., which will interfere with the image. These noises not only affect the visual effect of the image, but also hinder our subsequent processing of the image, increase the difficulty of image analysis, affect the measurement results, and cause measurement errors. Through mean filtering:

[0064]

[0065] Among them, N represents the number of pixels contained in the pixel set M; M represents the point set of the pixel and its neighborhood pixels, and image interference is reduced by denoising filtering.

[0066] After the interference is removed, the image needs to be digitized. Therefore, the binarization of the image is to set the grayscale value of the image to a binary image of 0 or 1. For the pixel value B (x, y) of the binarized image (where x and y are the coordinates of the pixel point in the image), set its grayscale value to I (x, y) and the threshold to T:

[0067]

[0068] Here, 0 and 1 represent black and white respectively.

[0069] After the binarization is completed, the edge needs to be extracted from the black and white image. The Roberts operator is an operator that uses a local difference operator to find the edge. It detects the edge by calculating the first-order difference in the diagonal direction of each pixel in the image.

[0070] For images, the two templates of the Roberts operator are:

[0071]

[0072] The horizontal and vertical gradient approximation G x (x, y) can be convolved with the image, and the edge strength G(x, y) is calculated as:

[0073]

[0074] Among them, a threshold T is usually set. When G(x, y)>T, the pixel is an edge point.

[0075] After picking the edge, you also need to calculate the center of the inner and outer circles.

[0076] Therefore, the data converted by the image processing unit is compared with the reference point data by the data comparison unit, and the compared values ​​are converted into displacement data;

[0077] In this embodiment, the least squares circle fitting method is used to find the center of a circle so that the sum of the squares of the distances from the given data points to the circle is minimized. Assume that the equation of the circle is (xa) 2 +(yb) 2 =r 2 , where (a, b) is the coordinate of the center of the circle and r is the radius of the circle. After measuring the centers of the two circles, calculate the concentricity:

[0078]

[0079] It is the pixel value for measuring the concentricity of the inner and outer circles. and are the x- and y-coordinates of the center of a circle, and are the x-coordinate and y-coordinate of the center of another circle respectively. Before making a judgment, the pixel value needs to be multiplied by the calibration value, which is the concentricity offset value in length units.

[0080] In addition to the concentricity offset, there is also an angle deviation. The angle is calculated using the plane's normal vector:

[0081]

[0082] Among them, n1 is the normal vector of plane one, n2 is the normal vector of plane two, and the calculated value of θ is the offset angle.

[0083] The measured concentricity offset value is the actual movement value. The movement of the lead screw module driven by the motor is the number of revolutions. Therefore, the number of revolutions of the motor needs to be calculated:

[0084]

[0085] The measured deviation angle also needs to be converted into the number of motor revolutions:

[0086]

[0087] Among them, n is the number of revolutions of the motor, L is the actual movement value, and P is the lead screw pitch.

[0088] The data comparison unit includes a cross axis comparison module, a top comparison module, and a side end comparison module.

[0089] Among them, there is a sequence of shooting of the top camera 34 and the side camera 47. The top camera 34 first shoots the top of the coupling assembly 2, that is, the top image is first processed and data compared, and the cross axis comparison module is used to compare the offset distance and angle between the bearing 24 and the bottom bearing center of the reference point, and converted into the number of motor revolutions and transmitted to the axis moving assembly 6 for movement. At the same time, the top comparison module compares the concentricity of the connecting rod 22 and the bearing 24, drives the connecting rod moving assembly 8 according to the number of motor revolutions converted by the offset, and moves synchronously according to the offset distance between the cross axis and the reference point to achieve top concentricity control. Then the side end of the coupling assembly 2 is shot by the side camera 47, that is, the side end image is processed and data compared, and the side end comparison module is mainly used to compare the concentricity of the shaft head 21 and the bearing 24, and the shaft head moving assembly 7 is driven according to the number of motor revolutions converted by the offset.

[0090] The posture control unit drives the device to operate and adjust the posture through the data of the data comparison unit. When the posture adjustment is completed, the visual detection unit takes pictures again, and the image processing unit and the data comparison unit process them to determine whether the position is in place and whether the concentricity meets the requirements. If the requirements are met, press-fitting is performed. If the requirements are not met, the posture control is continued.

[0091] That is, during detection, the top drive motor 31 is driven to drive the top slide 32 to slide, and the top camera 34 follows the top slide 32 to move until the top camera 34 moves to the axial center line position of the downward pressure cylinder 33, at which time the connecting rod 22 and the cross axis 23 are photographed, and the side drive motor 43 is driven to drive the side slide 44 to slide, and the side end camera 47 follows the side slide 44 to move until the side end camera 47 moves to the axial center line position of the second side pressure cylinder 45, at which time the shaft head 21 and the cross axis 23 are photographed.

[0092] The above-mentioned unit can improve the press-fitting accuracy, reduce the press-fitting error rate, and improve the production quality.

[0093] Embodiment 3: After detection, the position and posture of the shaft head, connecting rod and cross axis need to be adjusted.

[0094] See also Figure 7-8 For this purpose, the coupling assembly 2 is symmetrically provided with an axis moving assembly 6 at the bottom end, and the two sets of axis moving assemblies 6 are suitable for providing clamping and movement for the cross axis 23; the axis head moving assembly 7 is provided on the side of the shaft head 21 away from the connecting rod 22, and the axis head moving assembly 7 is suitable for providing movement and rotation for the shaft head 21; the connecting rod 22 is provided with a connecting rod moving assembly 8 on the side of the connecting rod 22 away from the shaft head 21, and the connecting rod moving assembly 8 is suitable for providing movement and rotation for the connecting rod 22. The axis moving assembly 6 includes a sliding mechanism 61, and a rotating mechanism 62 is provided at the top of the sliding mechanism 61; the sliding mechanism 61 includes a sliding motor 611, and a lead screw 612 is fixedly connected to the output end of the sliding motor 611, and a sliding block 613 is slidably connected to the top of the lead screw 612; the rotating mechanism 62 includes an arc plate 621, and the arc plate 621 is installed on the top of the sliding block 613, and the arc plate 621 is configured as an arc structure with a groove, and the top of the groove of the arc plate 621 is slidably connected A sliding column 622 is connected, and a clamping plate 623 is fixedly connected to the side of the sliding column 622 close to the cross axis 23. A moving ring 624 is inserted into one side of the sliding column 622. The moving ring 624 is slidably connected to a slide block 625 on the side away from the sliding column 622. The slide block 625 is rotatably connected to a push screw 626 on the side away from the moving ring 624. A ball roller 627 is slidably connected to one side of the push screw 626. A screw drive motor 628 is fixedly connected to one side of the ball roller 627. The sliding mechanism 61 controls the forward and backward movement of the cross axis 23, and the rotating mechanism 62 controls the angle rotation of the cross axis 23. When the front and rear position of the cross axis 23 needs to be adjusted after the detection is completed, the sliding motor 611 is driven to drive the screw 612 to rotate, and the rotation of the screw 612 drives the sliding block 613 to slide, and the sliding of the sliding block 613 drives the rotating mechanism 62 to move as a whole. When the rotating mechanisms 62 on both sides clamp the cross axis 23 together and move in the same direction to the target distance, the front and rear position adjustment is completed. When the angle of the cross axis 23 is detected and needs to be adjusted, the screw drive motor 628 is started to drive the internal ball of the ball bearing 627 to move, so that the push screw 626 rotates and moves to one end, and the movement of the push screw 626 drives the slide block 625 to move. For example, when the cross axis 23 occurs as follows Figure 7When the sliding block 625 is tilted, the push screw 626 moves to drive the sliding block 625 to move, and the distance a between the ball roller 627 and the moving ring 624 changes until it moves to the size b, and the cross axis 23 is aligned. The sliding block 625 drives the moving ring 624 to move in the direction of the push screw 626, and the sliding column 622 is driven by the moving ring 624, so that the sliding column 622 moves along the groove track of the arc plate 621. The arc plate 621 is an arc structure, and the moving ring 624 slides on the sliding block 625 under its influence. When the sliding column 622 moves along the arc track of the arc plate 621, the clamping plate 623 rotates along the arc track. The two sets of clamping plates 623 on both sides clamp the cross axis 23. When the clamping plate 623 rotates, the cross axis 23 rotates accordingly. When the shaft head 21 is not coaxial with the cross axis 23 and the cross axis 23 has been adjusted, the shaft head moving assembly 7 is required to adjust the position and angle of the shaft head 21. The specific mechanism of the shaft head moving assembly 7 is as follows:

[0095] See also Fig. 9 The shaft head moving assembly 7 includes a shaft head driver 71, one side of the shaft head driver 71 is meshedly connected with a shaft head screw rod 72, the output end of the shaft head screw rod 72 is fixedly connected with two sets of shaft head clamping connecting rods 73, the two sets of shaft head clamping connecting rods 73 are arranged around the output end of the shaft head screw rod 72, and the shaft head clamping connecting rod 73 is provided with a shaft head clamping 74 on the side away from the shaft head screw rod 72. When the shaft head 21 is not coaxial with the cross axis 23, and the cross axis 23 has been adjusted, when the shaft head 21 needs to rotate an angle, a set of drives inside the shaft head driver 71 is started to rotate the shaft head screw 72, driving the shaft head clamping rod 73 to rotate, and the shaft head clamping rod 73 drives the shaft head clamping rod 74 holding the shaft head 21 to rotate, so as to achieve angle adjustment; when the shaft head 21 needs to adjust the front and rear position, another set of drives inside the shaft head driver 71 is started to move the shaft head screw 72, driving the shaft head clamping rod 73 to slide, and the shaft head clamping rod 73 drives the shaft head clamping rod 74 holding the shaft head 21 to move, so as to achieve position adjustment. The concentricity of the shaft head 21 and the cross axis 23 is improved, the press-fitting accuracy is improved, the probability of press-fitting failure is reduced, and the yield rate is improved. When the connecting rod 22 is not coaxial with the cross axis 23 and the cross axis 23 has been adjusted, the position and angle of the shaft head 21 are adjusted by the connecting rod moving assembly 8. The specific mechanism of the connecting rod moving assembly 8 is as follows:

[0096] See also Fig.10The connecting rod moving assembly 8 includes a connecting rod driver 81, one side of the connecting rod driver 81 is meshedly connected with a connecting rod screw 82, the output end of the connecting rod screw 82 is fixedly connected with two groups of connecting rod clamping links 83, the two groups of connecting rod clamping links 83 are arranged around the output end of the connecting rod screw 82, and a connecting rod clamping link 84 is arranged on the side of the connecting rod clamping link 83 away from the connecting rod screw 82. When the connecting rod 22 is not coaxial with the cross axis 23, and the cross axis 23 has been adjusted, when the connecting rod 22 needs to rotate an angle, a group of driving inside the connecting rod driver 81 is started to rotate the connecting rod screw 82, driving the connecting rod clamping rod 83 to rotate, and the connecting rod clamping rod 83 drives the connecting rod clamping rod 84 holding the connecting rod 22 to rotate, so as to achieve angle adjustment; when the connecting rod 22 needs to adjust the front and rear position, another group of driving inside the connecting rod driver 81 is started to move the connecting rod screw 82, driving the connecting rod clamping rod 83 to slide, and the connecting rod clamping rod 83 drives the connecting rod clamping rod 84 holding the connecting rod 22 to move, so as to achieve position adjustment. The concentricity of the connecting rod 22 and the cross axis 23 is improved, the press-fitting accuracy is improved, the probability of press-fitting failure is reduced, and the yield rate is improved.

[0097] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

Claims

1. An assembly device for universal coupling production, characterized in that: It comprises a production table (1), a coupling assembly (2), an upper and lower pressure assembly (3), a left and right pressure assembly (4), three sets of bearing clamping assemblies (5), and a visual inspection and control system, wherein the production table (1) is suitable for providing a placement and installation environment for the coupling assembly (2); The coupling assembly (2) is arranged on the top of the production table (1), and the coupling assembly (2) is a universal coupling to be assembled; The coupling assembly (2) comprises a shaft head (21), a connecting rod (22) is arranged on one side of the shaft head (21), a cross axis (23) is arranged between the shaft head (21) and the connecting rod (22), and four groups of bearings (24) are arranged around the outer side of the cross axis (23); The upper and lower pressing components (3) are arranged around the coupling component (2), and the upper and lower pressing components (3) are suitable for providing concentricity detection of the top end of the coupling component (2) and press-fitting the bearings at the top end and the bottom end; The upper and lower pressure components (3) include a top drive motor (31), a screw rod is fixedly mounted on the output end of the top drive motor (31), the screw rod is slidably connected to a top slide plate (32), a downward pressure cylinder (33) is arranged at the bottom end of the top slide plate (32), a top camera (34) is arranged on one side of the downward pressure cylinder (33), a bearing clamping component (5) is arranged at the bottom end of the downward pressure cylinder (33), and a lifting cylinder (35) is symmetrically arranged on the axis of the coupling component (2); The left and right pressure components (4) are arranged around the coupling component (2), and the left and right pressure components (4) are suitable for providing concentricity detection at both ends of the coupling component (2) and press-fitting the bearings at both ends; The left and right pressure components (4) include a first side pressure oil cylinder (41), a first auxiliary block (42) is arranged on the side of the first side pressure oil cylinder (41) close to the coupling component (2), a second auxiliary block (46) is arranged on the side of the coupling component (2) away from the first auxiliary block (42), a side slide plate (44) is arranged on the side of the second auxiliary block (46) away from the coupling component (2), and a side end camera (47) is installed on the top end of the side slide plate (44); Three groups of the bearing clamping assemblies (5) are arranged around the coupling assembly (2), and the bearing clamping assemblies (5) are suitable for clamping the bearings at the top and both ends before press-fitting; The visual inspection and control system is connected to the top camera (34), the side camera (47), the axis moving assembly (6), the axis head moving assembly (7), and the connecting rod moving assembly (8). The visual inspection and control system processes the acquired images and converts them into data, obtains the concentricity deviation based on the data comparison, and adjusts the concentricity. The bottom end of the coupling assembly (2) is symmetrically provided with an axis moving assembly (6), and the two sets of the axis moving assembly (6) are suitable for providing clamping and movement for the cross axis (23); A shaft head moving assembly (7) is provided on a side of the shaft head (21) away from the connecting rod (22), and the shaft head moving assembly (7) is suitable for providing movement and rotation for the shaft head (21); A connecting rod moving assembly (8) is provided on a side of the connecting rod (22) away from the shaft head (21), and the connecting rod moving assembly (8) is suitable for providing movement and rotation for the connecting rod (22); The axis moving assembly (6) comprises a sliding mechanism (61), and a rotating mechanism (62) is provided at the top end of the sliding mechanism (61); The sliding mechanism (61) comprises a sliding motor (611), the output end of the sliding motor (611) is fixedly connected to a screw rod (612), and the top end of the screw rod (612) is slidably connected to a sliding block (613); The rotating mechanism (62) comprises an arc plate (621), wherein the arc plate (621) is mounted on the top of the sliding block (613), and the arc plate (621) is configured as an arc structure with a groove, and a sliding column (622) is slidably connected to the top of the groove of the arc plate (621), and a clamping plate (623) is fixedly connected to the side of the sliding column (622) close to the cross axis (23), and a moving ring (624) is inserted into one side of the sliding column (622), and a sliding groove block (625) is slidably connected to the side of the moving ring (624) away from the sliding column (622), and a push screw (626) is rotatably connected to the side of the sliding groove block (625) away from the moving ring (624), and a ball roller (627) is slidably connected to one side of the pushing screw (626), and a screw driving motor (628) is fixedly connected to one side of the ball roller (627).

2. The assembly device for producing a universal coupling according to claim 1, characterized in that: The shaft head (21) and the connecting rod (22) are slidably connected to the top of the production table (1), the top slide plate (32) is fixedly connected to the downward pressure cylinder (33), the top slide plate (32) is fixedly connected to the top camera (34), and the lifting cylinder (35) is arranged inside the production table (1).

3. The assembly device for producing a universal coupling according to claim 2, characterized in that: The first side pressure oil cylinder (41) is arranged at the top of the production table (1), a bearing clamping assembly (5) is arranged at the top of the first side pressure oil cylinder (41), the first auxiliary block (42) is adapted in shape to the bearing (24), and the second auxiliary block (46) is adapted in shape to the bearing (24).

4. The assembly device for producing a universal coupling according to claim 3, characterized in that: The first auxiliary block (42) is fixedly connected to the side slide plate (44); a screw rod is slidably connected to the bottom end of the side slide plate (44); an input end of the screw rod is fixedly connected to a side drive motor (43); a second side pressure cylinder (45) is installed at the top end of the side slide plate (44); and a bearing clamping assembly (5) is provided at the top end of the second side pressure cylinder (45).

5. The assembly device for producing a universal coupling according to claim 4, characterized in that: The bearing clamping assembly (5) comprises a cylinder sliding block (51), one end of which is connected to the output ends of the downward pressure cylinder (33), the first side pressure cylinder (41) and the second side pressure cylinder (45); a first clamping strip (52) is arranged at the top of the cylinder sliding block (51); a first slot (54) is provided at the top of the first clamping strip (52); the first slot (54) is plugged into one side of the outer shell of the downward pressure cylinder (33), the first side pressure cylinder (41) and the second side pressure cylinder (45); a second clamping strip (53) is arranged at the top of the first clamping strip (52); a second slot (55) is provided at the top of the second clamping strip (53); the second slot (55) is plugged into the other side of the outer shell of the downward pressure cylinder (33), the first side pressure cylinder (41) and the second side pressure cylinder (45); and the other end of the cylinder sliding block (51) is plugged into the first clamping strip (52) and the second clamping strip (53).

6. The assembly device for producing a universal coupling according to claim 1, characterized in that: The shaft head moving assembly (7) comprises a shaft head driver (71), one side of the shaft head driver (71) is meshingly connected with a shaft head screw (72), the output end of the shaft head screw (72) is fixedly connected with two sets of shaft head clamping connecting rods (73), the two sets of shaft head clamping connecting rods (73) are arranged around the output end of the shaft head screw (72), and a shaft head clamping claw (74) is arranged on the side of the shaft head clamping connecting rod (73) away from the shaft head screw (72), and the two sets of shaft head clamping claws (74) are adapted to the shape of the shaft head (21).

7. An assembly device for producing a universal coupling according to claim 6, characterized in that: The connecting rod moving assembly (8) comprises a connecting rod driver (81), one side of the connecting rod driver (81) is meshedly connected with a connecting rod screw (82), the output end of the connecting rod screw (82) is fixedly connected with two groups of connecting rod clamping links (83), the two groups of connecting rod clamping links (83) are arranged around the output end of the connecting rod screw (82), and a connecting rod clamping link (84) is arranged on the side of the connecting rod clamping link (83) away from the connecting rod screw (82), and the two groups of connecting rod clamping links (84) are adapted to the shape of the connecting rod (22).

8. The assembly device for producing a universal coupling according to claim 1, characterized in that: The visual detection and control system includes a visual detection unit, an image processing unit, a data comparison unit, and a posture control unit; The visual inspection unit is suitable for photographing the actual position and posture of the coupling assembly (2). First, when the connecting rod (22) is placed on the top of the production table (1), the state of the connecting rod (22) and the cross axis (23) is photographed by the top camera (34). Then, when the shaft head (21) is placed on the top of the production table (1), the state of the shaft head (21) and the cross axis (23) is photographed by the side camera (47). Finally, the image is uploaded and output in RGB format to the image processing unit. The image processing unit includes a preprocessing module and a data module, and the image processing unit processes the image uploaded by the visual detection unit and converts it into data; The pre-processing module includes grayscale and denoising filtering; The data conversion module includes binarization and edge extraction; The data comparison unit compares the data converted by the image processing unit with the reference point data, and converts the compared values ​​into displacement data; The data comparison unit further converts the measured deviation angle into the number of revolutions of the motor, and transmits the number of revolutions to the attitude control unit for adjustment; The posture control unit drives the device to operate through the data of the data comparison unit, and adjusts the shaft head (21) and the connecting rod (22) in the horizontal direction and the rotational direction respectively through the shaft head moving component (7) and the connecting rod moving component (8). After the posture adjustment is completed, the visual detection unit takes pictures again and repeats the above steps until the data obtained by the data comparison unit reaches the consistency of the concentricity of the shaft head (21), the connecting rod (22) and the cross axis (23).

Images