Steel ball filling automatic assembly equipment and operation method

Abstract

The invention relates to automatic assembling equipment for steel ball filling, and belongs to the technical field of ball screw production. The automatic assembling equipment comprises a workbench, a conveyor is arranged on the workbench, a placing frame is arranged on one side of the workbench, an adjusting sleeve is arranged on the workbench, the outer diameter of the adjusting sleeve is the same as that of a screw, and an outer spiral groove which is the same as that of the screw is formed in the adjusting sleeve; a first driving assembly is arranged on the workbench; a second driving assembly is installed on the workbench, the second driving assembly is connected with a first lifting plate, a locking assembly is arranged on the first lifting plate, and the locking assembly is connected with a first finger air cylinder; a third driving assembly is installed on the workbench and connected with a bead filling assembly, the bead filling assembly is connected with a bead storage box, the bead storage box is connected with a bead distributing pipe, and an air pump is installed on the bead distributing pipe. A fourth driving assembly is installed on the workbench and connected with a butt joint assembly, and the butt joint assembly is connected with a second finger air cylinder. The automatic ball filling device has the effects of achieving automatic ball filling of the steel balls and improving the ball filling efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of ball screw production, and in particular to an automatic steel ball filling assembly device and an operation method. Background Art

[0002] Usually, when assembling the ball of a ball screw pair, the following steps need to be performed manually: prepare an auxiliary screw and a connecting sleeve, insert the auxiliary screw into the nut seat, ensure that the spiral groove of the auxiliary screw and the nut seat are accurately aligned, form a gap for installing the first ball at the entrance of the nut seat, and manually put the first steel ball into the entrance of the spiral groove of the nut seat. Ensure that the steel ball enters the spiral groove accurately, rotate the auxiliary screw, move the nut seat on the auxiliary screw, and gradually put more steel balls in as it moves. When the steel balls are loaded, connect the connecting sleeve with the auxiliary screw, and turn the nut seat to transfer the nut seat and the balls to the connecting sleeve. Insert the formal screw into the sleeve and connect it with the connecting sleeve. Finally, slowly move the nut seat from the sleeve to the formal screw to complete the installation of the ball. However, this method of filling steel balls with balls only by manual operation is inefficient and prone to missing installation. Summary of the invention

[0003] In order to realize automatic filling of steel balls, improve filling efficiency and reduce the occurrence of missing balls, the present application provides an automatic assembly device for filling steel balls and an operation method.

[0004] The present application provides a steel ball filling and automatic assembly equipment adopts the following technical solution: An automatic assembly device for steel ball filling, comprising a workbench, a conveyor for conveying nut seats is arranged on the workbench, a plurality of placement racks for placing lead screws are arranged on one side of the workbench, an adjustment sleeve is arranged on the workbench, the adjustment sleeve has the same outer diameter as the lead screw and is provided with the same outer spiral groove as the lead screw, and a first driving component for controlling the rotation and lifting of the adjustment sleeve is arranged on the workbench; A second driving assembly is installed on the workbench, the second driving assembly is connected to a first lifting plate, a locking assembly is arranged on the first lifting plate, the locking assembly is connected to a first finger cylinder for grabbing a nut seat, the second driving assembly is used to control the first lifting plate to move along the X-axis and the Z-axis, and when the locking assembly is unlocked, the first finger cylinder can move along the height direction of the lifting plate; The workbench is provided with a third driving assembly, the third driving assembly is connected to a bead filling assembly, the bead filling assembly is connected to a bead storage box, the bead storage box is connected to a bead separation tube, the bead separation tube is provided with an air pump for ejecting steel balls, the bead filling assembly is used to drive the bead storage box to rotate and move along the Z axis at the same time, and the third driving assembly is used to drive the bead filling assembly to move along the X axis and the Z axis; A fourth driving assembly is installed on the workbench, and the fourth driving assembly is connected to a docking assembly, and the docking assembly is connected to a second finger cylinder for grabbing the lead screw. The docking assembly is used to control the connection between the outer spiral groove of the adjusting sleeve and the spiral groove of the lead screw and can control the rotation of the second finger cylinder. The fourth driving assembly is used to control the rotation of the docking assembly and can move along the X-axis and the Z-axis.

[0005] By adopting the above technical solution, the second drive component drives the first finger cylinder to move to the conveyor, and the first finger cylinder grabs the nut seat; the second drive component drives the first finger cylinder to move to the nut seat, inserts it into the adjusting sleeve and is coaxial with the adjusting sleeve; the first drive component is controlled to drive the adjusting sleeve to rotate, and manual observation is cooperated until the outer spiral groove of the adjusting sleeve is aligned with the spiral groove of the nut seat, and the third drive component is controlled to drive the bead filling component and the bead storage box to move, so that the bead distribution tube is located in the nut seat and aligned with the spiral groove of the nut seat; the bead storage box is controlled to transport steel balls to the bead distribution tube, and the air pump drives the steel balls into the spiral channel between the nut seat and the adjusting sleeve. During this process, manual observation is cooperated. If the air pump cannot drive the steel balls out smoothly, the adjusting sleeve is controlled to rotate 1-5° to avoid bead jamming. After each bead filling with the designed number of steel beads, the bead filling assembly drives the bead storage box and the bead distribution tube to rotate the specified angle, and the first drive assembly drives the adjustment sleeve to rotate the same angle, and the adjustment sleeve and the bead distribution tube rise the same distance; after the specified number of steel balls are assembled, the third drive assembly is controlled to drive the bead filling assembly to separate from the bead storage box, and the first drive assembly is controlled to drive the adjustment sleeve to continue to rotate until the adjustment sleeve passes through the nut seat; the fourth drive assembly is controlled to drive the second finger cylinder to grab the lead screw and plug it with the adjustment sleeve, and the docking assembly controls the outer spiral groove of the adjustment sleeve to connect with the spiral groove of the lead screw; loosen the locking assembly, rotate the adjustment sleeve and the lead screw synchronously, so that the nut seat is assembled on the lead screw, and then the first finger cylinder is separated from the nut seat, and the adjustment sleeve is separated from the lead screw, and the installation of the lead screw and the nut seat is completed. Automatic loading and unloading of beads is realized, and the lead screw and nut seat are automatically assembled. Only manual supervision is required to see if there is a bead jam, so as to realize automatic filling of steel balls and improve the efficiency of filling. In addition, the air pump pushes the steel balls into the spiral groove to reduce the situation of missing steel balls.

[0006] Optionally, the first driving assembly includes a first motor, the first motor is installed in the workbench, the first motor is connected to a rotating disk, the rotating disk is connected to a first telescopic sleeve, and the adjusting sleeve is slidably connected in the first telescopic sleeve.

[0007] By adopting the above technical solution, when the nut seat is inserted into the adjusting sleeve and a proper amount of steel balls are loaded, the first motor drives the rotating disk to rotate, so that the first telescopic sleeve drives the adjusting sleeve to rotate, and the adjusting sleeve can also extend out of the first telescopic sleeve.

[0008] Optionally, the locking assembly includes a first slide seat, the first finger cylinder is installed on the first slide seat, the first slide seat is slidably connected to the first lifting plate, the first lifting plate is provided with a snap-in groove, the first slide seat is provided with an inflation chamber, the inflation chamber is connected to a reset spring, a snap-in block is slidably connected in the inflation chamber, the snap-in block is connected to the reset spring, and a buffer pad is installed at the bottom of the first lifting plate.

[0009] By adopting the above technical solution, when grabbing the nut seat, the inflation chamber is inflated to insert the clamping block into the lower clamping groove, the lifting plate and the first slide seat are fixed, and the movement of the lifting plate is controlled to drive the first finger cylinder to move and grab the nut seat; During the assembly of the steel ball, keep the clamping block inserted into the lower clamping groove. At this time, the first finger cylinder and the nut seat cannot be raised or lowered, ensuring that the adjusting sleeve can be stably rotated and raised; After the beads are loaded, the inflation chamber is exhausted, and the reset spring drives the clamping block to separate from the lower clamping groove. At this time, when the adjusting sleeve and the lead screw rotate synchronously, the first slide seat, the first finger cylinder and the nut seat can rise synchronously until the nut seat moves onto the lead screw. The first finger cylinder is released, and the first slide seat automatically falls on the buffer pad, and the clamping block is realigned with the clamping groove, ready to grab the next nut seat.

[0010] Optionally, the second drive assembly includes a first servo drive unit, the first servo drive unit is connected to a first lifting frame, the first servo drive unit drives the first lifting frame to move along the X-axis direction, the first lifting frame is slidably connected to the first lifting plate, and the first lifting frame is provided with a second servo drive unit for controlling the first lifting plate to move along the Z-axis.

[0011] Optionally, the third drive assembly includes a third servo drive unit, the third servo drive unit is connected to a second lifting frame, the second lifting frame is slidably connected to a mounting plate, the mounting plate is connected to the bead filling assembly, and the second lifting frame is provided with a fourth servo drive unit for controlling the movement of the mounting plate along the Z-axis direction.

[0012] Optionally, a bead separating plate is rotatably connected inside the bead storage box, and a second motor for driving the bead separating plate to rotate is provided on the bead storage box. The bead separating plate has a plurality of bead separating grooves along its circumference, each of the bead separating grooves can only accommodate one steel ball, and the inner diameter of the bead separating groove is the same as the inner diameter of the bead separating tube.

[0013] By adopting the above technical solution, the second motor drives the bead separating plate to rotate. After the steel balls fall into the bead separating groove, the bead separating plate can bring the steel balls to the bead separating tube for discharge, and only one steel ball is discharged into the bead separating tube at a time to avoid bead jamming.

[0014] Optionally, the bead filling assembly includes a third motor, the third motor is fixed on the mounting plate, a synchronous sleeve is fixed on the casing of the third motor, the synchronous sleeve is provided with an internal spiral groove which is the same as the spiral groove of the nut seat, the third motor is connected to a telescopic rod, the telescopic rod is connected to the bead storage box, and the bead storage box is connected to the synchronous sleeve by assembling a ball screw.

[0015] By adopting the above technical solution, when the first motor drives the adjusting sleeve to rotate, the third motor rotates synchronously, and the third motor drives the telescopic rod and the bead storage box to rotate. Since the inner spiral groove of the synchronous sleeve is the same as the spiral groove of the nut seat, when the adjusting sleeve and the bead storage box rotate at the same time, it can ensure that the bead dividing tube is always aligned with the spiral groove of the adjusting sleeve. At the same time, the adjusting sleeve and the bead dividing tube can also rise synchronously to realize the normal operation of the assembly work and avoid the collision between the bead dividing tube and the adjusting sleeve.

[0016] Optionally, the fourth drive assembly includes a fifth servo drive unit, the fifth servo drive unit is connected to a movable disk, the fifth servo drive unit drives the movable disk to move along the X-axis direction, the movable disk is equipped with a fourth motor, the fourth motor is connected to a rotating disk, a third lifting frame is installed on the rotating disk, the third lifting frame is slidably connected to a cantilever arm, the third lifting frame is provided with a sixth servo drive unit for controlling the lifting of the cantilever arm, and the cantilever arm is connected to the docking assembly.

[0017] By adopting the above technical solution, the fifth servo drive unit drives the movable plate to move, so that the cantilever arm drives the second finger cylinder to move to the placement rack, and then the sixth servo drive unit drives the cantilever arm and the second finger cylinder to descend to grab the lead screw and then lift the lead screw, and then the fifth servo drive unit, the sixth servo drive unit and the fourth motor cooperate to grab the lead screw for moving, rotating and lifting, so that the lead screw is inserted into the adjusting sleeve.

[0018] Optionally, the docking assembly includes a fifth motor, which is connected to the second finger cylinder. A patch is provided at the bottom of the screw, and a photoelectric sensor is embedded in the top of the adjusting sleeve. When the photoelectric sensor is aligned with the patch, the spiral groove of the screw is connected with the outer spiral groove of the adjusting sleeve.

[0019] By adopting the above technical solution, the second finger cylinder descends to grab the lead screw. When the lead screw is transferred to the top of the adjusting sleeve, the fifth motor drives the lead screw to rotate. After the patch is aligned with the photoelectric sensor, the second finger cylinder descends to insert the lead screw into the adjusting sleeve. At this time, the spiral groove of the lead screw and the outer spiral groove of the adjusting sleeve are connected to ensure that the nut seat can be smoothly transferred to the lead screw.

[0020] A steel ball filling operation method, using the above-mentioned steel ball filling automatic assembly equipment, comprises the following steps: S1, control the second driving assembly to drive the first finger cylinder to move to the conveyor, and the first finger cylinder grabs the nut seat; S2, control the second driving assembly to drive the first finger cylinder to move to the nut seat to insert into the adjusting sleeve and be coaxial with the adjusting sleeve; S3, controlling the first driving assembly to drive the adjusting sleeve to rotate so that the outer spiral groove of the adjusting sleeve is aligned with the spiral groove of the nut seat; S4, controlling the third driving assembly to drive the bead filling assembly and the bead storage box to move, so that the bead dispensing tube is located in the nut seat and is aligned with the spiral groove of the nut seat; S5, control the bead storage box to transport steel balls to the bead distribution tube, and each time a steel ball enters the spiral groove of the nut seat, the bead filling assembly drives the bead storage box and the bead distribution tube to rotate at a specified angle, and at the same time, the first driving assembly drives the adjustment sleeve to rotate at the same angle, and the adjustment sleeve will rise one end distance during rotation because the first steel ball is assembled, and at this time, the bead filling assembly drives the bead storage box and the bead distribution tube to rise by the same distance; S6, repeatedly executing step S5 until a specified number of steel balls are assembled, controlling the third driving assembly to drive the bead filling assembly to separate from the bead storage box, and controlling the first driving assembly to drive the adjusting sleeve to continuously rotate until the adjusting sleeve passes through the nut seat; S7, controlling the fourth driving assembly to drive the second finger cylinder to grab the lead screw and plug it into the adjusting sleeve, and the docking assembly controls the outer spiral groove of the adjusting sleeve to connect with the spiral groove of the lead screw; S8. Loosen the locking assembly, rotate the adjusting sleeve and the lead screw synchronously, assemble the nut seat onto the lead screw, then separate the first finger cylinder from the nut seat, separate the adjusting sleeve from the lead screw, and complete the installation of the lead screw and the nut seat.

[0021] In summary, the present application includes at least one of the following beneficial technical effects: 1. Automatic loading and unloading of balls is realized, and the lead screw and nut seat are automatically assembled. Only manual supervision is required to see if there is any ball jam, so that the automatic filling of steel balls can be realized, and the filling efficiency can be improved. In addition, the air pump pushes the steel balls into the spiral groove to reduce the leakage of steel balls; 2. When the first motor drives the adjusting sleeve to rotate, the third motor rotates synchronously, and the third motor drives the telescopic rod and the bead storage box to rotate. Since the inner spiral groove of the synchronous sleeve is the same as the spiral groove of the nut seat, when the adjusting sleeve and the bead storage box rotate at the same time, it can ensure that the bead distribution tube is always aligned with the spiral notch of the adjusting sleeve. At the same time, the adjusting sleeve and the bead distribution tube can also rise synchronously, realizing the normal operation of the assembly work and avoiding the collision between the bead distribution tube and the adjusting sleeve; 3. The fifth motor drives the second finger cylinder to rotate, so that the first photoelectric sensor is aligned with the first patch, and then the second finger cylinder descends to grab the lead screw. When the lead screw is transferred to the top of the adjusting sleeve, the fifth motor drives the lead screw to rotate, so that the second patch is aligned with the second photoelectric sensor, and then the second finger cylinder descends to insert the lead screw into the adjusting sleeve. At this time, the spiral groove of the lead screw and the outer spiral groove of the adjusting sleeve are connected to ensure that the nut seat can be smoothly transferred to the lead screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0023] Figure 2 It is a schematic diagram of the structure of the second drive assembly and the fourth drive assembly according to an embodiment of the present application.

[0024] Figure 3 It is a schematic diagram of the structure of the embodiment of the present application for reflecting the adjusting sleeve and the first driving assembly.

[0025] Figure 4 yes Figure 3 Enlarged schematic diagram of part A.

[0026] Figure 5 yes Figure 3 Schematic diagram of the enlarged portion B.

[0027] Figure 6 It is a structural schematic diagram used to embody the third drive component in an embodiment of the present application.

[0028] Figure 7 It is a schematic diagram of the structure of the bead filling assembly used in the embodiment of the present application.

[0029] Figure 8 yes Figure 4 Enlarged schematic diagram of part C.

[0030] Explanation of the reference numerals: 1. workbench; 11. conveyor; 12. rack; 2. adjusting sleeve; 21. outer spiral groove; 3. first drive assembly; 31. first motor; 32. rotating disk; 33. first telescopic sleeve; 4. second drive assembly; 41. first lifting plate; 411. snap-in groove; 42. first servo drive unit; 43. first lifting frame; 44. second servo drive unit; 5. locking assembly; 51. first finger cylinder; 52. first slide; 521. inflation chamber; 53. reset spring; 54. snap-in block; 55. buffer pad; 6. third drive assembly; 61. third servo drive unit; 62. second Lifting frame; 63, mounting plate; 64, fourth servo drive unit; 7, bead filling assembly; 71, bead storage box; 72, second motor; 73, bead separation plate; 731, bead separation groove; 74, bead separation tube; 75, air pump; 76, third motor; 77, synchronous sleeve; 771, inner spiral groove; 78, telescopic rod; 8, fourth drive assembly; 81, fifth servo drive unit; 82, moving plate; 83, fourth motor; 84, rotating plate; 85, third lifting frame; 86, cantilever arm; 87, sixth servo drive unit; 9, docking assembly; 91, second finger cylinder; 92, fifth motor; 93, patch; 94, photoelectric sensor. DETAILED DESCRIPTION

[0031] The following is combined with Figure 1-8 This application is described in further detail.

[0032] The embodiment of the present application discloses an automatic steel ball filling and assembling device.

[0033] like Figure 1 , Figure 2 and Figure 3 The steel ball filling automatic assembly equipment includes a workbench 1, a conveyor 11 for conveying a nut seat is installed on the top surface of the workbench 1, and the conveyor 11 is arranged along the X-axis direction. A plurality of placement racks 12 for placing a lead screw are fixed at one end of the front side of the workbench 1, and the placement racks 12 are arranged equidistantly along the length direction of the workbench 1. An adjusting sleeve 2 is arranged at the center of the workbench 1. The adjusting sleeve 2 has the same outer diameter as the lead screw and is provided with an outer spiral groove 21 that is the same as the lead screw. A first driving component 3 for controlling the rotation and lifting of the adjusting sleeve 2 is arranged in the workbench 1; A second driving assembly 4 is installed at the rear side of the workbench 1, and the second driving assembly 4 is connected to a first lifting plate 41, and a locking assembly 5 is provided on the first lifting plate 41, and the locking assembly 5 is connected to a first finger cylinder 51 for grabbing the nut seat, and the second driving assembly 4 is used to control the first lifting plate 41 to move along the X-axis and the Z-axis. When the locking assembly 5 is unlocked, the first finger cylinder 51 can move along the height direction of the lifting plate; like Figure 1 , Figure 6 and Figure 7 The top surface of the workbench 1 is provided with a third drive assembly 6, which is arranged opposite to the conveyor 11. The third drive assembly 6 is connected to a bead filling assembly 7, which is connected to a bead storage box 71. A second motor 72 is installed on the bead storage box 71. A bead separation plate 73 is rotatably connected in the bead storage box 71. The second motor 72 is connected to the bead separation plate 73. The bead separation plate 73 is provided with a plurality of bead separation grooves 731 along its circumference, and each bead separation groove 731 can only accommodate one steel ball. A bead separation tube 74 is connected to the bottom of the bead storage box 71, and the inner diameter of the bead separation groove 731 is the same as that of the bead separation tube 74; an air pump 75 for ejecting steel balls is installed on the bead separation tube 74, and the air nozzle of the air pump 75 is aligned between the first steel ball and the second steel ball at the mouth of the bead separation tube 74, so as to ensure that only one steel ball can be ejected each time. The bead filling assembly 7 is used to drive the bead storage box 71 to rotate and move along the Z axis, and the third driving assembly 6 is used to drive the bead filling assembly 7 to move along the X axis and the Z axis; like Figure 1 and Figure 2 A fourth driving assembly 8 is installed on the front side of the workbench 1, and the fourth driving assembly 8 is arranged toward the placement rack 12. The fourth driving assembly 8 is connected to a docking assembly 9, and the docking assembly 9 is connected to a second finger cylinder 91 for grabbing the lead screw. The docking assembly 9 is used to control the connection between the outer spiral groove 21 of the adjusting sleeve 2 and the spiral groove of the lead screw and can control the rotation of the second finger cylinder 91. The fourth driving assembly 8 is used to control the rotation of the docking assembly 9 and can move along the X-axis and the Z-axis.

[0034] When the steel ball is being filled, the second driving assembly 4 drives the first finger cylinder 51 to move to the conveyor 11, and the first finger cylinder 51 grabs the nut seat; the second driving assembly 4 drives the first finger cylinder 51 to move to the nut seat and insert it into the adjusting sleeve 2 and be coaxial with the adjusting sleeve 2. At this time, there is a gap between the nut seat and the adjusting sleeve 2, and the gap is adapted to the ball; Control the first driving assembly 3 to drive the adjusting sleeve 2 to rotate, and cooperate with manual observation until the outer spiral groove 21 of the adjusting sleeve 2 is aligned with the spiral groove of the nut seat, and at this time, the outer spiral end of the adjusting sleeve 2 (that is, the opening at the top of the adjusting sleeve 2 through which the outer spiral passes) is facing the first spiral groove of the adjusting sleeve 2 that needs to be filled with beads; The third driving assembly 6 is controlled to drive the bead filling assembly 7 and the bead storage box 71 to move, so that the bead distribution tube 74 is located in the nut seat and aligned with the spiral notch of the adjusting sleeve 2; the second motor 72 is started, so that the bead distribution plate 73 drives the steel balls to be transported to the bead distribution tube 74. After the first steel ball enters the channel surrounded by the outer spiral track and the nut seat, the air pump 75 is pumped at intervals to push another steel ball into the channel. The previous steel ball will be squeezed by the next steel ball and continue to be pushed into the channel (or directly slide into the channel). During this process, manual cooperation and observation are performed. If the air pump 75 cannot smoothly drive the steel ball out, the adjusting sleeve 2 is controlled to rotate 1-5° to avoid bead jamming; After each bead is filled with a designed number of steel beads, the bead filling assembly 7 drives the bead storage box 71 and the bead distribution tube 74 to rotate a specified angle, and at the same time, the first driving assembly 3 drives the adjustment sleeve 2 to rotate the same angle, and the adjustment sleeve 2 and the bead distribution tube 74 rise the same distance; after the specified number of steel beads are assembled, the third driving assembly 6 is controlled to drive the bead filling assembly 7 to separate from the bead storage box 71; The first driving assembly 3 is controlled to drive the adjusting sleeve 2 to rotate continuously until the adjusting sleeve 2 passes through the nut seat; the fourth driving assembly 8 is controlled to drive the second finger cylinder 91 to grab the lead screw and plug it into the adjusting sleeve 2, and the docking assembly 9 controls the outer spiral groove 21 of the adjusting sleeve 2 to connect with the spiral groove of the lead screw; Loosen the locking assembly 5, rotate the adjusting sleeve 2 and the lead screw synchronously, so that the nut seat rises until it is assembled on the lead screw, then separate the first finger cylinder 51 from the nut seat, separate the adjusting sleeve 2 from the lead screw, and complete the installation of the lead screw and the nut seat. Automatic loading and unloading of steel balls and automatic assembly of the lead screw and the nut seat are realized. Only manual supervision is required to see if there is any stuck ball, so that automatic filling of steel balls is realized and the filling efficiency is improved. In addition, the air pump 75 pushes the steel balls into the spiral groove to reduce the situation of missing steel balls.

[0035] like Figure 2 , Figure 3 and Figure 4 The first driving assembly 3 includes a first motor 31, which is installed in the workbench 1. The first motor 31 is connected to a rotating disk 32, which is connected to a first telescopic sleeve 33, and the adjusting sleeve 2 is slidably connected in the first telescopic sleeve 33; When the nut seat is inserted on the adjusting sleeve 2 and a proper amount of steel balls are loaded, the first motor 31 drives the rotating disk 32 to rotate, so that the first telescopic sleeve 33 drives the adjusting sleeve 2 to rotate, and the adjusting sleeve 2 can also extend out of the first telescopic sleeve 33.

[0036] like Figure 2 , Figure 3 and Figure 5 The second driving assembly 4 includes a first servo driving unit 42, which is installed at the rear side of the workbench 1. The first servo driving unit 42 is connected to a first lifting frame 43. The first servo driving unit 42 drives the first lifting frame 43 to move along the X-axis direction. The first lifting frame 43 is slidably connected to the first lifting plate 41. The first lifting frame 43 is provided with a second servo driving unit 44 for controlling the first lifting plate 41 to move along the Z-axis. The locking assembly 5 includes a first slide seat 52, which is slidably connected to the first lifting plate 41. A snap-in groove 411 is provided on the first lifting plate 41. The first slide seat 52 defines an inflation chamber 521, and the inflation chamber 521 is connected to a return spring 53. A snap-in block 54 is slidably connected in the inflation chamber 521, and the snap-in block 54 is connected to the return spring 53. A buffer pad 55 is installed at the bottom of the first lifting plate 41. When the snap-in block 54 is located in the snap-in groove 411, the first slide seat 52 is supported on the buffer pad 55. When the inflation chamber 521 is exhausted, the return spring 53 drives the snap-in block 54 to separate from the snap-in groove 411.

[0037] When grabbing the nut seat, the inflation chamber 521 is inflated to insert the clamping block 54 into the clamping groove 411, and the first lifting plate 41 and the first slide seat 52 are fixed. The first servo drive unit 42 and the second servo drive unit 44 cooperate to control the movement of the first lifting plate 41 to drive the first finger cylinder 51 to move and grab the nut seat; During the process of assembling the steel ball, the clamping block 54 is kept inserted into the clamping groove 411. At this time, the first finger cylinder 51 and the nut seat cannot be raised or lowered, ensuring that the adjusting sleeve 2 can be stably rotated and raised; After the beads are loaded, the inflation chamber 521 is exhausted, and the reset spring 53 drives the clamping block 54 to separate from the clamping groove 411. At this time, when the adjusting sleeve 2 and the screw rotate synchronously, the first slide 52, the first finger cylinder 51 and the nut seat can rise synchronously until the nut seat moves onto the screw. The first finger cylinder 51 is released, and the first slide 52 automatically falls on the buffer pad 55, and the clamping block 54 is realigned with the clamping groove 411, ready to grab the next nut seat.

[0038] like Figure 6 and Figure 7 The third driving assembly 6 includes a third servo driving unit 61, which is connected to a second lifting frame 62. The third servo driving unit 61 drives the second lifting frame 62 to move along the X-axis direction. The second lifting frame 62 is slidably connected to a mounting plate 63, which is connected to the bead filling assembly 7. The second lifting frame 62 is provided with a fourth servo driving unit 64 for controlling the mounting plate 63 to move along the Z-axis direction. The bead filling assembly 7 includes a third motor 76, which is fixed to the bottom of the mounting plate 63. A synchronous sleeve 77 is fixed to the casing of the third motor 76. The synchronous sleeve 77 is provided with an inner spiral groove 771 which is the same as the spiral groove of the nut seat. The third motor 76 is connected to a telescopic rod 78, which is connected to the bead storage box 71. The bead storage box 71 is connected to the synchronous sleeve 77 by assembling a ball screw.

[0039] When the first motor 31 drives the adjusting sleeve 2 to rotate, the third motor 76 rotates synchronously, and the third motor 76 drives the telescopic rod 78 and the bead storage box 71 to rotate. Since the inner spiral groove 771 of the synchronous sleeve 77 is the same as the spiral groove of the nut seat, when the adjusting sleeve 2 and the bead storage box 71 rotate at the same time, it can ensure that the bead dividing tube 74 is always aligned with the spiral groove of the adjusting sleeve 2. At the same time, the adjusting sleeve 2 and the bead dividing tube 74 can also rise synchronously to achieve normal operation of the assembly work and avoid the collision between the bead dividing tube 74 and the adjusting sleeve 2.

[0040] like Figure 2 and Figure 3 The fourth driving assembly 8 includes a fifth servo driving unit 81, which is installed on the front side of the workbench 1. The fifth servo driving unit 81 is connected to a moving disk 82. The fifth servo driving unit 81 drives the moving disk 82 to move along the X-axis direction. A fourth motor 83 is installed on the moving disk 82. The fourth motor 83 is connected to a rotating disk 84. A third lifting frame 85 is installed on the rotating disk 84. The third lifting frame 85 is slidably connected to a cantilever arm 86. The third lifting frame 85 is provided with a sixth servo driving unit 87 for controlling the lifting of the cantilever arm 86. The cantilever arm 86 is connected to the docking assembly 9. like Figure 2 and Figure 8 The docking assembly 9 includes a fifth motor 92, which is installed at the bottom of the cantilever arm 86. The fifth motor 92 is connected to the second finger cylinder 91. A patch 93 is provided at the bottom of the screw. A photoelectric sensor 94 is embedded in the top of the adjusting sleeve 2. When the photoelectric sensor 94 is aligned with the patch 93, the spiral groove of the screw is connected with the outer spiral groove 21 of the adjusting sleeve 2.

[0041] The fifth servo drive unit 81 drives the moving plate 82 to move, so that the cantilever arm 86 is close to the placement rack 12, and then the fourth motor 83 drives the rotating plate 84 to rotate, so that the second finger cylinder 91 rotates to just above the lead screw, and then the sixth servo drive unit 87 drives the third lifting rack 85 to descend, so that the second finger cylinder 91 descends to grab the lead screw; Then the lead screw is transferred to the top of the adjustment sleeve 2, and the fifth motor 92 drives the lead screw to rotate, so that the patch 93 is aligned with the photoelectric sensor 94, and the second finger cylinder 91 descends to insert the lead screw into the adjustment sleeve 2. At this time, the spiral groove of the lead screw is connected with the outer spiral groove 21 of the adjustment sleeve 2, ensuring that the nut seat can be smoothly transferred to the lead screw. Then the fifth motor 92 and the first motor 31 are synchronously started to make the adjustment sleeve 2 and the lead screw rotate synchronously, so that the nut seat can be transferred to the lead screw.

[0042] The first servo drive unit 42 , the second servo drive unit 44 , the third servo drive unit 61 , the fourth servo drive unit 64 , the fifth servo drive unit 81 and the sixth servo drive unit 87 are all motor and lead screw structures.

[0043] The present application also provides a method for operating steel ball filling, which is applied to the steel ball filling automatic assembly equipment of the present application, and includes the following steps: S1, control the second driving assembly 4 to drive the first finger cylinder 51 to move to the conveyor 11, and the first finger cylinder 51 grabs the nut seat; S2, control the second driving assembly 4 to drive the first finger cylinder 51 to move to the nut seat to insert into the adjusting sleeve 2 and be coaxial with the adjusting sleeve 2; S3, controlling the first driving assembly 3 to drive the adjusting sleeve 2 to rotate, so that the outer spiral groove 21 of the adjusting sleeve 2 is aligned with the first bead-loading spiral groove of the nut seat; S4, control the third driving assembly 6 to drive the bead filling assembly 7 and the bead storage box 71 to move, so that the bead distribution tube 74 is located in the nut seat and is aligned with the spiral notch of the nut seat; S5, control the bead storage box 71 to transport steel balls to the bead distribution tube 74, and the air pump 75 drives the steel balls into the spiral channel between the nut seat and the adjusting sleeve 2. During this process, manual observation is performed. If the air pump 75 cannot drive the steel balls smoothly, the adjusting sleeve 2 is controlled to rotate 1-5° to avoid beads being stuck. After each designed number of steel balls is filled, the bead filling component 7 drives the bead storage box 71 and the bead distribution tube 74 to rotate a specified angle, and at the same time, the first driving component 3 drives the adjusting sleeve 2 to rotate the same angle, and the adjusting sleeve 2 and the bead distribution tube 74 rise the same distance; S6, repeatedly executing step S5 until a specified number of steel balls are assembled, controlling the third driving assembly 6 to drive the bead filling assembly 7 to separate from the bead storage box 71, and controlling the first driving assembly 3 to drive the adjusting sleeve 2 to continuously rotate until the adjusting sleeve 2 passes through the nut seat; S7, controlling the fourth driving assembly 8 to drive the second finger cylinder 91 to grab the lead screw and plug it into the adjusting sleeve 2, and the docking assembly 9 controls the outer spiral groove 21 of the adjusting sleeve 2 to connect with the spiral groove of the lead screw; S8, loosen the locking assembly 5, rotate the adjusting sleeve 2 and the lead screw synchronously, assemble the nut seat onto the lead screw, then separate the first finger cylinder 51 from the nut seat, separate the adjusting sleeve 2 from the lead screw, and complete the installation of the lead screw and the nut seat.

[0044] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic steel ball filling and assembling device, characterized in that: The invention comprises a workbench (1), wherein a conveyor (11) for conveying a nut seat is arranged on the workbench (1), a plurality of placement racks (12) for placing a lead screw are arranged on one side of the workbench (1), the workbench (1) is provided with an adjustment sleeve (2), the adjustment sleeve (2) has the same outer diameter as the lead screw and is provided with an outer spiral groove (21) the same as the lead screw, and the workbench (1) is provided with a first drive assembly (3) for controlling the rotation and lifting of the adjustment sleeve (2); A second driving assembly (4) is installed on the workbench (1), the second driving assembly (4) is connected to a first lifting plate (41), a locking assembly (5) is arranged on the first lifting plate (41), the locking assembly (5) is connected to a first finger cylinder (51) for grabbing a nut seat, the second driving assembly (4) is used to control the first lifting plate (41) to move along the X-axis and the Z-axis, and when the locking assembly (5) is unlocked, the first finger cylinder (51) can move along the height direction of the first lifting plate (41); The workbench (1) is provided with a third driving assembly (6), the third driving assembly (6) is connected to a bead filling assembly (7), the bead filling assembly (7) is connected to a bead storage box (71), the bead storage box (71) is connected to a bead distribution tube (74), the bead distribution tube (74) is provided with an air pump (75) for ejecting steel beads, the bead filling assembly (7) is used to drive the bead storage box (71) to rotate and move along the Z axis at the same time, and the third driving assembly (6) is used to drive the bead filling assembly (7) to move along the X axis and the Z axis; A fourth drive assembly (8) is installed on the workbench (1), the fourth drive assembly (8) is connected to a docking assembly (9), the docking assembly (9) is connected to a second finger cylinder (91) for grabbing the lead screw, the docking assembly (9) is used to control the connection between the outer spiral groove (21) of the adjusting sleeve (2) and the spiral groove of the lead screw and can control the rotation of the second finger cylinder (91), the fourth drive assembly (8) is used to control the rotation of the docking assembly (9) and can move along the X-axis and the Z-axis.

2. The steel ball filling automatic assembly equipment according to claim 1 is characterized by: The first driving assembly (3) comprises a first motor (31), the first motor (31) is installed in the workbench (1), the first motor (31) is connected to a rotating disk (32), the rotating disk (32) is connected to a first telescopic sleeve (33), and the adjusting sleeve (2) is slidably connected in the first telescopic sleeve (33).

3. The steel ball filling automatic assembly equipment according to claim 1 is characterized by: The locking assembly (5) comprises a first slide seat (52), the first finger cylinder (51) is mounted on the first slide seat (52), the first slide seat (52) is slidably connected to the first lifting plate (41), the first lifting plate (41) is provided with a snap-in groove (411), the first slide seat (52) is provided with an inflation chamber (521), the inflation chamber (521) is connected with a return spring (53), a snap-in block (54) is slidably connected in the inflation chamber (521), the snap-in block (54) is connected with the return spring (53), and a buffer pad (55) is installed at the bottom of the first lifting plate (41).

4. The steel ball filling automatic assembly equipment according to claim 1 is characterized in that: The second driving assembly (4) comprises a first servo driving unit (42), the first servo driving unit (42) is connected to a first lifting frame (43), the first servo driving unit (42) drives the first lifting frame (43) to move along the X-axis direction, the first lifting frame (43) is slidably connected to the first lifting plate (41), and the first lifting frame (43) is provided with a second servo driving unit (44) for controlling the first lifting plate (41) to move along the Z-axis.

5. The steel ball filling automatic assembly equipment according to claim 1 is characterized by: The third drive assembly (6) comprises a third servo drive unit (61), the third servo drive unit (61) is connected to a second lifting frame (62), the second lifting frame (62) is slidably connected to a mounting plate (63), the mounting plate (63) is connected to the bead filling assembly (7), and the second lifting frame (62) is provided with a fourth servo drive unit (64) for controlling the mounting plate (63) to move along the Z-axis direction.

6. The steel ball filling automatic assembly equipment according to claim 1 is characterized by: A bead separation plate (73) is rotatably connected inside the bead storage box (71), and a second motor (72) is provided on the bead storage box (71) for driving the bead separation plate (73) to rotate. The bead separation plate (73) is provided with a plurality of bead separation grooves (731) along its circumference, and each of the bead separation grooves (731) can only accommodate one steel ball, and the inner diameter of the bead separation groove (731) is the same as the inner diameter of the bead separation tube (74).

7. The automatic steel ball filling and assembling equipment according to claim 5 is characterized in that: The bead filling assembly (7) includes a third motor (76), the third motor (76) is fixed on the mounting plate (63), a synchronous sleeve (77) is fixed on the housing of the third motor (76), the synchronous sleeve (77) is provided with an inner spiral groove (771) which is the same as the spiral groove of the nut seat, the third motor (76) is connected to a telescopic rod (78), the telescopic rod (78) is connected to the bead storage box (71), and the bead storage box (71) is connected to the synchronous sleeve (77) by assembling a ball screw.

8. The steel ball filling automatic assembly equipment according to claim 1 is characterized by: The fourth driving assembly (8) comprises a fifth servo driving unit (81), the fifth servo driving unit (81) is connected to a moving disk (82), the fifth servo driving unit (81) drives the moving disk (82) to move along the X-axis direction, the moving disk (82) is mounted with a fourth motor (83), the fourth motor (83) is connected to a rotating disk (84), a third lifting frame (85) is mounted on the rotating disk (84), the third lifting frame (85) is slidably connected to a cantilever arm (86), the third lifting frame (85) is provided with a sixth servo driving unit (87) for controlling the lifting of the cantilever arm (86), and the cantilever arm (86) is connected to the docking assembly (9).

9. The steel ball filling automatic assembly equipment according to claim 8 is characterized in that: The docking assembly (9) comprises a fifth motor (92), the fifth motor (92) is connected to the second finger cylinder (91), a patch (93) is arranged at the bottom of the lead screw, a photoelectric sensor (94) is embedded in the top of the adjustment sleeve (2), and when the photoelectric sensor (94) is aligned with the patch (93), the spiral groove of the lead screw is connected with the outer spiral groove (21) of the adjustment sleeve (2).

10. A method for operating a steel ball filling machine, characterized in that: The steel ball filling automatic assembly equipment according to any one of claims 1 to 9 comprises the following steps: S1, controlling the second driving assembly (4) to drive the first finger cylinder (51) to move to the conveyor (11), and the first finger cylinder (51) grabs the nut seat; S2, controlling the second driving assembly (4) to drive the first finger cylinder (51) to move to the nut seat so as to be inserted into the adjusting sleeve (2) and to be coaxial with the adjusting sleeve (2); S3, controlling the first driving assembly (3) to drive the adjusting sleeve (2) to rotate, so that the outer spiral groove (21) of the adjusting sleeve (2) is aligned with the first bead-loading spiral groove of the nut seat; S4, controlling the third driving assembly (6) to drive the bead filling assembly (7) and the bead storage box (71) to move, so that the bead distribution tube (74) is located in the nut seat and aligned with the spiral notch of the nut seat; S5, controlling the bead storage box (71) to transport steel balls to the bead distribution tube (74), and the air pump (75) drives the steel balls into the spiral channel between the nut seat and the adjusting sleeve (2). During this process, manual observation is performed. If the air pump (75) cannot drive the steel balls out smoothly, the adjusting sleeve (2) is controlled to rotate 1-5 degrees to avoid beads being stuck. After each designed number of steel balls are filled, the bead filling assembly (7) drives the bead storage box (71) and the bead distribution tube (74) to rotate a specified angle, and at the same time, the first driving assembly (3) drives the adjusting sleeve (2) to rotate the same angle, and the adjusting sleeve (2) and the bead distribution tube (74) rise the same distance; S6, repeatedly executing step S5 until a specified number of steel balls are assembled, controlling the third driving assembly (6) to drive the bead filling assembly (7) to separate from the bead storage box (71), and controlling the first driving assembly (3) to drive the adjusting sleeve (2) to continuously rotate until the adjusting sleeve (2) passes through the nut seat; S7, controlling the fourth driving assembly (8) to drive the second finger cylinder (91) to grab the lead screw and plug it into the adjusting sleeve (2), and the docking assembly (9) to control the outer spiral groove (21) of the adjusting sleeve (2) to connect with the spiral groove of the lead screw; S8, loosen the locking assembly (5), rotate the adjusting sleeve (2) and the lead screw synchronously, so that the nut seat is assembled on the lead screw, and then separate the first finger cylinder (51) from the nut seat, and separate the adjusting sleeve (2) from the lead screw, completing the installation of the lead screw and the nut seat.

Images