Semi-automatic edge rolling device for special-shaped part bearing and using method of semi-automatic edge rolling device

Abstract

The invention discloses a semi-automatic edge rolling device for a special-shaped part bearing and a using method, and the semi-automatic edge rolling device for the special-shaped part bearing comprises a rack, a lifting unit, a horizontal sliding unit, a clamping unit, a rolling unit and a control system, the lifting unit, the rolling unit and the control system are mounted on the rack; the horizontal sliding unit is mounted on the lifting unit; and the clamping unit is mounted on the horizontal sliding unit. According to the invention, the calibration of the position of the special-shaped workpiece bearing and the quantitative control of the binding quality can be flexibly and accurately realized; meanwhile, clamping and edge rolling components can be replaced, a switching tool can be used for adapting to more special-shaped workpieces with different shapes, universality is high, safety and reliability are achieved, operation is convenient, the requirement for semi-automatic edge rolling of various special-shaped workpiece bearings can be met, and the cost for developing various devices is saved.

Description

Technical Field

[0001] The invention relates to the field of automatic rolling hemming of bearings, and in particular to a semi-automatic rolling hemming device for special-shaped bearings and a use method thereof. Background Art

[0002] The semi-automatic hemming device for special-shaped bearings is a semi-automatic hemming device that replaces manual hemming and is suitable for the semi-automatic hemming of bearings on special-shaped workpieces. The hemming of bearings on special-shaped workpieces has unavoidable problems such as difficult clamping and fixing, uneven hemming of manual hemming bearings, and insufficient quality stability. It is an inevitable choice to complete the hemming of bearings on special-shaped workpieces with a special automatic hemming device for special-shaped bearings.

[0003] Traditional hemming equipment is mostly used to hem bearings on workpieces with a fixed structure. It has poor versatility and is difficult to adapt to workpieces with different dimensions. In contrast, the semi-automatic hemming device for special-shaped bearings can flexibly and accurately calibrate the position of special-shaped workpiece bearings and quantitatively control the hemming quality. It can also replace clamping and hemming components and use adapters to adapt to more special-shaped workpieces with different shapes. It has strong versatility, safety, reliability, and easy operation. It can meet the semi-automatic hemming of various special-shaped workpiece bearings and save the cost of developing multiple types of equipment. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a semi-automatic hemming device for special-shaped bearings and a method for using the same, wherein the semi-automatic hemming device for special-shaped bearings comprises a frame, a lifting unit, a horizontal sliding unit, a clamping unit, a rolling unit and a control system;

[0005] The lifting unit, the rolling unit and the control system are installed on the frame; the horizontal sliding unit is installed on the lifting unit; the clamping unit is installed on the horizontal sliding unit; and the special-shaped workpiece is installed on the clamping unit.

[0006] The lifting unit includes a lifting electric cylinder, a laser displacement sensor, a lead screw, a guide column and a lifting slide;

[0007] Both ends of the guide column are mounted on the frame;

[0008] The lifting electric cylinder is installed below the bottom of the frame;

[0009] The laser displacement sensor 1 is installed above the bottom of the frame and is used to monitor the moving distance of the lifting slide;

[0010] The lifting slide is slidably installed on four guide pillars, and is connected to the lifting electric cylinder through a screw to provide lifting power and move in the vertical direction; when the lifting electric cylinder is started, the helical teeth on the screw push the screw to move linearly to realize the up and down movement of the lifting slide, and the screw is locked at the target position by self-locking.

[0011] The horizontal sliding unit includes from top to bottom an X-axis slide rail, an X-axis slide table, a second laser displacement sensor, a Y-axis slide rail, a Y-axis slide table, a sliding motor, a sliding transmission mechanism, a steering motor, a steering transmission mechanism and a steering mechanism; the steering mechanism and the steering motor are installed on the Y-axis slide table and rotate along the vertical axis in a controlled manner;

[0012] An angular displacement sensor is arranged in the steering mechanism, connected to the steering motor through the steering transmission mechanism, and micro-angle adjustment is achieved through the steering motor, and the steering transmission mechanism is self-locked at the target angle;

[0013] The X-axis slide is connected to the lifting slide via the X-axis slide rail and moves in the horizontal direction via the X-axis slide rail;

[0014] The Y-axis slide is installed on the X-axis slide, connected to the X-axis slide through the Y-axis slide rail, and moves in the horizontal direction through the Y-axis slide rail; the Y-axis slide is connected to the sliding motor through the sliding transmission mechanism, and moves in the horizontal direction through the sliding motor, and is self-locked at the target position through the sliding transmission mechanism;

[0015] The second laser displacement sensor is installed on the X-axis slide and can monitor the sliding distance of the Y-axis slide on the Y-axis slide rail;

[0016] The steering mechanism achieves micro-angle adjustment through a steering motor, is self-locked at a target angle through a steering transmission mechanism, and is calibrated in real time through a sensor array.

[0017] The clamping unit includes a clamping platform and a clamping pressure head;

[0018] The clamping platform is installed on the steering mechanism, and the special-shaped workpiece clamped thereon is controlled to rotate along the vertical axis through the steering mechanism and the steering motor; an angular displacement sensor is configured in the steering mechanism to monitor the size of the rotation angle;

[0019] The clamping pressure heads are no less than 4 and are evenly distributed on the clamping platform and are used for quick clamping of special-shaped workpieces or transfer tooling adapted for special-shaped workpieces;

[0020] The clamping pressure head can be changed in type as needed to meet the clamping requirements of special-shaped workpieces of different specifications.

[0021] The rolling unit includes a support arm, a sensor array, a support seat, a roller, a telescopic arm, and a feed drive system from left to right;

[0022] The support seat adopts a cross structure and is coaxially installed on the support arm with the sensor array; the head of the support seat adopts a 20° cone angle design to facilitate coaxial insertion into the center hole of the bearing; the bearing is a test piece;

[0023] Two rollers are coaxially and symmetrically mounted on the telescopic arm;

[0024] The sensor array includes a laser displacement sensor I, a laser displacement sensor II, a laser displacement sensor III, and a laser displacement sensor IV; the laser displacement sensor I, the laser displacement sensor II, the laser displacement sensor III, and the laser displacement sensor IV are respectively installed at the "left", "upper", "right", and "lower" positions of the support arm;

[0025] The sensor array monitors the coaxial deviation between the bearing and the central axis of the rolling unit in the vertical direction through laser displacement sensor II and laser displacement sensor IV, and monitors the coaxial deviation and angular deviation between the bearing and the central axis of the rolling unit in the Y-axis direction through laser displacement sensor I and laser displacement sensor III.

[0026] The support seat and the roller can be replaced according to the required models to meet the requirements of rolling hemming of bearings of different specifications on special-shaped workpieces.

[0027] The feed drive system realizes automatic feed rolling of the bearing through the telescopic arm;

[0028] The feed drive system is equipped with a force sensor and a torque sensor, and the rolling force and torque are monitored in real time through the control system, and the machine automatically stops when an abnormality occurs;

[0029] The feed drive system is configured with a manual feed hemming mode, and manual feeding can be performed through a manual feed handle.

[0030] The control system includes a control program, a display screen and operation buttons;

[0031] The control program in the control system is configured with program templates adapted to special-shaped workpieces of different shapes and sizes and bearings thereon, and the shape and position data or empirical data of the special-shaped workpieces and bearings thereon are input to enable the clamping platform to enter the optimal preset position for clamping the workpiece;

[0032] The control system monitors and calibrates the coaxial deviation and angular deviation between the bearing and the central axis of the rolling unit through a sensor array before and during the rolling process, monitors and records the rolling force and torque in real time during the rolling process, and automatically alarms and shuts down when an abnormality occurs.

[0033] The control system provides feedback to adjust the lifting unit and the horizontal sliding unit to calibrate the posture of the workpiece, so that the bearing and the central axis of the rolling unit are automatically coaxial, and the machine automatically stops when an abnormality occurs;

[0034] In the present application, the laser displacement sensor is a sensor device that uses laser technology to measure distance in the prior art. In the present application, it is used to monitor the distance moved by the lifting slide and the Y-axis slide, and to form a sensor array to monitor and feedback control the calibration of the coaxial deviation between the bearing and the central axis of the rolling unit, and to assist the control system in realizing the control of the bearing position;

[0035] The angular displacement sensor is a sensor device for angle measurement in the prior art, and is used in the present application to monitor the rotation angle state of the clamping platform;

[0036] The force sensor and torque sensor are respectively a force and torque measurement sensing device in the prior art, which can transmit the rolling force and damping torque data of the bearing rolling process to the control system to monitor the rolling quality in real time.

[0037] The method for using the semi-automatic hemming device for special-shaped bearings comprises the following steps:

[0038] Step S1, enter the control system program, input the size and position data or empirical data of the bearing on the special-shaped workpiece that needs to be rolled, start the program to drive the lifting unit and the horizontal sliding unit, and let the clamping platform enter the suitable position for workpiece clamping;

[0039] Step S2, adjusting the position of the X-axis slide table so that the clamping platform is centered below the support seat and the roller;

[0040] Step S3, loosen the clamping press head, mount the special-shaped workpiece on the clamping platform, and clamp and tighten it by the clamping press head;

[0041] Step S4, starting the program to monitor the angle deviation between the bearing on the special-shaped workpiece and the central axis of the rolling unit through the sensor array and feedback control to calibrate the angle of the workpiece so that the bearing is in the same direction as the central axis of the rolling unit;

[0042] Step S5, using a special tool to make the end face of the inner ring of the bearing perpendicular to the central axis of the rolling unit;

[0043] Step S6, starting the program to monitor the coaxial deviation between the bearing and the central axis of the rolling unit through the sensor array and feedback control the posture of the calibration workpiece to make the bearing coaxial with the central axis of the rolling unit;

[0044] Step S7, pushing the special-shaped workpiece to make the bearing fit with the end surface of the support seat, and at the same time, the head of the support seat is inserted into the bearing;

[0045] Step S8, setting the feeding parameters and the hemming speed, and starting the program to start the automatic feeding and hemming;

[0046] Step S9, after the hemming is completed, the bearing is pushed out from the support seat after the telescopic arm is retracted;

[0047] Step S10, starting the horizontal sliding unit through the control program to rotate the special-shaped workpiece and the upper bearing by 180 degrees, and continuing to complete the rolling of the second surface of the bearing according to the steps S5 to S9;

[0048] Step S11, after both sides of the bearing have completed the rolling, the program is exited, and after checking that everything is correct, the special-shaped workpiece is removed.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] (1) The present invention can flexibly and accurately realize the calibration of the bearing position of special-shaped workpieces and the quantitative control of the rolling quality;

[0051] (2) The present invention can replace clamping and hemming components and use adapter tooling to adapt to more special-shaped workpieces with different shapes. It has strong versatility, is safe and reliable, and is easy to operate. It can meet the semi-automatic hemming of bearings of various types of special-shaped workpieces and save the cost of developing various types of equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 A schematic diagram of the overall structure of a semi-automatic hemming device for a special-shaped bearing provided by an embodiment of the present invention;

[0054] Figure 2 A schematic diagram of the structure of a horizontal sliding unit and a clamping unit provided in an embodiment of the present invention;

[0055] Figure 3 A schematic diagram of the sensor array installation structure provided by an embodiment of the present invention;

[0056] In the figure: 1 is a frame; 2 is a lifting unit; 3 is a lifting electric cylinder; 4 is a laser displacement sensor; 5 is a lead screw; 6 is a guide column; 7 is a lifting slide; 8 is a horizontal sliding unit; 9 is an X-axis slide rail; 10 is an X-axis slide; 11 is a Y-axis slide rail; 12 is a Y-axis slide; 13 is a sliding motor; 14 is a sliding transmission mechanism; 15 is a steering motor; 16 is a steering transmission mechanism; 17 is a steering mechanism; 18 is a clamping unit; 19 is a clamping platform; 20 is a clamping pressure head; 21 is a special-shaped workpiece ; 22 is a rolling unit; 23 is a support arm; 24 is a sensor array; 25 is a support seat; 26 is a bearing; 27 is a roller; 28 is a telescopic arm; 29 is a feed drive system; 30 is a manual feed handle; 31 is a control system; 32 is a display screen; 33 is an operation button; 34 is a laser displacement sensor II; 24-1 is a laser displacement sensor I; 24-2 is a laser displacement sensor II; 24-3 is a laser displacement sensor III; 24-4 is a laser displacement sensor IV.

[0057] Specific implementation methods

[0058] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0059] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0060] A semi-automatic hemming device for a special-shaped bearing and a method of use, wherein the semi-automatic hemming device for a special-shaped bearing comprises a frame 1, a lifting unit 2, a horizontal sliding unit 8, a clamping unit 18, a rolling unit 22 and a control system 31;

[0061] The lifting unit 2, the rolling unit 22 and the control system 31 are installed on the frame 1; the horizontal sliding unit 8 is installed on the lifting unit 2; the clamping unit 18 is installed on the horizontal sliding unit 8; and the special-shaped workpiece is installed on the clamping unit 18.

[0062] The lifting unit 2 includes a lifting electric cylinder 3, a laser displacement sensor 4, a lead screw 5, a guide column 6 and a lifting slide 7;

[0063] Both ends of the guide column 6 are mounted on the frame 1;

[0064] The lifting electric cylinder 3 is installed below the bottom of the frame 1;

[0065] The laser displacement sensor 4 is installed above the bottom of the frame 1 to monitor the moving distance of the lifting slide 7;

[0066] The lifting slide 7 is slidably installed on four guide pillars 6, and is connected to the lifting electric cylinder 3 through a screw 5 to provide lifting power and move in the vertical direction; when the lifting electric cylinder 3 is started, the helical teeth on the screw 5 push the screw 5 to move linearly to realize the up and down movement of the lifting slide 7, and is locked by the screw 5 at the target position.

[0067] The horizontal sliding unit 8 includes, from top to bottom, an X-axis slide rail 9, an X-axis slide table 10, a laser displacement sensor 34, a Y-axis slide rail 11, a Y-axis slide table 12, a sliding motor 13, a sliding transmission mechanism 14, a steering motor 15, a steering transmission mechanism 16 and a steering mechanism 17; the steering mechanism 17 and the steering motor 15 are installed on the Y-axis slide table 12 and rotate along the vertical axis in a controlled manner;

[0068] The steering mechanism 17 is provided with an angular displacement sensor, which is connected to the steering motor 15 through the steering transmission mechanism 16, and achieves micro-angle adjustment through the steering motor 15, and is self-locked at the target angle through the steering transmission mechanism 16;

[0069] The X-axis slide 10 is connected to the lifting slide 7 through the X-axis slide rail 9, and moves in the horizontal direction through the X-axis slide rail 9;

[0070] The Y-axis slide 12 is installed on the X-axis slide 10, connected to the X-axis slide 10 through the Y-axis slide rail 11, and moves in the horizontal direction through the Y-axis slide rail 11; the Y-axis slide 12 is connected to the sliding motor 13 through the sliding transmission mechanism 14, and moves in the horizontal direction through the sliding motor 13, and is self-locked at the target position through the sliding transmission mechanism 14;

[0071] The laser displacement sensor 2 34 is installed on the X-axis slide 10 and can monitor the sliding distance of the Y-axis slide 12 on the Y-axis slide rail 11;

[0072] The steering mechanism 17 achieves micro-angle adjustment through the steering motor 15 , is self-locked at the target angle through the steering transmission mechanism 16 , and is calibrated in real time through the sensor array 24 .

[0073] The clamping unit 18 includes a clamping platform 19 and a clamping pressure head 20;

[0074] The clamping platform 19 is installed on the steering mechanism 17, and the special-shaped workpiece 21 clamped thereon is controlled to rotate along the vertical axis through the steering mechanism 17 and the steering motor 15; an angular displacement sensor is configured in the steering mechanism 17 to monitor the size of the rotation angle;

[0075] The number of the clamping rams 20 is no less than 4 and is evenly mounted on the clamping platform 19 for fast clamping of the special-shaped workpiece 21 or the transfer tooling adapted to the special-shaped workpiece 21;

[0076] The clamping ram 20 can be changed in type and format as needed to meet the clamping requirements of special-shaped workpieces 21 of different specifications.

[0077] The rolling unit 22 includes, from left to right, a support arm 23, a sensor array 24, a support seat 25, a roller 27, a telescopic arm 28, and a feed drive system 29;

[0078] The support seat 25 adopts a cross structure and is coaxially installed on the support arm 23 with the sensor array 24; the head of the support seat 25 adopts a 20° cone angle design to facilitate coaxial insertion into the center hole of the bearing 26; the bearing 26 is a test piece;

[0079] Two rollers 27 are coaxially and symmetrically mounted on the telescopic arm 28;

[0080] The sensor array 24 includes a laser displacement sensor I24-1, a laser displacement sensor II24-2, a laser displacement sensor III24-3, and a laser displacement sensor IV24-4; the laser displacement sensor I24-1, the laser displacement sensor II24-2, the laser displacement sensor III24-3, and the laser displacement sensor IV24-4 are respectively installed at the "left", "upper", "right", and "lower" positions of the support arm 23;

[0081] The sensor array 24 monitors the coaxial deviation between the bearing 26 and the central axis of the rolling unit 22 in the vertical direction through the laser displacement sensor II24-2 and the laser displacement sensor IV24-4, and monitors the coaxial deviation and angular deviation between the bearing 26 and the central axis of the rolling unit 22 in the Y-axis direction through the laser displacement sensor I24-1 and the laser displacement sensor III24-3.

[0082] The support seat 25 and the roller 27 can be replaced according to the required models to meet the requirements of rolling the bearings 26 of different specifications on the special-shaped workpiece 21.

[0083] The feed drive system 29 realizes automatic feed hemming of the bearing 26 through the telescopic arm 28;

[0084] The feed drive system 29 is equipped with a force sensor and a torque sensor, and the rolling force and torque are monitored in real time through the control system 31, and the machine automatically stops when an abnormality occurs;

[0085] The feed drive system 29 is configured with a manual feed hemming mode, and manual feeding can be performed through a manual feed handle 30 .

[0086] The control system 31 includes a control program, a display screen 32 and an operation button 33;

[0087] The control program in the control system 31 is configured with a program template that adapts to the special-shaped workpiece 21 and the bearing 26 thereon of different shapes and sizes. By inputting the shape and position data or empirical data of the special-shaped workpiece 21 and the bearing 26 thereon, the clamping platform 19 can enter the optimal preset position for clamping the workpiece.

[0088] The control system 31 monitors and calibrates the coaxial deviation and angular deviation between the bearing 26 and the central axis of the rolling unit 22 through the sensor array 24 before and during the rolling process, monitors and records the rolling force and torque in real time during the rolling process, and automatically alarms and shuts down when an abnormality occurs.

[0089] The control system 31 provides feedback to adjust the lifting unit 2 and the horizontal sliding unit 8 to calibrate the posture of the workpiece, so that the bearing 26 and the central axis of the rolling unit 22 are automatically coaxial, and the machine automatically stops when an abnormality occurs.

[0090] The method for using the semi-automatic hemming device for special-shaped bearings comprises the following steps:

[0091] Step S1, enter the control system 31 program, input the size position data or experience data of the bearing 26 on the special-shaped workpiece 21 that needs to be rolled, start the program to drive the lifting unit 2 and the horizontal sliding unit 8, and let the clamping platform 19 enter the suitable position for workpiece clamping;

[0092] Step S2, adjusting the position of the X-axis slide 10 so that the clamping platform 19 is centered below the support seat 25 and the roller 27;

[0093] Step S3, loosen the clamping ram 20, install the special-shaped workpiece 21 on the clamping platform 19, and clamp and tighten it by the clamping ram 20;

[0094] Step S4, the startup program monitors the angle deviation between the bearing 26 on the special-shaped workpiece 21 and the central axis of the rolling unit 22 through the sensor array 24 and performs feedback control to calibrate the angle of the workpiece so that the bearing 26 is in the same direction as the central axis of the rolling unit 22;

[0095] Step S5, using a special tool to make the inner ring end surface of the bearing 26 perpendicular to the central axis of the rolling unit 22;

[0096] Step S6, starting the program to monitor the coaxial deviation between the bearing 26 and the central axis of the rolling unit 22 through the sensor array 24 and feedback control the posture of the calibration workpiece to make the bearing 26 coaxial with the central axis of the rolling unit 22;

[0097] Step S7, pushing the special-shaped workpiece 21 to make the bearing 26 fit the end surface of the support seat 25, and at the same time, the head of the support seat 25 is inserted into the bearing 26;

[0098] Step S8, setting the feeding parameters and the hemming speed, and starting the program to start the automatic feeding and hemming;

[0099] Step S9, after the hemming is completed, the bearing 26 is pushed out from the support seat 25 after the telescopic arm 28 is retracted;

[0100] Step S10, starting the horizontal sliding unit 8 through the control program to rotate the special-shaped workpiece 21 and the upper bearing 26 by 180 degrees, and continuing to complete the rolling of the second surface of the bearing 26 according to the steps S5 to S9;

[0101] Step S11, after both sides of the bearing 26 have completed the rolling, the program is exited, and after inspection, the special-shaped workpiece 21 is removed.

[0102] The embodiments of the present invention described above are only used to help explain the present invention. These embodiments are selected and specifically described in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification, which all belong to the protection scope of the present invention.

Claims

1. A semi-automatic hemming device for special-shaped bearings, characterized in that: It comprises a frame (1), a lifting unit (2), a horizontal sliding unit (8), a clamping unit (18), a rolling unit (22) and a control system (31); The lifting unit (2), the rolling unit (22) and the control system (31) are installed on the frame (1); the horizontal sliding unit (8) is installed on the lifting unit (2); and the clamping unit (18) is installed on the horizontal sliding unit (8).

2. A semi-automatic hemming device for special-shaped bearings as claimed in claim 1, characterized in that: The lifting unit (2) comprises a lifting electric cylinder (3), a laser displacement sensor (4), a lead screw (5), a guide column (6) and a lifting slide (7); Both ends of the guide column (6) are mounted on the frame (1); The lifting electric cylinder (3) is installed below the bottom of the frame (1); The laser displacement sensor 1 (4) is installed above the bottom of the frame (1) and is used to monitor the moving distance of the lifting slide (7); The lifting slide (7) is slidably mounted on the guide column (6), connected to the lifting electric cylinder (3) through the screw (5) to provide lifting power and move in the vertical direction, and is self-locked by the screw (5) at the target position.

3. A semi-automatic hemming device for special-shaped bearings as claimed in claim 1, characterized in that: The horizontal sliding unit (8) comprises, from top to bottom, an X-axis slide rail (9), an X-axis slide table (10), a second laser displacement sensor (34), a Y-axis slide rail (11), a Y-axis slide table (12), a sliding motor (13), a sliding transmission mechanism (14), a steering motor (15), a steering transmission mechanism (16) and a steering mechanism (17); The steering mechanism (17) and the steering motor (15) are mounted on the Y-axis slide (12) and are controlled to rotate along the vertical axis; The steering mechanism (17) is provided with an angular displacement sensor, which is connected to the steering motor (15) through the steering transmission mechanism (16), and achieves micro-angle adjustment through the steering motor (15), and is self-locked at a target angle through the steering transmission mechanism (16); The X-axis slide table (10) is connected to the lifting slide table (7) via the X-axis slide rail (9), and moves in the horizontal direction via the X-axis slide rail (9); The Y-axis slide (12) is installed on the X-axis slide (10), connected to the X-axis slide (10) via the Y-axis slide rail (11), and moves in the horizontal direction via the Y-axis slide rail (11); the Y-axis slide (12) is connected to the sliding motor (13) via the sliding transmission mechanism (14), and moves in the horizontal direction via the sliding motor (13), and is self-locked at the target position via the sliding transmission mechanism (14); The second laser displacement sensor (34) is installed on the X-axis slide table (10) and can monitor the sliding distance of the Y-axis slide table (12) on the Y-axis slide rail (11).

4. A semi-automatic hemming device for special-shaped bearings as claimed in claim 1, characterized in that: The clamping unit (18) comprises a clamping platform (19) and a clamping pressure head (20); The clamping platform (19) is installed on the steering mechanism (17); The clamping press heads (20) are evenly mounted on the clamping platform (19) and are used for fast clamping of a special-shaped workpiece (21) or a transfer tool adapted to the special-shaped workpiece (21).

5. A semi-automatic hemming device for special-shaped bearings as claimed in claim 4, characterized in that: The clamping press head (20) can be changed in type and format as required to meet the clamping requirements of special-shaped workpieces (21) of different specifications.

6. A semi-automatic hemming device for special-shaped bearings as claimed in claim 1, characterized in that: The rolling unit (22) comprises, from left to right, a support arm (23), a sensor array (24), a support seat (25), a roller (27), a telescopic arm (28), and a feed drive system (29); The support arm (23), the telescopic arm (28) and the feed drive system (29) are coaxially mounted above the frame (1); The support base (25) adopts a cross structure and is coaxially installed on the support arm (23) in an alternating manner with the sensor array (24); The bearing (26) is a test piece; Two rollers (27) are coaxially and symmetrically mounted on the telescopic arm (28); The sensor array (24) comprises a laser displacement sensor I (24-1), a laser displacement sensor II (24-2), a laser displacement sensor III (24-3), and a laser displacement sensor IV (24-4); the laser displacement sensor I (24-1), the laser displacement sensor II (24-2), the laser displacement sensor III (24-3), and the laser displacement sensor IV (24-4) are respectively installed at the "left", "upper", "right", and "lower" positions of the support arm (23).

7. A semi-automatic hemming device for special-shaped bearings as claimed in claim 6, characterized in that: The support seat (25) and the roller (27) can be replaced according to the required models to meet the requirements of rolling the bearings (26) of different specifications on the special-shaped workpiece (21).

8. A semi-automatic hemming device for special-shaped bearings as claimed in claim 6, characterized in that: The feed drive system (29) realizes automatic feed rolling of the bearing (26) through the telescopic arm (28); The feed drive system (29) is equipped with a force sensor and a torque sensor to monitor the rolling force and torque in real time and automatically shut down when an abnormality occurs; The feeding drive system (29) is configured with a manual feeding hemming mode, and manual feeding is performed through a manual feeding handle (30).

9. A semi-automatic hemming device for special-shaped bearings as claimed in claim 1, characterized in that: The control system (31) includes a control program, a display screen (32) and an operation button (33); The control program in the control system (31) is configured with a program template that is adapted to the special-shaped workpiece (21) and the bearing (26) thereon of different shapes, positions and sizes, and the shape and position data or empirical data of the special-shaped workpiece (21) and the bearing (26) thereon are input to enable the clamping platform (19) to enter the optimal preset position for clamping the workpiece; The control system (31) monitors and calibrates the coaxial deviation and angular deviation between the bearing (26) and the central axis of the rolling unit (22) through the sensor array (24) before and during the rolling process, monitors and records the rolling force and torque in real time during the rolling process, and automatically alarms and shuts down when an abnormality occurs.

10. The method for using the semi-automatic hemming device for special-shaped bearings according to claim 1, characterized in that: The following steps are involved: Step S1, entering the control system (31) program, inputting the size position data or empirical data of the bearing (26) on the special-shaped workpiece (21) to be rolled, starting the program to drive the lifting unit (2) and the horizontal sliding unit (8), and allowing the clamping platform (19) to enter a suitable position for clamping the workpiece; Step S2, adjusting the position of the X-axis slide (10) so that the clamping platform (19) is centered below the support seat (25) and the roller (27); Step S3, loosening the clamping ram (20), mounting the special-shaped workpiece (21) on the clamping platform (19), and clamping and fastening the workpiece by means of the clamping ram (20); Step S4, starting a program to monitor the angle deviation between the bearing (26) on the special-shaped workpiece (21) and the center axis of the rolling unit (22) through the sensor array (24) and to feedback control the angle of the calibration workpiece so that the bearing (26) and the center axis of the rolling unit (22) are aligned in direction; Step S5, using a special tool to align the inner ring end surface of the bearing (26) with the central axis of the rolling unit (22) perpendicularly; Step S6, starting a program to monitor the coaxial deviation between the bearing (26) and the central axis of the rolling unit (22) through the sensor array (24) and feedback control the posture of the calibration workpiece to make the bearing (26) coaxial with the central axis of the rolling unit (22); Step S7, pushing the special-shaped workpiece (21) so that the bearing (26) fits the end surface of the support seat (25), and at the same time, the head of the support seat (25) is inserted into the bearing (26); Step S8, setting the feeding parameters and the hemming speed, and starting the program to start the automatic feeding and hemming; Step S9, after the hemming is completed, the bearing (26) is pushed out from the support seat (25) after the telescopic arm (28) is retracted; Step S10, starting the horizontal sliding unit (8) through a control program to rotate the special-shaped workpiece (21) and the bearing (26) thereon by 180 degrees, and continuing to complete the rolling of the second surface of the bearing (26) according to the steps S5 to S9; Step S11, after both sides of the bearing (26) have completed the rolling, the program is exited, and after inspection, the special-shaped workpiece (21) is removed.

Images