Automatic positioning and guiding unit, automatic press-fitting device and automatic assembling system and method

Abstract

The invention discloses an automatic positioning and guiding unit, an automatic press-fitting device and an automatic assembling system and method.The automatic positioning and guiding unit comprises a first pushing assembly, a second pushing assembly and a positioning assembly, and the first pushing assembly comprises a first air cylinder and a first adjusting part; the first adjusting part is arranged at the end of the first air cylinder and moves to make contact with the top of the eccentric shaft under the thrust action of the first air cylinder, the second pushing assembly is arranged under the first pushing assembly, the second pushing assembly and the first pushing assembly are arranged in parallel in a spaced mode in the first direction, and the second pushing assembly comprises a second air cylinder and a first fixing part. The first fixing part is arranged at the end of the second air cylinder and moves to make contact with the bottom of the eccentric shaft under the thrust action of the second air cylinder, the positioning assembly is arranged close to the first fixing part and provided with a rolling adjusting part, and the rolling adjusting part enables the eccentric shaft to automatically rotate to the center of the first adjusting part. The rolling adjusting part, the first adjusting part and the first fixing part jointly achieve automatic positioning and guiding of the eccentric shaft. The problems that in the prior art, positioning of the eccentric shaft is not accurate, press-fitting force is not stable when the eccentric shaft and the connecting rod assembly are subjected to press-fitting, and consequently the connecting rod assembly is damaged are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of eccentric shafts, and particularly relates to an automatic positioning and guiding unit, an automatic press-fitting device, an automatic assembly system and a method thereof. Background Art

[0002] An eccentric shaft is a workpiece composed of two cylindrical members with parallel but non-coincident axes. The eccentric shaft is fixed on the rotating shaft of a power source in cooperation with a connecting rod unit. When the power source is started, the eccentric shaft unit performs a cam motion, and in mechanical transmission, the rotary motion is changed into a reciprocating linear motion. Eccentric shafts are widely used in assemblies with transmission mechanisms such as automobiles, engines, and vacuum pumps.

[0003] At present, the main assembly method of the eccentric shaft and the connecting rod unit is as follows: The eccentric shaft is manually grasped and positioned according to the threaded holes, and the connecting rod unit is press-fitted with the eccentric shaft through a common air cylinder. Due to certain dimensional tolerance offsets during the machining of the threaded holes, the eccentric shaft is prone to being placed incorrectly, resulting in the upper and lower misalignment of the connecting rod unit and the eccentric shaft when the air cylinder presses down, causing damage to the bearing press-fitting. The pneumatic air cylinder operates without pressure control, and the downward pressure is uncontrollable, and abnormal phenomena such as an instantaneous increase in pressure may occur. Summary of the Invention

[0004] In view of the above deficiencies of the prior art, the present invention provides an automatic positioning and guiding unit, an automatic press-fitting device, an automatic assembly system and a method thereof.

[0005] The object of the present invention is achieved by the following technical solutions:

[0006] In a first aspect, an automatic positioning and guiding unit is provided, including:

[0007] A first pushing component for straightening the eccentric shaft, the first pushing component includes a first air cylinder and a first adjusting part, the first adjusting part is arranged at the end of the first air cylinder and can move to contact the top of the eccentric shaft under the thrust of the first air cylinder, and is used to push the eccentric shaft to move to a specified position;

[0008] A second pushing component, arranged directly below the first pushing component and arranged in parallel and spaced apart from the first pushing component in a first direction, the second pushing component includes a second air cylinder and a first fixing part, the first fixing part is arranged at the end of the second air cylinder and can move to contact the bottom of the eccentric shaft under the thrust of the second air cylinder, and is used to fix the position of the eccentric shaft;

[0009] A positioning assembly for arranging the eccentric shaft and rotationally guiding the position of the eccentric shaft is disposed adjacent to the first fixing portion. The bottom of the positioning assembly has a rolling adjustment portion, and the rolling adjustment portion enables the eccentric shaft to automatically rotate until the end of the eccentric shaft is located at the center of the first adjustment portion. The rolling adjustment portion, together with the first adjustment portion and the first fixing portion, realizes the automatic positioning and guiding of the eccentric shaft.

[0010] Wherein, the first direction is the length direction of the eccentric shaft.

[0011] In some embodiments, when the eccentric shaft is arranged in the positioning assembly, the first cylinder pushes the first adjustment portion to move into contact with the top of the eccentric shaft. Under the combined action of the first adjustment portion and the rolling adjustment portion, the eccentric shaft automatically rotates and adjusts to the center of the first adjustment portion. Then, the second cylinder pushes the first fixing portion to move into contact with the bottom of the eccentric shaft. At this time, the eccentric shaft is in a fixed state, and the first cylinder drives the first adjustment portion to return to its original position.

[0012] In some embodiments, the end of the first adjustment portion has a V-shaped opening.

[0013] In some embodiments, the rolling adjustment portion uses a rolling bearing.

[0014] In a second aspect, an automatic press-fitting device is provided. In addition to including the above-mentioned automatic positioning and guiding unit, it further includes:

[0015] A connecting rod assembly assembled with the eccentric shaft is disposed directly above the eccentric shaft, and the center line of the connecting rod assembly coincides with the axis of the eccentric shaft.

[0016] A limit seat for straightening the connecting rod assembly and preventing the connecting rod assembly from being unstable during press-fitting is disposed on the top of the positioning assembly.

[0017] A servo electric cylinder for press-fitting the connecting rod assembly onto the eccentric shaft is disposed directly above the connecting rod assembly; and

[0018] A mechanical gripper is disposed adjacent to the positioning assembly and is used to grasp the eccentric shaft, the connecting rod assembly, and the component after press-fitting.

[0019] In some embodiments, the end of the servo electric cylinder has a pressing head for pressing the connecting rod assembly into the top of the eccentric. A pressure sensor and a displacement sensor are provided on the pressing head. The pressure sensor can ensure that the pressing head presses down evenly and the downward pressure does not exceed the limit, and will not cause damage to the connecting rod assembly; the displacement sensor can make up for the disadvantage of inaccurate detection of the pressure sensor.

[0020] In some embodiments, the mechanical gripper is provided with a vision sensor to prevent missing installation of components.

[0021] In a third aspect, an automatic assembly system is provided, including at least two of the above-mentioned automatic press-fitting devices which are evenly distributed, and further including:

[0022] A workbench for arranging the automatic press-fitting devices, and all the automatic press-fitting devices are evenly distributed on the workbench;

[0023] A motor for driving the workbench to rotate, which is arranged at the bottom of the workbench; and

[0024] A PLC program controller, which is arranged on the motor and is electrically connected to the cylinders, servo electric cylinders and mechanical grippers of each automatic press-fitting device, and is used to control the operation of the automatic press-fitting devices.

[0025] In a fourth aspect, an automatic assembly method is provided, which is applicable to the above-mentioned automatic assembly system, and is characterized by including the following steps:

[0026] Step S1: Control the workbench to rotate to a specified position through the PLC program controller. After that, the mechanical gripper of each automatic press-fitting device grabs the eccentric shaft and places the eccentric shaft into the corresponding positioning component. At this time, the tops of all the eccentric shafts are arranged towards the center of the corresponding first adjustment part;

[0027] Step S2: Push the first adjustment part to move until it contacts the top of the eccentric shaft through the first cylinder of each automatic press-fitting device. At this time, all the eccentric shafts are automatically rotated and adjusted to the center of the first adjustment part under the combined action of the corresponding first adjustment part and the rolling adjustment part;

[0028] Step S3: Push the first fixing part to move until it contacts the bottom of the eccentric shaft through the second cylinder of each automatic press-fitting device. At this time, all the eccentric shafts are in a fixed state. After that, all the corresponding first cylinders drive the first adjustment part to return to its original position;

[0029] Step S4: Control the workbench to rotate to another specified position through the PLC program controller. At this time, the mechanical gripper of each automatic press-fitting device grabs the connecting rod assembly and arranges the connecting rod assembly on the top of the eccentric shaft through the limit seat. At this time, the axes of all the eccentric shafts coincide with the center lines of the corresponding connecting rod assemblies;

[0030] Step S5, using the servo electric cylinder of each of the automatic press-fitting devices to push the pressing head to move in a direction opposite to the first direction, so that all of the connecting rod assemblies are pressed into the top of the corresponding eccentric shaft;

[0031] Step S6, controlling the workbench to rotate to the next designated position through the PLC program controller, at which time the mechanical gripper grabs the assembled components and places the components into a designated container.

[0032] The beneficial effects of the present invention are as follows: the present invention realizes automatic positioning and guiding of the eccentric shaft through the end straightening design of the first pushing component, the rotational guiding design of the positioning component and the positioning design of the second pushing component, and is combined with various designs such as PLC program controller, mechanical gripper and servo electric cylinder speed and pressure control. It not only effectively solves the problems of inaccurate positioning of the eccentric shaft, damage to the connecting rod assembly during pressing and unstable pressing force, but also improves production efficiency and realizes automated assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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 will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1 is a structural schematic diagram of an automatic positioning guide unit provided in one embodiment of the present invention;

[0035] Figure 2 is a structural schematic diagram of a first adjustment unit provided in one embodiment of the present invention;

[0036] Figure 3 is a structural schematic diagram of a first fixing portion provided in one embodiment of the present invention;

[0037] Figure 4 is a schematic structural diagram of a positioning assembly provided in one embodiment of the present invention;

[0038] Figure 5 is a top view of a positioning assembly provided in one embodiment of the present invention;

[0039] Figure 6 is a schematic structural diagram of an automatic press-fitting device provided in one embodiment of the present invention;

[0040] Figure 7 is a top view of an automatic press-fitting device provided in one embodiment of the present invention;

[0041] Figure 8This is a schematic structural diagram of the automatic assembly system provided in an embodiment of the present invention. Detailed implementation manners

[0042] To better understand the technical solutions of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0043] The present invention provides an automatic positioning and guiding unit, which solves the problems of inaccurate positioning of the eccentric shaft and low assembly efficiency. The present invention also provides an automatic press-fitting device implemented by applying the automatic positioning and guiding unit, as well as an automatic assembly system and method implemented by applying the automatic press-fitting device.

[0044] As Figure 1 shown, in an embodiment, the automatic positioning and guiding unit 10 includes a first pushing component 101, a second pushing component 102, and a positioning component 103; wherein, the length direction of the eccentric shaft 40 is the first direction Z, and the direction perpendicular to the first direction Z is the second direction X. The first pushing component 101 is used to straighten the eccentric shaft 40, and includes a first cylinder 1011 and a first adjusting part 1012. The first adjusting part 1012 is arranged at the end of the first cylinder 1011 and can move to contact the top of the eccentric shaft 40 under the thrust of the first cylinder 1011, and is used to push the eccentric shaft 40 to a specified position; the second pushing component 102 is arranged directly below the first pushing component 101 and is arranged in parallel at an interval in the first direction Z with the first pushing component 101, and includes a second cylinder 1021 and a first fixing part 1022. The first fixing part 1022 is arranged at the end of the second cylinder 1021 and can move to contact the bottom of the eccentric shaft 40 under the thrust of the second cylinder 1021, and is used to fix the position of the eccentric shaft 40; the positioning component 103 is used to arrange the eccentric shaft 40 and rotate and correct the position of the eccentric shaft 40, and is arranged adjacent to the first fixing part 1022. The bottom of the positioning component 103 has a rolling adjusting part 1031. The rolling adjusting part 1031 enables the eccentric shaft 40 to automatically rotate until the end of the eccentric shaft 40 is located at the center of the first adjusting part 1012. The rolling adjusting part 1031, the first adjusting part 1012, and the first fixing part 1022 together realize the automatic positioning and guiding of the eccentric shaft 40; in an embodiment, as Figure 1-5 shown, the first pushing component 101 includes a first cylinder 1011 and a first adjusting part 1012. The first adjusting part 1012 is arranged at the right end of the first cylinder 1011. The first adjusting part 1012 reciprocates along the second direction X under the thrust of the first cylinder 1011 and can move to contact the top of the eccentric shaft 40, and is used to push the eccentric shaft 40 to directly below the pressing head 2011 of the servo motor 302; in an embodiment, as Figure 2As shown, the end of the first adjustment part 1012 has a V-shaped opening, which is the most favorable shape for guiding the eccentric shaft 40. The second pushing assembly 102 is arranged directly below the first pushing assembly 101 and is arranged parallel and spaced apart from the first pushing assembly 101 in the first direction Z. It includes a second cylinder 1021 and a first fixing part 1022. The first fixing part 1022 is connected to the end of the second cylinder 1021. The first fixing part 1022 can move along the second direction X as if it were movable under the thrust of the second cylinder 1021 and can move to contact the bottom of the eccentric shaft 40 for fixing the position of the eccentric shaft 40. The positioning assembly 103 is used to arrange the eccentric shaft 40 and rotate and guide the position of the eccentric shaft 40. It is arranged adjacent to the first fixing part 1022 and directly below the first fixing part 1022. The bottom of the positioning assembly 103 has a rolling adjustment part 1031. The rolling adjustment part 1031 enables the eccentric shaft 40 to automatically rotate until the end of the eccentric shaft 40 is located at the center of the first adjustment part 1012. The rolling adjustment part 1031, together with the first adjustment part 1012 and the first fixing part 1022, realizes the automatic positioning and guiding of the eccentric shaft 40; in an embodiment, as Figure 4-5 shown, the rolling adjustment part 1031 adopts a rolling bearing.

[0045] When the eccentric shaft 40 is arranged in the positioning assembly 103, the first cylinder 1011 pushes the first adjustment part 1012 to move into contact with the top of the eccentric shaft 40. The eccentric shaft 40 automatically rotates and adjusts to the center of the first adjustment part 1012 under the combined action of the first adjustment part 1012 and the rolling adjustment part 1031. Then, the second cylinder 1021 pushes the first fixing part 1022 to move into contact with the bottom of the eccentric shaft 40. At this time, the eccentric shaft 40 is in a fixed state, and the first cylinder 1011 drives the first adjustment part 1012 to return to its original position.

[0046] As Figure 6-7 shown, in an embodiment, an automatic press-fitting device 20 is provided. In addition to including the above-mentioned automatic positioning and guiding unit 10, it further includes a connecting rod assembly 50, a limit seat 1032, a servo electric cylinder 201, and a mechanical gripper 202.

[0047] The connecting rod assembly 50 is assembled with the eccentric shaft 40 and is arranged directly above the eccentric shaft 40. The center line of the connecting rod assembly 50 coincides with the axis of the eccentric shaft 40; the limit seat 1032 is used to straighten the connecting rod assembly 50 and prevent the connecting rod assembly 50 from being unstable during press-fitting. It is arranged on the top of the positioning assembly 103; in an embodiment, as Figure 7 shown, the limit seat 1032 is arranged on the top of the positioning assembly 103. The connecting rod assembly 50 is arranged on the limit seat 1032 and makes the center line of the connecting rod assembly 50 coincide with the axis of the eccentric shaft 40 for subsequent press-fitting.

[0048] The servo electric cylinder 201 is used to press-fit the connecting rod assembly 50 and the eccentric shaft 40, and is arranged directly above the connecting rod assembly 50; in one embodiment, as Figure 6 shown, the servo motor 302 is arranged directly above the connecting rod assembly 50. The end of the servo electric cylinder 201 has a pressing head 2011, and the pressing head 2011 reciprocates along the first direction Z under the thrust of the servo electric cylinder 201 to press the connecting rod assembly 50 into the top of the eccentric shaft 40; in one embodiment, a pressure sensor 2011a and a displacement sensor are arranged on the pressing head 2011. The pressure sensor 2011a can ensure that the pressing head 2011 presses down evenly and the downward pressure does not exceed the limit, so that the connecting rod assembly 50 will not be damaged; the displacement sensor can make up for the disadvantage of inaccurate detection of the pressure sensor. In one embodiment, the downward pressure of the servo electric cylinder 201 controlling the pressing head 2011 is set to 12 - 13.5 kN, and the downward pressing speed is set to 10 - 15 mm / s. When the pressure sensor 2011a monitors that the downward pressure of the pressing head 2011 reaches the set value, the servo electric cylinder 201 retracts, ensuring that the pressing head 2011 presses down evenly and the downward pressure does not exceed the limit. Under the control of this pressure parameter, after the connecting rod assembly 50 is pressed in, the inner shaft surface of the connecting rod assembly 50 has no damage, rotates flexibly, and has no jamming, which is a very ideal state. In one implementation, the downward pressing parameters in this technical solution can also be adjusted and used for the press-fitting of any products with interference fit between holes and shafts, such as the press-fitting of guide bushings and holes, the press-fitting of balls and holes, etc. For such parts, due to the existence of upper and lower tolerances, the press-in forces will be different. If there is no control over the range of downward pressure, it is not easy to find parts with out-of-tolerance dimensions. In one embodiment, when multiple coaxial connecting rod assemblies 50 are press-fitted with a single eccentric shaft, it can be adjusted to displacement mode control according to the actual situation. At this time, the displacement parameters of the servo electric cylinder 201 can be set according to the actual product size. When the displacement sensor monitors the set value, the servo electric cylinder 201 retracts, which can make up for the disadvantage of inaccurate pressure monitoring caused by too small downward pressing stroke in the pressure mode.

[0049] The mechanical gripper 202 is arranged adjacent to the positioning assembly 103 and is used to grasp the eccentric shaft 40, the connecting rod assembly 50, and the components after press-fitting. In one embodiment, as Figure 6-7 shown, the mechanical gripper 202 is arranged near the positioning assembly 103. The mechanical gripper 202 has a vision sensor to prevent the omission of components. When the mechanical gripper 202 grasps parts, the vision sensor can take a snapshot, and the captured photo will be compared and analyzed with the reference image to make corresponding processing, which can well prevent the omission of parts with very small sizes.

[0050] In one embodiment, as Figure 6-7As shown, when the eccentric shaft 40 is in a fixed state under the action of the first fixing portion 1022, the mechanical gripper 202 grabs the connecting rod assembly 50 and arranges the connecting rod assembly 50 on top of the eccentric shaft 40 through the limit seat 1032. At this time, the axes of all the eccentric shafts 40 coincide with the center lines of the corresponding connecting rod assemblies 50. Then, the servo electric cylinder 201 pushes the pressing head 2011 to move in the direction opposite to the first direction Z, so that the connecting rod assembly 50 is pressed into the top of the eccentric shaft 40.

[0051] To increase the production output, the automatic press-fitting device 20 can be arranged in a rectangular or circular multi-station layout and operate synchronously. The automatic press-fitting device 20 can be arranged on a rotating table. The operation of the rotating table is to control the motor inside the platform regularly in a clockwise or counterclockwise direction through a PLC program. The mechanical gripper 202 is mainly arranged beside the station. The specific number of the mechanical grippers 202 can be determined according to the number of components to be assembled actually and the production efficiency. In one embodiment, as Figure 8 shown, an automatic assembly system 30 is provided, which includes at least two automatic press-fitting devices 20 and all the automatic press-fitting devices are evenly distributed. It also includes a workbench 301, a motor 302 and a PLC program controller. The workbench 301 is used to arrange all the automatic press-fitting devices 20, and all the automatic press-fitting devices 20 are evenly distributed on the workbench 301; the motor 302 is used to drive the workbench 301 to rotate and is arranged at the bottom of the workbench 301.

[0052] The PLC program controller is arranged on the motor 302 and is electrically connected to the servo electric cylinder 201 and the mechanical gripper 202 of each automatic press-fitting device 20, and is used to control the operation of the automatic press-fitting device 20. In one embodiment, as Figure 8 shown, the shape of the workbench 301 is circular, and the motor 302 is arranged at the center of the bottom of the workbench 301 and is used to drive the rotation of the workbench 301. Six automatic press-fitting devices 20 are evenly distributed on the edge of the workbench 301. In one embodiment, when the PLC program controller controls the workbench 301 to rotate clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one, the mechanical grippers 202 of each automatic press-fitting device 20 grab the eccentric shafts 40 and put the eccentric shafts 40 into the corresponding positioning components 103. At this time, the tops of all the eccentric shafts 40 are arranged towards the center of the corresponding first adjusting portion 1012; then, the automatic positioning and guiding unit 10 automatically corrects the positions of the eccentric shafts 40. At this time, all the eccentric shafts 40 are automatically rotated and adjusted to the center of the first adjusting portion 1012 under the common action of the corresponding first adjusting portion 1012 and the rolling adjusting portion 1031, and all the eccentric shafts 40 are in a fixed state;

[0053] After that, the PLC program controller controls the workbench 301 to continue rotating clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one. At this time, the mechanical grippers 202 of each automatic press-fitting device 20 grab the connecting rod assembly 50 and arrange the connecting rod assembly 50 on the top of the eccentric shaft 40 through the limit seat 1032. After that, each servo cylinder 201 presses and fits the connecting rod assembly 50 and the eccentric shaft 40;

[0054] After that, the PLC program controller controls the workbench 301 to continue rotating clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one. At this time, each mechanical gripper 202 grabs the assembled component and puts the component into the corresponding container.

[0055] An automatic assembly method includes the following steps:

[0056] Step S1: The PLC program controller controls the workbench 301 to rotate to a specified position. After that, the mechanical gripper 202 of each automatic press-fitting device 20 grabs the eccentric shaft 40 and puts the eccentric shaft 40 into the corresponding positioning component 103. At this time, the tops of all the eccentric shafts 40 are arranged towards the center of the corresponding first adjustment part 1012;

[0057] When the PLC program controller controls the workbench 301 to rotate clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one, the mechanical grippers 202 of each automatic press-fitting device 20 grab the eccentric shaft 40 and put the eccentric shaft 40 into the corresponding positioning component 103. At this time, the tops of all the eccentric shafts 40 are arranged towards the center of the corresponding first adjustment part 1012;

[0058] Step S2, the first cylinder 1011 of each automatic press-fitting device 20 is used to push the first adjustment part 1012 to move until it contacts the top of the eccentric shaft 40. At this time, all the eccentric shafts 40 are automatically rotated and adjusted to the center of the first adjustment part 1012 under the combined action of the corresponding first adjustment part 1012 and the rolling adjustment part 1031;

[0059] Step S3, the second cylinder 1021 of each automatic press-fitting device 20 is used to push the first fixing part 1022 to move until it contacts the bottom of the eccentric shaft 40. At this time, all the eccentric shafts 40 are in a fixed state. After that, all the corresponding first cylinders 1011 drive the first adjustment part 1012 to return to its original position;

[0060] When the eccentric shaft 40 is arranged within the positioning assembly 103, the first cylinder 1011 drives the first adjustment part 1012 to move until it contacts the top of the eccentric shaft 40. Under the combined action of the first adjustment part 1012 and the rolling adjustment part 1031, the eccentric shaft 40 automatically rotates and adjusts to the center of the first adjustment part 1012. After that, the second cylinder 1021 drives the first fixing part 1022 to move until it contacts the bottom of the eccentric shaft 40. At this time, all the eccentric shafts 40 are in a fixed state, and the first cylinder 1011 drives the first adjustment part 1012 to return to its original position;

[0061] Step S4: The PLC program controller controls the workbench 301 to rotate to another specified position. At this time, the mechanical gripper 202 of each automatic press-fitting device 20 grabs the connecting rod assembly 50 and arranges the connecting rod assembly 50 on the top of the eccentric shaft 40 through the limit seat 1032. At this time, the axes of all the eccentric shafts 40 coincide with the center lines of the corresponding connecting rod assemblies 50;

[0062] The PLC program controller controls the workbench 301 to continue rotating clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one. At this time, the mechanical gripper 202 of each automatic press-fitting device 20 grabs the connecting rod assembly 50 and arranges the connecting rod assembly 50 on the top of the eccentric shaft 40 through the limit seat 1032,

[0063] Step S5: The servo cylinder 201 of each automatic press-fitting device 20 drives the pressing head 2011 to move in the direction opposite to the first direction, so that all the connecting rod assemblies 50 are pressed into the tops of the corresponding eccentric shafts 40;

[0064] Step S6: The PLC program controller controls the workbench 301 to rotate to the next specified position. At this time, the mechanical gripper 202 grabs the assembled component and puts the component into the specified container;

[0065] The PLC program controller controls the workbench 301 to continue rotating clockwise until the servo motor 302 corresponds to the automatic positioning and guiding unit 10 one by one. At this time, the mechanical gripper 202 grabs the assembled component and puts the component into the corresponding container.

[0066] The present invention realizes the automatic positioning and guiding of the eccentric shaft 40 through the combined action of the first adjustment part 1012, the first fixing part 1022 and the rolling adjustment part 1031, and has the characteristics of small volume, simple structure and strong practicability, and can effectively solve the problem of inaccurate positioning of the eccentric shaft 40; at the same time, the automatic positioning and guiding unit 10 is combined with various designs such as the speed and pressure control of the PLC program controller, the mechanical gripper 202 and the servo cylinder 201, effectively solving the phenomena of damage to the connecting rod assembly 50 during pressing and unstable pressing force, and also improving the production efficiency and realizing automatic assembly.

[0067] The foregoing is only a preferred embodiment of one or more embodiments of this specification, and is not intended to limit one or more embodiments of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included within the scope of protection of one or more embodiments of this specification.

Claims

1. Automatic positioning and guiding unit, characterized in that: include: A first pushing assembly for straightening the eccentric shaft, the first pushing assembly comprising a first cylinder and a first adjusting portion, the first adjusting portion being arranged at the end of the first cylinder and being able to move to contact with the top of the eccentric shaft under the thrust of the first cylinder, and being used for pushing the eccentric shaft to move to a specified position; A second pushing assembly is arranged directly below the first pushing assembly and is spaced apart from the first pushing assembly in a first direction, the second pushing assembly comprises a second cylinder and a first fixing portion, the first fixing portion is arranged at the end of the second cylinder and can be moved to contact with the bottom of the eccentric shaft under the thrust of the second cylinder, so as to fix the position of the eccentric shaft; A positioning assembly for arranging the eccentric shaft and rotating and correcting the position of the eccentric shaft, which is arranged near the first fixing portion, and the bottom of the positioning assembly has a rolling adjustment portion, which enables the eccentric shaft to automatically rotate until the end of the eccentric shaft is located at the center of the first adjustment portion, and the rolling adjustment portion, the first adjustment portion and the first fixing portion together constitute an automatic positioning and correcting structure of the eccentric shaft; Wherein, the first direction is the length direction of the eccentric shaft.

2. The automatic positioning and guiding unit according to claim 1, characterized in that: When the eccentric shaft is arranged in the positioning assembly, the first cylinder pushes the first adjustment part to move to contact with the top of the eccentric shaft, and the eccentric shaft automatically rotates and adjusts to the center of the first adjustment part under the joint action of the first adjustment part and the rolling adjustment part. Thereafter, the second cylinder pushes the first fixing part to move to contact with the bottom of the eccentric shaft. At this time, the eccentric shaft is in a fixed state, and the first cylinder drives the first adjustment part to return to its original position.

3. The automatic positioning and guiding unit according to claim 1, characterized in that: An end of the first adjustment portion has a V-shaped opening.

4. The automatic positioning and guiding unit according to claim 1, characterized in that: The rolling adjustment part adopts a rolling bearing.

5. Automatic pressing device, characterized in that: In addition to the automatic positioning and guiding unit according to any one of claims 1 to 4, it also includes: A connecting rod assembly assembled with the eccentric shaft is arranged directly above the eccentric shaft, and a center line of the connecting rod assembly coincides with an axis line of the eccentric shaft; A limit seat for straightening the connecting rod assembly and preventing the connecting rod assembly from being unstable during press-fitting, which is arranged on the top of the positioning assembly; A servo electric cylinder for press-fitting the connecting rod assembly and the eccentric shaft, arranged directly above the connecting rod assembly; and A mechanical gripper is arranged near the positioning assembly and is used to grasp the eccentric shaft, the connecting rod assembly and the components after press-fitting.

6. The automatic press-fitting device according to claim 5, characterized in that: The end of the servo electric cylinder is provided with a pressure head for pressing the connecting rod assembly into the top of the eccentric. The pressure head is provided with a pressure sensor and a displacement sensor. The pressure sensor can ensure that the pressure head is pressed down at a uniform speed.

7. The automatic press-fitting device according to claim 5, characterized in that: The mechanical gripper is provided with a visual sensor for preventing missing installation of components.

8. Automatic assembly system, characterized in that, The invention comprises at least two automatic pressing devices as claimed in claim 6, all of which are evenly distributed, and further comprises: A workbench for arranging the automatic press-fitting devices, wherein all the automatic press-fitting devices are evenly distributed on the workbench; A motor for driving the workbench to rotate, disposed at the bottom of the workbench; and A PLC program controller is arranged on the motor and is electrically connected to the cylinder, servo electric cylinder and mechanical gripper of each automatic press-fitting device, and is used to control the operation of the automatic press-fitting device.

9. An automatic assembly method, applicable to the automatic assembly system as claimed in claim 8, characterized in that: The following steps are involved: Step S1: The workbench is controlled to rotate to a specified position by the PLC program controller, after which the mechanical gripper of each automatic press-fitting device grabs the eccentric shaft and places the eccentric shaft into the corresponding positioning assembly, at which time, the tops of all the eccentric shafts are arranged toward the center of the corresponding first adjustment portion; Step S2, the first cylinder of each of the automatic press-fitting devices pushes the first adjustment portion to move to contact with the top of the eccentric shaft, at which time, all the eccentric shafts are automatically rotated and adjusted to the center of the first adjustment portion under the joint action of the corresponding first adjustment portion and the rolling adjustment portion; Step S3, the second cylinder of each of the automatic press-fitting devices pushes the first fixing portion to move to contact with the bottom of the eccentric shaft, at which time, all the eccentric shafts are in a fixed state, and then all the corresponding first cylinders drive the first adjusting portion to return to the original position; Step S4, controlling the workbench to rotate to another specified position through the PLC program controller, at which time the mechanical gripper of each automatic press-fitting device grabs the connecting rod assembly and arranges the connecting rod assembly on the top of the eccentric shaft through the limit seat, at which time the axes of all the eccentric shafts coincide with the center lines of the corresponding connecting rod assemblies; Step S5, using the servo electric cylinder of each of the automatic press-fitting devices to push the pressing head to move in a direction opposite to the first direction, so that all of the connecting rod assemblies are pressed into the top of the corresponding eccentric shaft; Step S6, controlling the workbench to rotate to the next designated position through the PLC program controller, at which time the mechanical gripper grabs the assembled components and places the components into a designated container.

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