Guide wheel press-fitting equipment and method based on intelligent positioning constant force control

Abstract

The invention relates to the technical field of mechanical pressing, in particular to guide wheel press-fitting equipment and method based on intelligent positioning constant force control. The guide wheel press-fitting equipment comprises a press-fitting workbench, a discharging base is fixedly connected to one side of the press-fitting workbench, a cover plate is fixedly connected to the top of the press-fitting workbench, and a workbench plate is fixedly connected between the press-fitting workbench and the cover plate; a rotary disc assembly is arranged in the middle of the working table plate, a supporting stand column is slidably connected to the working table plate through a sliding rail, and a guide wheel press-fitting mechanism is arranged on the supporting stand column. According to the press-fitting equipment, pre-positioning is achieved through cooperative clamping of the positioning mandrel and the positioning clamp, and meanwhile the positioning process of coarse positioning, visual correction, laser accurate measurement and mechanical locking is constructed through visual contour recognition of the industrial camera, micro-displacement detection of the laser transmitter and rigid locking of the positioning pin; the problem of multi-angle deviation of traditional single mechanical positioning is solved, and radial and axial two-way accurate positioning of the guide wheel is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical press fitting, and particularly relates to a guide wheel press-fitting device and method based on intelligent positioning constant force control. Background Technique

[0002] The guide wheel press-fitting device is a special mechanical equipment used to accurately press-fit guide wheels (such as pulleys, rollers, bearing wheels, etc.) onto shafts or bearing seats, and is widely used in industries such as automobiles, mechanical manufacturing, rail transit, and construction machinery. As a key component in the mechanical transmission system, the press-fitting quality of the guide wheel directly affects the stability and reliability of equipment operation.

[0003] In the existing equipment for press-fitting guide wheels, when installing the guide wheel, it usually relies on manual alignment or single mechanical positioning, which can only achieve rough positioning in a single direction, and cannot compensate for multi-angle deviations, adapt to workpiece size deviations and assembly environment changes, resulting in a large coaxiality error of the guide wheel after press-fitting. At the same time, during the press-fitting process, most use open-loop control or simple hydraulic drive, with a large fluctuation range of the press-fitting force, and the hydraulic system response is relatively lagging and unable to cope with dynamic force changes. The traditional rigid press-fitting head lacks a buffering mechanism and is prone to local overload due to uneven workpiece surfaces, resulting in cracks in the workpiece. The stiffness of the traditional press-fitting head is fixed and cannot match the press-fitting requirements of different materials. For example, when press-fitting a rubber guide wheel, the rigid press head is prone to excessive deformation of the wheel body, and when press-fitting a metal guide wheel, the flexible press head is difficult to provide sufficient supporting force, resulting in incomplete press-fitting and reducing the press-fitting quality. Summary of the Invention

[0004] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose a guide wheel press-fitting device and method based on intelligent positioning constant force control.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions: A guide wheel press-fitting device based on intelligent positioning constant force control, including a press-fitting workbench. One side of the press-fitting workbench is fixedly connected with a blanking base, the top of the press-fitting workbench is fixedly connected with a cover plate, a workbench plate is fixedly connected between the press-fitting workbench and the cover plate. A turntable assembly is arranged in the middle of the workbench plate, a support column is slidably connected to the workbench plate through a slide rail, a guide wheel press-fitting mechanism is arranged on the support column, and an oil injection assembly and a circlip press-fitting structure are sequentially arranged on both sides of the guide wheel press-fitting mechanism; The guide wheel press-fitting mechanism includes a servo press on the support column. A linear guide rail is fixedly connected to the outer wall of the support column, a sliding support plate is slidably connected to the linear guide rail, a pressing cylinder head is arranged on the sliding support plate, the pressing cylinder head is connected to the output end of the servo press, and a press-fitting head is connected to the end of the pressing cylinder head; A sealing cavity is sleeved inside the press head. Several ferromagnetic particles are arranged on the inner wall of the sealing cavity. An electromagnetic coil is arranged on the outer wall of the sealing cavity. One end of the electromagnetic coil is provided with a power-on end. An annular clamping groove is formed on one side of the inner wall of the sealing cavity. An inflatable airbag is arranged in the annular clamping groove. A support skeleton is fixedly connected inside the press head. The support skeleton has a honeycomb-shaped hollow structure.

[0006] Preferably, the turntable assembly includes a first reduction motor located at the bottom of the workbench plate. The output end of the first reduction motor is connected to a rotating disc. Several support seats are distributed on the rotating disc. A positioning plate is fixedly connected to the top of the support seat. A positioning mandrel is fixedly connected to the positioning plate. A positioning fixture is arranged outside the positioning mandrel. A press centering rod matched with the positioning mandrel is arranged at the center of the bottom of the press head. One side of the inflatable airbag is provided with an air delivery end. The air delivery end is connected to an air delivery pipeline. One end of the air delivery pipeline is connected to a stamping device. An air pump is arranged at one end of the air delivery pipeline close to the stamping device. Arc-shaped fixing blocks are symmetrically arranged at the bottom of the press head. A placement groove is formed on one side of the arc-shaped fixing block. A driving motor I is arranged in the placement groove. The output end of the driving motor I is connected to a lead screw. Two thread sections with opposite directions are arranged on the outer surface of the lead screw. Rectangular blocks are respectively sleeved on the two thread sections. An arc-shaped pressing plate is fixedly connected to the bottom of the rectangular block. An annular groove is formed at the bottom of the support skeleton. A displacement encoder is arranged in the annular groove. Several damping columns are fixedly connected to the bottom of the press head. An elastic connecting piece is sleeved on the outer surface of the damping column. A positioning cylinder is arranged inside the end of the elastic connecting piece. The output end of the positioning cylinder is connected to a positioning pin. A positioning hole matched with the positioning pin is formed on the outer wall of the positioning plate. Piezoelectric force sensors, MEMS force sensors and strain gauge force sensors are respectively arranged in an array on the outer wall of the press head.

[0007] Preferably, an industrial camera is arranged on one side of the sliding support plate. A laser emitter is arranged at the bottom of the press cylinder head. The output end of the laser emitter is connected to an emission end. A receiving plate matched with the emission end is arranged at the bottom of the positioning plate.

[0008] Preferably, the oil injection assembly includes a cylinder support arranged on the workbench plate. An electric cylinder is arranged on one side of the cylinder support. The output end of the electric cylinder is connected to a mounting plate. A circular hole is formed at one end of the mounting plate. An oil injector is fixedly connected in the circular hole. The output end of the oil injector extends to directly above the rotating disc. A conical cover is fixedly connected to the outer surface of the oil injector and at the bottom of the mounting plate.

[0009] Preferably, the snap ring pressing structure includes a fixed support located on one side of the workbench plate. Two transverse fixing plates are symmetrically arranged on the fixed support. A snap ring cylinder is fixedly connected to the tops of the two transverse fixing plates, and snap rings are stacked inside the snap ring cylinder. One side of the transverse fixing plate is fixedly connected to a fixed end, and an ejecting cylinder is arranged on the fixed end. The output end of the ejecting cylinder is connected to a sliding block. A fixed slideway is fixedly connected to the top of the fixed support. The bottom of the sliding block is slidably connected to the fixed slideway through a chute. One side of the sliding block is fixedly connected to a connecting block, and one side of the connecting block extends between the two transverse fixing plates and is fixedly connected to a pushing plate.

[0010] Preferably, a guiding seat is fixedly connected to the top of the fixed support. The guiding seat is connected to a snap ring plate through a support column. The snap ring plate is connected to a snap ring height limiting plate through a support rod. A gap for the snap ring to pass through is formed between the snap ring height limiting plate and the snap ring plate. A snap ring cylinder is arranged on the top of the snap ring height limiting plate. An installation sleeve is fixedly connected to the snap ring height limiting plate. The output end of the snap ring plate is connected to a snap ring pressing head. Through holes are formed in the fixed support, the snap ring plate and the snap ring height limiting plate. A guiding sleeve is fixedly connected to the bottom of the fixed support, and the guiding sleeve is communicated with the installation sleeve through the through hole.

[0011] Preferably, a T-shaped bracket is fixedly connected to the workbench plate. A material grasping structure is arranged on the T-shaped bracket. The material grasping structure includes a transverse guide rail fixed to the T-shaped bracket. A slide table is slidably connected to the transverse guide rail. A rodless cylinder is connected to one side of the slide table. A pressing cylinder is arranged on the slide table. The output end of the pressing cylinder is fixedly connected to a pneumatic claw plate. A driving motor II is arranged on one side of the pneumatic claw plate. The output end of the driving motor II is connected to a pneumatic claw mounting clip.

[0012] Preferably, a blanking structure is arranged on the blanking base. The blanking structure includes a track cross beam fixed to one side of the blanking base. A second reduction motor is arranged on one side of the track cross beam. The output end of the second reduction motor is connected to a driving wheel. A driven wheel is arranged on the side of the track cross beam away from the second reduction motor. A flexible chain plate is meshed and connected to the ends of the driven wheel and the driving wheel. One side of the track cross beam is fixedly connected to an L-shaped support plate. A pushing cylinder is arranged on one side of the L-shaped support plate. The output end of the pushing cylinder penetrates through the L-shaped support plate and is connected to a cylinder pulling plate. A V-shaped pushing block is fixedly connected to one side of the cylinder pulling plate. A third reduction motor is provided on the blanking base through a connecting column. The output end of the third reduction motor is connected to a driving shaft. The outer surface of the driving shaft is fixedly connected with a driving gear. A profile fixing plate is arranged on one side of the blanking base away from the third reduction motor. The end of the profile fixing plate is sleeved with a driven shaft. The outer surface of the driven shaft is fixedly connected with a driven gear. A flat chain plate is sleeved on the outer surfaces of the driven gear and the driving gear. A profile support is fixedly connected between the connecting columns. One side of the profile support and inside the flat chain plate is fixedly connected with a wear-resistant guide bar.

[0013] Preferably, an electric control box is fixedly connected to the back of the cover plate. A power control system is arranged inside the electric control box. The power control system is connected to the energized end of the electromagnetic coil through a current regulating structure. A warning light is arranged on the top of the cover plate, and a display is arranged on the left side of the cover plate.

[0014] A guide wheel press-fitting method based on intelligent positioning and constant force control includes the following steps: Step S1: Align the middle of the guide wheel to be press-fitted with the positioning mandrel and sleeve it. Then, use a positioning fixture to clamp the outer surface of the guide wheel, so that the guide wheel is tightly clamped and fitted between the positioning mandrel and the positioning fixture, and the preliminary positioning of the guide wheel on the rotating disk is completed. Step S2: After the preliminary positioning of the guide wheel is completed, use the electric cylinder in the oil injection assembly to drive the oil injection nozzle to move down to the surface of the guide wheel, and use the oil injection nozzle to spray oil on the surface of the guide wheel to reduce the assembly resistance during the subsequent press-fitting of the guide wheel. After the oil injection of the guide wheel is completed, use the turntable assembly to transfer the oil-injected guide wheel to the lower part of the guide wheel press-fitting mechanism. Step S3: Use the industrial camera on the sliding support plate to take pictures of the image between the guide wheel and the positioning plate and calculate and correct the position deviation. Then, use the laser emitter to emit a laser beam from the emitting end and gather it into a very small light spot and project it onto the surface of the guide wheel to confirm the alignment accuracy of the positioning hole and the positioning pin. After the positioning is completed, the positioning cylinder extends and drives the positioning pin to insert into the positioning hole on the positioning plate to complete the final positioning. Step S4: After positioning is completed, the servo press in the guide wheel press-fitting mechanism drives the sliding support plate, the pressing cylinder head, and the press-fitting head to descend. When the press-fitting head descends, it drives the press centering rod to squeeze against the surface of the positioning mandrel, thereby contacting the guide wheel and performing press-fitting on the guide wheel. During the press-fitting process, the force signals generated by the press-fitting head during press-fitting are sequentially sensed by the piezoelectric force sensors, MEMS force sensors, and strain gauge force sensors distributed in an array, and the force signals are transmitted to the power control system through the data transmission line. After receiving the force data, the power control system compares it with the pre-set constant force target value, calculates the deviation between the current press-fitting force and the target value, and then generates a control command according to the deviation to adjust the output force of the guide wheel press-fitting mechanism; During the process of press-fitting the guide wheel, as the press-fitting process progresses, the power control system real-time collects the data information of the guide wheel, analyzes and judges the optimal stiffness value required for the current press-fitting stage, and adjusts the current magnitude of the electromagnetic coil through the current adjustment structure. When the current changes, the magnetic field intensity generated by the electromagnetic coil changes accordingly, and the stiffness characteristics of the ferromagnetic particles are adjusted in real time to finely adjust the press-fitting force; Step S5: After the press-fitting of the guide wheel is completed, the turntable assembly is used to transfer the guide wheel to the lower part of the circlip press-fitting structure, and the pusher plate is used to push the circlip into the gap between the circlip plate and the circlip height limiting plate. Subsequently, the circlip cylinder is used to drive the circlip press-fitting head to descend, and the circlip press-fitting head presses the circlip and presses it onto the guide wheel through the guide sleeve to complete the press-fitting between the circlip and the guide wheel; Step S6: After the press-fitting is completed, the turntable assembly is used again to transfer the guide wheel to one side of the T-shaped bracket. At this time, the air claw mounting clip in the material grasping structure is used to grasp the guide wheel on the rotating disk and transfer it to the flexible chain plate. Subsequently, the flexible chain plate is used to transfer the guide wheel to the other side and push the guide wheel to the flat chain plate through the V-shaped pusher block. After that, the guide wheel is transferred into the external collection box through the transfer of the flat chain plate, and finally the overall press-fitting and transfer process of the guide wheel is completed.

[0015] The beneficial effects of the present invention are: The press-fitting equipment realizes pre-positioning through the coordinated clamping of the positioning mandrel and the positioning fixture. At the same time, through the visual contour recognition of the industrial camera, the micro-displacement detection of the laser emitter, and the rigid locking of the positioning pin, a positioning process of "coarse positioning - visual deviation correction - laser precise measurement - mechanical locking" is constructed, solving the multi-angle deviation problem of traditional single mechanical positioning, realizing the two-way precise positioning of the guide wheel in the radial and axial directions. Through the forced deviation correction of the positioning pin and the positioning hole, the positioning error of traditional manual alignment is reduced, and the problem of large coaxiality error of the guide wheel is effectively solved.

[0016] This press-fitting device precisely regulates the output force by using an array of force sensors and responds to dynamic force changes to maintain the stability of the press-fitting force, avoid workpiece overload cracks, and dynamically adjust the magnetic field chain structure of ferromagnetic particles through electromagnetic coils and the inflatable airbag. The lead screw drives the arc-shaped pressing plate to restrain edge deformation, and the honeycomb-shaped support skeleton limits excessive deformation, achieving the continuity and stability of stiffness adjustment. This enables high-stiffness rapid positioning of the guide wheel at the initial stage of press-fitting and switches to low-stiffness flexible press-fitting at the end, solving the problems of deformation or incomplete press-fitting caused by the mismatch between the rigid punch and the flexible material, and improving the press-fitting quality.

[0017] This press-fitting device uses a turntable assembly to link multiple workstations to achieve cycles of positioning, oil spraying, press-fitting, snap ring assembly, and blanking, improving production efficiency and the qualified product rate, reducing operation and maintenance costs. Through the combined design of a conical cover and a directional oil nozzle, it prevents lubricating oil from splashing into non-target areas during the oil spraying and lubrication process, avoiding pollution or waste, and at the same time blocking the blockage of external pollutants such as dust and metal chips, extending its service life. During the transmission of the flat chain plate, the internal wear-resistant guide bars bear the friction, reducing wear and scratches, avoiding damage to the flat chain plate, and ensuring the stability of the transmission process. Brief Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall structure of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 2 It is a schematic diagram of the connection structure between the guide wheel press-fitting mechanism and the turntable assembly of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 3 It is a schematic diagram of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention Figure 2 Schematic diagram of the enlarged structure at point A; Figure 4 It is a schematic diagram of the connection structure between the positioning plate and the press-fitting head of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 5 It is a schematic diagram of the press-fitting head of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 6 It is a schematic diagram of the connection structure between the sealing cavity and the support skeleton of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 7 It is a schematic diagram of the bottom structure of the sealing cavity of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 8Schematic diagram of the pressing workbench structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 9 A guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention Figure 8 Schematic diagram of the enlarged structure at point B in; Figure 10 Schematic diagram of the snap ring pressing structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 11 A guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention Figure 10 Schematic diagram of the enlarged structure at point C in; Figure 12 Schematic diagram of the material grasping structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 13 Schematic diagram of the blanking structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 14 A guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention Figure 13 Schematic diagram of the enlarged structure at point D in; Figure 15 Schematic diagram of the internal structure of the flexible chain plate and the flat chain plate of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention; Figure 16 Schematic diagram of the current adjustment structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention.

[0019] In the figure: 1. Press-fitting workbench; 2. Blanking base; 3. Cover plate; 4. Workbench board; 401. First reduction motor; 402. Rotating disk; 403. Support base; 404. Positioning plate; 405. Positioning mandrel; 406. Positioning fixture; 407. Press centering rod; 5. Support column; 501. Servo press; 502. Linear guide rail; 503. Sliding support plate; 504. Press cylinder head; 6. Press-fitting head; 601. Sealed cavity; 602. Ferromagnetic particles; 603. Electromagnetic coil; 604. Energized end; 7. Inflatable airbag; 701. Air pipeline; 702. Stamping device; 703. Air pump; 8. Support skeleton; 801. Arc-shaped fixing block; 802. First driving motor; 803. Lead screw; 804. Rectangular block; 805. Arc-shaped pressing plate; 806. Displacement encoder; 9. Elastic connecting piece; 901. Positioning pin; 902. Piezoelectric force sensor; 903. MEMS force sensor; 904. Strain gauge type force sensor; 10. Industrial camera; 1001. Laser emitter; 1002. Receiving board; 11. Cylinder bracket; 1101. Electric cylinder; 1102. Mounting plate; 1103. Fuel injector; 1104. Conical cover; 12. Fixed support; 1201. Horizontal fixing plate; 1202. Snap ring cylinder; 1203. Snap ring cylinder; 13. Fixed end; 1301. Ejecting cylinder; 1302. Sliding block; 1303. Fixed slideway; 1304. Connecting block; 1305. Pushing plate; 14. Guide seat; 1401. Snap ring plate; 1402. Snap ring height limiting plate; 1403. Mounting sleeve; 1404. Snap ring pressing head; 1405. Guide sleeve; 15. T-shaped bracket; 1501. Horizontal guide rail; 1502. Slide table; 1503. Lower pressing cylinder; 1504. Pneumatic claw plate; 1505. Second driving motor; 1506. Pneumatic claw mounting clip; 16. Track cross beam; 1601. Second reduction motor; 1602. Driving wheel; 1603. Driven wheel; 1604. Flexible chain plate; 17. L-shaped support plate; 1701. Pushing cylinder; 1702. Cylinder pull plate; 1703. V-shaped pushing block; 18. Third reduction motor; 1801. Driving shaft; 1802. Driving gear; 19. Profile fixing plate; 1901. Driven shaft; 1902. Driven gear; 20. Flat chain plate; 2001. Profile support; 21. Wear-resistant guide bar; 22. Electric control box; 23. Warning lamp; 24. Display. Detailed implementation manner

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0021] The content not detailedly described in this specification belongs to the prior art well-known to those skilled in the art.

[0022] All standard parts used in the present invention can be purchased from the market. Special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here.

[0023] Embodiment 1:

[0024] Refer to Figures 1 - 16 , a guide wheel press-fitting device based on intelligent positioning constant force control, including a press-fitting workbench 1. A blanking base 2 is fixedly connected to one side of the press-fitting workbench 1. A cover plate 3 is fixedly connected to the top of the press-fitting workbench 1. A workbench plate 4 is fixedly connected between the press-fitting workbench 1 and the cover plate 3. A turntable assembly is arranged in the middle of the workbench plate 4. A support column 5 is slidably connected to the workbench plate 4 through a slide rail. A guide wheel press-fitting mechanism is arranged on the support column 5. An oil injection assembly and a circlip press-fitting structure are sequentially arranged on both sides of the guide wheel press-fitting mechanism; The guide wheel press-fitting mechanism includes a servo press 501 located on the support column 5. A linear guide rail 502 is fixedly connected to the outer wall of the support column 5. A sliding support plate 503 is slidably connected to the linear guide rail 502. A pressing cylinder head 504 is arranged on the sliding support plate 503. The pressing cylinder head 504 is connected to the output end of the servo press 501. A press-fitting head 6 is connected to the end of the pressing cylinder head 504; A sealing cavity 601 is sleeved inside the press-fitting head 6. A plurality of ferromagnetic particles 602 are arranged on the inner wall of the sealing cavity 601. An electromagnetic coil 603 is arranged on the outer wall of the sealing cavity 601. One end of the electromagnetic coil 603 is provided with a power-on end 604. An annular clamping groove is opened on one side of the inner wall of the sealing cavity 601. An inflatable airbag 7 is arranged in the annular clamping groove. A support skeleton 8 is fixedly connected inside the press-fitting head 6. The support skeleton 8 is in a honeycomb-shaped hollow structure.

[0025] The turntable assembly includes a first reduction motor 401 located at the bottom of the workbench plate 4. The output end of the first reduction motor 401 is connected to a rotating disk 402. A plurality of support seats 403 are distributed on the rotating disk 402. A positioning plate 404 is fixedly connected to the top of the support seat 403. A positioning core shaft 405 is fixedly connected to the positioning plate 404. A positioning jig 406 is arranged outside the positioning core shaft 405. A press-fitting machine centering rod 407 that cooperates with the positioning core shaft 405 is arranged at the center of the bottom of the press-fitting head 6; One side of the inflatable airbag 7 is provided with an air inlet end, the air inlet end is connected with an air pipeline 701, one end of the air pipeline 701 is connected with a stamping device 702, an air pump 703 is arranged at one end of the air pipeline 701 close to the stamping device 702, arc-shaped fixing blocks 801 are symmetrically arranged at the bottom of the press head 6, a placement groove is formed on one side of the arc-shaped fixing block 801, a driving motor I 802 is arranged in the placement groove, the output end of the driving motor I 802 is connected with a lead screw 803, two thread sections with opposite directions are arranged on the outer surface of the lead screw 803, rectangular blocks 804 are respectively sleeved on the two thread sections, an arc-shaped pressing plate 805 is fixedly connected to the bottom of the rectangular block 804, an annular groove is formed at the bottom of the support frame 8, and a displacement encoder 806 is arranged in the annular groove; A plurality of damping columns are fixedly connected to the bottom of the press head 6, an elastic connecting piece 9 is sleeved on the outer surface of the damping column, a positioning cylinder is arranged inside the end of the elastic connecting piece 9, the output end of the positioning cylinder is connected with a positioning pin 901, a positioning hole matched with the positioning pin 901 is formed on the outer wall of the positioning plate 404, and piezoelectric force sensors 902, MEMS force sensors 903 and strain gauge force sensors 904 are respectively arranged in an array on the outer wall of the press head 6.

[0026] An industrial camera 10 is arranged on one side of the sliding support plate 503, a laser emitter 1001 is arranged at the bottom of the press cylinder head 504, the output end of the laser emitter 1001 is connected with a transmitting end, and a receiving plate 1002 matched with the transmitting end is arranged at the bottom of the positioning plate 404.

[0027] The oil injection assembly includes a cylinder support 11 on the workbench plate 4, an electric cylinder 1101 is arranged on one side of the cylinder support 11, the output end of the electric cylinder 1101 is connected with a mounting plate 1102, a circular hole is formed at one end of the mounting plate 1102, an oil nozzle 1103 is fixedly connected in the circular hole, the output end of the oil nozzle 1103 extends to directly above the rotating disk 402, and a conical cover 1104 is fixedly connected to the outer surface of the oil nozzle 1103 and at the bottom of the mounting plate 1102.

[0028] An electric control box 22 is fixedly connected to the back of the cover plate 3, a power control system is arranged inside the electric control box 22, the power control system is connected with the energized end 604 of the electromagnetic coil 603 through a current regulating structure, a warning light 23 is arranged at the top of the cover plate 3, and a display 24 is arranged on the left side of the cover plate 3.

[0029] The current adjustment structure includes a comparator A1. The non-inverting input terminal of the comparator A1 is connected to the output terminal of the power control system. The output terminal of the comparator A1 is connected to a resistor R1. The output terminal of the resistor R1 is connected to a variable resistor Rt. The output terminal of the variable resistor Rt is connected to a resistor R3. The output terminal of the resistor R3 is connected to a trichromatic tube RGB. The output terminal of the trichromatic tube RGB is sequentially connected to a warning light 23 and an electromagnetic coil 603. The output terminal of the comparator A1 is also connected to a resistor R2. The output terminal of the resistor R2 is connected to a resistor R4. The negative terminal of the resistor R4 is grounded. The output terminal of the resistor R2 is also connected to a differential amplifier A2. The output terminal of the differential amplifier A2 is connected to the inverting input terminal of the comparator A1. The inverting input terminal of the differential amplifier A2 is connected to a resistor R5. The output terminal of the resistor R5 is connected to a emitter follower A3. A resistor R6 is connected in parallel across both ends of the differential amplifier A2. A capacitor C1 is connected in parallel across both ends of the resistor R6. The non-inverting input terminal of the emitter follower A3 is connected to the output terminal of the variable resistor Rt. The inverting input terminal of the emitter follower A3 is connected to the output terminal of the resistor R5.

[0030] In this implementation, when it is necessary to press-fit the guide wheel, first, the central through-hole of the guide wheel is sleeved onto the positioning mandrel 405. Subsequently, the positioning fixture 406 is sleeved onto the outside of the guide wheel to clamp the outer surface of the guide wheel, so that the guide wheel is tightly clamped and fitted between the positioning mandrel 405 and the positioning fixture 406, completing the preliminary positioning of the guide wheel on the rotating disc 402. After the positioning is completed, start the first reduction motor 401. When the first reduction motor 401 operates, it drives the rotating disc 402 to rotate. When the rotating disc 402 rotates, it rotates the guide wheel under the fuel injector 1103. At this time, start the electric cylinder 1101. When the electric cylinder 1101 operates, it drives the mounting plate 1102 and the fuel injector 1103 to descend, lowering the fuel injector 1103 to the surface of the guide wheel. Subsequently, start the fuel injector 1103, so that the lubricating oil is sprayed onto the surface of the guide wheel to perform oil spraying and lubrication treatment on the guide wheel, thereby reducing the friction between the guide wheel and the positioning plate 404 during the subsequent press-fitting process, preventing scratches or jams caused by direct metal contact, and reducing the assembly resistance of the guide wheel during the subsequent press-fitting process. The conical cover 1104 outside the fuel injector 1103 can prevent the lubricating oil from splashing into non-target areas, avoiding pollution or waste, and at the same time blocking external pollutants such as dust and metal chips from clogging the fuel injector 1103, extending its service life.

[0031] Further, after the lubrication of the guide wheel is completed, the turntable 402 is then used to transfer the guide wheel to directly below the guide wheel press-fitting mechanism. At this time, the industrial camera 10 is started to capture the position image between the guide wheel and the positioning plate 404 and calculate the position deviation. When the position deviation is large, the sliding support column 5 is used to correct the deviation. Subsequently, the laser emitter 1001 is started, and a laser beam is emitted from the emission end and aggregated into an extremely small light spot and projected onto the surface of the guide wheel. Subsequently, the laser light spot is received by the receiving plate 1002. When the press-fitting head 6 moves, the imaging position of the laser light spot on the receiving plate 1002 changes. Subsequently, this change signal is transmitted to the display 24, and the displacement amount between the press-fitting head 6 and the guide wheel is calculated, so as to confirm the alignment accuracy between the positioning hole and the positioning pin 901. Subsequently, the positioning cylinder is started to drive the positioning pin 901 to descend, so that the positioning pin 901 is inserted into the positioning hole on the positioning plate 404, and the remaining position deviation is forcibly corrected, thereby completing the final positioning of the press-fitting head 6 with respect to the positioning plate 404.

[0032] Further, after the positioning of the press-fitting head 6 and the guide wheel is completed, the servo press 501 is started at this time to drive the pressing cylinder head 504 and the press-fitting head 6 to descend. When the press-fitting head 6 descends, it drives the press centering rod 407 to squeeze against the surface of the positioning mandrel 405, thereby contacting the guide wheel and performing a press-fitting process on the guide wheel. During the continuous press-fitting process of the press-fitting head 6, the piezoelectric force sensor 902, the MEMS force sensor 903, and the strain gauge force sensor 904 distributed in an array thereon sequentially sense the press-fitting force signal generated by the press-fitting head 6 during the press-fitting process. When the press-fitting force changes slightly, the piezoelectric force sensor 902, the MEMS force sensor 903, and the strain gauge force sensor 904 can capture this change within an extremely short time, and sequentially convert the force signal into an electrical signal, and transmit the electrical signal to the power control system through the data transmission line. After receiving the force data, the power control system compares it with the pre-set constant force target value, calculates the deviation between the current press-fitting force and the target value, and uses the adaptive fuzzy logic control algorithm combined with the press-fitting displacement information and the equipment operation state to deeply analyze the deviation. If it is detected that the press-fitting force is higher than the target value, the power control system issues an instruction to reduce the output force of the servo press 501; conversely, if the press-fitting force is lower than the target value, the output force is increased, so that the press-fitting force is always stabilized near the pre-set constant force value, effectively ensuring the stability and consistency of the guide wheel press-fitting process.

[0033] Further, during the process of press-fitting the guide wheel, as the press-fitting process progresses, the power control system real-time collects the data information of the guide wheel, analyzes and judges the optimal stiffness value required for the current press-fitting stage. Subsequently, the power control system outputs current. When the current flows through comparator A1, comparator A1 senses the change in the input current signal. Subsequently, through the feedback amplification loop composed of differential amplifier A2 and emitter follower A3, by amplifying the change in the tiny current and precisely regulating the output to maintain the accuracy of current regulation. Through the feedback circuit composed of resistors R4 and R5, in cooperation with the feedback amplification loop, the current regulation becomes more precise and stable. Subsequently, the output current is changed by adjusting the adjustable resistor Rt. When the output current changes, it flows through the three-color tube RGB, and then the three-color tube RGB operates and causes the warning light 23 to flash, so that the operation of the circuit can be more intuitively judged externally. Subsequently, the current flows through the energized end 604 of the electromagnetic coil 603, making the electromagnetic coil 603 charged; When the current changes, the magnetic field intensity generated by the electromagnetic coil 603 also changes accordingly, and then the stiffness characteristics of the ferromagnetic particles 602 are adjusted in real-time and continuously. When a large stiffness is required to quickly position the guide wheel at the initial stage of press-fitting, the current of the electromagnetic coil 603 is increased at this time. After the electromagnetic coil 603 is energized to generate a magnetic field, the ferromagnetic particles 602 are attracted by the magnetic force and arranged orderly along the magnetic field direction, forming a "chain-like" or "columnar" structure. Due to the magnetic field, there is an interaction force between the particles, thereby resisting external loads. When the magnetic field is stronger, the particles are arranged more closely and their interaction is stronger, and the particles form a stable structure, so the stiffness becomes higher. When the stiffness in the middle of the sealed cavity 601 becomes higher, the air pump 703 is started at this time, so that the gas inside the stamping device 702 is filled into the inflatable airbag 7 through the air delivery pipe 701. When the inflatable airbag 7 expands, it simultaneously squeezes the ferromagnetic particles 602 in the inner wall, increasing the internal stress and enhancing the anti-deformation energy of the sealed cavity 601. At this time, the drive motor 802 is started to drive the lead screw 803 to rotate. When the lead screw 803 rotates, the two rectangular blocks 804 are driven to move in opposite directions through the two spiral sections on the surface. When the rectangular blocks 804 move, they drive the arc-shaped pressing plate 805 to move, and then the arc-shaped pressing plate 805 is squeezed and pressed against the edge area of the sealed cavity 601. The greater the extrusion amount, the more rigid support areas the sealed cavity 601 receives. When the stiffness of the sealed cavity 601 is higher, the excessive deformation of the sealed cavity 601 is restricted by the support frame 8 inside it. At the same time, the honeycomb-shaped hollow structure inside it can reduce the weight and provide torsional stiffness, thus increasing the overall stiffness of the press-fitting head 6 in all directions and ensuring the press-fitting accuracy; When approaching the final press-fitting position, to avoid damaging the guide wheel due to excessive stiffness, the above steps are run in reverse at this time to reduce the current output, the magnetic field of the electromagnetic coil 603 becomes weaker, the magnetic attraction between particles weakens, thereby reducing the stiffness between the ferromagnetic particles 602. At the same time, the stiffness inside the sealed cavity 601 decreases, thus achieving gentle and precise press-fitting of the guide wheel.

[0034] Embodiment 2:

[0035] Referring to Figures 10 - 15 , on the basis of Embodiment 1, a technical solution of a guide wheel press-fitting device based on intelligent positioning constant force control is provided. The snap ring press-fitting structure includes a fixed support 12 located on one side of the workbench plate 4. Two transverse fixing plates 1201 are symmetrically arranged on the fixed support 12. A snap ring cylinder 1202 is fixedly connected to the tops of the two transverse fixing plates 1201, and snap rings are stacked inside the snap ring cylinder 1202; One side of the transverse fixing plate 1201 is fixedly connected to a fixed end 13. A jacking cylinder 1301 is arranged on the fixed end 13. The output end of the jacking cylinder 1301 is connected to a sliding block 1302. A fixed slideway 1303 is fixedly connected to the top of the fixed support 12. The bottom of the sliding block 1302 is slidably connected to the fixed slideway 1303 through a chute. One side of the sliding block 1302 is fixedly connected to a connecting block 1304, and one side of the connecting block 1304 extends between the two transverse fixing plates 1201 and is fixedly connected to a pushing plate 1305.

[0036] A guide seat 14 is fixedly connected to the top of the fixed support 12. The guide seat 14 is connected to a snap ring plate 1401 through a support column. The snap ring plate 1401 is connected to a snap ring height limiting plate 1402 through a support rod. A gap for the snap ring to pass through is formed between the snap ring height limiting plate 1402 and the snap ring plate 1401; A snap ring cylinder 1203 is arranged on the top of the snap ring height limiting plate 1402. An installation sleeve 1403 is fixedly connected to the snap ring height limiting plate 1402. The output end of the snap ring plate 1401 is connected to a snap ring press head 1404. Through holes are opened in the fixed support 12, the snap ring plate 1401 and the snap ring height limiting plate 1402. A guide sleeve 1405 is fixedly connected to the bottom of the fixed support 12. The guide sleeve 1405 is communicated with the installation sleeve 1403 through the through hole.

[0037] A T-shaped bracket 15 is fixedly connected to the workbench plate 4. A material grabbing structure is arranged on the T-shaped bracket 15. The material grabbing structure includes a transverse guide rail 1501 fixed to the T-shaped bracket 15. A sliding table 1502 is slidably connected to the transverse guide rail 1501. A rodless cylinder is connected to one side of the sliding table 1502. A downward pressing cylinder 1503 is arranged on the sliding table 1502. An air claw plate 1504 is fixedly connected to the output end of the downward pressing cylinder 1503. A second driving motor 1505 is arranged on one side of the air claw plate 1504. An air claw mounting clamp 1506 is connected to the output end of the second driving motor 1505.

[0038] A blanking structure is arranged on the blanking base 2. The blanking structure includes a track cross beam 16 fixed to one side of the blanking base 2. A second reduction motor 1601 is arranged on one side of the track cross beam 16. The output end of the second reduction motor 1601 is connected to a driving wheel 1602. A driven wheel 1603 is arranged on the side of the track cross beam 16 far from the second reduction motor 1601. A flexible chain plate 1604 is meshed and connected to the ends of the driven wheel 1603 and the driving wheel 1602. An L-shaped support plate 17 is fixedly connected to one side of the track cross beam 16. A pushing cylinder 1701 is arranged on one side of the L-shaped support plate 17. The output end of the pushing cylinder 1701 penetrates through the L-shaped support plate 17 and is connected to a cylinder pulling plate 1702. A V-shaped pushing block 1703 is fixedly connected to one side of the cylinder pulling plate 1702. A third reduction motor 18 is arranged on the blanking base 2 through a connecting column. The output end of the third reduction motor 18 is connected to a driving shaft 1801. A driving gear 1802 is fixedly connected to the outer surface of the driving shaft 1801. A profile fixing plate 19 is arranged on the side of the blanking base 2 far from the third reduction motor 18. A driven shaft 1901 is sleeved on the end of the profile fixing plate 19. A driven gear 1902 is fixedly connected to the outer surface of the driven shaft 1901. A flat chain plate 20 is sleeved on the outer surfaces of the driven gear 1902 and the driving gear 1802. A profile support 2001 is fixedly connected between the connecting columns. A wear-resistant guide bar 2002 is fixedly connected to one side of the profile support 2001 and inside the flat chain plate 20.

[0039] In this implementation, after the press-fitting of the guide wheel is completed, the servo press 501 drives the press-fitting head 6 to rise, so that the positioning pin 901 is released from the restriction of the positioning hole. Then, the rotation disk 402 is used to transfer the press-fitted guide wheel to the lower part of the snap ring press-fitting structure. At this time, the snap ring inside the snap ring cylinder 1202 falls by gravity between the two horizontal fixing plates 1201. Then, the ejecting cylinder 1301 is started. When the ejecting cylinder 1301 operates, it drives the sliding block 1302 to slide along the track of the fixed slideway 1303. When the sliding block 1302 slides, it drives the pushing plate 1305 to slide between the two horizontal fixing plates 1201 through the connecting block 1304. Thus, when the pushing plate 1305 slides, the snap ring is pushed into the gap between the snap ring plate 1401 and the snap ring height limiting plate 1402. At this time, the snap ring cylinder 1203 is started. When the snap ring cylinder 1203 operates, it drives the snap ring pressing head 1404 to descend and then moves downward through the mounting sleeve 1403 to press the snap ring. Then, the snap ring falls through the through hole into the guide sleeve 1405, and then falls through the guide sleeve 1405 onto the guide wheel. Subsequently, the installation of the snap ring on the guide wheel is completed through continuous press-fitting.

[0040] Further, after the installation of the snap ring and the guide wheel is completed, the rotation disk 402 is used to transfer the press-fitted guide wheel to one side of the T-shaped bracket 15. Then, the air gripper mounting clip 1506 is used to grasp the guide wheel on the rotation disk 402. After the grasping is completed, the rodless cylinder is started. When the rodless cylinder operates, it drives the slide table 1502 to move along the track of the horizontal guide rail 1501 to the upper part of the flexible chain plate 1604. Then, the pressing cylinder 1503 is used to drive the air gripper mounting clip 1506 to move downward, and the guide wheel is placed on the flexible chain plate 1604.

[0041] Further, when the guide wheel is placed on the flexible chain plate 1604, the second reduction motor 1601 is started at this time. When the second reduction motor 1601 operates, it drives the driving wheel 1602 to rotate. When the driving wheel 1602 rotates, it drives one end of the flexible chain plate 1604 to transmit, and then drives the driven wheel 1603 to rotate together. Thus, when the flexible chain plate 1604 is transmitted as a whole, it drives the guide thereon to be transmitted to the other end of the flexible chain plate 1604. At this time, the pusher cylinder 1701 is started. When the pusher cylinder 1701 operates, it pushes the cylinder pull plate 1702 and the V-shaped pusher block 1703. When the V-shaped pusher block 1703 moves above the flexible chain plate 1604, it pushes the guide wheel, and the guide wheel is pushed and falls onto the flat chain plate 20. Then, the third reduction motor 18 is started. When the third reduction motor 18 operates, it drives the driving shaft 1801 and the driving gear 1802 to rotate. When the driving gear 1802 rotates, it drives one end of the flat chain plate 20 on its surface to transmit, and then drives the driven shaft 1901 and the driven gear 1902 to rotate. Thus, the flat chain plate 20 is driven to transmit as a whole. When the flat chain plate 20 transmits, it drives the guide wheel thereon to be transmitted, and thus the guide wheel can be transmitted as a whole into the external collection box for centralized storage of the guide wheel. During the transmission of the flat chain plate 20, through the wear-resistant guide bar 21 inside it, it bears the friction during the operation of the flat chain plate 20, reduces the wear and scratch of the contact part of the flat chain plate 20, thereby avoiding damage to the flat chain plate 20 caused by excessive friction and extending the service life of the flat chain plate 20.

[0042] Embodiment 3:

[0043] Referring to Figures 1 - 16 , on the basis of Embodiment 1, a technical solution for a guide wheel press-fitting method based on intelligent positioning and constant force control is provided, including the following steps: Step S1: Align the middle part of the guide wheel to be press-fitted with the positioning mandrel 405 and sleeve it. Subsequently, use the positioning fixture 406 to clamp the outer surface of the guide wheel, so that the guide wheel is tightly clamped and fitted between the positioning mandrel 405 and the positioning fixture 406, and the preliminary positioning of the guide wheel on the rotating disk 402 is completed; Step S2: After the preliminary positioning of the guide wheel is completed, use the electric cylinder 1101 in the oil injection assembly to drive the oil injection nozzle 1103 to move down to the surface of the guide wheel, and use the oil injection nozzle 1103 to perform oil injection treatment on the surface of the guide wheel to reduce the assembly resistance of the guide wheel during the subsequent press-fitting process. After the oil injection of the guide wheel is completed, use the turntable assembly to transmit the oil-injected guide wheel to the lower part of the guide wheel press-fitting mechanism; Step S3: Use the industrial camera 10 on the sliding support plate 503 to take images between the guide wheel and the positioning plate 404 and calculate the trimming position deviation. Then, use the laser emitter 1001 to emit a laser beam from the emission end, and converge it into an extremely small spot and project it onto the surface of the guide wheel to confirm the alignment accuracy between the positioning hole and the positioning pin 901. After positioning, the positioning cylinder extends to drive the positioning pin 901 to insert into the positioning hole on the positioning plate 404 to complete the final positioning; Step S4: After positioning is completed, use the servo press 501 in the guide wheel pressing mechanism to drive the sliding support plate 503, the pressing cylinder head 504, and the pressing head 6 to descend. When the pressing head 6 descends, it drives the press centering rod 407 to squeeze against the surface of the positioning mandrel 405, thereby contacting the guide wheel and performing a pressing process on the guide wheel. During the pressing process, the piezoelectric force sensors 902, MEMS force sensors 903, and strain gauge force sensors 904 distributed in an array sequentially sense the pressing force signals generated by the pressing head 6 during the pressing process, and transmit the force signals to the power control system through the data transmission line. After the power control system receives the force data, it compares it with the pre-set constant force target value, calculates the deviation between the current pressing force and the target value, and then generates a control command according to the deviation to adjust the output force of the guide wheel pressing mechanism; During the process of pressing the guide wheel, as the pressing process progresses, the power control system real-time collects the data information of the guide wheel, analyzes and judges the optimal stiffness value required for the current pressing stage, and adjusts the current magnitude of the electromagnetic coil 603 through the current adjustment structure. When the current changes, the magnetic field intensity generated by the electromagnetic coil 603 changes accordingly, and the stiffness characteristics of the ferromagnetic particles 602 are adjusted in real time to fine-tune the pressing force; Step S6: After the guide wheel is pressed, use the turntable assembly to transfer the guide wheel to the lower part of the snap ring pressing structure, and use the push plate 1305 to push the snap ring into the gap between the snap ring plate 1401 and the snap ring height limiting plate 1402. Then, use the snap ring cylinder 1203 to drive the snap ring pressing head 1404 to descend, and the snap ring pressing head 1404 presses the snap ring and presses it onto the guide wheel through the guide sleeve 1405 to complete the pressing between the snap ring and the guide wheel; Step S8: After the pressing is completed, use the turntable assembly again to transfer the guide wheel to one side of the T-shaped bracket 15. At this time, use the air claw mounting clip 1506 in the material grasping structure to grasp the guide wheel on the rotating disk 402 and transfer it to the flexible chain plate 1604. Then, use the flexible chain plate 1604 to transfer the guide wheel to the other side and push the guide wheel to the flat chain plate 20 through the V-shaped pusher block 1703. After that, the guide wheel is transferred into the external collection box through the transmission of the flat chain plate 20, and finally the overall pressing and transfer process of the guide wheel is completed.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0045] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0046] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A guide wheel press-fitting device based on intelligent positioning constant force control, comprising a press-fitting workbench (1), one side of the press-fitting workbench (1) is fixedly connected with a blanking base (2), and the top of the press-fitting workbench (1) is fixedly connected with a cover plate (3), characterized in that, A workbench plate (4) is fixedly connected between the press-fitting workbench (1) and the cover plate (3). A turntable assembly is arranged in the middle of the workbench plate (4). A support column (5) is slidably connected to the workbench plate (4) through a slide rail. A guide wheel press-fitting mechanism is arranged on the support column (5). An oil injection assembly and a circlip press-fitting structure are sequentially arranged on both sides of the guide wheel press-fitting mechanism. The guide wheel press-fitting mechanism includes a servo press (501) located on the support column (5). A linear guide rail (502) is fixedly connected to the outer wall of the support column (5). A sliding support plate (503) is slidably connected to the linear guide rail (502). A pressing cylinder head (504) is arranged on the sliding support plate (503). The pressing cylinder head (504) is connected to the output end of the servo press (501). A press-fitting head (6) is connected to the end of the pressing cylinder head (504). A sealing cavity (601) is sleeved inside the press-fitting head (6). A plurality of ferromagnetic particles (602) are arranged on the inner wall of the sealing cavity (601). An electromagnetic coil (603) is arranged on the outer wall of the sealing cavity (601). One end of the electromagnetic coil (603) is provided with a power-on end (604). An annular clamping groove is formed on one side of the inner wall of the sealing cavity (601). An inflatable airbag (7) is arranged in the annular clamping groove. A support skeleton (8) is fixedly connected inside the press-fitting head (6). The support skeleton (8) has a honeycomb-shaped hollow structure.

2. The guide wheel press-fitting device based on intelligent positioning constant force control according to claim 1, characterized in that The turntable assembly includes a first reduction motor (401) located at the bottom of the workbench plate (4). The output end of the first reduction motor (401) is connected to a rotating disk (402). A plurality of support seats (403) are distributed on the rotating disk (402). A positioning plate (404) is fixedly connected to the top of the support seat (403). A positioning mandrel (405) is fixedly connected to the positioning plate (404). A positioning fixture (406) is arranged outside the positioning mandrel (405). A press-fitting centering rod (407) that cooperates with the positioning mandrel (405) is arranged at the center of the bottom of the press-fitting head (6). One side of the inflatable airbag (7) is provided with an air inlet end, the air inlet end is connected with an air delivery pipeline (701), one end of the air delivery pipeline (701) is connected with a stamping device (702), an air pump (703) is arranged at one end of the air delivery pipeline (701) close to the stamping device (702), arc-shaped fixing blocks (801) are symmetrically arranged at the bottom of the press head (6), a placing groove is formed on one side of the arc-shaped fixing block (801), a driving motor I (802) is arranged in the placing groove, the output end of the driving motor I (802) is connected with a lead screw (803), two screw threads with opposite directions are arranged on the outer surface of the lead screw (803), rectangular blocks (804) are respectively sleeved on the two screw threads, an arc-shaped pressing plate (805) is fixedly connected to the bottom of the rectangular block (804), an annular groove is formed at the bottom of the support skeleton (8), and a displacement encoder (806) is arranged in the annular groove; A plurality of damping columns are fixedly connected to the bottom of the press head (6), an elastic connecting piece (9) is sleeved on the outer surface of the damping column, a positioning air cylinder is arranged inside the end of the elastic connecting piece (9), the output end of the positioning air cylinder is connected with a positioning pin (901), a positioning hole matched with the positioning pin (901) is formed in the outer wall of the positioning plate (404), and piezoelectric force sensors (902), MEMS force sensors (903) and strain gauge force sensors (904) are respectively arranged in an array on the outer wall of the press head (6).

3. The guiding wheel press-fitting device based on intelligent positioning constant force control according to claim 2, wherein, An industrial camera (10) is arranged on one side of the sliding support plate (503), a laser emitter (1001) is arranged at the bottom of the press cylinder head (504), the output end of the laser emitter (1001) is connected with a transmitting end, and a receiving plate (1002) matched with the transmitting end is arranged at the bottom of the positioning plate (404).

4. The guiding wheel press-fitting device based on intelligent positioning constant force control according to claim 1, wherein, The oil injection assembly comprises a cylinder support (11) located on the workbench plate (4), an electric cylinder (1101) is arranged on one side of the cylinder support (11), the output end of the electric cylinder (1101) is connected with a mounting plate (1102), a circular hole is formed at one end of the mounting plate (1102), an oil injection nozzle (1103) is fixedly connected in the circular hole, the output end of the oil injection nozzle (1103) extends to the upper part of the rotating disc (402), and a conical cover (1104) is fixedly connected to the outer surface of the oil injection nozzle (1103) and at the bottom of the mounting plate (1102).

5. The guide wheel press-fitting device based on intelligent positioning constant force control according to claim 1, wherein, The snap ring press-fitting structure comprises a fixed support (12) located on one side of the workbench plate (4), two transverse fixing plates (1201) are symmetrically arranged on the fixed support (12), a snap ring cylinder (1202) is fixedly connected to the top of the two transverse fixing plates (1201), and snap rings are stacked inside the snap ring cylinder (1202); One side of the horizontal fixing plate (1201) is fixedly connected with a fixed end (13). A top-out air cylinder (1301) is arranged on the fixed end (13). The output end of the top-out air cylinder (1301) is connected with a sliding block (1302). The top of the fixed support (12) is fixedly connected with a fixed slideway (1303). The bottom of the sliding block (1302) is slidably connected with the fixed slideway (1303) through a chute. One side of the sliding block (1302) is fixedly connected with a connecting block (1304). One side of the connecting block (1304) extends between two horizontal fixing plates (1201) and is fixedly connected with a pushing plate (1305).

6. The guide wheel press-fitting device based on intelligent positioning constant force control according to claim 5, wherein The top of the fixed support (12) is fixedly connected with a guiding seat (14). The guiding seat (14) is connected with a snap ring plate (1401) through a support column. The snap ring plate (1401) is connected with a snap ring height-limiting plate (1402) through a support rod. A gap for the snap ring to pass through is formed between the snap ring height-limiting plate (1402) and the snap ring plate (1401). A snap ring air cylinder (1203) is arranged at the top of the snap ring height-limiting plate (1402). An installation sleeve (1403) is fixedly connected to the snap ring height-limiting plate (1402). The output end of the snap ring plate (1401) is connected with a snap ring pressing head (1404). Through holes are formed in the fixed support (12), the snap ring plate (1401) and the snap ring height-limiting plate (1402). The bottom of the fixed support (12) is fixedly connected with a guiding sleeve (1405). The guiding sleeve (1405) is communicated with the installation sleeve (1403) through the through hole.

7. The guide wheel press-fitting device based on intelligent positioning constant force control according to claim 1, wherein, A T-shaped bracket (15) is fixedly connected to the workbench plate (4). A material-grabbing structure is arranged on the T-shaped bracket (15). The material-grabbing structure includes a horizontal guide rail (1501) fixed to the T-shaped bracket (15). A slide table (1502) is slidably connected to the horizontal guide rail (1501). One side of the slide table (1502) is connected with a rodless air cylinder. A downward pressing air cylinder (1503) is arranged on the slide table (1502). The output end of the downward pressing air cylinder (1503) is fixedly connected with a pneumatic claw plate (1504). A driving motor two (1505) is arranged on one side of the pneumatic claw plate (1504). The output end of the driving motor two (1505) is connected with a pneumatic claw mounting clamp (1506).

8. The guiding wheel press-fitting device based on intelligent positioning constant force control according to claim 1, characterized in that, A blanking structure is arranged on the blanking base (2). The blanking structure includes a track cross beam (16) fixed to one side of the blanking base (2). A second reduction motor (1601) is arranged on one side of the track cross beam (16). The output end of the second reduction motor (1601) is connected with a driving wheel (1602). A driven wheel (1603) is arranged on the side of the track cross beam (16) far from the second reduction motor (1601). A flexible chain plate (1604) is meshed and connected between the driven wheel (1603) and the driving wheel (1602). One side of the track cross beam (16) is fixedly connected with an L-shaped support plate (17). One side of the L-shaped support plate (17) is provided with a pushing cylinder (1701). The output end of the pushing cylinder (1701) penetrates through the L-shaped support plate (17) and is connected with a cylinder pull plate (1702). One side of the cylinder pull plate (1702) is fixedly connected with a V-shaped pushing block (1703). A third reduction motor (18) is arranged on the blanking base (2) through a connecting column. The output end of the third reduction motor (18) is connected with a driving shaft (1801). The outer surface of the driving shaft (1801) is fixedly connected with a driving gear (1802). A profile fixing plate (19) is arranged on one side of the blanking base (2) away from the third reduction motor (18). The end of the profile fixing plate (19) is sleeved with a driven shaft (1901). The outer surface of the driven shaft (1901) is fixedly connected with a driven gear (1902). A flat chain plate (20) is sleeved on the outer surfaces of the driven gear (1902) and the driving gear (1802). A profile support (2001) is fixedly connected between the connecting columns. One side of the profile support (2001) and inside the flat chain plate (20) is fixedly connected with a wear-resistant guide bar (21).

9. The guide wheel pressing device based on intelligent positioning constant force control according to claim 1, wherein The back of the cover plate (3) is fixedly connected with an electric control box (22). A power control system is arranged inside the electric control box (22). The power control system is connected with the energized end (604) of the electromagnetic coil (603) through a current regulating structure. A warning lamp (23) is arranged on the top of the cover plate (3), and a display (24) is arranged on the left side of the cover plate (3).

10. A method for press-fitting a guide wheel based on intelligent positioning and constant force control, based on the press-fitting device for a guide wheel based on intelligent positioning and constant force control according to any one of claims 1-9, characterized in that, It includes the following steps: Step S1: Align the middle part of the guide wheel to be press-fitted with the positioning mandrel (405) and sleeved it. Then, use the positioning fixture (406) to clamp the outer surface of the guide wheel, so that the guide wheel is tightly clamped and fitted between the positioning mandrel (405) and the positioning fixture (406), and the preliminary positioning of the guide wheel on the rotating disc (402) is completed. Step S2: After the preliminary positioning of the guide wheel is completed, use the electric cylinder (1101) in the oil injection assembly to drive the oil injection nozzle (1103) to move down to the surface of the guide wheel, and use the oil injection nozzle (1103) to perform oil injection treatment on the surface of the guide wheel to reduce the assembly resistance during the subsequent press-fitting of the guide wheel. After the oil injection of the guide wheel is completed, use the turntable assembly to transfer the oil-injected guide wheel to the lower part of the guide wheel press-fitting mechanism. Step S3: Use the industrial camera (10) on the sliding support plate (503) to take pictures of the image between the guide wheel and the positioning plate (404) and calculate and correct the position deviation. Then, use the laser emitter (1001) to emit a laser beam from the emission end and gather it into a very small light spot and project it onto the surface of the guide wheel to confirm the alignment accuracy between the positioning hole and the positioning pin (901). After the positioning is completed, the positioning cylinder extends, driving the positioning pin (901) to insert into the positioning hole on the positioning plate (404) to complete the final positioning. Step S4: After positioning is completed, the servo press (501) in the guide wheel press-fitting mechanism drives the sliding support plate (503), the pressing cylinder head (504), and the press-fitting head (6) to descend. When the press-fitting head (6) descends, it drives the press centering rod (407) to squeeze against the surface of the positioning mandrel (405), thereby coming into contact with the guide wheel and performing a press-fitting process on the guide wheel. During the press-fitting process, the piezoelectric force sensors (902), MEMS force sensors (903), and strain gauge force sensors (904) distributed in an array sequentially sense the force signals generated by the press-fitting head (6) during the press-fitting process, and transmit the force signals to the power control system through the data transmission line. After the power control system receives the force data, it compares it with the pre-set constant force target value, calculates the deviation between the current press-fitting force and the target value, and then generates a control instruction according to the deviation to adjust the output force of the guide wheel press-fitting mechanism; During the process of press-fitting the guide wheel, as the press-fitting process progresses, the power control system real-time collects the data information of the guide wheel, analyzes and judges the optimal stiffness value required for the current press-fitting stage, and adjusts the current magnitude of the electromagnetic coil (603) through the current adjustment structure. When the current changes, the magnetic field intensity generated by the electromagnetic coil (603) changes accordingly, and the stiffness characteristics of the ferromagnetic particles (602) are adjusted in real time to finely adjust the press-fitting force; Step S5: After the press-fitting of the guide wheel is completed, the turntable assembly is used to transfer the guide wheel to the lower part of the snap ring press-fitting structure, and the snap ring is pushed into the gap between the snap ring plate (1401) and the snap ring height limiting plate (1402) by the push plate (1305). Subsequently, the snap ring cylinder (1203) is used to drive the snap ring press head (1404) to descend, and the snap ring press head (1404) presses down the snap ring and presses it onto the guide wheel through the guide sleeve (1405) to complete the press-fitting between the snap ring and the guide wheel; Step S6: After the press-fitting is completed, the turntable assembly is used again to transfer the guide wheel to one side of the T-shaped bracket (15). At this time, the air claw mounting clip (1506) in the material grasping structure is used to grasp the guide wheel on the rotating disk (402) and transfer it to the flexible chain plate (1604). Subsequently, the flexible chain plate (1604) is used to transfer the guide wheel to the other side and push the guide wheel to the flat chain plate (20) through the V-shaped pusher block (1703). After that, the guide wheel is transferred into the external collection box through the transmission of the flat chain plate (20), and finally the overall press-fitting and transfer process of the guide wheel is completed.

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