A guide wheel press-fitting device and method based on intelligent positioning and constant force control

Abstract

The present invention relates to the field of mechanical pressing technology, and in particular to a guide wheel pressing device and method based on intelligent positioning constant force control, comprising a pressing workbench, a blanking base fixedly connected to one side of the pressing workbench, a cover plate fixedly connected to the top of the pressing workbench, a workbench plate fixedly connected between the pressing workbench and the cover plate, a turntable assembly provided in the middle of the workbench, a support column slidably connected to the workbench via a slide rail, and a guide wheel pressing mechanism provided on the support column. The pressing device achieves pre-positioning through the coordinated clamping of a positioning mandrel and a positioning fixture, and at the same time, through the visual contour recognition of an industrial camera, the micro-displacement detection of a laser transmitter, and the rigid locking of a positioning pin, a positioning process of "coarse positioning-visual correction-laser precision measurement-mechanical locking" is constructed, which solves the multi-angle deviation problem of traditional single mechanical positioning and achieves bidirectional precise positioning of the guide wheel in the radial and axial directions.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical pressing, and in particular to a guide wheel pressing device and method based on intelligent positioning constant force control. Background Art

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

[0003] In the existing equipment for press-fitting guide wheels, manual alignment or single mechanical positioning is usually relied upon when installing the guide wheels, which can only achieve coarse positioning in a single direction and cannot compensate for multi-angle deviations and adapt to workpiece size deviations and changes in the assembly environment, resulting in a large coaxiality error of the guide wheel after pressing; at the same time, open-loop control or simple hydraulic drive is mostly used in the press-fitting process, and the pressing force fluctuation range is large. The hydraulic system response is relatively slow and cannot cope with dynamic force changes. The traditional rigid press-fitting head lacks a buffer mechanism, which is prone to local overload due to the uneven surface of the workpiece, resulting in cracks in the workpiece. The traditional press-fitting head has a fixed stiffness and cannot match the pressing 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. When press-fitting a metal guide wheel, the flexible press head is difficult to provide sufficient support force, resulting in inadequate press-fitting and reduced press-fitting quality. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a guide wheel pressing device and method based on intelligent positioning constant force control.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A guide wheel pressing device based on intelligent positioning constant force control includes a pressing workbench, one side of the pressing workbench is fixedly connected to a blanking base, the top of the pressing workbench is fixedly connected to a cover plate, a workbench plate is fixedly connected between the pressing workbench and the cover plate, a turntable assembly is provided in the middle of the workbench plate, a support column is slidably connected to the workbench plate via a slide rail, a guide wheel pressing mechanism is provided on the support column, and an oil injection assembly and a retaining spring pressing structure are sequentially provided on both sides of the guide wheel pressing mechanism;

[0007] The guide wheel pressing mechanism includes a servo press located on a support column, the outer wall of the support column is fixedly connected to a linear guide rail, a sliding support plate is slidably connected to the linear guide rail, a cylinder pressure head is provided on the sliding support plate, the cylinder pressure head is connected to the output end of the servo press, and the end of the cylinder pressure head is connected to a pressing head;

[0008] The interior of the press-fitting head is provided with a sealed cavity, the inner wall of the sealed cavity is provided with a plurality of ferromagnetic particles, the outer wall of the sealed cavity is provided with an electromagnetic coil, one end of the electromagnetic coil is provided with a power-on end, an annular groove is provided on one side of the inner wall of the sealed cavity, an inflatable airbag is provided in the annular groove, the interior of the press-fitting head is fixedly connected to a support frame, and the support frame has a honeycomb hollow structure.

[0009] Preferably, the turntable assembly includes a first reduction motor located at the bottom of the worktable, the output end of the first reduction motor is connected to a rotating disk, a plurality of support seats are distributed on the rotating disk, the top of the support seat is fixedly connected to a positioning plate, the positioning plate is fixedly connected to a positioning core shaft, a positioning fixture is provided on the outside of the positioning core shaft, and a press centering rod that cooperates with the positioning core shaft is provided at the bottom center of the press head;

[0010] A gas delivery end is provided on one side of the inflatable airbag, and the gas delivery end is connected to a gas delivery pipeline, one end of the gas delivery pipeline is connected to a punching device, and an air pump is provided on the end of the gas delivery pipeline close to the punching device. An arc-shaped fixing block is symmetrically provided at the bottom of the press head, and a placement groove is provided on one side of the arc-shaped fixing block. A driving motor 1 is provided in the placement groove, and an output end of the driving motor 1 is connected to a lead screw, and two threaded sections in opposite directions are provided on the outer surface of the lead screw, and rectangular blocks are respectively sleeved on the two threaded sections, and an arc-shaped abutting plate is fixedly connected to the bottom of the rectangular block, and an annular groove is provided at the bottom of the supporting frame, and a displacement encoder is provided in the annular groove;

[0011] Several damping columns are fixedly connected to the bottom of the press-fitting head, and the outer surface of the damping column is sleeved with an elastic connecting piece. 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. The outer wall of the positioning plate is provided with a positioning hole that matches the positioning pin. The outer wall of the press-fitting head is respectively distributed with piezoelectric force sensors, MEMS force sensors and strain gauge force sensors in an array.

[0012] Preferably, an industrial camera is provided on one side of the sliding support plate, a laser emitter is provided at the bottom of the cylinder pressure head, the output end of the laser emitter is connected to the transmitting end, and a receiving plate matching the transmitting end is provided at the bottom of the positioning plate.

[0013] Preferably, the oil injection assembly includes a cylinder bracket located on the workbench, an electric cylinder is provided on one side of the cylinder bracket, the output end of the electric cylinder is connected to a mounting plate, a circular hole is opened at one end of the mounting plate, an oil nozzle is fixedly connected in the circular hole, the output end of the oil nozzle extends to just above the rotating disk, and a conical cover is fixedly connected to the outer surface of the oil nozzle and located at the bottom of the mounting plate.

[0014] Preferably, the clamping spring press-fitting structure includes a fixed support located on one side of the workbench, two transverse fixing plates are symmetrically arranged on the fixed support, the tops of the two transverse fixing plates are fixedly connected to a clamping spring cylinder, and the clamping spring cylinder is stacked inside.

[0015] One side of the transverse fixed plate is fixedly connected to a fixed end, and an ejection cylinder is provided on the fixed end. The output end of the ejection cylinder is connected to a sliding block, and the top of the fixed support is fixedly connected to a fixed slide. The bottom of the sliding block is slidably connected to the fixed slide through a slide groove. 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 fixed plates and is fixedly connected to a pusher plate.

[0016] Preferably, the top of the fixed support is fixedly connected to a guide seat, the guide seat is connected to a retaining spring plate via a support column, the retaining spring plate is connected to a retaining spring height limiting plate via a support rod, and a gap is formed between the retaining spring height limiting plate and the retaining spring plate for the retaining spring to pass through;

[0017] A retaining spring cylinder is provided on the top of the retaining spring height limiting plate, a mounting sleeve is fixedly connected to the retaining spring height limiting plate, a retaining spring pressure head is connected to the output end of the retaining spring plate, through holes are provided on the fixed support, the retaining spring plate and the retaining spring height limiting plate, a guide sleeve is fixedly connected to the bottom of the fixed support, and the guide sleeve is connected to the mounting sleeve through the through hole.

[0018] Preferably, a T-shaped bracket is fixedly connected to the workbench, and a grabbing structure is provided on the T-shaped bracket. The grabbing structure includes a transverse guide rail fixed on the T-shaped bracket, and a slide is slidably connected to the transverse guide rail. One side of the slide is connected to a rodless cylinder, and a downward pressure cylinder is provided on the slide. The output end of the downward pressure cylinder is fixedly connected to an air claw plate, and one side of the air claw plate is provided with a driving motor 2, and the output end of the driving motor 2 is connected to an air claw mounting clamp.

[0019] Preferably, a blanking structure is provided on the blanking base, and the blanking structure includes a track beam fixed to one side of the blanking base, a second reduction motor is provided on one side of the track beam, an output end of the second reduction motor is connected to a driving wheel, and a driven wheel is provided on a side of the track beam away from the second reduction motor, and the driven wheel is meshed with the end of the driving wheel and connected with a flexible chain plate;

[0020] An L-shaped support plate is fixedly connected to one side of the track beam, a push cylinder is provided on one side of the L-shaped support plate, an output end of the push cylinder passes through the L-shaped support plate and is connected to a cylinder pull plate, and a V-shaped push block is fixedly connected to one side of the cylinder pull plate;

[0021] 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 to a driving gear, a profile fixing plate is provided on the 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 to the driven gear, the outer surfaces of the driven gear and the driving gear are sleeved with flat chain plates, profile brackets are fixedly connected between the connecting columns, and a wear-resistant guide bar is fixedly connected to one side of the profile bracket and located inside the flat chain plate.

[0022] Preferably, an electrical control box is fixedly connected to the back of the cover plate, a power control system is provided inside the electrical 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 provided on the top of the cover plate, and a display is provided on the left side of the cover plate.

[0023] A guide wheel press-fitting method based on intelligent positioning and constant force control comprises the following steps:

[0024] Step S1: Align the middle of the guide wheel to be press-fitted with the positioning mandrel and insert it, then use a positioning fixture to clamp the outer surface of the guide wheel so that the guide wheel is tightly clamped and fits between the positioning mandrel and the positioning fixture, completing the initial positioning of the guide wheel on the rotating disk;

[0025] Step S2: After the initial positioning of the guide wheel is completed, the electric cylinder in the oil injection assembly is used to drive the oil injection nozzle to move downward to the surface of the guide wheel, and the oil injection nozzle is used to spray oil 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, the turntable assembly is used to transfer the oil-sprayed guide wheel to the bottom of the guide wheel press-fitting mechanism;

[0026] Step S3: Use the industrial camera on the sliding support plate to capture the image between the guide wheel and the positioning plate and calculate the trimming position deviation. Then, use the laser transmitter to emit a laser beam from the transmitting end and focus it into a very small spot to project it onto the surface of the guide wheel to confirm the alignment accuracy between the positioning hole and the positioning pin. After positioning is completed, the positioning cylinder extends, driving the positioning pin to insert into the positioning hole on the positioning plate to complete the final positioning.

[0027] Step S4: After the positioning is completed, the servo press in the guide wheel pressing mechanism is used to drive the sliding support plate, the cylinder pressure head, and the pressing head to descend. When the pressing head descends, it drives the press centering rod to be squeezed to the surface of the positioning core shaft, thereby contacting the guide wheel and performing press-fitting on the guide wheel. During the pressing process, the array-distributed piezoelectric force sensors, MEMS force sensors, and strain gauge force sensors sequentially sense the force signals generated by the pressing head during the pressing process, and transmit the force signals to the power control system through the data transmission line. After receiving the force data, the power control system compares it with the preset constant force target value, calculates the deviation between the current pressing force and the target value, and then generates a control instruction according to the deviation to adjust the output force of the guide wheel pressing mechanism;

[0028] During the press-fitting process of the guide wheel, as the press-fitting process progresses, the power control system collects data information about the guide wheel in real time, analyzes and determines the optimal stiffness value required for the current press-fitting stage, and adjusts the current of the electromagnetic coil through the current regulation structure. When the current changes, the magnetic field strength generated by the electromagnetic coil changes accordingly, and the stiffness characteristics of the ferromagnetic particles are adjusted in real time to fine-tune the press-fitting force.

[0029] Step S5: After the guide wheel is pressed, the guide wheel is transferred to the bottom of the circlip pressing structure by using the turntable assembly, and the circlip is pushed into the gap between the circlip plate and the circlip height limiting plate by using the push plate. Then, the circlip cylinder drives the circlip pressing head to descend, and the circlip pressing head presses the circlip and presses it onto the guide wheel through the guide sleeve, completing the press fitting between the circlip and the guide wheel.

[0030] 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 clamp in the grabbing structure is used to grab the guide wheel on the rotating disk and transfer it to the flexible chain plate. Then, the flexible chain plate is used to transfer the guide wheel to the other side and the V-shaped pushing block is used to push the guide wheel to the flat chain plate. After that, the guide wheel is transferred to 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.

[0031] The beneficial effects of the present invention are:

[0032] The press-fitting equipment achieves 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, it constructs a positioning process of "rough positioning-visual correction-laser precision measurement-mechanical locking", which solves the multi-angle deviation problem of traditional single mechanical positioning and realizes the bidirectional precise positioning of the guide wheel in the radial and axial directions. Through the forced correction of the positioning pin and the positioning hole, the positioning error of the traditional manual alignment is reduced, and the problem of large coaxiality error of the guide wheel is effectively solved.

[0033] The pressing equipment uses an array force sensor to precisely control the output force and respond to dynamic force changes, maintaining a stable pressing force and avoiding overload cracks in the workpiece. The electromagnetic coil controls the magnetic field chain structure of the ferromagnetic particles and the dynamic adjustment of the inflatable airbag. The lead screw drives the arc-shaped clamping plate to constrain edge deformation, and the honeycomb support skeleton limits excessive deformation, thereby achieving continuity and stability in stiffness adjustment. In the early stage of pressing, the guide wheel is quickly positioned with high stiffness, and in the final stage, it switches to low stiffness flexible pressing. This solves the problem of deformation or inadequate pressing caused by the mismatch between the rigid pressing head and the flexible material, thereby improving the pressing quality.

[0034] The pressing equipment adopts a turntable assembly to link multiple stations to achieve positioning, oil injection, pressing, spring assembly, and material unloading cycles, thereby improving production efficiency and yield rate and reducing operation and maintenance costs. The combined design of conical cover and directional oil spray nozzle prevents the lubricating oil from splashing to non-target areas during the oil injection lubrication process, thus avoiding pollution or waste. At the same time, it blocks the blockage of external dust, metal debris and other pollutants, thereby extending its service life. During the transmission of the flat chain plate, the wear-resistant guide bar inside it withstands 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

[0035] Figure 1 This 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;

[0036] Figure 2 This is a schematic diagram of the connection structure between the guide wheel pressing mechanism and the turntable assembly of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention;

[0037] Figure 3 The invention proposes a guide wheel pressing device and method based on intelligent positioning constant force control Figure 2 Schematic diagram of the structure at the enlarged point A;

[0038] Figure 4 This 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;

[0039] Figure 5 This is a schematic structural diagram of a 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;

[0040] Figure 6 This is a schematic diagram of the connection structure between the sealing cavity and the support frame of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention;

[0041] Figure 7This is a schematic diagram of the bottom structure of the sealed cavity of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention;

[0042] Figure 8 This is a schematic structural diagram of a press-fitting workbench of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention;

[0043] Figure 9 The invention proposes a guide wheel pressing device and method based on intelligent positioning constant force control Figure 8 Schematic diagram of the structure at the enlarged point B;

[0044] Figure 10 This is a schematic diagram of the retaining spring press-fitting structure of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention;

[0045] Figure 11 The invention proposes a guide wheel pressing device and method based on intelligent positioning constant force control Figure 10 Schematic diagram of the structure at the enlarged point C in the middle;

[0046] Figure 12 This is a schematic diagram of the material grabbing structure of a guide wheel pressing device and method based on intelligent positioning and constant force control proposed by the present invention;

[0047] Figure 13 This is a schematic diagram of the blanking structure of a guide wheel press-fitting device and method based on intelligent positioning and constant force control proposed by the present invention;

[0048] Figure 14 The invention proposes a guide wheel pressing device and method based on intelligent positioning constant force control Figure 13 Schematic diagram of the structure at the enlarged point D;

[0049] Figure 15 This is a schematic diagram of the internal structure of the flexible chain plate and the flat chain plate of the guide wheel press-fitting equipment and method based on intelligent positioning and constant force control proposed by the present invention;

[0050] Figure 16 This is a schematic diagram of the current regulation structure of a guide wheel pressing device and method based on intelligent positioning constant force control proposed by the present invention.

[0051] In the picture:

[0052] 1. Press-fitting workbench; 2. Blanking base; 3. Cover plate; 4. Workbench plate; 401. First reduction motor; 402. Rotating disk; 403. Support seat; 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. Cylinder head; 6. Press-fitting head; 601. Sealing cavity; 602. Ferromagnetic particles; 603. Electromagnetic coil; 604. Power supply terminal; 7. Inflatable airbag; 701. Gas pipeline; 702. Punching device; 703, air pump; 8, support frame; 801, arc-shaped fixed block; 802, drive motor 1; 803, lead screw; 804, rectangular block; 805, arc-shaped clamping plate; 806, displacement encoder; 9, elastic connector; 901, positioning pin; 902, piezoelectric force sensor; 903, MEMS force sensor; 904, strain gauge force sensor; 10, industrial camera; 1001, laser transmitter; 1002, receiving board; 11, cylinder bracket; 1101, electric cylinder; 1102, mounting plate; 1103, fuel injector; 1104, conical cover; 12, solid Fixed support; 1201, horizontal fixed plate; 1202, retaining spring cylinder; 1203, retaining spring cylinder; 13, fixed end; 1301, ejector cylinder; 1302, sliding block; 1303, fixed slideway; 1304, connecting block; 1305, pusher plate; 14, guide seat; 1401, retaining spring plate; 1402, retaining spring height limit plate; 1403, mounting sleeve; 1404, retaining spring pressure head; 1405, guide sleeve; 15, T-shaped bracket; 1501, horizontal guide rail; 1502, slide; 1503, downward pressure cylinder; 1504, air claw plate; 1505, drive motor 2; 1 506. Air gripper mounting clamp; 16. Track crossbeam; 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 pusher 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 bracket; 21. Wear-resistant guide strip; 22. Electric control box; 23. Warning light; 24. Display. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0054] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0055] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connection adopts the conventional connection method in the existing technology, which will not be described in detail here.

[0056] Example 1:

[0057] Reference Figures 1-16 A guide wheel pressing device based on intelligent positioning constant force control includes a pressing workbench 1, a blanking base 2 is fixedly connected to one side of the pressing workbench 1, a cover plate 3 is fixedly connected to the top of the pressing workbench 1, a workbench board 4 is fixedly connected between the pressing workbench 1 and the cover plate 3, a turntable assembly is provided in the middle of the workbench board 4, a support column 5 is slidably connected to the workbench board 4 through a slide rail, a guide wheel pressing mechanism is provided on the support column 5, and an oil injection assembly and a retaining spring pressing structure are sequentially provided on both sides of the guide wheel pressing mechanism;

[0058] The guide wheel pressing mechanism includes a servo press 501 located on the support column 5. The outer wall of the support column 5 is fixedly connected to a linear guide 502. A sliding support plate 503 is slidably connected to the linear guide 502. A cylinder press head 504 is provided on the sliding support plate 503. The cylinder press head 504 is connected to the output end of the servo press 501. The end of the cylinder press head 504 is connected to the pressing head 6.

[0059] A sealed cavity 601 is provided inside the press-fitting head 6, and a plurality of ferromagnetic particles 602 are provided on the inner wall of the sealed cavity 601. An electromagnetic coil 603 is provided on the outer wall of the sealed cavity 601, and a power-on end 604 is provided at one end of the electromagnetic coil 603. An annular groove is provided on one side of the inner wall of the sealed cavity 601, and an inflatable airbag 7 is provided in the annular groove. The interior of the press-fitting head 6 is fixedly connected to a support frame 8, and the support frame 8 has a honeycomb hollow structure.

[0060] The turntable assembly includes a first reduction motor 401 located at the bottom of the worktable 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 fixture 406 is provided on the outside of the positioning core shaft 405. A press centering rod 407 that cooperates with the positioning core shaft 405 is provided at the bottom center of the press head 6.

[0061] A gas delivery end is provided on one side of the inflatable airbag 7, and the gas delivery end is connected to a gas delivery pipe 701. One end of the gas delivery pipe 701 is connected to a punching device 702. An air pump 703 is provided at the end of the gas delivery pipe 701 close to the punching device 702. An arc-shaped fixing block 801 is symmetrically provided at the bottom of the press-fitting head 6. A placement groove is provided on one side of the arc-shaped fixing block 801. A driving motor 1 802 is provided in the placement groove. The output end of the driving motor 1 802 is connected to a lead screw 803. The outer surface of the lead screw 803 is provided with two threaded sections in opposite directions. Rectangular blocks 804 are respectively sleeved on the two threaded sections. The bottom of the rectangular block 804 is fixedly connected to an arc-shaped clamping plate 805. An annular groove is provided at the bottom of the support frame 8, and a displacement encoder 806 is provided in the annular groove.

[0062] Several damping columns are fixedly connected to the bottom of the press-fitting head 6, and the outer surface of the damping column is sleeved with an elastic connecting part 9. A positioning cylinder is arranged inside the end of the elastic connecting part 9, and the output end of the positioning cylinder is connected to a positioning pin 901. The outer wall of the positioning plate 404 is provided with a positioning hole that matches the positioning pin 901. The outer wall of the press-fitting head 6 is respectively distributed with an array of piezoelectric force sensors 902, MEMS force sensors 903 and strain gauge force sensors 904.

[0063] An industrial camera 10 is provided on one side of the sliding support plate 503, a laser emitter 1001 is provided at the bottom of the cylinder pressure head 504, the output end of the laser emitter 1001 is connected to the transmitting end, and a receiving plate 1002 that cooperates with the transmitting end is provided at the bottom of the positioning plate 404.

[0064] The oil injection assembly includes a cylinder bracket 11 located on the workbench 4, and an electric cylinder 1101 is provided on one side of the cylinder bracket 11. The output end of the electric cylinder 1101 is connected to the mounting plate 1102. A circular hole is opened at one end of the mounting plate 1102, and 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 located at the bottom of the mounting plate 1102.

[0065] An electrical control box 22 is fixedly connected to the back of the cover plate 3. A power control system is provided inside the electrical control box 22. The power control system is connected to the power-on end 604 of the electromagnetic coil 603 through a current regulating structure. A warning light 23 is provided on the top of the cover plate 3, and a display 24 is provided on the left side of the cover plate 3.

[0066] The current regulation structure includes a comparator A1. The non-inverting input of comparator A1 is connected to the output of the power control system. The output of comparator A1 is connected to resistor R1. The output of resistor R1 is connected to an adjustable resistor Rt. The output of adjustable resistor Rt is connected to resistor R3. The output of resistor R3 is connected to a three-primary color diode RGB. The outputs of the three-primary color diode RGB are sequentially connected to the warning light 23 and the electromagnetic coil 603.

[0067] The output end of comparator A1 is also connected to resistor R2, the output end of resistor R2 is connected to resistor R4, the negative electrode of resistor R4 is grounded, the output end of resistor R2 is also connected to differential amplifier A2, the output end of differential amplifier A2 is connected to the inverting input end of comparator A1, the inverting input end of differential amplifier A2 is connected to resistor R5, the output end of resistor R5 is connected to emitter follower A3, resistor R6 is connected in parallel across the differential amplifier A2, capacitor C1 is connected in parallel across the resistor R6, the non-inverting input end of emitter follower A3 is connected to the output end of adjustable resistor Rt, and the inverting input end of emitter follower A3 is connected to the output end of resistor R5.

[0068] In this embodiment, when the guide wheel needs to be press-fitted, the middle through hole of the guide wheel is first inserted into the positioning core shaft 405, and then the positioning fixture 406 is inserted into the outside of the guide wheel, and the outer surface of the guide wheel is clamped so that the guide wheel is tightly clamped and fits between the positioning core shaft 405 and the positioning fixture 406, completing the preliminary positioning of the guide wheel on the rotating disk 402.

[0069] After the positioning is completed, the first reduction motor 401 is started. When the first reduction motor 401 is running, it drives the rotating disk 402 to rotate. When the rotating disk 402 rotates, the guide wheel is rotated to the bottom of the oil nozzle 1103. At this time, the electric cylinder 1101 is started. When the electric cylinder 1101 is running, it drives the mounting plate 1102 and the oil nozzle 1103 to descend, and the oil nozzle 1103 is lowered to the surface of the guide wheel. Then the oil nozzle 1103 is started so that the lubricating oil is sprayed onto the surface of the guide wheel, and the guide wheel is lubricated by oil spraying, thereby reducing the friction between the guide wheel and the positioning plate 404 during the subsequent pressing process, preventing scratches or jamming caused by direct metal contact, and reducing the assembly resistance of the subsequent guide wheel during the pressing process. The conical cover 1104 on the outside of the oil nozzle 1103 can prevent the lubricating oil from splashing to non-target areas, avoiding pollution or waste, and at the same time preventing external dust, metal debris and other pollutants from clogging the oil nozzle 1103, thereby extending its service life.

[0070] Furthermore, after the guide wheel is lubricated, the guide wheel is transferred to the bottom of the guide wheel pressing mechanism by using the rotating disk 402. 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 deviation is corrected by sliding the support column 5. Then, the laser emitter 1001 is started, and a laser beam is emitted from the transmitting end, and is focused into a very small light spot and projected onto the surface of the guide wheel. Then, the laser spot is received by the receiving plate 1002. When the pressing head 6 is displaced, the imaging position of the laser spot on the receiving plate 1002 changes. Then, the change signal is transmitted to the display 24, and the displacement between the pressing head 6 and the guide wheel is calculated, thereby confirming the alignment accuracy between the positioning hole and the positioning pin 901. Then, 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, forcibly correcting the remaining position deviation, thereby completing the final positioning of the pressing head 6 on the positioning plate 404.

[0071] Furthermore, when the positioning of the press fitting head 6 and the guide wheel is completed, the servo press 501 is started to drive the cylinder press 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 be squeezed to the surface of the positioning core shaft 405, thereby contacting the guide wheel and press fitting the guide wheel. During the continuous press fitting process of the press fitting head 6, the piezoelectric force sensor 902, MEMS force sensor 903 and strain gauge force sensor 904 distributed in the array thereon successively 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, MEMS force sensor 903 and strain gauge force sensor 904 can sense the press fitting force signal generated by the press fitting head 6 during the press fitting process in a very short time. The system captures this change in time, converts the force signal into an electrical signal in turn, and transmits 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 preset constant force target value, calculates the deviation between the current pressing force and the target value, and uses the adaptive fuzzy logic control algorithm combined with the pressing displacement information and the equipment operation status to conduct an in-depth analysis of the deviation. If it is detected that the pressing force is higher than the target value, the power control system issues a command to reduce the output force of the servo press 501; on the contrary, if the pressing force is lower than the target value, the output force is increased to make the pressing force always stable near the preset constant force value, effectively ensuring the stability and consistency of the guide wheel pressing process.

[0072] Furthermore, during the process of press-fitting the guide wheel, as the press-fitting process progresses, the power control system collects data information of the guide wheel in real time, analyzes and determines the optimal stiffness value required for the current press-fitting stage, and then the power control system outputs current. When the current flows through the comparator A1, the comparator A1 senses the change in the input current signal, and then passes through the feedback amplification loop composed of the differential amplifier A2 and the emitter follower A3, amplifies the change in the tiny current, and accurately controls the output to maintain the accuracy of the current regulation. The feedback circuit composed of the resistors R4 and R5 cooperates with the feedback amplification loop to make the current regulation more accurate and stable. Then, the current is adjusted by the adjustable resistor Rt, thereby changing the output current. When the output current changes, it flows through the three-primary-color tube RGB, and then the three-primary-color tube RGB operates and causes the warning light 23 to flash, so that the circuit operation status can be more intuitively judged externally. Then, the current flows through the energized end 604 of the electromagnetic coil 603, making the electromagnetic coil 603 energized.

[0073] When the current changes, the magnetic field strength generated by the electromagnetic coil 603 also changes, thereby continuously adjusting the stiffness characteristics of the ferromagnetic particles 602 in real time. When greater stiffness is required to quickly position the guide wheel at the initial stage of pressing, the current of the electromagnetic coil 603 is increased. After the electromagnetic coil 603 is energized to generate a magnetic field, the ferromagnetic particles 602 are attracted by the magnetic field force and arranged in order along the direction of the magnetic field to form a "chain" or "columnar" structure. The particles generate interaction forces due to the magnetic field, thereby resisting external loads. The stronger the magnetic field, the tighter the particles are arranged and the stronger their interaction, and the particles form a stable structure, thereby increasing the stiffness. When the stiffness of the middle part of the sealed cavity 601 increases, the air pump 703 is started at this time, so that the gas inside the punching device 702 is filled into the inflatable airbag 7 through the gas pipeline 701. When the inflatable airbag 7 expands, The ferromagnetic particles 602 in the squeezed inner wall increase the internal stress, thereby enhancing the anti-deformation energy of the sealed cavity 601. At this time, the driving motor 802 is started to drive the screw 803 to rotate. When the screw 803 rotates, the two spiral sections on the surface drive the two rectangular blocks 804 to move in opposite directions. When the rectangular blocks 804 move, they drive the arc-shaped pressing plates 805 to move, and then the arc-shaped pressing plates 805 are pressed against the edge area of ​​the sealed cavity 601. When the extrusion amount is greater, the sealed cavity 601 receives more rigid support areas. When the rigidity of the sealed cavity 601 is higher, the excessive deformation of the sealed cavity 601 is limited by the support skeleton 8 inside it. At the same time, the honeycomb hollow structure inside it can reduce the weight and provide torsional rigidity, thereby increasing the overall rigidity of the press-fitting head 6 in all directions and ensuring the press-fitting accuracy.

[0074] When approaching the final pressing position, in order to avoid damage to the guide wheel due to excessive stiffness, the above steps are run in reverse to reduce the current output, weaken the magnetic field of the electromagnetic coil 603, and weaken the magnetic attraction between the particles, thereby reducing the stiffness between the ferromagnetic particles 602. At the same time, the stiffness inside the sealing cavity 601 is reduced, thereby achieving gentle and precise pressing of the guide wheel.

[0075] Example 2:

[0076] Reference Figure 10-15 Based on the first embodiment, a technical solution for guide wheel press-fitting equipment based on intelligent positioning and constant force control is provided. The retaining spring press-fitting structure includes a fixed support 12 located on one side of the worktable 4. Two transverse fixing plates 1201 are symmetrically arranged on the fixed support 12. The tops of the two transverse fixing plates 1201 are fixedly connected to retaining spring cylinders 1202. Retaining springs are stacked inside the retaining spring cylinders 1202.

[0077] One side of the horizontal fixed plate 1201 is fixedly connected to the fixed end 13, and the fixed end 13 is provided with an ejection cylinder 1301. The output end of the ejection cylinder 1301 is connected to the sliding block 1302. The top of the fixed support 12 is fixedly connected to the fixed slide 1303. The bottom of the sliding block 1302 is slidingly connected to the fixed slide 1303 through a slide groove. One side of the sliding block 1302 is fixedly connected to the connecting block 1304. One side of the connecting block 1304 extends between the two horizontal fixed plates 1201 and is fixedly connected to the pushing plate 1305.

[0078] The top of the fixed support 12 is fixedly connected to the guide seat 14, and the guide seat 14 is connected to the retaining spring plate 1401 through the support column. The retaining spring plate 1401 is connected to the retaining spring height limiting plate 1402 through the support rod. A gap is formed between the retaining spring height limiting plate 1402 and the retaining spring plate 1401 for the retaining spring to pass through.

[0079] A retaining spring cylinder 1203 is provided on the top of the retaining spring height limiting plate 1402, and a mounting sleeve 1403 is fixedly connected to the retaining spring height limiting plate 1402. The output end of the retaining spring plate 1401 is connected to a retaining spring pressure head 1404. The fixed support 12, the retaining spring plate 1401 and the retaining spring height limiting plate 1402 are all provided with through holes. A guide sleeve 1405 is fixedly connected to the bottom of the fixed support 12, and the guide sleeve 1405 is connected to the mounting sleeve 1403 through the through hole.

[0080] A T-shaped bracket 15 is fixedly connected to the workbench 4, and a material grabbing structure is provided on the T-shaped bracket 15. The material grabbing structure includes a transverse guide rail 1501 fixed on the T-shaped bracket 15, and a slide 1502 is slidably connected to the transverse guide rail 1501. A rodless cylinder is connected to one side of the slide 1502, and a downward pressure cylinder 1503 is provided on the slide 1502. The output end of the downward pressure cylinder 1503 is fixedly connected to an air claw plate 1504, and a drive motor 2 1505 is provided on one side of the air claw plate 1504. The output end of the drive motor 2 1505 is connected to the air claw mounting clamp 1506.

[0081] A blanking structure is provided on the blanking base 2, and the blanking structure includes a track beam 16 fixed to one side of the blanking base 2, a second reduction motor 1601 is provided on one side of the track beam 16, the output end of the second reduction motor 1601 is connected to a driving wheel 1602, and a driven wheel 1603 is provided on the side of the track beam 16 away from the second reduction motor 1601, and the driven wheel 1603 is meshed with the end of the driving wheel 1602 and connected to a flexible chain plate 1604;

[0082] An L-shaped support plate 17 is fixedly connected to one side of the track beam 16. A push cylinder 1701 is provided on one side of the L-shaped support plate 17. The output end of the push cylinder 1701 passes through the L-shaped support plate 17 and is connected to a cylinder pull plate 1702. A V-shaped push block 1703 is fixedly connected to one side of the cylinder pull plate 1702.

[0083] A third reduction motor 18 is provided on the unloading base 2 through a connecting column. The output end of the third reduction motor 18 is connected to a driving shaft 1801. The outer surface of the driving shaft 1801 is fixedly connected to a driving gear 1802. A profile fixing plate 19 is provided on the side of the unloading 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 to a driven gear 1902. The outer surfaces of the driven gear 1902 and the driving gear 1802 are sleeved with a flat chain plate 20. A profile bracket 2001 is fixedly connected between the connecting columns. A wear-resistant guide bar 2002 is fixedly connected to one side of the profile bracket 2001 and located inside the flat chain plate 20.

[0084] In this embodiment, after the guide wheel is pressed, the servo press 501 is used to drive the press head 6 to rise, so that the positioning pin 901 is free from the restriction of the positioning hole, and then the rotating disk 402 is used to transfer the press-fitted guide wheel to the bottom of the spring press structure. At this time, the spring inside the spring cylinder 1202 falls between the two horizontal fixed plates 1201 by gravity, and then the ejection cylinder 1301 is started. When the ejection cylinder 1301 is running, it drives the sliding block 1302 to slide along the track of the fixed slide 1303. When the sliding block 1302 slides, it passes through the connecting block 130 4 drives the push plate 1305 to slide between the two horizontal fixed plates 1201, so that when the push plate 1305 slides, the retaining spring is pushed into the gap between the retaining spring plate 1401 and the retaining spring height limit plate 1402, and then the retaining spring cylinder 1203 is started. When the retaining spring cylinder 1203 is running, it drives the retaining spring pressure head 1404 to descend and then moves downward through the installation sleeve 1403 and presses the retaining spring. Then the retaining spring falls into the guide sleeve 1405 through the through hole, and falls onto the guide wheel through the guide sleeve 1405. Then, the retaining spring is installed on the guide wheel through continuous pressing.

[0085] Furthermore, when the installation of the retaining ring and the guide wheel is completed, the guide wheel after press-fitting is transferred to one side of the T-shaped bracket 15 using the rotating disk 402, and then the guide wheel on the rotating disk 402 is grabbed using the air gripper mounting clamp 1506. After the grabbing is completed, the rodless cylinder is started, and the operation of the rodless cylinder drives the slide 1502 to move along the track of the transverse guide rail 1501 to the top of the flexible chain plate 1604, and then the downward pressure cylinder 1503 is used to drive the air gripper mounting clamp 1506 to move downward, and the guide wheel is placed on the flexible chain plate 1604.

[0086] Furthermore, when the guide wheel is placed on the flexible chain plate 1604, the second reduction motor 1601 is started. When the second reduction motor 1601 is running, 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. Therefore, when the flexible chain plate 1604 is transmitted as a whole, it drives the guide on it to be transmitted to the other end of the flexible chain plate 1604. At this time, the pushing cylinder 1701 is started. The pushing cylinder 1701 runs to push the cylinder pull plate 1702 and the V-shaped pushing block 1703. When the V-shaped pushing block 1703 moves above the flexible chain plate 1604, it pushes the guide wheel and pushes the guide wheel onto the flat chain plate 20. Then the third reduction motor 18 is started. When the third reduction motor 18 is running, 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, thereby driving the flat chain plate 20 as a whole to transmit. When the flat chain plate 20 is transmitted, it drives the guide wheel thereon to transmit, and then the guide wheel can be transmitted as a whole to the external collection box for centralized storage. In the process of transmitting the flat chain plate 20, the wear-resistant guide bar 21 inside it withstands the friction during the operation of the flat chain plate 20, reducing the wear and scratches on the contact parts of the flat chain plate 20, thereby avoiding damage to the flat chain plate 20 due to excessive friction, and extending the service life of the flat chain plate 20.

[0087] Example 3:

[0088] Reference Figures 1-16 Based on the first embodiment, a technical solution for a guide wheel press-fitting method based on intelligent positioning and constant force control is provided, which includes the following steps:

[0089] Step S1: Align the center of the guide wheel to be press-fitted with the positioning mandrel 405 and insert 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 fits between the positioning mandrel 405 and the positioning fixture 406, completing the preliminary positioning of the guide wheel on the rotating disk 402;

[0090] Step S2: After the initial positioning of the guide wheel is completed, the electric cylinder 1101 in the oil injection assembly drives the oil injection nozzle 1103 to move downward to the surface of the guide wheel, and the oil injection nozzle 1103 is used to spray oil on the surface of the guide wheel to reduce the assembly resistance of the subsequent guide wheel during the press-fitting process. After the oil injection is completed, the guide wheel after the oil injection is transferred to the bottom of the guide wheel press-fitting mechanism by the turntable assembly;

[0091] Step S3: Use the industrial camera 10 on the sliding support plate 503 to capture the image between the guide wheel and the positioning plate 404 and calculate the trimming position deviation. Then, use the laser transmitter 1001 to emit a laser beam from the transmitting end and focus it into a very small spot to 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 is completed, the positioning cylinder extends, driving the positioning pin 901 to insert into the positioning hole on the positioning plate 404, completing the final positioning.

[0092] Step S4: After the positioning is completed, the servo press 501 in the guide wheel pressing mechanism drives the sliding support plate 503, the cylinder pressure head 504, and the pressing head 6 to descend. When the pressing head 6 descends, it drives the press centering rod 407 to be squeezed to the surface of the positioning core shaft 405, thereby contacting the guide wheel and performing press-fitting on the guide wheel. During the pressing process, the array-distributed piezoelectric force sensor 902, the MEMS force sensor 903, and the strain gauge force sensor 904 sequentially sense the pressing force signal generated by the pressing head 6 during the pressing process, and transmit the force signal to the power control system through the data transmission line. After receiving the force data, the power control system compares it with the preset constant force target value, calculates the deviation between the current pressing force and the target value, and then generates a control instruction according to the deviation to adjust the output force of the guide wheel pressing mechanism;

[0093] During the press-fitting process of the guide wheel, as the press-fitting process progresses, the power control system collects data information about the guide wheel in real time, analyzes and determines the optimal stiffness value required for the current press-fitting stage, and adjusts the current of the electromagnetic coil 603 through the current regulation structure. When the current changes, the magnetic field strength 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 press-fitting force.

[0094] Step S5: After the guide wheel is press-fitted, the guide wheel is transferred to the bottom of the circlip press-fitting structure by using the turntable assembly, and the circlip is pushed into the gap between the circlip plate 1401 and the circlip height limiting plate 1402 by using the push plate 1305. Subsequently, the circlip cylinder 1203 drives the circlip pressing head 1404 to descend. The circlip pressing head 1404 presses the circlip and presses it onto the guide wheel through the guide sleeve 1405, completing the press-fitting between the circlip and the guide wheel.

[0095] 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 clamp 1506 in the grabbing structure is used to grab the guide wheel on the rotating disk 402 and transfer it to the flexible chain plate 1604. Then, the flexible chain plate 1604 is used to transfer the guide wheel to the other side and the V-shaped pushing block 1703 is used to push the guide wheel to the flat chain plate 20. After that, the guide wheel is transferred to the external collection box through the transfer of the flat chain plate 20, and finally the overall press-fitting and transfer process of the guide wheel is completed.

[0096] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are 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, and therefore should not be understood as limiting the present invention.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0098] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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), a blanking base (2) fixedly connected to one side of the press-fitting workbench (1), a cover plate (3) fixedly connected to the top of the press-fitting workbench (1), characterized in that: A workbench (4) is fixedly connected between the press-fitting workbench (1) and the cover plate (3), a turntable assembly is provided in the middle of the workbench (4), a support column (5) is slidably connected to the workbench (4) via a slide rail, a guide wheel press-fitting mechanism is provided on the support column (5), and an oil injection assembly and a retaining spring press-fitting structure are sequentially provided on both sides of the guide wheel press-fitting mechanism; The guide wheel pressing mechanism comprises a servo press (501) located on a 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 cylinder pressure head (504) is provided on the sliding support plate (503); the cylinder pressure head (504) is connected to the output end of the servo press (501); and the end of the cylinder pressure head (504) is connected to a pressing head (6); The press-fitting head (6) is internally sleeved with a sealed cavity (601), the inner wall of the sealed cavity (601) is provided with a plurality of ferromagnetic particles (602), the outer wall of the sealed cavity (601) is provided with an electromagnetic coil (603), one end of the electromagnetic coil (603) is provided with a power supply end (604), an annular groove is provided on one side of the inner wall of the sealed cavity (601), an inflatable airbag (7) is provided in the annular groove, and the interior of the press-fitting head (6) is fixedly connected to a support frame (8), and the support frame (8) is a honeycomb hollow structure; The turntable assembly includes a first reduction motor (401) located at the bottom of the workbench (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 fixture (406) is provided on the outside of the positioning core shaft (405), and a press centering rod (407) that cooperates with the positioning core shaft (405) is provided at the bottom center of the press head (6); A gas delivery end is provided on one side of the inflatable airbag (7), and the gas delivery end is connected to a gas delivery pipe (701), one end of the gas delivery pipe (701) is connected to a punching device (702), and an air pump (703) is provided at one end of the gas delivery pipe (701) close to the punching device (702). An arc-shaped fixed block (801) is symmetrically provided at the bottom of the press-fitting head (6), and a placement groove is provided on one side of the arc-shaped fixed block (801), and a driving motor (802) is provided in the placement groove. The output end of the driving motor (802) is connected to a lead screw (803), and the outer surface of the lead screw (803) is provided with two threaded sections in opposite directions, and rectangular blocks (804) are respectively sleeved on the two threaded sections. The bottom of the rectangular block (804) is fixedly connected to an arc-shaped clamping plate (805), and the bottom of the support frame (8) is provided with an annular groove, and a displacement encoder (806) is provided in the annular groove. The bottom of the press-fitting head (6) is fixedly connected to a plurality of damping columns, the outer surface of the damping column is sleeved with an elastic connector (9), a positioning cylinder is provided inside the end of the elastic connector (9), the output end of the positioning cylinder is connected to a positioning pin (901), the outer wall of the positioning plate (404) is provided with a positioning hole that matches the positioning pin (901), and the outer wall of the press-fitting head (6) is respectively distributed with a piezoelectric force sensor (902), a MEMS force sensor (903) and a strain gauge force sensor (904) in an array.

2. The guide wheel pressing device based on intelligent positioning and constant force control according to claim 1 is characterized in that: An industrial camera (10) is provided on one side of the sliding support plate (503), a laser emitter (1001) is provided at the bottom of the cylinder pressure head (504), an output end of the laser emitter (1001) is connected to a transmitting end, and a receiving plate (1002) that matches the transmitting end is provided at the bottom of the positioning plate (404).

3. The guide wheel pressing device based on intelligent positioning and constant force control according to claim 1 is characterized in that: The oil injection assembly comprises a cylinder bracket (11) located on a workbench (4), an electric cylinder (1101) is provided on one side of the cylinder bracket (11), an output end of the electric cylinder (1101) is connected to a mounting plate (1102), a circular hole is provided 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 just above the rotating disk (402), and a conical cover (1104) is fixedly connected to the outer surface of the oil injection nozzle (1103) and located at the bottom of the mounting plate (1102).

4. The guide wheel pressing device based on intelligent positioning and constant force control according to claim 1 is characterized in that: The retaining spring press-fitting structure comprises a fixed support (12) located on one side of the workbench (4), two transverse fixing plates (1201) are symmetrically arranged on the fixed support (12), and a retaining spring cylinder (1202) is fixedly connected to the top of the two transverse fixing plates (1201), and retaining springs are stacked inside the retaining spring cylinder (1202); One side of the transverse fixed plate (1201) is fixedly connected to a fixed end (13), and an ejection cylinder (1301) is provided on the fixed end (13). The output end of the ejection cylinder (1301) is connected to a sliding block (1302). The top of the fixed support (12) is fixedly connected to a fixed slideway (1303), and the bottom of the sliding block (1302) is slidably connected to the fixed slideway (1303) through a slide groove. 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 fixed plates (1201) and is fixedly connected to a push plate (1305).

5. The guide wheel pressing device based on intelligent positioning and constant force control according to claim 4 is characterized in that: The top of the fixed support (12) is fixedly connected to a guide seat (14), the guide seat (14) is connected to a retaining spring plate (1401) via a support column, the retaining spring plate (1401) is connected to a retaining spring height limiting plate (1402) via a support rod, and a gap is formed between the retaining spring height limiting plate (1402) and the retaining spring plate (1401) for the retaining spring to pass through; A retaining spring cylinder (1203) is provided on the top of the retaining spring height limiting plate (1402), a mounting sleeve (1403) is fixedly connected to the retaining spring height limiting plate (1402), a retaining spring pressure head (1404) is connected to the output end of the retaining spring plate (1401), and through holes are provided in the fixed support (12), the retaining spring plate (1401) and the retaining spring height limiting plate (1402), and a guide sleeve (1405) is fixedly connected to the bottom of the fixed support (12), and the guide sleeve (1405) is connected to the mounting sleeve (1403) through the through hole.

6. The guide wheel pressing device based on intelligent positioning and constant force control according to claim 1 is characterized in that: A T-shaped bracket (15) is fixedly connected to the workbench (4), and a material grabbing structure is provided on the T-shaped bracket (15), and the material grabbing structure includes a transverse guide rail (1501) fixed on the T-shaped bracket (15), and a slide (1502) is slidably connected to the transverse guide rail (1501), and a rodless cylinder is connected to one side of the slide (1502), and a downward pressure cylinder (1503) is provided on the slide (1502), and an output end of the downward pressure cylinder (1503) is fixedly connected to an air claw plate (1504), and a driving motor 2 (1505) is provided on one side of the air claw plate (1504), and an output end of the driving motor 2 (1505) is connected to an air claw mounting clamp (1506).

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

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

9. A guide wheel press-fitting method based on intelligent positioning constant force control, based on the guide wheel press-fitting device based on intelligent positioning constant force control according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1: Align the middle of the guide wheel to be press-fitted with the positioning core shaft (405) and insert 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 fits between the positioning core shaft (405) and the positioning fixture (406), completing the preliminary positioning of the guide wheel on the rotating disk (402); Step S2: After the initial positioning of the guide wheel is completed, the electric cylinder (1101) in the oil injection assembly is used to drive the oil injection nozzle (1103) to move downward to the surface of the guide wheel, and the oil injection nozzle (1103) is used to spray oil on the surface of the guide wheel to reduce the assembly resistance of the subsequent guide wheel during the press-fitting process. After the oil injection of the guide wheel is completed, the turntable assembly is used to transfer the oil-injected guide wheel to the bottom of the guide wheel press-fitting mechanism; Step S3: Using the industrial camera (10) on the sliding support plate (503), an image between the guide wheel and the positioning plate (404) is captured and the position deviation of the trimming is calculated. Subsequently, a laser beam is emitted from the transmitting end of the laser emitter (1001), and the beam is focused into a very small light spot and projected 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 is extended to drive the positioning pin (901) to be inserted into the positioning hole on the positioning plate (404), thereby completing the final positioning. Step S4: After the positioning is completed, the servo press (501) in the guide wheel pressing mechanism drives the sliding support plate (503), the cylinder pressure head (504), and the pressing head (6) to descend. When the pressing head (6) descends, it drives the press centering rod (407) to squeeze onto the surface of the positioning core shaft (405), thereby contacting the guide wheel and performing a press-fitting process on the guide wheel. During the press-fitting process, the array-distributed piezoelectric force sensor (902), MEMS force sensor (903), and strain gauge force sensor (904) sequentially sense the force signal generated by the pressing head (6) during the press-fitting process, and transmit the force signal to the power control system through the data transmission line. After receiving the force data, the power control system compares it with the preset constant force target value, calculates the deviation between the current pressing force and the target value, and then generates a control instruction according to the deviation to adjust the output force of the guide wheel pressing mechanism; During the process of press-fitting the guide wheel, as the press-fitting process progresses, the power control system collects data information of the guide wheel in real time, analyzes and determines the optimal stiffness value required for the current press-fitting stage, and adjusts the current of the electromagnetic coil (603) through the current adjustment structure. When the current changes, the magnetic field strength 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 press-fitting force. Step S5: After the guide wheel is pressed, the guide wheel is transferred to the bottom of the retaining spring press-fitting structure by using the turntable assembly, and the retaining spring is pushed into the gap between the retaining spring plate (1401) and the retaining spring height limiting plate (1402) by using the push plate (1305), and then the retaining spring cylinder (1203) is used to drive the retaining spring pressure head (1404) to descend, and the retaining spring pressure head (1404) presses the retaining spring downward and presses it onto the guide wheel through the guide sleeve (1405), thereby completing the press-fitting between the retaining spring 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 clamp (1506) in the grabbing structure is used to grab the guide wheel on the rotating disk (402) and transfer it to the flexible chain plate (1604). The guide wheel is transferred to the other side by means of the flexible chain plate (1604) and pushed onto the flat chain plate (20) by means of the V-shaped pusher block (1703). The guide wheel is then transferred to the external collection box by means of the flat chain plate (20), thus completing the overall press-fitting transfer process of the guide wheel.

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