Automatic double-sided bearing support assembling equipment based on industrial robot

Abstract

The invention relates to double-sided bearing support automatic assembling equipment based on an industrial robot, which comprises a tray (1), a storage and automatic feeding device (3) for bearing assembling, a clamp spring feeding and positioning mechanism (5) and a working rack (10), and is characterized in that the tray (1), the storage and automatic feeding device (3) for bearing assembling and the clamp spring feeding and positioning mechanism (5) are all mounted on the working rack (10); the automatic assembling machine is characterized by further comprising a clamp spring press-fitting table (6), two bearing press-fitting tables (7), a product assembling station pushing mechanism (8), a quick-change clamp (4), an assembling workbench (9) and an industrial robot (2). According to the automatic assembling machine, automatic assembling of multiple types of bearing supports is achieved, original manual operation is shortened into simple feeding work, the burden and skill requirements of task load changes on personnel are reduced, the product assembling quality and efficiency are improved, and manpower is saved.

Description

Technical Field

[0001] The present invention belongs to the field of industrial automation and relates to an industrial robot-based automatic assembly device for a double-sided bearing support. Background Art

[0002] As a crucial component in modern machinery, bearings primarily support rotating bodies. Bearing supports are structural components used to mount bearing retaining springs, securing the outer side of the bearing during operation. Supporting the rotating body within the bearing reduces friction during movement and ensures rotational accuracy. Retaining springs, a common mechanical component, are often used to stabilize the left-right movement of parts on shafts or holes due to their inherent elasticity and ductility. They are also used to secure retaining springs within bearing supports.

[0003] Currently, the majority of bearing and retainer spring installation processes in bearing supports on the market are still semi-automated or manually assembled using tooling. Only a few high-volume assembly tasks are equipped with highly automated equipment. However, the installation of small batches of high-variety bearings and retainer springs still relies on traditional manual labor.

[0004] At present, the manual assembly method of bearings and retaining rings on bearing supports has serious limitations: high skill level requirements for personnel, low production efficiency, unstable operation quality and other factors. There is an urgent need for a simple-to-operate equipment that can adapt to high-precision and multi-variety automatic flower assembly equipment, reduce the burden and requirements of the task on personnel, and replace manual labor to efficiently complete the assembly task. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated assembly equipment for double-sided bearing supports based on industrial robots, which is suitable for automated equipment with double-sided bearings, multiple varieties, small batches and complete functions.

[0006] An automated assembly equipment for double-sided bearing supports based on an industrial robot, comprising a pallet 1, a material storage and automatic loading device 3 for bearing assembly, a retaining spring loading and positioning mechanism 5, and an assembly workbench 10, wherein the pallet 1, the material storage and automatic loading device 3 for bearing assembly, and the retaining spring loading and positioning mechanism 5 are all mounted on the workbench 10; the equipment is characterized in that it further comprises a retaining spring press-fitting platform 6, two bearing press-fitting platforms 7, a product assembly station sliding mechanism 8, a quick-change fixture 4, an assembly workbench 9, and an industrial robot 2; the retaining spring press-fitting platform 6, the two bearing press-fitting platforms 7, the product assembly station sliding mechanism 8, and the industrial robot 2 are all fixedly mounted on the workbench 10, and the quick-change fixture 4 is placed on the workbench 10; a product assembly station sliding mechanism 8 is provided below the two bearing press-fitting platforms 7; and the assembly workbench 9 is mounted on the product assembly station sliding mechanism 8;

[0007] The pallet 1 comprises: a pallet base plate 11, ear positioning pins 12, a pallet positioning support 13 and a pallet handle 14; the ear positioning pins 12 are a group of two for positioning the double-sided bearing support 93 to be processed, and the ear positioning pins 12 are fixed to the pallet base plate 11 through the threaded holes on the pallet base plate 11; the pallet positioning support 13 is fixed to the back of the pallet 1 through the stepped holes and four threaded holes on the pallet base plate 11; the pallet handle 14 is fixed to the threaded holes on the left and right edges of the front side of the pallet base plate 11 through the through holes on the pallet handle 14, and the double-sided bearing support 93 to be processed is precisely placed on the pallet base plate 11 through the ear positioning pins 12, and the pallet base plate 11 is positioned on the base plate of the workbench 10 with the help of two pallet positioning supports 13 fixed diagonally to the back side of the pallet base plate 11;

[0008] The material storage and automatic loading device 3 for bearing assembly includes a base plate 31, a support rod 32, an electric push rod 33, an electric push rod fixing plate 34, a bearing automatic clamping and positioning mechanism 35, a guide rod 36, a photoelectric sensor 37 and several bolts for fixing the structure; the base plate 31 fixes the bearing automatic clamping and positioning mechanism 35, the electric push rod 33 and the support rod 32 through through holes, threaded holes and stepped holes; the bearing automatic clamping and positioning mechanism 35 fixes the bearing automatic clamping and positioning mechanism 35 through three threaded holes on the bottom surface of the ring and three through holes on the base plate 31 Fixed on the base plate 31; the photoelectric sensor 37 is fixed on the support rod 32, and the photoelectric sensor 37 is indirectly fixed to the base plate 31 through the threaded holes on the support rod 32 and the base plate 31; the electric push rod 33 is fixed as a whole on the electric push rod fixing plate 34, and the electric push rod fixing plate 34 is fixed to the end of the support rod 32 through the surface stepped holes, and the top of the support rod 32 is connected and fixed to the stepped hole on the lower surface of the base plate 31. The top plate of the electric push rod 33 is fixed to the base plate 31 by means of a push rod fixing ring to keep the electric push rod 33 vertically lifted;

[0009] The quick-change fixture 4 includes a mother plate 41, a quick-change sub-plate 42, a bearing fixture claw I 43, a quick-change fixture bracket 44, a support fixture claw II 45, a support fixture claw I 46 and a bearing fixture claw II 47. The quick-change mother plate 41 is fixed to the end of the industrial robot 2; the upper ends of the bearing fixture claw I 43, the support fixture claw II 45, the support fixture claw I 46 and the bearing fixture claw II 47 are respectively connected to one of the quick-change sub-plates 42; the quick-change fixture bracket 44 has a "mouth-shaped" upper end, which is used to store four sets of fixture claws, and the bottom surface of the quick-change fixture bracket 44 is fixed to the workbench base plate 92;

[0010] The described spring feeding and positioning mechanism 5 includes: a spring feeding assembly 51, an assembly positioning pin 52, a spring pressing hole 53, a spring feeding driving cylinder 54, a spring pressing head 55, a spring driving element connecting plate 56, a fixing plate 57, a spring detecting device 58, a linear guide column 59, a linear bearing 510, a spring feeding table lifting driving cylinder 511, and a buffer pad 513 of a linear guide column fixing plate 512; wherein, the spring feeding assembly 51, the assembly positioning pin 52, the spring feeding driving cylinder 54 and the spring detecting device 58 are all fixedly mounted on the fixing plate 57, the spring push plate 515 is connected to the spring driving element connecting plate 56, and the spring driving element connecting plate 56 provides driving force for the spring push plate 515; the described spring pressing hole 53 is arranged on the upper surface of the spring feeding assembly 51, temporarily storing the spring to be fed to the material. The press-fitted retaining ring 500; the retaining ring pressing head 55 is fixed to the joint below the retaining ring pressing platform 6; the retaining ring driving element connecting plate 56 is fixed to the push plate part of the retaining ring feeding driving cylinder 54; the top end of the linear guide column 59 is fixed to the stepped hole on the bottom surface of the fixed plate 57, and the bottom end of the linear guide column 59 is fixed to the linear guide column fixing plate 512; the linear bearing 510 is fixed to the linear guide column 59 under the base plate of the workbench 10; the upper carbonyl of the retaining ring feeding table lifting driving cylinder 511 is fixed to the base plate of the workbench 10, and the push rod of the retaining ring feeding table lifting driving cylinder 511 is fixed to the bottom surface of the fixed plate 57; the linear guide column 59 is fixed to the linear guide column fixing plate 512; the buffer pad 513 is fixed to the back side of the retaining ring pressing hole 53 of the fixed plate 57;

[0011] The circlip press-fitting platform 6 is fixed on the base plate of the workbench 10;

[0012] The two bearing press-fitting stations 7 are fixed in the working area on the left side of the workbench base, with bearing press-fitting stations I and II next to them;

[0013] The product assembly station moving mechanism 8 includes an assembly workbench driving device 81, a guide rail 82, and an assembly workbench position recording element fixing bracket 83; the assembly workbench driving device 81 is fixed to the workbench base plate through a driving device fixing plate; the guide rail 82 is fixed to the base plate of the workbench 10; the assembly workbench position recording element fixing bracket 83 is fixed to the base plate of the workbench 10 through a position recording element fixing bracket;

[0014] The assembly workbench 9 fixes the workbench base plate 92 to the slider 98 through the stepped hole, and the center hole of the double-sided bearing support 93 to be processed is positioned by the positioning pin support and positioning pin fixed on the assembly workbench 9, and the bearing support is positioned by the cylinder clamps on the left and right sides;

[0015] The assembly workbench 9 includes a bearing press head 91, a workbench base plate 92, a driving cylinder 94, a support fixture 95, a position recording element fixing bracket 96, a driving element fixing bracket 97 and a slider 98. The two assembly workbench 9 are respectively located below the bearing press-fitting table 7 of the assembly station 1, and are used for pressing the front bearing of the double-sided bearing support 93. The other assembly workbench is installed on the product assembly station pushing mechanism 8 below the assembly station II. The product assembly station pushing mechanism 8 is used to push and pull the assembly station II and the retaining spring assembly station, and is used for pressing the back bearing and retaining spring of the double-sided bearing support 93. The assembly workbench 9 below the assembly station II is connected to the assembly workbench driving device 81 through the driving element fixing bracket 97. The assembly workbench driving device drives the assembly workbench 9 below the assembly station II to push and pull the assembly station II and the retaining spring assembly station, and is connected to the assembly workbench position recording element fixing bracket 83 through the position recording element fixing bracket 96 to realize the judgment of the moving position of the assembly workbench 9 below the assembly station II.

[0016] The workbench 10 includes an equipment base plate and a support frame;

[0017] The bearing press-fitting platform 7 includes: a servo electric cylinder 71 , a pressure detection device 72 , a bearing press-fitting joint 73 , a press-fitting bracket 74 and a pressure rod 75 ; the bearing press-fitting head 91 is fixedly connected to the bearing press-fitting joint 73 .

[0018] Furthermore, the guide rod 36 used for positioning in the material storage and automatic loading device 3 for bearing assembly can fit the outer walls of bearings of different sizes.

[0019] Furthermore, the retaining spring feeding mechanism group 51 in the retaining spring feeding and positioning mechanism 5 is positioned with the aid of positioning pins, and the retaining spring feeding mechanism group 51 is positioned from three direction positioning pins and two bottom surface positioning pins respectively; the retaining spring feeding mechanism group 51 is detachable and replaceable, and different retaining spring feeding mechanism components can be replaced to perform retaining spring feeding work of different models.

[0020] Furthermore, there is a certain gap between the bearing press-fitting head 91 and the positioning pin, which just allows the bearing press-fitting head 91 to press the bearing down along the outer wall of the positioning pin; the bearing press-fitting joint 73, pressure detection device 72, pressure rod 75, and servo electric cylinder 71 are fixedly connected together in sequence. When the servo electric cylinder 71 starts to press the bearing down, the bearing press-fitting head 91 fixed at the end of the bearing press-fitting joint 73 presses the bearing down along the guide surface of the positioning pin and collects pressure data.

[0021] Beneficial effects of the present invention

[0022] The present invention realizes the automatic assembly of bearing supports of multiple models, shortens the original manual work to simple loading work, reduces the burden and skill requirements on personnel due to changes in task volume, improves product assembly quality and efficiency, and saves manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 , is an overall view of the device of the present invention;

[0024] Figure 2 , is a front view of the main working part of the device of the present invention;

[0025] Figure 3 , is a left view of the main working part of the equipment of the present invention;

[0026] Figure 4 , is a top view of the main working part of the equipment of the present invention;

[0027] Figure 5 , is a schematic diagram of the structure of the equipment tray of the present invention;

[0028] (a) Schematic diagram of the front structure of the tray;

[0029] (b) Schematic diagram of the back structure of the tray;

[0030] Figure 6 , is a structural diagram of the material storage and automatic loading device for bearing assembly equipment of the present invention;

[0031] Figure 7 , is a schematic structural diagram of the clamp spring feeding and positioning mechanism of the equipment of the present invention;

[0032] Figure 8 , is a right side view of the clip feeding and positioning mechanism of the equipment of the present invention;

[0033] Figure 9 , is a schematic structural diagram of the clip feeding assembly of the equipment of the present invention;

[0034] Figure 10 , is a structural diagram of the clamp spring press-fitting station of the equipment of the present invention;

[0035] Figure 11 , is a structural diagram of the bearing press-fitting platform of the equipment of the present invention;

[0036] Figure 12 , is a schematic diagram of the structure of the product assembly station push mechanism of the equipment of the present invention;

[0037] Figure 13 , is a schematic structural diagram of the equipment assembly workbench of the present invention;

[0038] Figure 14 , is a schematic diagram of the quick-change fixture structure of the device of the present invention;

[0039] Figure 15 , is a schematic diagram of the working platform of the equipment of the present invention;

[0040] Figure 16 , is a schematic diagram of the fixed guide rail structure of the assembly workbench of the press-fitting station II of the equipment of the present invention;

[0041] Figure 17 , is a schematic diagram of the press-fit bearing of the device of the present invention;

[0042] Figure 18 , is a schematic diagram of the clip feeding device of the present invention;

[0043] Figure 19 , is a schematic diagram of press-fitting the retaining spring of the device of the present invention;

[0044] Figure 20 , is a schematic diagram of the tray discharge of the equipment of the present invention;

[0045] The following are included: 1 is a pallet, 2 is an industrial robot, 3 is a material storage and automatic loading device for bearing assembly, 4 is a quick-change fixture, 5 is a spring loading and positioning mechanism, 6 is a spring press-fitting table, 7 is a bearing press-fitting table, 8 is a product assembly station sliding mechanism, 9 is an assembly workbench, 10 is a workbench frame, 11 is a pallet base plate, 12 is a lug positioning pin, 13 is a pallet positioning support, 14 is a pallet handle, 31 is a bottom plate, 32 is a support rod, 33 is a support rod, 34 is the electric push rod fixing plate, 35 is the bearing automatic clamping and positioning mechanism, 36 is the guide rod, 37 is the photoelectric sensor, 41 is the quick-change mother plate, 42 is the quick-change sub-plate, 43 is the bearing fixture claw I, 44 is the quick-change fixture bracket, 45 is the support fixture claw II, 46 is the support fixture claw I, 47 is the bearing fixture claw II, 51 is the retaining spring feeding assembly, 52 is the assembly positioning pin, 53 is the retaining spring press-fitting hole, 54 is the retaining spring feeding drive air Cylinder, 55 is the circlip pressing head, 56 is the circlip driving element connecting plate, 57 is the fixing plate, 58 is the circlip detection device, 59 is the linear guide column, 510 is the linear bearing, 511 is the circlip loading table lifting drive cylinder, 512 is the linear guide column fixing plate, 513 is the buffer pad, 515 is the circlip push plate, 516 is the end cover, 517 is the end cover sleeve, 518 is the guide sleeve, 519 is the circlip storage support, 71 is the servo cylinder, 72 It is a pressure detection device, 73 is a bearing press-fit joint, 74 is a press-fit bracket, 75 is a pressure rod, 81 is an assembly workbench drive device, 82 is a guide rail, 83 is an assembly workbench position recording element fixing bracket, 91 is a bearing press-fit head, 92 is a workbench base, 93 is a double-sided bearing support to be processed, 94 is a driving cylinder, 95 is a support fixture, 96 is a position recording element fixing bracket, 97 is a driving element fixing bracket, and 98 is a slider. DETAILED DESCRIPTION

[0046] In the assembly process of double-sided bearing support bearings and retaining rings, robots and various quick-change fixtures are used to transport the bearing supports from the pallet to assembly station 1 and assembly station II. An automatic bearing clamping and positioning mechanism is used to position and temporarily store bearings of different specifications. A storage and automatic loading device for bearing assembly is used to realize automatic loading of the robot's bearing clamping position, making it easier for the robot to clamp bearings of different models. The press-fitting table is used to press the bearing along the locating pin to the bearing assembly position, thereby realizing automatic installation of the bearing and monitoring of press-fitting data; the retaining spring feeding mechanism is used to load the retaining spring from the temporary storage position to the press-fitting hole position; the retaining spring feeding and positioning mechanism is used to move the retaining spring press-fitting hole position to the press-fitting position so that the retaining spring can be press-fitted by the retaining spring press-fitting table; the retaining spring press-fitting table is used to realize automatic installation of the retaining spring from the press-fitting position to the assembly position, and the assembly workbench is used to realize positioning of the bearing support; the present invention is an equipment for automatic assembly of double-sided bearing support bearings and retaining springs, which realizes the integrated automatic assembly of double-sided bearing support, bearings and retaining springs from feeding, assembly and assembly process detection, thereby ensuring the accuracy, smoothness and controllability of the assembly process.

[0047] A double-sided bearing support automatic assembly equipment based on an industrial robot, comprising: 1. a pallet for storage, 2. an industrial robot for handling, 3. a storage and automatic loading device for bearing assembly for storing, positioning and loading bearings, 4. a quick-change fixture for clamping, 5. a retaining spring loading and positioning mechanism for temporarily storing and loading retaining springs, 6. a retaining spring pressing table for automatic pressing of retaining springs, 7. two bearing pressing tables for automatic pressing of bearings, 8. a product assembly station sliding mechanism for moving the bearing and retaining spring assembly stations, 9. two assembly workbenches for fixing the double-sided bearing support, and 10. a workbench for supporting the equipment structure.

[0048] The pallet includes: a pallet base plate, a lug positioning pin, a pallet positioning support, and a pallet handle; the product lug positioning pins are grouped in two to realize the positioning of the double-sided bearing support, and the lug positioning pins are fixed to the pallet base plate through the threaded holes on the pallet base plate; the positioning support is fixed to the back of the pallet through the stepped holes and four threaded holes on the pallet base plate; the pallet handle is fixed to the threaded holes on the left and right edges of the front of the pallet base plate through the through holes on the pallet handle, and the double-sided bearing support structure is precisely placed on the pallet base plate through the lug positioning pins. The pallet base plate is positioned on the workbench base plate with the help of two pallet positioning supports diagonally fixed to the back of the pallet base plate.

[0049] The industrial robot is fixed to the workbench through the through holes on the base support.

[0050] The material storage and automatic loading device for bearing assembly includes a base plate, a photoelectric sensor, an automatic bearing clamping and positioning mechanism, an electric push rod, and several fixing structures and bolts. The base plate secures the automatic bearing clamping and positioning mechanism, the electric push rod, the photoelectric sensor, and the support rod via through-holes, threaded holes, and stepped holes. The automatic bearing clamping and positioning mechanism is secured to the base plate via three threaded holes on the bottom surface of the annular ring and three through-holes on the base plate. The photoelectric sensor is secured to the support rod and indirectly secured to the base plate via threaded holes on the support rod and the base plate. The electric push rod is integrally secured to the electric push rod fixing plate, which is secured to the end of the support rod via stepped holes on its surface. The top of the support rod is connected and secured to the stepped holes on the base plate. The electric push rod top plate is secured to the base plate via a push rod fixing ring, maintaining the vertical lift of the electric push rod.

[0051] The circlip feeding and positioning mechanism includes: a circlip feeding assembly, an assembly positioning pin, a circlip pressing hole, a circlip feeding drive cylinder, a circlip pressing head, a circlip driving element connecting plate, a fixing plate, a circlip detection device, a linear guide column, a linear bearing, a circlip feeding table lifting drive cylinder, a linear guide column fixing plate, and a buffer pad; the circlip feeding mechanism assembly positioning pin and a through hole are fixed to the circlip feeding and positioning mechanism, and the 515 push plate is connected to the circlip driving element connecting plate to provide driving force for the 515 push plate; the assembly positioning pin is fixed to the 5 pin holes on the fixing plate; the circlip pressing hole temporarily places the circlip to be pressed; the circlip feeding drive cylinder is fixed to the threaded hole on the fixing plate by using the through hole on the cylinder; the circlip pressing head is fixed to the circlip pressing joint of the circlip pressing table; The connecting plate of the retaining spring driving element fixes the connecting plate to the push plate part of the retaining spring feeding driving cylinder through the side through hole on the left; the fixing plate fixes the components in the mechanism to the upper and lower ends of the fixing plate through through holes, threaded holes and stepped holes; the retaining spring detection device is fixed to the upper end of the fixing plate through through holes on both sides of the bracket; the top of the linear guide column is fixed to the stepped hole on the bottom surface of the fixing plate by bolts, and the bottom surface is fixed to the linear guide column fixing plate by bolts; the linear bearing is fixed to the workbench base plate through the bottom through hole; the retaining spring feeding table lifting driving cylinder is fixed to the workbench base plate through the side through hole, and the push rod is fixed to the bottom surface of the fixing plate; the linear guide column fixing plate fixes the linear guide column to the linear guide column fixing plate through the upper end countersunk hole; the buffer pad is fixed to the back side of the retaining spring pressing hole of the fixing plate

[0052] The circlip press-fitting platform is fixed to the workbench base plate by means of circlip press-fitting platform fixing bolts.

[0053] The bearing press-fitting platform is fixed to the workbench base plate by bearing press-fitting platform fixing bolts.

[0054] The product assembly station sliding mechanism includes: an assembly workbench driving device, a guide rail, an assembly workbench position recording element fixing bracket, and an assembly workbench; the assembly workbench driving device is fixed to the workbench frame base plate through the driving device fixing plate; the guide rail fixes the guide rail to the workbench frame base plate through the guide rail fixing hole; the assembly workbench position recording element fixing bracket is fixed to the workbench frame base plate through the position recording element fixing bracket; the assembly workbench fixes the assembly workbench base plate to the slider through 16 stepped holes, and the center hole of the double-sided bearing support is positioned by the positioning pin support and positioning pin fixed on the assembly workbench, and the bearing support is pushed for positioning by the cylinder clamps on the left and right sides.

[0055] The assembly workbench includes a bearing press head, a workbench base, a double-sided bearing support, a driving cylinder, a support fixture, a position recording element fixing bracket, a driving element fixing bracket, and a slider. The two assembly workbenches are fixed to the product assembly station sliding mechanism and the bearing press-fitting table through the workbench base plate. At the bearing press-fitting station II, the position recording element fixing bracket is connected to the assembly workbench position recording element fixing bracket; and the driving element fixing bracket is connected to the assembly workbench driving device.

[0056] The quick-change fixture includes: a quick-change mother disc, a quick-change sub-disc, a bearing fixture claw 1, a bearing fixture claw 2, a support fixture claw 1, a support fixture claw 2, and a quick-change fixture bracket. The quick-change mother disc is fixed to the end of the industrial robot; the quick-change sub-disc is fixed to the ends of 4 sets of fixture claws; the quick-change fixture bracket is in the shape of a "mouth" and the upper end is used to store 4 sets of fixture claws, and the bottom surface is fixed to the workbench base plate by bolts and through holes.

[0057] The workbench includes an equipment base plate and a support frame for fixing the assembly benchmarks of the various mechanisms of the above equipment.

[0058] Preferably, the guide rod is positioned in the storage and automatic loading device for bearing assembly so as to fit the outer walls of bearings of different sizes.

[0059] Preferably, in the said retaining spring feeding and positioning mechanism, the retaining spring feeding mechanism group is positioned with the aid of positioning pins, and the retaining spring feeding mechanism group is positioned from three direction positioning pins and two bottom surface positioning pins respectively. The retaining spring feeding mechanism group is detachable and replaceable, and different retaining spring feeding mechanism components can be replaced to perform retaining spring feeding work of different models.

[0060] Preferably, the bearing press-fitting station includes: a press-fitting servo press, a pressure detection device, a bearing press-fitting joint, and a press-fitting bracket; the bearing press-fitting joint fixes the bearing press-fitting head to the joint part through a positioning hole and a threaded hole; there is a certain gap between the bearing press-fitting head and the positioning, which just satisfies the bearing press-fitting head to press the bearing down along the outer wall of the positioning pin; the bearing press-fitting joint, the pressure detection device, and the press-fitting servo press pressure rod are connected and fixed in sequence, and when the press-fitting servo press pressure rod starts to press the bearing down, the bearing press-fitting head fixed at the end of the bearing press-fitting joint presses down the bearing along the guide surface of the positioning pin, and performs press-fitting data detection, and judges that the press-fitting is completed when the press-fitting servo press downward position and the pressure detection device reach the preset value. If the press-fitting position is not reached and the press-fitting pressure detection device is too large, it indicates that interference may occur that affects the assembly, and it is necessary to detect whether the bearing is suitable and whether there is foreign matter in the support, and if the press-fitting position is reached and the press-fitting pressure detection device is too small, it indicates that an air-pressed bearing may be in a state, and it is necessary to check whether the bearing is placed on the positioning pin and whether the bearing press-fitting head corresponds to the press-fitting bearing.

[0061] Compared with the traditional assembly method, the double-sided bearing support automated assembly equipment based on industrial robots of the present invention has the following positive effects:

[0062] The present invention utilizes an industrial robot-based automated assembly system for double-sided bearing supports. The system primarily comprises an industrial robot, a quick-change fixture, a product assembly station push mechanism, a retaining spring loading and positioning mechanism, a bearing press-fitting platform, and a bearing assembly storage and automatic loading device. The industrial robot utilizes the quick-change fixture to transfer bearing supports and bearings of different models between three press-fitting stations. The product assembly station push mechanism enables movement between the bearing press-fitting station and the retaining spring press-fitting station. Position detection devices compare the positions of the units with the moving positions, triggering station movement upon reaching a set position. The retaining spring loading and positioning mechanism is functionally divided into a retaining spring loading assembly and a retaining spring loading and positioning platform. The retaining spring loading assembly is used for temporary storage and loading of retaining springs, while the retaining spring loading and positioning platform aligns the retaining spring loading position with the installation position. The removable and replaceable retaining spring loading assembly maximizes the flexibility of the retaining spring loading and positioning mechanism, enabling compatibility with a variety of retaining spring models. The bearing press-fitting platform detects, determines, and compares position and pressure, preventing press-fitting failures caused by misoperation. The present invention is based on the bearing support automated assembly equipment of the industrial robot, realizes the automatic installation of the double-sided bearing support bearing and the retaining ring, ensures the quality reliability of the assembled product, improves the assembly efficiency, meets the product assembly process data detection feedback, and small batch and multi-variety operation mode.

[0063] The present invention is based on the automatic assembly equipment of double-sided bearing support of industrial robot, which mainly includes the following steps:

[0064] 1) On the pallet, place the double-sided bearing support along the lug positioning pins on the pallet base; at the bearing assembly storage and automatic loading device, move the front joint to open the bearing clamping and positioning mechanism and place the bearing; at the circlip loading and positioning mechanism, screw open the end cover 516 of the circlip loading assembly and place the circlip into the 519 circlip storage support. After completion, screw on the end cover 516;

[0065] 2) Select the assembly scheme corresponding to the double-sided bearing support on the operating table, set the press-fit quantity N, replace the corresponding positioning pin, press-fit head, and retaining spring feeding assembly, and then start the equipment;

[0066] 3) The industrial robot, product assembly station push mechanism, bearing press-fitting platform, retaining spring press-fitting platform, and assembly work fixture automatically return to their initial state;

[0067] 4) The industrial robot automatically moves to the position directly above the support fixture claw 1 in the quick-change fixture bracket, and the quick-change mother plate fixed at the end of the industrial robot is vertically aligned with the support fixture claw 1. The industrial robot descends along a linear motion to complete the docking of the quick-change mother plate and the quick-change daughter plate, completing the fixture picking action;

[0068] 5) After the industrial robot fixture picks up the bearing, it determines whether there is a support on the assembly station table of the press-fitting station I, and the control system determines that the pallet is at the positioning point; after the conditions are met, the industrial robot controls the support fixture claw 1 to open and move to the position directly above the pallet bearing support placement position 1; the industrial robot moves linearly down to the clamping position, and the industrial robot controls the support fixture claw 1 to close, completing the bearing support clamping action;

[0069] 6) After the industrial robot completes the bearing support fixture, the robot fixture bearing support moves to the top of the press-fitting station I assembly station table to ensure that the center hole of the bearing support is aligned with the assembly station table locating pin; the robot fixture bearing support descends along a linear motion, and the bearing support is placed on the locating pin in the assembly station table locating pin along the outer wall of the locating pin; the fixtures on both sides of the assembly workbench clamp the bearing support, and the industrial robot controls the support fixture claw 1 to open and return to a safe position.

[0070] 7) The industrial robot automatically moves to the position just above the support fixture claw 1 in the quick-change fixture bracket and descends to place the support fixture claw 1 at the support fixture claw 1 position on the quick-change fixture bracket. The quick-change mother plate is disconnected from the quick-change sub-plate of the support fixture claw 1 and returns to a safe position, completing the fixture placement.

[0071] 8) The industrial robot automatically moves to the position directly above the bearing fixture claw 1 in the quick-change fixture bracket, and the quick-change mother plate fixed at the end of the industrial robot is vertically aligned with the bearing fixture claw 1. The industrial robot descends along a linear motion to complete the docking of the quick-change mother plate and the quick-change daughter plate, completing the fixture picking action;

[0072] 9) After the industrial robot fixture picks up the bearing, the electric push rod in the storage and automatic loading device for bearing assembly drives the pushing plate to lift the bearing to the photoelectric switch;

[0073] 10) The industrial robot automatically moves to the top of the material storage and automatic loading device for bearing assembly, aligns the bearing fixture claw 1 with the clamping position bearing, opens the bearing fixture claw 1 of the industrial robot, and moves the bearing fixture claw 1 linearly to the clamping position. The industrial robot bearing fixture claw 1 closes and clamps the bearing to complete the bearing clamping. The robot clamps the shaft and places it on the positioning pin of the assembly station table at the press-fitting station I;

[0074] 11) The servo press of the bearing press-fitting station described in press-fitting station I drives the press rod, pressure detection device, bearing press-fitting joint, and bearing press-fitting head to press downward. The bearing press-fitting head and the positioning pin are in a sleeve-engaged state, and the bearing placed in the positioning pin is press-fitted into the bearing support. During the press-fitting process, the feedback data of the pressure detection device is read in real time to avoid damage to the structural parts due to excessive pressure. The press-fitting is completed when the press-fitting position and pressure data meet the requirements;

[0075] 12) The industrial robot automatically moves to the position just above the bearing fixture claw 1 in the quick-change fixture bracket and descends, placing the bearing fixture claw 1 at the bearing fixture claw 1 position on the quick-change fixture bracket. The quick-change mother plate is disconnected from the quick-change daughter plate of the bearing fixture claw 1 and returns to a safe position, completing the fixture placement.

[0076] 13) Repeat step 4;

[0077] 14) The industrial robot bearing fixture claw 1 is opened, the industrial robot automatically moves to the placement position of the assembly station, the industrial robot bearing fixture claw 1 is closed and clamped, the fixtures on both sides of the assembly station are opened, the industrial robot bearing fixture claw 1 clamps the bearing support and moves vertically along a linear motion to a safe position, the industrial robot bearing fixture claw 1 clamps the bearing support and moves to the assembly workbench on the product assembly station push mechanism, aligns the center hole of the bearing support with the assembly workbench locating pin, the industrial robot bearing fixture claw 1 clamps the bearing support and moves vertically along a linear motion to the placement position, the fixtures on both sides of the assembly workbench clamp the bearing support, the industrial robot bearing fixture claw 1 opens and returns to a safe position;

[0078] 15) Repeat steps 7-9;

[0079] 16) The industrial robot automatically moves to the top of the material storage and automatic loading device for bearing assembly, aligns the bearing fixture claw 1 with the clamping position bearing, opens the bearing fixture claw 1 of the industrial robot, and moves the bearing fixture claw 1 linearly to the clamping position. The industrial robot bearing fixture claw 1 closes and clamps the bearing to complete the bearing clamping. The robot clamps the shaft and places it on the positioning pin of the assembly station table of the press-fitting station II;

[0080] 17) Repeat steps 11-12;

[0081] 18) Repeat step 4;

[0082] 19) The product assembly station pushing mechanism pushes the press-fitting station II assembly station platform to the circlip assembly station. The circlip loading table lifting drive cylinder in the circlip loading and positioning mechanism drives the fixed plate to descend, ensuring that the 518 guide sleeve is docked with the 2nd assembly station positioning pin. The contact surface between the fixed plate and the bearing support is protected by a buffer pad. The circlip loading drive cylinder drives the circlip loading assembly push plate to push the circlip into the circlip press-fitting guide sleeve 518. The circlip press-fitting platform drives the circlip press-fitting head to press down, press-fitting the circlip along the spring press-fitting guide sleeve 518 into the circlip groove, and press-fitting.

[0083] 20) The lifting cylinder of the circlip feeding table in the circlip feeding and positioning mechanism drives the fixed plate to rise, and the product assembly station pushing mechanism moves the press-fitting station II assembly station table back to the original position;

[0084] 21) The industrial robot's bearing fixture claw 1 opens and automatically moves to the waiting point above the positioning pin of the press-fitting station II assembly station, descends linearly and vertically to the clamping position, the bearing fixture claw 1 closes, the clamp bearing support, the robot rises linearly and vertically to a safe position, and the robot fixture shaft support is placed on the pallet bearing support seat 1 to complete the assembly;

[0085] 22) Repeat steps 5-22 N times.

[0086] Through the above steps, automatic assembly of multiple types of bearing supports is achieved, shortening the original manual work to simple loading work, reducing the burden and skill requirements on personnel due to changes in task volume, and improving product assembly quality and efficiency, proving that the present invention is beneficial.

[0087] Example

[0088] The present invention will be described in more detail below with reference to the accompanying drawings. The present invention provides automated assembly equipment for double-sided bearing supports based on industrial robots. This equipment is suitable for the production of double-sided bearings, a variety of products, small batches, and comprehensive functionality. During the assembly process of the double-sided bearing support bearings and retaining rings, the robot and various quick-change fixtures are used to transport the bearing supports from a pallet to assembly stations 1 and 2. An automatic bearing clamping and positioning mechanism is used to position and temporarily store bearings of different specifications. A material storage and automatic loading device for bearing assembly is used to automatically load the bearings into the robot's gripping position, facilitating the robot's clamping of bearings of different sizes. The press-fitting table is used to press the bearing along the locating pin to the bearing assembly position, and the automatic installation and press-fitting data monitoring of the bearing are realized. The retaining spring feeding mechanism is used to load the retaining spring from the temporary storage position to the press-fitting hole position. The retaining spring feeding and positioning mechanism is used to move the retaining spring press-fitting hole position to the press-fitting position so that the retaining spring press-fitting table can press the retaining spring. The retaining spring press-fitting table is used to automatically install the retaining spring from the press-fitting position to the assembly position, and the 9 assembly workbench is used to position the bearing support. The present invention is an equipment for the automatic assembly of double-sided bearing supports, bearings and retaining springs, which realizes the integrated automatic assembly of double-sided bearing supports, bearings and retaining springs from feeding, assembly and assembly process detection, and ensures the accuracy, smoothness and controllability of the assembly process.

[0089] Figures 1 to 4 This is a schematic diagram of the automatic assembly equipment for double-sided bearing supports based on industrial robots of the present invention. Figure 5-13 This is a schematic diagram of the specific components of the double-sided bearing support automated assembly equipment based on industrial robots of the present invention. Figure 14-18 It is a partial schematic diagram of the double-sided bearing support automatic assembly equipment based on the industrial robot of the present invention when it is working.

[0090] A double-sided bearing support automated assembly equipment based on an industrial robot, comprising: a pallet 1 for storage, an industrial robot 2 for handling, a storage and automatic loading device 3 for bearing assembly for storing, positioning and loading bearings, a quick-change fixture 4 for clamping, a retaining spring loading and positioning mechanism 5 for temporarily storing and loading retaining springs, a retaining spring pressing table 6 for automatically pressing retaining springs, two bearing pressing tables 7 for automatically pressing bearings, a product assembly station sliding mechanism 8 for moving the bearing and retaining spring assembly stations, two assembly workbenches 9 for fixing the double-sided bearing support, and a workbench 10 for supporting the equipment structure.

[0091] The pallet 1 includes: a pallet base plate 11, a lug positioning pin 12, a pallet positioning support 13, and a pallet handle 14; the product lug positioning pins 12 are a group of two for realizing the positioning of the double-sided bearing support, and the lug positioning pins 12 are fixed to the pallet base plate 11 through the threaded holes on the pallet base plate 11; the pallet positioning support 13 is fixed to the back of the pallet 1 through the stepped holes and 4 threaded holes on the pallet base plate 11; the pallet handle 14 is fixed to the threaded holes on the left and right edges of the front of the pallet base plate 11 through the through holes on the pallet handle 14, and the double-sided bearing support structure is precisely placed on the pallet base plate 11 through the lug positioning pins 12, and the pallet base plate 11 is positioned on the base plate of the workbench 10 with the help of two pallet positioning supports 13 diagonally fixed to the back of the pallet base plate 11.

[0092] The industrial robot 2 is fixed to the workbench through the through holes on the base support.

[0093] The material storage and automatic loading device 3 for bearing assembly includes a base plate 31, a support rod 32, an electric push rod 33, an electric push rod fixing plate 34, a bearing automatic clamping and positioning mechanism 35, a guide rod 36, a photoelectric sensor 37 and several fixing structures and bolts. The base plate 31 fixes the bearing automatic clamping and positioning mechanism 35, the electric push rod 33, the photoelectric sensor 37 and the support rod 32 through through holes, threaded holes and stepped holes; the bearing automatic clamping and positioning mechanism 35 fixes the bearing automatic clamping and positioning mechanism 35 to the base plate 31 through three threaded holes on the bottom surface of the ring and three through holes on the base plate 31; the photoelectric sensor 37 is fixed on the support rod 32 and is indirectly fixed to the base plate 31 through the threaded holes on the support rod 32 and the base plate 31; the electric push rod 33 is fixed as a whole to the electric push rod fixing plate 34, and the electric push rod fixing plate is fixed to the end of the support rod 32 through the stepped holes on the surface, and the top of the support rod 32 is connected and fixed to the stepped hole of the base plate 31, and the top plate of the electric push rod 33 is fixed to the base plate 31 by means of a push rod fixing ring to keep the electric push rod 33 vertically lifted.

[0094] The quick-change fixture 4 includes: a changing mother plate 41, a quick-change sub-plate 42, a bearing fixture claw I 43, a quick-change fixture bracket 44, a support fixture claw II 45, a support fixture claw I 46, and a bearing fixture claw II 47. The quick-change mother plate 41 is fixed to the end of the industrial robot 2; the quick-change sub-plate 42 is fixed to the ends of the four sets of fixture claws; the quick-change fixture bracket 44 is in a "mouth shape" and the upper end is used to store the four sets of fixture claws, and the bottom surface is fixed to the 92 workbench base plate 92 by bolts and through holes.

[0095] The said spring feeding and positioning mechanism 5 comprises: a spring feeding assembly 51, an assembly positioning pin 52, a spring press-fitting hole 53, a spring feeding driving cylinder 54, a spring press-fitting head 55, a spring driving element connecting plate 56, a fixing plate 57, a spring detecting device 58, a linear guide column 59, a linear bearing 510, a spring feeding table lifting driving cylinder 511, a linear guide column fixing plate 512, and a buffer pad 513; the said assembly positioning pin 52 and the through hole fixing cylinder 54 are provided. In the spring feeding and positioning mechanism 5, the push plate 515 is connected to the spring driving element connecting plate 56 to provide driving force for the push plate 515; the assembly positioning pin 52 is fixed to the 5 pin holes on the fixed plate 57; the spring press-fitting hole 53 temporarily places the spring 500 to be press-fitted; the spring feeding driving cylinder 54 is fixed to the threaded hole on the fixed plate 57 by the through hole on the cylinder 54; the spring press-fitting head 55 is fixed to the spring press-fitting part of the spring press-fitting table. The cam 512 is fixed to the bottom of the workbench 10 by the countersunk hole on the upper end; the buffer pad 513 is fixed to the back of the cam pressing hole 53 of the fixed plate 57.

[0096] The circlip press-fitting platform 6 is fixed to the base plate of the workbench 10 by means of circlip press-fitting platform fixing bolts.

[0097] The two bearing press-fitting platforms 7 are fixed to the workbench base plate by bearing press-fitting platform fixing bolts. The left working area is the bearing press-fitting station I, and the right working area is the bearing press-fitting station II.

[0098] The product assembly station sliding mechanism 8 includes: 81 assembly workbench driving device, 82 guide rail 82, 83 assembly workbench position recording element fixing bracket 83; the 81 assembly workbench driving device 81 is fixed to the workbench frame base plate through the driving device fixing plate; the guide rail 82 fixes the guide rail 82 to the base plate of the workbench frame 10 through the guide rail fixing hole; the 83 assembly workbench position recording element fixing bracket 83 is fixed to the base plate of the workbench frame 10 through the position recording element 83 fixing bracket; the 9 assembly workbench fixes the 92 workbench base plate to the 98 slider through 16 stepped holes, and positions the center hole of the double-sided bearing support through the positioning pin support and positioning pin fixed on the 9 assembly workbench, and pushes the bearing support for positioning through the cylinder clamps on the left and right sides.

[0099] The assembly workbench 9 includes a bearing pressing head 91, a workbench base plate 92, a double-sided bearing support 93, a driving cylinder 94, a support fixture 95, a position recording element fixing bracket 96, a driving element fixing bracket 97, and a slider 98. The two assembly workbenches 9 are fixed to the product assembly station sliding mechanism 8 and the bearing pressing table 7 respectively through the workbench base plate 92. The bearing pressing station II is connected to the assembly workbench position recording element fixing bracket 96 through 96; and to the assembly workbench driving device 81 through the driving element fixing bracket 97.

[0100] The workbench 10 includes an equipment base plate and a support frame for fixing the assembly references of the various mechanisms of the above equipment.

[0101] Preferably, the guide rod 36 positioned in the storage and automatic loading device 3 for bearing assembly can fit with the outer wall of bearings of different sizes.

[0102] Preferably, in the retaining spring feeding and positioning mechanism 5, the retaining spring feeding mechanism group is positioned with the aid of positioning pins. The retaining spring feeding mechanism group is positioned from three direction positioning pins and two bottom surface positioning pins respectively. The retaining spring feeding mechanism group is detachable and replaceable, and different retaining spring feeding mechanism components can be replaced to perform retaining spring feeding work of different models.

[0103] Preferably, the bearing press-fitting station 7 includes: a servo electric cylinder 71, a pressure detection device 72, a bearing press-fitting joint 73, a press-fitting bracket 74, and a pressure rod 75; the bearing press-fitting joint 73 is fixed to the joint part by a positioning hole and a threaded hole; there is a certain gap between the bearing press-fitting head 91 and the positioning, which just satisfies the bearing press-fitting head 91 to press the bearing down along the outer wall of the positioning pin; the pressure rod 75, the bearing press-fitting joint 73, the pressure detection device 72, and the servo electric cylinder 71 are connected and fixed in sequence, and when the servo electric cylinder 71 starts to press the bearing down, it is fixed to the bearing press-fitting joint The bearing press-fitting head 91 at the end of 73 presses the bearing down along the guide surface of the locating pin and performs press-fitting data detection. It is judged that the press-fitting is completed when the pressing position of the servo electric cylinder 71 and the pressure detection device 72 reach the preset value. If the press-fitting position is not reached and the press-fitting pressure detection device 72 is too large, it means that interference may occur and affect the assembly. It is necessary to detect whether the bearing of the device is suitable and whether there is foreign matter in the support. If the press-fitting position is reached and the press-fitting pressure detection device 72 is too small, it means that an air-pressurized bearing may be in a state. It is necessary to check whether the bearing is placed on the locating pin and whether the bearing press-fitting head 91 corresponds to the press-fitting bearing model.

[0104] The bearing assembly storage and automatic loading device 3 includes a base plate 31, two photoelectric sensors 37, a bearing automatic clamping and positioning mechanism 35, two electric push rods 33, four support rods 32 and two sets of guide rods 36;

[0105] The base plate fixes the bearing automatic clamping and positioning mechanism, electric push rod, photoelectric sensor and support rod through through holes, threaded holes and stepped holes; the bearing automatic clamping and positioning mechanism fixes the bearing automatic clamping and positioning mechanism to the base plate through three threaded holes on the bottom surface of the ring and three through holes on the base plate; the photoelectric sensor is fixed on the support rod and indirectly fixed to the base plate through the threaded holes on the support rod and the base plate; the electric push rod is fixed as a whole to the electric push rod fixing plate, the electric push rod fixing plate is fixed to the end of the support rod through the stepped holes on the surface, the top of the support rod is connected and fixed to the stepped holes of the base plate, and the electric push rod top plate is fixed to the base plate with the help of a push rod fixing ring to keep the electric push rod vertically lifted.

[0106] Compared with the traditional assembly method, the double-sided bearing support automated assembly equipment based on industrial robots of the present invention has the following positive effects:

[0107] The present invention utilizes an industrial robot-based automated assembly system for double-sided bearing supports. The system primarily includes an industrial robot, a quick-change fixture, a product assembly station push mechanism, a retaining spring loading and positioning mechanism, a bearing press-fitting platform, and a bearing assembly storage and automatic loading device. The industrial robot 2 utilizes the quick-change fixture to transfer different types of bearing supports and bearings between three press-fitting stations. The product assembly station push mechanism 8 enables movement between the bearing press-fitting station and the retaining spring press-fitting station. Position detection and position comparison are performed by a position detection device, triggering station operation upon reaching a set position. The retaining spring loading and positioning mechanism 5 is functionally divided into a retaining spring loading assembly 51 and a retaining spring loading and positioning platform. The retaining spring loading assembly 51 is used for temporary storage and loading of retaining springs, while the retaining spring loading and positioning platform aligns the retaining spring loading position with the installation position. The removable and replaceable retaining spring loading assembly 51 maximizes the flexibility of the retaining spring loading and positioning mechanism, enabling compatibility with a variety of retaining spring models. The bearing press-fitting platform 7 detects, determines, and compares position and pressure to prevent press-fitting failures caused by misoperation. The present invention is based on the bearing support automated assembly equipment of the industrial robot, realizes the automatic installation of the double-sided bearing support bearing and the retaining ring, ensures the quality reliability of the assembled product, improves the assembly efficiency, meets the product assembly process data detection feedback, and small batch and multi-variety operation mode.

[0108] The present invention is based on the automatic assembly equipment of double-sided bearing support of industrial robot, which mainly includes the following steps:

[0109] 1) At the tray, place the double-sided bearing support along the 12 lugs and 12 positioning pins on the 11 tray base plate 11; at the storage and automatic loading device for the bearing 500 assembly, move the front joint to open the 35 bearing automatic clamping and positioning mechanism 35 and place the bearing; at the circlip loading and positioning mechanism, screw open the end cover 516 of the circlip loading assembly 51 and place the circlip into the circlip storage support 519. After completion, screw on the end cover 516;

[0110] 2) Select the assembly scheme corresponding to the double-sided bearing support on the operating table, set the press-fit quantity N (), replace the corresponding positioning pin, press-fit head, and retaining spring feeding assembly 51, and then start the equipment;

[0111] 3) The industrial robot 2, the product assembly station push mechanism 8, the bearing press-fitting platform 7, the retaining spring press-fitting platform 6, and the assembly work fixture automatically return to their initial state;

[0112] 4) The industrial robot 2 automatically moves to the position directly above the support fixture claw I 46 in the quick-change fixture bracket 44. The quick-change master plate 41 fixed at the end of the industrial robot is vertically aligned with the support fixture claw I 46. The industrial robot 2 descends along a linear motion to complete the docking of the quick-change master plate 41 and the quick-change sub-plate 42, completing the fixture picking action.

[0113] 5) After the industrial robot 2 performs the fixture picking action, it determines whether there is a support on the assembly station table of the bearing press-fitting station I, and the control system determines that the pallet is at the positioning point; after the conditions are met, the industrial robot controls the support fixture claw I 46 to open and move to the position directly above the pallet bearing support placement position I; the industrial robot 2 moves linearly down to the clamping position, and the industrial robot controls the support fixture claw I 46 to close, completing the bearing support clamping action;

[0114] 6) After the industrial robot 2 completes the bearing support fixture, the robot fixture bearing support moves to the top of the bearing press-fitting station I assembly station table to ensure that the center hole of the bearing support is aligned with the assembly station table locating pin; the robot 2 fixture bearing support descends along the linear motion, and the bearing support is placed on the locating pin in the assembly station table locating pin along the outer wall of the locating pin; the fixtures on both sides of the assembly workbench 9 clamp the bearing support, and the industrial robot 2 controls the support fixture claw I 46 to open and return to a safe position.

[0115] 7) The second industrial robot 2 automatically moves to the position just above the support fixture claw I 46 in the quick-change fixture bracket 44 and descends, placing the support fixture claw I 46 at the support fixture claw I 46 position on the quick-change fixture bracket 44. The quick-change mother plate 41 is disconnected from the quick-change sub-plate 42 of the support fixture claw I 46 and returns to a safe position, completing the fixture placement.

[0116] 8) The industrial robot 2 automatically moves to the position directly above the bearing fixture claw I 43 in the quick-change fixture bracket 44. The quick-change master plate 41 fixed at the end of the industrial robot is vertically aligned with the bearing fixture claw I 43. The industrial robot 2 descends along a linear motion to complete the docking of the quick-change master plate 41 and the quick-change daughter plate 42, completing the fixture picking action.

[0117] 9) After the industrial robot 2 picks up the bearing, the electric push rod 33 in the material storage and automatic loading device drives the push plate to lift the bearing to the photoelectric switch;

[0118] 10) Industrial robot 2 automatically moves to the top of the material storage and automatic loading device for bearing assembly, aligns the bearing fixture claw I 43 with the clamping position bearing, opens the bearing fixture claw I 43 of industrial robot 2, moves linearly to the clamping position, closes the bearing fixture claw I 43 of industrial robot 2, clamps the bearing, completes the bearing clamping, and places the robot clamped shaft on the positioning pin of the assembly station table of bearing press-fitting station I;

[0119] 11) Bearing press-fitting station I: The servo electric cylinder of the bearing press-fitting table 7 drives the pressing rod 75, the pressure detection device 72, the bearing press-fitting joint 73, and the bearing press-fitting head 91 to press downward. The bearing press-fitting head 91 and the positioning pin are in a sleeve-engaged state, and the bearing placed in the positioning pin is press-fitted into the bearing support. During the press-fitting process, the feedback data of the pressure detection device 72 is read in real time to avoid damage to the structural parts due to excessive pressure. The press-fitting is completed when the press-fitting position and pressure data meet the requirements;

[0120] 12) The industrial robot 2 automatically moves to the position just above the bearing fixture claw I 43 in the quick-change fixture bracket 44 and descends, placing the bearing fixture claw I 43 at the bearing fixture claw I 43 position on the quick-change fixture bracket 44. The quick-change mother plate 41 is disconnected from the quick-change sub-plate 42 of the bearing fixture claw I 43 and returns to a safe position, completing the fixture placement.

[0121] 13) Repeat step 4;

[0122] 14) The industrial robot 2 opens the bearing fixture claw I 43, and the industrial robot 2 automatically moves to the bearing press-fitting station I assembly station table placement position. The industrial robot bearing fixture claw I 43 is closed and clamped, and the fixtures on both sides of the assembly station table are opened. The industrial robot bearing fixture claw I 43 clamps the bearing support and moves vertically along a linear motion to a safe position. The industrial robot bearing fixture claw I 43 clamps the bearing support and moves it to the assembly workbench 9 on the product assembly station push mechanism 8. The center hole of the bearing support is aligned with the assembly workbench locating pin. The industrial robot bearing fixture claw I 43 clamps the bearing support and moves vertically along a linear motion to the placement position. The fixtures on both sides of the assembly workbench 9 clamp the bearing support. The industrial robot opens the bearing fixture claw I 43 and returns to a safe position.

[0123] 15) Repeat steps 7-9;

[0124] 16) Industrial robot 2 automatically moves to the top of the storage and automatic loading device for bearing assembly, aligns the bearing fixture claw I 43 with the clamping position bearing, and industrial robot 2 opens the bearing fixture claw I 43. The bearing fixture claw I 43 of robot 2 moves linearly to the clamping position. The bearing fixture claw I 43 of industrial robot 2 closes and clamps the bearing to complete the bearing clamping. The robot clamps the shaft and places it on the positioning pin of the assembly station table of the bearing press-fitting station II.

[0125] 17) Repeat steps 11-12;

[0126] 18) Repeat step 4;

[0127] 19) 8 Product assembly station pushing mechanism 8 pushes the bearing press-fitting station II assembly station platform to the circlip assembly station. The circlip loading table 511 in the circlip loading and positioning mechanism 5 drives the fixed plate 57 to descend, ensuring that the guide sleeve 518 is docked with the 2 assembly station platform positioning pin. The contact surface between the fixed plate 57 and the bearing support is protected by the buffer pad 513. The circlip loading drive cylinder drives the push plate 515 to push the circlip into the circlip press guide sleeve 518. The circlip press platform 6 drives the circlip press head to press down, press the circlip along the spring press guide sleeve into the circlip groove, and press-fit.

[0128] 20) The circlip loading table lifting drive cylinder 511 in the circlip loading and positioning mechanism 5 drives the fixed plate 57 to rise, and the product assembly station pushing mechanism 8 moves the bearing press-fitting station II assembly station table back to the original position;

[0129] 21) The bearing fixture claw I 43 of the industrial robot 2 opens and automatically moves to the waiting point above the positioning pin of the assembly station of the bearing press-fitting station II, and then descends vertically along the linear line to the clamping position. The bearing fixture claw I 43 closes and clamps the bearing support. The industrial robot 2 rises vertically along the linear line to a safe position. The fixture shaft support of the industrial robot 2 is placed on the pallet bearing support seat I to complete the assembly;

[0130] 22) Repeat steps 5-22.

[0131] Through the above steps, automatic assembly of multiple types of bearing supports is achieved, shortening the original manual work to simple loading work, reducing the burden and skill requirements on personnel due to changes in task volume, and improving product assembly quality and efficiency, proving that the present invention is beneficial.

[0132] The above steps combined with the accompanying drawings provide a more complete and detailed description of the double-sided bearing support automated assembly equipment based on industrial robots. Obviously, the specific implementation of the present invention is not limited to the above method. Various non-substantial improvements made by only using the concept and technical solution of the present invention or directly applying the concept and technical solution of the present invention to other occasions without improvement are all within the scope of protection of the present invention.

Claims

1. An automated assembly equipment for double-sided bearing supports based on an industrial robot, comprising a tray (1), a material storage and automatic loading device (3) for bearing assembly, a retaining spring loading and positioning mechanism (5), and an assembly workbench (10), wherein: The pallet (1), the material storage and automatic loading device (3) for bearing assembly and the retaining spring loading and positioning mechanism (5) are all installed on the workbench (10); it is characterized in that it also includes a retaining spring press-fitting platform (6), two bearing press-fitting platforms (7), a product assembly station sliding mechanism (8), a quick-change fixture (4), an assembly workbench (9) and an industrial robot (2); the retaining spring press-fitting platform (6), the two bearing press-fitting platforms (7), the product assembly station sliding mechanism (8) and the industrial robot (2) are all fixedly installed on the workbench (10), and the quick-change fixture (4) is placed on the workbench (10); a product assembly station sliding mechanism (8) is provided below the two bearing press-fitting platforms (7); the assembly workbench (9) is installed on the product assembly station sliding mechanism (8); The pallet (1) comprises: a pallet base plate (11), a lug positioning pin (12), a pallet positioning support (13) and a pallet handle (14); the lug positioning pins (12) are a group of two for realizing positioning of a double-sided bearing support (93) to be processed, and the lug positioning pins (12) are fixed to the pallet base plate (11) through the threaded holes on the pallet base plate (11); the pallet positioning support (13) is fixed to the back of the pallet (1) through the stepped holes and four threaded holes on the pallet base plate (11); the pallet handle (14) is fixed to the threaded holes on the left and right edges of the front of the pallet base plate (11) through the through holes on the pallet handle (14); the double-sided bearing support (93) to be processed is precisely placed on the pallet base plate (11) through the lug positioning pins (12); the pallet base plate (11) is positioned on the base plate of the workbench (10) by means of two pallet positioning supports (13) fixed diagonally to the back of the pallet base plate (11); The material storage and automatic loading device (3) for bearing assembly comprises a base plate (31), a support rod (32), an electric push rod (33), an electric push rod fixing plate (34), a bearing automatic clamping and positioning mechanism (35), a guide rod (36), a photoelectric sensor (37) and a plurality of bolts for fixing the structure; the base plate (31) fixes the bearing automatic clamping and positioning mechanism (35), the electric push rod (33) and the support rod (32) through through holes, threaded holes and stepped holes; the bearing automatic clamping and positioning mechanism (35) is fixed to the base plate (31) through three threaded holes on the bottom surface of the ring and three through holes on the base plate (31). The photoelectric sensor (37) is fixed on the support rod (32), and the photoelectric sensor (37) is indirectly fixed to the bottom plate (31) through the threaded holes on the support rod (32) and the bottom plate (31); the electric push rod (33) is fixed on the electric push rod fixing plate (34) as a whole, and the electric push rod fixing plate (34) is fixed to the end of the support rod (32) through the surface stepped holes, and the top of the support rod (32) is connected and fixed to the stepped hole on the lower surface of the bottom plate (31), and the top plate of the electric push rod (33) is fixed to the bottom plate (31) by means of a push rod fixing ring, so as to keep the electric push rod (33) vertically lifted; The quick-change fixture (4) comprises a mother plate (41), a quick-change sub-plate (42), a bearing fixture claw I (43), a quick-change fixture bracket (44), a support fixture claw II (45), a support fixture claw I (46) and a bearing fixture claw II (47), wherein the quick-change mother plate (41) is fixed to the end of the industrial robot (2); the upper ends of the bearing fixture claw I (43), the support fixture claw II (45), the support fixture claw I (46) and the bearing fixture claw II (47) are respectively connected to one of the quick-change sub-plates (42); the upper end of the quick-change fixture bracket (44) is in a "mouth-shaped" shape and is used to store (4) sets of fixture claws, and the bottom surface of the quick-change fixture bracket (44) is fixed to the workbench base plate (92); The clamp spring feeding and positioning mechanism (5) comprises: a clamp spring feeding assembly (51), an assembly positioning pin (52), a clamp spring press-fitting hole (53), a clamp spring feeding driving cylinder (54), a clamp spring press-fitting head (55), a clamp spring driving element connecting plate (56), a fixing plate (57), a clamp spring detecting device (58), a linear guide column (59), a linear bearing (510), a clamp spring feeding table lifting driving cylinder (511), a linear guide column fixing plate (512) and a buffer Punch pad (513); wherein the said circlip feeding assembly (51), assembly positioning pin (52), circlip feeding driving cylinder (54) and circlip detection device (58) are all fixedly mounted on the fixed plate (57); the circlip push plate (515) is connected to the circlip driving element connecting plate (56); the circlip driving element connecting plate (56) provides driving force for the circlip push plate (515); the said circlip pressing hole (53) is provided on the upper surface of the circlip feeding assembly (51); Temporarily storing the circlip (500) to be pressed; the circlip pressing head (55) is fixed to the joint below the circlip pressing platform (6); the circlip driving element connecting plate (56) is fixed on the push plate part of the circlip feeding driving cylinder (54); the top end of the linear guide column (59) is fixed to the stepped hole on the bottom surface of the fixing plate (57), and the bottom end of the linear guide column (59) is fixed to the linear guide column fixing plate (512); the linear bearing (510) Fixed on the linear guide column (59) under the base plate of the workbench (10); the upper portion of the clamping spring loading table lifting drive cylinder (511) is fixed on the base plate of the workbench (10), and the top rod of the clamping spring loading table lifting drive cylinder (511) is fixed on the bottom surface of the fixed plate (57); the linear guide column (59) is fixed on the linear guide column fixed plate (512); the buffer pad (513) is fixed on the back side of the clamping spring press-fitting hole (53) of the fixed plate (57); The clamping spring press-fitting platform (6) is fixed on a base plate of a workbench (10); The two bearing press-fitting stations (7) are fixed in the working area on the left side of the workbench base plate, with bearing press-fitting station I and bearing press-fitting station II next to them; The product assembly station pushing mechanism (8) comprises an assembly workbench driving device (81), a guide rail (82) and an assembly workbench position recording element fixing bracket (83); the assembly workbench driving device (81) is fixed to the workbench frame base plate through a driving device fixing plate; the guide rail (82) is fixed to the base plate of the workbench frame (10); the assembly workbench position recording element fixing bracket (83) is fixed to the base plate of the workbench frame (10) through the position recording element fixing bracket; The assembly workbench (9) fixes the workbench base plate (92) to the slider (98) through the stepped hole, and the center hole of the double-sided bearing support (93) to be processed is positioned by the positioning pin support and the positioning pin fixed on the assembly workbench (9), and the bearing support is pushed and positioned by the cylinder clamps on the left and right sides; The assembly workbench (9) comprises a bearing press-fitting head 91), a workbench base plate (92), a driving cylinder (94), a support fixture (95), a position recording element fixing bracket (96), a driving element fixing bracket (97) and a slider (98). Two assembly workbench (9) are respectively located below the bearing press-fitting table (7) of assembly station 1 and are used for front bearing press-fitting of double-sided bearing supports (93). Another assembly workbench is installed on the product assembly station pushing mechanism (8) below assembly station II. The product assembly station pushing mechanism (8) is used to realize the movement between assembly station II and the clamping mechanism. The spring assembly station pushes and pulls and is used for press-fitting the bearing and the retaining spring on the back of the double-sided bearing support (93). The assembly workbench (9) below the assembly station II is connected to the assembly workbench driving device (81) through the driving element fixing bracket (97). The assembly workbench driving device drives the assembly workbench (9) below the assembly station II to realize the push-pull movement of the assembly station II and the retaining spring assembly station. The position recording element fixing bracket (96) is connected to the assembly workbench position recording element fixing bracket (83) to realize the judgment of the moving position of the assembly workbench (9) below the assembly station II. The workbench (10) comprises an equipment base plate and a support frame; The bearing press-fitting platform (7) comprises a servo electric cylinder (71), a pressure detection device (72), a bearing press-fitting joint (73), a press-fitting bracket (74) and a pressure rod (75); the bearing press-fitting head (91) is fixedly connected to the bearing press-fitting joint (73).

2. The double-sided bearing support automated assembly equipment based on an industrial robot according to claim 1, characterized in that: The guide rod (36) used for positioning in the material storage and automatic loading device (3) for bearing assembly can fit with the outer wall of bearings of different sizes.

3. The double-sided bearing support automated assembly equipment based on an industrial robot according to claim 1, characterized in that: The circlip feeding mechanism group (51) in the circlip feeding and positioning mechanism (5) is positioned by means of positioning pins. The circlip feeding mechanism group (51) is positioned by positioning pins in three directions and two bottom surface positioning pins respectively. The circlip feeding mechanism group (51) is detachable and replaceable. Different circlip feeding mechanism components can be replaced to perform circlip feeding operations of different models.

4. The double-sided bearing support automated assembly equipment based on an industrial robot according to claim 1, characterized in that: There is a certain gap between the bearing press-fitting head (91) and the positioning pin, which is just enough for the bearing press-fitting head (91) to press the bearing down along the outer wall of the positioning pin; the bearing press-fitting joint (73), the pressure detection device (72), the pressure rod (75), and the servo electric cylinder (71) are fixedly connected together in sequence. When the servo electric cylinder (71) starts to press the bearing down, the bearing press-fitting head (91) fixed at the end of the bearing press-fitting joint (73) presses the bearing down along the guide surface of the positioning pin, and pressure data is collected.

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