A method for reducing component damage during a co-assembly process and a co-assembly process applying the same

Abstract

The application provides a method for reducing damage of components in an assembling process and an assembling method applying the same. After a first assembling part and a second assembling part are in a state to be assembled, a pressing head is controlled to contact an upper surface of an inner ring of a bearing; during movement of the first assembling part along an assembling direction to assemble with the second assembling part, the pressing head is controlled to push the inner ring of the bearing and move synchronously with the first assembling part; when the inner ring of the bearing contacts an outer surface of a rotating shaft, the pressing head always contacts the upper surface of the inner ring of the bearing, and a pushing force is applied to the inner ring of the bearing by the pressing head. The method provided by the application always ensures that the bearing moves synchronously with the first assembling part by applying the same force to the bearing as the assembling direction of the first assembling part during the assembling process of the first assembling part and the second assembling part, reduces the risk of damage of different parts of the first assembling part due to force, and avoids separation of the inner ring and the outer ring of the bearing or damage of the bearing caused by the axial force.

Description

Technical Field

[0001] This invention relates to the field of equipment assembly technology, and in particular to a method for reducing component damage during assembly and an assembly method using the same. Background Technology

[0002] In industrial production, it is necessary to assemble the bearing of one component onto the shaft of another component to form an integrated assembly. When the bearing contacts the shaft during assembly, a certain axial force is generated on the bearing. In the assembly process of heavy components, excessive axial force generated by pressing with thrust or the component's own weight may damage the bearing.

[0003] In the field of motor manufacturing, it is necessary to assemble an end cover with bearings and a rotor with a shaft into an end cover rotor assembly. The general process of assembling the end cover rotor assembly is to control the end cover to move in the direction of assembly with the rotor, or to control the rotor to move in the direction of assembly with the end cover so that the end cover contacts the rotor until the assembly is in place. For example, the rotor end cover assembly method described in patent document CN107317440A is to apply a downward assembly force to the end cover and press it down to assemble with the rotor. Patent document CN118589791A also describes a method of using an end cover clamping fixture to grab the motor end cover and place it on the motor body. After the center hole of the rotor shaft is corrected by a straightening mechanism, the motor end cover is moved down until the assembly is in place.

[0004] The existing technical solution has the following problems: During the assembly of the end cover and rotor, the end cover bearing and the rotor shaft need to be interference-fitted, requiring a large assembly force to be applied to the end cover; because the inner ring of the end cover bearing is in contact with the rotor shaft during assembly, when the end cover is pressed down, a large reverse axial force is generated on the inner ring of the bearing. Different parts of the end cover are subjected to forces in different directions, which may lead to deformation or damage. At the same time, the axial force may cause the inner and outer rings of the bearing to separate or damage the bearing, resulting in assembly failure; on the other hand, after long-term use, if the assembly equipment itself deforms, it is impossible to guarantee that the end cover is pressed down to the designated position accurately. When the end cover is over-positioned or deviates from the assembly position, the excessive assembly force will cause damage to the precision structure of the motor and the components of the assembly mechanism, resulting in losses. Summary of the Invention

[0005] The present invention aims to solve the above problems and provides a method for reducing component damage during assembly and an assembly method using the same method, which can reduce the risk of component deformation and damage during assembly and can still automatically assemble into place even in the presence of mechanical errors.

[0006] The present invention addresses the problem by providing a technical solution for reducing component damage during assembly, applied to the assembly process of a first assembly component and a second assembly component; the first assembly component includes a bearing, and the second assembly component includes a rotating shaft; during the assembly process of the first assembly component and the second assembly component, the inner ring of the bearing contacts the outer surface of the rotating shaft. The method for reducing component damage during assembly includes the following steps: after the first assembly component and the second assembly component are in the assembly-ready state, the pressure head is controlled to contact the upper surface of the bearing inner ring; during the process of the first assembly component moving along the assembly direction to assemble with the second assembly component, the pressure head is controlled to push the bearing inner ring, moving synchronously with the first assembly component; when the bearing inner ring contacts the outer surface of the shaft, the pressure head always contacts the upper surface of the bearing inner ring, and a thrust is applied to the bearing inner ring through the pressure head.

[0007] A bearing pushing device is applied; the bearing pushing device consists of a pushing actuator and a pressure head; the pressure head is mounted on the pushing actuator, and the control system controls the pushing actuator to move, driving the pressure head to move along the assembly direction; The method for reducing component damage during assembly includes the following steps: after the first and second assembled components are in a state to be assembled, the control system controls the push actuator to move, driving the pressure head towards the first assembled component, so that the pressure head contacts the upper surface of the bearing inner ring and stops; during the process of the first assembled component moving along the assembly direction to assemble with the second assembled component, the push actuator is controlled to push the bearing and the first assembled component to move synchronously; when the bearing inner ring contacts the outer surface of the shaft, the pressure head is always in contact with the bearing, and a thrust is applied to the bearing inner ring through the pressure head.

[0008] The first assembly is an end cap, and the second assembly is a rotor.

[0009] An assembly method, employing the aforementioned method for reducing component damage during assembly, the assembly method comprising the following steps: Step S1: Place the first assembled component and the second assembled component in a state to be assembled; Step S2: Control the pressure head to move along the assembly direction until it contacts the upper surface of the bearing inner ring and then stops; Step S3: Control the pressure head to push the bearing inner ring, moving synchronously with the first assembled component along the assembly direction; when the bearing inner ring contacts the outer surface of the rotating shaft, the pressure head always contacts the bearing inner ring, and applies a thrust to the bearing inner ring through the pressure head; After the bearing and the first assembled component are moved into place in step S4, the assembly process ends.

[0010] In step S4, the bearing is determined to be in place using the following method: Step a1: When the pressure head contacts the inner ring of the bearing, push the bearing to a preset moving distance h to be assembled with the rotating shaft. Step a2: Control the pressure head to push the bearing to move, moving synchronously with the first assembled component towards the second assembled component; when the moving distance D < h-Tm, the pressure feedback value P of the pressure head obtained by the control system is ≥ preset pressure Pm, then the assembly is stopped; when the moving distance D ≥ h-Tm, the pressure feedback value P of the pressure head is ≥ preset pressure Pm, then it is determined that the bearing has moved into place, and the bearing and the first assembled component are controlled to stop moving.

[0011] In step S1, the assembly equipment is used to place the first assembled component and the second assembled component into an assembly-ready state. The assembly equipment includes: a mounting frame, a first assembled component positioning mechanism, and a second assembled component positioning mechanism. The first assembled component positioning mechanism and the second assembled component positioning mechanism are mounted on the mounting frame. The first assembled component positioning mechanism consists of a first assembled component pushing module and a first assembled component positioning module. The first assembled component positioning module is used to place the first assembled component and position its center. The first assembled component pushing module is fixedly mounted on the mounting frame. The first assembled component positioning module is connected to the first assembled component pushing module and moves along the assembly direction or in the opposite direction under the drive of the first assembled component pushing module. The second assembled component positioning mechanism is used to position the center of the second assembled component. The positioning centers of the first assembled component positioning mechanism and the second assembled component positioning mechanism are located on the same axis. Step S1 employs the following method: Place the first assembled component into the first assembled component positioning module and position the center of the first assembled component; Place the second assembly into the second assembly positioning mechanism and position the center of the second assembly; Control the first assembly component pushing module to move, causing the first assembly component positioning module to move along the axis to the assembly position; In steps S3 to S4, the pushing actuator and the first assembly push module are controlled to drive the bearing and the first assembly to move at the same speed and direction until the bearing and the first assembly are moved into place.

[0012] The assembly equipment further includes: an assembly end positioning mechanism for contacting the assembly end B1 of the second assembly component and positioning the center of the second assembly component; a second assembly component positioning mechanism for contacting the second assembly component from the non-assembly end B2 of the second assembly component and positioning the center of the second assembly component; the assembly end positioning mechanism is mounted on the mounting frame and consists of an assembly end pushing module and an assembly end positioning module; the assembly end pushing module is mounted on the mounting frame, and the assembly end positioning module is mounted on the assembly end pushing module, moving along the axial direction under the drive of the assembly end pushing module; The positioning center of the assembly end positioning module is located on the axis. The positioning method of the assembly end positioning mechanism is as follows: after the first assembly and the second assembly are positioned by the first assembly positioning mechanism and the second assembly positioning mechanism respectively; the assembly end pushing module drives the assembly end positioning module to move towards the second assembly, passing through the center of the first assembly to contact and position the assembly end B1 of the second assembly.

[0013] The first assembly positioning module consists of a lateral pushing component and N sets of gripper assemblies, where N ≥ 2; the lateral pushing component is mounted on the first assembly pushing module and moves under the drive of the first assembly pushing module; the N sets of gripper assemblies are mounted on the lateral pushing component and move closer to or away from the axis under the drive of the lateral pushing component. The gripper assembly is provided with a gripping block. The horizontal support surface of the gripping block is used to support the lower surface A1 of the first assembled component. The side clamping surface of the gripping block contacts and clamps the side positioning surface A2 of the first assembled component. In step S1, the side clamping surfaces of the N sets of clamping blocks are controlled to contact and clamp the outer surface A2 of the first assembled component, thereby positioning the center of the first assembled component. The following steps are also included between steps S2 and S3: The clamping blocks are controlled to move away from each other, and the lower surface A1 of the first assembled component is supported by the horizontal support surface.

[0014] The pressure head has a sleeve structure; the center of the pressure surface of the pressure head is located on the axis; the pushing actuator of the bearing pushing device is mounted on the mounting frame; the bearing pushing device and the first assembly positioning mechanism are located on the same side of the second assembly positioning mechanism; the pressure head and the second assembly positioning mechanism are respectively located on opposite sides of the plane where the bearing positioning surface of the first assembly positioning mechanism is located; the pushing actuator consists of a linear pushing component and a guiding component; the linear pushing component is fixedly mounted on the mounting frame, and the guiding component is connected to the pressure head through a first mounting plate at one end, and a second mounting plate at the other end is connected to the linear pushing component. The components are connected and move under the drive of the linear push component; the assembly end push module consists of a second linear push component and a transfer module. The transfer plate of the bearing positioning surface transfer module is installed on the bearing positioning surface second linear push component. The side of the transfer block is connected to the bearing positioning surface transfer plate, and the bottom is connected to the assembly end positioning module. The transfer module moves under the drive of the second linear push component. The transfer block is located between the first mounting plate and the second mounting plate. The assembly end positioning module passes through the hole on the first mounting plate and the inside of the pressure head in sequence, and extends out of the pressure surface of the pressure head or retracts under the drive of the assembly end push module.

[0015] The assembly method includes the following steps: Control the assembled equipment to the assembly preparation state; The first assembled component is picked up and placed on the first assembled component positioning mechanism to position the first assembled component. Grab the second assembled component and place it on the second assembled component positioning mechanism to position the second assembled component; The control assembly end positioning module moves in the assembly direction and stops after passing through the first assembly part and docking with the assembly end B1 of the second assembly part. Control the movement of the pressure head and stop the action after contacting the inner ring of the bearing; The positioning mechanism of the first assembled component is controlled to release the gap between itself and the side positioning surface of the first assembled component, so that the first assembled component maintains a limited floating range in the horizontal direction; The control pressure head and the first assembly positioning module move synchronously. After the bearing of the first assembly and the rotating shaft of the second assembly come into contact, the movement continues until the bearing and the first assembly are in place and then stop. Control the first assembled component positioning module and the pressure head to release the first assembled component; The control assembly end positioning module releases the second assembled component; The clamped assembly components are removed from the assembly equipment, and the process ends.

[0016] The beneficial effects of this invention are as follows: The method provided by this invention applies a force to the bearing in the same direction as the first assembly during the assembly process of the first and second assemblies, ensuring that the bearing and the first assembly move synchronously at all times. This reduces the risk of damage to different parts of the first assembly due to stress, while also preventing axial force from causing separation of the inner and outer rings of the bearing or bearing damage. During the press-fitting process, the first assembly floats within a limited range, providing adaptive correction capability when the center of the first assembly deviates. Through precise position control and force feedback control methods, even in cases where there are large machining accuracy errors or large assembly errors due to aging of the assembly control mechanism and clamping mechanism after long-term use, assembly misalignment can be detected early and timely warnings can be issued to avoid forced squeezing. At the same time, it ensures that even when the assembly equipment itself has a certain range of machining accuracy errors, the bearing can still be accurately installed in place, avoiding over-assembly damage to the workpiece. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] Figure 1 This is a schematic diagram showing the pressure head contacting the upper surface of the bearing inner ring during the assembly process of this invention; Figure 2 This is a schematic diagram showing the first and second assembled parts in the state to be assembled in this invention; Figure 3 This is a schematic diagram of the bearing driving device 2 in one embodiment of the present invention; Figure 4 This is a schematic diagram of the overall structure of the combined equipment in this invention; Figure 5 This is a schematic diagram of the structure of the first assembly positioning mechanism 3 in one embodiment of the present invention; Figure 6 This is a schematic diagram of the assembly end positioning mechanism 5 in one embodiment of the present invention; Figure 7 This is a schematic diagram showing the state in which the second assembly is fixed in this invention; Figure 8 This is a schematic diagram of the structure of the first assembly positioning module 32 in one embodiment of the present invention; Figure 9 This is a schematic diagram of the gripper assembly 322 in one embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the first assembled component in this invention; Figure 11 This is a schematic diagram of the pressure head structure in one embodiment of the present invention; Figure 12This is a schematic diagram of the integrated structure of the bearing pushing device 2 and the assembly end positioning mechanism 5 in one embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. Example 1

[0020] A method for reducing component damage during assembly is provided, which is applied to the assembly process of a first assembly and a second assembly. The first assembly contains a bearing, and the second assembly contains a rotating shaft; During the assembly of the first and second assembly parts, the inner ring of the bearing contacts the outer surface of the shaft. Methods to reduce component damage during assembly include the following steps: After the first and second assembled parts are in the assembly-ready state... The pressure head is controlled to contact the upper surface of the bearing inner ring. The bearing side closer to the second assembly part during assembly is defined as the lower surface, and the side farther away is defined as the upper surface. During the process of the first assembled component moving along the assembly direction and assembling with the second assembled component, the pressure head 22 is controlled to push the bearing inner ring, moving synchronously with the first assembled component; as follows: Figure 1 As shown, when the inner ring of the bearing contacts the outer surface of the shaft, the pressure head 22 always contacts the upper surface of the inner ring of the bearing, and applies a thrust to the inner ring of the bearing through the pressure head 22. Figure 1 The first assembly is marked with A, the bearing with Aa, and the second assembly with B.

[0021] The pressure head 22 can be moved by an actuator such as a robotic arm or robotic hand, or it can be manually controlled.

[0022] The first and second assembled parts are in a state awaiting assembly: (e.g.) Figure 2 As shown, the bearing centerline of the first assembly is required to be coaxial or approximately coaxial with the shaft centerline of the second assembly for assembly purposes. The first and second assemblies are separated by a certain distance, and the assembly end B1 of the second assembly is closer to the first assembly than the non-assembly end B2 of the second assembly.

[0023] Taking the first assembled part as being directly above the second assembled part in the state of being to be assembled as an example, the second assembled part is in the state of having the assembled end B1 facing upward and the non-assembled end B2 facing downward.

[0024] The assembly direction refers to the direction in which the first assembly component moves to assemble with the second assembly component during the process of the first assembly component and the second assembly component changing from the state to the state of assembly. Taking the state of assembly where the first assembly component is on top and the second assembly component is on the bottom as an example, the centers of the two are located on the same axis. The direction in which the center of the first assembly component moves downward along the axis to assemble with the second assembly component is taken as the assembly direction.

[0025] In one embodiment, a bearing drive device 2 is used; Bearing drive device 2, such as Figure 3 As shown, it consists of a push actuator 21 and a pressure head 22, with the pressure head 22 mounted on the push actuator 21 via a mounting flange 221; The pressure head 22 is mounted on the push actuator 21. The control system controls the push actuator 21 to move the pressure head 22 along the assembly direction. Methods to reduce component damage during assembly include the following steps: After the first and second assembled parts are in the assembly-ready state... The control system controls the actuator 21 to move, driving the pressure head 22 towards the first assembled part, so that the pressure head 22 stops after contacting the upper surface of the bearing inner ring; the bearing pushing device 2 is equipped with a pressure sensor to obtain the reverse force when the pressure head 22 contacts the bearing, and the movement position can be precisely controlled through pressure feedback. During the process of the first assembly moving along the assembly direction and assembling with the second assembly, the control push actuator 21 pushes the bearing and the first assembly to move synchronously; when the inner ring of the bearing contacts the outer surface of the shaft, the pressure head 22 always contacts the bearing and applies a thrust to the inner ring of the bearing through the pressure head 22.

[0026] In one embodiment, the actuator 21 adopts a bearing drive module, which is fixedly installed on a bearing mounting structure. The bearing mounting structure can be a fixed installation position, such as a mounting structure position set on the mounting frame 1 of the assembled equipment, or it can be installed at the execution end of an actuator such as a robotic arm or robotic hand. In one embodiment, the bearing push module consists of an electric cylinder and a push rod. The electric cylinder has a built-in pressure sensor. When the pressure head 22 applies force to the bearing surface, the built-in pressure sensor displays a value. The electric cylinder shaft extends to push the push rod, and the reaction force is applied to the pressure sensor. When the pressure sensor senses a certain threshold pressure, it indicates that the pressure head 22 has contacted the upper surface of the bearing inner ring, and the control system controls the electric cylinder to stop moving.

[0027] The servo motor encoder on the electric cylinder can obtain the extension distance, thereby obtaining the distance that the bearing push module drives the pressure head 22 to move.

[0028] In one embodiment, when the second assembly is directly below the first assembly in the assembly state, the control system controls the actuator 21 to move above the first assembly, driving the pressure head 22 to move towards the first assembly, so that the pressure head 22 contacts the upper surface of the bearing inner ring and stops.

[0029] In one embodiment, the first assembly is an end cap, the second assembly is a rotor, the end cap contains a bearing, and the rotor assembly end is a shaft. Example 2

[0030] A packaging method is provided, which includes the following steps: Step S1: Place the first and second assembled parts in the assembly-ready state. Step S2: Control the pressure head 22 to move until it contacts the upper surface of the inner ring of the bearing and then stop. Step S3: Control the pressure head 22 to push the bearing inner ring, and move synchronously with the first assembled part along the assembly direction; when the bearing inner ring contacts the outer surface of the shaft, the pressure head 22 always contacts the bearing inner ring, and applies a thrust to the bearing inner ring through the pressure head 22; Step S4: After the bearing and the first assembled component are moved into place, the assembly process ends.

[0031] In one embodiment, in step S4, the bearing is determined to be in place by the following method: Step a1: When the pressure head 22 contacts the inner ring of the bearing, push the bearing to a preset moving distance h that is in place with the rotating shaft. The preset distance h can be set according to the distance between the pressure head 22 and the placement position of the second assembled part, as well as the model of the first assembled part and the second assembled part. Step a2: Control the pressure head 22 to push the bearing to move, and move synchronously with the first assembled part towards the second assembled part along the assembly direction; When the moving distance D < h - Tm, the pressure feedback value P of the pressure head obtained by the control system is greater than or equal to the preset pressure Pm, then the assembly stops; it is considered that the bearing and shaft are misaligned, an early warning is issued and manual intervention is required; Tm is the margin provided for the machining accuracy error of the assembly equipment used in the assembly process, which can be set to the machining accuracy of the assembly equipment plus a threshold. When the moving distance D ≥ h - Tm, the obtained pressure head feedback value P ≥ preset pressure Pm, then it is determined that the bearing has moved into place, and the bearing and the first assembled component are controlled to stop moving. When h-Tm≤moving distance D<h, the obtained pressure feedback value P≥preset pressure Pm, then it is determined that the bearing has moved into place, and the bearing and the first assembled part are controlled to stop moving; When the moving distance D=h, if the obtained pressure feedback value P is always < preset pressure Pm, then continue moving the bearing and the first assembled part until the obtained pressure feedback value P> preset pressure, which means that the press-fit is in place, and stop moving.

[0032] Misalignment during assembly can occur in two ways: one is that the first and second assembled parts are not aligned concentrically in the assembly state; the other is that although they are aligned concentrically in the assembly state, they do not move in the preset assembly direction during the moving process. Both of these situations may be caused by mechanical errors after prolonged use of the assembly equipment.

[0033] The pressure feedback value of the pressure head can be obtained through a pressure sensor. The pressure sensor can be set at the connection between the pressure head 22 and the push actuator 21, or at other locations that can effectively obtain the reverse pressure value of the pressure surface when the pressure surface of the pressure head contacts the inner ring of the bearing.

[0034] In one embodiment, the assembly equipment is used to place the first assembly component and the second assembly component into an assembly-ready state. Combined equipment such as Figure 4 As shown, it includes: Mounting bracket 1, first assembly positioning mechanism 3, second assembly positioning mechanism 4; The first assembly positioning mechanism 3 and the second assembly positioning mechanism 4 are installed on the mounting frame 1; The first assembly positioning mechanism 3, as shown in the example Figure 5 As shown, it consists of a first assembly component pushing module 31 and a first assembly component positioning module 32; the first assembly component positioning module 32 is used to place the first assembly component and position the center of the first assembly component; the first assembly component pushing module 31 is fixedly installed on the mounting frame 1; the first assembly component positioning module 32 is connected to the first assembly component pushing module 31 and moves along the assembly direction or in the opposite direction under the drive of the first assembly component pushing module 31. The second assembly positioning mechanism 4 is used to position the center of the second assembly. The positioning center of the first assembly positioning mechanism 3 and the positioning center of the second assembly positioning mechanism 4 are corresponding and located on the same axis; The first assembled component, which is positioned by the first assembled component positioning mechanism 3, and the second assembled component, which is positioned by the second assembled component positioning mechanism 4, have their center lines coaxial.

[0035] Step S1 employs the following method: Place the first assembled component into the first assembled component positioning module 32 and position the center of the first assembled component; Place the second assembly into the second assembly positioning mechanism 4 and position the center of the second assembly; Control the first assembly component pushing module 31 to move, drive the first assembly component positioning module 32 to move along the axial direction to the assembly position, and adjust the first assembly component and the second assembly component to the assembly state with appropriate distance; In steps S3 to S4, the push actuator 21 and the first assembly push module 31 are controlled to drive the bearing and the first assembly to move at the same speed and direction until the bearing and the first assembly are moved into place.

[0036] In one embodiment, the assembly equipment further includes: an assembly end positioning mechanism 5; used to contact the assembly end B1 of the second assembly and position the center of the second assembly; The second assembly positioning mechanism 4 is used to contact the second assembly from the non-assembly end B2 of the second assembly and to position the center of the second assembly. Assembly end positioning mechanism 5 is installed on mounting bracket 1, such as Figure 6 As shown, it consists of an assembly end pushing module 51 and an assembly end positioning module 52; The assembly end pushing module 51 is mounted on the mounting frame 1, and the assembly end positioning module 52 is mounted on the assembly end pushing module 51. The positioning module 52 moves along the axial direction under the drive of the assembly end pushing module 51. The positioning center of the assembly end positioning module 52 is located on the axis; The second assembly end B1 is the end where the shaft of the bearing of the first assembly is located, and the other end is the non-assembly end B2 of the second assembly.

[0037] Positioning method of assembly end positioning mechanism 5: After the first assembly and the second assembly are positioned by the first assembly positioning mechanism 3 and the second assembly positioning mechanism 4 respectively; The assembly end pushing module 51 drives the assembly end positioning module 52 to move towards the second assembled part, passing through the center of the first assembled part to contact and position the assembly end B1 of the second assembled part.

[0038] In one embodiment, the second assembly positioning mechanism 4 is a top module, with the top of the top module facing the direction of the first assembly positioning mechanism 3, the center of the top being located on the axis, and the top module structurally fitting the non-assembly end B2 of the second assembly; the non-assembly end B2 is provided with a positioning hole, and the top of the second assembly positioning mechanism 4 abuts against the positioning hole to position the second assembly. In one embodiment, the assembly end positioning module 52 is a top guide rod, with the top tip of the top guide rod facing the second assembly positioning mechanism 4, the center of the top tip located on the axis, and the top tip fitting into the assembly end B1 structure of the second assembly. The radius of the assembly end positioning module 52 is smaller than the inner diameter of the bearing. After the first assembly and the second assembly are concentrically positioned, the assembly end pushing module 51 drives the assembly end positioning module 52 to move towards the second assembly, passing through the bearing of the first assembly and docking with the assembly end positioning structure B1 of the second assembly. The assembly end B1 is provided with a positioning hole, and the top tip of the assembly end positioning module 52 abuts against the positioning hole to position the second assembly.

[0039] like Figure 7As shown, the second assembly is fixed together from the assembly end B1 and the non-assembly end B2.

[0040] In one embodiment, the first assembly push module 31 is a linear module with a motor, and the first assembly positioning module 32 is mounted on the slider of the linear module via a mounting plate 33 and moves under the drive of the first assembly push module 31.

[0041] The first assembly push module 31 has a first linear guide rail 34 on each side. The first linear guide rail 34 is fixed on the mounting frame 1 and arranged along the axial direction. The first assembly positioning module 32 is mounted on the slider of the first linear guide rail 34 through the mounting plate 33. The first linear guide rail 34 provides a certain guiding effect for the movement of the first assembly positioning module 32 and improves the straightness of the movement.

[0042] In one embodiment, the first assembly positioning module 32, as shown... Figure 8 As shown, it consists of a lateral pushing component 321 and N sets of gripper assemblies 322, where N ≥ 2. The lateral pushing component 321 is mounted on the first assembly component pushing module 31 and moves under the drive of the first assembly component pushing module 31. The N sets of gripper assemblies 322 are mounted on the lateral pushing component 321 and move closer to or away from the axis under the drive of the lateral pushing component 321. The mounting plate 33 is also provided with two lateral linear guide rails 324, which are arranged perpendicular to the axis and distributed on both sides of the first assembly component pushing module 31. The lateral linear guide rails 324 provide a certain guiding effect for the movement of the gripper assemblies 322 and improve the straightness of the movement.

[0043] In one embodiment, there are two gripper assemblies 322, symmetrically distributed on both sides of the axis; the center line of the first assembly positioning module 32 is its positioning center.

[0044] gripper assembly 322, such as Figure 9 As shown, it includes a gripper mounting plate 3221 and a gripper 3222. The gripper 3222 is provided with a clamping block 32221. The horizontal supporting surface of the clamping block 32221 is used to support the lower surface A1 of the first assembled part. The side clamping surface of the clamping block 32221 contacts and clamps the side positioning surface A2 of the first assembled part. The side clamping surfaces of the N sets of clamping blocks 32221 are controlled to contact and clamp the first assembled part. The side clamping surfaces support the side positioning surface A2, and the horizontal support surface supports the lower surface A1. After the center of the first assembled part is positioned, the horizontal pushing component 321 controls the clamping blocks 32221 to move away from each other and release the allowance, maintaining a gap with the side positioning surface A2. The lower surface A1 of the first assembled part is supported only by the horizontal support surface of the clamping blocks 32221.

[0045] After the clamping block's side clamping surface clamps the first assembled part's side positioning surface A2 and then releases, the first assembled part remains on the clamping block's supporting surface. The clamping block's horizontal supporting surface supports the lower surface A1 of the first assembled part. In this way, the clamping block only supports the first assembled part with its horizontal supporting surface, and the horizontal clamping force disappears, providing a certain amount of floating space for the first assembled part during assembly. Conversely, if the gripper assembly locks the center of the first assembled part with the clamping force of the clamping block's clamping surface and does not provide any floating space for the first assembled part, it cannot correct the deviation when the center of the first assembled part deviates, and the first assembled part may get stuck during assembly.

[0046] Therefore, when using the gripper assembly with this structure, it should be used in vertical assembly, that is, the first assembly and the second assembly are arranged vertically.

[0047] In one embodiment, such as Figure 9 As shown, the gripper 3222 is provided with two clamping blocks 32221, the included angle between the two clamping blocks 32221 is <180°, and the angle and distribution of the clamping blocks are adapted to the shape of the positioning surface of the outer surface of the first assembled part; the clamping blocks are rectangular, the clamping surface of the clamping blocks is the inner vertical surface of the clamping blocks, and the upper surface of the clamping blocks is a horizontal supporting surface used to support the first assembled part, such as... Figure 10 As shown, the lower surface A1 of the first assembly is the lower surface of the flange, and the positioning surface A2 of the first assembly is the outer surface of the stop. During the assembly process, the floating range of the first assembly is between the clamping surface of the clamping block and the distance between the outer surface of the stop of the first assembly.

[0048] In another embodiment, the clamping block is an L-shaped structure composed of a vertical clamping plate and a horizontal clamping plate. The inner surface of the vertical clamping plate is the clamping surface, and the upper surface of the horizontal clamping plate is the supporting surface, which is used to support the first assembled component. The lower surface A1 of the first assembled component is the lower surface of the flange, and the side positioning surface A2 of the first assembled component is the outer surface of the flange. The clamping surface of the vertical clamping plate contacts and clamps the side positioning surface A2 of the first assembled component. After release, only the lower surface A1 of the first assembled component is supported by the upper surface of the horizontal clamping plate.

[0049] In one embodiment, the first assembly positioning module 32 consists of a motor and a lead screw that moves relative to each other. The motor provides the drive, and the lead screw provides the direction of movement. The lead screw is arranged perpendicular to the axis and has a slider on it, which moves relative to or away from the motor.

[0050] Two sets of gripper assemblies 322 are symmetrically mounted on different lead screw sliders. Similarly, they move relative to each other or away from each other under the drive of the motor, thereby contacting and tightening the first assembly or loosening the first assembly.

[0051] In step S1, the side clamping surfaces of the N sets of clamping blocks 32221 are controlled to contact and clamp the outer surface A2 of the first assembled part, thereby positioning the center of the first assembled part. The following steps are also included between steps S2 and S3: The control clamps 32221 are separated by a release allowance, and the first assembled component is supported only by the horizontal support surface of the clamps on the lower surface A1 of the first assembled component, allowing the first assembled component to float within a limited range in the horizontal direction.

[0052] During the contact process between the inner ring of the bearing and the outer surface of the shaft, the lower surface A1 of the first assembled part is always supported by the horizontal support surface of the clamping block 32221.

[0053] The pressure head 22 adopts the following Figure 11 The sleeve structure shown; The center of the pressing surface of the pressure head 22 is located on the axis; The actuating mechanism 21 of the bearing actuating device 2 is mounted on the mounting frame 1; The bearing pushing device 2 and the first assembly positioning mechanism 3 are located on the same side as the second assembly positioning mechanism 4; The pressure head 22 and the second assembly positioning mechanism 4 are respectively located on opposite sides of the plane where the bearing positioning surface of the first assembly positioning mechanism 3 is located. The upper surface of the bearing of the first assembly component positioned by the first assembly component positioning mechanism 3 is defined as the bearing positioning surface. For example, when the second assembly component positioning mechanism 4 is located below the plane where the bearing positioning surface is located, the pressure head 22 is set above the plane where the bearing positioning surface is located. In one embodiment, the bearing driving device 2 and the assembly end positioning mechanism 5 adopt the following... Figure 12 The integrated structure shown.

[0054] The actuator 21 consists of a linear actuator 211 and a guide assembly 212; The linear push assembly 211 is fixedly installed on the mounting bracket 1. The guide assembly 212 is connected to the pressure head 22 through the first mounting plate 2121 at one end and the second mounting plate 2122 at the other end is connected to the linear push assembly 211 and moves under the drive of the linear push assembly 211. The assembly end push module 51 consists of a second linear push component 511 and a transfer module 512. The transfer plate 5121 of the transfer module 512 is mounted on the second linear push component 511. The transfer block 5122 is connected to the transfer plate 5121 on the side and connected to the assembly end positioning module 52 at the bottom. The transfer module 512 moves under the drive of the second linear push component 511.

[0055] In one embodiment, the second linear actuator 511 consists of a motor and a lead screw. The motor drives the lead screw to move, and the lead screw is provided with a slider that is connected to the adapter plate 5121.

[0056] The assembly end push module 51 is provided with two second linear guide rails 53 on both sides. They are arranged along the axial direction and distributed on both sides of the second linear push assembly 511. The adapter plate 5121 is slidably mounted on the second linear guide rail 53 by a slider. The second linear guide rail 53 provides a certain guiding effect for movement and improves the straightness of movement.

[0057] The adapter block 5122 is located between the first mounting plate 2121 and the second mounting plate 2122; The assembly end positioning module 52 passes through the holes on the first mounting plate 2121 and the inside of the pressure head 22 in sequence, and extends out of the pressure surface of the pressure head 22 or retracts under the drive of the assembly end pushing module 51.

[0058] The connector 2123 of the guide assembly 212 is a linear guide rod, which is set along the axial direction. The adapter block 5122 has a hole with an inner diameter slightly larger than the outer diameter of the linear guide rod. The linear guide rod passes through the hole of the adapter block 5122, and the adapter block 5122 can slide along the linear guide rod. The linear guide rod plays a certain guiding role.

[0059] The linear drive assembly 211 is connected to the mounting bracket 1 by the electric cylinder mounting plate 23.

[0060] In one embodiment, the assembly equipment is vertical. In the assembly state, the first assembly component, positioned by the first assembly component positioning mechanism 3, is located directly above the second assembly component, positioned by the second assembly component positioning mechanism 4.

[0061] The assembly equipment includes a mounting frame 1, a bearing pushing device 2, a first assembly component positioning mechanism 3, a second assembly component positioning mechanism 4, an assembly end positioning mechanism 5, and a control system 6; Mounting bracket 1 includes a stand 11 and a base 12; The bearing pushing device 2, the assembly end positioning mechanism 5, and the first assembly positioning mechanism 3 are respectively installed on the upright frame 11. The second assembly positioning mechanism 4 is installed on the base 12. The second assembly positioning mechanism 4 is a top module with the top facing upward.

[0062] The bearing pushing device 2, the assembly end positioning mechanism 5, and the first assembly positioning mechanism 3 are all located above the second assembly positioning mechanism 4; the pressure head 22 of the bearing pushing device 2 is located above the plane where the bearing positioning surface of the first assembly positioning mechanism 3 is located. The positioning centers of the first assembly positioning mechanism 3, the second assembly positioning mechanism 4, and the assembly end positioning mechanism 5 are located on the same vertical axis.

[0063] Includes the following packaging methods: The assembly equipment is controlled to be in the assembly preparation state. The assembly preparation state of the assembly equipment means that the bearing pushing device 2, the first assembly component positioning mechanism 3, and other mechanisms maintain a suitable distance and state to transfer components onto the mechanism. For example, in the assembly preparation state, the first assembly component positioning module 32 should be far away from the second assembly component positioning mechanism 4 to ensure that there is enough space to place the second assembly component, and to ensure that after the first assembly component and the second assembly component are placed and positioned, the first assembly component and the second assembly component are still separated by a certain distance for assembly. Similarly, in the assembly preparation state, the pressure head 22 and the assembly end positioning module 52 should be located above the first assembly component positioning module 32 and maintain a certain distance from the first assembly component positioning module 32 to ensure that there is enough space to place the end cap. The first assembled component is picked up and placed onto the first assembled component positioning mechanism 3 on the assembly equipment to position the first assembled component. The second assembled component is picked up and placed onto the second assembled component positioning mechanism 4 on the assembly equipment to position the second assembled component. The control system controls the assembly end positioning module 52 to move in the assembly direction, passing through the pressure head 22, the first assembled part and the assembly end B1 of the second assembled part in sequence, and then stops moving; the assembly end positioning module 52, together with the second assembled part positioning mechanism 4, fixes the second assembled part. Control the movement of the first assembled component positioning module 32 to adjust the distance between the first assembled component and the second assembled component, and adjust them to a suitable assembly state; The pressure head 22 is controlled to move toward the bearing and stops moving after contacting the inner ring of the bearing. The first assembly positioning mechanism 3 is controlled to release and maintain a certain gap with the side positioning surface of the first assembly, so that the first assembly floats within a certain range in the horizontal direction. The control pressure head 22 and the first assembly positioning module 32 move synchronously. After the bearing of the first assembly and the rotating shaft of the second assembly come into contact, they continue to move until the bearing and the first assembly are in place and then stop, forming an assembled assembly. Control the first assembled component positioning module 32 and the pressure head 22 to release the first assembled component; The control assembly end positioning module 52 releases the second assembled component and moves in the opposite direction of the assembly direction to return to the designated position; The clamped assembly components are removed from the assembly equipment, and the process ends.

[0064] In one embodiment, the assembly equipment is used in conjunction with a transfer robot for assembling the end caps and rotor of a motor. The process is as follows: The robot picks up the first assembled component and places it on the first assembled component positioning mechanism 3 on the assembly equipment. The robot then releases the component, and the first assembled component positioning mechanism 3 positions the first assembled component. The first assembly positioning mechanism 3 moves upward to avoid the second assembly placement position, making it easier for the robot to subsequently grab the second assembly and place it on the assembly equipment. The robot picks up the second assembled component and places it on the second assembled component positioning mechanism 4. The top module of the second assembled component positioning mechanism 4 is equipped with a pressure sensor. When a certain pressure value is reached, the robot is controlled to stop moving to prevent the robot from over-placing and causing damage to the second assembled component. The second assembled component is placed entirely on the top. The certain pressure value refers to the stable pressure value generated by the gravity and the robot's gripping force on the second assembled component. The assembly end positioning mechanism 5 on the assembly equipment descends and contacts the assembly end of the second assembly component. The assembly end positioning module 52 is a top guide rod with the top facing downwards, pressing against the assembly end of the second assembly component. It also has a pressure sensor, and stops descending after reaching a certain pressure value. The second assembly component positioning mechanism 4 engages to fix the second assembly component, and the robot releases itself to maintain a certain gap with the second assembly component. The certain pressure value here refers to the stable pressure value generated when the two mechanisms position the second assembly component and can fix the second assembly component. The first assembly positioning module 32 is moved down a certain distance to adjust to a suitable distance. At this time, the inner ring of the bearing is not in contact with the rotating shaft. The pressure head 22 presses down and stops after contacting the inner ring of the bearing. The bearing push device 2 is equipped with a pressure sensor, which can accurately control the pressing position through pressure feedback. The first assembly positioning module 32 is released to maintain a certain gap with the side positioning surface of the first assembly, so that the first assembly maintains a certain floating range in the horizontal direction; maintaining a certain floating range can correct the first assembly if it is eccentric during the assembly process; if the gap is not maintained, the first assembly may get stuck or be eccentric when it is moved down for assembly. The first assembly positioning module 32 and the pressure head 22 press down simultaneously. The set pressing position and pressure feedback are used to determine whether the assembly is in place. After the assembly is in place, the mechanism stops moving and the assembly is formed. The first assembly positioning module 32 and the pressure head 22 are released, leaving enough space for the assembly components to be removed from the assembly equipment; Robot clamps and assembles components; The assembly end positioning module 52 moves upward and separates from the second assembly component, reaching the designated position, leaving enough space for the assembly component to be removed from the assembly equipment; The robot grips and removes the assembled components from the assembly equipment, and the process ends.

[0065] The solution provided by this invention applies a force to the bearing in the same direction as the first assembly during the assembly process of the first and second assembly components. This ensures that the bearing and the first assembly component move synchronously, reducing the risk of damage to different parts of the first assembly component and preventing axial force from causing separation of the inner and outer rings or bearing damage. During the pressing process, the first assembly component floats within a limited range, providing adaptive correction capability when the center of the first assembly component deviates. Through precise position control and force feedback control methods, even in cases where there are large machining accuracy errors or large assembly errors due to aging of the assembly control mechanism and clamping mechanism after long-term use, assembly misalignment can be detected early and timely warnings can be issued to avoid forced squeezing. At the same time, it ensures that even when the assembly equipment itself has a certain range of machining accuracy errors, the bearing can still be accurately installed in place, avoiding over-assembly damage to the workpiece.

[0066] Furthermore, it should be understood that the above embodiments only illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A method for reducing component damage during assembly, characterized in that, It is applied to the assembly process of a first assembly and a second assembly; the first assembly includes a bearing, and the second assembly includes a rotating shaft; during the assembly process of the first assembly and the second assembly, the inner ring of the bearing contacts the outer surface of the rotating shaft; The method for reducing component damage during assembly includes the following steps: after the first and second assembled components are in a state to be assembled, the pressure head is controlled to contact the upper surface of the bearing inner ring; during the process of the first assembled component moving along the assembly direction to assemble with the second assembled component, the pressure head is controlled to push the bearing inner ring, and the pressure head moves synchronously with the first assembled component; when the bearing inner ring contacts the outer surface of the shaft, the pressure head always contacts the upper surface of the bearing inner ring, and a thrust is applied to the bearing inner ring through the pressure head; The method for reducing component damage during assembly uses a bearing pushing device (2); the bearing pushing device (2) consists of a pushing actuator (21) and a pressure head; the pressure head is mounted on the pushing actuator (21), and the control system controls the pushing actuator (21) to move, driving the pressure head to move along the assembly direction; It also includes assembly equipment, which includes: mounting frame (1), first assembly component positioning mechanism (3), and second assembly component positioning mechanism (4); the first assembly component positioning mechanism (3) is composed of a first assembly component pushing module (31) and a first assembly component positioning module (32); the first assembly component positioning module (32) is used to place the first assembly component and position the center of the first assembly component; the pushing actuator (21) and the first assembly component pushing module (31) are controlled to drive the bearing and the first assembly component to move at the same speed and direction until the bearing and the first assembly component are moved into place.

2. The method for reducing component damage during assembly as described in claim 1, characterized in that, The first assembly is an end cap, and the second assembly is a rotor.

3. A method for packaging, characterized in that, The method for reducing component damage during assembly as described in claim 1 or 2, the assembly method comprising the following steps: Step S1: Place the first assembled component and the second assembled component in a state to be assembled; Step S2: Control the pressure head to move along the assembly direction until it contacts the upper surface of the bearing inner ring and then stops; Step S3: Control the pressure head to push the bearing inner ring, moving synchronously with the first assembled component along the assembly direction; when the bearing inner ring contacts the outer surface of the rotating shaft, the pressure head always contacts the bearing inner ring, and applies a thrust to the bearing inner ring through the pressure head; After the bearing and the first assembled component are moved into place in step S4, the assembly process ends; In step S4, the bearing is determined to be in place by the following method: Step a1: When the pressure head contacts the inner ring of the bearing, push the bearing to a preset moving distance h to be assembled with the rotating shaft. Step a2: Control the pressure head to push the bearing to move, moving synchronously with the first assembled component towards the second assembled component; when the moving distance D < h-Tm, the pressure head pressure feedback value P obtained by the control system is ≥ preset pressure Pm, then the assembly stops; when the moving distance D ≥ h-Tm, the pressure head pressure feedback value P obtained is ≥ preset pressure Pm, then it is determined that the bearing has moved into place, and the bearing and the first assembled component are controlled to stop moving; Tm is the allowance provided for the machining accuracy error of the assembly equipment used in the assembly process; In step S1, the assembly equipment places the first assembly component and the second assembly component in a state to be assembled; the first assembly component positioning mechanism (3) and the second assembly component positioning mechanism (4) are installed on the mounting frame (1); The first assembly positioning module (32) consists of a lateral pushing component (321) and N sets of gripper components (322), where N ≥ 2; the lateral pushing component (321) is mounted on the first assembly pushing module (31) and moves under the drive of the first assembly pushing module (31); The positioning center of the first assembly positioning mechanism (3) and the positioning center of the second assembly positioning mechanism (4) are located on the same axis; N sets of gripper assemblies (322) are mounted on the transverse pushing assembly (321), and move closer to or away from the axis under the drive of the transverse pushing assembly (321); the gripper assembly (322) is provided with a clamping block (32221), the horizontal support surface of the clamping block (32221) is used to support the lower surface A1 of the first assembled part, and the side clamping surface of the clamping block (32221) contacts and clamps the side positioning surface A2 of the first assembled part; in step S1, by controlling the side clamping surfaces of the N sets of clamping blocks (32221) to contact and clamp the outer surface of the first assembled part, the center of the first assembled part is positioned; between steps S2 and S3, the following steps are also included: controlling the clamping blocks (32221) to move away from each other, and supporting the lower surface A1 of the first assembled part through the horizontal support surface.

4. The assembly method as described in claim 3, characterized in that, The first assembly push module (31) is fixedly installed on the mounting frame (1), and the first assembly positioning module (32) is connected to the first assembly push module (31). Under the drive of the first assembly push module (31), it moves along the assembly direction or moves in the opposite direction; the second assembly positioning mechanism (4) is used to position the center of the second assembly. Step S1 employs the following method: Place the first assembled component into the first assembled component positioning module (32) and position the center of the first assembled component; Place the second assembly into the second assembly positioning mechanism (4) and position the center of the second assembly; Control the first assembly component pushing module (31) to move, and drive the first assembly component positioning module (32) to move along the axis to the assembly position.

5. The assembly method as described in claim 4, characterized in that, The assembly equipment further includes: an assembly end positioning mechanism (5) for contacting the assembly end B1 of the second assembly component and positioning the center of the second assembly component; a second assembly component positioning mechanism (4) for contacting the second assembly component from the non-assembly end B2 of the second assembly component and positioning the center of the second assembly component; the assembly end positioning mechanism (5) is mounted on the mounting frame (1) and consists of an assembly end pushing module (51) and an assembly end positioning module (52); the assembly end pushing module (51) is mounted on the mounting frame (1), and the assembly end positioning module (52) is mounted on the assembly end pushing module (51) and moves along the axis direction under the drive of the assembly end pushing module (51); the positioning center of the assembly end positioning module (52) is located on the axis. The positioning method of the assembly end positioning mechanism (5): After the first assembly and the second assembly are positioned by the first assembly positioning mechanism (3) and the second assembly positioning mechanism (4) respectively, the assembly end pushing module (51) drives the assembly end positioning module (52) to move towards the second assembly, passing through the center of the first assembly to contact and position the assembly end B1 of the second assembly.

6. The assembly method as described in claim 5, characterized in that, The pressure head is a sleeve structure; the center of the pressure surface of the pressure head is located on the axis; the pushing actuator (21) of the bearing pushing device (2) is installed on the mounting frame (1); the bearing pushing device (2) and the first assembly positioning mechanism (3) are located on the same side of the second assembly positioning mechanism (4); the pressure head and the second assembly positioning mechanism (4) are respectively located on opposite sides of the plane where the bearing positioning surface of the first assembly positioning mechanism (3) is located; the pushing actuator (21) is composed of a linear pushing assembly (211) and a guide assembly (212); the linear pushing assembly (211) is fixedly installed on the mounting frame (1), and the guide assembly (212) is connected to the pressure head through a first mounting plate (2121) at one end, and a second mounting plate (2122) at the other end is connected to the linear pushing assembly (211). The linear push assembly (211) moves under its drive; the assembly end push module (51) is composed of the second linear push assembly (511) and the adapter module (512). The adapter plate (5121) of the adapter module (512) is installed on the second linear push assembly (511). The adapter block (5122) is connected to the adapter plate (5121) on the side and connected to the assembly end positioning module (52) at the bottom. The adapter module (512) moves under the drive of the second linear push assembly (511). The adapter block (5122) is located between the first mounting plate (2121) and the second mounting plate (2122). The assembly end positioning module (52) passes through the hole on the first mounting plate (2121) and the inside of the pressure head in sequence. Under the drive of the assembly end push module (51), it extends out of the pressure surface of the pressure head or retracts.

7. The assembly method as described in claim 5, characterized in that, The assembly method includes the following steps: Control the assembled equipment to the assembly preparation state; Grab the first assembled component and place it on the first assembled component positioning mechanism (3) to position the first assembled component; Grab the second assembly and place it on the second assembly positioning mechanism (4) to position the second assembly; The control assembly end positioning module (52) moves in the assembly direction and stops after passing through the first assembly part and docking with the assembly end B1 of the second assembly part. Control the movement of the pressure head and stop the action after contacting the inner ring of the bearing; Control the first assembly positioning mechanism (3) to loosen the side positioning surface of the first assembly and maintain a gap with it, so that the first assembly maintains a limited floating range in the horizontal direction; The control pressure head and the first assembly positioning module (32) move synchronously. After the bearing of the first assembly and the rotating shaft of the second assembly come into contact, they continue to move until the bearing and the first assembly are in place and then stop. Control the first assembled component positioning module (32) and release the first assembled component with the pressure head; Control the assembly end positioning module (52) to release the second assembled component; The clamped assembly components are removed from the assembly equipment, and the process ends.

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